--- Step 0 ---
qpos:
[ 3.65589143e-04, 3.34489849e-04,-2.74380544e-04,-5.21977272e-04,
  1.55262373e-04, 5.20373004e-05,-1.77362977e-04, 5.34235765e-04,
  2.37092367e-04, 2.65282834e-04,-2.79865659e-04, 5.00323337e-04,
  1.98637952e-03, 1.26782109e-04, 1.20463613e-03, 6.47483346e-04,
  6.00000000e-02,-7.00000000e-02, 1.79960760e-01, 1.00000000e+00,
  1.77758917e-21, 0.00000000e+00, 0.00000000e+00]

qacc:
[ 3.20300884e+03, 1.27877828e+02, 2.37784654e+03,-1.12065116e+04,
  1.36036374e+03, 1.66241924e+03,-8.08671271e+03, 1.75810974e+04,
  2.07366777e+03, 2.15965444e+03,-9.30987254e+03, 1.82267800e+04,
  6.68328238e+02, 1.41439136e+03,-1.79276622e+02, 3.21199515e+03,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01881532, 0.03102379,-0.00940387,-0.02562629, 0.00799098, 0.00477543,
 -0.0079729 , 0.02713642, 0.01222197, 0.02880171,-0.0081849 , 0.02644954,
  0.12502324, 0.00614593, 0.09      , 0.04322632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.88265228e-02, 3.10968194e-02,-9.33083006e-03,-2.55880546e-02,
  7.99098286e-03, 4.84873963e-03,-7.89958350e-03, 2.71747996e-02,
  1.22107691e-02, 2.88747441e-02,-8.11186386e-03, 2.64877735e-02,
  1.25512172e-01, 6.14230152e-03, 1.11111312e-01, 4.80561532e-02,
  0.00000000e+00, 0.00000000e+00,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02, 0.00000000e+00]


--- Step 1 ---
qpos:
[ 7.34962872e-04, 7.72489306e-04,-5.25716875e-04,-1.03843864e-03,
  3.11558115e-04, 1.18889165e-04,-3.43560137e-04, 1.06489951e-03,
  4.75932516e-04, 6.39449641e-04,-5.15632015e-04, 1.00297124e-03,
  5.62770126e-03, 2.49395181e-04, 2.97693634e-03, 1.46025215e-03,
  6.00000000e-02,-7.00000000e-02, 1.79882280e-01, 1.00000000e+00,
  5.33276752e-21, 0.00000000e+00, 0.00000000e+00]

qacc:
[ 3.22620238e+01, 8.37078816e+01,-1.23369527e+02, 1.05950913e+02,
  9.19067647e+00,-1.90086654e+01, 1.11220980e+02,-2.01735302e+02,
  1.49042558e+01, 2.54071961e+01, 1.08319265e+02,-2.18607904e+02,
  5.55434899e+02,-3.56579010e+01, 3.39123172e+02, 3.16461320e+01,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01846847, 0.03068887,-0.0091315 ,-0.02507931, 0.00781705, 0.00474826,
 -0.0077841 , 0.02662998, 0.01196031, 0.0285372 ,-0.00789756, 0.02598547,
  0.12484433, 0.00599289, 0.09      , 0.04259713, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.99561929e-04, 1.40284894e-02, 4.66065418e-03, 1.05875189e-03,
  5.39298497e-05, 2.21867829e-03, 1.15763605e-03,-4.43437099e-05,
  9.51551399e-05, 1.53393731e-02, 6.16805498e-03, 1.00650792e-03,
  2.59952917e-02,-3.47803799e-04, 5.08818880e-02, 1.50533387e-02,
  0.00000000e+00, 3.85237577e-41,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-4.20444124e-23]


--- Step 2 ---
qpos:
[ 1.09715893e-03, 1.26762362e-03,-7.46077063e-04,-1.53926799e-03,
  4.64633383e-04, 1.95229481e-04,-5.00887106e-04, 1.58595726e-03,
  7.10643601e-04, 1.07984307e-03,-7.17600892e-04, 1.50222722e-03,
  1.06289757e-02, 3.64922304e-04, 5.00160630e-03, 2.33306761e-03,
  6.00000000e-02,-7.00000000e-02, 1.79764560e-01, 1.00000000e+00,
  1.06655350e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.31763920e+01, 2.12496493e+01,-3.19825241e+01, 2.10727041e+02,
 -2.82340093e+01,-3.19873173e+01, 1.72878495e+02,-3.60360570e+02,
 -3.64190433e+01,-1.38572561e+01, 1.90822928e+02,-3.52374485e+02,
  4.56471445e+02,-8.26943210e+01, 1.91425073e+02,-1.28350183e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01809259, 0.03023287,-0.00884586,-0.0245656 , 0.00764955, 0.00469632,
 -0.00755778, 0.02609824, 0.01174224, 0.0281635 ,-0.00767506, 0.02548683,
  0.12450588, 0.00583676, 0.09      , 0.04177758, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.66575774e-04, 8.38408371e-03, 3.79268627e-03, 1.29733561e-03,
 -1.65236856e-04, 1.42434857e-03, 8.25640979e-04,-3.98447585e-04,
 -2.09262507e-04, 9.51030807e-03, 4.18309654e-03, 3.90254549e-04,
 -5.70856117e-02,-2.92171475e-04, 2.25004553e-02, 5.96957873e-03,
  0.00000000e+00, 1.54095031e-40,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-1.26133237e-22]


--- Step 3 ---
qpos:
[ 1.45203478e-03, 1.79609575e-03,-9.44423376e-04,-2.02657217e-03,
  6.14170703e-04, 2.77265930e-04,-6.51683112e-04, 2.09689642e-03,
  9.41658196e-04, 1.55976963e-03,-8.95723785e-04, 1.99551884e-03,
  1.67326657e-02, 4.74707655e-04, 7.13809228e-03, 3.22179081e-03,
  6.00000000e-02,-7.00000000e-02, 1.79607600e-01, 1.00000000e+00,
  1.77758917e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.43093763e+01, 1.05100580e+01,-3.04217678e+01, 2.04530164e+02,
 -3.10373275e+01,-3.15111240e+01, 1.66084036e+02,-3.55922566e+02,
 -3.24693232e+01,-2.66293105e+01, 1.96024863e+02,-3.66540396e+02,
  3.70114871e+02,-7.91767070e+01, 1.17169831e+02,-1.70262510e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01772649, 0.02976243,-0.00860492,-0.02408418, 0.007472  , 0.00461118,
 -0.00738213, 0.02555878, 0.01155549, 0.02774114,-0.00744555, 0.02497222,
  0.12405466, 0.00570113, 0.09      , 0.04088294, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.75043872e-04, 5.04154076e-03, 2.48236499e-03, 9.97599009e-04,
 -1.81762594e-04, 8.62689448e-04, 5.57562213e-04,-4.58589512e-04,
 -1.88271851e-04, 5.76265509e-03, 2.71907844e-03, 4.36469880e-05,
 -1.25511205e-01,-7.04169804e-05, 9.88062497e-03, 2.07150330e-03,
  0.00000000e+00, 3.46713819e-40,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-2.52266474e-22]


--- Step 4 ---
qpos:
[ 1.79974876e-03, 2.34246861e-03,-1.12751299e-03,-2.50176601e-03,
  7.60763803e-04, 3.62466964e-04,-7.97595830e-04, 2.59783034e-03,
  1.16868198e-03, 2.06174240e-03,-1.05697494e-03, 2.48229288e-03,
  2.37146978e-02, 5.80198347e-04, 9.32404282e-03, 4.10706222e-03,
  6.00000000e-02,-7.00000000e-02, 1.79411400e-01, 1.00000000e+00,
  2.66638376e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.28667560e+01, 6.07739484e+00,-3.82476394e+01, 2.10029235e+02,
 -2.58201538e+01,-3.00280134e+01, 1.55447545e+02,-3.38813603e+02,
 -3.49807621e+01,-3.13824943e+01, 1.81787600e+02,-3.37878654e+02,
  2.94974123e+02,-7.01778393e+01, 8.35589549e+01,-1.86509284e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01736927, 0.02924878,-0.00841198,-0.02360852, 0.00732553, 0.00452387,
 -0.0072381 , 0.02503681, 0.01135325, 0.02727203,-0.00723314, 0.02450522,
  0.12350998, 0.00557928, 0.09      , 0.03996337, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.67638021e-04, 2.84415544e-03, 1.57148565e-03, 7.97287897e-04,
 -1.51334520e-04, 4.88209964e-04, 3.74712523e-04,-4.75628451e-04,
 -2.04254185e-04, 3.30122426e-03, 1.73479175e-03,-1.26858052e-04,
 -1.81142257e-01, 9.74932203e-05, 4.28456320e-03, 3.54105877e-04,
  0.00000000e+00, 6.16380123e-40,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-4.20444124e-22]


--- Step 5 ---
qpos:
[ 2.14045635e-03, 2.89651331e-03,-1.29953329e-03,-2.96623811e-03,
  9.04462231e-04, 4.48853330e-04,-9.38994767e-04, 3.08853596e-03,
  1.39121156e-03, 2.57447221e-03,-1.20713356e-03, 2.96156506e-03,
  3.13807439e-02, 6.82642391e-04, 1.15313485e-02, 4.98416007e-03,
  6.00000000e-02,-7.00000000e-02, 1.79175960e-01, 1.00000000e+00,
  3.73293727e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.14565924e+01, 1.39925541e+00,-3.53236247e+01, 1.97295624e+02,
 -2.53619691e+01,-3.20718449e+01, 1.59880393e+02,-3.45060302e+02,
 -3.94010020e+01,-3.21677263e+01, 1.67112770e+02,-3.22715732e+02,
  2.29792165e+02,-5.94916385e+01, 5.62674205e+01,-1.51356087e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01702015, 0.0287113 ,-0.00823214,-0.02315806, 0.00718078, 0.00441774,
 -0.00707849, 0.0245115 , 0.01112574, 0.0267588 ,-0.00710458, 0.02403423,
  0.12287374, 0.00546655, 0.09      , 0.03923712, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.60126865e-04, 1.39396101e-03, 9.84960133e-04, 6.42411703e-04,
 -1.48875879e-04, 2.21353140e-04, 2.89748107e-04,-5.01661678e-04,
 -2.30709466e-04, 1.66902185e-03, 1.01493015e-03,-2.73777328e-04,
 -2.25654342e-01, 2.01819807e-04, 1.80246468e-03,-2.03170419e-04,
  0.00000000e+00, 9.63093941e-40,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-6.30666186e-22]


--- Step 6 ---
qpos:
[ 2.47464999e-03, 3.45152467e-03,-1.46328782e-03,-3.42059927e-03,
  1.04461883e-03, 5.35147872e-04,-1.07650018e-03, 3.56966752e-03,
  1.60897597e-03, 3.09037262e-03,-1.34919520e-03, 3.43196355e-03,
  3.95628740e-02, 7.83042475e-04, 1.37482216e-02, 5.84782451e-03,
  6.00000000e-02,-7.00000000e-02, 1.78901280e-01, 1.00000000e+00,
  4.97724969e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.70950520e+01,-8.93192098e-01,-3.74420295e+01, 1.98270846e+02,
 -3.10554434e+01,-3.06673937e+01, 1.49682756e+02,-3.21633242e+02,
 -4.17502835e+01,-3.66429723e+01, 1.74322140e+02,-3.43307616e+02,
  1.73443605e+02,-4.81814855e+01, 5.47746303e+01,-1.71395322e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01669635, 0.02816259,-0.00806206,-0.02270843, 0.00700268, 0.00430105,
 -0.00692887, 0.02402392, 0.01088517, 0.02623931,-0.00697404, 0.02352892,
  0.12218974, 0.00535977, 0.09      , 0.03841993, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.35106451e-04, 4.43572489e-04, 5.97794099e-04, 5.56073932e-04,
 -1.82241615e-04, 4.28164321e-05, 2.13222828e-04,-4.78801542e-04,
 -2.45016204e-04, 5.94509222e-04, 5.85768631e-04,-4.05830117e-04,
 -2.60493457e-01, 2.49439014e-04, 7.23086521e-04,-6.16148994e-04,
  0.00000000e+00, 1.38685528e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-8.82932660e-22]


--- Step 7 ---
qpos:
[ 2.80268147e-03, 4.00299788e-03,-1.62057195e-03,-3.86530511e-03,
  1.18155065e-03, 6.20979076e-04,-1.21075876e-03, 4.04128921e-03,
  1.82185308e-03, 3.60471193e-03,-1.48502033e-03, 3.89406548e-03,
  4.81165944e-02, 8.82516880e-04, 1.59694022e-02, 6.69518105e-03,
  6.00000000e-02,-7.00000000e-02, 1.78587360e-01, 1.00000000e+00,
  6.39932103e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.39765907e+01,-2.77346358e+00,-3.74618507e+01, 1.96598174e+02,
 -2.82789860e+01,-2.92237948e+01, 1.43544123e+02,-3.13069528e+02,
 -4.28004932e+01,-3.65057539e+01, 1.62328586e+02,-3.14878031e+02,
  1.24913565e+02,-3.30685441e+01, 5.57212058e+01,-1.85939832e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01639006, 0.02759303,-0.00789947,-0.02226298, 0.00684188, 0.00423208,
 -0.00678644, 0.02354466, 0.01063883, 0.02575486,-0.00682599, 0.0230784 ,
  0.12145158, 0.00527451, 0.09      , 0.03753895, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.17218833e-04,-1.92545488e-04, 3.43192471e-04, 4.96058745e-04,
 -1.65947398e-04,-2.41642262e-05, 1.60506439e-04,-4.80317175e-04,
 -2.51528087e-04,-6.58475797e-05, 3.23768620e-04,-4.14503712e-04,
 -2.86987509e-01, 2.68259870e-04, 2.31395490e-04,-8.30408751e-04,
  0.00000000e+00, 1.88766413e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-1.17724355e-21]


--- Step 8 ---
qpos:
[ 3.12377222e-03, 4.54815227e-03,-1.77268166e-03,-4.30109174e-03,
  1.31583471e-03, 7.05965350e-04,-1.34199574e-03, 4.50354521e-03,
  2.03015504e-03, 4.11433410e-03,-1.61560323e-03, 4.34797317e-03,
  5.69180638e-02, 9.81848627e-04, 1.81922041e-02, 7.52723449e-03,
  6.00000000e-02,-7.00000000e-02, 1.78234200e-01, 1.00000000e+00,
  7.99915128e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.08214639e+01,-4.32893321e+00,-3.41168934e+01, 1.84605566e+02,
 -2.32008313e+01,-2.88114233e+01, 1.40717120e+02,-3.07089820e+02,
 -4.00270883e+01,-3.76927945e+01, 1.60068896e+02,-3.06928453e+02,
  8.32932315e+01,-1.97530625e+01, 4.87213148e+01,-1.67152914e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01604326, 0.02703282,-0.00774289,-0.02184137, 0.00671032, 0.00415664,
 -0.00664922, 0.02307417, 0.0104088 , 0.02525939,-0.00666882, 0.02264598,
  0.12067004, 0.00520188, 0.09      , 0.03675222, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.57419342e-04,-5.94015762e-04, 1.72305068e-04, 4.34952268e-04,
 -1.36272135e-04,-7.90346350e-05, 1.34894055e-04,-4.76267043e-04,
 -2.35613733e-04,-5.00651590e-04, 1.63872902e-04,-4.33930721e-04,
 -3.06298783e-01, 2.43618436e-04, 2.03354534e-06,-8.06833899e-04,
  0.00000000e+00, 2.46552049e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-1.51359885e-21]


--- Step 9 ---
qpos:
[ 3.43887016e-03, 5.08515239e-03,-1.92020459e-03,-4.72780076e-03,
  1.44749729e-03, 7.89548522e-04,-1.47058062e-03, 4.95768220e-03,
  2.23445669e-03, 4.61710980e-03,-1.74153324e-03, 4.79276566e-03,
  6.58616768e-02, 1.08156493e-03, 2.04156035e-02, 8.34423544e-03,
  6.00000000e-02,-7.00000000e-02, 1.77841800e-01, 1.00000000e+00,
  9.77674046e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.24607398e+01,-4.80243122e+00,-3.66434868e+01, 1.92190088e+02,
 -2.29708631e+01,-2.59488080e+01, 1.24177836e+02,-2.67975443e+02,
 -3.49465231e+01,-4.07668789e+01, 1.70817623e+02,-3.31089944e+02,
  4.77743539e+01,-7.83842323e+00, 4.64715428e+01,-1.61404361e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01574641, 0.02648243,-0.00757345,-0.02140169, 0.00657925, 0.00404239,
 -0.00653396, 0.02266584, 0.01020796, 0.02474334,-0.00650768, 0.02217437,
  0.11988153, 0.00513641, 0.09      , 0.03599204, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.08725665e-04,-8.46471212e-04, 7.90748860e-05, 4.28706171e-04,
 -1.34947070e-04,-1.53626939e-04, 9.85818444e-05,-4.17237486e-04,
 -2.06130538e-04,-7.98124175e-04, 5.76707573e-05,-4.97641243e-04,
 -3.19424261e-01, 1.86839633e-04,-9.27636365e-05,-8.06773392e-04,
  0.00000000e+00, 3.12042437e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-1.89199856e-21]


--- Step 10 ---
qpos:
[ 3.74827485e-03, 5.61306469e-03,-2.06414792e-03,-5.14537750e-03,
  1.57656471e-03, 8.71505531e-04,-1.59661045e-03, 5.40341033e-03,
  2.43444790e-03, 5.11205774e-03,-1.86408557e-03, 5.22863188e-03,
  7.48577076e-02, 1.18131469e-03, 2.26399670e-02, 9.14013502e-03,
  6.00000000e-02,-7.00000000e-02, 1.77410160e-01, 1.00000000e+00,
  1.17320886e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-4.98354400e+01,-3.11320373e+00,-4.46942635e+01, 2.03489240e+02,
 -2.27386918e+01,-2.65698249e+01, 1.27187696e+02,-2.75682910e+02,
 -3.76948338e+01,-3.81044438e+01, 1.58656050e+02,-3.12910882e+02,
  1.76343405e+01,-4.48689538e+00, 6.53744651e+01,-2.26657323e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01546361, 0.02594229,-0.00743328,-0.02095489, 0.00644952, 0.00394124,
 -0.00641496, 0.02224407, 0.00999039, 0.02425446,-0.00638117, 0.02171896,
  0.11908411, 0.00503925, 0.09      , 0.03491637, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.93359895e-04,-9.96664935e-04,-1.40185574e-05, 4.21646200e-04,
 -1.33603378e-04,-1.87161856e-04, 8.44859565e-05,-4.33980375e-04,
 -2.22146644e-04,-9.61758603e-04,-5.36505367e-05,-4.99086060e-04,
 -3.27278333e-01, 7.18806425e-05,-1.35374893e-04,-1.13433146e-03,
  0.00000000e+00, 3.85237577e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-2.31244268e-21]


--- Step 11 ---
qpos:
[ 4.05047460e-03, 6.13134627e-03,-2.20518039e-03,-5.55422906e-03,
  1.70307296e-03, 9.51800046e-04,-1.72012667e-03, 5.83956966e-03,
  2.63030592e-03, 5.59861382e-03,-1.98409206e-03, 5.65609377e-03,
  8.38306191e-02, 1.28087410e-03, 2.48645527e-02, 9.91631987e-03,
  6.00000000e-02,-7.00000000e-02, 1.76939280e-01, 1.00000000e+00,
  1.38651956e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.31465619e+01,-2.77374271e+00,-4.51814383e+01, 1.98349399e+02,
 -2.24233967e+01,-2.88919521e+01, 1.40293579e+02,-3.08770651e+02,
 -3.61460467e+01,-3.54523611e+01, 1.45910926e+02,-2.89384538e+02,
 -7.76963558e+00, 7.27553976e-01, 6.00994250e+01,-2.09713855e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01510258, 0.02541249,-0.0073115 ,-0.02052526, 0.00632162, 0.00384875,
 -0.00629468, 0.0217645 , 0.00978243, 0.0237856 ,-0.00627602, 0.02129448,
  0.11826299, 0.00492329, 0.09      , 0.03392977, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.71185522e-04,-1.08955131e-03,-7.50946025e-05, 3.94677179e-04,
 -1.31753513e-04,-2.00844933e-04, 7.65307081e-05,-4.94007310e-04,
 -2.13057164e-04,-1.05605449e-03,-1.22508365e-04,-4.79022387e-04,
 -3.30670050e-01,-4.44821240e-05,-1.94743831e-04,-1.06979205e-03,
  0.00000000e+00, 4.66137468e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-2.77493122e-21]


--- Step 12 ---
qpos:
[ 4.34562311e-03, 6.63961843e-03,-2.34343978e-03,-5.95468876e-03,
  1.82706378e-03, 1.03046012e-03,-1.84153738e-03, 6.26659547e-03,
  2.82252257e-03, 6.07596257e-03,-2.10152343e-03, 6.07521352e-03,
  9.27175656e-02, 1.38077954e-03, 2.70888525e-02, 1.06759410e-02,
  6.00000000e-02,-7.00000000e-02, 1.76429160e-01, 1.00000000e+00,
  1.61760615e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-6.17844654e+01,-3.57833056e+00,-4.16361284e+01, 1.89538902e+02,
 -2.20691613e+01,-2.68179942e+01, 1.31114828e+02,-2.91427520e+02,
 -3.17986308e+01,-3.64925770e+01, 1.47779387e+02,-2.89609038e+02,
 -2.90209556e+01, 1.44646088e+01, 4.98264683e+01,-1.74783580e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01475165, 0.02489308,-0.00718377,-0.02010917, 0.0061958 , 0.00376213,
 -0.00619237, 0.02130803, 0.00959955, 0.02327919,-0.00616646, 0.02087385,
  0.11744321, 0.00483175, 0.09      , 0.03311017, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.63294420e-04,-1.14458990e-03,-9.67122250e-05, 3.74513117e-04,
 -1.29607553e-04,-2.06781916e-04, 5.26932796e-05,-4.72912171e-04,
 -1.87784125e-04,-1.15941599e-03,-1.45275840e-04,-4.81173138e-04,
 -3.30284301e-01,-1.25353266e-04,-2.15080502e-04,-9.06872801e-04,
  0.00000000e+00, 5.54742110e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-3.27946417e-21]


--- Step 13 ---
qpos:
[ 4.63424116e-03, 7.13733421e-03,-2.47856565e-03,-6.34699830e-03,
  1.94858200e-03, 1.10726004e-03,-1.96072823e-03, 6.68517741e-03,
  3.01108106e-03, 6.54335443e-03,-2.21580712e-03, 6.48571062e-03,
  1.01466641e-01, 1.48167263e-03, 2.93131348e-02, 1.14184273e-02,
  6.00000000e-02,-7.00000000e-02, 1.75879800e-01, 1.00000000e+00,
  1.86646863e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.71734541e+01,-5.81590302e+00,-3.37022651e+01, 1.77265174e+02,
 -2.16666787e+01,-2.60162074e+01, 1.24911122e+02,-2.73304846e+02,
 -3.19096624e+01,-3.96617077e+01, 1.58826361e+02,-3.05875673e+02,
 -4.66464379e+01, 2.94095884e+01, 5.19859097e+01,-1.81674214e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01442726, 0.02434862,-0.00703573,-0.01970437, 0.00607223, 0.00366192,
 -0.00608368, 0.02088658, 0.00941512, 0.02275443,-0.00601978, 0.02044107,
  0.11664671, 0.00477216, 0.09      , 0.03225349, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.36517190e-04,-1.20540415e-03,-9.10692350e-05, 3.59728663e-04,
 -1.27309432e-04,-2.27655547e-04, 5.56516237e-05,-4.38553305e-04,
 -1.88677762e-04,-1.24005014e-03,-1.32307447e-04,-4.98542601e-04,
 -3.26734310e-01,-2.01208870e-04,-2.07859884e-04,-9.37829379e-04,
  0.00000000e+00, 6.51051504e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-3.82604153e-21]


--- Step 14 ---
qpos:
[ 4.91704311e-03, 7.62418454e-03,-2.61072074e-03,-6.73100558e-03,
  2.06767355e-03, 1.18205575e-03,-2.07708255e-03, 7.09540985e-03,
  3.19599043e-03, 7.00079847e-03,-2.32741413e-03, 6.88748118e-03,
  1.10035046e-01, 1.58320519e-03, 3.15371681e-02, 1.21461807e-02,
  6.00000000e-02,-7.00000000e-02, 1.75291200e-01, 1.00000000e+00,
  2.13310701e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.08801435e+01,-5.46844008e+00,-3.61957796e+01, 1.82898450e+02,
 -2.12404665e+01,-2.77371867e+01, 1.30371453e+02,-2.78011215e+02,
 -3.18387832e+01,-3.85470569e+01, 1.55308535e+02,-3.03411049e+02,
 -6.11012404e+01, 3.33937841e+01, 4.43888860e+01,-1.55516100e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01413885, 0.02379369,-0.00689474,-0.01929171, 0.00595096, 0.0035722 ,
 -0.00593662, 0.02047134, 0.00923123, 0.02225858,-0.00588796, 0.02000463,
  0.11588259, 0.00469546, 0.09      , 0.03152378, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.99770579e-04,-1.24899752e-03,-1.10416065e-04, 3.64896301e-04,
 -1.24947358e-04,-2.26705207e-04, 9.12818987e-05,-4.32442645e-04,
 -1.88217043e-04,-1.25395281e-03,-1.62716382e-04,-5.05521540e-04,
 -3.20558267e-01,-3.26379877e-04,-2.11821360e-04,-8.12495470e-04,
  0.00000000e+00, 7.55065650e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-4.41466330e-21]


--- Step 15 ---
qpos:
[ 5.19381557e-03, 8.10076055e-03,-2.74043739e-03,-7.10677215e-03,
  2.18438454e-03, 1.25534180e-03,-2.19096511e-03, 7.49707253e-03,
  3.37728472e-03, 7.44862683e-03,-2.43707214e-03, 7.28121591e-03,
  1.18388148e-01, 1.68474539e-03, 3.37612177e-02, 1.28588302e-02,
  6.00000000e-02,-7.00000000e-02, 1.74663360e-01, 1.00000000e+00,
  2.41752096e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.27757951e+01,-3.32174228e+00,-4.24487234e+01, 1.88492519e+02,
 -2.08547235e+01,-2.65179298e+01, 1.27901673e+02,-2.79133878e+02,
 -3.15607593e+01,-3.46513139e+01, 1.39139282e+02,-2.74369568e+02,
 -7.27778928e+01, 3.40445142e+01, 4.59302524e+01,-1.60261328e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01383842, 0.02332577,-0.00675907,-0.01887773, 0.00583202, 0.00352515,
 -0.00580354, 0.02004536, 0.00904912, 0.02180182,-0.00578358, 0.01960504,
  0.11513607, 0.00459069, 0.09      , 0.03076819, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.10732251e-04,-1.18976897e-03,-1.26862601e-04, 3.63766831e-04,
 -1.22555127e-04,-1.75812423e-04, 8.21015860e-05,-4.41773224e-04,
 -1.86457397e-04,-1.22889069e-03,-1.96921469e-04,-4.70413020e-04,
 -3.12226276e-01,-4.62307978e-04,-2.01982946e-04,-8.32383302e-04,
  0.00000000e+00, 8.66784547e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-5.04532949e-21]


--- Step 16 ---
qpos:
[ 5.46446218e-03, 8.56753668e-03,-2.86722529e-03,-7.47544023e-03,
  2.29910647e-03, 1.32753874e-03,-2.30316596e-03, 7.89083370e-03,
  3.55466778e-03, 7.88713597e-03,-2.54487823e-03, 7.66703417e-03,
  1.26498587e-01, 1.78584361e-03, 3.59851389e-02, 1.35582264e-02,
  6.00000000e-02,-7.00000000e-02, 1.73996280e-01, 1.00000000e+00,
  2.71971047e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-5.36070809e+01,-6.41640341e+00,-2.56831653e+01, 1.50829549e+02,
 -1.74405296e+01,-2.23834409e+01, 1.11134803e+02,-2.49837266e+02,
 -3.41646046e+01,-3.37369552e+01, 1.35952960e+02,-2.69190762e+02,
 -8.20373103e+01, 3.62279973e+01, 4.01297034e+01,-1.40209671e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01353332, 0.02289605,-0.00659174,-0.01851949, 0.00573315, 0.00348627,
 -0.00571513, 0.019652  , 0.00885176, 0.02137216,-0.00567825, 0.01921262,
  0.11439374, 0.00446946, 0.09      , 0.03010984, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.15667029e-04,-1.12154502e-03,-8.49533370e-05, 3.09982072e-04,
 -1.02395561e-04,-1.41440300e-04, 4.65022938e-05,-4.07453276e-04,
 -2.01687910e-04,-1.19300947e-03,-1.93697503e-04,-4.62643430e-04,
 -3.02159956e-01,-5.83200502e-04,-2.03292990e-04,-7.35755217e-04,
  0.00000000e+00, 9.55089160e-39,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-5.71803932e-21]


--- Step 17 ---
qpos:
[ 5.73001010e-03, 9.02490155e-03,-2.99155516e-03,-7.83696438e-03,
  2.41175080e-03, 1.39844034e-03,-2.41340069e-03, 8.27680731e-03,
  3.72902165e-03, 8.31633444e-03,-2.65072084e-03, 8.04510650e-03,
  1.34344952e-01, 1.88549418e-03, 3.82091229e-02, 1.42443039e-02,
  6.00000000e-02,-7.00000000e-02, 1.73289960e-01, 1.00000000e+00,
  3.03967556e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-4.45871419e+01,-4.51064013e+00,-3.19538368e+01, 1.58383075e+02,
 -1.82072868e+01,-2.32148823e+01, 1.13225663e+02,-2.50262429e+02,
 -2.64016923e+01,-3.37013570e+01, 1.35096675e+02,-2.65540293e+02,
 -8.91993218e+01, 3.19552013e+01, 4.06304485e+01,-1.41486145e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01328118, 0.02245739,-0.00646013,-0.01816134, 0.00562914, 0.00341696,
 -0.00561821, 0.01926322, 0.00870024, 0.02092679,-0.00557305, 0.01882759,
  0.11365882, 0.00430328, 0.09      , 0.02944303, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.62794637e-04,-1.08566398e-03,-1.03216814e-04, 3.13221201e-04,
 -1.06959004e-04,-1.58481858e-04, 5.89220248e-05,-4.01948802e-04,
 -1.56293921e-04,-1.18732835e-03,-1.85635927e-04,-4.53416992e-04,
 -2.90720065e-01,-7.26626190e-04,-1.95408603e-04,-7.39484424e-04,
  0.00000000e+00, 1.17549435e-38,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-6.43279281e-21]


--- Step 18 ---
qpos:
[ 5.99044464e-03, 9.47281816e-03,-3.11394646e-03,-8.19134171e-03,
  2.52227194e-03, 1.46810314e-03,-2.52132998e-03, 8.65403557e-03,
  3.90091852e-03, 8.73636359e-03,-2.75464930e-03, 8.41557677e-03,
  1.41912114e-01, 1.98436529e-03, 4.04337451e-02, 1.49130720e-02,
  6.00000000e-02,-7.00000000e-02, 1.72544400e-01, 1.00000000e+00,
  3.37741622e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-4.47230826e+01,-3.10103843e+00,-3.70610695e+01, 1.64394314e+02,
 -1.85994025e+01,-2.60609167e+01, 1.27526676e+02,-2.81726473e+02,
 -2.13719993e+01,-3.30900067e+01, 1.32563950e+02,-2.60525122e+02,
 -9.45535675e+01, 4.52161909e+01, 5.36019132e+01,-1.85557934e+02,
  3.00161339e-20,-3.79435377e-21,-9.81000000e+00,-8.06566812e-19,
  4.58096073e-17, 1.79406834e-18]

qfrc_actuator:
[ 0.01302674, 0.02198139,-0.00636842,-0.01780612, 0.00552292, 0.00336554,
 -0.00549939, 0.01882698, 0.0085769 , 0.02049348,-0.00546877, 0.01844999,
  0.11293368, 0.00418234, 0.09      , 0.02856347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.63558172e-04,-1.10624286e-03,-1.37763839e-04, 3.11250598e-04,
 -1.09299968e-04,-1.47277922e-04, 7.90313283e-05,-4.49589375e-04,
 -1.26842055e-04,-1.16970042e-03,-1.83974974e-04,-4.45252663e-04,
 -2.78201475e-01,-7.74601693e-04,-1.95326430e-04,-9.52101071e-04,
  0.00000000e+00, 1.17549435e-38,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-7.18958996e-21]


--- Step 19 ---
qpos:
[ 6.24543402e-03, 9.91105369e-03,-3.23394561e-03,-8.53905007e-03,
  2.63100503e-03, 1.53644058e-03,-2.62672801e-03, 9.02342559e-03,
  4.07002512e-03, 9.14764050e-03,-2.85707995e-03, 8.77823833e-03,
  1.49189368e-01, 2.08285125e-03, 4.26589349e-02, 1.55631470e-02,
  6.00334949e-02,-7.00235373e-02, 1.71933158e-01, 9.99999983e-01,
  1.06606772e-04, 1.53407069e-04,-3.38937273e-06]

qacc:
[ -47.61160028,  -5.65550013, -26.37390259, 144.87571546, -15.64031805,
  -24.94386049, 119.53862238,-258.32603644, -24.31361274, -31.7945435 ,
  129.62767637,-260.8185768 , -98.38303211,  54.88535423,  57.71434871,
 -200.03399767,   8.37371411,  -5.8843329 ,  33.57940236,  53.30338633,
   76.70353504,  -1.69468638]

qfrc_actuator:
[ 0.01275522, 0.02150454,-0.00624784,-0.01747329, 0.005434  , 0.00330757,
 -0.00536856, 0.01843734, 0.00843562, 0.02008874,-0.00538353, 0.01806205,
  0.11225191, 0.00408845, 0.09      , 0.02761884, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004381976454701231
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26680624e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.26680624e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464013, -0.0506037 ,  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:
[-2.80641080e-04,-1.12550206e-03,-1.17400219e-04, 2.86761762e-04,
 -9.20549087e-05,-1.45418952e-04, 9.41952152e-05,-4.02717985e-04,
 -1.43979873e-04,-1.13025356e-03,-1.98790992e-04,-4.54588922e-04,
 -2.64885325e-01,-8.29009561e-04,-2.22518175e-04,-1.02978549e-03,
  0.00000000e+00, 1.46936794e-38,-4.90500000e+00, 4.28442312e-04,
  1.18262456e-02,-7.98843075e-21]


--- Step 20 ---
qpos:
[ 6.49516116e-03, 1.03396424e-02,-3.35139296e-03,-8.87938821e-03,
  2.73748153e-03, 1.60331123e-03,-2.72970487e-03, 9.38597287e-03,
  4.23545814e-03, 9.54998872e-03,-2.95720497e-03, 9.13336533e-03,
  1.56169590e-01, 2.18078782e-03, 4.48841254e-02, 1.61975480e-02,
  6.00973461e-02,-7.00684068e-02, 1.71440011e-01, 9.99999852e-01,
  3.09948339e-04, 4.46016698e-04,-9.85487474e-06]

qacc:
[ -45.98900263,  -4.61521283, -32.98048435, 163.3380556 , -19.76484463,
  -22.76434936, 107.30793835,-228.60159684, -32.03364762, -33.70637313,
  134.97474527,-262.61107643,-100.8989005 ,  57.89028434,  47.74146636,
 -166.3149736 ,   7.58909965,  -5.33303425,  29.52395529,  48.36740447,
   69.60128964,  -1.53806493]

qfrc_actuator:
[ 0.01249357, 0.02104895,-0.00611118,-0.01710299, 0.00532048, 0.0032285 ,
 -0.00524942, 0.01809601, 0.00824938, 0.01966888,-0.00525681, 0.01768891,
  0.11159652, 0.00399295, 0.09      , 0.02683875, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010374663295330683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.35064605e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.35064605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03478879, -0.050708  ,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71226456e-04,-1.11154135e-03,-1.03553751e-04, 3.23619687e-04,
 -1.16174256e-04,-1.60300437e-04, 8.63791831e-05,-3.52880403e-04,
 -1.89441651e-04,-1.12646756e-03,-1.51207384e-04,-4.38762730e-04,
 -2.51009781e-01,-9.04795107e-04,-2.44929496e-04,-8.73323065e-04,
  2.89761758e-05,-2.03814376e-05,-4.90501109e+00, 4.26715244e-04,
  1.18259752e-02,-2.38145500e-06]


--- Step 21 ---
qpos:
[ 6.73978569e-03, 1.07588422e-02,-3.46701798e-03,-9.21227739e-03,
  2.84107901e-03, 1.66888483e-03,-2.83051425e-03, 9.74193467e-03,
  4.39705163e-03, 9.94323722e-03,-3.05477576e-03, 9.48157781e-03,
  1.62849210e-01, 2.27833098e-03, 4.71089513e-02, 1.68203376e-02,
  6.01877365e-02,-7.01319261e-02, 1.71045151e-01, 9.99999450e-01,
  5.98322498e-04, 8.60993378e-04,-1.90255025e-05]

qacc:
[ -44.60341118,  -2.07521276, -41.87709319, 174.57418407, -25.25404673,
  -21.289989  , 101.30942962,-217.89054893, -33.46973379, -33.34737285,
  130.75424425,-247.93675732,-102.28567052,  63.69285132,  34.90582671,
 -122.15356512,   6.63477251,  -4.66245942,  24.5716666 ,  42.51633647,
   61.18358304,  -1.3525649 ]

qfrc_actuator:
[ 0.01223985, 0.02059219,-0.00601924,-0.01673135, 0.00517563, 0.00317293,
 -0.0051382 , 0.01776805, 0.00805591, 0.01922587,-0.00512435, 0.01734524,
  0.11097869, 0.00391455, 0.09      , 0.02626837, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015077312652606867
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68176694e-14, -3.68176694e-14,  1.00000000e+00, -1.35554078e-27,
        1.00000000e+00,  3.68176694e-14, -1.00000000e+00,  0.00000000e+00,
       -3.68176694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03490578, -0.05079007,  0.06197315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63006853e-04,-1.10013399e-03,-1.42339749e-04, 3.26764246e-04,
 -1.48199510e-04,-1.44554933e-04, 7.61542597e-05,-3.39433130e-04,
 -1.97989466e-04,-1.13670165e-03,-1.38194551e-04,-4.07133486e-04,
 -2.36742383e-01,-9.55293433e-04,-2.37955092e-04,-6.57800589e-04,
  1.05396470e-04,-7.41364045e-05,-4.90504045e+00, 4.22661913e-04,
  1.18259825e-02,-6.91749213e-06]


--- Step 22 ---
qpos:
[ 6.97978762e-03, 1.11690471e-02,-3.58116367e-03,-9.53814860e-03,
  2.94213413e-03, 1.73321523e-03,-2.92922097e-03, 1.00911791e-02,
  4.55509231e-03, 1.03280271e-02,-3.15062353e-03, 9.82325403e-03,
  1.69227192e-01, 2.37519823e-03, 4.93333578e-02, 1.74347896e-02,
  6.03014439e-02,-7.02118311e-02, 1.70731700e-01, 9.99998579e-01,
  9.61788870e-04, 1.38403952e-03,-3.05856697e-05]

qacc:
[ -40.3948194 ,  -1.4917182 , -41.39749496, 166.91026091, -22.29394547,
  -21.31496789, 102.04874339,-220.83800917, -30.98065059, -29.40172285,
  116.31053391,-226.08079624,-102.71918985,  64.22928952,  24.915176  ,
  -87.28621541,   5.82926739,  -4.09643419,  20.35216641,  37.54623261,
   54.03490978,  -1.19477695]

qfrc_actuator:
[ 0.01201059, 0.02017384,-0.00593667,-0.01637968, 0.005049  , 0.00311415,
 -0.00503245, 0.01743284, 0.0078775 , 0.01884374,-0.00502514, 0.01702166,
  0.11039441, 0.00382874, 0.09      , 0.02586151, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018700441394963047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96844069e-14, -2.96844069e-14,  1.00000000e+00, -8.81164015e-28,
        1.00000000e+00,  2.96844069e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96844069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0349964 , -0.05085365,  0.06196668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38290268e-04,-1.06290165e-03,-1.53946473e-04, 3.06003778e-04,
 -1.30873408e-04,-1.40487513e-04, 7.31530688e-05,-3.46086382e-04,
 -1.83213597e-04,-1.07721486e-03,-1.70761093e-04,-3.86394947e-04,
 -2.22264956e-01,-1.02103567e-03,-2.11914049e-04,-4.81623715e-04,
  2.11910250e-04,-1.49063686e-04,-4.90508162e+00, 4.16977192e-04,
  1.18259379e-02,-1.33507825e-05]


--- Step 23 ---
qpos:
[ 7.21549649e-03, 1.15705441e-02,-3.69336296e-03,-9.85802977e-03,
  3.04122980e-03, 1.79633414e-03,-3.02587863e-03, 1.04333288e-02,
  4.70944250e-03, 1.07051394e-02,-3.24530447e-03, 1.01586483e-02,
  1.75305140e-01, 2.47147896e-03, 5.15578837e-02, 1.80396118e-02,
  6.04357480e-02,-7.03062103e-02, 1.70485293e-01, 9.99997024e-01,
  1.39189128e-03, 2.00299520e-03,-4.42663401e-05]

qacc:
[ -37.48230072,  -4.54082931, -25.6492225 , 132.43260982, -17.16544606,
  -21.91050013, 105.80916039,-231.0496509 , -32.20947279, -26.28812111,
  105.63773941,-210.6978154 ,-102.34765339,  68.20659267,  29.64247424,
 -102.63039428,   5.14918169,  -3.61852533,  16.76099556,  33.31831149,
   47.95518594,  -1.06026974]

qfrc_actuator:
[ 0.01179755, 0.0197819 ,-0.00582461,-0.01607805, 0.00495188, 0.00305389,
 -0.00493077, 0.0170783 , 0.00769161, 0.01851887,-0.00494606, 0.01671252,
  0.10979857, 0.00375666, 0.09      , 0.02537662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002142311253717624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59118049e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.59118049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03506504, -0.0509018 ,  0.06196182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21315993e-04,-1.01864469e-03,-1.18831116e-04, 2.56758859e-04,
 -1.00873639e-04,-1.40547665e-04, 6.93162163e-05,-3.65469602e-04,
 -1.90270754e-04,-9.92221736e-04,-1.81810790e-04,-3.70104239e-04,
 -2.07749101e-01,-1.05892653e-03,-1.82524571e-04,-5.47003445e-04,
  3.36513400e-04,-2.36721611e-04,-4.90513019e+00, 4.10153614e-04,
  1.18256265e-02,-2.14618556e-05]


--- Step 24 ---
qpos:
[ 7.44714103e-03, 1.19635624e-02,-3.80356245e-03,-1.01718405e-02,
  3.13839013e-03, 1.85816100e-03,-3.12025050e-03, 1.07685472e-02,
  4.86073109e-03, 1.10750080e-02,-3.33890751e-03, 1.04869589e-02,
  1.81086097e-01, 2.56653510e-03, 5.37826539e-02, 1.86343318e-02,
  6.05883524e-02,-7.04134497e-02, 1.70293718e-01, 9.99994563e-01,
  1.88143138e-03, 2.70751178e-03,-5.98378643e-05]

qacc:
[ -35.46717418,  -4.22545705, -26.67973764, 134.60642382, -16.94442834,
  -22.34261956, 106.50496901,-229.23618917, -26.69495755, -27.12771333,
  112.82941849,-231.92113738,-101.30229986,  63.9032842 ,  31.26420244,
 -108.01130162,   4.57505485,  -3.21506569,  13.70827205,  29.71939038,
   42.78124898,  -0.9454635 ]

qfrc_actuator:
[ 0.01159578, 0.01939136,-0.00571366,-0.01577271, 0.00485515, 0.00299321,
 -0.00481458, 0.01673297, 0.00753831, 0.01819547,-0.00487919, 0.01636113,
  0.10921716, 0.0036575 , 0.09      , 0.02486729, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023397506022187903
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37252428e-14, -2.37252428e-14,  1.00000000e+00, -5.62887148e-28,
        1.00000000e+00,  2.37252428e-14, -1.00000000e+00,  0.00000000e+00,
       -2.37252428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03511536, -0.0509371 ,  0.06195828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09534761e-04,-9.87051013e-04,-1.08112370e-04, 2.62618097e-04,
 -9.96357140e-05,-1.42575340e-04, 8.26816672e-05,-3.56754402e-04,
 -1.57886995e-04,-9.44553084e-04,-1.77177626e-04,-4.08735035e-04,
 -1.93300996e-01,-1.12838488e-03,-1.79689021e-04,-5.72093928e-04,
  4.71004760e-04,-3.31342431e-04,-4.90518318e+00, 4.02538571e-04,
  1.18249129e-02,-3.10633496e-05]


--- Step 25 ---
qpos:
[ 7.67454363e-03, 1.23481330e-02,-3.91167517e-03,-1.04795600e-02,
  3.23363498e-03, 1.91875963e-03,-3.21249029e-03, 1.10966619e-02,
  5.00868226e-03, 1.14376037e-02,-3.43081973e-03, 1.08077471e-02,
  1.86574900e-01, 2.65989986e-03, 5.60075177e-02, 1.92200804e-02,
  6.07573193e-02,-7.05321877e-02, 1.70146611e-01, 9.99990973e-01,
  2.42428208e-03, 3.48878312e-03,-7.71041208e-05]

qacc:
[ -37.01474645,  -4.38182256, -26.1444647 , 134.26105576, -16.77552734,
  -22.1838811 , 106.78893355,-232.305158  , -29.08466694, -29.77915062,
  124.08774144,-251.74203327, -99.67648826,  60.86961268,  27.62063949,
  -95.56974656,   4.09063799,  -2.87464225,  11.11667948,  26.65623401,
   38.37871042,  -0.84743049]

qfrc_actuator:
[ 0.01138449, 0.01898717,-0.00560421,-0.01546762, 0.00475941, 0.00293285,
 -0.00470849, 0.01637809, 0.00736989, 0.01785783,-0.00478452, 0.01598773,
  0.10868688, 0.00354296, 0.09      , 0.02441862, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024752820086047927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24261927e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.24261927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03515043, -0.05096169,  0.06195584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18675426e-04,-9.80288607e-04,-1.01497541e-04, 2.64204432e-04,
 -9.86115533e-05,-1.40223998e-04, 7.41151624e-05,-3.65745097e-04,
 -1.72080016e-04,-9.32567095e-04,-1.40213717e-04,-4.29283276e-04,
 -1.78955513e-01,-1.18131955e-03,-1.82843783e-04,-5.12847795e-04,
  6.09876481e-04,-4.29052058e-04,-4.90523860e+00, 3.94375422e-04,
  1.18237163e-02,-4.19952768e-05]


--- Step 26 ---
qpos:
[ 7.89727873e-03, 1.27245162e-02,-4.01751599e-03,-1.07816204e-02,
  3.32733626e-03, 1.97804935e-03,-3.30299265e-03, 1.14183405e-02,
  5.15383094e-03, 1.17925095e-02,-3.52060926e-03, 1.11229429e-02,
  1.91778111e-01, 2.75158416e-03, 5.82326536e-02, 1.97959695e-02,
  6.09410155e-02,-7.06612764e-02, 1.70035182e-01, 9.99986035e-01,
  3.01523258e-03, 4.33932203e-03,-9.58976686e-05]

qacc:
[ -40.73791006,  -5.43781642, -20.04510952, 120.18700872, -13.51274642,
  -19.81827075,  95.37011311,-208.62881654, -24.36523052, -27.57131434,
  107.25203521,-201.86870199, -97.58477073,  62.40561887,  30.58223199,
 -105.52893098,   3.68231419,  -2.58768958,   8.91972918,  24.05131842,
   34.63584711,  -0.76374829]

qfrc_actuator:
[ 0.01115155, 0.01861364,-0.00547879,-0.01518289, 0.00468276, 0.00285538,
 -0.00462697, 0.01605593, 0.00722942, 0.01747906,-0.00467422, 0.01571089,
  0.10820288, 0.00343791, 0.09      , 0.02392051, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025598605294797905
  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([ 0.03517283, -0.05097739,  0.0619543 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40566040e-04,-9.44123120e-04,-8.31997175e-05, 2.44402332e-04,
 -7.94796574e-05,-1.58138800e-04, 4.86671576e-05,-3.33381167e-04,
 -1.44564962e-04,-9.59986999e-04,-1.18181180e-04,-3.31289565e-04,
 -1.64807171e-01,-1.20142772e-03,-1.78389053e-04,-5.59574538e-04,
  7.49529462e-04,-5.27318485e-04,-4.90529516e+00, 3.85832626e-04,
  1.18219931e-02,-5.41210830e-05]


--- Step 27 ---
qpos:
[ 8.11546847e-03, 1.30928590e-02,-4.12090347e-03,-1.10776044e-02,
  3.41973492e-03, 2.03594929e-03,-3.39236500e-03, 1.17343860e-02,
  5.29653297e-03, 1.21397269e-02,-3.60872102e-03, 1.14330642e-02,
  1.96703328e-01, 2.84158850e-03, 6.04583305e-02, 2.03594828e-02,
  6.11380662e-02,-7.07997498e-02, 1.69951995e-01, 9.99979537e-01,
  3.64985826e-03, 5.25277299e-03,-1.16075694e-04]

qacc:
[ -39.65232314,  -4.89337745, -23.46774284, 130.43242651, -11.409091  ,
  -16.57705923,  80.2614822 ,-178.58418553, -21.25329305, -25.26475356,
   96.83374607,-181.7646583 , -95.13389934,  63.39101765,  38.60977243,
 -133.01897443,   3.33863452,  -2.34616444,   7.06026033,  21.83963564,
   31.4589923 ,  -0.69239136]

qfrc_actuator:
[ 0.01092549, 0.01824388,-0.00534482,-0.01487687, 0.00461798, 0.00276821,
 -0.0045784 , 0.01577333, 0.00710651, 0.0170967 ,-0.00459114, 0.01545757,
  0.10772993, 0.00333921, 0.09      , 0.02329068, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026027616509662344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.1327789e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.1327789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03518475, -0.05098573,  0.0619535 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34273554e-04,-9.16934685e-04,-6.55390269e-05, 2.67490588e-04,
 -6.70877628e-05,-1.81673004e-04, 1.00061405e-05,-2.94827998e-04,
 -1.26255374e-04,-9.69897834e-04,-1.44899252e-04,-3.06255104e-04,
 -1.50977587e-01,-1.21572309e-03,-1.82917656e-04,-6.93643501e-04,
  8.87714678e-04,-6.24559052e-04,-4.90535206e+00, 3.77024604e-04,
  1.18197251e-02,-6.73243418e-05]


--- Step 28 ---
qpos:
[ 8.32854112e-03, 1.34532554e-02,-4.22195463e-03,-1.13676217e-02,
  3.51063812e-03, 2.09249175e-03,-3.48017902e-03, 1.20438483e-02,
  5.43667278e-03, 1.24791142e-02,-3.69504131e-03, 1.17363413e-02,
  2.01358935e-01, 2.92988768e-03, 6.26840715e-02, 2.09128206e-02,
  6.13473166e-02,-7.09467963e-02, 1.69890764e-01, 9.99971272e-01,
  4.32441085e-03, 6.22375385e-03,-1.37516591e-04]

qacc:
[ -44.66072756,  -4.65821988, -23.6453314 , 128.80946595, -13.09404761,
  -19.68548516,  95.42364904,-210.90580269, -22.25321265, -29.41318171,
  118.82887657,-234.4726803 , -92.39719964,  63.60676954,  31.23879806,
 -108.2510462 ,   3.04994426,  -2.14328354,   5.48914614,  19.9662649 ,
   28.76903132,  -0.63165016]

qfrc_actuator:
[ 0.01066981, 0.01786177,-0.00522455,-0.01457851, 0.00454293, 0.00271134,
 -0.00449644, 0.01544523, 0.00697715, 0.0166975 ,-0.00450706, 0.01511357,
  0.10728386, 0.003245  , 0.09      , 0.02278357, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026118254324228457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12537754e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12537754e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03518803, -0.05098801,  0.06195331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63697322e-04,-9.09191456e-04,-7.05997397e-05, 2.62055282e-04,
 -7.70071803e-05,-1.70820363e-04, 3.51297627e-05,-3.41915007e-04,
 -1.32210258e-04,-9.96452426e-04,-1.48283481e-04,-3.97780325e-04,
 -1.37502669e-01,-1.22555595e-03,-2.01078428e-04,-5.79258247e-04,
  1.02313322e-03,-7.19859285e-04,-4.90540884e+00, 3.68026778e-04,
  1.18169103e-02,-8.15059600e-05]


--- Step 29 ---
qpos:
[ 8.53756161e-03, 1.38057210e-02,-4.32081740e-03,-1.16514522e-02,
  3.59993452e-03, 2.14776067e-03,-3.56583370e-03, 1.23465593e-02,
  5.57453753e-03, 1.28106511e-02,-3.77968387e-03, 1.20324324e-02,
  2.05753654e-01, 3.01611954e-03, 6.49097948e-02, 2.14571561e-02,
  6.15677995e-02,-7.11017361e-02, 1.69846190e-01, 9.99961042e-01,
  5.03572507e-03, 7.24772134e-03,-1.60117050e-04]

qacc:
[ -35.3172322 ,  -3.78884248, -27.67424957, 136.9031035 , -14.05652969,
  -21.59897265, 103.12007898,-222.5376439 , -19.73495212, -29.8306501 ,
  121.71322781,-243.06654514, -89.43225492,  59.9319867 ,  27.56219042,
  -95.56528587,   2.80807993,  -1.97331091,   4.16417828,  18.38450927,
   26.49871246,  -0.58007034]

qfrc_actuator:
[ 0.01046974, 0.01747535,-0.00511337,-0.01426932, 0.00446243, 0.00267317,
 -0.00437757, 0.01511078, 0.00686277, 0.01630918,-0.00442316, 0.01475445,
  0.10687916, 0.00313642, 0.09      , 0.02233509, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025936656257340707
  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([ 0.03518424, -0.05098531,  0.0619536 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08890943e-04,-9.10182407e-04,-7.88413369e-05, 2.72943424e-04,
 -8.27281884e-05,-1.42837822e-04, 7.57603818e-05,-3.47828590e-04,
 -1.17433333e-04,-1.00478678e-03,-1.57448352e-04,-4.15895344e-04,
 -1.24407007e-01,-1.24847927e-03,-1.95649275e-04,-5.16369338e-04,
  1.15514893e-03,-8.12770898e-04,-4.90546530e+00, 3.58886483e-04,
  1.18135576e-02,-9.65818012e-05]


--- Step 30 ---
qpos:
[ 8.74322832e-03, 1.41501900e-02,-4.41785176e-03,-1.19289886e-02,
  3.68757146e-03, 2.20181418e-03,-3.64973607e-03, 1.26432598e-02,
  5.70997832e-03, 1.31351941e-02,-3.86344154e-03, 1.23221817e-02,
  2.09897361e-01, 3.10066298e-03, 6.71357932e-02, 2.19909172e-02,
  6.17987067e-02,-7.12640014e-02, 1.69813812e-01, 9.99948653e-01,
  5.78113871e-03, 8.32085611e-03,-1.83789568e-04]

qacc:
[ -29.19662898,  -2.6604264 , -32.2955448 , 144.02299436, -14.53341449,
  -18.85757031,  90.33168265,-196.32336671, -21.07030934, -24.74047749,
  101.646555  ,-207.75483571, -86.2992915 ,  63.6468777 ,  32.76143761,
 -113.12011473,   2.60612221,  -1.83138453,   3.04910531,  17.05445093,
   24.59056154,  -0.53640651]

qfrc_actuator:
[ 0.01030403, 0.01707177,-0.00502618,-0.01395623, 0.00437938, 0.00261117,
 -0.00429103, 0.01481083, 0.00674036, 0.01601929,-0.00435772, 0.01444261,
  0.10648156, 0.00305578, 0.09      , 0.0218004 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002553848867540884
  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([ 0.0351747 , -0.05097858,  0.06195428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72954080e-04,-9.28859462e-04,-1.03621066e-04, 2.76720227e-04,
 -8.54391945e-05,-1.42842715e-04, 5.40097010e-05,-3.10826430e-04,
 -1.25067370e-04,-9.13401594e-04,-1.79303343e-04,-3.69620414e-04,
 -1.11741777e-01,-1.22534565e-03,-1.86460539e-04,-5.98450150e-04,
  1.28358170e-03,-9.03166448e-04,-4.90552138e+00, 3.49630919e-04,
  1.18096820e-02,-1.12480652e-04]


--- Step 31 ---
qpos:
[ 8.94459970e-03, 1.44873710e-02,-4.51368628e-03,-1.22010054e-02,
  3.77284128e-03, 2.25466209e-03,-3.73250444e-03, 1.29340869e-02,
  5.84257281e-03, 1.34529821e-02,-3.94550580e-03, 1.26058270e-02,
  2.13800090e-01, 3.18378668e-03, 6.93618963e-02, 2.25148421e-02,
  6.20393668e-02,-7.14331202e-02, 1.69789886e-01, 9.99933913e-01,
  6.55842415e-03, 9.43996406e-03,-2.08460300e-04]

qacc:
[ -37.47087688,  -1.54521639, -31.61824366, 130.40287844, -20.78140728,
  -16.82129612,  82.53265543,-185.19305022, -24.73627315, -26.18823447,
  106.27569704,-209.75268762, -83.07076428,  65.85366581,  30.2727327 ,
 -104.78078339,   2.43819367,  -1.71337427,   2.11280384,  15.94181779,
   22.99524569,  -0.49958651]

qfrc_actuator:
[ 0.01008884, 0.01674989,-0.00495391,-0.01367889, 0.00425999, 0.00253532,
 -0.0042421 , 0.01451578, 0.00659644, 0.01573748,-0.00424998, 0.01414341,
  0.10610738, 0.00299234, 0.09      , 0.02130794, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024970482674302463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22307081e-14, -2.22307081e-14,  1.00000000e+00, -4.94204384e-28,
        1.00000000e+00,  2.22307081e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22307081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03516054, -0.05096859,  0.06195525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21389131e-04,-8.62281712e-04,-1.25250545e-04, 2.39385073e-04,
 -1.21860873e-04,-1.59561339e-04, 1.50065395e-05,-3.05940270e-04,
 -1.46788915e-04,-8.56495170e-04,-1.19131552e-04,-3.52891019e-04,
 -9.95483007e-02,-1.20394116e-03,-1.92330490e-04,-5.59854221e-04,
  1.40855876e-03,-9.91134806e-04,-4.90557715e+00, 3.40272961e-04,
  1.18053019e-02,-1.29142475e-04]


--- Step 32 ---
qpos:
[ 9.14215159e-03, 1.48179367e-02,-4.60832278e-03,-1.24680140e-02,
  3.85567145e-03, 2.30656146e-03,-3.81414939e-03, 1.32183805e-02,
  5.97208548e-03, 1.37635446e-02,-4.02530116e-03, 1.28843666e-02,
  2.17471632e-01, 3.26532174e-03, 7.15882119e-02, 2.30281550e-02,
  6.22612274e-02,-7.15929631e-02, 1.69806891e-01, 9.99918551e-01,
  7.29403083e-03, 1.04706962e-02,-2.28217987e-04]

qacc:
[ -33.30400886,  -1.7127872 , -27.58680984, 117.04425401, -21.42486106,
  -17.81006629,  89.33989318,-203.59837628, -26.76062754, -26.35827192,
  101.77138702,-188.54862569, -79.77362929,  63.27515496,  32.77976261,
 -113.32706557,  -4.69988261,   2.31897462,  10.23292358, -20.84996684,
  -44.17030636,   2.54937663]

qfrc_actuator:
[ 0.00989951, 0.01647952,-0.00487293,-0.01342474, 0.00413791, 0.0025049 ,
 -0.00418032, 0.01419044, 0.006441  , 0.01537433,-0.00413577, 0.0138896 ,
  0.10577137, 0.00292188, 0.09      , 0.02077329, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002447392497988074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26817526e-14,  1.13408763e-14,  1.00000000e+00, -2.57230951e-28,
        1.00000000e+00, -1.13408763e-14, -1.00000000e+00,  0.00000000e+00,
        2.26817526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09742242, -0.08764665,  0.06195611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96869612e-04,-7.79373547e-04,-1.06685465e-04, 2.17572806e-04,
 -1.25582220e-04,-1.31299548e-04, 1.97897887e-05,-3.38190633e-04,
 -1.58929328e-04,-8.92656314e-04,-9.28496911e-05,-3.02630443e-04,
 -8.78197427e-02,-1.20297875e-03,-1.90124476e-04,-6.00516797e-04,
  1.53040812e-03,-1.07690621e-03,-4.90563276e+00, 3.30815403e-04,
  1.18004367e-02,-1.46516900e-04]


--- Step 33 ---
qpos:
[ 9.33587898e-03, 1.51420444e-02,-4.70147542e-03,-1.27299400e-02,
  3.93708343e-03, 2.35753225e-03,-3.89393367e-03, 1.34961514e-02,
  6.09840158e-03, 1.40667513e-02,-4.10358714e-03, 1.31577450e-02,
  2.20921893e-01, 3.34512419e-03, 7.38144023e-02, 2.35331116e-02,
  6.24663276e-02,-7.17445767e-02, 1.69856630e-01, 9.99902785e-01,
  7.99245587e-03, 1.14228252e-02,-2.43827812e-04]

qacc:
[ -33.33238652,  -2.15063997, -26.03832676, 116.21148008, -12.41143693,
  -19.83985279,  96.53911354,-211.77025255, -27.7759601 , -24.51981558,
   95.20470294,-181.63805635, -76.42837062,  60.65434612,  25.44040124,
  -88.38978602,  -4.1900632 ,   2.05733145,   8.1836249 , -18.6005917 ,
  -39.28541716,   2.16572506]

qfrc_actuator:
[ 0.00970918, 0.01618904,-0.0047872 ,-0.01316846, 0.0040685 , 0.00248421,
 -0.00407576, 0.01386769, 0.00628003, 0.01498329,-0.0040722 , 0.01362897,
  0.10545007, 0.00284794, 0.09      , 0.02036006, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025288931624538047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19507696e-14, -1.09753848e-14,  1.00000000e+00, -2.40918144e-28,
        1.00000000e+00,  1.09753848e-14, -1.00000000e+00,  0.00000000e+00,
       -2.19507696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09739739, -0.08763754,  0.06195469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97120721e-04,-7.49984591e-04,-8.32292027e-05, 2.23483251e-04,
 -7.30090439e-05,-1.06125625e-04, 6.78896555e-05,-3.34841820e-04,
 -1.64849593e-04,-9.32948871e-04,-1.45907741e-04,-3.09098801e-04,
 -7.65671833e-02,-1.19703162e-03,-1.93781311e-04,-4.81121505e-04,
  1.29827864e-03,-9.37295436e-04,-4.90555273e+00, 3.38552459e-04,
  1.17851725e-02,-1.62926034e-04]


--- Step 34 ---
qpos:
[ 9.52511064e-03, 1.54595238e-02,-4.79261272e-03,-1.29867714e-02,
  4.01702970e-03, 2.40741883e-03,-3.97155049e-03, 1.37682248e-02,
  6.22147900e-03, 1.43624619e-02,-4.18072518e-03, 1.34258956e-02,
  2.24160526e-01, 3.42278377e-03, 7.60404110e-02, 2.40312103e-02,
  6.26563748e-02,-7.18888357e-02, 1.69932198e-01, 9.99886785e-01,
  8.65744401e-03, 1.23044700e-02,-2.55908201e-04]

qacc:
[ -39.179747  ,  -3.82522255, -20.42488844, 110.05987138, -12.81680796,
  -19.20320991,  90.48906917,-191.81916705, -28.14305939, -23.83109244,
   92.76262877,-179.66883017, -73.06085615,  55.09915573,  20.81021299,
  -72.33137766,  -3.76329234,   1.83864452,   6.45688808, -16.72746509,
  -35.22730062,   1.85521713]

qfrc_actuator:
[ 0.00948429, 0.01587123,-0.00468165,-0.01291296, 0.00399514, 0.00243422,
 -0.00396448, 0.0135846 , 0.00611709, 0.01459629,-0.0040214 , 0.01336633,
  0.10514503, 0.00275494, 0.09      , 0.02002166, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002570135025675019
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.1598535e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.1598535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0973848 , -0.08763384,  0.06195399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31672873e-04,-7.55563916e-04,-5.41804544e-05, 2.24875986e-04,
 -7.54591565e-05,-1.11232337e-04, 8.58579187e-05,-2.92364122e-04,
 -1.67027961e-04,-9.62428426e-04,-1.73687059e-04,-3.14762431e-04,
 -6.57947443e-02,-1.20292553e-03,-1.81027003e-04,-3.99844656e-04,
  1.10794111e-03,-8.20965524e-04,-4.90548570e+00, 3.43683640e-04,
  1.17720285e-02,-1.78559665e-04]


--- Step 35 ---
qpos:
[ 9.71015751e-03, 1.57699990e-02,-4.88107226e-03,-1.32385394e-02,
  4.09512982e-03, 2.45628384e-03,-4.04778236e-03, 1.40348236e-02,
  6.34235289e-03, 1.46509931e-02,-4.25632443e-03, 1.36890683e-02,
  2.27197613e-01, 3.49833067e-03, 7.82665600e-02, 2.45210642e-02,
  6.28327958e-02,-7.20264706e-02, 1.70027786e-01, 9.99870686e-01,
  9.29211541e-03, 1.31223785e-02,-2.64958198e-04]

qacc:
[ -36.42000179,  -6.24350077, -12.40207641, 100.72758819, -16.19079643,
  -16.46667995,  79.92191329,-176.19872875, -19.08275432, -24.00792761,
   92.91494832,-176.32092858, -69.69523704,  53.89147203,  25.48229412,
  -87.99853918,  -3.4065275 ,   1.65603477,   5.00529385, -15.16672977,
  -31.85471899,   1.60439323]

qfrc_actuator:
[ 0.00927635, 0.01552203,-0.00454756,-0.01265999, 0.00390227, 0.00236716,
 -0.00390346, 0.01330933, 0.00600754, 0.01428581,-0.00392524, 0.01312237,
  0.10484619, 0.00266937, 0.09      , 0.01960575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025788548338167433
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30510089e-14,  2.15255045e-14,  1.00000000e+00,  9.26694685e-28,
        1.00000000e+00, -2.15255045e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30510089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09738207, -0.0876344 ,  0.06195386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15681961e-04,-7.83813721e-04,-2.31303294e-05, 2.23149483e-04,
 -9.50409566e-05,-1.25588234e-04, 3.82129556e-05,-2.83297218e-04,
 -1.13729635e-04,-9.08117924e-04,-1.37960310e-04,-2.98387798e-04,
 -5.54997272e-02,-1.18086123e-03,-1.65943533e-04,-4.71164888e-04,
  9.50159619e-04,-7.22938188e-04,-4.90542900e+00, 3.46904818e-04,
  1.17605679e-02,-1.93488737e-04]


--- Step 36 ---
qpos:
[ 9.89194487e-03, 1.60738702e-02,-4.96767541e-03,-1.34849649e-02,
  4.17185422e-03, 2.50419891e-03,-4.12327268e-03, 1.42960746e-02,
  6.46167937e-03, 1.49333407e-02,-4.33044333e-03, 1.39467768e-02,
  2.30043432e-01, 3.57213061e-03, 8.04930320e-02, 2.50008252e-02,
  6.29967816e-02,-7.21580905e-02, 1.70138527e-01, 9.99854600e-01,
  9.89907070e-03, 1.38821590e-02,-2.71379288e-04]

qacc:
[ -28.34616954,  -2.85925166, -24.90352074, 119.09987585, -12.071674  ,
  -14.32018069,  71.85696667,-164.94897035, -13.36527268, -23.54096359,
   95.19293975,-187.63309913, -66.37894119,  55.9313368 ,  31.34900716,
 -108.14021371,  -3.10879485,   1.50372806,   3.78817602, -13.86587655,
  -29.05181672,   1.40250119]

qfrc_actuator:
[ 0.00911559, 0.01521027,-0.00445108,-0.01239279, 0.00383417, 0.002308  ,
 -0.0038727 , 0.01304081, 0.00593029, 0.01405943,-0.00382048, 0.01285597,
  0.10454713, 0.00260682, 0.09      , 0.0190942 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002561546427421693
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33419052e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.33419052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09738708, -0.08763827,  0.0619542 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68048576e-04,-7.55594413e-04,-6.27674743e-05, 2.37212087e-04,
 -7.08334140e-05,-1.35154357e-04,-5.46727416e-07,-2.78620193e-04,
 -7.99148617e-05,-7.85302690e-04,-1.13093737e-04,-3.16938043e-04,
 -4.57099198e-02,-1.13725903e-03,-1.67464959e-04,-5.68959990e-04,
  8.17973112e-04,-6.39421032e-04,-4.90538053e+00, 3.48720426e-04,
  1.17504624e-02,-2.07773771e-04]


--- Step 37 ---
qpos:
[ 1.00703740e-02, 1.63716173e-02,-5.05322507e-03,-1.37266213e-02,
  4.24682037e-03, 2.55088266e-03,-4.19719036e-03, 1.45523883e-02,
  6.57882335e-03, 1.52101747e-02,-4.40341818e-03, 1.41985110e-02,
  2.32706925e-01, 3.64351957e-03, 8.27200545e-02, 2.54674139e-02,
  6.31493240e-02,-7.22842030e-02, 1.70260351e-01, 9.99838617e-01,
  1.04804777e-02, 1.45884709e-02,-2.75492883e-04]

qacc:
[ -29.2350718 ,  -1.15943333, -27.62136829, 112.82444787, -15.40703372,
  -16.16344322,  76.16760803,-163.28841862, -18.92712454, -22.75511611,
   95.84922828,-197.09684782, -63.11871636,  47.43315021,  41.00092351,
 -141.443843  ,  -2.86084608,   1.37687171,   2.77067796, -12.78157253,
  -26.72320235,   1.24090622]

qfrc_actuator:
[ 0.00894837, 0.01492338,-0.00439518,-0.01215485, 0.0037457 , 0.0022539 ,
 -0.00378899, 0.01279617, 0.00581939, 0.01383212,-0.00374662, 0.01256081,
  0.10429155, 0.00250532, 0.09      , 0.01842389, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002523649006330675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19963834e-14,  2.19963834e-14,  1.00000000e+00,  4.83840885e-28,
        1.00000000e+00, -2.19963834e-14, -1.00000000e+00,  0.00000000e+00,
       -2.19963834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09739811, -0.08764468,  0.06195491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73114779e-04,-7.22296252e-04,-1.01856710e-04, 2.08051122e-04,
 -9.05246646e-05,-1.43193301e-04, 4.58294573e-05,-2.56401872e-04,
 -1.12579311e-04,-7.12978957e-04,-1.16136368e-04,-3.39901995e-04,
 -3.63916358e-02,-1.15089217e-03,-1.78649328e-04,-7.33261940e-04,
  7.06098059e-04,-5.67504066e-04,-4.90533870e+00, 3.49498561e-04,
  1.17414633e-02,-2.21466191e-04]


--- Step 38 ---
qpos:
[ 1.02450500e-02, 1.66630392e-02,-5.13715555e-03,-1.39635583e-02,
  4.31979792e-03, 2.59626495e-03,-4.26950304e-03, 1.48037716e-02,
  6.69374350e-03, 1.54818075e-02,-4.47518269e-03, 1.44439924e-02,
  2.35229941e-01, 3.70829471e-03, 8.49472577e-02, 2.59199767e-02,
  6.32912470e-02,-7.24052299e-02, 1.70389866e-01, 9.99822818e-01,
  1.10381432e-02, 1.52451823e-02,-2.77554406e-04]

qacc:
[ -32.65978344,  -3.10253183, -20.8580461 , 104.43259191, -17.43229134,
  -16.32851028,  76.59963262,-163.6094421 , -19.2843171 , -23.09997417,
   98.85427928,-205.25651337, -46.79385013, -11.93217953,  42.93071878,
 -149.25218217,  -2.65487724,   1.27138362,   1.92293804, -11.87794578,
  -24.79007257,   1.11263785]

qfrc_actuator:
[ 0.00876093, 0.01461807,-0.00431029,-0.01191829, 0.00364593, 0.00218576,
 -0.00371013, 0.01254981, 0.0057073 , 0.01360607,-0.0036738 , 0.01225111,
  0.10406282, 0.0023818 , 0.09      , 0.0177187 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024697072310001095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.49536289e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.49536289e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09741374, -0.087653  ,  0.0619559 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93451550e-04,-7.31213014e-04,-7.17722504e-05, 2.06186284e-04,
 -1.02382945e-04,-1.51175441e-04, 4.57951938e-05,-2.56401976e-04,
 -1.14692305e-04,-6.72716812e-04,-1.03344247e-04,-3.51883415e-04,
 -2.74942896e-02,-1.15331733e-03,-2.01678589e-04,-7.78635176e-04,
  6.10498323e-04,-5.04939572e-04,-4.90530226e+00, 3.49509398e-04,
  1.17333805e-02,-2.34609544e-04]


--- Step 39 ---
qpos:
[ 1.04161046e-02, 1.69481996e-02,-5.21952551e-03,-1.41951295e-02,
  4.39101151e-03, 2.64064464e-03,-4.34070991e-03, 1.50502324e-02,
  6.80678756e-03, 1.57481342e-02,-4.54592645e-03, 1.46848947e-02,
  2.37647283e-01, 3.76743721e-03, 8.71739827e-02, 2.63618279e-02,
  6.34232327e-02,-7.25215215e-02, 1.70524259e-01, 9.99807271e-01,
  1.15735724e-02, 1.58555008e-02,-2.77764686e-04]

qacc:
[ -31.50024621,  -1.52509976, -29.08935604, 123.89406296, -15.47579779,
  -14.52503926,  70.70200455,-156.98726528, -16.24721467, -19.26735303,
   77.91168525,-154.95579868, -34.96700945, -14.69538689,  31.86937234,
 -112.1086888 ,  -2.48429689,   1.18382755,   1.2193871 , -11.125221  ,
  -23.1871377 ,   1.01204054]

qfrc_actuator:
[ 0.00858085, 0.01432211,-0.00422676,-0.0116489 , 0.00355807, 0.00214525,
 -0.00365261, 0.01230441, 0.00561316, 0.01334715,-0.00361988, 0.0120241 ,
  0.10383701, 0.00228575, 0.09      , 0.01719399, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024035074444140325
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30958932e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30958932e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09743282, -0.08766273,  0.0619571 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86663476e-04,-7.20510539e-04,-7.12772951e-05, 2.39634374e-04,
 -9.08122774e-05,-1.27972363e-04, 2.28185712e-05,-2.55788601e-04,
 -9.68009950e-05,-6.80755053e-04,-1.12709528e-04,-2.67226364e-04,
 -2.06848758e-02,-9.17905791e-04,-2.07670707e-04,-6.01319344e-04,
  5.28072834e-04,-4.49981017e-04,-4.90527023e+00, 3.48952187e-04,
  1.17260680e-02,-2.47240615e-04]


--- Step 40 ---
qpos:
[ 1.05829642e-02, 1.72276458e-02,-5.30079772e-03,-1.44220538e-02,
  4.46061763e-03, 2.68392451e-03,-4.41008897e-03, 1.52914411e-02,
  6.91715025e-03, 1.60091678e-02,-4.61585168e-03, 1.49215403e-02,
  2.39984908e-01, 3.82251184e-03, 8.94000762e-02, 2.67955060e-02,
  6.35458443e-02,-7.26333679e-02, 1.70661205e-01, 9.99792038e-01,
  1.20880187e-02, 1.64220818e-02,-2.76279225e-04]

qacc:
[ -36.52939051,  -0.97913454, -26.93697775, 109.62333268, -14.07419318,
  -17.35377878,  81.98880677,-175.05861005, -23.27033483, -18.00692398,
   72.10437822,-143.27783219, -26.48337973,  -8.29146488,  23.92551416,
  -84.73577239,  -2.34353397,   1.11130967,   0.63814311, -10.49862728,
  -21.86016752,   0.93450292]

qfrc_actuator:
[ 0.00837105, 0.01406973,-0.00416238,-0.01141562, 0.00347792, 0.0021038 ,
 -0.00355477, 0.01204378, 0.00547708, 0.01308845,-0.00357759, 0.01181203,
  0.10362553, 0.0022256 , 0.09      , 0.01679762, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023281936161396177
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38430132e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.38430132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09745442, -0.08767344,  0.06195847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16172803e-04,-6.69198359e-04,-8.69554098e-05, 2.04662416e-04,
 -8.27576464e-05,-1.20626239e-04, 6.51283340e-05,-2.70788101e-04,
 -1.38255008e-04,-6.83145608e-04,-1.24171950e-04,-2.51286574e-04,
 -1.56012136e-02,-6.95522953e-04,-1.81885750e-04,-4.61752385e-04,
  4.56426900e-04,-4.01264141e-04,-4.90524186e+00, 3.47974357e-04,
  1.17194132e-02,-2.59390409e-04]


--- Step 41 ---
qpos:
[ 1.07459956e-02, 1.75013993e-02,-5.38048837e-03,-1.46444528e-02,
  4.52906638e-03, 2.72610084e-03,-4.47771106e-03, 1.55269541e-02,
  7.02434962e-03, 1.62647145e-02,-4.68471476e-03, 1.51537927e-02,
  2.42262151e-01, 3.87533377e-03, 9.16257342e-02, 2.72216232e-02,
  6.36595444e-02,-7.27410087e-02, 1.70798793e-01, 9.99777175e-01,
  1.25825248e-02, 1.69471186e-02,-2.73215771e-04]

qacc:
[-3.32991095e+01,-2.55936739e+00,-2.07602810e+01, 1.00569270e+02,
 -1.01151782e+01,-1.80821349e+01, 8.64385976e+01,-1.87057200e+02,
 -2.74526729e+01,-1.92172623e+01, 7.66399735e+01,-1.50442222e+02,
 -2.04499107e+01, 3.07444480e+00, 2.23474933e+01,-7.88456542e+01,
 -2.22787782e+00, 1.05139232e+00, 1.60489834e-01,-9.97751805e+00,
 -2.07640205e+01, 8.76247103e-01]

qfrc_actuator:
[ 0.00818094, 0.01380996,-0.00407415,-0.01118766, 0.00342071, 0.00204452,
 -0.00346942, 0.01175857, 0.00531739, 0.01281424,-0.00352475, 0.01159269,
  0.10341879, 0.00222317, 0.09      , 0.01642673, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.21322037,  8.63373117,  0.21322037, 48.9926839 ,
       -0.99664783,  8.63373117, -0.99664783,  8.66097705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022463660455807333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47115341e-14,  2.47115341e-14,  1.00000000e+00, -6.10659920e-28,
        1.00000000e+00, -2.47115341e-14, -1.00000000e+00,  0.00000000e+00,
        2.47115341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09747778, -0.08768481,  0.06195995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97287499e-04,-6.52453049e-04,-5.55967963e-05, 2.00305854e-04,
 -5.95954713e-05,-1.26211159e-04, 5.88610639e-05,-2.93877987e-04,
 -1.63071694e-04,-7.01509499e-04,-1.14900106e-04,-2.58733035e-04,
 -1.18109643e-02,-4.93556714e-04,-1.49298204e-04,-4.23901082e-04,
  3.93703380e-04,-3.57718431e-04,-4.90521654e+00, 3.46685143e-04,
  1.17133289e-02,-2.71085007e-04]


--- Step 42 ---
qpos:
[ 1.09058097e-02, 1.77694304e-02,-5.45851618e-03,-1.48627362e-02,
  4.59629654e-03, 2.76750615e-03,-4.54449938e-03, 1.57575738e-02,
  7.12916088e-03, 1.65149260e-02,-4.75255730e-03, 1.53819195e-02,
  2.44493489e-01, 3.92642371e-03, 9.38510414e-02, 2.76409144e-02,
  6.37647111e-02,-7.28446415e-02, 1.70935462e-01, 9.99762736e-01,
  1.30579570e-02, 1.74324180e-02,-2.68660522e-04]

qacc:
[ -27.95125767,  -3.68070154, -15.10989497,  87.74341058, -10.68832037,
  -13.40763134,  67.02299437,-152.52226996, -20.69112396, -18.36208658,
   72.72777909,-141.9144033 , -15.56578902,   2.64903512,  20.22679264,
  -71.30398253,  -2.13334445,   1.00202205,  -0.22957176,  -9.54465792,
  -19.86105189,   0.8341639 ]

qfrc_actuator:
[ 0.00802171, 0.01353025,-0.00399029,-0.0109824 , 0.0033597 , 0.0020105 ,
 -0.00342771, 0.0115144 , 0.00519835, 0.01256854,-0.00346613, 0.01138857,
  0.10322136, 0.00221969, 0.09      , 0.01609155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.96340164,  8.58246084,  0.96340164, 46.81852976,
       -4.28603895,  8.58246084, -4.28603895,  9.1174817 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002160165392083163
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.56976394e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.56976394e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09750227, -0.08769656,  0.0619615 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65848138e-04,-6.56529967e-04,-5.27497325e-05, 1.79332594e-04,
 -6.27388671e-05,-1.06322993e-04, 1.24871941e-05,-2.53722753e-04,
 -1.23161698e-04,-6.81495667e-04,-1.11981749e-04,-2.44098974e-04,
 -8.97852696e-03,-3.83344488e-04,-1.27171263e-04,-3.81166963e-04,
  3.38457047e-04,-3.18500669e-04,-4.90519381e+00, 3.45165388e-04,
  1.17077475e-02,-2.82346313e-04]


--- Step 43 ---
qpos:
[ 1.10621123e-02, 1.80317229e-02,-5.53522338e-03,-1.50768340e-02,
  4.66261724e-03, 2.80825816e-03,-4.61037275e-03, 1.59834425e-02,
  7.23208885e-03, 1.67605133e-02,-4.82013316e-03, 1.56057671e-02,
  2.46689730e-01, 3.97548419e-03, 9.60768617e-02, 2.80475191e-02,
  6.38616516e-02,-7.29444283e-02, 1.71069948e-01, 9.99748768e-01,
  1.35150345e-02, 1.78794632e-02,-2.62673248e-04]

qacc:
[ -30.52202788,  -2.59611309, -19.29272662,  93.68237982,  -7.96698468,
  -13.19119097,  65.86719162,-149.11065977, -16.32195086, -15.63999768,
   65.0201991 ,-136.17046212, -11.61041862,  -4.80064498,  39.2307463 ,
 -135.99182715,  -2.05656433,   0.96146924,  -0.54570943,  -9.18564158,
  -19.11982154,   0.80568341]

qfrc_actuator:
[ 0.00784642, 0.0132409 ,-0.00392751,-0.0107744 , 0.00331468, 0.00199174,
 -0.00337648, 0.01127859, 0.00510418, 0.0123775 ,-0.00343994, 0.01117733,
  0.10302505, 0.00218045, 0.09      , 0.01544277, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.5820444 ,  8.49022452,  1.5820444 , 44.90656346,
       -6.75848637,  8.49022452, -6.75848637,  9.89572086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020713442073690136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.35991566e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.35991566e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09752741, -0.08770848,  0.0619631 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80991585e-04,-6.68569807e-04,-7.50115254e-05, 1.81585861e-04,
 -4.68245834e-05,-8.77698627e-05, 2.18170031e-05,-2.45329226e-04,
 -9.71512562e-05,-6.14222574e-04,-1.39353668e-04,-2.49966934e-04,
 -6.86879596e-03,-3.34865773e-04,-1.09788310e-04,-6.88922707e-04,
  2.89560368e-04,-2.82944641e-04,-4.90517330e+00, 3.43474626e-04,
  1.17026167e-02,-2.93192695e-04]


--- Step 44 ---
qpos:
[ 1.12154288e-02, 1.82881939e-02,-5.61089062e-03,-1.52860509e-02,
  4.72822724e-03, 2.84839662e-03,-4.67495547e-03, 1.62053771e-02,
  7.33310197e-03, 1.70014947e-02,-4.88701318e-03, 1.58249454e-02,
  2.48858855e-01, 4.02275868e-03, 9.83031688e-02, 2.84388247e-02,
  6.39506133e-02,-7.30405020e-02, 1.71201237e-01, 9.99735318e-01,
  1.39543529e-02, 1.82894661e-02,-2.55291518e-04]

qacc:
[ -25.93481998,  -0.49741912, -29.88139925, 116.82372835,  -6.205901  ,
  -12.50959703,  60.05772105,-129.78381503, -16.57817495, -17.61828077,
   73.75712034,-152.36014155,  -8.88855034,  -5.57346041,  47.09245131,
 -163.58573999,  -1.99468813,   0.92827752,  -0.79959148,  -8.88841796,
  -18.51403899,   0.78867279]

qfrc_actuator:
[ 0.00769859, 0.01294806,-0.0038777 ,-0.01053096, 0.00327944, 0.00198232,
 -0.00330218, 0.01108512, 0.00500764, 0.01216741,-0.00339735, 0.01094585,
  0.10281944, 0.00213851, 0.09      , 0.01466769, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019813278167923887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.60342925e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.60342925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09755279, -0.08772041,  0.06196472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53961196e-04,-6.83100135e-04,-9.30896007e-05, 2.15777925e-04,
 -3.65906016e-05,-6.57308111e-05, 5.01540884e-05,-2.01706208e-04,
 -9.87721728e-05,-6.01373583e-04,-1.12579727e-04,-2.68353081e-04,
 -5.30864898e-03,-2.74167739e-04,-1.35998966e-04,-8.30090013e-04,
  2.46132291e-04,-2.50522790e-04,-4.90515471e+00, 3.41656268e-04,
  1.16978959e-02,-3.03639537e-04]


--- Step 45 ---
qpos:
[ 1.13657662e-02, 1.85391739e-02,-5.68524885e-03,-1.54914737e-02,
  4.79255953e-03, 2.88787490e-03,-4.73790433e-03, 1.64239290e-02,
  7.43218672e-03, 1.72376194e-02,-4.95201027e-03, 1.60392307e-02,
  2.51006839e-01, 4.06810934e-03, 1.00528407e-01, 2.88247814e-02,
  6.40317938e-02,-7.31329709e-02, 1.71328520e-01, 9.99722429e-01,
  1.43764046e-02, 1.86634116e-02,-2.46534219e-04]

qacc:
[ -25.8634257 ,  -3.05185862, -15.55795763,  83.02995737, -11.18418602,
  -12.38562893,  57.21577352,-117.93387467, -16.64894683, -21.72886374,
   88.87633268,-173.06268833,  -6.66989784,  -9.73941585,  14.63940982,
  -53.43448719,  -1.9453072 ,   0.90122115,  -1.00117197,  -8.64289888,
  -18.02169915,   0.78135524]

qfrc_actuator:
[ 0.00755036, 0.01270876,-0.00380042,-0.01033965, 0.00321473, 0.00196099,
 -0.00321479, 0.01091812, 0.00491046, 0.01194773,-0.00329221, 0.01070435,
  0.10261945, 0.00207775, 0.09      , 0.01442811, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018912661189833674
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.93513169e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.93513169e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0975781 , -0.08773221,  0.06196633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53579889e-04,-6.39742781e-04,-6.96139212e-05, 1.63074213e-04,
 -6.57697128e-05,-5.75862995e-05, 7.27999690e-05,-1.72442555e-04,
 -9.94706680e-05,-5.98877295e-04,-4.46511073e-05,-2.77248531e-04,
 -4.14190019e-03,-2.44416805e-04,-1.61226177e-04,-3.05218413e-04,
  2.07484052e-04,-2.20816746e-04,-4.90513782e+00, 3.39741406e-04,
  1.16935543e-02,-3.13699704e-04]


--- Step 46 ---
qpos:
[ 1.15127986e-02, 1.87849496e-02,-5.75801493e-03,-1.56934073e-02,
  4.85527097e-03, 2.92657717e-03,-4.79889363e-03, 1.66377259e-02,
  7.52969512e-03, 1.74686822e-02,-5.01519915e-03, 1.62493138e-02,
  2.53138172e-01, 4.11149738e-03, 1.02752697e-01, 2.92090845e-02,
  6.41053487e-02,-7.32219227e-02, 1.71451168e-01, 9.99710142e-01,
  1.47815961e-02, 1.90020941e-02,-2.36404478e-04]

qacc:
[ -28.69655398,  -4.0869192 , -10.02269626,  71.54769964, -14.19268375,
  -16.26931245,  76.6444278 ,-161.55766418, -13.57818725, -20.37401968,
   80.72518263,-152.67232943,  -5.03262323, -12.14199191,   3.61738586,
  -14.64337271,  -1.90638643,   0.87926913,  -1.15893581,  -8.44063595,
  -17.62437079,   0.78224538]

qfrc_actuator:
[ 0.00738532, 0.01248584,-0.00370734,-0.01016272, 0.00313318, 0.00191504,
 -0.00312041, 0.01067928, 0.00483143, 0.01168888,-0.00320426, 0.01049442,
  0.1024286 , 0.00200655, 0.09      , 0.01436397, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018020776396708987
  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([ 0.0976031 , -0.08774378,  0.06196793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70344940e-04,-5.96348446e-04,-4.37480043e-05, 1.50333767e-04,
 -8.34313275e-05,-7.17116667e-05, 8.52779788e-05,-2.42584870e-04,
 -8.13597734e-05,-6.22840776e-04,-5.32209069e-05,-2.43370514e-04,
 -3.26465498e-03,-2.18156454e-04,-1.08924790e-04,-1.02502769e-04,
  1.73077623e-04,-1.93494527e-04,-4.90512245e+00, 3.37751635e-04,
  1.16895683e-02,-3.23383946e-04]


--- Step 47 ---
qpos:
[ 1.16573853e-02, 1.90256223e-02,-5.82948315e-03,-1.58916418e-02,
  4.91686205e-03, 2.96452565e-03,-4.85823244e-03, 1.68470074e-02,
  7.62585656e-03, 1.76946689e-02,-5.07709827e-03, 1.64552683e-02,
  2.55256199e-01, 4.15294949e-03, 1.04976903e-01, 2.95888926e-02,
  6.41713988e-02,-7.33074282e-02, 1.71568695e-01, 9.99698497e-01,
  1.51702612e-02, 1.93061491e-02,-2.24892110e-04]

qacc:
[ -21.20306602,  -2.71238491, -15.63959964,  81.21892666,  -9.79777315,
  -14.89140205,  70.74850084,-151.02434196, -11.59389327, -18.79614035,
   74.75525677,-144.58495006,  -3.84436773, -13.26172299,  13.49153264,
  -47.35319275,  -1.87620744,   0.86155498,  -1.28010922,  -8.27455284,
  -17.30660885,   0.79009744]

qfrc_actuator:
[ 0.00726497, 0.01223915,-0.0036411 ,-0.00997788, 0.0030779 , 0.00187246,
 -0.00304056, 0.0104533 , 0.00476371, 0.01142643,-0.00314504, 0.01028695,
  0.10223826, 0.0019299 , 0.09      , 0.01413725, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017144869776471727
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23777036e-14,  6.47554073e-14,  1.00000000e+00,  2.09663138e-27,
        1.00000000e+00, -6.47554073e-14, -1.00000000e+00,  0.00000000e+00,
       -3.23777036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0976276 , -0.08775503,  0.0619695 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26105996e-04,-5.90890769e-04,-5.88339925e-05, 1.60749864e-04,
 -5.76761223e-05,-7.66651701e-05, 6.69334396e-05,-2.31242300e-04,
 -6.95569672e-05,-6.39987547e-04,-8.67531092e-05,-2.41559482e-04,
 -2.61136043e-03,-1.95367265e-04,-6.29276338e-05,-2.47199311e-04,
  1.42493664e-04,-1.68292788e-04,-4.90510846e+00, 3.35701171e-04,
  1.16859203e-02,-3.32701229e-04]


--- Step 48 ---
qpos:
[ 1.17997365e-02, 1.92610666e-02,-5.89960235e-03,-1.60857597e-02,
  4.97731120e-03, 3.00160098e-03,-4.91639816e-03, 1.70530287e-02,
  7.71978226e-03, 1.79156208e-02,-5.13784143e-03, 1.66571223e-02,
  2.57363388e-01, 4.19321108e-03, 1.07201472e-01, 2.99606971e-02,
  6.42300356e-02,-7.33895444e-02, 1.71680739e-01, 9.99687530e-01,
  1.55426736e-02, 1.95760783e-02,-2.11975664e-04]

qacc:
[ -19.36140192,  -2.16469583, -19.59801452,  92.41193685,  -9.99975889,
  -11.12842807,  51.8027692 ,-109.49892726, -19.32390574, -18.29434841,
   72.95275906,-142.14027453,  -3.33259101,  -6.60357235,  24.78624336,
  -85.89370453,  -1.85332049,   0.84735119,  -1.3708406 ,  -8.13872273,
  -17.05546746,   0.80386368]

qfrc_actuator:
[ 0.00715414, 0.01198017,-0.00357354,-0.00977215, 0.00302076, 0.00181443,
 -0.00298765, 0.01028997, 0.00464991, 0.01118161,-0.00308553, 0.01008256,
  0.10204852, 0.00188625, 0.09      , 0.01372772, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016290566130807704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.40756428e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.40756428e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09765144, -0.08776593,  0.06197102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15298538e-04,-6.02606478e-04,-5.78566565e-05, 1.81555683e-04,
 -5.87950922e-05,-9.81573583e-05, 3.70939530e-05,-1.69217613e-04,
 -1.15310801e-04,-6.38616108e-04,-9.40094564e-05,-2.40319247e-04,
 -2.12470536e-03,-1.40890140e-04,-6.02661455e-05,-4.32696804e-04,
  1.15406643e-04,-1.45002910e-04,-4.90509573e+00, 3.33598436e-04,
  1.16825977e-02,-3.41659025e-04]


--- Step 49 ---
qpos:
[ 1.19396393e-02, 1.94914844e-02,-5.96851875e-03,-1.62752260e-02,
  5.03660512e-03, 3.03793399e-03,-4.97350595e-03, 1.72554726e-02,
  7.81128183e-03, 1.81317123e-02,-5.19726755e-03, 1.68552517e-02,
  2.59461501e-01, 4.23346404e-03, 1.09426177e-01, 3.03243914e-02,
  6.42813265e-02,-7.34683163e-02, 1.71787037e-01, 9.99677275e-01,
  1.58990567e-02, 1.98122719e-02,-1.97624151e-04]

qacc:
[ -21.21974269,  -0.38345812, -27.81033268, 109.95326136, -10.12297364,
  -11.28708371,  53.9601257 ,-117.0633557 , -20.97020918, -17.7366113 ,
   69.71637239,-132.78770413,  -3.30274798,   4.74143699,  24.78262569,
  -86.3461628 ,  -1.8365037 ,   0.83604761,  -1.43635568,  -8.02818302,
  -16.86009513,   0.82266057]

qfrc_actuator:
[ 0.00703205, 0.0117515 ,-0.00350577,-0.00953803, 0.00296298, 0.00178305,
 -0.00293335, 0.01011152, 0.00452765, 0.01096711,-0.00300847, 0.0098994 ,
  0.10184875, 0.00189792, 0.09      , 0.01332034, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001546213905899707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.18026801e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.18026801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09767453, -0.08777641,  0.0619725 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26249785e-04,-5.77587414e-04,-5.91821212e-05, 2.09883258e-04,
 -5.94755371e-05,-8.69984322e-05, 3.25302346e-05,-1.85078116e-04,
 -1.25104143e-04,-6.08819769e-04,-7.69716148e-05,-2.19242305e-04,
 -1.77166262e-03,-6.83439134e-05,-8.02471857e-05,-4.40672666e-04,
  9.15654255e-05,-1.23460042e-04,-4.90508420e+00, 3.31447275e-04,
  1.16795915e-02,-3.50263554e-04]


--- Step 50 ---
qpos:
[ 1.20769778e-02, 1.97171203e-02,-6.03593982e-03,-1.64608095e-02,
  5.09474500e-03, 3.07373837e-03,-5.02958271e-03, 1.74534778e-02,
  7.90096141e-03, 1.83433865e-02,-5.25528735e-03, 1.70495643e-02,
  2.61551932e-01, 4.27270050e-03, 1.11650861e-01, 3.06803643e-02,
  6.43253184e-02,-7.35437798e-02, 1.71887411e-01, 9.99667765e-01,
  1.62395916e-02, 2.00150262e-02,-1.81798487e-04]

qacc:
[ -22.2186635 ,  -2.45937325, -16.69663821,  84.89690237, -10.11729271,
  -12.70286934,  63.05358688,-141.17487478, -15.70034344, -17.60071592,
   70.45361111,-135.57216801,  -2.27585589,  -6.22507263,  23.35438054,
  -81.72791833,  -1.82472845,   0.8271332 ,  -1.48109079,  -7.93878042,
  -16.71139753,   0.84574146]

qfrc_actuator:
[ 0.0069043 , 0.0115429 ,-0.00342051,-0.00934232, 0.00290529, 0.0017679 ,
 -0.00287856, 0.00989012, 0.00443691, 0.01079039,-0.0029215 , 0.00971249,
  0.10164853, 0.00185333, 0.09      , 0.01293529, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014662739907611022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78586482e-14, -3.78586482e-14,  1.00000000e+00, -1.43327725e-27,
        1.00000000e+00,  3.78586482e-14, -1.00000000e+00,  0.00000000e+00,
       -3.78586482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09769679, -0.08778646,  0.06197393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32197847e-04,-5.42424994e-04,-3.56713461e-05, 1.73054774e-04,
 -5.94039100e-05,-6.61447596e-05, 3.42153549e-05,-2.28015404e-04,
 -9.38806276e-05,-5.49792422e-04,-5.80337943e-05,-2.20702436e-04,
 -1.50766934e-03,-1.11165084e-04,-8.89592425e-05,-4.21024547e-04,
  7.07780425e-05,-1.03534427e-04,-4.90507379e+00, 3.29247881e-04,
  1.16768962e-02,-3.58519984e-04]


--- Step 51 ---
qpos:
[ 1.22113597e-02, 1.99382169e-02,-6.10223722e-03,-1.66426084e-02,
  5.15139633e-03, 3.10868329e-03,-5.08446037e-03, 1.76476574e-02,
  7.98921270e-03, 1.85509474e-02,-5.31227100e-03, 1.72397498e-02,
  2.63635769e-01, 4.31063622e-03, 1.13875424e-01, 3.10292612e-02,
  6.43620417e-02,-7.36159625e-02, 1.71981750e-01, 9.99659030e-01,
  1.65644242e-02, 2.01845598e-02,-1.64452722e-04]

qacc:
[ -25.64821357,  -1.29574997, -19.95230019,  86.85016097, -13.04995073,
  -12.34200625,  58.55480682,-126.10444857, -12.309036  , -16.80959214,
   69.5145209 ,-139.6228591 ,  -1.72374192,  -9.62375366,  21.24778664,
  -74.58557528,  -1.81712996,   0.82018063,  -1.50880715,  -7.86704151,
  -16.60175593,   0.87247417]

qfrc_actuator:
[ 0.0067565 , 0.01133035,-0.00336104,-0.00915299, 0.00283036, 0.00170929,
 -0.00282387, 0.00969849, 0.00436543, 0.01060235,-0.0028647 , 0.00950715,
  0.1014642 , 0.00179373, 0.09      , 0.01258426, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013894591719075394
  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([ 0.09771815, -0.08779606,  0.0619753 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52393946e-04,-5.23274480e-04,-5.25399840e-05, 1.68274504e-04,
 -7.66328968e-05,-9.94045698e-05, 3.71446221e-05,-1.98114017e-04,
 -7.37057997e-05,-5.24110694e-04,-7.36948918e-05,-2.35954678e-04,
 -1.29704874e-03,-1.18550800e-04,-8.99481290e-05,-3.86844431e-04,
  5.28997018e-05,-8.51245095e-05,-4.90506445e+00, 3.26997513e-04,
  1.16745086e-02,-3.66432603e-04]


--- Step 52 ---
qpos:
[ 1.23422230e-02, 2.01548049e-02,-6.16737971e-03,-1.68203838e-02,
  5.20705365e-03, 3.14289069e-03,-5.13829207e-03, 1.78380166e-02,
  8.07593331e-03, 1.87542097e-02,-5.36780835e-03, 1.74256296e-02,
  2.65713799e-01, 4.34817263e-03, 1.16099477e-01, 3.13745521e-02,
  6.43915132e-02,-7.36848858e-02, 1.72069998e-01, 9.99651096e-01,
  1.68736708e-02, 2.03210251e-02,-1.45535068e-04]

qacc:
[ -30.53562586,  -0.84021824, -22.50892204,  93.45148764,  -8.70443394,
  -11.74995023,  56.64009749,-123.92487469, -13.17833522, -18.56694949,
   76.18191404,-149.90292735,  -1.91439108,  -0.84807407,  10.1742331 ,
  -36.65952753,  -1.81298235,   0.81483316,  -1.52268899,  -7.81006416,
  -16.52479161,   0.90232258]

qfrc_actuator:
[ 0.00658034, 0.01111711,-0.00329951,-0.00895118, 0.00278139, 0.00167842,
 -0.00276983, 0.00950813, 0.0042881 , 0.01039121,-0.0027907 , 0.0092926 ,
  0.10128427, 0.00177909, 0.09      , 0.01241586, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013159153332276269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43688797e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.43688797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0977386 , -0.08780521,  0.06197661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81318824e-04,-5.16805801e-04,-4.87372014e-05, 1.80887336e-04,
 -5.11779175e-05,-8.83652971e-05, 3.10318889e-05,-1.97571823e-04,
 -7.89822446e-05,-5.36579127e-04,-5.35968973e-05,-2.44894238e-04,
 -1.13648984e-03,-6.67465397e-05,-8.61791696e-05,-2.02346053e-04,
  3.78233065e-05,-6.81514382e-05,-4.90505615e+00, 3.24691055e-04,
  1.16724275e-02,-3.74004962e-04]


--- Step 53 ---
qpos:
[ 1.24699449e-02, 2.03668070e-02,-6.23069805e-03,-1.69947389e-02,
  5.26134544e-03, 3.17688107e-03,-5.19182652e-03, 1.80238996e-02,
  8.16106484e-03, 1.89531321e-02,-5.42177230e-03, 1.76078189e-02,
  2.67786647e-01, 4.38484363e-03, 1.18323342e-01, 3.17157647e-02,
  6.44137379e-02,-7.37505660e-02, 1.72152145e-01, 9.99643988e-01,
  1.71674235e-02, 2.04245202e-02,-1.24988779e-04]

qacc:
[ -27.22149831,  -4.06269186,  -8.63700408,  68.14852769, -12.00702806,
  -10.31322894,  55.29607264,-133.13085557, -13.67608939, -17.70906258,
   70.44787037,-133.69570778,  -1.43172585,  -5.84937837,  12.07123664,
  -42.62533182,  -1.81167742,   0.81079359,  -1.52542767,  -7.76542645,
  -16.47516845,   0.93483152]

qfrc_actuator:
[ 0.00642441, 0.01090523,-0.00320172,-0.00877916, 0.00271259, 0.00168216,
 -0.002752  , 0.00928456, 0.00420793, 0.0101858 ,-0.0027072 , 0.00910986,
  0.10110182, 0.00173777, 0.09      , 0.01221437, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012457258037724683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45612919e-14,  4.45612919e-14,  1.00000000e+00,  1.98570874e-27,
        1.00000000e+00, -4.45612919e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45612919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09775812, -0.08781389,  0.06197786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61904916e-04,-5.10353988e-04,-1.02038386e-05, 1.51765001e-04,
 -7.02806852e-05,-4.87856816e-05,-3.63557169e-06,-2.30507876e-04,
 -8.19908448e-05,-5.33912199e-04,-4.44652831e-05,-2.13086376e-04,
 -1.01798444e-03,-8.66785427e-05,-6.30477668e-05,-2.24472689e-04,
  2.54719405e-05,-5.25546625e-05,-4.90504886e+00, 3.22321456e-04,
  1.16706535e-02,-3.81239994e-04]


--- Step 54 ---
qpos:
[ 1.25951369e-02, 2.05743794e-02,-6.29241815e-03,-1.71656797e-02,
  5.31404539e-03, 3.21032754e-03,-5.24438946e-03, 1.82056446e-02,
  8.24458519e-03, 1.91479730e-02,-5.47501622e-03, 1.77867574e-02,
  2.69854837e-01, 4.42000672e-03, 1.20547592e-01, 3.20488880e-02,
  6.44287118e-02,-7.38130150e-02, 1.72228214e-01, 9.99637727e-01,
  1.74457533e-02, 2.04950969e-02,-1.02752885e-04]

qacc:
[ -21.89866561,  -3.24717656, -11.23667369,  70.90790197, -13.9714088 ,
  -11.92996485,  59.0126909 ,-131.83983958, -13.89397723, -14.07607999,
   56.13466373,-110.6003204 ,  -0.88589938, -12.49508193,  25.05166979,
  -86.83377928,  -1.81270662,   0.80781493,  -1.5192938 ,  -7.73111019,
  -16.44842733,   0.96961421]

qfrc_actuator:
[ 0.0062994 , 0.01069606,-0.00311881,-0.00860826, 0.00263265, 0.00165319,
 -0.00270232, 0.00907875, 0.00412673, 0.00998559,-0.00267197, 0.0089473 ,
  0.10092865, 0.00166333, 0.09      , 0.01179966, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001178923054903358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70863226e-14,  4.70863226e-14,  1.00000000e+00,  2.21712177e-27,
        1.00000000e+00, -4.70863226e-14, -1.00000000e+00,  0.00000000e+00,
       -4.70863226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0977767 , -0.08782212,  0.06197905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30413625e-04,-4.97179314e-04,-1.99877301e-05, 1.51686305e-04,
 -8.19356191e-05,-6.79323462e-05, 3.09981664e-05,-2.12881389e-04,
 -8.31241323e-05,-5.23832140e-04,-8.99137924e-05,-1.91832872e-04,
 -9.21358553e-04,-1.16404107e-04,-5.61379103e-05,-4.36241515e-04,
  1.57928984e-05,-3.82884074e-05,-4.90504256e+00, 3.19880076e-04,
  1.16691887e-02,-3.88140113e-04]


--- Step 55 ---
qpos:
[ 1.27181900e-02, 2.07773887e-02,-6.35234111e-03,-1.73328928e-02,
  5.36572227e-03, 3.24300355e-03,-5.29588494e-03, 1.83838692e-02,
  8.32580476e-03, 1.93386692e-02,-5.52769921e-03, 1.79620156e-02,
  2.71918720e-01, 4.45398724e-03, 1.22771821e-01, 3.23751369e-02,
  6.44364231e-02,-7.38722411e-02, 1.72298259e-01, 9.99632333e-01,
  1.77087144e-02, 2.05327688e-02,-7.87628285e-05]

qacc:
[ -18.48192213,  -3.34056797, -12.49266569,  77.37765564,  -8.9586585 ,
  -11.23507353,  53.47533672,-115.57840089, -19.8769555 , -14.587142  ,
   59.66882805,-121.2862708 ,  -0.9306311 ,  -9.35514805,  20.77753595,
  -72.74134107,  -1.8156457 ,   0.80569244,  -1.50619909,  -7.70543656,
  -16.44084697,   1.00634179]

qfrc_actuator:
[ 0.00619358, 0.01047243,-0.00302759,-0.00842163, 0.00258232, 0.001605  ,
 -0.00265207, 0.00890281, 0.00401007, 0.00977222,-0.00264771, 0.00876239,
  0.10075588, 0.0016055 , 0.09      , 0.01145795, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001115498550514779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95270701e-14, -4.97635351e-14,  1.00000000e+00, -4.95281884e-27,
        1.00000000e+00,  4.97635351e-14, -1.00000000e+00,  0.00000000e+00,
       -9.95270701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09779436, -0.0878299 ,  0.06198018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10296202e-04,-5.06136863e-04,-1.01275513e-05, 1.67627282e-04,
 -5.26750682e-05,-8.99315635e-05, 3.24923496e-05,-1.82290519e-04,
 -1.18632808e-04,-5.39687486e-04,-1.03630735e-04,-2.14900082e-04,
 -8.50400600e-04,-9.73589663e-05,-7.79601258e-05,-3.74488335e-04,
  8.75293584e-06,-2.53188398e-05,-4.90503725e+00, 3.17356957e-04,
  1.16680360e-02,-3.94707299e-04]


--- Step 56 ---
qpos:
[ 1.28386619e-02, 2.09756344e-02,-6.41061418e-03,-1.74958405e-02,
  5.41673878e-03, 3.27455910e-03,-5.34622310e-03, 1.85589758e-02,
  8.40500560e-03, 1.95251126e-02,-5.57941561e-03, 1.81336665e-02,
  2.73978492e-01, 4.48736069e-03, 1.24995981e-01, 3.26947278e-02,
  6.44368539e-02,-7.39282503e-02, 1.72362352e-01, 9.99627819e-01,
  1.79563463e-02, 2.05375169e-02,-5.29509868e-05]

qacc:
[ -22.3271844 ,  -2.07903274, -19.62776063,  94.17726801,  -5.75761195,
  -11.1267148 ,  50.70847624,-105.72331127, -17.40980147, -15.71884626,
   63.18075278,-124.09748164,  -1.18597334,  -3.60461256,  20.06001103,
  -70.31373939,  -1.82014169,   0.80425693,  -1.48774936,  -7.68701204,
  -16.44932688,   1.04473465]

qfrc_actuator:
[ 0.00606441, 0.01022428,-0.00294996,-0.00820951, 0.00254982, 0.00152797,
 -0.00260196, 0.00874581, 0.00390896, 0.00957041,-0.00259467, 0.00858354,
  0.10057282, 0.00157568, 0.09      , 0.01112654, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010554110250048238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0978111 , -0.08783725,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33077277e-04,-5.32796369e-04,-2.37852397e-05, 1.93397390e-04,
 -3.40245942e-05,-1.29418297e-04, 2.90505358e-05,-1.63626061e-04,
 -1.04114481e-04,-5.40689244e-04,-8.05570986e-05,-2.10416395e-04,
 -8.07388739e-04,-6.65660112e-05,-7.96781012e-05,-3.63211949e-04,
  4.33448968e-06,-1.36217921e-05,-4.90503291e+00, 3.14741048e-04,
  1.16671994e-02,-4.00943167e-04]


--- Step 57 ---
qpos:
[ 1.29559479e-02, 2.11695049e-02,-6.46841980e-03,-1.76556351e-02,
  5.46731373e-03, 3.30491938e-03,-5.39523702e-03, 1.87311751e-02,
  8.48307867e-03, 1.97075060e-02,-5.62994367e-03, 1.83014376e-02,
  2.76034331e-01, 4.52047080e-03, 1.27220265e-01, 3.30061576e-02,
  6.44299811e-02,-7.39810459e-02, 1.72420584e-01, 9.99624199e-01,
  1.81886763e-02, 2.05092954e-02,-2.52471300e-05]

qacc:
[ -27.62703507,  -0.54095304, -19.65818   ,  76.55305901,  -3.82522875,
  -11.26186958,  50.15054447,-101.72229358,  -9.67548778, -16.64699646,
   68.00308998,-134.11140804,  -1.32573056,  -0.16958058,  24.89900437,
  -86.82006086,  -1.82590136,   0.80336886,  -1.46529204,  -7.674681  ,
  -16.47128501,   1.08455479]

qfrc_actuator:
[ 0.00590475, 0.00999895,-0.00293433,-0.00805511, 0.00252806, 0.0014698 ,
 -0.0025347 , 0.0086012 , 0.00385333, 0.00939505,-0.00252498, 0.00839199,
  0.10039438, 0.00156255, 0.09      , 0.0107151 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009985934236903665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.55893419e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.55893419e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09782696, -0.08784418,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64203632e-04,-5.26458474e-04,-9.20405988e-05, 1.34547323e-04,
 -2.27657085e-05,-1.32509288e-04, 3.82713985e-05,-1.52689595e-04,
 -5.82328544e-05,-5.09690145e-04,-6.10806812e-05,-2.22270984e-04,
 -7.69748487e-04,-4.78457540e-05,-7.91326748e-05,-4.42831501e-04,
  2.53267019e-06,-3.18093091e-06,-4.90502955e+00, 3.12020379e-04,
  1.16666836e-02,-4.06849020e-04]


--- Step 58 ---
qpos:
[ 1.30703966e-02, 2.13596634e-02,-6.52589037e-03,-1.78134472e-02,
  5.51688914e-03, 3.33470731e-03,-5.44385583e-03, 1.88999332e-02,
  8.55954358e-03, 1.98859210e-02,-5.67962733e-03, 1.84659540e-02,
  2.78086349e-01, 4.55318840e-03, 1.29444552e-01, 3.33095400e-02,
  6.44157803e-02,-7.40306312e-02, 1.72473044e-01, 9.99621482e-01,
  1.84057268e-02, 2.04480472e-02, 4.42045157e-06]

qacc:
[ -24.6024974 ,  -1.7112613 ,  -9.29019303,  45.67921129,  -8.77613647,
   -8.93118725,  45.30653132,-105.11205426, -13.84831079, -14.29521442,
   57.12991902,-111.93655567,  -1.20884705,  -1.49179833,  24.37388026,
  -85.2465283 ,  -1.83196784,   0.80259995,  -1.44315447,  -7.6647625 ,
  -16.49868149,   1.12517489]

qfrc_actuator:
[ 0.00576396, 0.00985984,-0.0029021 ,-0.00795371, 0.00247729, 0.00145898,
 -0.00251104, 0.00842954, 0.00377165, 0.00920156,-0.00248143, 0.00823003,
  0.10020819, 0.00154158, 0.09      , 0.01031305, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009449587152780131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.87445254e-14,  1.17489051e-13,  1.00000000e+00,  6.90183852e-27,
        1.00000000e+00, -1.17489051e-13, -1.00000000e+00,  0.00000000e+00,
       -5.87445254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09784195, -0.08785071,  0.06198322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46220519e-04,-4.53168601e-04,-8.45437633e-05, 7.83268900e-05,
 -5.14616168e-05,-8.44813178e-05,-4.44624440e-06,-1.79326185e-04,
 -8.29671742e-05,-5.06821943e-04,-7.87775677e-05,-1.90892738e-04,
 -7.48917235e-04,-5.41413445e-05,-8.82576763e-05,-4.37918063e-04,
  3.35287081e-06, 6.01371061e-06,-4.90502715e+00, 3.09182197e-04,
  1.16664938e-02,-4.12425901e-04]


--- Step 59 ---
qpos:
[ 1.31826014e-02, 2.15461113e-02,-6.58240031e-03,-1.79688601e-02,
  5.56547030e-03, 3.36412122e-03,-5.49194614e-03, 1.90649336e-02,
  8.63410063e-03, 2.00604349e-02,-5.72846139e-03, 1.86268806e-02,
  2.80134594e-01, 4.58509158e-03, 1.31668743e-01, 3.36053679e-02,
  6.43942283e-02,-7.40770096e-02, 1.72519809e-01, 9.99619670e-01,
  1.86075195e-02, 2.03537132e-02, 3.61242326e-05]

qacc:
[ -19.41769307,  -2.61005043,  -7.85724449,  50.47005894,  -8.72872586,
   -9.69349845,  49.74044901,-115.38048505, -16.44230441, -14.89225588,
   60.83027801,-121.50970417,  -0.93613028,  -5.70097657,  22.72794982,
  -79.71714307,  -1.83782575,   0.80172281,  -1.42367644,  -7.65531237,
  -16.52718663,   1.16619998]

qfrc_actuator:
[ 0.00565316, 0.00970254,-0.00284223,-0.00783093, 0.00242759, 0.00145867,
 -0.00247763, 0.00824335, 0.00367527, 0.00901648,-0.00243593, 0.00805125,
  0.10001216, 0.0014984 , 0.09      , 0.00993754, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008944184923767723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24127915e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24127915e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0978561 , -0.08785685,  0.06198411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15673335e-04,-4.31095174e-04,-4.27400675e-05, 1.02007851e-04,
 -5.11782939e-05,-5.70659428e-05, 9.04850489e-06,-1.93783363e-04,
 -9.83936729e-05,-4.98981874e-04,-7.72915163e-05,-2.07578785e-04,
 -7.43556024e-04,-7.61797844e-05,-9.14924971e-05,-4.12181241e-04,
  6.80716103e-06, 1.39643014e-05,-4.90502572e+00, 3.06213650e-04,
  1.16666355e-02,-4.17674728e-04]


--- Step 60 ---
qpos:
[ 1.32922503e-02, 2.17286729e-02,-6.63802536e-03,-1.81215642e-02,
  5.61307793e-03, 3.39290825e-03,-5.53895189e-03, 1.92267509e-02,
  8.70727755e-03, 2.02310821e-02,-5.77612383e-03, 1.87836823e-02,
  2.82179112e-01, 4.61660415e-03, 1.33892770e-01, 3.38943444e-02,
  6.43653012e-02,-7.41201845e-02, 1.72560952e-01, 9.99618766e-01,
  1.87940723e-02, 2.02262268e-02, 6.99376164e-05]

qacc:
[ -22.12528536,  -1.98763806, -11.7085777 ,  59.91380322,  -8.52410678,
  -10.39929502,  49.34558774,-105.74377632, -11.85671252, -16.85844739,
   70.15125413,-140.61923593,  -1.17448469,  -1.46712361,  20.50493666,
  -72.07062661,  -1.84377184,   0.80086804,  -1.40555302,  -7.6474875 ,
  -16.55919402,   1.20773239]

qfrc_actuator:
[ 0.00552539, 0.0095003 ,-0.00280203,-0.00769654, 0.00237894, 0.00142919,
 -0.00242091, 0.00808565, 0.00360651, 0.00883797,-0.00237185, 0.00784626,
  0.09982634, 0.00147797, 0.09      , 0.00959844, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008468930177145534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31093657e-13, -6.55468283e-14,  1.00000000e+00, -8.59277340e-27,
        1.00000000e+00,  6.55468283e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31093657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09786944, -0.08786261,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31748886e-04,-4.53904603e-04,-5.18595941e-05, 1.16475566e-04,
 -5.01187490e-05,-6.87201107e-05, 3.91888992e-05,-1.63933631e-04,
 -7.12204663e-05,-4.88312249e-04,-5.74477408e-05,-2.33710144e-04,
 -7.30220976e-04,-5.43429635e-05,-8.99206717e-05,-3.74716568e-04,
  1.29095775e-05, 2.06696288e-05,-4.90502526e+00, 3.03101911e-04,
  1.16671145e-02,-4.22596383e-04]


--- Step 61 ---
qpos:
[ 1.33995046e-02, 2.19076663e-02,-6.69323016e-03,-1.82707866e-02,
  5.65973209e-03, 3.42093440e-03,-5.58484606e-03, 1.93854277e-02,
  8.77941599e-03, 2.03978142e-02,-5.82269034e-03, 1.89371515e-02,
  2.84219923e-01, 4.64800749e-03, 1.36116671e-01, 3.41766222e-02,
  6.43289741e-02,-7.41601589e-02, 1.72596543e-01, 9.99618766e-01,
  1.89653987e-02, 2.00655112e-02, 1.05935060e-04]

qacc:
[ -20.73614825,   1.32126511, -26.15859265,  88.24297362,  -8.34450225,
  -10.56440739,  49.49653661,-105.09999814,  -8.89538318, -15.08418068,
   60.37576505,-116.95769888,  -1.34403303,   1.35803505,  20.10356101,
  -70.5729928 ,  -1.8500137 ,   0.80012561,  -1.3878808 ,  -7.64208259,
  -16.59635245,   1.24985101]

qfrc_actuator:
[ 0.0054064 , 0.00934377,-0.00277394,-0.00752095, 0.00233129, 0.00138261,
 -0.00236873, 0.00792821, 0.00355457, 0.00864717,-0.00231504, 0.00768077,
  0.09963611, 0.0014711 , 0.09      , 0.00926575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008023056095590175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.9189534e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.9189534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09788199, -0.087868  ,  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:
[-1.23427557e-04,-4.22088628e-04,-6.92743712e-05, 1.56671717e-04,
 -4.90930806e-05,-8.48134288e-05, 3.69936757e-05,-1.62538508e-04,
 -5.36331874e-05,-4.91512871e-04,-6.09342569e-05,-1.93557379e-04,
 -7.23849592e-04,-4.01372741e-05,-8.50266019e-05,-3.66020256e-04,
  2.16767851e-05, 2.61286937e-05,-4.90502577e+00, 2.99833647e-04,
  1.16679365e-02,-4.27191672e-04]


--- Step 62 ---
qpos:
[ 1.35055230e-02, 2.20832020e-02,-6.74805565e-03,-1.84170998e-02,
  5.70545198e-03, 3.44835501e-03,-5.62982651e-03, 1.95413158e-02,
  8.85072545e-03, 2.05607429e-02,-5.86829023e-03, 1.90874257e-02,
  2.86257083e-01, 4.67843330e-03, 1.38340421e-01, 3.44526701e-02,
  6.42852201e-02,-7.41969351e-02, 1.72626654e-01, 9.99619663e-01,
  1.91215060e-02, 1.98714770e-02, 1.44192166e-04]

qacc:
[ -10.6678385 ,   0.38285951, -20.22036397,  72.42235948,  -8.18405895,
   -9.08186472,  43.02268611, -92.33538991,  -7.08478011, -14.29560092,
   57.19220019,-111.26534943,  -0.77803896,  -7.25191217,  18.63074177,
  -65.51192095,  -1.85668967,   0.79955423,  -1.37006933,  -7.63961446,
  -16.63973476,   1.29261312]

qfrc_actuator:
[ 0.0053468 , 0.00918039,-0.00275301,-0.00737574, 0.00228461, 0.00136166,
 -0.00231973, 0.00778991, 0.00351292, 0.00846835,-0.00226299, 0.00752209,
  0.09944338, 0.00141897, 0.09      , 0.00895724, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007605787524917335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.29854089e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.29854089e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09789377, -0.08787305,  0.06198649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.37811070e-05,-4.12889349e-04,-7.05830300e-05, 1.27822430e-04,
 -4.80989056e-05,-6.85539693e-05, 3.02683639e-05,-1.44128769e-04,
 -4.28431947e-05,-4.80187480e-04,-6.53509948e-05,-1.86213992e-04,
 -7.21034883e-04,-8.52438304e-05,-8.21393941e-05,-3.40798988e-04,
  3.31294341e-05, 3.03396324e-05,-4.90502725e+00, 2.96394978e-04,
  1.16691072e-02,-4.31461297e-04]


--- Step 63 ---
qpos:
[ 1.36096482e-02, 2.22548361e-02,-6.80234893e-03,-1.85604864e-02,
  5.74956652e-03, 3.47536671e-03,-5.67398393e-03, 1.96946531e-02,
  8.92099071e-03, 2.07202202e-02,-5.91285393e-03, 1.92349116e-02,
  2.88290699e-01, 4.70836094e-03, 1.40564355e-01, 3.47201483e-02,
  6.42340107e-02,-7.42305145e-02, 1.72651358e-01, 9.99621448e-01,
  1.92623948e-02, 1.96440209e-02, 1.84785735e-04]

qacc:
[-16.36175284, -0.58446896,-17.67783637, 70.24453829,-14.09564854,
  -8.06694594, 38.79667144,-84.01347889, -8.94901403,-13.18339236,
  52.18995877,-99.59835904, -1.04732018, -2.47189608, 26.21806126,
 -91.31605554, -1.86388489,  0.79918888, -1.35176939, -7.64038914,
 -16.68997304,  1.33605658]

qfrc_actuator:
[ 0.00525162, 0.00896097,-0.00273651,-0.00723184, 0.00220337, 0.00135624,
 -0.00227289, 0.007664  , 0.00345991, 0.00833367,-0.00219634, 0.00738644,
  0.09927591, 0.00139386, 0.09      , 0.00852343, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007216315505429588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.6924507e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -7.6924507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0979048 , -0.08787776,  0.06198718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.76303620e-05,-4.65159295e-04,-7.42352291e-05, 1.26305435e-04,
 -8.26261992e-05,-4.45165540e-05, 3.12824616e-05,-1.30911264e-04,
 -5.39082006e-05,-4.30172331e-04,-4.86713438e-05,-1.62693313e-04,
 -6.95513097e-04,-5.98783256e-05,-7.81258567e-05,-4.64352196e-04,
  4.72929703e-05, 3.32990044e-05,-4.90502970e+00, 2.92771449e-04,
  1.16706326e-02,-4.35405828e-04]


--- Step 64 ---
qpos:
[ 1.37118141e-02, 2.24222075e-02,-6.85566226e-03,-1.86999795e-02,
  5.79236403e-03, 3.50202648e-03,-5.71725465e-03, 1.98449245e-02,
  8.98939407e-03, 2.08764483e-02,-5.95641725e-03, 1.93795880e-02,
  2.90320854e-01, 4.73812267e-03, 1.42788210e-01, 3.49799795e-02,
  6.41753146e-02,-7.42608977e-02, 1.72670730e-01, 9.99624104e-01,
  1.93880593e-02, 1.93830252e-02, 2.27793799e-04]

qacc:
[-16.91283836, -0.32070107,-23.38362839, 92.21588992,-11.55766285,
  -9.23507528, 45.23671635,-99.50123148,-16.02645856,-12.84598097,
  51.48847649,-99.38279034, -1.22887223,  0.76814605, 23.04169826,
 -80.75357125, -1.87164413,  0.79904676, -1.3328151 , -7.644555  ,
 -16.74736664,  1.38020228]

qfrc_actuator:
[ 0.005154  , 0.00874525,-0.00268745,-0.00703664, 0.00213794, 0.00134243,
 -0.00222761, 0.0075109 , 0.00336512, 0.00819114,-0.00213915, 0.00724773,
  0.09910773, 0.00138488, 0.09      , 0.00814354, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006853782130279706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.09934576e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.09934576e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09791511, -0.08788215,  0.06198782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01054339e-04,-4.91381336e-04,-5.29497645e-05, 1.75209144e-04,
 -6.77856933e-05,-3.86904702e-05, 3.52640138e-05,-1.56776493e-04,
 -9.60021374e-05,-4.05487112e-04,-4.48919618e-05,-1.62565216e-04,
 -6.76315987e-04,-4.23552371e-05,-9.09735998e-05,-4.17015211e-04,
  6.41980484e-05, 3.50013510e-05,-4.90503312e+00, 2.88948018e-04,
  1.16725186e-02,-4.39025691e-04]


--- Step 65 ---
qpos:
[ 1.38120060e-02, 2.25854382e-02,-6.90751072e-03,-1.88354064e-02,
  5.83438923e-03, 3.52794562e-03,-5.75917170e-03, 1.99918584e-02,
  9.05579397e-03, 2.10292138e-02,-5.99888782e-03, 1.95214860e-02,
  2.92347619e-01, 4.76723301e-03, 1.45011822e-01, 3.52335125e-02,
  6.41090987e-02,-7.42880845e-02, 1.72684850e-01, 9.99627615e-01,
  1.94984863e-02, 1.90883576e-02, 2.73295625e-04]

qacc:
[ -17.02247878,  -1.15844519, -20.89159745,  91.8497476 ,  -6.74281467,
  -11.62341363,  54.13847014,-113.55076222, -17.23983258, -13.3197011 ,
   52.64165011, -99.99371025,  -0.88267303,  -4.04259158,  18.70465902,
  -65.95798192,  -1.87998198,   0.79913201,  -1.31317748,  -7.65214468,
  -16.81196797,   1.42505663]

qfrc_actuator:
[ 0.00505574, 0.00856918,-0.00260178,-0.00683055, 0.00210011, 0.00128818,
 -0.00216592, 0.00734302, 0.00326424, 0.00800958,-0.00208801, 0.00710832,
  0.09893393, 0.00134993, 0.09      , 0.00783402, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006517273237354876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51754242e-14, -8.51754242e-14,  1.00000000e+00, -7.25485288e-27,
        1.00000000e+00,  8.51754242e-14, -1.00000000e+00,  0.00000000e+00,
       -8.51754242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09792472, -0.08788622,  0.06198842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01796071e-04,-4.59765311e-04,-1.73997289e-05, 1.86661141e-04,
 -3.97665087e-05,-7.61370520e-05, 5.24816917e-05,-1.71668394e-04,
 -1.03299458e-04,-4.29841510e-04,-4.53417516e-05,-1.62062053e-04,
 -6.66968623e-04,-6.74040032e-05,-9.07900779e-05,-3.45477517e-04,
  8.38806650e-05, 3.54389508e-05,-4.90503750e+00, 2.84909047e-04,
  1.16747714e-02,-4.42321156e-04]


--- Step 66 ---
qpos:
[ 1.39098865e-02, 2.27451284e-02,-6.95787723e-03,-1.89680795e-02,
  5.87563382e-03, 3.55310769e-03,-5.79998845e-03, 2.01359965e-02,
  9.12151134e-03, 2.11787846e-02,-6.04081070e-03, 1.96606018e-02,
  2.94371003e-01, 4.79573828e-03, 1.47234888e-01, 3.54839772e-02,
  6.40353272e-02,-7.43120734e-02, 1.72693798e-01, 9.99631959e-01,
  1.95936560e-02, 1.87598716e-02, 3.21371694e-04]

qacc:
[-19.95777951, -3.11085843, -7.23839314, 55.02321038, -6.8233642 ,
  -9.8205601 , 45.39069231,-95.00535518, -5.83331646,-11.47216315,
  46.54474372,-93.24522769, -0.89933429, -3.62376953,  8.48018671,
 -30.83640405, -1.88889101,  0.79943943, -1.29292737, -7.66310799,
 -16.88365045,  1.4706139 ]

qfrc_actuator:
[ 0.00494014, 0.00843624,-0.00251276,-0.00669068, 0.00206106, 0.00124571,
 -0.00211295, 0.00720327, 0.00323162, 0.00785937,-0.00205875, 0.00696958,
  0.09875686, 0.00131771, 0.09      , 0.00769269, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006205816936813435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78900383e-13, -1.78900383e-13,  1.00000000e+00, -3.20053469e-26,
        1.00000000e+00,  1.78900383e-13, -1.00000000e+00,  0.00000000e+00,
       -1.78900383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09793366, -0.08788999,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19137888e-04,-3.90997675e-04,-2.72773729e-06, 1.23257060e-04,
 -4.01974039e-05,-8.23558849e-05, 3.76280202e-05,-1.44827433e-04,
 -3.52808732e-05,-4.12073090e-04,-7.22542648e-05,-1.62427727e-04,
 -6.64330793e-04,-6.54228007e-05,-8.24754170e-05,-1.73212218e-04,
  1.06382100e-04, 3.46017185e-05,-4.90504285e+00, 2.80638314e-04,
  1.16773974e-02,-4.45292341e-04]


--- Step 67 ---
qpos:
[ 1.40052661e-02, 2.29019162e-02,-7.00703924e-03,-1.90991431e-02,
  5.91608947e-03, 3.57763579e-03,-5.84015939e-03, 2.02773484e-02,
  9.18633519e-03, 2.13251874e-02,-6.08267405e-03, 1.97969925e-02,
  2.96390912e-01, 4.82335526e-03, 1.49457592e-01, 3.57320729e-02,
  6.39539622e-02,-7.43328625e-02, 1.72697658e-01, 9.99637109e-01,
  1.96735419e-02, 1.83974071e-02, 3.72103671e-04]

qacc:
[-21.62010386, -3.8459957 ,  1.43590471, 26.52670737, -6.91291597,
  -8.3677897 , 40.40756742,-89.2238944 , -7.67120556, -9.95110711,
  40.93834793,-85.89815678, -0.74395932, -6.29009082,  6.63099968,
 -23.98423889, -1.89834807,  0.79995733, -1.27220599, -7.67733755,
 -16.9621618 ,  1.5168585 ]

qfrc_actuator:
[ 0.00481526, 0.00833022,-0.00244009,-0.00660859, 0.00202161, 0.00121062,
 -0.00208325, 0.00706344, 0.00318617, 0.00769357,-0.00206026, 0.00683236,
  0.09855666, 0.00126959, 0.09      , 0.00758056, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005918386382629259
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.37944021e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.37944021e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09794195, -0.08789348,  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:
[-1.28879631e-04,-3.25190809e-04,-5.23962301e-06, 6.76832915e-05,
 -4.06233612e-05,-8.03531806e-05, 1.21703559e-05,-1.45158686e-04,
 -4.61466789e-05,-4.23152915e-04,-1.02647713e-04,-1.61076911e-04,
 -6.85301997e-04,-8.16408499e-05,-5.91377554e-05,-1.33274489e-04,
  1.31748731e-04, 3.24772016e-05,-4.90504917e+00, 2.76119020e-04,
  1.16804031e-02,-4.47939205e-04]


--- Step 68 ---
qpos:
[ 1.40987429e-02, 2.30560035e-02,-7.05535152e-03,-1.92285497e-02,
  5.95541257e-03, 3.60131494e-03,-5.87927088e-03, 2.04155729e-02,
  9.24977424e-03, 2.14684930e-02,-6.12435355e-03, 1.99309947e-02,
  2.98407265e-01, 4.85023874e-03, 1.51680627e-01, 3.59735129e-02,
  6.38649640e-02,-7.43504490e-02, 1.72696512e-01, 9.99643035e-01,
  1.97381113e-02, 1.80007904e-02, 4.25574359e-04]

qacc:
[ -16.43847768,  -2.49939716,  -3.19631307,  32.41989323,  -9.92002273,
  -10.50490344,  49.06578258,-104.30075627, -11.91267225,  -9.50334695,
   38.07009778, -77.46804906,  -0.89215827,  -4.56658607,  20.63358009,
  -71.47636419,  -1.9083193 ,   0.80066978,  -1.25120184,  -7.69468862,
  -17.0471658 ,   1.563767  ]

qfrc_actuator:
[ 0.00472143, 0.00820564,-0.0023953 ,-0.00652563, 0.00196447, 0.00116238,
 -0.002032  , 0.00690693, 0.00311575, 0.00755519,-0.00204445, 0.00671486,
  0.09835869, 0.0012302 , 0.09      , 0.00723794, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000565390552805356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81819575e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.81819575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09794961, -0.0878967 ,  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:
[-9.80746356e-05,-3.09767250e-04,-2.17382932e-05, 7.02069897e-05,
 -5.83124106e-05,-9.76309263e-05, 3.09980046e-05,-1.62644926e-04,
 -7.14396852e-05,-4.08046490e-04,-9.12790628e-05,-1.42844200e-04,
 -6.99253542e-04,-7.49373417e-05,-4.51322780e-05,-3.58813683e-04,
  1.60031774e-04, 2.90506436e-05,-4.90505646e+00, 2.71333809e-04,
  1.16837951e-02,-4.50261559e-04]


--- Step 69 ---
qpos:
[ 1.41903597e-02, 2.32068394e-02,-7.10256110e-03,-1.93555553e-02,
  5.99374477e-03, 3.62428482e-03,-5.91723556e-03, 2.05508163e-02,
  9.31153955e-03, 2.16088689e-02,-6.16572174e-03, 2.00631951e-02,
  3.00420043e-01, 4.87648829e-03, 1.53903794e-01, 3.62079680e-02,
  6.37682908e-02,-7.43648292e-02, 1.72690446e-01, 9.99649704e-01,
  1.97873253e-02, 1.75698361e-02, 4.81867638e-04]

qacc:
[ -16.04586448,  -2.40285811,  -7.73328885,  49.82237927,  -8.67314348,
  -10.26547593,  47.85792849,-100.79810885, -14.40453295,  -8.42486653,
   32.07720772, -61.65583824,  -0.9686513 ,  -3.53106298,  21.33917849,
  -74.36551468,  -1.91876399,   0.8015583 ,  -1.23013254,  -7.71499432,
  -17.13827457,   1.61130998]

qfrc_actuator:
[ 0.00462889, 0.00801762,-0.00234961,-0.00640734, 0.00191514, 0.00114223,
 -0.00196849, 0.0067596 , 0.0030312 , 0.00743445,-0.00201841, 0.00662769,
  0.09816751, 0.00119625, 0.09      , 0.00688653, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005411256874221643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0258458e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0258458e-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([ 0.09795669, -0.08789965,  0.06199038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58932808e-05,-3.67780765e-04,-1.95796960e-05, 1.05683128e-04,
 -5.10164282e-05,-7.60476811e-05, 4.14091650e-05,-1.53873207e-04,
 -8.63080789e-05,-3.78725085e-04,-7.58492254e-05,-1.11098267e-04,
 -7.02598139e-04,-7.05236380e-05,-6.58556512e-05,-3.78845094e-04,
  1.91286979e-04, 2.43050902e-05,-4.90506471e+00, 2.66264783e-04,
  1.16875803e-02,-4.52259064e-04]


--- Step 70 ---
qpos:
[ 1.42794571e-02, 2.33540045e-02,-7.14867471e-03,-1.94794081e-02,
  6.03118706e-03, 3.64683776e-03,-5.95427513e-03, 2.06832133e-02,
  9.37112981e-03, 2.17461731e-02,-6.20671907e-03, 2.01929806e-02,
  3.02429195e-01, 4.90218033e-03, 1.56126731e-01, 3.64373620e-02,
  6.36638990e-02,-7.43759990e-02, 1.72679543e-01, 9.99657077e-01,
  1.98211394e-02, 1.71043470e-02, 5.41068404e-04]

qacc:
[-21.75488453, -1.37847131,-15.33907496, 70.72668387, -7.79639169,
  -8.98364783, 43.27631662,-93.74222658,-18.72762856,-10.03382594,
  40.14557514,-80.34601167, -1.03426087, -2.76048446, 14.98001243,
 -52.89335133, -1.92963757,  0.8026032 , -1.20923083, -7.73807726,
 -17.23507347,  1.65945363]

qfrc_actuator:
[ 0.00450232, 0.00781092,-0.00230397,-0.00625149, 0.0018708 , 0.00113912,
 -0.00191588, 0.0066189 , 0.00292127, 0.00727211,-0.00200417, 0.00650584,
  0.09796988, 0.00116576, 0.09      , 0.00663935, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005189290438698535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09796319, -0.08790236,  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:
[-1.29862070e-04,-4.16830618e-04,-3.01007154e-05, 1.41512306e-04,
 -4.58082663e-05,-4.43785878e-05, 3.65474837e-05,-1.45791061e-04,
 -1.12127914e-04,-3.99286097e-04,-7.85700297e-05,-1.43366463e-04,
 -7.11378391e-04,-6.76185181e-05,-7.67664215e-05,-2.78197023e-04,
  2.25574315e-04, 1.82215198e-05,-4.90507393e+00, 2.60893530e-04,
  1.16917656e-02,-4.53931244e-04]


--- Step 71 ---
qpos:
[ 1.43677156e-02, 2.34976957e-02,-7.19393256e-03,-1.96004367e-02,
  6.06780637e-03, 3.66915838e-03,-5.99072992e-03, 2.08121973e-02,
  9.42929141e-03, 2.18804207e-02,-6.24721571e-03, 2.03192395e-02,
  3.04434727e-01, 4.92769031e-03, 1.58349074e-01, 3.66653018e-02,
  6.35517436e-02,-7.43839537e-02, 1.72663885e-01, 9.99665111e-01,
  1.98395038e-02, 1.66041153e-02, 6.03262497e-04]

qacc:
[  -7.18865444,  -1.15260559, -14.4299848 ,  64.42336011,  -7.22148543,
   -8.95621019,  45.92318034,-105.78630991, -12.27366548, -12.67822202,
   54.27465799,-113.90829535,  -1.28333565,   0.80763958,   3.53438974,
  -13.61026218,  -1.94089464,   0.80378482,  -1.18873031,  -7.76376107,
  -17.3371465 ,   1.70816183]

qfrc_actuator:
[ 0.00446327, 0.00764799,-0.0022588 ,-0.00611034, 0.00182976, 0.00112849,
 -0.00188781, 0.00644772, 0.00285053, 0.00712162,-0.00197945, 0.00632901,
  0.09778449, 0.00115528, 0.09      , 0.00657984, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004986833345563546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11315433e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11315433e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09796917, -0.08790484,  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:
[-4.33413437e-05,-4.01018950e-04,-4.07273131e-05, 1.25057515e-04,
 -4.23575338e-05,-3.48447147e-05, 1.82363429e-05,-1.74914853e-04,
 -7.36952988e-05,-4.00774098e-04,-7.37506457e-05,-1.99940886e-04,
 -7.05454532e-04,-4.85145165e-05,-6.96293774e-05,-8.60962641e-05,
  2.62957656e-04, 1.07789850e-05,-4.90508412e+00, 2.55201142e-04,
  1.16963581e-02,-4.55277483e-04]


--- Step 72 ---
qpos:
[ 1.44548112e-02, 2.36380725e-02,-7.23836482e-03,-1.97191951e-02,
  6.10399371e-03, 3.69131815e-03,-6.02719993e-03, 2.09384992e-02,
  9.48650490e-03, 2.20114830e-02,-6.28655261e-03, 2.04423579e-02,
  3.06436766e-01, 4.95289545e-03, 1.60571125e-01, 3.68917001e-02,
  6.34317776e-02,-7.43886877e-02, 1.72643555e-01, 9.99673759e-01,
  1.98423624e-02, 1.60689206e-02, 6.68536880e-04]

qacc:
[  -9.99940018,  -1.99242703,  -8.78602108,  49.12439816,  -3.800504  ,
   -5.68603577,  31.30272935, -77.59615196,  -8.09841345, -13.90372285,
   56.75349568,-110.64972431,  -1.15175848,  -0.42019694,   4.2406318 ,
  -15.4426324 ,  -1.95266513,   0.80515628,  -1.16810162,  -7.79250701,
  -17.44550455,   1.75753884]

qfrc_actuator:
[ 0.00440504, 0.00749484,-0.00221411,-0.00599668, 0.00180873, 0.00111332,
 -0.00189224, 0.00631322, 0.00280343, 0.00697947,-0.00191322, 0.00617452,
  0.09761724, 0.0011389 , 0.09      , 0.00650709, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048026994301547665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31166460e-13,  1.15583230e-13,  1.00000000e+00,  2.67189661e-26,
        1.00000000e+00, -1.15583230e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31166460e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09797463, -0.0879071 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00103350e-05,-3.85153203e-04,-3.97957348e-05, 9.75448145e-05,
 -2.22374538e-05,-3.90694608e-05,-1.55567313e-05,-1.39021903e-04,
 -4.89509636e-05,-3.94584828e-04,-3.38706000e-05,-1.78581745e-04,
 -6.81872426e-04,-5.40755492e-05,-4.44638137e-05,-8.76079847e-05,
  3.03504501e-04, 1.95475299e-06,-4.90509527e+00, 2.49168234e-04,
  1.17013648e-02,-4.56297041e-04]


--- Step 73 ---
qpos:
[ 1.45398346e-02, 2.37750453e-02,-7.28160478e-03,-1.98360259e-02,
  6.13964735e-03, 3.71331033e-03,-6.06350972e-03, 2.10625355e-02,
  9.54271601e-03, 2.21399870e-02,-6.32513118e-03, 2.05629487e-02,
  3.08435342e-01, 4.97740662e-03, 1.62793095e-01, 3.71157799e-02,
  6.33039517e-02,-7.43901949e-02, 1.72618635e-01, 9.99682968e-01,
  1.98296530e-02, 1.54985301e-02, 7.36979637e-04]

qacc:
[-17.86718693, -3.82674908, -0.94782775, 34.81349742, -4.68980586,
  -5.3260796 , 28.25119268,-67.61620137, -8.58763214,-10.68987168,
  43.91052209,-87.02019298, -0.86690176, -4.10915005,  6.89640248,
 -24.30101809, -1.96494489,  0.80671469, -1.14740297, -7.82428887,
 -17.5600711 ,  1.80758601]

qfrc_actuator:
[ 0.00430045, 0.00733103,-0.00215227,-0.0059001 , 0.0017819 , 0.00111321,
 -0.00188031, 0.00620136, 0.00275285, 0.00689692,-0.00185844, 0.00605222,
  0.09743435, 0.00110141, 0.09      , 0.00639156, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046356659755851515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19747953e-13, -1.19747953e-13,  1.00000000e+00,  1.43395723e-26,
        1.00000000e+00,  1.19747953e-13, -1.00000000e+00,  0.00000000e+00,
        1.19747953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09797962, -0.08790916,  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:
[-1.06827981e-04,-3.87818177e-04,-2.01762945e-05, 8.06476573e-05,
 -2.74718169e-05,-3.18028184e-05,-2.97276855e-06,-1.17027024e-04,
 -5.17221535e-05,-3.22249700e-04,-3.83668704e-05,-1.44326054e-04,
 -6.80235493e-04,-7.45747237e-05,-3.44591368e-05,-1.27565172e-04,
  3.47289390e-04,-8.27644805e-06,-4.90510739e+00, 2.42774441e-04,
  1.17067932e-02,-4.56989037e-04]


--- Step 74 ---
qpos:
[ 1.46236254e-02, 2.39087656e-02,-7.32383826e-03,-1.99507960e-02,
  6.17470234e-03, 3.73470101e-03,-6.09894689e-03, 2.11839218e-02,
  9.59823573e-03, 2.22665650e-02,-6.36367291e-03, 2.06810933e-02,
  3.10430353e-01, 5.00168361e-03, 1.65014789e-01, 3.73390727e-02,
  6.31682156e-02,-7.43884685e-02, 1.72589206e-01, 9.99692684e-01,
  1.98013081e-02, 1.48927010e-02, 8.08679735e-04]

qacc:
[-10.59528287, -2.84719557, -4.73439671, 41.11073997, -5.23156571,
  -8.68103089, 41.00499722,-87.84018988, -5.93459437, -7.67435898,
  34.0180734 ,-75.0184906 , -1.23384572,  0.35978518,  1.98189513,
  -7.50118552, -1.97757342,  0.80839327, -1.12736457, -7.85852101,
 -17.67950575,  1.85817289]

qfrc_actuator:
[ 0.00424044, 0.00718   ,-0.00209858,-0.00579657, 0.00175185, 0.00106894,
 -0.00184096, 0.00606824, 0.00271838, 0.00683303,-0.0018461 , 0.00593212,
  0.09723687, 0.00108729, 0.09      , 0.00635827, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044844756754047754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.23785154e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.23785154e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09798416, -0.08791102,  0.06199202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.35967471e-05,-3.73109216e-04,-2.70268092e-05, 8.78288050e-05,
 -3.08275321e-05,-6.83451316e-05, 2.82497862e-05,-1.37110974e-04,
 -3.56867541e-05,-2.62516458e-04,-6.52080812e-05,-1.38504127e-04,
 -6.94598033e-04,-5.22346854e-05,-3.51473947e-05,-4.64615861e-05,
  3.94391835e-04,-1.99420804e-05,-4.90512046e+00, 2.35998711e-04,
  1.17126508e-02,-4.57352448e-04]


--- Step 75 ---
qpos:
[ 1.47053479e-02, 2.40395984e-02,-7.36557916e-03,-2.00630980e-02,
  6.20912500e-03, 3.75499595e-03,-6.13338684e-03, 2.13028192e-02,
  9.65257341e-03, 2.23909151e-02,-6.40202934e-03, 2.07972440e-02,
  3.12421758e-01, 5.02531847e-03, 1.67236603e-01, 3.75592135e-02,
  6.30245178e-02,-7.43835015e-02, 1.72555343e-01, 9.99702843e-01,
  1.97572564e-02, 1.42511830e-02, 8.83726837e-04]

qacc:
[-1.78570262e+01,-7.43108475e-02,-1.56132550e+01, 5.95616911e+01,
 -5.51550491e+00,-9.35076002e+00, 4.17669435e+01,-8.56544703e+01,
 -1.01562931e+01,-7.54938079e+00, 3.10989040e+01,-6.43056061e+01,
 -9.64726211e-01,-3.39110571e+00, 9.71806127e+00,-3.37364861e+01,
 -1.99042841e+00, 8.10142000e-01,-1.10854053e+00,-7.89476406e+00,
 -1.78027853e+01, 1.90919275e+00]

qfrc_actuator:
[ 0.00413615, 0.0070556 ,-0.00206783,-0.00567203, 0.00172017, 0.00098092,
 -0.0018037 , 0.0059414 , 0.00265815, 0.00670971,-0.00184106, 0.00583202,
  0.09703611, 0.00105149, 0.09      , 0.0061962 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004347867518441906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.55348862e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.55348862e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09798829, -0.08791271,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06613806e-04,-3.39242788e-04,-4.75008462e-05, 1.09374523e-04,
 -3.25824923e-05,-1.26919543e-04, 2.17689319e-05,-1.31697427e-04,
 -6.09629720e-05,-2.93754458e-04,-6.32410539e-05,-1.16747917e-04,
 -7.07328309e-04,-7.45528524e-05,-2.61467532e-05,-1.70754258e-04,
  4.44892643e-04,-3.30708054e-05,-4.90513449e+00, 2.28819814e-04,
  1.17189452e-02,-4.57386115e-04]


--- Step 76 ---
qpos:
[ 1.47851776e-02, 2.41677238e-02,-7.40648343e-03,-2.01730806e-02,
  6.24324502e-03, 3.77428783e-03,-6.16735793e-03, 2.14189471e-02,
  9.70474001e-03, 2.25126902e-02,-6.43994850e-03, 2.09120008e-02,
  3.14409591e-01, 5.04803844e-03, 1.69458554e-01, 3.77750413e-02,
  6.28728063e-02,-7.43752868e-02, 1.72517114e-01, 9.99713379e-01,
  1.96974229e-02, 1.35737196e-02, 9.62211138e-04]

qacc:
[-16.32556659, -1.10769971,-10.9616187 , 51.65989012, -2.63260565,
  -8.33464951, 39.49641112,-87.45218917,-18.67122803, -7.45976179,
  27.60858946,-50.60584256, -0.75393237, -5.9278599 , 13.24944687,
 -46.0713957 , -2.00341834,  0.81192425, -1.09134238, -7.93269673,
 -17.92914464,  1.9605597 ]

qfrc_actuator:
[ 0.00404213, 0.00694811,-0.00201523,-0.00555387, 0.00170552, 0.00092065,
 -0.00178593, 0.00580148, 0.00254772, 0.00656957,-0.0018228 , 0.0057622 ,
  0.09684948, 0.00100319, 0.09      , 0.00597728, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042246001176192427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09799204, -0.08791424,  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:
[-9.75674657e-05,-3.06613409e-04,-2.04020951e-05, 1.04161999e-04,
 -1.56148418e-05,-1.33002693e-04,-1.04126100e-05,-1.47403397e-04,
 -1.11905852e-04,-3.26643766e-04,-5.54572686e-05,-8.73044998e-05,
 -7.03774173e-04,-8.89521936e-05,-3.70978221e-05,-2.33652218e-04,
  4.98873819e-04,-4.76922555e-05,-4.90514948e+00, 2.21216339e-04,
  1.17256837e-02,-4.57088770e-04]


--- Step 77 ---
qpos:
[ 0.01486394, 0.02429343,-0.00744661,-0.02028082, 0.00627658, 0.00379301,
 -0.00620134, 0.02153247, 0.00975553, 0.02263155,-0.00647717, 0.02102435,
  0.31639396, 0.00507036, 0.1716805 , 0.03798656, 0.06271303,-0.07436382,
  0.17247458, 0.99972422, 0.01962173, 0.01286005, 0.00104422]

qacc:
[ -9.16503618, -0.74016758,-11.40087807, 50.61023274, -6.91149902,
  -6.07037265, 31.58017561,-76.28467667,-11.80844453,-10.72376856,
  42.83783582,-83.44468141, -1.09694869, -1.05480923, 13.03250446,
 -45.58146531, -2.01647632,  0.81371403, -1.07606707, -7.9720924 ,
 -18.05802665,  2.01220585]

qfrc_actuator:
[ 0.00399042, 0.00685174,-0.00196781,-0.00544037, 0.00166551, 0.00091288,
 -0.0017797 , 0.00567274, 0.00247966, 0.00640281,-0.00179694, 0.00563974,
  0.09668744, 0.00098343, 0.09      , 0.00576219, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000411346891878106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34949728e-13,  1.34949728e-13,  1.00000000e+00,  1.82114291e-26,
        1.00000000e+00, -1.34949728e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34949728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09799543, -0.08791561,  0.06199267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.49716230e-05,-2.71778532e-04,-1.56687014e-05, 1.01730457e-04,
 -4.04922247e-05,-9.11836809e-05,-2.77219184e-05,-1.37897525e-04,
 -7.10457776e-05,-3.68711987e-04,-5.26437905e-05,-1.40506635e-04,
 -6.77362836e-04,-6.11580494e-05,-4.89958673e-05,-2.34709434e-04,
  5.56418589e-04,-6.38368948e-05,-4.90516540e+00, 2.13166675e-04,
  1.17328739e-02,-4.56459040e-04]


--- Step 78 ---
qpos:
[ 0.01494112, 0.02441678,-0.00748594,-0.02038603, 0.00630848, 0.00381137,
 -0.00623464, 0.02164383, 0.00980615, 0.02274742,-0.00651347, 0.02113435,
  0.31837489, 0.00509265, 0.17390251, 0.03819284, 0.06254513,-0.07434909,
  0.1724278 , 0.99973529, 0.01953009, 0.01210991, 0.00112985]

qacc:
[-13.65331398, -0.10769311,-14.77768877, 59.01579082,-12.54722576,
  -6.83643084, 32.862425  ,-71.18527087, -1.38982834,-11.37683601,
  44.75267941,-84.75259506, -1.36721492,  2.4207118 , 15.98674174,
 -55.76926611, -2.02955498,  0.81549368, -1.06292025, -8.01279984,
 -18.18904151,  2.06407878]

qfrc_actuator:
[ 0.00391078, 0.00674509,-0.00192377,-0.00531276, 0.00159314, 0.00093658,
 -0.00172686, 0.0055694 , 0.00247259, 0.00625696,-0.0017492 , 0.00552277,
  0.09651364, 0.00098063, 0.09      , 0.00549785, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040133184887050644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38317334e-13, -1.38317334e-13,  1.00000000e+00, -1.91316848e-26,
        1.00000000e+00,  1.38317334e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38317334e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09799849, -0.08791685,  0.06199284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.16617507e-05,-2.61619092e-04,-1.13456474e-05, 1.17443095e-04,
 -7.35475857e-05,-3.94801912e-05, 2.57460293e-05,-1.11105819e-04,
 -8.88928420e-06,-3.72917943e-04,-4.09208789e-05,-1.37753886e-04,
 -6.68170844e-04,-4.23150929e-05,-5.40506072e-05,-2.85421137e-04,
  6.17611506e-04,-8.15359455e-05,-4.90518226e+00, 2.04649000e-04,
  1.17405231e-02,-4.55495462e-04]


--- Step 79 ---
qpos:
[ 0.01501639, 0.02453771,-0.00752469,-0.02048887, 0.00633927, 0.00382932,
 -0.00626678, 0.02175305, 0.00985664, 0.02286095,-0.00654899, 0.02124236,
  0.32035241, 0.00511478, 0.17612438, 0.03839464, 0.06236907,-0.07433109,
  0.1723768 , 0.9997465 , 0.01942244, 0.01132302, 0.00121919]

qacc:
[-16.44427736,  0.11258492,-14.98196065, 56.79623042, -9.77568718,
  -8.13634959, 37.26092739,-75.78202114, -1.03708783, -9.38180126,
  37.44026269,-71.59622241, -1.24945831,  1.11726599, 13.32531986,
 -46.87561447, -2.04262227,  0.81725202, -1.05203548, -8.0547274 ,
 -18.32193243,  2.11613914]

qfrc_actuator:
[ 0.00381532, 0.00661542,-0.00189985,-0.00519563, 0.00153781, 0.00092591,
 -0.0016645 , 0.00546415, 0.00246595, 0.00619591,-0.00168883, 0.00542774,
  0.09633823, 0.00097005, 0.09      , 0.00527764, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000392305087808964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.07499762e-14, -1.41499952e-13,  1.00000000e+00, -1.00111183e-26,
        1.00000000e+00,  1.41499952e-13, -1.00000000e+00,  0.00000000e+00,
       -7.07499762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09800126, -0.08791796,  0.061993  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82411353e-05,-2.77321309e-04,-2.82731460e-05, 1.07852829e-04,
 -5.74276392e-05,-3.27370381e-05, 5.34600254e-05,-1.08423855e-04,
 -6.66366896e-06,-2.87799260e-04,-2.75961930e-05,-1.15512158e-04,
 -6.62010020e-04,-4.94604173e-05,-6.21320281e-05,-2.44792154e-04,
  6.82538610e-04,-1.00821364e-04,-4.90520004e+00, 1.95641246e-04,
  1.17486386e-02,-4.54196487e-04]


--- Step 80 ---
qpos:
[ 0.01509028, 0.02465607,-0.00756307,-0.02058947, 0.00636985, 0.00384689,
 -0.00629816, 0.02185949, 0.00990598, 0.02297228,-0.00658359, 0.02134765,
  0.32232659, 0.00513664, 0.1783459 , 0.03859387, 0.06218478,-0.07430981,
  0.17232164, 0.99975777, 0.01929867, 0.01049912, 0.00131234]

qacc:
[-11.98907572,  0.20062813,-15.0196923 , 54.95553565, -1.84636008,
  -8.37202716, 40.89473655,-90.05364009, -9.88682889,-11.03959349,
  46.5730773 ,-93.24676777, -1.15321862,  0.17243553,  7.29359736,
 -26.24717788, -2.05565802,  0.81898279, -1.04349007, -8.09783013,
 -18.45654759,  2.1683586 ]

qfrc_actuator:
[ 0.00374684, 0.00647295,-0.00188809,-0.00508565, 0.00152847, 0.00089483,
 -0.00163267, 0.00532309, 0.00240635, 0.00609751,-0.00163887, 0.00529322,
  0.0961673 , 0.00095496, 0.09      , 0.00515623, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038416308819431977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.22494598e-14, -1.44498920e-13,  1.00000000e+00, -1.04399689e-26,
        1.00000000e+00,  1.44498920e-13, -1.00000000e+00,  0.00000000e+00,
       -7.22494598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09800375, -0.08791895,  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:
[-7.17476403e-05,-3.02738094e-04,-4.60791355e-05, 9.92687934e-05,
 -1.09782867e-05,-4.35300469e-05, 2.78279691e-05,-1.42935437e-04,
 -5.95493650e-05,-2.73770060e-04,-1.79906653e-05,-1.50459989e-04,
 -6.53318805e-04,-5.43133867e-05,-6.07959620e-05,-1.44642352e-04,
  7.51287624e-04,-1.21725855e-04,-4.90521873e+00, 1.86121079e-04,
  1.17572276e-02,-4.52560484e-04]


--- Step 81 ---
qpos:
[ 0.01516241, 0.02477208,-0.0076008 ,-0.0206887 , 0.00639973, 0.00386416,
 -0.00632898, 0.0219641 , 0.00995388, 0.02308084,-0.00661706, 0.02145022,
  0.32429746, 0.00515818, 0.1805673 , 0.03878971, 0.06199222,-0.07428525,
  0.17226232, 0.99976901, 0.0191587 , 0.00963793, 0.00140937]

qacc:
[-15.06269409, -2.07551134, -2.83167549, 27.10675876, -6.09465563,
  -5.71402511, 27.54749884,-59.89166884,-12.28850224,-12.41915648,
  50.50777094,-97.49669111, -1.09987059, -0.2993833 , 10.10154443,
 -35.55909328, -2.06865111,  0.82068347, -1.03731799, -8.1420993 ,
 -18.59281724,  2.22071798]

qfrc_actuator:
[ 0.00365927, 0.00637717,-0.00184816,-0.00501626, 0.00149301, 0.00088713,
 -0.00160148, 0.00523306, 0.00233379, 0.00592425,-0.00159561, 0.00515426,
  0.09599918, 0.00093731, 0.09      , 0.00498749, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037680888729441087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.36595567e-14, -1.47319113e-13,  1.00000000e+00, -1.08514606e-26,
        1.00000000e+00,  1.47319113e-13, -1.00000000e+00,  0.00000000e+00,
       -7.36595567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09800599, -0.08791984,  0.06199327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.00590309e-05,-2.74212953e-04,-2.56202397e-05, 5.67929318e-05,
 -3.57799357e-05,-3.29297941e-05, 2.06054519e-05,-9.39271897e-05,
 -7.40359610e-05,-3.40240977e-04,-2.17915755e-05,-1.54637493e-04,
 -6.44249752e-04,-5.69757291e-05,-4.86843867e-05,-1.86145473e-04,
  8.23948183e-04,-1.44282910e-04,-4.90523831e+00, 1.76065864e-04,
  1.17662971e-02,-4.50585742e-04]


--- Step 82 ---
qpos:
[ 0.01523328, 0.02488561,-0.00763742,-0.02078739, 0.0064293 , 0.00388115,
 -0.00635921, 0.02206715, 0.01000054, 0.02318665,-0.00664947, 0.02155067,
  0.32626504, 0.00517905, 0.18278883, 0.0389803 , 0.06179133,-0.0742574 ,
  0.17219887, 0.9997801 , 0.01900244, 0.00873916, 0.00151039]

qacc:
[-10.93247708, -5.21375417, 11.56004638, -2.02967012, -2.72586806,
  -5.21525331, 24.60630473,-52.23443363,-10.57013865,-10.92993002,
  42.7377236 ,-79.24445484, -0.82702069, -3.54785476, 16.05649787,
 -55.92253222, -2.08159716,  0.82235425, -1.03352036, -8.18755391,
 -18.73073499,  2.27320561]

qfrc_actuator:
[ 0.00359668, 0.00625696,-0.00179174,-0.00498901, 0.00147796, 0.00087578,
 -0.00157077, 0.00515604, 0.00227196, 0.0057963 ,-0.00153919, 0.00504925,
  0.09582221, 0.00090055, 0.09      , 0.00472118, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037015217596880756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.49842292e-14, -1.49968458e-13,  1.00000000e+00,  1.12452693e-26,
        1.00000000e+00,  1.49968458e-13, -1.00000000e+00,  0.00000000e+00,
        7.49842292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09800801, -0.08792063,  0.06199339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.55983788e-05,-2.80205682e-04,-2.17219265e-06, 1.57590403e-05,
 -1.60822147e-05,-3.00484541e-05, 2.31159707e-05,-7.97445933e-05,
 -6.37634170e-05,-3.32992188e-04,-2.29534046e-05,-1.23744839e-04,
 -6.46516355e-04,-7.61041203e-05,-4.86842505e-05,-2.84688632e-04,
  9.00612065e-04,-1.68526865e-04,-4.90525876e+00, 1.65452634e-04,
  1.17758542e-02,-4.48270468e-04]


--- Step 83 ---
qpos:
[ 0.01530283, 0.02499652,-0.00767307,-0.02088425, 0.0064588 , 0.00389785,
 -0.00638884, 0.02216848, 0.01004611, 0.02328989,-0.00668104, 0.02164941,
  0.32822931, 0.00519937, 0.18501039, 0.03916519, 0.06158214,-0.07422597,
  0.1721314 , 0.99979097, 0.01882861, 0.00780314, 0.00161543]

qacc:
[-11.23859141, -2.42582562, -3.97136019, 35.65209172, -0.5549379 ,
  -5.62339435, 26.823143  ,-57.55334502, -9.39020034, -9.26435931,
  35.32119817,-64.35140824, -0.93254905, -2.36023492, 17.31573051,
 -60.48623443, -2.07329267,  0.89469917, -1.00449152, -8.82752118,
 -18.57282703,  2.28698497]

qfrc_actuator:
[ 0.00353154, 0.00612315,-0.00174391,-0.00489802, 0.00147504, 0.00086235,
 -0.00154061, 0.00506954, 0.00221693, 0.00567884,-0.00149301, 0.00496509,
  0.09564537, 0.00087054, 0.09      , 0.00443505, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003638629771645843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.4464051e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.4464051e-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([ 0.09752294, -0.08899931,  0.06199349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.74324541e-05,-2.93978989e-04,-1.05092292e-05, 7.92653335e-05,
 -3.38669522e-06,-2.93741078e-05, 2.39707468e-05,-8.87396165e-05,
 -5.66633093e-05,-3.17267705e-04,-3.07463865e-05,-1.02009054e-04,
 -6.49174410e-04,-7.05424214e-05,-6.02777379e-05,-3.10143207e-04,
  9.81373430e-04,-1.94492973e-04,-4.90528006e+00, 1.54258058e-04,
  1.17859057e-02,-4.45612788e-04]


--- Step 84 ---
qpos:
[ 0.01537002, 0.0251054 ,-0.00770845,-0.02097861, 0.006487  , 0.00391435,
 -0.00641763, 0.02226794, 0.01009067, 0.023391  ,-0.00671258, 0.02174636,
  0.33019028, 0.00521955, 0.18723164, 0.0393465 , 0.06136462,-0.07419096,
  0.1720599 , 0.9998015 , 0.0186371 , 0.00682956, 0.00172459]

qacc:
[-20.39376961,  1.74213158,-20.62600702, 64.99690488,-11.40560391,
  -6.40422877, 30.32667838,-63.68470176, -8.64661283, -6.54923955,
  26.84861046,-56.28589015, -1.24478509,  1.4232715 , 10.34999326,
 -36.8480459 , -2.08487916,  0.89574731, -1.00902509, -8.87942944,
 -18.71946336,  2.34655535]

qfrc_actuator:
[ 0.00341217, 0.00605333,-0.00171928,-0.00477026, 0.00140826, 0.00086554,
 -0.00149327, 0.00497815, 0.00216635, 0.00558637,-0.00148869, 0.00487612,
  0.09547939, 0.00086249, 0.09      , 0.00426385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003588021312597691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -7.8241652e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  7.8241652e-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([ 0.09752455, -0.08899999,  0.06199358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21726743e-04,-2.36616543e-04,-3.53793310e-05, 1.16390137e-04,
 -6.68763535e-05,-1.25815004e-05, 4.10802253e-05,-9.37443990e-05,
 -5.20182534e-05,-2.84074491e-04,-6.95386535e-05,-1.05981472e-04,
 -6.40007832e-04,-4.90367926e-05,-6.80973793e-05,-1.98042500e-04,
  1.06497678e-03,-2.23416623e-04,-4.90530182e+00, 1.42632440e-04,
  1.17966526e-02,-4.42577754e-04]


--- Step 85 ---
qpos:
[ 0.01543595, 0.02521202,-0.00774319,-0.02107105, 0.00651453, 0.00393074,
 -0.00644563, 0.02236484, 0.01013463, 0.02348995,-0.00674411, 0.0218408 ,
  0.33214798, 0.00523952, 0.18945244, 0.03952631, 0.0611388 ,-0.07415205,
  0.17198446, 0.9998116 , 0.0184265 , 0.0058188 , 0.00183793]

qacc:
[-10.9244438 , -0.77738633, -9.63155544, 43.50154942, -5.91025218,
  -7.66784032, 38.00099287,-83.73708522, -5.14983365, -8.03382087,
  35.136378  ,-77.07239484, -1.17217951,  0.70635326,  3.92712975,
 -14.68454069, -2.07392203,  0.9753961 , -0.98295443, -9.58918294,
 -18.53420889,  2.36800486]

qfrc_actuator:
[ 0.00335058, 0.0059336 ,-0.00169052,-0.00467511, 0.00137545, 0.00086096,
 -0.00145385, 0.00484914, 0.00213653, 0.00547397,-0.00149125, 0.00474953,
  0.09530938, 0.00084968, 0.09      , 0.00419726, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003550463442422297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56349029e-13, -7.81745146e-14,  1.00000000e+00, -1.22225095e-26,
        1.00000000e+00,  7.81745146e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56349029e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09699041, -0.09018658,  0.06199364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.54741680e-05,-2.57936822e-04,-2.11565787e-05, 8.60906666e-05,
 -3.47148358e-05,-7.64594243e-06, 3.85604080e-05,-1.30147444e-04,
 -3.11102386e-05,-2.93550491e-04,-7.44530149e-05,-1.43597237e-04,
 -6.35948964e-04,-5.30178151e-05,-5.83389172e-05,-8.79896025e-05,
  1.15279128e-03,-2.54237591e-04,-4.90532438e+00, 1.30376889e-04,
  1.18079246e-02,-4.39167772e-04]


--- Step 86 ---
qpos:
[ 0.0155013 , 0.02531598,-0.00777683,-0.02116195, 0.0065418 , 0.00394696,
 -0.00647347, 0.02245983, 0.01017823, 0.02358637,-0.00677479, 0.02193331,
  0.33410245, 0.00525922, 0.19167327, 0.03970218, 0.06090465,-0.07410924,
  0.17190504, 0.99982113, 0.01819668, 0.00477053, 0.00195556]

qacc:
[ -4.82688441, -3.39181322,  0.55550729, 26.16191276, -2.30554342,
  -4.5426145 , 23.9400097 ,-57.05567664, -2.93202912, -9.70693009,
  37.87629711,-70.68417483, -1.12774671,  0.25632806, 11.9469163 ,
 -41.69244353, -2.08424399,  0.97573557, -0.99583316, -9.64624423,
 -18.68643467,  2.43614571]

qfrc_actuator:
[ 0.00332353, 0.00578497,-0.001642  ,-0.00459996, 0.00136291, 0.00083398,
 -0.00145498, 0.00475227, 0.00211917, 0.00535048,-0.00144467, 0.00465505,
  0.0951424 , 0.00083413, 0.09      , 0.00399753, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003511614228216414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58078729e-13,  7.90393643e-14,  1.00000000e+00,  1.24944422e-26,
        1.00000000e+00, -7.90393643e-14, -1.00000000e+00,  0.00000000e+00,
       -1.58078729e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0969917 , -0.09018716,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93194818e-05,-2.97030395e-04,-5.07886750e-06, 6.50873691e-05,
 -1.35267723e-05,-2.93647838e-05,-2.54759339e-06,-9.85856004e-05,
 -1.80546756e-05,-3.12466269e-04,-2.91497463e-05,-1.12773400e-04,
 -6.30011300e-04,-5.60969138e-05,-4.16511894e-05,-2.13754771e-04,
  1.24328433e-03,-2.88415650e-04,-4.90534729e+00, 1.17659452e-04,
  1.18199645e-02,-4.35344069e-04]


--- Step 87 ---
qpos:
[ 0.01556617, 0.0254172 ,-0.00780954,-0.02125157, 0.0065687 , 0.00396278,
 -0.00650131, 0.0225533 , 0.01022061, 0.02368065,-0.0068049 , 0.02202463,
  0.33605368, 0.00527897, 0.1938911 , 0.03987387, 0.06066211,-0.07406252,
  0.17182158, 0.99982998, 0.01794754, 0.00368447, 0.0020776 ]

qacc:
[ -4.18887353, -3.59406126,  2.15157638, 20.58469643, -3.1817554 ,
  -3.68052334, 18.76056668,-44.74466486,-10.54196543, -6.83355328,
  25.3873101 ,-45.53972535, -1.37435304,  3.09278922,  8.24673066,
 -35.25076584, -2.0949452 ,  0.97625463, -1.00981443, -9.70363015,
 -18.83723946,  2.50329893]

qfrc_actuator:
[ 0.00329925, 0.00563804,-0.00160009,-0.00453718, 0.00134463, 0.00079365,
 -0.00146236, 0.00467505, 0.00205602, 0.00527486,-0.00140496, 0.00459803,
  0.09497203, 0.00083483, 0.0897422 , 0.00375644, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003474465090443496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39653370e-13, -3.99422284e-14,  1.00000000e+00, -9.57228964e-27,
        1.00000000e+00,  3.99422284e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39653370e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09699284, -0.09018767,  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:
[-2.55102107e-05,-3.14668935e-04,-1.84919828e-05, 5.11854457e-05,
 -1.86640983e-05,-6.19844554e-05,-1.72474237e-05,-8.06722649e-05,
 -6.34890754e-05,-2.64421539e-04,-3.32636713e-05,-7.39671152e-05,
 -6.29216498e-04,-4.00130835e-05,-3.07411262e-04,-2.60352600e-04,
  1.33808910e-03,-3.24681450e-04,-4.90537093e+00, 1.04254028e-04,
  1.18325677e-02,-4.31109470e-04]


--- Step 88 ---
qpos:
[ 0.01562988, 0.02551614,-0.00784253,-0.02133936, 0.00659518, 0.00397816,
 -0.00652875, 0.02264509, 0.01026225, 0.02377317,-0.00683447, 0.0221138 ,
  0.33800164, 0.00529829, 0.19610479, 0.04004349, 0.06041115,-0.07401189,
  0.17173402, 0.99983801, 0.01767895, 0.00256029, 0.00220417]

qacc:
[ -9.87344917,  1.56072339,-17.59519383, 51.21903747, -3.74923619,
  -5.15385749, 24.64934233,-54.06418301, -6.29068332, -8.25621586,
  35.0878927 ,-71.67879689, -0.98818916, -1.25646506,  0.12298504,
  -9.31133621, -2.10597142,  0.97692926, -1.02495217, -9.76181114,
 -18.9876803 ,  2.56974311]

qfrc_actuator:
[ 0.00324128, 0.0055288 ,-0.00161568,-0.00444669, 0.00132313, 0.00078112,
 -0.00143791, 0.00459224, 0.00201967, 0.0052108 ,-0.00136943, 0.0044925 ,
  0.09478908, 0.00080957, 0.08952222, 0.00365214, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003438736596452635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07144567e-14, -8.07144567e-14,  1.00000000e+00, -6.51482352e-27,
        1.00000000e+00,  8.07144567e-14, -1.00000000e+00,  0.00000000e+00,
       -8.07144567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09699386, -0.09018812,  0.06199383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90875997e-05,-2.90130891e-04,-8.17554289e-05, 7.74119809e-05,
 -2.20561759e-05,-5.46760530e-05, 6.66716354e-06,-8.78158678e-05,
 -3.79978380e-05,-2.25120849e-04,-2.66529208e-05,-1.19786019e-04,
 -6.41050814e-04,-6.56910273e-05,-3.83430631e-04,-1.57193530e-04,
  1.43729717e-03,-3.63076492e-04,-4.90539526e+00, 9.01353127e-05,
  1.18457436e-02,-4.26461460e-04]


--- Step 89 ---
qpos:
[ 0.01569206, 0.02561332,-0.00787606,-0.02142543, 0.00662119, 0.00399331,
 -0.0065558 , 0.02273515, 0.01030383, 0.02386429,-0.00686362, 0.02220097,
  0.33994629, 0.00531688, 0.19831418, 0.04020828, 0.06017328,-0.07397129,
  0.17167192, 0.99984371, 0.01746436, 0.00149203, 0.00230859]

qacc:
[-13.30346276,  2.74768171,-20.33600701, 52.09928913, -4.06671488,
  -4.95796385, 24.58504333,-55.10743849, -0.52560963, -7.16369702,
  31.35891763,-65.76699229, -0.76558344, -3.89480289,  8.27948563,
 -38.18744949,  3.27165624, -2.50746169,  6.36447186, 27.11009519,
  27.70048624,-11.49279129]

qfrc_actuator:
[ 0.00316395, 0.00547831,-0.00162941,-0.00435837, 0.00129989, 0.00078546,
 -0.00141251, 0.00450684, 0.00201715, 0.00517192,-0.00133661, 0.00439479,
  0.09460404, 0.00076919, 0.08927881, 0.00339868, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003607171397438519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437457, -0.05081948,  0.06199353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.94056189e-05,-2.29525187e-04,-8.16883506e-05, 7.46131613e-05,
 -2.38805370e-05,-2.90698073e-05, 1.18300538e-05,-8.93946590e-05,
 -3.41606163e-06,-1.78485823e-04,-2.20006760e-05,-1.10935165e-04,
 -6.53549107e-04,-8.28544096e-05,-4.25940843e-04,-3.09363004e-04,
  1.54100625e-03,-4.03644450e-04,-4.90542024e+00, 7.52767780e-05,
  1.18595020e-02,-4.21397465e-04]


--- Step 90 ---
qpos:
[ 1.57531646e-02, 2.57083783e-02,-7.90864739e-03,-2.15094917e-02,
  6.64671925e-03, 4.00835492e-03,-6.58268751e-03, 2.28234758e-02,
  1.03450538e-02, 2.39536447e-02,-6.89231442e-03, 2.22866791e-02,
  3.41887599e-01, 5.33489862e-03, 2.00519321e-01, 4.03647613e-02,
  5.99476013e-02,-7.39402076e-02, 1.71631551e-01, 9.99847376e-01,
  1.72993241e-02, 4.76416694e-04, 2.39410928e-03]

qacc:
[ -9.18939641, -1.28524392, -7.97877277, 42.90810545, -4.22599411,
  -4.13529532, 21.83093984,-51.8976883 , -2.94810313, -6.59045196,
  26.27314185,-50.98204189, -0.93116215, -2.28066022, 18.86721152,
 -75.11495783,  3.0481243 , -2.37852724,  5.43190096, 24.86018829,
  26.0966209 , -9.86937461]

qfrc_actuator:
[ 0.00311136, 0.00539243,-0.00157066,-0.00425422, 0.00127582, 0.00078214,
 -0.00140443, 0.00442062, 0.00199904, 0.00505972,-0.00132327, 0.00432026,
  0.09442318, 0.00073797, 0.08903748, 0.00297056, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.51452732,  5.28134825, -1.58662289,  5.28134825,  7.50068845,
        6.61128028, -1.58662289,  6.61128028, 27.52131525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004883636521338802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13667655e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13667655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03440006, -0.05085649,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.52265520e-05,-2.31057824e-04, 3.25204228e-06, 9.29840976e-05,
 -2.47545623e-05,-2.14064034e-05, 3.73252370e-07,-8.89680077e-05,
 -1.79829669e-05,-2.24331858e-04,-3.09548536e-05,-8.54269573e-05,
 -6.59858732e-04,-7.55221783e-05,-4.59032801e-04,-4.97662453e-04,
  1.38918901e-03,-3.05585887e-04,-4.90537835e+00, 1.26473910e-04,
  1.18476200e-02,-4.16021395e-04]


--- Step 91 ---
qpos:
[ 1.58128146e-02, 2.58010283e-02,-7.93991328e-03,-2.15909460e-02,
  6.67210776e-03, 4.02307005e-03,-6.60920319e-03, 2.29100929e-02,
  1.03854046e-02, 2.40411951e-02,-6.92031622e-03, 2.23704604e-02,
  3.43825484e-01, 5.35280236e-03, 2.02720054e-01, 4.05170742e-02,
  5.97333101e-02,-7.39181583e-02, 1.71609508e-01, 9.99849259e-01,
  1.71800070e-02,-4.89529654e-04, 2.46332721e-03]

qacc:
[-12.49567376, -1.47880938,-10.26765739, 54.88621828, -1.23315943,
  -4.99975211, 24.43384827,-54.42403118, -7.48807098, -8.27896851,
  34.22492782,-67.37715967, -1.32872812,  1.83742642,  6.09890077,
 -30.7664184 ,  2.84711321, -2.2585928 ,  4.58249208, 22.93669453,
  24.63580369, -8.56704757]

qfrc_actuator:
[ 0.00303825, 0.00526866,-0.00150519,-0.00412382, 0.00126921, 0.00075645,
 -0.00138892, 0.0043346 , 0.00195415, 0.00497548,-0.0012863 , 0.00422438,
  0.09423964, 0.00073012, 0.08886145, 0.00278035, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.33855578,  6.03342124, -1.94296616,  6.03342124,  7.90542854,
        4.86555226, -1.94296616,  4.86555226, 21.44737598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005887481980832721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71433725e-14, -9.42867450e-14,  1.00000000e+00, -4.44499514e-27,
        1.00000000e+00,  9.42867450e-14, -1.00000000e+00,  0.00000000e+00,
       -4.71433725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03441967, -0.05088542,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.50417368e-05,-2.51411982e-04, 2.07595579e-05, 1.22470852e-04,
 -7.31962898e-06,-4.18361969e-05, 7.99530189e-06,-8.88324025e-05,
 -4.52222053e-05,-2.22711159e-04,-1.69956356e-05,-1.08543540e-04,
 -6.66991392e-04,-5.27571430e-05,-4.29268635e-04,-2.74345360e-04,
  1.25382689e-03,-2.23171704e-04,-4.90534056e+00, 1.67883234e-04,
  1.18405747e-02,-4.12012742e-04]


--- Step 92 ---
qpos:
[ 0.01587043, 0.02589118,-0.00797031,-0.02167016, 0.00669722, 0.00403734,
 -0.006635  , 0.02299499, 0.01042456, 0.02412682,-0.00694761, 0.02245245,
  0.34576001, 0.00537051, 0.20491606, 0.0406695 , 0.05952966,-0.07390468,
  0.1716026 , 0.99984957, 0.01710306,-0.00140859, 0.00251834]

qacc:
[-17.51013865, -1.06997876,-10.36019495, 49.49805046, -2.4056979 ,
  -6.14513924, 28.30532881,-58.84939005,-10.18845569, -8.19397702,
  33.11851013,-63.87409495, -1.21400452,  0.90716973, -7.30608054,
  15.45538756,  2.66147401, -2.14348524,  3.78463965, 21.25086656,
  23.26354522, -7.5133027 ]

qfrc_actuator:
[ 0.00293589, 0.00512327,-0.00147195,-0.00401456, 0.00125517, 0.00073535,
 -0.00135148, 0.00424936, 0.00189384, 0.00487324,-0.00125334, 0.0041345 ,
  0.09407058, 0.00071832, 0.0886662 , 0.00280308, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.97545444,  6.59891479, -2.26081583,  6.59891479,  8.25506981,
        3.73496712, -2.26081583,  3.73496712, 17.87715171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006656790877702518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03443426, -0.05090763,  0.06198807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04866866e-04,-2.79463408e-04,-1.24829801e-05, 1.01635551e-04,
 -1.42568912e-05,-4.70767440e-05, 2.66524958e-05,-8.86478692e-05,
 -6.14267250e-05,-2.37859249e-04,-1.97295360e-05,-1.02438724e-04,
 -6.56053086e-04,-5.69570430e-05,-4.10496203e-04,-4.52624746e-05,
  1.13269556e-03,-1.53647470e-04,-4.90530659e+00, 2.01590491e-04,
  1.18370595e-02,-4.09229004e-04]


--- Step 93 ---
qpos:
[ 0.01592602, 0.02597915,-0.00799988,-0.02174783, 0.00672162, 0.00405132,
 -0.00665989, 0.02307748, 0.01046201, 0.02421004,-0.00697409, 0.02253312,
  0.34769122, 0.00538763, 0.20710769, 0.04082194, 0.059336  ,-0.07389936,
  0.17160795, 0.99984849, 0.0170656 ,-0.0022833 , 0.00256083]

qacc:
[-17.43259583, -2.00770013, -3.45738473, 30.32420835, -6.20320716,
  -7.84515416, 37.61971691,-80.58034398,-14.64757449, -8.1347833 ,
  30.03630261,-52.50228454, -0.87059137, -2.525345  , -6.52382696,
  13.41434774,  2.495217  , -2.03801823,  3.06228957, 19.79836869,
  22.01882076, -6.66470974]

qfrc_actuator:
[ 0.0028349 , 0.00503699,-0.00142261,-0.00393641, 0.00121911, 0.000735  ,
 -0.00130139, 0.00412978, 0.00180721, 0.00472555,-0.00122307, 0.0040666 ,
  0.09389969, 0.00068652, 0.08846492, 0.00280894, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.42473439,  7.01408153, -2.43502381,  7.01408153,  8.66689251,
        3.57803416, -2.43502381,  3.57803416, 17.73125511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007227148484960227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84046013e-14, -7.68092026e-14,  1.00000000e+00,  2.94982680e-27,
        1.00000000e+00,  7.68092026e-14, -1.00000000e+00,  0.00000000e+00,
        3.84046013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03444463, -0.05092428,  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:
[-1.04366113e-04,-2.43738357e-04,-6.97808070e-06, 6.77619566e-05,
 -3.64727922e-05,-2.53781089e-05, 4.05355073e-05,-1.22561130e-04,
 -8.82415695e-05,-2.92032948e-04,-2.56590051e-05,-8.10713412e-05,
 -6.49830477e-04,-7.68463995e-05,-3.82262936e-04,-4.69268097e-05,
  1.02413038e-03,-9.49097307e-05,-4.90527616e+00, 2.29159694e-04,
  1.18361498e-02,-4.07552954e-04]


--- Step 94 ---
qpos:
[ 0.01598031, 0.02606531,-0.00802877,-0.02182434, 0.00674575, 0.00406515,
 -0.00668435, 0.02315826, 0.01049813, 0.0242909 ,-0.00699997, 0.02261235,
  0.34961914, 0.00540462, 0.20929599, 0.04097241, 0.05915173,-0.07390181,
  0.17162299, 0.99984616, 0.01706517,-0.00311588, 0.00259215]

qacc:
[-11.20972589, -1.85207627, -1.74347812, 22.06082038, -2.42204851,
  -4.93706976, 24.5865072 ,-54.92295876,-11.33168404, -7.74080311,
  29.15990126,-53.2676543 , -1.2690205 ,  1.58961025,  1.03983841,
 -10.70989354,  2.34926061, -1.94422954,  2.42393752, 18.56214496,
  20.91461023, -5.98489121]

qfrc_actuator:
[ 0.00277103, 0.00496908,-0.00138168,-0.00387713, 0.0012059 , 0.00072937,
 -0.00127966, 0.00404424, 0.00174127, 0.00460508,-0.0011948 , 0.00399438,
  0.09373313, 0.0006787 , 0.08832408, 0.00271596, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.71871322,  7.32006508, -2.44850586,  7.32006508,  9.03333915,
        3.9302121 , -2.44850586,  3.9302121 , 19.46849451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007630667494055166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63737191e-14, -7.27474382e-14,  1.00000000e+00,  2.64609489e-27,
        1.00000000e+00,  7.27474382e-14, -1.00000000e+00,  0.00000000e+00,
        3.63737191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344515 , -0.05093637,  0.06198634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.72041564e-05,-2.05618096e-04,-8.49233494e-06, 4.99547864e-05,
 -1.42574915e-05,-1.71134774e-05, 1.71776329e-05,-8.77729494e-05,
 -6.83455140e-05,-2.95344421e-04,-3.88232096e-05,-8.74894666e-05,
 -6.42066854e-04,-5.35974210e-05,-3.10594486e-04,-1.42583683e-04,
  9.26507549e-04,-4.51661242e-05,-4.90524893e+00, 2.51824859e-04,
  1.18371684e-02,-4.06887355e-04]


--- Step 95 ---
qpos:
[ 0.01603375, 0.02614983,-0.00805735,-0.02189954, 0.00676953, 0.00407886,
 -0.00670869, 0.02323808, 0.01053354, 0.02436927,-0.007025  , 0.02269044,
  0.35154379, 0.0054221 , 0.2114814 , 0.04111724, 0.05897636,-0.07391172,
  0.1716455 , 0.99984274, 0.01709969,-0.00390828, 0.00261337]

qacc:
[ -7.28756497, -0.36364715, -7.32029304, 30.56148814, -3.04098091,
  -2.43994506, 12.46515869,-28.95931613, -6.13948002, -8.02115139,
  28.68964749,-48.06733911, -1.81113873,  7.19557878, 12.84296884,
 -51.08114906,  2.22276543, -1.86248778,  1.86886511, 17.51910198,
  19.94873699, -5.44353282]

qfrc_actuator:
[ 0.00272954, 0.00489497,-0.00136372,-0.00381166, 0.00118849, 0.00072054,
 -0.00127486, 0.00399714, 0.00170581, 0.00448413,-0.00115009, 0.00393798,
  0.09357462, 0.00070279, 0.08816097, 0.00242363, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.89673827,  7.54924142, -2.31677133,  7.54924142,  9.34610586,
        4.72279057, -2.31677133,  4.72279057, 23.28603704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007895667897463848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51529167e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.51529167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03445551, -0.05094474,  0.06198587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37445200e-05,-1.91512439e-04,-2.43746502e-05, 5.73825481e-05,
 -1.78218500e-05,-1.90079293e-05, 2.93379352e-07,-4.91026311e-05,
 -3.73023223e-05,-3.00593695e-04,-2.48908185e-05,-7.23991281e-05,
 -6.26622879e-04,-2.08359766e-05,-3.14904157e-04,-3.39059893e-04,
  8.38354757e-04,-2.93482220e-06,-4.90522453e+00, 2.70550346e-04,
  1.18396254e-02,-4.07152216e-04]


--- Step 96 ---
qpos:
[ 0.01608696, 0.02623308,-0.00808597,-0.0219734 , 0.00679257, 0.00409232,
 -0.00673244, 0.02331636, 0.01056824, 0.02444583,-0.00704959, 0.02276718,
  0.35346519, 0.00543944, 0.2136635 , 0.04125252, 0.05880944,-0.07392879,
  0.17167359, 0.99983831, 0.01716742,-0.00466222, 0.00262535]

qacc:
[ -1.95221768,  1.25919719,-12.5749343 , 36.87408642, -6.47704282,
  -5.14044348, 24.43515824,-52.07071556, -5.94195149, -6.3710815 ,
  24.95637629,-47.66811572, -1.30050069,  1.86142949, 24.02035319,
 -91.07092123,  2.11404003, -1.79226198,  1.39152751, 16.64461919,
  19.11133128, -5.01556563]

qfrc_actuator:
[ 0.00271928, 0.00485318,-0.00135946,-0.00374308, 0.00115098, 0.00070984,
 -0.00124455, 0.00391977, 0.0016708 , 0.00443496,-0.00111377, 0.00387359,
  0.09339443, 0.00069221, 0.08794731, 0.00192741, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.99186703, -7.72672743,  2.0414754 , -7.72672743, 13.05982774,
       19.18159338,  2.0414754 , 19.18159338, 80.59178353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008046743958493446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.8985855e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.8985855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03445719, -0.05095008,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18179207e-05,-1.54198619e-04,-3.68507125e-05, 6.06891925e-05,
 -3.80160972e-05,-2.37713828e-05, 2.46593970e-05,-7.92882783e-05,
 -3.59517885e-05,-2.28131428e-04,-3.21025230e-05,-7.98287310e-05,
 -6.34926992e-04,-5.37065098e-05,-3.90197345e-04,-5.54658708e-04,
  7.58392764e-04, 3.29855782e-05,-4.90520263e+00, 2.86085059e-04,
  1.18431698e-02,-4.08282101e-04]


--- Step 97 ---
qpos:
[ 0.01614031, 0.02631488,-0.00811431,-0.02204586, 0.00681533, 0.00410549,
 -0.00675533, 0.02339273, 0.01060295, 0.02452084,-0.00707369, 0.02284181,
  0.35538338, 0.00545589, 0.21584097, 0.04138253, 0.0586506 ,-0.07395279,
  0.1717056 , 0.99983299, 0.01726691,-0.00537913, 0.00262874]

qacc:
[  1.31693178,  0.13464458, -9.18083188, 33.98376547, -2.46549105,
  -6.73218125, 31.4663527 ,-65.51365297,  0.07624465, -7.78086703,
  33.62852066,-69.66671617, -0.5819878 , -5.09458625,  9.09215766,
 -41.78104997,  2.02107572, -1.73259087,  0.98423154, 15.91504471,
  18.38929493, -4.68038815]

qfrc_actuator:
[ 0.00272748, 0.00477781,-0.00134542,-0.00367319, 0.00113746, 0.00069818,
 -0.00119947, 0.00382521, 0.00167184, 0.00437591,-0.0010824 , 0.00376956,
  0.09322265, 0.0006435 , 0.08771943, 0.00167005, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.02721892, -7.85895017,  1.63497577, -7.85895017, 10.87764561,
       13.70134145,  1.63497577, 13.70134145, 73.88639665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008105030863271717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02734620e-13, -6.84897469e-14,  1.00000000e+00, -7.03626814e-27,
        1.00000000e+00,  6.84897469e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02734620e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.034457  , -0.05095298,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.58550947e-06,-1.69298894e-04,-2.07781469e-05, 6.32193716e-05,
 -1.46099792e-05,-2.36564349e-05, 4.04154196e-05,-9.64147876e-05,
  1.50903766e-07,-1.99226082e-04,-2.32139103e-05,-1.16747234e-04,
 -6.35176243e-04,-9.39332981e-05,-4.60302516e-04,-3.36845505e-04,
  6.85537650e-04, 6.35574269e-05,-4.90518293e+00, 2.99008359e-04,
  1.18475533e-02,-4.10223672e-04]


--- Step 98 ---
qpos:
[ 0.01619335, 0.0263949 ,-0.00814187,-0.02211656, 0.00683809, 0.0041186 ,
 -0.00677754, 0.02346667, 0.01063809, 0.02459436,-0.00709675, 0.02291457,
  0.35729842, 0.00547166, 0.21801377, 0.04151096, 0.05849953,-0.07398352,
  0.17174018, 0.99982685, 0.01739697,-0.00606027, 0.00262407]

qacc:
[-2.71094457e+00,-8.87143761e-01,-7.64500217e+00, 3.80706365e+01,
  6.88508400e-02,-6.96775902e+00, 3.50160989e+01,-7.82187375e+01,
  3.80261322e+00,-8.73076881e+00, 3.62330747e+01,-6.93638842e+01,
 -7.30932576e-01,-3.31806519e+00,-2.13066095e+00,-2.57775988e+00,
  1.94184306e+00,-1.68235581e+00, 6.38683527e-01, 1.53089095e+01,
  1.77688205e+01,-4.42115202e+00]

qfrc_actuator:
[ 0.00271097, 0.00468299,-0.00130809,-0.00358537, 0.00113816, 0.00070385,
 -0.00116379, 0.00370356, 0.00169409, 0.00432918,-0.00101874, 0.00367855,
  0.09306667, 0.00060823, 0.08753119, 0.00160882, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.01730626, -7.94438674,  1.07885078, -7.94438674,  9.00531668,
        7.2754611 ,  1.07885078,  7.2754611 , 61.59197844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008088557311924233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.43146182e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.43146182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03445533, -0.05095392,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65682066e-05,-1.93708212e-04, 1.47636308e-06, 8.11194541e-05,
  2.84599559e-07,-3.73471546e-06, 3.23790123e-05,-1.23290085e-04,
  2.24115281e-05,-1.70434723e-04, 1.48878072e-05,-1.02895947e-04,
 -6.22273033e-04,-8.23296132e-05,-4.23918393e-04,-1.36501127e-04,
  6.18884594e-04, 8.95459374e-05,-4.90516515e+00, 3.09767344e-04,
  1.18526026e-02,-4.12933574e-04]


--- Step 99 ---
qpos:
[ 0.01624474, 0.02647304,-0.00816847,-0.02218497, 0.00686034, 0.00413166,
 -0.00679917, 0.02353858, 0.01067323, 0.02466679,-0.00711932, 0.02298565,
  0.35921023, 0.00548728, 0.22018276, 0.04163614, 0.05835596,-0.07402082,
  0.17177614, 0.99981997, 0.01755658,-0.00670672, 0.00261173]

qacc:
[-1.41667257e+01,-4.05405928e-01,-1.17392435e+01, 5.11385922e+01,
 -4.50044958e+00,-5.89068182e+00, 2.94874819e+01,-6.55583045e+01,
  1.42129878e-02,-6.24886183e+00, 2.72317569e+01,-5.61470994e+01,
 -1.25230711e+00, 1.55616345e+00, 4.20263880e+00,-2.28366746e+01,
  1.87444277e+00,-1.64043118e+00, 3.46826794e-01, 1.48073783e+01,
  1.72367105e+01,-4.22412687e+00]

qfrc_actuator:
[ 0.00262678, 0.00459517,-0.00125737,-0.00346994, 0.00111172, 0.00070204,
 -0.0011339 , 0.00360246, 0.00169311, 0.00429036,-0.00098969, 0.00359597,
  0.09289366, 0.00059893, 0.08736158, 0.00145065, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.97081352, -7.9604792 ,  0.40575746, -7.9604792 ,  8.17310646,
        3.96874703,  0.40575746,  3.96874703, 85.83291338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008012618807477084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46398304e-14, -1.38559321e-13,  1.00000000e+00, -4.79967139e-27,
        1.00000000e+00,  1.38559321e-13, -1.00000000e+00,  0.00000000e+00,
       -3.46398304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344525 , -0.05095332,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.49496285e-05,-1.94958973e-04, 1.31870632e-05, 1.08794212e-04,
 -2.64271579e-05,-2.87400332e-06, 2.87846464e-05,-1.02687232e-04,
 -1.53419149e-07,-1.37892658e-04,-8.60130043e-06,-9.16386050e-05,
 -6.28740868e-04,-5.55123311e-05,-3.67202714e-04,-2.17821111e-04,
  5.57684760e-04, 1.11556887e-04,-4.90514906e+00, 3.18706376e-04,
  1.18581987e-02,-4.16376654e-04]


--- Step 100 ---
qpos:
[ 0.01629368, 0.02654946,-0.00819426,-0.02225181, 0.00688176, 0.00414414,
 -0.00682005, 0.02360911, 0.01070706, 0.02473811,-0.00714194, 0.02305487,
  0.36111878, 0.00550307, 0.2223479 , 0.04175873, 0.05821966,-0.07406454,
  0.17181251, 0.99981239, 0.01774494,-0.0073194 , 0.00259202]

qacc:
[-21.06710055, -1.29662331, -5.21301356, 32.14453829, -7.30837965,
  -5.65433486, 24.88333653,-49.44045531,-11.2668459 , -5.14152189,
  24.10922017,-55.42892298, -1.54103111,  4.26552725,  2.19069248,
 -15.85517193,  1.81717146, -1.60576088,  0.1012507 , 14.39427657,
  16.7809873 , -4.07815003]

qfrc_actuator:
[ 0.00250344, 0.00451233,-0.00121688,-0.00339245, 0.00106952, 0.00064251,
 -0.00110766, 0.00353201, 0.00162522, 0.00422101,-0.00099902, 0.00350124,
  0.09272121, 0.00060493, 0.08718194, 0.00132537, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007890136753361948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51775596e-14, -1.40710239e-13,  1.00000000e+00, -4.94984281e-27,
        1.00000000e+00,  1.40710239e-13, -1.00000000e+00,  0.00000000e+00,
       -3.51775596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03444879, -0.05095149,  0.0619859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26077207e-04,-1.87031340e-04, 5.11611277e-06, 7.17502218e-05,
 -4.29557300e-05,-5.99840929e-05, 2.55729506e-05,-7.17195542e-05,
 -6.77257413e-05,-1.54570001e-04,-4.27545790e-05,-1.02981842e-04,
 -6.30972749e-04,-4.02005222e-05,-3.63742462e-04,-1.82979307e-04,
  5.01321265e-04, 1.30068517e-04,-4.90513448e+00, 3.26090116e-04,
  1.18642626e-02,-4.20524490e-04]


--- Step 101 ---
qpos:
[ 0.01634076, 0.02662411,-0.00821927,-0.02231824, 0.00690284, 0.00415584,
 -0.0068403 , 0.02367828, 0.01074016, 0.02480832,-0.00716452, 0.02312242,
  0.36302406, 0.00551852, 0.2245093 , 0.04187879, 0.05809043,-0.07411456,
  0.17184845, 0.99980419, 0.01796137,-0.00789908, 0.00256515]

qacc:
[-1.60295341e+01,-3.62823720e+00, 7.83361713e+00,-5.78726882e-01,
 -2.84794282e+00,-5.58468448e+00, 2.41733964e+01,-4.81637538e+01,
 -6.22922307e+00,-5.02308346e+00, 2.28836738e+01,-5.12308945e+01,
 -1.10044622e+00,-3.38394695e-02, 2.12065232e+00,-1.54194079e+01,
  1.76853976e+00,-1.57739183e+00,-1.04648661e-01, 1.40559019e+01,
  1.63911021e+01,-3.97415925e+00]

qfrc_actuator:
[ 0.00241133, 0.00441535,-0.00118275,-0.00337341, 0.00105388, 0.00058439,
 -0.00108402, 0.00346234, 0.00158949, 0.00416928,-0.00099555, 0.00341783,
  0.09254388, 0.00058437, 0.08700707, 0.00120272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007731986685957648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.1794163e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -7.1794163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03444441, -0.05094872,  0.06198619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.60334791e-05,-1.99955517e-04,-1.87996679e-06, 1.26351022e-05,
 -1.68765244e-05,-8.98364814e-05, 1.18649157e-05,-7.28807778e-05,
 -3.75319039e-05,-1.53800340e-04,-3.79754984e-05,-9.37735309e-05,
 -6.36353623e-04,-6.68338016e-05,-3.53623629e-04,-1.77986337e-04,
  4.49287005e-04, 1.45457611e-04,-4.90512124e+00, 3.32121342e-04,
  1.18707441e-02,-4.25354193e-04]


--- Step 102 ---
qpos:
[ 0.01638637, 0.02669679,-0.00824328,-0.0223839 , 0.00692392, 0.00416688,
 -0.00685985, 0.02374606, 0.01077327, 0.02487756,-0.00718729, 0.02318843,
  0.36492601, 0.00553334, 0.22666604, 0.04199757, 0.05796811,-0.07417081,
  0.17188329, 0.99979539, 0.01820533,-0.00844643, 0.00253126]

qacc:
[-1.26636722e+01,-3.80074652e+00, 6.59672607e+00, 6.36092371e+00,
 -2.77287173e-02,-5.70636318e+00, 2.49750963e+01,-4.97691059e+01,
  7.32741925e-02,-3.93482666e+00, 1.86380211e+01,-4.41769256e+01,
 -8.56500496e-01,-2.57360544e+00,-2.99696633e+00, 4.73271320e-01,
  1.72726561e+00,-1.55448355e+00,-2.76644805e-01, 1.37807430e+01,
  1.60579302e+01,-3.90480160e+00]

qfrc_actuator:
[ 0.00233835, 0.0043106 ,-0.00113499,-0.00333567, 0.00105401, 0.00056305,
 -0.00104436, 0.00339369, 0.00159075, 0.00412858,-0.00100221, 0.00334177,
  0.09235309, 0.0005483 , 0.08676063, 0.00113589, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007547289453360556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.67755547e-14, -7.35511094e-14,  1.00000000e+00, -2.70488285e-27,
        1.00000000e+00,  7.35511094e-14, -1.00000000e+00,  0.00000000e+00,
       -3.67755547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03443957, -0.05094524,  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:
[-7.60297197e-05,-2.18849975e-04, 6.18955138e-06, 2.93918819e-05,
 -3.76582709e-07,-7.25918265e-05, 1.99908900e-05,-7.36431473e-05,
  3.36175137e-07,-1.40903840e-04,-4.70230084e-05,-8.60350477e-05,
 -6.55542956e-04,-8.41454972e-05,-4.20579376e-04,-1.20737918e-04,
  4.01165378e-04, 1.58020381e-04,-4.90510919e+00, 3.36954665e-04,
  1.18776143e-02,-4.30847429e-04]


--- Step 103 ---
qpos:
[ 0.01643074, 0.02676779,-0.00826695,-0.02244826, 0.0069445 , 0.00417756,
 -0.00687892, 0.02381281, 0.01080545, 0.02494555,-0.0072099 , 0.02325302,
  0.3668246 , 0.00554767, 0.22881795, 0.04211692, 0.05785256,-0.0742332 ,
  0.17191646, 0.99978603, 0.01847638,-0.00896203, 0.00249045]

qacc:
[-10.6086038 , -0.44692371, -7.1119733 , 30.47219301, -4.44554482,
  -3.93669799, 17.70512381,-36.05996075, -7.93516871, -4.95550167,
  21.3170192 ,-45.2367549 , -0.97918872, -1.41217921, -8.88252546,
  20.7258293 ,  1.69225574, -1.53630499, -0.41972759, 13.55917492,
  15.77366188, -3.86411   ]

qfrc_actuator:
[ 0.00227721, 0.00423763,-0.00111508,-0.00326946, 0.00102791, 0.00056398,
 -0.00101316, 0.00334398, 0.00154276, 0.0040593 ,-0.00099699, 0.00327066,
  0.09217565, 0.00052111, 0.0865407 , 0.00117331, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007343664883168316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344344 , -0.05094123,  0.06198689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.36176383e-05,-1.95192361e-04,-2.39749248e-05, 5.76553339e-05,
 -2.61356085e-05,-3.90136040e-05, 1.60636166e-05,-5.36963745e-05,
 -4.78188228e-05,-1.63757949e-04,-3.33109510e-05,-8.07013402e-05,
 -6.57666646e-04,-7.77539172e-05,-4.14815349e-04,-2.10390781e-05,
  3.56614081e-04, 1.67988994e-04,-4.90509821e+00, 3.40707074e-04,
  1.18848597e-02,-4.36989632e-04]


--- Step 104 ---
qpos:
[ 0.01647437, 0.02683743,-0.00829064,-0.02251133, 0.0069646 , 0.00418825,
 -0.0068979 , 0.02387807, 0.01083681, 0.02501196,-0.00723191, 0.02331695,
  0.36871981, 0.00556161, 0.23096629, 0.04223392, 0.05774366,-0.07430168,
  0.17194746, 0.99977614, 0.01877418,-0.00944637, 0.00244276]

qacc:
[ -6.34052377,  0.8982851 ,-11.19490562, 34.34441886, -4.15987731,
  -3.28431134, 17.99594771,-43.83308398, -7.00052874, -5.14844962,
  18.09770519,-29.27404756, -1.12276914, -0.24564161,  1.83943284,
 -14.06429359,  1.66258281, -1.52222532, -0.53818154, 13.3831674 ,
  15.53165092, -3.84723777]

qfrc_actuator:
[ 0.00224127, 0.0041842 ,-0.00111163,-0.00320479, 0.00100432, 0.00057824,
 -0.00100485, 0.00327032, 0.00150165, 0.00397353,-0.00096715, 0.00323851,
  0.09199569, 0.00049936, 0.08638479, 0.00105892, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007127450377799882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89418013e-14,  7.78836025e-14,  1.00000000e+00,  3.03292777e-27,
        1.00000000e+00, -7.78836025e-14, -1.00000000e+00,  0.00000000e+00,
       -3.89418013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442905, -0.05093685,  0.06198727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80423484e-05,-1.67376938e-04,-3.82709103e-05, 5.66437832e-05,
 -2.43405064e-05,-6.86485850e-06, 3.16859225e-07,-7.59505539e-05,
 -4.23522043e-05,-1.89948405e-04,-1.15193114e-05,-4.21274627e-05,
 -6.61164023e-04,-7.27176480e-05,-3.36942175e-04,-1.66542405e-04,
  3.15351769e-04, 1.75544566e-04,-4.90508820e+00, 3.43466036e-04,
  1.18924785e-02,-4.43769358e-04]


--- Step 105 ---
qpos:
[ 0.01651757, 0.0269054 ,-0.00831401,-0.02257312, 0.00698426, 0.00419877,
 -0.0069166 , 0.02394195, 0.01086744, 0.0250768 ,-0.00725339, 0.02338035,
  0.37061163, 0.00557523, 0.23311118, 0.04234662, 0.05764131,-0.0743762 ,
  0.17197593, 0.99976574, 0.01909845,-0.00989985, 0.0023882 ]

qacc:
[ -3.66338355, -0.42395263, -7.07468409, 29.9588325 , -3.85207337,
  -3.84830178, 19.28572266,-43.63061048, -6.24674093, -4.63186214,
  15.79172671,-24.80400406, -1.18947124,  0.35148073,  7.95399969,
 -35.19713693,  1.63746229, -1.51170245, -0.63567395, 13.24602132,
  15.32625522, -3.85024232]

qfrc_actuator:
[ 0.00222044, 0.0040896 ,-0.00110007,-0.00314152, 0.00098242, 0.00056477,
 -0.00099233, 0.00320091, 0.00146493, 0.00389645,-0.00094081, 0.00321179,
  0.09181967, 0.00048096, 0.08620345, 0.00083838, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006903888131347957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.02028177e-14, -8.04056355e-14,  1.00000000e+00, -3.23253311e-27,
        1.00000000e+00,  8.04056355e-14, -1.00000000e+00,  0.00000000e+00,
       -4.02028177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442361, -0.05093223,  0.06198767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21681679e-05,-1.95928564e-04,-2.62043861e-05, 5.59092494e-05,
 -2.25987049e-05,-2.08215641e-05, 8.46973255e-06,-7.12989051e-05,
 -3.78155021e-05,-1.89685960e-04,-1.64009648e-05,-3.63100475e-05,
 -6.59254392e-04,-6.99519298e-05,-3.47711234e-04,-2.71931196e-04,
  2.77147172e-04, 1.80827351e-04,-4.90507908e+00, 3.45295727e-04,
  1.19004775e-02,-4.51177772e-04]


--- Step 106 ---
qpos:
[ 0.01656019, 0.02697163,-0.00833674,-0.02263402, 0.00700316, 0.00420902,
 -0.00693468, 0.02400449, 0.01089739, 0.02514   ,-0.00727431, 0.02344224,
  0.37250012, 0.00558857, 0.23525195, 0.04245748, 0.05754543,-0.07445674,
  0.17200154, 0.99975485, 0.019449  ,-0.01032281, 0.00232673]

qacc:
[ -5.03189214, -2.27985121,  1.09969173, 14.35484562, -6.66780931,
  -4.8509374 , 22.44506026,-46.4469304 , -5.74348236, -6.81027833,
  27.52757261,-53.28067234, -1.18184734,  0.49442813, -0.52654746,
  -6.97362395,  1.61623081, -1.50427121, -0.71534128, 13.1421408 ,
  15.15268602, -3.86990975]

qfrc_actuator:
[ 0.00219093, 0.00400665,-0.00106621,-0.00309737, 0.00094392, 0.00055257,
 -0.00095975, 0.00313455, 0.00143109, 0.00380746,-0.00091672, 0.00313522,
  0.09165146, 0.00046467, 0.08600696, 0.00075232, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006677285004943329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03441817, -0.05092747,  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:
[-3.04086655e-05,-1.97721032e-04,-8.33522888e-06, 3.59764805e-05,
 -3.91451886e-05,-2.54632896e-05, 2.68057096e-05,-6.84763364e-05,
 -3.48113879e-05,-2.02159202e-04,-1.89895275e-05,-8.62051733e-05,
 -6.49935215e-04,-6.80293257e-05,-3.79615578e-04,-1.44712487e-04,
  2.41810292e-04, 1.83944724e-04,-4.90507077e+00, 3.46241844e-04,
  1.19088697e-02,-4.59208220e-04]


--- Step 107 ---
qpos:
[ 0.01660246, 0.02703668,-0.00835916,-0.02269398, 0.0070218 , 0.00421897,
 -0.00695191, 0.02406538, 0.0109267 , 0.02520145,-0.00729472, 0.02350275,
  0.37438527, 0.00560198, 0.23738842, 0.04256872, 0.05745594,-0.07454329,
  0.17202402, 0.99974348, 0.01982569,-0.01071555, 0.00225832]

qacc:
[ -2.9388562 , -0.46966359, -4.5859861 , 21.41575846, -2.2879768 ,
  -6.15132191, 28.30807629,-57.89771913, -5.40111052, -6.59448191,
  26.02067115,-49.5378776 , -1.51452059,  3.60679088, -7.49343671,
  17.06541404,  1.59832704, -1.49953232, -0.77986815, 13.06684011,
  15.00687337, -3.90361309]

qfrc_actuator:
[ 0.00217428, 0.00398469,-0.0010372 ,-0.00304704, 0.00093147, 0.00054132,
 -0.0009156 , 0.00305276, 0.0013992 , 0.00371201,-0.00089424, 0.00306542,
  0.09148273, 0.00046749, 0.08581755, 0.00078171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000645114896199811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30242361e-14,  8.60484722e-14,  1.00000000e+00,  3.70216979e-27,
        1.00000000e+00, -8.60484722e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30242361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344128 , -0.05092266,  0.06198848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77759239e-05,-1.34845572e-04,-1.20185605e-05, 4.23044468e-05,
 -1.35698259e-05,-2.32045295e-05, 3.97816416e-05,-8.34005395e-05,
 -3.27702494e-05,-2.18214138e-04,-2.51986533e-05,-8.10206318e-05,
 -6.43443044e-04,-4.85545149e-05,-3.70794217e-04,-2.57541202e-05,
  2.09185277e-04, 1.84977450e-04,-4.90506320e+00, 3.46335318e-04,
  1.19176733e-02,-4.67855888e-04]


--- Step 108 ---
qpos:
[ 0.01664419, 0.02710058,-0.00838141,-0.02275251, 0.00703979, 0.0042286 ,
 -0.00696872, 0.0241252 , 0.01095472, 0.02526127,-0.00731451, 0.02356261,
  0.37626716, 0.00561503, 0.23952095, 0.04268004, 0.05737278,-0.07463581,
  0.17204318, 0.99973162, 0.02022841,-0.01107831, 0.00218287]

qacc:
[ -4.55941073,  0.95741646,-11.61866678, 36.80659236, -5.6070524 ,
  -3.77588756, 17.39593316,-36.44896051,-11.0696411 , -5.19740227,
  18.140609  ,-29.08739626, -1.07478409, -0.24824534, -6.04603823,
  12.7128588 ,  1.58327522, -1.49714249, -0.83155683, 13.01618293,
  14.88535014, -3.9491982 ]

qfrc_actuator:
[ 0.00214758, 0.00392845,-0.00102877,-0.00297568, 0.00089895, 0.00051301,
 -0.00090048, 0.00299807, 0.00133323, 0.00364896,-0.00085514, 0.00303567,
  0.09131381, 0.00044601, 0.08563787, 0.00079012, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006228305603046269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91272117e-14, -8.91272117e-14,  1.00000000e+00, -7.94365987e-27,
        1.00000000e+00,  8.91272117e-14, -1.00000000e+00,  0.00000000e+00,
       -8.91272117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03440754, -0.05091787,  0.06198888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74262792e-05,-1.34419539e-04,-1.98430919e-05, 6.60236937e-05,
 -3.29114302e-05,-3.69406437e-05, 1.22907609e-05,-5.60496945e-05,
 -6.68204321e-05,-1.95792963e-04,-1.24709898e-05,-4.17652455e-05,
 -6.37256754e-04,-7.20760578e-05,-3.43707306e-04,-3.89623819e-05,
  1.79144666e-04, 1.83984620e-04,-4.90505632e+00, 3.45595203e-04,
  1.19269102e-02,-4.77117514e-04]


--- Step 109 ---
qpos:
[ 0.01668529, 0.02716289,-0.00840293,-0.02280971, 0.00705692, 0.00423819,
 -0.00698588, 0.02418356, 0.01098139, 0.02531996,-0.00733389, 0.02362126,
  0.37814584, 0.00562741, 0.24164999, 0.04278822, 0.0572959 ,-0.07473433,
  0.17205885, 0.99971929, 0.02065711,-0.01141129, 0.0021003 ]

qacc:
[ -5.53268396, -1.39090195, -3.6563401 , 26.58098512, -7.70851558,
  -2.06283219, 13.47158589,-38.11502368,-11.55047457, -5.11728774,
  21.2820492 ,-42.31076943, -0.79810423, -2.62652827,  4.3337761 ,
 -22.66090252,  1.57067119, -1.49680586, -0.87238678, 12.98684987,
  14.7851542 , -4.00489203]

qfrc_actuator:
[ 0.00211519, 0.00383433,-0.00099715,-0.00291031, 0.00085487, 0.00051012,
 -0.00092043, 0.00292423, 0.00126545, 0.0036237 ,-0.00082414, 0.00297651,
  0.09115021, 0.00041037, 0.08545351, 0.00062633, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000601099789506343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61746554e-14, -9.23493107e-14,  1.00000000e+00, -4.26419759e-27,
        1.00000000e+00,  9.23493107e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61746554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03440245, -0.05091315,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34031024e-05,-1.72616397e-04, 3.29486970e-06, 6.02475397e-05,
 -4.50262028e-05,-2.37028150e-05,-2.80541502e-05,-7.62128846e-05,
 -6.96034642e-05,-1.41124797e-04,-1.29948843e-05,-6.90100384e-05,
 -6.29014595e-04,-8.70767882e-05,-3.38953704e-04,-2.08779044e-04,
  1.51584720e-04, 1.81007553e-04,-4.90505008e+00, 3.44030925e-04,
  1.19366051e-02,-4.86991159e-04]


--- Step 110 ---
qpos:
[ 0.01672601, 0.02722409,-0.0084241 ,-0.02286573, 0.00707372, 0.00424765,
 -0.00700317, 0.02424093, 0.01100705, 0.02537772,-0.00735315, 0.02367837,
  0.3800213 , 0.00563965, 0.24377515, 0.04289296, 0.05722527,-0.07483884,
  0.1720709 , 0.99970647, 0.02111179,-0.01171464, 0.0020105 ]

qacc:
[-3.13090599e+00, 1.53722032e-02,-7.17828593e+00, 2.80244523e+01,
 -2.78830011e+00,-1.87409945e+00, 1.06361821e+01,-2.75913762e+01,
 -8.70120148e+00,-4.69440016e+00, 2.14353771e+01,-4.73636208e+01,
 -1.30211633e+00, 1.83420460e+00, 4.69558279e+00,-2.47029466e+01,
  1.56017077e+00,-1.49826672e+00,-9.04064971e-01, 1.29760302e+01,
  1.47037468e+01,-4.06922906e+00]

qfrc_actuator:
[ 0.00209746, 0.00380715,-0.00097001,-0.002849  , 0.00083985, 0.00050457,
 -0.00092533, 0.0028752 , 0.00121493, 0.00358574,-0.00081578, 0.00290054,
  0.09098459, 0.00040219, 0.08525046, 0.00045116, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800971739142041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56928489e-14, -1.91385698e-13,  1.00000000e+00, -1.83142427e-26,
        1.00000000e+00,  1.91385698e-13, -1.00000000e+00,  0.00000000e+00,
       -9.56928489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03439755, -0.05090854,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89251813e-05,-1.22465984e-04,-6.41107164e-06, 5.52354319e-05,
 -1.63030347e-05,-2.81623841e-05,-1.59298329e-05,-5.26100495e-05,
 -5.24173922e-05,-1.24484674e-04,-2.53404374e-05,-8.40224978e-05,
 -6.26218065e-04,-5.99367041e-05,-3.75544316e-04,-2.29277020e-04,
  1.26421623e-04, 1.76072899e-04,-4.90504444e+00, 3.41644037e-04,
  1.19467851e-02,-4.97476011e-04]


--- Step 111 ---
qpos:
[ 0.01676482, 0.02728491,-0.00844569,-0.0229206 , 0.00709022, 0.00425675,
 -0.0070198 , 0.02429792, 0.01103224, 0.02543435,-0.00737212, 0.02373449,
  0.38189351, 0.00565209, 0.24589614, 0.0429964 , 0.05716084,-0.07494936,
  0.17207925, 0.99969314, 0.02159245,-0.01198849, 0.00191335]

qacc:
[-16.48858072,  3.04193777,-16.32358167, 36.83748963, -2.70950159,
  -3.06897874, 11.83252414,-19.06142828, -3.8936228 , -4.34965947,
  17.55854018,-34.45930564, -1.60886273,  4.55534796, -2.20628742,
  -1.13710226,  1.55148001, -1.50130333, -0.92806789, 12.9813336 ,
  14.63894548, -4.14099239]

qfrc_actuator:
[ 0.00199974, 0.00382027,-0.00098098,-0.00279052, 0.0008243 , 0.00049754,
 -0.00088577, 0.00285894, 0.00119272, 0.00352266,-0.00080314, 0.00285078,
  0.09081788, 0.00041022, 0.08506298, 0.00039499, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005599549601748854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91350290e-14, -1.98270058e-13,  1.00000000e+00, -1.96555080e-26,
        1.00000000e+00,  1.98270058e-13, -1.00000000e+00,  0.00000000e+00,
       -9.91350290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03439287, -0.05090409,  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:
[-9.84728157e-05,-5.62945611e-05,-3.55238127e-05, 5.41133054e-05,
 -1.60145917e-05,-2.86017274e-05, 2.99194723e-05,-1.91527932e-05,
 -2.36030464e-05,-1.43458824e-04,-1.96504464e-05,-5.78163689e-05,
 -6.23323855e-04,-4.28589950e-05,-3.77379493e-04,-1.15727782e-04,
  1.03588382e-04, 1.69195107e-04,-4.90503936e+00, 3.38429610e-04,
  1.19574792e-02,-5.08572225e-04]


--- Step 112 ---
qpos:
[ 0.01680216, 0.02734486,-0.00846685,-0.02297435, 0.00710675, 0.00426545,
 -0.00703578, 0.02435428, 0.01105698, 0.02548944,-0.0073903 , 0.02378925,
  0.38376257, 0.00566422, 0.24801351, 0.04309626, 0.05710259,-0.07506589,
  0.1720838 , 0.9996793 , 0.02209914,-0.01223294, 0.00180869]

qacc:
[-1.26955574e+01,-2.42829841e-03,-6.35901360e+00, 2.57645787e+01,
  2.93970385e-01,-3.65103113e+00, 1.49233626e+01,-2.66477772e+01,
 -3.88404970e+00,-7.02896643e+00, 2.78631703e+01,-5.15808212e+01,
 -1.12635047e+00, 4.47136562e-01, 5.47630937e+00,-2.69168092e+01,
  1.54434728e+00,-1.50572286e+00,-9.45676418e-01, 1.30007187e+01,
  1.45888682e+01,-4.21916654e+00]

qfrc_actuator:
[ 0.00192674, 0.00376856,-0.00096091,-0.00273417, 0.00082632, 0.00047214,
 -0.00085578, 0.00282661, 0.00116959, 0.00342733,-0.00077039, 0.00278132,
  0.09065595, 0.00039219, 0.08488502, 0.00021417, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000540769406478625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02652167e-13, -1.02652167e-13,  1.00000000e+00,  1.05374673e-26,
        1.00000000e+00,  1.02652167e-13, -1.00000000e+00,  0.00000000e+00,
        1.02652167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03438842, -0.05089981,  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:
[-7.60442696e-05,-9.02016008e-05, 5.56523888e-06, 5.38014450e-05,
  1.54900823e-06,-3.63003234e-05, 2.70674168e-05,-3.30045694e-05,
 -2.36941058e-05,-1.83967774e-04,-1.84127870e-06,-7.76170093e-05,
 -6.14966236e-04,-6.84605434e-05,-3.55493323e-04,-2.34150485e-04,
  8.30322744e-05, 1.60378418e-04,-4.90503481e+00, 3.34377320e-04,
  1.19687180e-02,-5.20280783e-04]


--- Step 113 ---
qpos:
[ 0.01684005, 0.02740345,-0.0084871 ,-0.02302698, 0.00712317, 0.00427379,
 -0.00705182, 0.02440986, 0.01108125, 0.02554286,-0.00740785, 0.02384243,
  0.38562841, 0.00567611, 0.25012714, 0.04319345, 0.05705049,-0.07518848,
  0.17208453, 0.99966493, 0.02263194,-0.01244805, 0.0016964 ]

qacc:
[  4.83311611, -2.04804063, -0.05888955, 19.05850593, -0.91427408,
  -1.95166639,  9.59201221,-22.84492359, -3.94957251, -7.2505487 ,
  29.35854618,-56.57169389, -1.20185376,  0.96768006,  2.59250617,
 -17.03637157,  1.53855657, -1.51135704, -0.95800477, 13.03243464,
  14.55188823, -4.30289974]

qfrc_actuator:
[ 1.95764556e-03, 3.67855818e-03,-9.22913681e-04,-2.67952972e-03,
  8.20898776e-04, 4.35914109e-04,-8.67285408e-04, 2.78504444e-03,
  1.14609616e-03, 3.33128119e-03,-7.43931555e-04, 2.70080379e-03,
  9.04810268e-02, 3.76701790e-04, 8.47128595e-02, 8.56383967e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005226062832543038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03438422, -0.05089573,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85123164e-05,-1.38932296e-04, 2.15459664e-05, 5.20433133e-05,
 -5.38820010e-06,-5.26038570e-05,-1.68527924e-05,-4.29332322e-05,
 -2.40825728e-05,-2.04469386e-04,-1.49840231e-05,-9.01709695e-05,
 -6.23791913e-04,-6.66330107e-05,-3.54603260e-04,-1.86066562e-04,
  6.47127497e-05, 1.49618466e-04,-4.90503077e+00, 3.29472325e-04,
  1.19805333e-02,-5.32603384e-04]


--- Step 114 ---
qpos:
[ 0.01687698, 0.02746067,-0.00850665,-0.02307887, 0.00713905, 0.00428193,
 -0.00706821, 0.0244645 , 0.01110574, 0.02559465,-0.00742497, 0.02389492,
  0.38749102, 0.00568778, 0.25223694, 0.04329124, 0.05700453,-0.07531713,
  0.17208139, 0.99964998, 0.02319093,-0.01263387, 0.00157631]

qacc:
[ -8.24404146, -2.22184576,  2.22188342, 10.37766782, -4.73899549,
  -1.1445413 ,  7.65955089,-23.07014892,  1.94324963, -4.73128723,
  16.60704285,-27.83872646, -1.21627828,  1.09005943, -7.47326475,
  17.94717162,  1.53392212, -1.5180587 , -0.96602434, 13.07497447,
  14.52659665, -4.39147377]

qfrc_actuator:
[ 0.00190744, 0.00360194,-0.00089257,-0.00264413, 0.00079339, 0.00042881,
 -0.0008855 , 0.00273835, 0.00115807, 0.00325328,-0.00072143, 0.00266768,
  0.09030908, 0.0003628 , 0.08456031, 0.00013102, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000505505646702098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.49065590e-14, -1.09813118e-13,  1.00000000e+00, -6.02946044e-27,
        1.00000000e+00,  1.09813118e-13, -1.00000000e+00,  0.00000000e+00,
       -5.49065590e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03438026, -0.05089185,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95806035e-05,-1.49507916e-04, 5.73648416e-06, 3.12373850e-05,
 -2.76794373e-05,-4.20836869e-05,-3.26756240e-05,-5.04759536e-05,
  1.13708165e-05,-2.01081359e-04,-2.52095901e-05,-4.43523043e-05,
 -6.27057965e-04,-6.61381996e-05,-3.29157658e-04,-9.33439365e-06,
  4.85996811e-05, 1.36903574e-04,-4.90502721e+00, 3.23695953e-04,
  1.19929579e-02,-5.45542344e-04]


--- Step 115 ---
qpos:
[ 0.01691267, 0.02751649,-0.00852534,-0.02313028, 0.00715448, 0.00428979,
 -0.00708441, 0.02451779, 0.01112985, 0.02564486,-0.00744144, 0.02394658,
  0.38935036, 0.00569959, 0.25434318, 0.04338777, 0.05696469,-0.07545189,
  0.17207437, 0.99963443, 0.02377622,-0.01279042, 0.00144825]

qacc:
[-10.60257347, -3.24144046,  6.88934851,  0.99120695, -3.97712215,
  -3.72916233, 18.4949115 ,-42.13868821, -3.28311553, -5.62637161,
  20.56916365,-34.89194089, -1.58888125,  4.14016707, -1.40124499,
  -2.628771  ,  1.53032358, -1.52573828, -0.97035933, 13.12734452,
  14.51211193, -4.48438468]

qfrc_actuator:
[ 1.84537597e-03, 3.53389833e-03,-8.49202362e-04,-2.62032222e-03,
  7.70851162e-04, 4.21403354e-04,-8.71898596e-04, 2.67127957e-03,
  1.13757855e-03, 3.18674029e-03,-6.83573547e-04, 2.62721592e-03,
  9.01390259e-02, 3.67674985e-04, 8.43823756e-02, 6.55158671e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004894859902071919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13407028e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13407028e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437657, -0.05088819,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.37109301e-05,-1.50982704e-04, 1.39110490e-05, 1.82347204e-05,
 -2.33349599e-05,-4.00879484e-05,-8.87688171e-07,-7.10881375e-05,
 -2.00745703e-05,-1.87803466e-04,-8.82090182e-06,-5.10069947e-05,
 -6.27210967e-04,-4.80887502e-05,-3.23683387e-04,-1.07223418e-04,
  3.46719140e-05, 1.22215814e-04,-4.90502411e+00, 3.17026266e-04,
  1.20060256e-02,-5.59100513e-04]


--- Step 116 ---
qpos:
[ 0.01694837, 0.02757099,-0.00854339,-0.023181  , 0.00716987, 0.00429735,
 -0.00709949, 0.02456944, 0.01115283, 0.02569393,-0.00745777, 0.02399699,
  0.3912064 , 0.00571176, 0.25644549, 0.04348445, 0.05693096,-0.07559279,
  0.17206347, 0.99961825, 0.02438795,-0.01291771, 0.00131207]

qacc:
[  0.12364877, -2.12508373,  2.14402462,  9.71461733, -0.36052146,
  -6.87894831, 30.82594126,-60.58206164, -9.5689447 , -4.4611929 ,
  19.03177475,-40.15492271, -1.81735753,  5.99548613, -6.22452775,
  13.42601949,  1.52772722, -1.53438792, -0.97116051, 13.18923651,
  14.50826938, -4.58140141]

qfrc_actuator:
[ 1.84785758e-03, 3.47158896e-03,-8.16219330e-04,-2.58576220e-03,
  7.69181219e-04, 4.31742504e-04,-8.04120996e-04, 2.59278725e-03,
  1.08036718e-03, 3.14542900e-03,-6.72421403e-04, 2.56501999e-03,
  8.99649102e-02, 3.83549645e-04, 8.41946587e-02, 7.71205709e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004745469017775755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75465748e-13, -1.16977165e-13,  1.00000000e+00, -2.05254857e-26,
        1.00000000e+00,  1.16977165e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75465748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437312, -0.05088475,  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:
[ 4.31897356e-07,-1.44906406e-04, 3.79018464e-06, 2.89589862e-05,
 -2.34400895e-06,-1.55311330e-05, 5.69071883e-05,-8.17241784e-05,
 -5.77075681e-05,-1.52011692e-04,-3.09774256e-05,-7.17270085e-05,
 -6.29975951e-04,-3.68005172e-05,-3.42757863e-04,-3.50735054e-05,
  2.29157989e-05, 1.05531455e-04,-4.90502147e+00, 3.09438402e-04,
  1.20197714e-02,-5.73281220e-04]


--- Step 117 ---
qpos:
[ 0.01698348, 0.02762422,-0.00856149,-0.02323052, 0.00718477, 0.00430502,
 -0.00711409, 0.02461974, 0.0111753 , 0.0257419 ,-0.00747393, 0.02404659,
  0.39305929, 0.00572338, 0.25854415, 0.04358045, 0.05690698,-0.07573251,
  0.17205664, 0.99960232, 0.02499238,-0.01300778, 0.00117398]

qacc:
[ -5.11230976,  0.93257841,-10.7920348 , 32.48705504, -4.25538384,
  -3.95213042, 20.05196726,-44.36299805, -4.40704205, -3.57212222,
  14.07150119,-27.52601775, -0.88083797, -1.59126734, -3.35443976,
   3.90312627,  2.43691721,  0.29367486,  1.01776567, -3.63692742,
  18.57990877, -1.3559842 ]

qfrc_actuator:
[ 1.81730734e-03, 3.39544112e-03,-8.25101815e-04,-2.52739852e-03,
  7.44299882e-04, 4.52857476e-04,-7.75847104e-04, 2.52600679e-03,
  1.05527084e-03, 3.10170665e-03,-6.59277749e-04, 2.52604528e-03,
  8.98044534e-02, 3.52482286e-04, 8.40225356e-02, 4.53257208e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.4817424 , -1.2119692 , -5.34608552, -1.2119692 , 35.72903697,
       -6.85712735, -5.34608552, -6.85712735,  7.03626806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048403867754902297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.73416483e-14,  5.73416483e-14,  1.00000000e+00,  3.28806463e-27,
        1.00000000e+00, -5.73416483e-14, -1.00000000e+00,  0.00000000e+00,
       -5.73416483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02835516, -0.07987294,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07338002e-05,-1.56917086e-04,-3.76919966e-05, 5.28788040e-05,
 -2.49522556e-05, 2.04685116e-05, 2.92198499e-05,-6.71662346e-05,
 -2.66801530e-05,-1.39846277e-04,-2.50234960e-05,-4.81354293e-05,
 -6.17383532e-04,-8.39428269e-05,-3.26646651e-04,-7.66143262e-05,
  1.33240979e-05, 8.68206698e-05,-4.90501925e+00, 3.00904652e-04,
  1.20342317e-02,-5.88088264e-04]


--- Step 118 ---
qpos:
[ 0.0170176 , 0.02767668,-0.00858007,-0.02327934, 0.00719925, 0.00431299,
 -0.00712888, 0.02466888, 0.01119833, 0.0257886 ,-0.00749002, 0.02409537,
  0.39490905, 0.00573457, 0.26063894, 0.04367403, 0.05689245,-0.07587112,
  0.17205287, 0.99958667, 0.02558997,-0.01306056, 0.00103326]

qacc:
[ -8.50344249,  1.78583847,-10.76982776, 24.2329846 , -3.65487937,
  -1.48552047, 10.81061766,-30.98927456,  4.82954512, -3.58242604,
  13.79299753,-27.22288105, -0.99823625, -0.52513033,  1.60286913,
 -13.87883334,  2.36224992,  0.27855831,  0.76622521, -3.41864857,
  18.61367672, -1.74015012]

qfrc_actuator:
[ 1.76753939e-03, 3.38248270e-03,-8.40914550e-04,-2.49104171e-03,
  7.23702103e-04, 4.62386659e-04,-7.88831178e-04, 2.46663117e-03,
  1.08479420e-03, 3.02143030e-03,-6.62783417e-04, 2.48330454e-03,
  8.96469717e-02, 3.29526574e-04, 8.38119528e-02,-8.27563935e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  5.61366716,   1.919823  ,   5.27518139,   1.919823  ,
        50.06877373, -16.17876803,   5.27518139, -16.17876803,
        11.50168667,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005009410169253409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54068736e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.54068736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02835371, -0.07987095,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08554002e-05,-1.07952379e-04,-5.13696708e-05, 2.93899277e-05,
 -2.12980496e-05, 2.39039158e-05,-7.51134270e-06,-5.88907115e-05,
  2.88443222e-05,-1.67308010e-04,-3.75994597e-05,-5.07125316e-05,
 -6.08916410e-04,-7.70494906e-05,-3.63382542e-04,-1.73390358e-04,
  4.90716940e-06, 5.71126267e-05,-4.90501466e+00, 2.88558385e-04,
  1.20342940e-02,-6.02629624e-04]


--- Step 119 ---
qpos:
[ 1.70511986e-02, 2.77283695e-02,-8.59822700e-03,-2.33274083e-02,
  7.21406794e-03, 4.32100994e-03,-7.14338348e-03, 2.47172522e-02,
  1.12211887e-02, 2.58343060e-02,-7.50616771e-03, 2.41432182e-02,
  3.96755670e-01, 5.74544589e-03, 2.62729687e-01, 4.37650084e-02,
  5.68871071e-02,-7.60086655e-02, 1.72051282e-01, 9.99571296e-01,
  2.61811068e-02,-1.30760574e-02, 8.89295457e-04]

qacc:
[ -4.45418924, -0.62556994, -2.42413814, 15.36521149,  2.91443869,
  -2.30001071, 11.48476801,-25.02917958, -1.41800601, -3.06574222,
  12.922906  ,-28.08241643, -1.12688701,  0.48773885,  1.92835222,
 -15.38134287,  2.29869601,  0.26418899,  0.54470867, -3.23090368,
  18.60000196, -2.05444732]

qfrc_actuator:
[ 0.00174238, 0.00337193,-0.00080718,-0.00245012, 0.0007413 , 0.00046474,
 -0.00077284, 0.00242981, 0.00107521, 0.00299086,-0.00065849, 0.00243865,
  0.08948073, 0.00031153, 0.0836104 ,-0.00021334, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005124064394352729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41671093e-14, -5.41671093e-14,  1.00000000e+00, -2.93407573e-27,
        1.00000000e+00,  5.41671093e-14, -1.00000000e+00,  0.00000000e+00,
       -5.41671093e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02835199, -0.07986949,  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:
[-2.68139526e-05,-8.19656414e-05, 5.80630823e-06, 3.51208411e-05,
  1.70065760e-05, 1.14143737e-05, 1.79391836e-05,-3.72983859e-05,
 -8.65856884e-06,-1.35602859e-04,-3.70964900e-05,-5.42909762e-05,
 -6.11115382e-04,-7.14331203e-05,-3.80667170e-04,-1.85695103e-04,
 -8.85564097e-08, 2.79699480e-05,-4.90501056e+00, 2.76057900e-04,
  1.20348711e-02,-6.16991563e-04]


--- Step 120 ---
qpos:
[ 1.70842324e-02, 2.77791722e-02,-8.61584872e-03,-2.33742585e-02,
  7.22897975e-03, 4.32911724e-03,-7.15733249e-03, 2.47651333e-02,
  1.12430710e-02, 2.58791895e-02,-7.52195730e-03, 2.41894170e-02,
  3.98599106e-01, 5.75641957e-03, 2.64816329e-01, 4.38536629e-02,
  5.68907483e-02,-7.61452136e-02, 1.72051095e-01, 9.99556206e-01,
  2.67661275e-02,-1.30543326e-02, 7.41595162e-04]

qacc:
[ -4.84151753, -0.15780264, -6.23554522, 27.01279815,  0.85602111,
  -2.45295573, 10.99635316,-20.51716862, -8.36135026, -5.46923954,
  24.9359212 ,-53.54786737, -1.53866454,  3.77607801,  0.98460761,
 -12.18397339,  2.24481415,  0.25054277,  0.35050556, -3.06827383,
  18.55638751, -2.31506551]

qfrc_actuator:
[ 0.00171415, 0.00332764,-0.00077993,-0.00238904, 0.00074574, 0.00048066,
 -0.00073987, 0.00240657, 0.00102491, 0.00297258,-0.00063167, 0.00235776,
  0.08931468, 0.00031432, 0.08341442,-0.00032652, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005193313593352816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.34448288e-14,  5.34448288e-14,  1.00000000e+00,  2.85634973e-27,
        1.00000000e+00, -5.34448288e-14, -1.00000000e+00,  0.00000000e+00,
       -5.34448288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02835   , -0.07986843,  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:
[-2.91702537e-05,-8.90900094e-05, 1.19364977e-05, 5.84794739e-05,
  4.92373274e-06, 2.41878213e-05, 3.62165050e-05,-2.29503021e-05,
 -5.04600483e-05,-1.05599345e-04,-8.06831131e-06,-8.92072902e-05,
 -6.12117920e-04,-5.10027898e-05,-3.83672028e-04,-1.71021097e-04,
 -1.63450587e-06,-6.13538077e-07,-4.90500705e+00, 2.63289441e-04,
  1.20358072e-02,-6.31184348e-04]


--- Step 121 ---
qpos:
[ 1.71163236e-02, 2.78290542e-02,-8.63354702e-03,-2.34196187e-02,
  7.24382897e-03, 4.33726840e-03,-7.17046609e-03, 2.48123476e-02,
  1.12645275e-02, 2.59232518e-02,-7.53760427e-03, 2.42339528e-02,
  4.00439339e-01, 5.76773201e-03, 2.66897838e-01, 4.39436781e-02,
  5.69031873e-02,-7.62808114e-02, 1.72051633e-01, 9.99541396e-01,
  2.73453271e-02,-1.29954953e-02, 5.89741062e-04]

qacc:
[ -8.10407639,  2.08230909,-15.43812363, 41.9629547 , -0.52618209,
  -3.59319582, 15.71283376,-28.59093445, -3.62891825, -4.90106879,
  22.93402916,-51.35321513, -1.75436724,  5.58696145,-11.66334624,
  29.89069861,  2.19942705,  0.23758615,  0.18131296, -2.92643456,
  18.49641589, -2.53476733]

qfrc_actuator:
[ 0.00166659, 0.00326352,-0.00079236,-0.00231663, 0.00074238, 0.00048692,
 -0.00069708, 0.00237377, 0.00100431, 0.0029264 ,-0.00062723, 0.00227398,
  0.08914886, 0.00032931, 0.08316867,-0.00025097, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005225038553524353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.31203269e-14, -5.31203269e-14,  1.00000000e+00, -2.82176913e-27,
        1.00000000e+00,  5.31203269e-14, -1.00000000e+00,  0.00000000e+00,
       -5.31203269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02834776, -0.07986769,  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:
[-4.85766162e-05,-1.10610035e-04,-2.76497949e-05, 7.01724950e-05,
 -3.21278848e-06, 2.60471086e-05, 5.14093851e-05,-3.10501118e-05,
 -2.19643063e-05,-1.12212682e-04,-2.18718467e-05,-9.04752529e-05,
 -6.10885318e-04,-3.84720522e-05,-4.33064781e-04, 1.81700471e-05,
  2.66517028e-07,-2.86580956e-05,-4.90500420e+00, 2.50163026e-04,
  1.20369839e-02,-6.45216784e-04]


--- Step 122 ---
qpos:
[ 1.71469032e-02, 2.78778128e-02,-8.65143893e-03,-2.34637225e-02,
  7.25817764e-03, 4.34545581e-03,-7.18315593e-03, 2.48577905e-02,
  1.12859170e-02, 2.59668820e-02,-7.55330761e-03, 2.42774437e-02,
  4.02276427e-01, 5.77884753e-03, 2.68974953e-01, 4.40344192e-02,
  5.69242721e-02,-7.64155080e-02, 1.72052311e-01, 9.99526859e-01,
  2.79189647e-02,-1.28996650e-02, 4.33377405e-04]

qacc:
[-1.30054162e+01, 1.67009458e+00,-1.33571810e+01, 3.61646388e+01,
 -4.39158418e+00,-4.83109604e+00, 2.47886670e+01,-5.61979439e+01,
 -5.69427324e-01,-2.56384031e+00, 1.27266041e+01,-3.04049482e+01,
 -1.21858114e+00, 1.29824391e+00,-8.67017489e+00, 2.09536112e+01,
  2.16146687e+00, 2.25267863e-01, 3.46939203e-02,-2.80180559e+00,
  1.84297420e+01,-2.72347692e+00]

qfrc_actuator:
[ 0.00159027, 0.0031879 ,-0.00081044,-0.00225594, 0.00071671, 0.00046964,
 -0.0006844 , 0.00228235, 0.00100138, 0.00293482,-0.00061839, 0.00222466,
  0.08898329, 0.00031581, 0.08297853,-0.00020696, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005226114273865906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06218786e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06218786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0283453 , -0.07986719,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78949278e-05,-1.41798054e-04,-4.22120351e-05, 5.63950685e-05,
 -2.57541269e-05, 6.32210755e-06, 2.32736814e-05,-8.92264936e-05,
 -3.47408655e-06,-6.41786914e-05,-2.05749719e-05,-5.68116965e-05,
 -6.08644782e-04,-6.67076932e-05,-3.75655817e-04,-8.37505051e-06,
  5.59442396e-06,-5.61942758e-05,-4.90500207e+00, 2.36605544e-04,
  1.20383113e-02,-6.59096487e-04]


--- Step 123 ---
qpos:
[ 1.71766721e-02, 2.79253722e-02,-8.66881479e-03,-2.35071396e-02,
  7.27176223e-03, 4.35364063e-03,-7.19583196e-03, 2.49018184e-02,
  1.13067629e-02, 2.60100785e-02,-7.56940767e-03, 2.43200251e-02,
  4.04110455e-01, 5.78940938e-03, 2.71048384e-01, 4.41241887e-02,
  5.69538768e-02,-7.65493506e-02, 1.72052621e-01, 9.99512584e-01,
  2.84872704e-02,-1.27669622e-02, 2.72194454e-04]

qacc:
[ -6.94547947, -1.59939408,  0.53375014, 11.36865929, -6.72282336,
  -2.94255404, 16.48428277,-41.02032753, -4.65894608, -1.3279475 ,
   7.75896252,-22.56377373, -0.8503104 , -1.51658876, -2.50540721,
   0.86363669,  2.12998059,  0.21352815, -0.0917718 , -2.691435  ,
  18.36313304, -2.88889636]

qfrc_actuator:
[ 0.00155091, 0.00314145,-0.00077851,-0.00222039, 0.00067811, 0.00045597,
 -0.00068973, 0.00221038, 0.00097335, 0.00290492,-0.00064228, 0.00217829,
  0.08882864, 0.00028564, 0.0828112 ,-0.00025279, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000520249730205119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02834264, -0.07986687,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.17989738e-05,-1.33628255e-04,-8.96830651e-07, 2.91456456e-05,
 -3.93212988e-05,-9.40699494e-06,-4.29604080e-06,-7.27189579e-05,
 -2.80165564e-05,-7.38950007e-05,-4.20461930e-05,-5.10889504e-05,
 -5.98203260e-04,-8.48077509e-05,-3.32579537e-04,-9.30551581e-05,
  1.43220067e-05,-8.32588647e-05,-4.90500067e+00, 2.22555814e-04,
  1.20397214e-02,-6.72830116e-04]


--- Step 124 ---
qpos:
[ 1.72064241e-02, 2.79715932e-02,-8.68536072e-03,-2.35494513e-02,
  7.28477856e-03, 4.36169157e-03,-7.20844625e-03, 2.49449988e-02,
  1.13271142e-02, 2.60517912e-02,-7.58497203e-03, 2.43621333e-02,
  4.05941418e-01, 5.79990332e-03, 2.73118230e-01, 4.42116771e-02,
  5.69918981e-02,-7.66823840e-02, 1.72052129e-01, 9.99498556e-01,
  2.90504499e-02,-1.25974984e-02, 1.05916880e-04]

qacc:
[ -0.095922  , -1.81153903, -0.76534783, 19.53565675, -4.99587132,
  -2.08478619, 10.77180806,-25.45816879, -4.19387874, -4.42467403,
  14.94297491,-22.91204606, -1.34703895,  2.43123959,  1.62703474,
 -13.32118238,  2.10412744,  0.20230474, -0.20039746, -2.59289701,
  18.30123899, -3.03699022]

qfrc_actuator:
[ 0.00155138, 0.00307752,-0.00073496,-0.00216435, 0.00064998, 0.0004445 ,
 -0.00068787, 0.00216819, 0.00094853, 0.0027812 ,-0.00063218, 0.00215174,
  0.08867531, 0.00028139, 0.08263104,-0.00036887, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005159315591504593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07594021e-13,  1.07594021e-13,  1.00000000e+00,  1.15764734e-26,
        1.00000000e+00, -1.07594021e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07594021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02833983, -0.07986669,  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:
[-9.17554048e-07,-1.39119008e-04, 1.65641204e-05, 5.08793961e-05,
 -2.92494968e-05,-2.09976844e-05,-3.17066815e-06,-4.42442464e-05,
 -2.55394718e-05,-1.77329959e-04,-1.25019749e-05,-3.23199285e-05,
 -5.90645180e-04,-5.91149263e-05,-3.37766092e-04,-1.63116899e-04,
  2.64216954e-05,-1.09892183e-04,-4.90500003e+00, 2.07960813e-04,
  1.20411623e-02,-6.86423548e-04]


--- Step 125 ---
qpos:
[ 1.72356032e-02, 2.80163729e-02,-8.70089431e-03,-2.35907614e-02,
  7.29735633e-03, 4.36949659e-03,-7.22115734e-03, 2.49870162e-02,
  1.13466671e-02, 2.60920321e-02,-7.59940274e-03, 2.44035502e-02,
  4.07769310e-01, 5.81031881e-03, 2.75183881e-01, 4.42961756e-02,
  5.70382520e-02,-7.68146512e-02, 1.72050465e-01, 9.99484755e-01,
  2.96086885e-02,-1.23913700e-02,-6.57051998e-05]

qacc:
[ -4.8775597 , -2.66166977,  2.52152573, 14.22242038, -3.85805362,
  -2.44157771, 13.15751836,-32.96478929, -6.77492373, -6.52420772,
  23.38163124,-36.09997535, -1.34365281,  2.36845278,  2.86585781,
 -18.97024097,  2.08317167,  0.19153648, -0.2933395 , -2.50420335,
  18.24716324, -3.17236571]

qfrc_actuator:
[ 0.00152202, 0.00300373,-0.00068496,-0.00211446, 0.00062824, 0.00041673,
 -0.0006995 , 0.00210836, 0.00090803, 0.00272668,-0.00056696, 0.00211924,
  0.08851224, 0.00027469, 0.08240068,-0.0005254 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005100956369671478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08824987e-13,  5.44124937e-14,  1.00000000e+00,  5.92143893e-27,
        1.00000000e+00, -5.44124937e-14, -1.00000000e+00,  0.00000000e+00,
       -1.08824987e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02833691, -0.0798666 ,  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:
[-2.95617109e-05,-1.47468716e-04, 2.47873502e-05, 4.55143411e-05,
 -2.25813272e-05,-4.23207089e-05,-1.79275059e-05,-6.17863766e-05,
 -4.11744862e-05,-1.59018822e-04, 2.55548112e-05,-4.12998477e-05,
 -5.92725733e-04,-6.01860055e-05,-3.98323291e-04,-2.08180655e-04,
  4.18698852e-05,-1.36136295e-04,-4.90500018e+00, 1.92772866e-04,
  1.20425949e-02,-6.99882026e-04]


--- Step 126 ---
qpos:
[ 1.72638564e-02, 2.80597717e-02,-8.71542017e-03,-2.36308138e-02,
  7.30923071e-03, 4.37678462e-03,-7.23383731e-03, 2.50287053e-02,
  1.13645504e-02, 2.61314414e-02,-7.61349488e-03, 2.44445697e-02,
  4.09594094e-01, 5.82030965e-03, 2.77245103e-01, 4.43784427e-02,
  5.70928718e-02,-7.69461937e-02, 1.72047310e-01, 9.99471158e-01,
  3.01621548e-02,-1.21486542e-02,-2.42903135e-04]

qacc:
[ -7.91598739, -2.03595075, -0.66144768, 21.7811549 , -6.1787457 ,
  -1.43414515,  5.52889222,-10.90173821,-14.2674823 , -2.83597777,
  10.24305397,-17.10216773, -1.01108615, -0.35354246,  0.21408075,
 -10.22765284,  2.06647317,  0.18116556, -0.37257445, -2.42372766,
  18.20288478, -3.29857073]

qfrc_actuator:
[ 0.00147532, 0.0029424 ,-0.0006316 ,-0.00205085, 0.00059267, 0.00037933,
 -0.00070133, 0.00209186, 0.00082314, 0.00271426,-0.00054049, 0.00210135,
  0.08833811, 0.00024879, 0.08218834,-0.00063357, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005031149373152938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10334930e-13, -6.20633979e-14,  1.00000000e+00, -6.84776065e-27,
        1.00000000e+00,  6.20633979e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10334930e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02833392, -0.07986659,  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:
[-4.77284629e-05,-1.38168590e-04, 2.72518967e-05, 5.90585659e-05,
 -3.62206356e-05,-6.76463401e-05,-1.49571229e-05,-2.02207446e-05,
 -8.60323378e-05,-9.91689709e-05,-5.02967890e-06,-2.47729350e-05,
 -6.05636593e-04,-7.99234767e-05,-4.10330818e-04,-1.69453825e-04,
  6.06495574e-05,-1.62033836e-04,-4.90500112e+00, 1.76947574e-04,
  1.20439893e-02,-7.13210271e-04]


--- Step 127 ---
qpos:
[ 1.72916720e-02, 2.81025802e-02,-8.73008154e-03,-2.36694695e-02,
  7.32093119e-03, 4.38356942e-03,-7.24589083e-03, 2.50698272e-02,
  1.13816232e-02, 2.61702364e-02,-7.62755687e-03, 2.44850454e-02,
  4.11415624e-01, 5.83066832e-03, 2.79302921e-01, 4.44581815e-02,
  5.71557056e-02,-7.70770517e-02, 1.72042395e-01, 9.99457738e-01,
  3.07110029e-02,-1.18694059e-02,-4.25895074e-04]

qacc:
[ -3.76123462,  2.48354457,-15.85727423, 40.63899303, -1.50198285,
  -3.58110838, 14.2034034 ,-24.65662547, -6.92452057, -2.00209804,
   8.27991737,-17.3119438 , -1.88718099,  6.0939234 ,  2.66011919,
 -16.49717216,  2.05348783,  0.17113951, -0.43984494, -2.35015272,
  18.16965739, -3.41834404]

qfrc_actuator:
[ 0.00145431, 0.00294234,-0.00062988,-0.00197967, 0.00058475, 0.00037204,
 -0.00066187, 0.00206548, 0.0007838 , 0.00269155,-0.00053692, 0.00207444,
  0.08816278, 0.00026502, 0.08206152,-0.0007478 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004953044046620558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12074818e-13, -6.30420854e-14,  1.00000000e+00, -7.06543027e-27,
        1.00000000e+00,  6.30420854e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12074818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02833089, -0.07986663,  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:
[-2.25643097e-05,-7.05906603e-05,-2.16957164e-05, 6.73811700e-05,
 -8.96699951e-06,-4.92946727e-05, 2.29145053e-05,-3.02697838e-05,
 -4.17639798e-05,-8.16004590e-05,-1.87630479e-05,-3.19528304e-05,
 -6.17930897e-04,-4.02099232e-05,-3.25274074e-04,-1.74719303e-04,
  8.27517255e-05,-1.87627254e-04,-4.90500288e+00, 1.60442324e-04,
  1.20453227e-02,-7.26412576e-04]


--- Step 128 ---
qpos:
[ 1.73193617e-02, 2.81446233e-02,-8.74429550e-03,-2.37069893e-02,
  7.33244525e-03, 4.39014134e-03,-7.25718462e-03, 2.51095730e-02,
  1.13991273e-02, 2.62083597e-02,-7.64114899e-03, 2.45241669e-02,
  4.13233883e-01, 5.84153646e-03, 2.81357441e-01, 4.45345218e-02,
  5.72267145e-02,-7.72072641e-02, 1.72035494e-01, 9.99444464e-01,
  3.12553750e-02,-1.15536564e-02,-6.14890153e-04]

qacc:
[ -1.05642134,  0.07962685, -6.53301531, 26.01259424, -1.61333837,
  -5.23506436, 24.07275685,-48.95159478,  3.71496846, -4.99678023,
  22.23309554,-45.91382076, -2.05107372,  7.25797629,  5.45923096,
 -26.03947035,  2.04378402,  0.16141366, -0.49654498, -2.28244258,
  18.14845758, -3.53384302]

qfrc_actuator:
[ 0.00144859, 0.00290777,-0.00060515,-0.00192234, 0.00057543, 0.00038301,
 -0.000616  , 0.00199803, 0.00080711, 0.00266277,-0.00051143, 0.00200693,
  0.08799218, 0.00028815, 0.08190089,-0.00091772, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048692780964285087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28005672e-13, -7.12517725e-15,  1.00000000e+00, -1.62458083e-27,
        1.00000000e+00,  7.12517725e-15, -1.00000000e+00,  0.00000000e+00,
       -2.28005672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02832785, -0.0798667 ,  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:
[-6.51302519e-06,-7.70197055e-05, 9.53774615e-06, 5.48918087e-05,
 -9.59687464e-06,-1.33623508e-05, 3.74357744e-05,-6.94303372e-05,
  2.21833190e-05,-8.09472661e-05, 4.86506962e-06,-7.24212940e-05,
 -6.18306188e-04,-3.32432997e-05,-3.25230862e-04,-2.20850987e-04,
  1.08176219e-04,-2.12958455e-04,-4.90500546e+00, 1.43215162e-04,
  1.20465777e-02,-7.39492875e-04]


--- Step 129 ---
qpos:
[ 1.73467656e-02, 2.81855451e-02,-8.75762729e-03,-2.37438593e-02,
  7.34341290e-03, 4.39665908e-03,-7.26788839e-03, 2.51478453e-02,
  1.14174660e-02, 2.62459578e-02,-7.65442578e-03, 2.45625092e-02,
  4.15048920e-01, 5.85231731e-03, 2.83408021e-01, 4.46082677e-02,
  5.73058712e-02,-7.73368686e-02, 1.72026417e-01, 9.99431301e-01,
  3.17954029e-02,-1.12014124e-02,-8.10091596e-04]

qacc:
[ -2.41389688, -2.6047126 ,  4.40607756,  6.23611884, -4.78873085,
  -4.74557292, 23.05454397,-49.47928712,  7.16040864, -3.19397352,
  13.6473668 ,-27.22634916, -1.42100458,  2.49302255,  2.05103368,
 -15.56313316,  2.0369484 ,  0.151944  , -0.54410992, -2.21971148,
  18.13946521, -3.64665432]

qfrc_actuator:
[ 0.00143416, 0.00283517,-0.00056714,-0.00189136, 0.00054759, 0.00038709,
 -0.00058441, 0.00192474, 0.00084935, 0.00264841,-0.00049097, 0.00196934,
  0.08781921, 0.00027962, 0.08169876,-0.00104817, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047820322985672736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16082761e-13, -1.81379314e-13,  1.00000000e+00, -2.10550116e-26,
        1.00000000e+00,  1.81379314e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16082761e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02832484, -0.07986678,  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:
[-1.47612440e-05,-1.12711106e-04, 2.49035627e-05, 2.90917055e-05,
 -2.81175135e-05, 1.16619942e-06, 3.10007880e-05,-7.39969591e-05,
  4.29699325e-05,-6.29716299e-05, 1.46903884e-06,-4.24407226e-05,
 -6.20305810e-04,-6.50204959e-05,-3.72166911e-04,-1.84017445e-04,
  1.36932403e-04,-2.38068939e-04,-4.90500889e+00, 1.25223781e-04,
  1.20477409e-02,-7.52454807e-04]


--- Step 130 ---
qpos:
[ 0.01737413, 0.02822544,-0.00877121,-0.02378   , 0.00735396, 0.00440299,
 -0.00727808, 0.02518531, 0.01143583, 0.02628342,-0.00766729, 0.02460039,
  0.41686071, 0.0058633 , 0.28545448, 0.04467723, 0.05739316,-0.0774659 ,
  0.172015  , 0.99941821, 0.03233121,-0.01081266,-0.0010117 ]

qacc:
[ -0.36244113,  0.84795139, -8.05448728, 21.77304147, -3.66631352,
  -3.34780461, 15.00163475,-29.70627228,  0.19749323, -2.27719151,
   9.81745657,-18.39908712, -1.75148822,  4.89526073,  8.42228681,
 -38.21797363,  2.03261352,  0.14269066, -0.58386534, -2.16122803,
  18.14248615, -3.75795725]

qfrc_actuator:
[ 0.00143246, 0.00275817,-0.00059279,-0.00185842, 0.00052682, 0.00036921,
 -0.00056153, 0.0018841 , 0.0008491 , 0.00267832,-0.00045583, 0.00194967,
  0.08765027, 0.00028799, 0.08147193,-0.0012964 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004693087787728256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18282789e-13, -3.69633715e-14,  1.00000000e+00,  4.37213068e-27,
        1.00000000e+00,  3.69633715e-14, -1.00000000e+00,  0.00000000e+00,
        1.18282789e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02832188, -0.07986687,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27517218e-06,-1.34981934e-04,-4.51234481e-05, 2.95606678e-05,
 -2.15608812e-05,-1.42014777e-05, 2.43422856e-05,-4.10389655e-05,
  1.09884843e-06,-8.03096071e-06, 2.04981590e-05,-2.32831238e-05,
 -6.20648228e-04,-5.00288115e-05,-4.11761734e-04,-3.05176848e-04,
  1.69038625e-04,-2.62999107e-04,-4.90501318e+00, 1.06425265e-04,
  1.20488016e-02,-7.65301747e-04]


--- Step 131 ---
qpos:
[ 0.01740125, 0.02826427,-0.00878527,-0.02381545, 0.00736418, 0.00440895,
 -0.00728782, 0.02522236, 0.01145335, 0.02632043,-0.00767922, 0.02463739,
  0.41866924, 0.00587437, 0.28749665, 0.04474389, 0.05748857,-0.0775944 ,
  0.17200112, 0.99940515, 0.03286291,-0.01038735,-0.00121991]

qacc:
[ -2.01897919,  1.34742972, -9.77464192, 23.35176589, -2.89157498,
  -2.55771512, 10.15355048,-17.66096254, -7.08333844, -5.0024185 ,
  20.69692805,-37.04800656, -1.60029358,  3.76541991,  0.63968081,
 -11.329498  ,  2.03045796,  0.1336185 , -0.61700494, -2.10639405,
  18.1571108 , -3.86862315]

qfrc_actuator:
[ 0.00142053, 0.00269662,-0.00062035,-0.00182463, 0.00051039, 0.00033832,
 -0.00054404, 0.00186296, 0.00080609, 0.00264586,-0.00041208, 0.00190524,
  0.08747852, 0.0002885 , 0.08128901,-0.00139904, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046038793045237447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20574732e-13, -7.53592074e-15,  1.00000000e+00,  9.08641622e-28,
        1.00000000e+00,  7.53592074e-15, -1.00000000e+00,  0.00000000e+00,
        1.20574732e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02831899, -0.07986697,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21539377e-05,-1.46371709e-04,-6.02241844e-05, 2.70386080e-05,
 -1.70435641e-05,-3.57707580e-05, 1.61018863e-05,-2.17739340e-05,
 -4.28693599e-05,-3.49451540e-05, 4.34492639e-05,-4.46523212e-05,
 -6.22582456e-04,-5.76055530e-05,-3.98193348e-04,-1.71107597e-04,
  2.04521632e-04,-2.87788080e-04,-4.90501835e+00, 8.67758265e-05,
  1.20497514e-02,-7.78036846e-04]


--- Step 132 ---
qpos:
[ 0.01742768, 0.02830216,-0.00879909,-0.02385063, 0.00737412, 0.00441501,
 -0.00729803, 0.02525922, 0.01147023, 0.02635687,-0.0076907 , 0.02467362,
  0.42047464, 0.00588504, 0.28953533, 0.04480597, 0.0575921 ,-0.0777224 ,
  0.17198467, 0.99939206, 0.03339061,-0.00992542,-0.00143492]

qacc:
[-6.00787905e+00,-1.33653974e+00, 1.86173189e+00, 3.07576287e+00,
 -2.45113635e+00, 1.02994359e+00,-2.66026755e+00,-3.12016290e-02,
 -5.53266064e+00,-3.61863520e+00, 1.50734778e+01,-2.87644867e+01,
 -1.11183397e+00, 2.38879140e-01, 8.73629973e+00,-3.80534558e+01,
  2.03020136e+00, 1.24696858e-01,-6.44596322e-01,-2.05472203e+00,
  1.81827973e+01,-3.97928659e+00]

qfrc_actuator:
[ 0.0013849 , 0.00268031,-0.00059547,-0.00180835, 0.00049665, 0.00035311,
 -0.00056541, 0.00185346, 0.00077377, 0.0025941 ,-0.00039938, 0.00186431,
  0.0873212 , 0.00026658, 0.08112727,-0.00162794, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004515543341245404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45866984e-13, -1.30616836e-13,  1.00000000e+00, -3.21143675e-26,
        1.00000000e+00,  1.30616836e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45866984e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02831618, -0.07986705,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61278700e-05,-1.10696907e-04,-1.20743676e-05, 8.47438444e-06,
 -1.42411019e-05,-3.00238550e-06,-2.75746875e-05,-1.09790628e-05,
 -3.34713918e-05,-6.54865244e-05, 8.93478531e-06,-4.19290507e-05,
 -6.10000951e-04,-8.09850466e-05,-3.55939829e-04,-2.88169915e-04,
  2.43415934e-04,-3.12473681e-04,-4.90502443e+00, 6.62306248e-05,
  1.20505832e-02,-7.90663051e-04]


--- Step 133 ---
qpos:
[ 0.01745312, 0.02833941,-0.0088127 ,-0.02388502, 0.00738416, 0.0044212 ,
 -0.00730875, 0.02529568, 0.01148694, 0.02639268,-0.00770217, 0.02470946,
  0.42227698, 0.00589506, 0.29157031, 0.04486243, 0.05770375,-0.07784994,
  0.17196554, 0.99937891, 0.03391442,-0.0094268 ,-0.00165693]

qacc:
[ -8.41076891,  0.20032445, -5.21147106, 18.80546556,  0.88557025,
   0.78276574, -0.84174146, -5.40148952, -1.46119547, -1.65713005,
   6.35905314,-12.68389079, -0.81067769, -1.83540161, 11.49716058,
 -48.1322647 ,  2.03159978,  0.11589933, -0.66758827, -2.00581647,
  18.21893275, -4.0904013 ]

qfrc_actuator:
[ 0.00133563, 0.00267367,-0.00057517,-0.00176692, 0.00050235, 0.00035951,
 -0.00059163, 0.00183313, 0.00076577, 0.00254881,-0.0004052 , 0.00184347,
  0.0871673 , 0.00023164, 0.08093572,-0.00191162, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044289613349196566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50673452e-13, -1.64504453e-13,  1.00000000e+00, -4.12368989e-26,
        1.00000000e+00,  1.64504453e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50673452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02831348, -0.07986713,  0.06199208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04630861e-05,-7.18937572e-05,-3.97681409e-06, 3.64582907e-05,
  5.29134640e-06,-1.63655692e-06,-3.06475261e-05,-2.17009928e-05,
 -8.88929543e-06,-8.30815014e-05,-2.00464649e-05,-2.42806310e-05,
 -5.99401757e-04,-9.42516814e-05,-3.82176916e-04,-3.44688926e-04,
  2.85763136e-04,-3.37092471e-04,-4.90503144e+00, 4.47436679e-05,
  1.20512908e-02,-8.03183128e-04]


--- Step 134 ---
qpos:
[ 0.01747812, 0.02837632,-0.00882642,-0.02391868, 0.00739454, 0.00442702,
 -0.00731927, 0.02533197, 0.01150377, 0.02642728,-0.00771336, 0.02474517,
  0.42407626, 0.0059043 , 0.2936005 , 0.04492102, 0.05782355,-0.07797705,
  0.17194366, 0.99936563, 0.03443444,-0.00889137,-0.00188614]

qacc:
[ -3.8368197 ,  1.40255392, -8.76812723, 22.05014084,  2.96336997,
  -1.4440258 ,  5.13513154, -8.1133097 ,  1.06562549, -2.61927403,
   7.57007302, -9.3459198 , -0.60503991, -3.15343384,-13.49836279,
  36.91261094,  2.0344416 ,  0.10720339, -0.68681881, -1.95935835,
  18.26487778, -4.20228393]

qfrc_actuator:
[ 0.00131422, 0.00267293,-0.00057541,-0.00172878, 0.00051944, 0.00032529,
 -0.00058501, 0.00182434, 0.00077214, 0.00245444,-0.0004041 , 0.00183462,
  0.08700492, 0.00018931, 0.08074773,-0.00178151, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043447981337392527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55529254e-13,  8.78381810e-14,  1.00000000e+00,  2.24452248e-26,
        1.00000000e+00, -8.78381810e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55529254e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02831089, -0.07986719,  0.06199223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29933023e-05,-4.14107884e-05,-1.45434358e-05, 3.56645333e-05,
  1.72426443e-05,-4.25772206e-05, 1.72845960e-06,-1.04128015e-05,
  6.19471579e-06,-1.47208416e-04,-1.97256811e-05,-1.37068773e-05,
 -6.01506252e-04,-1.01557048e-04,-3.95915421e-04, 6.28314533e-05,
  3.31611270e-04,-3.61679833e-04,-4.90503942e+00, 2.22677613e-05,
  1.20518688e-02,-8.15599675e-04]


--- Step 135 ---
qpos:
[ 0.01750336, 0.02841297,-0.00883981,-0.02395234, 0.0074047 , 0.00443244,
 -0.0073296 , 0.02536823, 0.01152054, 0.0264604 ,-0.007724  , 0.02478051,
  0.42587247, 0.005913  , 0.29562672, 0.04498022, 0.0579515 ,-0.07810376,
  0.17191897, 0.99935216, 0.03495074,-0.00831901,-0.00212274]

qacc:
[  2.04662301, -1.31985926,  4.25352409, -4.8129668 , -1.92933205,
  -1.1092846 ,  3.34355403, -3.98489842, -0.40404504, -4.2607333 ,
  13.91494891,-20.10508735, -0.88237598, -1.15391935, -7.72838876,
  18.51599478,  2.03854371,  0.09859004, -0.70302393, -1.9150922 ,
  18.31999753, -4.3151482 ]

qfrc_actuator:
[ 0.00132715, 0.00267568,-0.00055225,-0.00172838, 0.00050759, 0.00030265,
 -0.00057696, 0.0018224 , 0.00076916, 0.00236694,-0.00038138, 0.00181511,
  0.08684821, 0.00016068, 0.08057276,-0.00174589, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042635360184380133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90599383e-13, -4.06874357e-14,  1.00000000e+00, -1.58924873e-26,
        1.00000000e+00,  4.06874357e-14, -1.00000000e+00,  0.00000000e+00,
       -3.90599383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02830841, -0.07986724,  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:
[ 1.21514918e-05,-2.30742447e-05, 1.38307246e-05,-1.16384512e-06,
 -1.13756159e-05,-4.66985557e-05,-9.20619157e-07,-3.97376538e-06,
 -2.74385578e-06,-1.75623729e-04,-1.09256175e-05,-2.69031062e-05,
 -5.97652030e-04,-8.88409541e-05,-3.41103121e-04,-1.00963048e-05,
  3.81014182e-04,-3.86270069e-04,-4.90504840e+00,-1.24551142e-06,
  1.20523120e-02,-8.27915136e-04]


--- Step 136 ---
qpos:
[ 0.0175282 , 0.02844935,-0.00885281,-0.02398609, 0.00741464, 0.0044376 ,
 -0.00733951, 0.02540379, 0.01153681, 0.02649283,-0.00773456, 0.02481423,
  0.42766561, 0.00592134, 0.29764942, 0.04503928, 0.058084  ,-0.07822474,
  0.1718998 , 0.99933882, 0.03544814,-0.00773215,-0.00235986]

qacc:
[ -3.3206542 , -1.57697717,  5.44343163, -7.23240615, -1.92719898,
  -2.91651396, 12.8254069 ,-25.22560111, -4.34192124, -4.46988912,
  21.46075326,-49.09613591, -1.07661293,  0.23415944, -4.74336884,
   9.0975051 ,  1.14019036,  1.43270334,  1.37860784, -9.46987617,
   7.22232025, -0.43188205]

qfrc_actuator:
[ 0.00130692, 0.00266282,-0.0005332 ,-0.00173242, 0.00049654, 0.0003049 ,
 -0.00055036, 0.00178901, 0.00074294, 0.0023731 ,-0.00036382, 0.00173622,
  0.08668969, 0.00014035, 0.08041635,-0.00174858, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.05542451,  3.83488252, -3.29408456,  3.83488252, 15.72039959,
       12.41587026, -3.29408456, 12.41587026, 19.50963873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004183887249544358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78934053e-07,  6.63392055e-14,  1.00000000e+00,  2.51381840e-20,
        1.00000000e+00, -6.63392055e-14, -1.00000000e+00,  0.00000000e+00,
       -3.78934053e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04688785, -0.09523055,  0.06199251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99811250e-05,-2.41238206e-05, 1.57218071e-05,-4.55412260e-06,
 -1.13809727e-05,-2.43874908e-05, 1.66862618e-05,-3.55722689e-05,
 -2.62586247e-05,-9.65688830e-05,-2.13199080e-05,-8.74357308e-05,
 -5.95285492e-04,-8.00355599e-05,-3.08789510e-04,-4.61768143e-05,
  4.34030978e-04,-4.10896521e-04,-4.90505841e+00,-2.58457909e-05,
  1.20526154e-02,-8.40131807e-04]


--- Step 137 ---
qpos:
[ 0.01755227, 0.02848507,-0.0088653 ,-0.02401992, 0.00742437, 0.0044426 ,
 -0.00734909, 0.02543901, 0.01155264, 0.02652514,-0.00774541, 0.02484635,
  0.4294557 , 0.0059294 , 0.29966852, 0.04509685, 0.05821532,-0.07833411,
  0.17189097, 0.99932627, 0.03590452,-0.00715624,-0.00257903]

qacc:
[ -6.69855156, -2.49196793,  8.02797188, -9.96327085, -1.83228394,
  -1.83943955,  7.69536509,-13.99984628, -3.76395744, -2.62944112,
  15.90074367,-43.06427502, -1.17237707,  0.97703076, -0.81315023,
  -4.84380344, -0.29894922,  2.90413239,  2.58700332,-20.42831231,
  -5.20234512,  9.32114302]

qfrc_actuator:
[ 0.00126733, 0.00260522,-0.00051679,-0.00173905, 0.00048608, 0.00030434,
 -0.00053068, 0.00177292, 0.00072101, 0.00239973,-0.00036687, 0.00165862,
  0.08653551, 0.00012503, 0.08022858,-0.00182698, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.43250941,  4.2145583 , -3.42777724,  4.2145583 , 19.23896399,
       16.97546359, -3.42777724, 16.97546359, 26.30436774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047737814685573643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.16283394e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.16283394e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06471449, -0.10997776,  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:
[-4.02815750e-05,-6.92193290e-05, 1.29776046e-05,-7.18930663e-06,
 -1.07984846e-05,-1.24335913e-05, 1.54416500e-05,-1.73239600e-05,
 -2.26310927e-05,-3.66007078e-05,-2.89586345e-05,-8.42985570e-05,
 -5.88246068e-04,-7.47979392e-05,-3.31281394e-04,-1.20209926e-04,
  4.55666763e-04,-4.07113157e-04,-4.90506351e+00,-3.51238830e-05,
  1.20407549e-02,-8.51462405e-04]


--- Step 138 ---
qpos:
[ 0.01757602, 0.02851962,-0.00887697,-0.02405318, 0.00743389, 0.00444757,
 -0.00735869, 0.02547378, 0.01156808, 0.02655717,-0.00775659, 0.02487835,
  0.4312428 , 0.00593757, 0.30168391, 0.04515332, 0.05834546,-0.07843244,
  0.17189062, 0.99931461, 0.03631999,-0.00658969,-0.00278306]

qacc:
[ -2.69548239, -2.64768833,  4.77761127,  4.71887014, -1.77076104,
  -0.92895533,  5.2169465 ,-13.1582067 , -3.2898504 ,  0.27811428,
  -0.96835067, -0.5303482 , -1.53219162,  3.75257889, -2.12629358,
  -0.42326141, -0.29203346,  2.759417  ,  2.11864893,-20.38901637,
  -4.45536097,  7.87984747]

qfrc_actuator:
[ 0.00125217, 0.00252125,-0.00048452,-0.00171168, 0.00047603, 0.00030209,
 -0.00053299, 0.00174937, 0.00070178, 0.00238512,-0.00038193, 0.00165343,
  0.0863947 , 0.00013053, 0.08005407,-0.0018784 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.79430268, -3.97883191,  4.21222508, -3.97883191, 13.54723305,
        7.32335196,  4.21222508,  7.32335196, 12.71187852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005231281223679746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12227746e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.12227746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06470378, -0.1099757 ,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64513202e-05,-1.21459123e-04, 1.91131155e-05, 2.47287316e-05,
 -1.03567725e-05,-6.90147960e-06,-3.60520861e-06,-2.39470208e-05,
 -1.97992873e-05,-4.57478357e-05,-2.94089706e-05,-9.51690552e-06,
 -5.69389968e-04,-5.33785132e-05,-3.35864149e-04,-1.00077495e-04,
  4.35034584e-04,-3.66100366e-04,-4.90506758e+00,-1.71630354e-05,
  1.20070596e-02,-8.61049169e-04]


--- Step 139 ---
qpos:
[ 0.01759905, 0.02855337,-0.00888859,-0.02408516, 0.00744288, 0.0044526 ,
 -0.00736798, 0.02550761, 0.01158317, 0.02658878,-0.00776787, 0.02491072,
  0.43302696, 0.00594578, 0.30369582, 0.04520864, 0.05847447,-0.07852024,
  0.17189705, 0.99930389, 0.03669485,-0.00603121,-0.00297421]

qacc:
[ -6.12097592,  1.45803992,-12.10863915, 34.76953483, -4.73921639,
  -2.69609115, 13.6428246 ,-30.28430805, -2.97740604,  0.52228309,
  -4.26511046, 11.31698371, -1.44854505,  3.22745721, -1.61284745,
  -1.73711094, -0.28331993,  2.63301554,  1.69693286,-20.2534234 ,
  -3.8513874 ,  6.71657187]

qfrc_actuator:
[ 0.00121601, 0.00249326,-0.00047873,-0.0016468 , 0.00044856, 0.00031652,
 -0.00051278, 0.00170387, 0.0006843 , 0.0023637 ,-0.0003863 , 0.0016731 ,
  0.08624604, 0.0001305 , 0.07989832,-0.00193119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.0774544 , -4.14258945,  4.4468421 , -4.14258945, 15.94009725,
        9.18784145,  4.4468421 ,  9.18784145, 14.63666432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005574224707419195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95854207e-14, -9.95854207e-14,  1.00000000e+00,  9.91725601e-27,
        1.00000000e+00,  9.95854207e-14, -1.00000000e+00,  0.00000000e+00,
        9.95854207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06469549, -0.10997468,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67711818e-05,-9.20234145e-05,-1.63030484e-05, 6.08430209e-05,
 -2.77654829e-05, 8.65089374e-06, 1.74920512e-05,-4.64607032e-05,
 -1.79799896e-05,-5.45398095e-05,-1.80738696e-05, 1.63921422e-05,
 -5.61457584e-04,-5.64160849e-05,-3.16681996e-04,-1.00836613e-04,
  4.18251658e-04,-3.28006128e-04,-4.90507020e+00,-2.48933209e-06,
  1.19775927e-02,-8.69787956e-04]


--- Step 140 ---
qpos:
[ 0.01762113, 0.02858686,-0.00890085,-0.02411613, 0.00745147, 0.00445762,
 -0.00737667, 0.02554062, 0.01159829, 0.02662001,-0.00777938, 0.02494239,
  0.4348081 , 0.00595402, 0.30570414, 0.04526155, 0.05860239,-0.07859794,
  0.17190878, 0.99929417, 0.03702951,-0.00547975,-0.00315431]

qacc:
[ -8.26779818,  3.56031354,-17.42183186, 36.04113117, -3.4934658 ,
  -3.37143823, 15.5203394 ,-30.78266115,  0.16512396, -1.29234363,
   6.87220464,-18.44141484, -1.47807111,  3.20350051,  1.99249778,
 -14.60106823, -0.27355544,  2.52345188,  1.32195464,-20.06093124,
  -3.36168227,  5.77480612]

qfrc_actuator:
[ 0.00116777, 0.00249895,-0.00050614,-0.00159585, 0.00042881, 0.00032315,
 -0.00047936, 0.00166359, 0.00068573, 0.00233846,-0.0004021 , 0.00163622,
  0.0860768 , 0.00012717, 0.07971132,-0.00205531, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.28235402, -4.22395118,  4.65039874, -4.22395118, 19.42473517,
       11.93720785,  4.65039874, 11.93720785, 17.12490451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005820165508858971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43065909e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43065909e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06468909, -0.10997463,  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:
[-4.94242773e-05,-4.76340574e-05,-4.65347548e-05, 4.76492317e-05,
 -2.05376998e-05, 1.29248726e-05, 3.57257505e-05,-4.02721413e-05,
  9.84498963e-07,-5.98148717e-05,-2.90227816e-05,-3.96395966e-05,
 -5.76420363e-04,-5.94347011e-05,-3.40245417e-04,-1.69985841e-04,
  4.04394575e-04,-2.92389270e-04,-4.90507191e+00, 9.67598040e-06,
  1.19515909e-02,-8.77660981e-04]


--- Step 141 ---
qpos:
[ 0.01764279, 0.02861946,-0.00891289,-0.02414588, 0.0074601 , 0.00446254,
 -0.00738481, 0.02557255, 0.01161296, 0.02665073,-0.00779117, 0.02497236,
  0.43658621, 0.0059622 , 0.30770837, 0.04531618, 0.05872926,-0.07866592,
  0.17192447, 0.99928549, 0.03732443,-0.00493446,-0.00332483]

qacc:
[ -3.47551363,  0.68383295, -9.24230529, 30.51074142,  0.38208596,
  -3.88796307, 18.18759304,-37.52049125, -3.78835654, -3.41569314,
  18.37591029,-47.03703331, -1.37609577,  2.5454377 ,-11.20542524,
  30.49539194, -0.26326692,  2.42925413,  0.9925696 ,-19.84044043,
  -2.96330543,  5.00953128]

qfrc_actuator:
[ 0.00114833, 0.00243587,-0.00049954,-0.00153575, 0.00043151, 0.00030736,
 -0.0004562 , 0.00160896, 0.00066278, 0.00229329,-0.00042459, 0.00154859,
  0.08591662, 0.00012187, 0.07954299,-0.00195422, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.41980097, -4.21940063,  4.83844011, -4.21940063, 24.64981818,
       15.8976332 ,  4.83844011, 15.8976332 , 20.28345992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005984780398924916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06468419, -0.10997548,  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:
[-2.09818323e-05,-9.83732914e-05,-7.51884606e-06, 5.74035917e-05,
  2.12640915e-06,-3.06760408e-06, 2.88130715e-05,-5.36859610e-05,
 -2.28452205e-05,-8.73294935e-05,-4.00773585e-05,-9.20819689e-05,
 -5.78629980e-04,-6.33621782e-05,-3.39353090e-04, 4.85130653e-05,
  3.92786523e-04,-2.58879628e-04,-4.90507309e+00, 1.99215185e-05,
  1.19284390e-02,-8.84658755e-04]


--- Step 142 ---
qpos:
[ 0.0176644 , 0.02865082,-0.00892402,-0.02417434, 0.00746835, 0.00446741,
 -0.00739287, 0.02560361, 0.0116269 , 0.02668013,-0.00780226, 0.02500107,
  0.43836133, 0.00596999, 0.30970921, 0.0453708 , 0.05885511,-0.07872452,
  0.17194299, 0.99927787, 0.03758008,-0.00439463,-0.00348698]

qacc:
[ -0.454921  , -1.48108899, -2.56496875, 24.47079814, -3.33861118,
  -2.06360112, 10.98481988,-26.26316145, -6.21049801, -6.22853568,
  25.01768563,-46.85980834, -1.01183008, -0.05597942, -4.96065031,
  10.11353314, -0.25279328,  2.34880335,  0.70592996,-19.61121655,
  -2.63779786,  4.38466517]

qfrc_actuator:
[ 1.14599783e-03, 2.36776341e-03,-4.55401698e-04,-1.47075845e-03,
  4.11907197e-04, 2.95979648e-04,-4.57127424e-04, 1.56404979e-03,
  6.25655797e-04, 2.20096364e-03,-3.97699344e-04, 1.48504575e-03,
  8.57566674e-02, 9.76826125e-05, 7.93913685e-02,-1.95195890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.50084012, -4.12149421,  5.027346  , -4.12149421, 32.62230036,
       21.41476776,  5.027346  , 21.41476776, 24.05699028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000608189044166832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12728563e-14, -9.12728563e-14,  1.00000000e+00, -8.33073430e-27,
        1.00000000e+00,  9.12728563e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12728563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06468045, -0.10997711,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06649581e-06,-1.23262650e-04, 2.46857044e-05, 6.16514678e-05,
 -1.95454476e-05,-9.59959679e-06, 9.29961542e-08,-4.51528106e-05,
 -3.77267012e-05,-1.54390366e-04, 4.60865582e-07,-7.05696687e-05,
 -5.80096764e-04,-8.30631263e-05,-2.96917974e-04,-3.77870422e-05,
  3.82925598e-04,-2.27166221e-04,-4.90507405e+00, 2.86954554e-05,
  1.19076438e-02,-8.90777367e-04]


--- Step 143 ---
qpos:
[ 0.01768547, 0.02868133,-0.00893491,-0.02420215, 0.00747595, 0.00447219,
 -0.00740086, 0.0256339 , 0.01164063, 0.0267084 ,-0.00781302, 0.0250295 ,
  0.44013339, 0.00597781, 0.31170664, 0.04542271, 0.05897999,-0.07877398,
  0.17196334, 0.99927135, 0.03779692,-0.0038597 ,-0.00364174]

qacc:
[ -4.64483451, -0.45436569, -2.72925388, 14.18494786, -5.66183629,
  -1.93816674,  9.99652054,-23.45571487, -1.74277498, -3.05144556,
   9.91751001,-14.6588646 , -1.54063277,  3.46793269,  3.20287529,
 -18.42948809, -0.24234679,  2.28048594,  0.45834257,-19.38584863,
  -2.37035149,  3.87136617]

qfrc_actuator:
[ 1.11823564e-03, 2.33285169e-03,-4.42757130e-04,-1.43891364e-03,
  3.79319189e-04, 2.87228523e-04,-4.54503312e-04, 1.52520697e-03,
  6.15996637e-04, 2.15233721e-03,-3.77541010e-04, 1.47169065e-03,
  8.55969517e-02, 9.80572270e-05, 7.92019180e-02,-2.09670800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.53558118, -3.91375066,  5.23415487, -3.91375066, 45.05745495,
       28.80407872,  5.23415487, 28.80407872, 28.07334324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006123560404475148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.06517574e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.06517574e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467763, -0.10997941,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79802148e-05,-9.71117892e-05,-7.83524726e-06, 2.86359372e-05,
 -3.31449030e-05,-1.61940064e-05,-9.41060996e-07,-4.01913631e-05,
 -1.07258605e-05,-1.38859675e-04,-1.43808170e-05,-2.14294510e-05,
 -5.82670388e-04,-5.99778680e-05,-3.27561681e-04,-1.84784263e-04,
  3.74435995e-04,-1.96989397e-04,-4.90507499e+00, 3.63407867e-05,
  1.18888129e-02,-8.96016576e-04]


--- Step 144 ---
qpos:
[ 0.01770535, 0.02871148,-0.00894605,-0.02422973, 0.00748345, 0.00447667,
 -0.00740868, 0.0256635 , 0.01165449, 0.02673588,-0.00782392, 0.02505787,
  0.44190241, 0.00598531, 0.3137    , 0.04547481, 0.05910395,-0.07881456,
  0.17198468, 0.99926594, 0.03797539,-0.00332918,-0.00378992]

qacc:
[-10.21722395,  0.6906644 , -4.0722167 ,  8.57965899, -0.91163721,
  -2.26459202, 10.42410921,-22.35187446,  1.06202785, -0.74376106,
   1.37941031, -1.48942235, -1.11116704,  0.55293934, -6.58497811,
  14.35712544, -0.23205485,  2.22277955,  0.24580966,-19.17232646,
  -2.14911669,  3.44663032]

qfrc_actuator:
[ 1.05797207e-03, 2.33571434e-03,-4.48713318e-04,-1.42682681e-03,
  3.74863285e-04, 2.62379255e-04,-4.49780945e-04, 1.49025116e-03,
  6.22585293e-04, 2.13029675e-03,-3.79096635e-04, 1.47023589e-03,
  8.54321674e-02, 7.73735500e-05, 7.90165243e-02,-2.07842317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006120238666206534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07009583e-14, -9.07009583e-14,  1.00000000e+00, -8.22666384e-27,
        1.00000000e+00,  9.07009583e-14, -1.00000000e+00,  0.00000000e+00,
       -9.07009583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467551, -0.10998227,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11916788e-05,-5.28250618e-05,-2.61753193e-05, 8.23065251e-06,
 -5.40172219e-06,-3.59809185e-05,-1.58088427e-07,-3.65238025e-05,
  6.31216578e-06,-1.04501750e-04,-3.30055830e-05,-8.41944663e-06,
 -5.87595747e-04,-8.04933490e-05,-3.53233056e-04,-3.37084955e-05,
  3.67033904e-04,-1.68132881e-04,-4.90507609e+00, 4.31212462e-05,
  1.18716337e-02,-9.00378457e-04]


--- Step 145 ---
qpos:
[ 0.017724  , 0.02874156,-0.00895739,-0.02425665, 0.00749153, 0.00448092,
 -0.00741668, 0.02569281, 0.01166831, 0.02676248,-0.00783389, 0.02508559,
  0.44366836, 0.00599223, 0.31568967, 0.0455276 , 0.05922702,-0.07884644,
  0.17200627, 0.99926166, 0.03811589,-0.00280267,-0.00393219]

qacc:
[-10.52869498,  1.8854343 , -9.60187831, 21.40523402,  5.08244091,
  -0.3780884 ,  2.07842625, -6.51953287, -0.18918269, -5.11895206,
  19.27207764,-31.2955225 , -0.86976272, -1.18845644, -7.55401541,
  18.48974306, -0.22198848,  2.17429592,  0.06435437,-18.97548901,
  -1.96463002,  3.09214127]

qfrc_actuator:
[ 9.96822618e-04, 2.36109697e-03,-4.47684420e-04,-1.39092413e-03,
  4.04757630e-04, 2.45846423e-04,-4.61676492e-04, 1.47560131e-03,
  6.20922379e-04, 2.10654518e-03,-3.22327082e-04, 1.44029400e-03,
  8.52644508e-02, 4.44103063e-05, 7.88603754e-02,-2.03515272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006080913620624129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12875181e-14, -9.12875181e-14,  1.00000000e+00, -8.33341096e-27,
        1.00000000e+00,  9.12875181e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12875181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467394, -0.10998558,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30246611e-05,-1.01942427e-05,-1.29990151e-05, 3.29133259e-05,
  2.97298146e-05,-3.83909882e-05,-2.06381974e-05,-1.69666943e-05,
 -1.43153763e-06,-9.02530708e-05, 3.05832062e-05,-3.58239577e-05,
 -5.96007664e-04,-9.46246136e-05,-3.16912263e-04,-3.12720764e-06,
  3.60503356e-04,-1.40416442e-04,-4.90507745e+00, 4.92404996e-05,
  1.18558577e-02,-9.03866434e-04]


--- Step 146 ---
qpos:
[ 0.01774247, 0.0287711 ,-0.00896793,-0.02428294, 0.00750025, 0.00448484,
 -0.00742447, 0.02572171, 0.01168167, 0.0267885 ,-0.00784291, 0.025112  ,
  0.44543122, 0.00599908, 0.31767604, 0.04557908, 0.05934924,-0.07886979,
  0.1720275 , 0.99925851, 0.03821878,-0.00227985,-0.00406913]

qacc:
[ -1.60367012, -1.68030987,  2.31037291,  7.66735851,  5.64654405,
  -1.93725814,  8.04246218,-15.44430275, -3.98447803, -6.09573875,
  26.18610382,-49.9767594 , -1.42890126,  2.58996119, -0.88369471,
  -3.88809438, -0.2121816 ,  2.13379685, -0.08979561,-18.79803063,
  -1.80934546,  2.79333447]

qfrc_actuator:
[ 9.88910558e-04, 2.32882644e-03,-4.06898470e-04,-1.35901287e-03,
  4.36868710e-04, 2.34371180e-04,-4.47743282e-04, 1.45525672e-03,
  5.96657006e-04, 2.09994423e-03,-2.67086411e-04, 1.37612193e-03,
  8.51110639e-02, 3.99589771e-05, 7.87005841e-02,-2.10173024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006013271963645206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84628773e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.84628773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467279, -0.10998924,  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:
[-9.82707832e-06,-4.02239340e-05, 3.80426252e-05, 3.16831774e-05,
  3.29440559e-05,-3.80496747e-05, 2.85116768e-06,-2.30925839e-05,
 -2.42589467e-05,-5.31536698e-05, 3.88828407e-05,-6.77749575e-05,
 -5.88922034e-04,-6.80872521e-05,-3.02279153e-04,-1.07024846e-04,
  3.54678925e-04,-1.13689509e-04,-4.90507918e+00, 5.48564628e-05,
  1.18412862e-02,-9.06484609e-04]


--- Step 147 ---
qpos:
[ 0.01776069, 0.02880022,-0.0089776 ,-0.024309  , 0.00750929, 0.00448843,
 -0.00743175, 0.02575011, 0.01169464, 0.02681432,-0.00785218, 0.02513748,
  0.44719106, 0.00600585, 0.31965935, 0.04562861, 0.05947064,-0.07888473,
  0.17204785, 0.9992565 , 0.03828437,-0.00176042,-0.0042012 ]

qacc:
[ -2.03434784, -2.51486021,  7.20426634, -4.39864852,  2.81284465,
  -2.86237563, 11.6330818 ,-20.66356402, -3.36607758, -1.47905593,
   8.87946161,-24.62665526, -1.41178104,  2.56799875,  1.42523655,
 -11.47336504, -0.20264404,  2.10019429, -0.22011495,-18.64119851,
  -1.67725309,  2.5386403 ]

qfrc_actuator:
[ 9.76891901e-04, 2.31572240e-03,-3.60947496e-04,-1.34748066e-03,
  4.52263555e-04, 2.26114835e-04,-4.18650952e-04, 1.43174618e-03,
  5.77037129e-04, 2.08591722e-03,-2.84161558e-04, 1.32783970e-03,
  8.49610609e-02, 3.45938401e-05, 7.85600065e-02,-2.19699311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923850458097596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.37078875e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.37078875e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467196, -0.10999316,  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:
[-1.23989071e-05,-2.73327000e-05, 4.32427062e-05, 1.17561445e-05,
  1.63185877e-05,-3.00389818e-05, 2.07640485e-05,-2.55493286e-05,
 -2.02683751e-05,-3.94852636e-05,-2.58538664e-05,-5.06269652e-05,
 -5.77756662e-04,-6.73419857e-05,-2.89299481e-04,-1.39939201e-04,
  3.49433179e-04,-8.78257659e-05,-4.90508133e+00, 6.00920531e-05,
  1.18277592e-02,-9.08237297e-04]


--- Step 148 ---
qpos:
[ 0.01777794, 0.02882918,-0.00898757,-0.02433468, 0.00751775, 0.00449172,
 -0.00743889, 0.02577803, 0.01170761, 0.02684034,-0.00786213, 0.02516284,
  0.44894793, 0.00601253, 0.32163877, 0.04567768, 0.05959128,-0.07889139,
  0.17206689, 0.99925564, 0.03831295,-0.00124414,-0.00432882]

qacc:
[ -8.40500146,  1.44539995, -7.04297822, 14.27831788, -5.052429  ,
  -1.75441618,  7.73191061,-16.08441093,  0.05934985,  1.90598196,
  -5.9524996 ,  4.97255157, -1.3500111 ,  2.327766  , -4.33338583,
   6.87729814, -0.19337045,  2.07254174, -0.32974396,-18.50527561,
  -1.56357066,  2.31887504]

qfrc_actuator:
[ 9.27030261e-04, 2.29647189e-03,-3.83284310e-04,-1.33026960e-03,
  4.22190336e-04, 2.02169422e-04,-4.16340417e-04, 1.40657241e-03,
  5.78068094e-04, 2.12054763e-03,-3.08296679e-04, 1.32475145e-03,
  8.48131941e-02, 2.87121449e-05, 7.83618196e-02,-2.21953088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818176759051913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90819748e-13, -9.54098741e-14,  1.00000000e+00, -1.82060882e-26,
        1.00000000e+00,  9.54098741e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90819748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467138, -0.10999727,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03111349e-05,-2.60449071e-05,-2.24367876e-05, 1.77775182e-05,
 -2.96197481e-05,-3.76522055e-05,-2.24201011e-06,-2.62958933e-05,
  5.04751228e-07, 4.19055262e-06,-3.74638732e-05,-6.75059618e-06,
 -5.67364510e-04,-6.70191316e-05,-3.45492639e-04,-6.75826809e-05,
  3.44667469e-04,-6.27186849e-05,-4.90508396e+00, 6.50433116e-05,
  1.18151468e-02,-9.09128698e-04]


--- Step 149 ---
qpos:
[ 1.77958299e-02, 2.88572663e-02,-8.99715308e-03,-2.43595609e-02,
  7.52543709e-03, 4.49480569e-03,-7.44624124e-03, 2.58050992e-02,
  1.17201532e-02, 2.68660843e-02,-7.87186820e-03, 2.51879645e-02,
  4.50701786e-01, 6.01948869e-03, 3.23613680e-01, 4.57271520e-02,
  5.97111760e-02,-7.88898401e-02, 1.72084234e-01, 9.99255917e-01,
  3.83047551e-02,-7.30784809e-04,-4.45234894e-03]

qacc:
[  5.58132486, -0.59998846, -2.92969155, 16.79312374, -6.78672452,
  -1.43863466,  8.36452418,-22.68263349, -3.6759953 , -1.41235662,
   5.49965652, -9.69955407, -1.73841069,  4.88510397, -7.83251706,
  17.85881456, -0.18434622,  2.0500213 , -0.42148527,-18.38991483,
  -1.46449527,  2.12675261]

qfrc_actuator:
[ 9.61811089e-04, 2.22016966e-03,-3.74767185e-04,-1.29215061e-03,
  3.83354614e-04, 1.86665839e-04,-4.29929813e-04, 1.36283615e-03,
  5.55738588e-04, 2.09529319e-03,-3.00646038e-04, 1.31281971e-03,
  8.46560611e-02, 4.03137153e-05, 7.81345782e-02,-2.19914666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005700897374231878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73726548e-14, -9.73726548e-14,  1.00000000e+00, -9.48143391e-27,
        1.00000000e+00,  9.73726548e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73726548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467099, -0.11000149,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32325691e-05,-9.56858602e-05, 8.09225001e-07, 3.65873907e-05,
 -3.96893875e-05,-3.82576266e-05,-2.25691730e-05,-4.59918294e-05,
 -2.22342609e-05,-3.17801911e-05, 3.43690511e-06,-1.32697747e-05,
 -5.69188490e-04,-4.87169159e-05,-3.89052203e-04,-2.70935118e-05,
  3.40305111e-04,-3.82778749e-05,-4.90508713e+00, 6.97855704e-05,
  1.18033425e-02,-9.09162688e-04]


--- Step 150 ---
qpos:
[ 1.78146884e-02, 2.88845022e-02,-9.00622988e-03,-2.43841476e-02,
  7.53294622e-03, 4.49795616e-03,-7.45386787e-03, 2.58317467e-02,
  1.17319880e-02, 2.68908068e-02,-7.88110907e-03, 2.52131707e-02,
  4.52452483e-01, 6.02696787e-03, 3.25585247e-01, 4.57723127e-02,
  5.98303713e-02,-7.88801666e-02, 1.72099590e-01, 9.99257335e-01,
  3.82599679e-02,-2.20170551e-04,-4.57209762e-03]

qacc:
[ 8.33054057e+00,-1.95366493e+00, 4.07414895e+00, 8.41123578e-01,
 -1.60014805e+00,-3.56872435e-03, 1.91495465e+00,-8.79710303e+00,
 -6.01444548e+00,-2.57100169e+00, 6.90114143e+00,-5.59984343e+00,
 -2.14681792e+00, 7.13525981e+00, 8.16102339e+00,-3.55695006e+01,
 -1.75551513e-01, 2.03192931e+00,-4.97819309e-01,-1.82943700e+01,
 -1.37700420e+00, 1.95649452e+00]

qfrc_actuator:
[ 1.01064004e-03, 2.18143435e-03,-3.48300784e-04,-1.27755917e-03,
  3.75192480e-04, 2.11756996e-04,-4.35019954e-04, 1.34403210e-03,
  5.19830100e-04, 1.99900392e-03,-2.92279079e-04, 1.31350386e-03,
  8.44775023e-02, 6.20824569e-05, 7.79699860e-02,-2.41997983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005575892335325655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95556368e-14, -9.95556368e-14,  1.00000000e+00, -9.91132482e-27,
        1.00000000e+00,  9.95556368e-14, -1.00000000e+00,  0.00000000e+00,
       -9.95556368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467073, -0.11000575,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96860549e-05,-9.14022815e-05, 7.88896486e-06, 1.12443121e-05,
 -9.30052167e-06,-3.03613512e-06,-1.73730281e-05,-2.21689749e-05,
 -3.64931624e-05,-1.14761727e-04, 1.53705435e-06,-9.05465300e-07,
 -5.90180279e-04,-3.81385283e-05,-3.39542721e-04,-2.71102477e-04,
  3.36286286e-04,-1.44261267e-05,-4.90509086e+00, 7.43781584e-05,
  1.17922576e-02,-9.08342681e-04]


--- Step 151 ---
qpos:
[ 1.78336399e-02, 2.89111144e-02,-9.01558063e-03,-2.44079969e-02,
  7.54029874e-03, 4.50113244e-03,-7.46125727e-03, 2.58579288e-02,
  1.17436460e-02, 2.69149132e-02,-7.89028472e-03, 2.52381667e-02,
  4.54199994e-01, 6.03473256e-03, 3.27553093e-01, 4.58134452e-02,
  5.99488987e-02,-7.88624224e-02, 1.72112703e-01, 9.99259886e-01,
  3.81787492e-02, 2.87876886e-04,-4.68834807e-03]

qacc:
[  0.80239394,  1.45869222, -9.50435519, 23.14715732, -1.37101487,
  -1.58454273,  7.6689669 ,-16.12737403, -1.49878328, -1.42627499,
   4.79645882, -8.08988021, -1.9072824 ,  5.42666583,  6.7367582 ,
 -31.41885489, -0.16696397,  2.01766193, -0.56092941,-18.21765505,
  -1.29869568,  1.80351885]

qfrc_actuator:
[ 1.01406210e-03, 2.14780783e-03,-3.64600384e-04,-1.24139302e-03,
  3.67399992e-04, 2.25513059e-04,-4.17104684e-04, 1.32234273e-03,
  5.11728318e-04, 1.98520950e-03,-2.83863558e-04, 1.30378418e-03,
  8.43021866e-02, 7.18380097e-05, 7.77844577e-02,-2.62121439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005446377016202486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01923079e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01923079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467057, -0.11001002,  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:
[ 4.76202562e-06,-8.34942166e-05,-3.39955063e-05, 3.27531144e-05,
 -8.05621846e-06, 7.43160611e-06, 1.43744351e-05,-2.29013287e-05,
 -9.13572745e-06,-7.85097652e-05,-1.53559665e-05,-1.46890811e-05,
 -6.01016633e-04,-5.22208930e-05,-3.68891050e-04,-2.59657301e-04,
  3.32564190e-04, 8.90296597e-06,-4.90509519e+00, 7.88680051e-05,
  1.17818171e-02,-9.06671544e-04]


--- Step 152 ---
qpos:
[ 1.78524845e-02, 2.89369036e-02,-9.02500536e-03,-2.44308696e-02,
  7.54715586e-03, 4.50402101e-03,-7.46792032e-03, 2.58829617e-02,
  1.17558066e-02, 2.69385794e-02,-7.89911378e-03, 2.52628072e-02,
  4.55944476e-01, 6.04223549e-03, 3.29516405e-01, 4.58564547e-02,
  6.00667919e-02,-7.88366515e-02, 1.72123364e-01, 9.99263559e-01,
  3.80612188e-02, 7.93513931e-04,-4.80135457e-03]

qacc:
[ -0.90717904,  1.13297229, -9.7274719 , 27.32866359, -4.33118248,
  -4.76826412, 21.31644369,-42.17123884,  4.31067698, -2.29086166,
   8.81052178,-15.17761451, -1.17330596,  1.02391272,-12.356722  ,
  33.55314191, -0.15856046,  2.00670164, -0.61273075,-18.15865361,
  -1.22766179,  1.66419295]

qfrc_actuator:
[ 1.00847890e-03, 2.09960869e-03,-3.70475482e-04,-1.19284336e-03,
  3.42124823e-04, 1.96975431e-04,-3.85789459e-04, 1.26363027e-03,
  5.37815412e-04, 1.98541254e-03,-2.57430483e-04, 1.28808006e-03,
  8.41555620e-02, 5.66615262e-05, 7.76024991e-02,-2.50745440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005314991987672296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04442587e-13, -1.04442587e-13,  1.00000000e+00, -1.09082539e-26,
        1.00000000e+00,  1.04442587e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04442587e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467049, -0.11001424,  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:
[-5.54388149e-06,-1.01366284e-04,-2.63415283e-05, 4.44471565e-05,
 -2.55011376e-05,-2.24841530e-05, 3.38195497e-05,-5.83911972e-05,
  2.58655329e-05,-4.82891251e-05, 7.59797405e-06,-1.99722184e-05,
 -5.81651509e-04,-7.93364999e-05,-3.76029781e-04, 5.25578773e-05,
  3.29102116e-04, 3.17669170e-05,-4.90510016e+00, 8.32924110e-05,
  1.17719569e-02,-9.04151553e-04]


--- Step 153 ---
qpos:
[ 0.01787077, 0.02896206,-0.00903448,-0.0244537 , 0.00755366, 0.00450687,
 -0.0074745 , 0.02590711, 0.01176853, 0.02696136,-0.00790709, 0.02528709,
  0.45768595, 0.00604922, 0.33147612, 0.04589409, 0.06018408,-0.07880289,
  0.17213141, 0.99926834, 0.03790746, 0.00129688,-0.00491135]

qacc:
[ -4.80060143, -0.58051834,  0.70081283,  0.57199122, -3.13281176,
  -2.09362964, 11.14133686,-26.58678404,  4.86422057, -4.31353481,
  15.19597933,-22.14157304, -0.9862721 , -0.40087979, 10.96502465,
 -46.05006912, -0.15031828,  1.99860508, -0.65489985,-18.11619357,
  -1.1623872 ,  1.53563688]

qfrc_actuator:
[ 9.79902674e-04, 2.07861987e-03,-3.70186252e-04,-1.19065575e-03,
  3.24514107e-04, 1.96622684e-04,-3.82523550e-04, 1.21907921e-03,
  5.66054594e-04, 1.92307408e-03,-2.20494327e-04, 1.26901470e-03,
  8.39942979e-02, 2.69588936e-05, 7.73909348e-02,-2.79482836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005183882000591444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07084134e-13, -1.07084134e-13,  1.00000000e+00, -1.14670117e-26,
        1.00000000e+00,  1.07084134e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07084134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467046, -0.11001838,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88411384e-05,-8.20431296e-05,-2.25123241e-05,-2.18730896e-06,
 -1.83421694e-05,-8.53416403e-06, 7.55867920e-07,-4.55273654e-05,
  2.90505266e-05,-8.93894609e-05, 2.69890252e-05,-2.13473198e-05,
 -5.84689320e-04,-9.35645621e-05,-3.72134432e-04,-3.31630098e-04,
  3.25871222e-04, 5.42158796e-05,-4.90510579e+00, 8.76811826e-05,
  1.17626207e-02,-9.00784373e-04]


--- Step 154 ---
qpos:
[ 0.01788788, 0.02898662,-0.00904396,-0.02447599, 0.00756024, 0.00451005,
 -0.00748148, 0.02593086, 0.01178115, 0.0269836 ,-0.00791485, 0.02530992,
  0.4594243 , 0.00605588, 0.33343156, 0.04592471, 0.06030081,-0.07876115,
  0.17213669, 0.99927422, 0.03771754, 0.00179812,-0.00501855]

qacc:
[-10.09342224,  0.3142391 , -4.52659078, 14.28628491,  0.71115709,
   0.71095031, -0.25390907, -6.15020216, -0.86904864, -4.2820639 ,
  20.34312524,-45.38942671, -1.26635907,  1.17487459, 14.88638247,
 -61.21092536, -0.14221583,  1.99299232, -0.68890271,-18.08909753,
  -1.10166876,  1.41556751]

qfrc_actuator:
[ 9.20273330e-04, 2.05633912e-03,-3.66188413e-04,-1.16248440e-03,
  3.29313856e-04, 2.30800080e-04,-3.95731420e-04, 1.20097411e-03,
  5.59816630e-04, 1.89483859e-03,-2.13411025e-04, 1.19482207e-03,
  8.38190316e-02, 6.65645080e-06, 7.71457084e-02,-3.15660424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005054765240724013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09819445e-13, -1.09819445e-13,  1.00000000e+00, -1.20603105e-26,
        1.00000000e+00,  1.09819445e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09819445e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467046, -0.1100224 ,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.05612472e-05,-7.37186930e-05,-1.59452513e-05, 2.38506728e-05,
  4.27740033e-06, 2.75233432e-05,-1.64624491e-05,-1.93756715e-05,
 -5.35039603e-06,-7.42979115e-05,-9.01136784e-06,-7.75908854e-05,
 -6.02707090e-04,-8.54704902e-05,-4.49009906e-04,-4.27449405e-04,
  3.22848820e-04, 7.62938746e-05,-4.90511211e+00, 9.20582825e-05,
  1.17537587e-02,-8.96571061e-04]


--- Step 155 ---
qpos:
[ 0.01790379, 0.02901054,-0.00905303,-0.02449779, 0.00756717, 0.0045135 ,
 -0.0074886 , 0.02595455, 0.01179326, 0.02700529,-0.00792249, 0.02533168,
  0.46115958, 0.00606195, 0.33538231, 0.04595327, 0.06041699,-0.07871145,
  0.17213911, 0.99928117, 0.03749147, 0.00229736,-0.00512316]

qacc:
[-1.02408380e+01,-9.16237340e-01, 1.20095438e-02, 8.24822257e+00,
  3.07957401e+00, 6.56727732e-01,-1.53969494e+00, 4.32202938e-01,
 -4.39408269e+00,-3.26065505e+00, 1.50903978e+01,-3.33245414e+01,
 -8.95239729e-01,-1.01271269e+00,-6.90008868e-01,-7.63966326e+00,
 -1.34234710e-01, 1.98956118e+00,-7.15914398e-01,-1.80764127e+01,
 -1.04456203e+00, 1.30218804e+00]

qfrc_actuator:
[ 8.60604529e-04, 2.03351032e-03,-3.42253750e-04,-1.13699151e-03,
  3.47263150e-04, 2.49839544e-04,-4.00633933e-04, 1.19859714e-03,
  5.33334589e-04, 1.86933462e-03,-2.06174980e-04, 1.14204627e-03,
  8.36621113e-02,-2.57472753e-05, 7.69603625e-02,-3.23969460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004928993964418843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12621666e-13, -1.12621666e-13,  1.00000000e+00, -1.26836397e-26,
        1.00000000e+00,  1.12621666e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12621666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06467049, -0.11002629,  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:
[-6.15199288e-05,-6.71274267e-05, 7.42874937e-06, 2.22645337e-05,
  1.80819244e-05, 3.01144766e-05,-1.92407000e-06,-2.18908637e-06,
 -2.65939476e-05,-7.29653070e-05,-1.21129149e-05,-5.78621391e-05,
 -5.96966252e-04,-9.93489076e-05,-4.31750457e-04,-1.63190184e-04,
  3.20017056e-04, 9.80397773e-05,-4.90511917e+00, 9.64431075e-05,
  1.17453257e-02,-8.91512077e-04]


--- Step 156 ---
qpos:
[ 0.01791921, 0.02903384,-0.00906147,-0.02451948, 0.00757393, 0.00451701,
 -0.00749566, 0.02597804, 0.01180495, 0.02702636,-0.00792972, 0.02535298,
  0.46289182, 0.00606761, 0.33732882, 0.04598205, 0.06052259,-0.07865799,
  0.17214551, 0.9992886 , 0.03724964, 0.00275294,-0.00521323]

qacc:
[ -4.23440452, -2.38988166,  6.89373375, -5.60639724, -1.61361352,
  -0.54734704,  2.92098405, -6.58616021, -3.48166702, -2.9498941 ,
  11.31569492,-19.64747157, -1.0674638 ,  0.20354537, -6.92095607,
  15.14915429, -2.64776614,  0.94201926,  0.99390637, -7.78824768,
 -21.57896005,  8.06934178]

qfrc_actuator:
[ 8.36906151e-04, 2.01063139e-03,-3.06744099e-04,-1.13102215e-03,
  3.37295497e-04, 2.41964769e-04,-4.00630001e-04, 1.18773649e-03,
  5.12912537e-04, 1.84568224e-03,-1.81102135e-04, 1.12006599e-03,
  8.35109804e-02,-4.72637740e-05, 7.68004846e-02,-3.21097299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004957179001440354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11981333e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11981333e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09676263, -0.0910519 ,  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:
[-2.55745131e-05,-5.87111666e-05, 2.31920340e-05, 3.80076663e-06,
 -9.44313212e-06, 8.38566324e-06, 5.90117315e-06,-9.72488131e-06,
 -2.11577297e-05,-7.01522357e-05, 6.30731393e-06,-2.67287844e-05,
 -5.88049611e-04,-8.90024062e-05,-3.68488733e-04,-3.43292887e-05,
  3.17361860e-04, 1.19488343e-04,-4.90512698e+00, 1.00851512e-04,
  1.17372802e-02,-8.85607297e-04]


--- Step 157 ---
qpos:
[ 0.01793423, 0.02905644,-0.00906937,-0.02454056, 0.00758051, 0.00452019,
 -0.00750246, 0.02600125, 0.01181666, 0.02704713,-0.00793645, 0.02537379,
  0.4646209 , 0.0060737 , 0.33927135, 0.04601412, 0.06061793,-0.07860088,
  0.17215476, 0.99929655, 0.03699181, 0.00316572,-0.00528988]

qacc:
[ -3.4579519 , -1.14575056,  0.2186308 ,  9.87937874, -1.49521243,
  -1.68456357,  6.54789511,-11.47393033,  0.10204604, -2.7414112 ,
  11.22203784,-20.05604124, -1.9722293 ,  5.93548179,-15.72211254,
  46.6427751 , -2.56311913,  0.91214071,  0.71145377, -7.90793785,
 -21.17743868,  7.4781368 ]

qfrc_actuator:
[ 8.16817104e-04, 1.97020155e-03,-2.82453407e-04,-1.10107703e-03,
  3.28724554e-04, 2.00295982e-04,-3.97851743e-04, 1.17194720e-03,
  5.13979890e-04, 1.85894149e-03,-1.45668692e-04, 1.09864054e-03,
  8.33527803e-02,-2.66936075e-05, 7.66560158e-02,-3.02785923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.74319075, -5.67854963, -0.85925202, -5.67854963,  6.97066584,
       -8.11203007, -0.85925202, -8.11203007, 59.3532656 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005168792931355137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675873, -0.09105419,  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:
[-2.09154102e-05,-6.90620053e-05, 1.50124270e-05, 2.83210049e-05,
 -8.83619945e-06,-3.62779254e-05, 4.89016321e-06,-1.54592914e-05,
  4.88050495e-07,-2.65091146e-05, 2.05978410e-05,-2.48089549e-05,
 -5.87086443e-04,-4.58882415e-05,-3.12348809e-04, 1.34751368e-04,
  2.63168967e-04, 1.19461806e-04,-4.90511303e+00, 1.20722515e-04,
  1.17380616e-02,-8.79040703e-04]


--- Step 158 ---
qpos:
[ 0.01794888, 0.0290784 ,-0.00907691,-0.02456112, 0.00758762, 0.004523  ,
 -0.00750912, 0.0260241 , 0.01182794, 0.02706741,-0.00794262, 0.02539421,
  0.46634703, 0.00607934, 0.34121036, 0.04604674, 0.06070332,-0.07854022,
  0.17216585, 0.99930507, 0.03671785, 0.00353649,-0.00535406]

qacc:
[ -3.06230919, -0.78078449, -0.66427494,  9.66904611,  4.72681035,
  -1.65613757,  6.6741963 ,-12.79226664, -3.57567475, -3.02166834,
  11.55019508,-19.04705368, -0.97214383, -0.21302363, -6.90297809,
  16.60607141, -2.48924079,  0.88734937,  0.46189547, -7.98418961,
 -20.80269571,  6.98542385]

qfrc_actuator:
[ 7.99001571e-04, 1.93731890e-03,-2.65035071e-04,-1.07503797e-03,
  3.56558223e-04, 1.74217533e-04,-3.93609872e-04, 1.15335500e-03,
  4.92179788e-04, 1.82326185e-03,-1.22008080e-04, 1.07774498e-03,
  8.32064348e-02,-5.25456442e-05, 7.64783143e-02,-3.00379405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005315319343710267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04436155e-13,  1.04436155e-13,  1.00000000e+00, -1.09069104e-26,
        1.00000000e+00, -1.04436155e-13, -1.00000000e+00,  0.00000000e+00,
        1.04436155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675636, -0.09105624,  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:
[-1.85091591e-05,-6.79218778e-05, 5.84402348e-06, 2.41651566e-05,
  2.75703521e-05,-4.61085630e-05,-3.19357565e-06,-2.03220298e-05,
 -2.17318612e-05,-4.79945390e-05, 1.96647354e-05,-2.18772021e-05,
 -5.69445843e-04,-9.04529849e-05,-3.03161425e-04,-8.17295362e-06,
  2.15136368e-04, 1.17567931e-04,-4.90510067e+00, 1.37790436e-04,
  1.17393874e-02,-8.72206119e-04]


--- Step 159 ---
qpos:
[ 0.01796459, 0.02909977,-0.00908418,-0.02458121, 0.00759433, 0.00452563,
 -0.00751574, 0.02604619, 0.01183819, 0.02708696,-0.0079486 , 0.02541462,
  0.46807029, 0.00608431, 0.34314598, 0.04607771, 0.060779  ,-0.07847609,
  0.17217791, 0.99931419, 0.03642765, 0.00386598,-0.00540655]

qacc:
[ 9.04275324e+00,-5.60176221e-01,-1.15725221e+00, 9.37618914e+00,
 -3.61996400e+00,-1.90774604e+00, 9.71329639e+00,-2.29068034e+01,
 -8.83641454e+00,-1.52992676e+00, 4.09298127e+00,-4.01389402e+00,
 -7.40703590e-01,-1.58964501e+00,-7.28730185e-03,-7.24558414e+00,
 -2.42519566e+00, 8.67018595e-01, 2.43280380e-01,-8.03095759e+00,
 -2.04596800e+01, 6.57303473e+00]

qfrc_actuator:
[ 8.53676215e-04, 1.90919109e-03,-2.51789104e-04,-1.05150807e-03,
  3.34585219e-04, 1.75425958e-04,-3.88490610e-04, 1.11551991e-03,
  4.39333958e-04, 1.75852580e-03,-1.23429311e-04, 1.07503467e-03,
  8.30619719e-02,-8.77902395e-05, 7.63020798e-02,-3.09150463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005407495154706177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02655943e-13,  1.02655943e-13,  1.00000000e+00,  1.05382426e-26,
        1.00000000e+00, -1.02655943e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02655943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675528, -0.09105814,  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:
[ 5.40534888e-05,-6.45812136e-05, 6.36496875e-07, 2.13060980e-05,
 -2.12046404e-05,-2.61718267e-05,-5.50877604e-06,-4.03607431e-05,
 -5.34366072e-05,-8.91300121e-05,-9.86823333e-06,-4.58634301e-06,
 -5.59607178e-04,-1.00520019e-04,-3.14524117e-04,-1.26998023e-04,
  1.72795345e-04, 1.13842034e-04,-4.90508979e+00, 1.52446706e-04,
  1.17412815e-02,-8.65090756e-04]


--- Step 160 ---
qpos:
[ 0.01798048, 0.02912072,-0.00909135,-0.02460017, 0.00760037, 0.0045281 ,
 -0.00752196, 0.02606693, 0.01184841, 0.02710586,-0.00795457, 0.02543518,
  0.46979048, 0.0060899 , 0.34507788, 0.04610607, 0.06084521,-0.07840855,
  0.17219019, 0.99932393, 0.03612117, 0.00415482,-0.00544799]

qacc:
[  1.62128933,  1.45172556,-10.69269792, 30.16094276, -5.79373938,
  -4.09214941, 19.96843536,-43.76125871, -0.18547577, -0.55283598,
   0.09002416,  3.03412762, -2.22428495,  7.46605464,  2.46713028,
 -16.42011434, -2.37000492,  0.85057791,  0.05313036, -8.05851858,
 -20.15052783,  6.22612502]

qfrc_actuator:
[ 8.61816368e-04, 1.90187331e-03,-2.41090000e-04,-9.94134327e-04,
  3.01214362e-04, 1.75201463e-04,-3.65042571e-04, 1.04893767e-03,
  4.39655104e-04, 1.73006321e-03,-1.22010362e-04, 1.08300137e-03,
  8.29027604e-02,-5.72710424e-05, 7.61055366e-02,-3.22653771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005454744602899075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01766728e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01766728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675526, -0.09105995,  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:
[ 9.63279843e-06,-4.30617673e-05,-1.96187210e-06, 5.50535886e-05,
 -3.39806712e-05,-1.78024327e-05, 1.59649694e-05,-6.87195737e-05,
 -1.21374656e-06,-8.12091331e-05,-1.85579354e-05, 3.64481580e-06,
 -5.68467731e-04,-3.44721187e-05,-3.53315437e-04,-1.82407363e-04,
  1.35737990e-04, 1.08324288e-04,-4.90508032e+00, 1.65005206e-04,
  1.17437582e-02,-8.57684942e-04]


--- Step 161 ---
qpos:
[ 0.01799497, 0.02914124,-0.0090986 ,-0.02461829, 0.00760597, 0.00453061,
 -0.00752797, 0.02608705, 0.01185925, 0.02712418,-0.00796051, 0.02545567,
  0.47150768, 0.00609552, 0.34700562, 0.0461352 , 0.06090212,-0.07833767,
  0.17220202, 0.99933431, 0.03579838, 0.0044036 ,-0.00547895]

qacc:
[-12.07079716,  1.44417283, -9.52828981, 24.65068857, -3.92930946,
  -1.81214346,  9.19924127,-20.43811391,  5.25655432, -1.02352964,
   2.83933534, -3.75718107, -1.52476752,  3.24098941, -8.42850724,
  20.6549038 , -2.32270235,  0.83751524, -0.11127629, -8.07437739,
 -19.87548828,  5.93258156]

qfrc_actuator:
[ 7.89220589e-04, 1.87160067e-03,-2.49619090e-04,-9.52793782e-04,
  2.79170508e-04, 1.91929677e-04,-3.48727286e-04, 1.01924933e-03,
  4.71277345e-04, 1.70581004e-03,-1.18775859e-04, 1.07946366e-03,
  8.27454724e-02,-5.93143453e-05, 7.59289143e-02,-3.17531725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005465274377661339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675611, -0.09106171,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23881092e-05,-5.30795863e-05,-1.58952284e-05, 4.05090514e-05,
 -2.30134966e-05, 7.05073751e-06, 1.22254520e-05,-3.12729009e-05,
  3.16168176e-05,-7.39715597e-05,-1.58867389e-05,-7.66173378e-06,
 -5.66025163e-04,-6.48088000e-05,-3.55871367e-04,-3.86841288e-06,
  1.03613741e-04, 1.01054148e-04,-4.90507216e+00, 1.75717597e-04,
  1.17468257e-02,-8.49981312e-04]


--- Step 162 ---
qpos:
[ 0.01800881, 0.02916108,-0.00910601,-0.02463677, 0.00761125, 0.00453327,
 -0.0075341 , 0.026107  , 0.0118697 , 0.02714184,-0.00796631, 0.02547561,
  0.47322209, 0.0061001 , 0.3489297 , 0.0461685 , 0.0609499 ,-0.07826348,
  0.17221284, 0.99934534, 0.03545927, 0.00461281,-0.00549989]

qacc:
[ -5.48406978, -1.20757552,  4.56429021,-10.13466603, -2.71644906,
   0.20469106,  0.23334669, -2.91973381, -3.34218419, -2.38008464,
   9.52257165,-18.69626602, -0.20558228, -4.60769659,-18.04474948,
  55.20817254, -2.28237451,  0.82737793, -0.25269084, -8.08397679,
 -19.63363255,  5.68254231]

qfrc_actuator:
[ 0.00075846, 0.00180999,-0.00026953,-0.00097451, 0.00026397, 0.00020094,
 -0.00035441, 0.00101152, 0.00045004, 0.00166652,-0.00011448, 0.00105144,
  0.08260542,-0.00011607, 0.07581235,-0.00294366, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005446181897618002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0192673e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0192673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675767, -0.09106343,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29359642e-05,-9.35315249e-05,-3.15606727e-05,-2.37400936e-05,
 -1.58472467e-05, 1.40646178e-05,-3.80611269e-06,-7.64998835e-06,
 -2.02789850e-05,-8.48550700e-05,-1.33864994e-05,-3.19661365e-05,
 -5.50036853e-04,-1.21236005e-04,-2.76060848e-04, 1.86426917e-04,
  7.61245580e-05, 9.20671195e-05,-4.90506525e+00, 1.84785877e-04,
  1.17504889e-02,-8.41974183e-04]


--- Step 163 ---
qpos:
[ 0.01802218, 0.02918017,-0.00911299,-0.02465574, 0.00761666, 0.00453604,
 -0.00754023, 0.02612636, 0.01187946, 0.02715856,-0.00797186, 0.02549475,
  0.47493364, 0.00610434, 0.35085068, 0.04620292, 0.0609887 ,-0.07818601,
  0.17222217, 0.99935703, 0.03510381, 0.00478291,-0.00551119]

qacc:
[ -4.08253638, -3.18271998, 11.97865502,-20.58709672,  1.06670961,
  -1.07450588,  6.57807584,-17.01397877, -5.77356027, -3.5772365 ,
  14.40234112,-28.1463969 , -1.06925908,  0.57920573, -7.96134348,
  21.25351857, -2.24818151,  0.81977017, -0.37376544, -8.09122714,
 -19.42333482,  5.46799097]

qfrc_actuator:
[ 0.00073485, 0.00178324,-0.00024293,-0.00099768, 0.00027068, 0.0002052 ,
 -0.0003553 , 0.00098124, 0.00041561, 0.00160078,-0.00010967, 0.00100922,
  0.08245982,-0.00013358, 0.07565737,-0.0028915 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005403566876895916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02730571e-13,  1.02730571e-13,  1.00000000e+00,  1.05535703e-26,
        1.00000000e+00, -1.02730571e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02730571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675978, -0.09106514,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46499534e-05,-8.72299152e-05, 2.46628908e-06,-2.87193886e-05,
  6.25923057e-06, 1.09326014e-05, 1.28244691e-06,-2.99920320e-05,
 -3.50036589e-05,-1.17916827e-04,-1.56402024e-05,-4.70074097e-05,
 -5.49518678e-04,-8.36850917e-05,-2.59708737e-04, 2.70734960e-05,
  5.30194598e-05, 8.13930467e-05,-4.90505954e+00, 1.92372546e-04,
  1.17547504e-02,-8.33659061e-04]


--- Step 164 ---
qpos:
[ 0.01803551, 0.0291985 ,-0.0091194 ,-0.02467382, 0.00762211, 0.0045388 ,
 -0.007546  , 0.0261452 , 0.01188874, 0.02717414,-0.00797747, 0.02551327,
  0.47664209, 0.00610943, 0.35276815, 0.04623908, 0.06101861,-0.07810528,
  0.17222959, 0.99936937, 0.03473199, 0.00491426,-0.00551322]

qacc:
[ -0.34304391, -0.77301032, -2.46125835, 17.55970081,  0.34728047,
  -2.09678236,  9.66755358,-19.29132357, -4.14743371, -2.59209775,
   9.62362285,-19.20809746, -2.45549565,  8.80938902,-10.34189372,
  28.8683731 , -2.21936536,  0.8143485 , -0.47698155, -8.09890154,
 -19.24259343,  5.28241809]

qfrc_actuator:
[ 7.33379966e-04, 1.76000970e-03,-2.06667704e-04,-9.50447112e-04,
  2.72463806e-04, 2.06571508e-04,-3.35621509e-04, 9.55690024e-04,
  3.91444523e-04, 1.51970638e-03,-1.22455196e-04, 9.76723521e-04,
  8.22950213e-02,-9.23151191e-05, 7.54847362e-02,-2.80364051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005342640155883566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.11706289e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.11706289e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09676233, -0.09106683,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27045896e-06,-7.33467800e-05, 1.74395869e-05, 4.30416675e-05,
  1.96852204e-06, 6.39838530e-06, 2.10494135e-05,-2.56580465e-05,
 -2.51731699e-05,-1.52827496e-04,-4.08620987e-05,-3.90711539e-05,
 -5.64294157e-04,-2.31539386e-05,-2.89392887e-04, 5.55778516e-05,
  3.40890332e-05, 6.90553496e-05,-4.90505498e+00, 1.98608762e-04,
  1.17596114e-02,-8.25032283e-04]


--- Step 165 ---
qpos:
[ 0.01804837, 0.02921634,-0.00912567,-0.02469154, 0.00762719, 0.00454131,
 -0.00755113, 0.02616428, 0.01189766, 0.02718859,-0.00798321, 0.02553161,
  0.47834743, 0.00611505, 0.35468181, 0.04627606, 0.06103974,-0.07802131,
  0.17223475, 0.99938237, 0.03434381, 0.0050072 ,-0.00550625]

qacc:
[ -4.0023183 , -0.26838521, -1.48469298,  7.81995576, -3.19226715,
  -1.62065764,  4.25124852, -0.79954034, -3.06901574, -1.50752519,
   4.00297865, -6.19061168, -2.14169003,  6.75889198, -8.05062705,
  20.17250388, -2.19525068,  0.81081643, -0.56461542, -8.10893066,
 -19.08924177,  5.12054037]

qfrc_actuator:
[ 7.09438234e-04, 1.73919214e-03,-2.00451677e-04,-9.33164280e-04,
  2.53580391e-04, 1.88543842e-04,-3.03971357e-04, 9.68644404e-04,
  3.73529251e-04, 1.46551530e-03,-1.27849477e-04, 9.67931432e-04,
  8.21241536e-02,-7.01014567e-05, 7.52856900e-02,-2.76642444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005267826349232424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05377717e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05377717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0967652, -0.0910685,  0.0619906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40838333e-05,-5.69789132e-05,-5.40828743e-06, 1.55951512e-05,
 -1.88250216e-05,-1.12753068e-05, 3.46697351e-05, 1.34220161e-05,
 -1.86550495e-05,-1.50287409e-04,-4.34953572e-05,-1.75763427e-05,
 -5.74401897e-04,-4.09136871e-05,-3.24824990e-04, 3.04238727e-06,
  1.91602461e-05, 5.50708486e-05,-4.90505152e+00, 2.03600832e-04,
  1.17650722e-02,-8.16090730e-04]


--- Step 166 ---
qpos:
[ 0.01806084, 0.02923397,-0.00913222,-0.02470926, 0.00763201, 0.00454377,
 -0.0075559 , 0.02618371, 0.01190629, 0.02720198,-0.00798875, 0.02554967,
  0.48004967, 0.00612098, 0.35659183, 0.04630955, 0.06105218,-0.0779341 ,
  0.17223735, 0.999396  , 0.03393922, 0.00506198,-0.00549055]

qacc:
[ -3.33911646,  0.4705583 , -2.01671325,  2.41926104, -2.32717286,
  -0.35497929, -0.26666302,  5.67058887, -2.39734977, -2.5480198 ,
   8.24828249,-12.6785806 , -1.9471424 ,  5.38239097,  5.24414777,
 -25.99511086, -2.17524108,  0.80891892, -0.63872707, -8.12262304,
 -18.96108394,  4.97806964]

qfrc_actuator:
[ 6.90209862e-04, 1.73761489e-03,-2.12042747e-04,-9.33675221e-04,
  2.40436782e-04, 1.94628632e-04,-2.83317788e-04, 9.86386650e-04,
  3.59429892e-04, 1.42789947e-03,-1.10959000e-04, 9.55431676e-04,
  8.19550824e-02,-5.93481687e-05, 7.50762730e-02,-2.95466023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005182858551108643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07105279e-13, -1.07105279e-13,  1.00000000e+00, -1.14715408e-26,
        1.00000000e+00,  1.07105279e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07105279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0967683 , -0.09107016,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99960317e-05,-3.44705026e-05,-2.35935995e-05,-2.82175375e-06,
 -1.36844663e-05, 7.43595502e-06, 2.30478861e-05, 1.86837671e-05,
 -1.46519665e-05,-1.31870550e-04,-2.02519860e-05,-2.08450619e-05,
 -5.81988081e-04,-5.47576129e-05,-3.55823447e-04,-2.29541553e-04,
  8.09172403e-06, 3.94499320e-05,-4.90504913e+00, 2.07435357e-04,
  1.17711327e-02,-8.06831617e-04]


--- Step 167 ---
qpos:
[ 0.01807298, 0.02925127,-0.00913859,-0.02472618, 0.00763698, 0.00454622,
 -0.00756005, 0.02620249, 0.01191504, 0.02721467,-0.00799423, 0.0255674 ,
  0.48174892, 0.006127  , 0.35849834, 0.04633974, 0.06105597,-0.07784366,
  0.17223715, 0.99941025, 0.0335182 , 0.00507883,-0.00546636]

qacc:
[ -2.81122974,  0.76348134, -6.76660409, 20.72816752,  1.33688559,
  -3.09059882, 13.73482473,-25.98306628,  0.94243338, -1.75911772,
   6.34258377,-11.64291587, -1.65896383,  3.85839449,  4.83788523,
 -24.34615704, -2.15881317,  0.80843695, -0.70116345, -8.14082978,
 -18.85597928,  4.85152391]

qfrc_actuator:
[ 6.73917216e-04, 1.72973716e-03,-1.98465556e-04,-8.91380013e-04,
  2.48536208e-04, 1.97321443e-04,-2.51482896e-04, 9.53548975e-04,
  3.65439578e-04, 1.41836432e-03,-9.87321989e-05, 9.40877604e-04,
  8.18138305e-02,-5.54469457e-05, 7.49193387e-02,-3.11440854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005090864412835711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18081437e-13, -2.18081437e-13,  1.00000000e+00, -4.75595130e-26,
        1.00000000e+00,  2.18081437e-13, -1.00000000e+00,  0.00000000e+00,
       -2.18081437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09677156, -0.09107179,  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:
[-1.69311208e-05,-3.27157295e-05, 3.35232193e-06, 3.99612949e-05,
  7.71143137e-06, 1.23307149e-05, 3.68402314e-05,-3.13957166e-05,
  5.57668076e-06,-8.87926924e-05,-1.83513961e-05,-2.13671903e-05,
 -5.61503557e-04,-6.34579835e-05,-3.43124035e-04,-2.17910102e-04,
  7.69550523e-07, 2.21969139e-05,-4.90504779e+00, 2.10183297e-04,
  1.17777925e-02,-7.97252338e-04]


--- Step 168 ---
qpos:
[ 0.01808415, 0.02926823,-0.00914444,-0.02474317, 0.007642  , 0.00454862,
 -0.00756401, 0.02622076, 0.01192413, 0.02722725,-0.00800009, 0.02558477,
  0.48344535, 0.0061327 , 0.36040125, 0.04636898, 0.06105119,-0.07774998,
  0.17223394, 0.99942511, 0.03308069, 0.00505793,-0.00543386]

qacc:
[ -8.39984017, -2.06172378,  7.05593367, -9.01489217,  0.52047402,
  -1.62583357,  7.83694798,-16.85067281,  2.96960527,  0.17418462,
   0.64292819, -6.10272548, -1.09101176,  0.74486523, -2.45577702,
   0.89295644, -2.14550963,  0.80918267, -0.75356906, -8.16406821,
 -18.77189388,  4.73807376]

qfrc_actuator:
[ 6.23976410e-04, 1.71829319e-03,-1.70115329e-04,-8.95226694e-04,
  2.51319502e-04, 1.80215723e-04,-2.48845005e-04, 9.26726803e-04,
  3.83235695e-04, 1.44348236e-03,-1.06993598e-04, 9.25252107e-04,
  8.16787187e-02,-7.33248092e-05, 7.47727107e-02,-3.14934184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004994443569041607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11145817e-13, -2.22291635e-13,  1.00000000e+00, -2.47067854e-26,
        1.00000000e+00,  2.22291635e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11145817e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09677491, -0.09107339,  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:
[-5.04916354e-05,-2.78931235e-05, 2.32870536e-05,-4.34156867e-06,
  3.00656045e-06,-4.02542506e-06, 8.61386961e-06,-2.56686345e-05,
  1.79682086e-05,-2.96474655e-05,-2.97177967e-05,-2.05356322e-05,
 -5.41434410e-04,-8.36859621e-05,-3.26253230e-04,-9.09427315e-05,
 -2.89640886e-06, 3.31048411e-06,-4.90504747e+00, 2.11903182e-04,
  1.17850509e-02,-7.87350349e-04]


--- Step 169 ---
qpos:
[ 0.01809566, 0.02928506,-0.00915053,-0.0247604 , 0.00764702, 0.00455113,
 -0.00756826, 0.02623892, 0.01193336, 0.02723995,-0.00800671, 0.02560112,
  0.48513889, 0.00613789, 0.36229977, 0.04639863, 0.06103786,-0.07765306,
  0.17222754, 0.99944055, 0.03262665, 0.00499942,-0.00539326]

qacc:
[ 2.98104760e+00,-8.39996512e-03, 7.57921486e-01,-4.31589472e+00,
 -6.10649964e-02, 7.27845322e-01,-1.93111325e+00, 4.62898078e-01,
  1.19861556e+00, 1.72155334e-01, 3.93081098e+00,-2.04769094e+01,
 -8.97886874e-01,-5.07209542e-01,-7.68832317e+00, 1.75302726e+01,
 -2.13498530e+00, 8.11015151e-01,-7.97181090e-01,-8.19280175e+00,
 -1.87073534e+01, 4.63552019e+00]

qfrc_actuator:
[ 0.00064339, 0.00170485,-0.00018659,-0.00090844, 0.00025094, 0.00018678,
 -0.00026354, 0.00092138, 0.00039007, 0.00145359,-0.00014488, 0.00087364,
  0.08151543,-0.00010389, 0.07455251,-0.00312817, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004895736746719503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13386716e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13386716e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09677829, -0.09107494,  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:
[ 1.78924487e-05,-2.49819329e-05,-1.96150781e-05,-1.36762431e-05,
 -2.90206481e-07, 4.90730303e-06,-1.53770320e-05,-5.75696157e-06,
  7.38679485e-06,-1.38756411e-05,-4.84903550e-05,-5.43661684e-05,
 -5.57139762e-04,-9.55296384e-05,-3.78104645e-04,-2.56374053e-05,
 -2.97568966e-06,-1.72158119e-05,-4.90504815e+00, 2.12643646e-04,
  1.17929074e-02,-7.77123085e-04]


--- Step 170 ---
qpos:
[ 0.01810765, 0.02930157,-0.00915644,-0.02477731, 0.007652  , 0.0045537 ,
 -0.00757265, 0.02625688, 0.01194226, 0.02725296,-0.0080139 , 0.02561669,
  0.48682948, 0.00614306, 0.36419362, 0.04642571, 0.06101603,-0.07755289,
  0.1722178 , 0.99945654, 0.032156  , 0.00490339,-0.00534471]

qacc:
[  4.1933382 , -0.2505524 , -1.07856859,  6.56727894, -0.38797834,
   0.04764145,  0.83364716, -4.28027613, -2.8719472 ,  0.39083931,
   2.49677829,-15.35673443, -1.50806253,  2.98343321,  0.90531315,
 -13.09507391, -2.12692531,  0.81380865, -0.83315673, -8.22724791,
 -18.66085758,  4.54204423]

qfrc_actuator:
[ 0.00066798, 0.00169012,-0.00017614,-0.00089159, 0.00024872, 0.00018964,
 -0.00027049, 0.00091097, 0.00037263, 0.00149001,-0.00016451, 0.00083674,
  0.08136197,-0.00010624, 0.07428838,-0.0032696 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004796477597588944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15733161e-13, -1.15733161e-13,  1.00000000e+00, -1.33941645e-26,
        1.00000000e+00,  1.15733161e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15733161e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09678167, -0.09107645,  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:
[ 2.50596151e-05,-3.38611315e-05, 2.29361674e-06, 1.48510724e-05,
 -2.23483899e-06, 2.10388259e-06,-8.04568563e-06,-1.08796227e-05,
 -1.71813050e-05, 1.59246813e-05,-3.04501506e-05,-4.02758566e-05,
 -5.60070200e-04,-7.00830088e-05,-4.35665371e-04,-1.90571635e-04,
  4.80154686e-07,-3.93936206e-05,-4.90504983e+00, 2.12445347e-04,
  1.18013612e-02,-7.66567890e-04]


--- Step 171 ---
qpos:
[ 0.0181202 , 0.02931746,-0.00916149,-0.0247939 , 0.00765691, 0.00455638,
 -0.00757739, 0.02627423, 0.01195054, 0.02726634,-0.00802122, 0.02563338,
  0.48851709, 0.00614886, 0.36608311, 0.04645171, 0.06098571,-0.07744944,
  0.17220462, 0.99947305, 0.03166866, 0.00476993,-0.00528836]

qacc:
[  4.72632569, -2.57633675,  6.61004464, -1.90859452, -0.588535  ,
  -0.12808618,  3.21531734,-13.17745474, -5.3208034 ,  3.18714731,
 -15.34334329, 34.63832182, -2.21463261,  7.21790029, -3.10937188,
   1.71693854, -2.12100603,  0.81743623, -0.86272569, -8.26731122,
 -18.63062141,  4.45606692]

qfrc_actuator:
[ 6.95398841e-04, 1.65712135e-03,-1.32110465e-04,-8.74903519e-04,
  2.45413730e-04, 1.90294130e-04,-2.90564636e-04, 8.79918231e-04,
  3.41060566e-04, 1.54198643e-03,-1.55319532e-04, 8.97607589e-04,
  8.12198443e-02,-7.42117994e-05, 7.41099007e-02,-3.31048404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004698041328076441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18158073e-13, -1.18158073e-13,  1.00000000e+00, -1.39613303e-26,
        1.00000000e+00,  1.18158073e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18158073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09678501, -0.09107791,  0.06199161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80895758e-05,-5.13447886e-05, 3.77368778e-05, 1.56146179e-05,
 -3.36364086e-06,-3.80584606e-07,-2.10296322e-05,-3.14901505e-05,
 -3.20309116e-05, 5.24642028e-05, 7.24489398e-06, 5.96670438e-05,
 -5.48390334e-04,-3.47929085e-05,-3.92781797e-04,-1.06144874e-04,
  7.43553185e-06,-6.32393002e-05,-4.90505248e+00, 2.11342475e-04,
  1.18104120e-02,-7.55681972e-04]


--- Step 172 ---
qpos:
[ 0.01813331, 0.02933306,-0.00916635,-0.02481015, 0.00766174, 0.00455902,
 -0.007582  , 0.02629071, 0.01195803, 0.02727956,-0.00802789, 0.02565102,
  0.4902017 , 0.00615508, 0.36796852, 0.04647983, 0.06094693,-0.07734271,
  0.17218788, 0.99949003, 0.03116454, 0.00459907,-0.00522437]

qacc:
[ 4.95239507e+00,-2.32971079e-01,-1.13760472e+00, 6.81534602e+00,
 -6.79381368e-01,-2.19499456e+00, 1.14157447e+01,-2.65996563e+01,
 -6.69178541e+00,-2.60000096e-02,-4.24264180e+00, 1.99030119e+01,
 -1.95892420e+00, 5.67693848e+00,-1.23647361e+01, 3.46478934e+01,
 -2.11694314e+00, 8.21787107e-01,-8.86983023e-01,-8.31281020e+00,
 -1.86150037e+01, 4.37629039e+00]

qfrc_actuator:
[ 7.24256370e-04, 1.64909186e-03,-1.21941054e-04,-8.58452664e-04,
  2.41507926e-04, 1.89547727e-04,-2.82756605e-04, 8.36953949e-04,
  3.01425751e-04, 1.51433029e-03,-1.29044672e-04, 9.44533251e-04,
  8.10579985e-02,-5.76905552e-05, 7.39616574e-02,-3.18499721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046014966709743976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20637165e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20637165e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09678829, -0.0910793 ,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96129715e-05,-2.87874673e-05, 4.64917858e-06, 1.58713728e-05,
 -3.99936321e-06,-6.73459127e-06, 4.03501772e-06,-4.43552144e-05,
 -4.05191928e-05, 5.31458301e-06, 3.99706324e-05, 5.05380533e-05,
 -5.55304118e-04,-4.73456459e-05,-3.35324112e-04, 7.00108130e-05,
  1.78687688e-05,-8.87730120e-05,-4.90505610e+00, 2.09364080e-04,
  1.18200593e-02,-7.44462376e-04]


--- Step 173 ---
qpos:
[ 0.01814495, 0.02934849,-0.00917137,-0.02482607, 0.0076658 , 0.00456153,
 -0.00758619, 0.02630689, 0.01196534, 0.0272927 ,-0.00803437, 0.02566808,
  0.49188329, 0.00616153, 0.36985013, 0.04650947, 0.06089969,-0.07723267,
  0.17216752, 0.99950745, 0.03064353, 0.00439082,-0.00515286]

qacc:
[-12.71596969,  0.93127204, -5.03078664, 11.15949508, -6.79654398,
  -1.96348295,  8.06314782,-13.96501552, -1.60060528, -1.87407312,
   9.01637505,-19.48687488, -1.77445222,  4.48620837,-10.18604738,
  27.63866989, -2.11448808,  0.82676477, -0.90689729, -8.36351197,
 -18.61251445,  4.30164779]

qfrc_actuator:
[ 6.47215411e-04, 1.63820527e-03,-1.31761757e-04,-8.42280642e-04,
  2.01772823e-04, 1.88065407e-04,-2.58553463e-04, 8.22854105e-04,
  2.92872479e-04, 1.49254419e-03,-1.28748231e-04, 9.11796629e-04,
  8.08950813e-02,-5.05171925e-05, 7.37890804e-02,-3.10446540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004507652193282835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23148701e-13,  1.23148701e-13,  1.00000000e+00,  1.51656026e-26,
        1.00000000e+00, -1.23148701e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23148701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09679147, -0.09108063,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.62313292e-05,-2.58473601e-05,-1.47485442e-05, 1.54178885e-05,
 -3.98494219e-05,-6.39596601e-06, 2.17605683e-05,-1.51444243e-05,
 -9.70330269e-06,-8.82228204e-06, 7.95946652e-06,-3.01931228e-05,
 -5.62183157e-04,-5.86905867e-05,-3.15797207e-04, 4.17552783e-05,
  3.17702466e-05,-1.16018265e-04,-4.90506069e+00, 2.06535112e-04,
  1.18303023e-02,-7.32905967e-04]


--- Step 174 ---
qpos:
[ 0.01815626, 0.02936359,-0.0091767 ,-0.02484164, 0.00767004, 0.00456419,
 -0.00759046, 0.02632312, 0.01197352, 0.02730597,-0.00804087, 0.0256846 ,
  0.49356188, 0.00616808, 0.37172902, 0.04653701, 0.06084399,-0.0771193 ,
  0.17214347, 0.99952525, 0.03010553, 0.00414517,-0.00507396]

qacc:
[ -2.79590194,  1.16262143, -6.19890024, 12.89396025,  1.59578503,
   0.52741095, -1.81704483,  2.69971518,  7.46466059, -0.89529554,
   5.68145121,-15.0181432 , -1.70006829,  3.90251939,  2.40704355,
 -14.12675778, -2.11342461,  0.83228535, -0.92331976, -8.41915746,
 -18.62181494,  4.23126227]

qfrc_actuator:
[ 6.32728998e-04, 1.60785934e-03,-1.53300232e-04,-8.26410925e-04,
  2.12278337e-04, 2.04004398e-04,-2.60359431e-04, 8.25859410e-04,
  3.38189769e-04, 1.50977330e-03,-1.26096735e-04, 8.85685902e-04,
  8.07369565e-02,-4.89295118e-05, 7.36659332e-02,-3.21094669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004417097258612168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09679455, -0.0910819 ,  0.06199211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67546314e-05,-4.77129828e-05,-2.82548142e-05, 1.45662185e-05,
  9.37059773e-06, 1.61160820e-05,-9.85844377e-07, 3.15858754e-06,
  4.50692938e-05, 1.22277012e-05, 6.56719613e-07,-2.68520836e-05,
 -5.63480618e-04,-6.60853090e-05,-2.61771622e-04,-1.44608839e-04,
  4.91408068e-05,-1.45001523e-04,-4.90506622e+00, 2.02877264e-04,
  1.18411406e-02,-7.21009415e-04]


--- Step 175 ---
qpos:
[ 0.01816835, 0.02937847,-0.00918227,-0.02485761, 0.00767506, 0.00456692,
 -0.00759441, 0.02633889, 0.01198183, 0.02731912,-0.00804635, 0.02570029,
  0.49523753, 0.00617463, 0.37360542, 0.04656195, 0.06077984,-0.07700257,
  0.17211566, 0.99954339, 0.02955042, 0.00386208,-0.00498778]

qacc:
[  6.61883085, -0.46220605,  2.86072097, -9.12940044,  6.89254006,
  -1.75523205,  8.31984745,-16.78300103,  1.19293937, -4.71572908,
  20.08273326,-35.96689171, -1.56204268,  3.19814469,  4.23927838,
 -20.07658399, -2.11356538,  0.83827616, -0.9369941 , -8.47947948,
 -18.64171408,  4.16441334]

qfrc_actuator:
[ 6.72964920e-04, 1.60155159e-03,-1.63905798e-04,-8.46373123e-04,
  2.52281672e-04, 2.12420350e-04,-2.41928468e-04, 8.03389757e-04,
  3.43830988e-04, 1.51472767e-03,-6.86357779e-05, 8.45981527e-04,
  8.05924665e-02,-5.06553251e-05, 7.35565062e-02,-3.33784509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000433023801415619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28194226e-13, -1.28194226e-13,  1.00000000e+00, -1.64337597e-26,
        1.00000000e+00,  1.28194226e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28194226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09679752, -0.09108309,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96928433e-05,-3.86917024e-05,-2.35263249e-05,-2.26875397e-05,
  4.02751605e-05, 1.72805531e-05, 2.17301589e-05,-2.17847648e-05,
  7.00519087e-06, 1.03776466e-05, 5.90291358e-05,-3.97324596e-05,
 -5.51487611e-04,-7.03298822e-05,-2.47800634e-04,-1.69351420e-04,
  6.99904030e-05,-1.75751875e-04,-4.90507271e+00, 1.98409636e-04,
  1.18525732e-02,-7.08769199e-04]


--- Step 176 ---
qpos:
[ 0.01817944, 0.02939327,-0.00918802,-0.02487406, 0.00768018, 0.00456976,
 -0.0075981 , 0.02635392, 0.01198912, 0.02733183,-0.00805119, 0.02571545,
  0.49691035, 0.00618079, 0.37547847, 0.04658914, 0.06070723,-0.07688247,
  0.17208407, 0.99956179, 0.02897805, 0.00354152,-0.00489445]

qacc:
[ -8.51964946, -0.59763035,  4.0246631 ,-12.04561515,  0.84630632,
  -2.1296304 , 10.91036306,-24.18113115, -8.75904884, -3.44765354,
  13.73842498,-23.68856397, -1.01699094,  0.33536239,-11.7588914 ,
  34.01742132, -2.11474877,  0.84467429, -0.94856634, -8.54421521,
 -18.67116085,  4.10050912]

qfrc_actuator:
[ 6.20799825e-04, 1.60970175e-03,-1.67899698e-04,-8.69478741e-04,
  2.56052497e-04, 2.16327546e-04,-2.29484396e-04, 7.66121454e-04,
  2.90550284e-04, 1.45925434e-03,-5.03316997e-05, 8.16380025e-04,
  8.04509333e-02,-7.20593378e-05, 7.34234345e-02,-3.20936183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042473288016055266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30696619e-13, -2.61393237e-13,  1.00000000e+00, -3.41632122e-26,
        1.00000000e+00,  2.61393237e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30696619e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09680037, -0.0910842 ,  0.06199241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10597819e-05,-1.97785539e-05,-1.57547452e-05,-2.60071362e-05,
  4.92142472e-06, 1.70514463e-05, 1.79136788e-05,-3.62341331e-05,
 -5.30335231e-05,-3.95975528e-05, 2.62271356e-05,-2.79383511e-05,
 -5.40296209e-04,-8.91371797e-05,-2.68642317e-04, 8.62503167e-05,
  9.43369710e-05,-2.08300767e-04,-4.90508014e+00, 1.93149265e-04,
  1.18645991e-02,-6.96181598e-04]


--- Step 177 ---
qpos:
[ 0.01818982, 0.02940785,-0.00919352,-0.02488998, 0.00768496, 0.00457249,
 -0.00760208, 0.02636915, 0.01199571, 0.02734433,-0.00805637, 0.02573052,
  0.49858027, 0.00618642, 0.37734788, 0.04661935, 0.06062616,-0.07675896,
  0.17204863, 0.99958041, 0.0283883 , 0.0031834 ,-0.00479405]

qacc:
[ -6.10355027,  0.1461266 , -3.14359231, 12.04491187, -2.98886745,
   1.10030441, -4.96000886,  8.90015081, -5.93593877,  0.50982124,
  -1.84421827,  1.0302501 , -0.86403539, -0.69791555,-14.49524934,
  42.89249116, -2.11683584,  0.85142543, -0.95859464, -8.61311458,
 -18.70923509,  4.03906358]

qfrc_actuator:
[ 5.85658607e-04, 1.60872583e-03,-1.50139546e-04,-8.40967579e-04,
  2.38457816e-04, 1.81965462e-04,-2.56211627e-04, 7.73695223e-04,
  2.56285216e-04, 1.43889702e-03,-7.33053166e-05, 8.10627675e-04,
  8.02846414e-02,-1.04895476e-04, 7.32497128e-02,-3.05574451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000416849940290287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33168188e-13,  1.33168188e-13,  1.00000000e+00,  1.77337663e-26,
        1.00000000e+00, -1.33168188e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33168188e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09680309, -0.09108525,  0.06199254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66702851e-05,-1.68879322e-05, 1.07566210e-05, 2.66292818e-05,
 -1.74480867e-05,-2.27712606e-05,-2.22763221e-05, 8.18714024e-06,
 -3.57938280e-05,-3.87132151e-05,-2.90057329e-05,-7.13327714e-06,
 -5.58953719e-04,-1.00660610e-04,-2.87996075e-04, 1.23506081e-04,
  1.22205493e-04,-2.42681784e-04,-4.90508850e+00, 1.87111546e-04,
  1.18772172e-02,-6.83242699e-04]


--- Step 178 ---
qpos:
[ 0.01820073, 0.02942223,-0.0091988 ,-0.02490509, 0.00768949, 0.00457474,
 -0.00760589, 0.02638436, 0.01200253, 0.02735716,-0.00806152, 0.02574565,
  0.50024718, 0.00619169, 0.37921387, 0.0466495 , 0.0605366 ,-0.07663202,
  0.17200933, 0.99959916, 0.02778102, 0.00278764,-0.00468671]

qacc:
[  4.57089578,  0.77175178, -6.54975062, 20.33572351, -2.16571302,
  -1.13482467,  3.19037108, -3.35037279,  1.93221502,  0.47517554,
  -1.33473808,  2.12621487, -1.17165288,  0.81994662, -4.83773126,
   9.66242217, -2.11970762,  0.85848277, -0.96755866, -8.68594553,
 -18.75513699,  3.97967771]

qfrc_actuator:
[ 6.14106699e-04, 1.60243812e-03,-1.37425514e-04,-8.00057514e-04,
  2.26192657e-04, 1.42574459e-04,-2.52720221e-04, 7.72030945e-04,
  2.69011862e-04, 1.51057505e-03,-4.93055155e-05, 8.18952191e-04,
  8.01195807e-02,-1.26522096e-04, 7.30677270e-02,-3.06622610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040937785292899376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09680568, -0.09108621,  0.06199268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73358924e-05,-1.28430383e-05, 1.13924650e-05, 4.10924806e-05,
 -1.27683881e-05,-5.64680480e-05,-3.69146730e-06,-3.28213046e-06,
  1.17034277e-05, 4.33149031e-05, 1.20725261e-05, 5.47586505e-06,
 -5.72444072e-04,-9.26887314e-05,-2.99924458e-04,-4.07547810e-05,
  1.53627227e-04,-2.78930484e-04,-4.90509780e+00, 1.80310559e-04,
  1.18904261e-02,-6.69948398e-04]


--- Step 179 ---
qpos:
[ 0.0182119 , 0.02943659,-0.00920395,-0.02491961, 0.00769384, 0.00457673,
 -0.00760966, 0.02639838, 0.01200979, 0.02737077,-0.0080666 , 0.02576036,
  0.50191117, 0.00619699, 0.38107666, 0.0466756 , 0.06043855,-0.07650162,
  0.17196613, 0.99961798, 0.02715605, 0.00235414,-0.00457253]

qacc:
[  2.19572137,  0.8244905 , -5.48811054, 15.54782479, -1.60069887,
  -2.93895683, 15.04456616,-35.63670497,  3.78079767, -0.05674131,
   3.49603032,-11.58100897, -1.60875371,  3.41271767,  7.53968263,
 -33.1161065 , -2.12326251,  0.86580604, -0.97586855, -8.76249702,
 -18.80817618,  3.92202403]

qfrc_actuator:
[ 6.26492398e-04, 1.61078212e-03,-1.27819617e-04,-7.69952202e-04,
  2.17169595e-04, 1.36081660e-04,-2.49202431e-04, 7.11696653e-04,
  2.91537182e-04, 1.58376013e-03,-3.28622028e-05, 8.00103648e-04,
  7.99873265e-02,-1.23641143e-04, 7.28862182e-02,-3.27981692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040231139494259494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37980559e-13, -1.37980559e-13,  1.00000000e+00, -1.90386347e-26,
        1.00000000e+00,  1.37980559e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37980559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09680815, -0.0910871 ,  0.0619928 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31374938e-05, 4.82443350e-06, 9.69320195e-06, 3.07599250e-05,
 -9.40533619e-06,-3.90487569e-05,-8.72995501e-06,-6.29758181e-05,
  2.29208349e-05, 9.97233074e-05, 2.69500961e-05,-1.65180743e-05,
 -5.48565127e-04,-6.96121088e-05,-3.23573020e-04,-2.54630311e-04,
  1.88639090e-04,-3.17084277e-04,-4.90510802e+00, 1.72759335e-04,
  1.19042244e-02,-6.56294408e-04]


--- Step 180 ---
qpos:
[ 0.01822175, 0.02945068,-0.00920858,-0.02493331, 0.00769735, 0.00457878,
 -0.00761358, 0.02641258, 0.01201658, 0.02738495,-0.00807193, 0.02577443,
  0.50357236, 0.00620259, 0.3829359 , 0.04669693, 0.06033199,-0.07636772,
  0.17191899, 0.99963678, 0.02651323, 0.00188279,-0.00445159]

qacc:
[-11.29381546, -0.10903444, -3.55457488, 17.09700447, -7.32760958,
   0.91365994, -3.85455576,  7.09543518, -4.06667288,  0.14647142,
   3.30166847,-14.40853161, -1.8637145 ,  5.10513157,  9.24674295,
 -39.83699513, -2.12741402,  0.87336059, -0.98387319, -8.84258038,
 -18.86776077,  3.86583372]

qfrc_actuator:
[ 5.58293595e-04, 1.59230641e-03,-1.02320099e-04,-7.28684109e-04,
  1.74620444e-04, 1.67046761e-04,-2.45618124e-04, 7.23863591e-04,
  2.66375663e-04, 1.58625344e-03,-5.65127318e-05, 7.65416453e-04,
  7.98642052e-02,-1.06292832e-04, 7.26997731e-02,-3.52250699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039563896325213455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40307595e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40307595e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09681049, -0.09108792,  0.06199292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78537857e-05,-1.29168856e-05, 2.86667557e-05, 4.24181323e-05,
 -4.28270857e-05, 4.56373223e-06,-7.74634331e-06, 8.93881175e-06,
 -2.44149687e-05, 6.26832898e-05,-4.29314866e-07,-2.98539854e-05,
 -5.19911483e-04,-5.10535684e-05,-3.63060094e-04,-2.98652187e-04,
  2.27283154e-04,-3.57182331e-04,-4.90511916e+00, 1.64470056e-04,
  1.19186103e-02,-6.42276259e-04]


--- Step 181 ---
qpos:
[ 0.0182307 , 0.02946458,-0.00921314,-0.02494603, 0.00770068, 0.00458113,
 -0.00761759, 0.02642712, 0.01202267, 0.02739893,-0.00807715, 0.02578839,
  0.50523072, 0.00620843, 0.38479114, 0.04671578, 0.06021691,-0.0762303 ,
  0.17186788, 0.99965548, 0.02585239, 0.00137346,-0.004324  ]

qacc:
[ -7.67923521,  1.59672402,-10.12026896, 26.90231782, -1.70214943,
   1.35772435, -5.73520881, 11.63535478, -5.94480468, -0.762624  ,
   2.76515692, -4.55527523, -1.77908937,  4.57989319,  1.66848648,
 -14.27088468, -2.13208863,  0.88111668, -0.99186788, -8.92602947,
 -18.9333868 ,  3.81088613]

qfrc_actuator:
[ 5.14225104e-04, 1.57574530e-03,-1.03239073e-04,-6.81185925e-04,
  1.65936235e-04, 2.02516612e-04,-2.41801907e-04, 7.43131992e-04,
  2.31095711e-04, 1.52846799e-03,-6.84252047e-05, 7.57113419e-04,
  7.97093774e-02,-9.83087239e-05, 7.25211659e-02,-3.63828125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003893440257851377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42576096e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42576096e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09681271, -0.09108866,  0.06199302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60882481e-05,-1.65276281e-05, 1.32394321e-06, 4.87732913e-05,
 -9.89973819e-06, 3.67293766e-05, 4.10592493e-06, 1.93440686e-05,
 -3.59298086e-05,-2.45703522e-05,-1.77259056e-07,-6.26148071e-06,
 -5.29084316e-04,-5.59934045e-05,-3.76409065e-04,-1.78827454e-04,
  2.69606260e-04,-3.99265520e-04,-4.90513121e+00, 1.55454212e-04,
  1.19335818e-02,-6.27889309e-04]


--- Step 182 ---
qpos:
[ 1.82400925e-02, 2.94783422e-02,-9.21794659e-03,-2.49584230e-02,
  7.70456260e-03, 4.58345320e-03,-7.62107205e-03, 2.64407394e-02,
  1.20279436e-02, 2.74123264e-02,-8.08225221e-03, 2.58021950e-02,
  5.06886121e-01, 6.21443948e-03, 3.86642685e-01, 4.67329146e-02,
  6.00932711e-02,-7.60893182e-02, 1.71812769e-01, 9.99673979e-01,
  2.51733557e-02, 8.26024320e-04,-4.18985581e-03]

qacc:
[  3.7297547 ,  1.16146607, -5.83859148, 12.15419693,  4.94154811,
  -3.44646486, 16.11386972,-32.89596695, -6.93371323, -1.43095588,
   4.68399433, -7.25745453, -1.74406259,  4.15592923, -0.2358654 ,
  -6.95896148, -2.13722402,  0.88904873, -1.00010132, -9.01270013,
 -19.00462811,  3.757     ]

qfrc_actuator:
[ 5.37997016e-04, 1.56036467e-03,-1.19750840e-04,-6.65930812e-04,
  1.95016891e-04, 1.87180013e-04,-2.20097332e-04, 6.95411747e-04,
  1.90157404e-04, 1.47057889e-03,-7.35450582e-05, 7.46606544e-04,
  7.95409561e-02,-9.60018782e-05, 7.23687321e-02,-3.71379161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003834063414799166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.89568248e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.89568248e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09681482, -0.09108932,  0.06199313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23856195e-05,-2.27267764e-05,-1.81628194e-05, 1.55507903e-05,
  2.88111720e-05, 6.80561989e-06, 3.04540348e-05,-4.56561363e-05,
 -4.19574857e-05,-7.24033336e-05,-1.05595756e-05,-1.17358143e-05,
 -5.49682275e-04,-6.34082998e-05,-3.41798056e-04,-1.33311097e-04,
  3.15659715e-04,-4.43376392e-04,-4.90514416e+00, 1.45722728e-04,
  1.19491367e-02,-6.13128746e-04]


--- Step 183 ---
qpos:
[ 1.82493480e-02, 2.94917898e-02,-9.22258251e-03,-2.49701930e-02,
  7.70910975e-03, 4.58572639e-03,-7.62419716e-03, 2.64533505e-02,
  1.20326886e-02, 2.74249315e-02,-8.08722628e-03, 2.58154467e-02,
  5.08538626e-01, 6.22015938e-03, 3.88490586e-01, 4.67482496e-02,
  5.99610646e-02,-7.59447510e-02, 1.71753625e-01, 9.99692189e-01,
  2.44759505e-02, 2.40323928e-04,-4.04924740e-03]

qacc:
[ -1.13762607,  0.39992584, -4.63054696, 15.29922425,  5.84627612,
  -3.13603704, 15.3251297 ,-33.27275276, -4.51673655, -2.5265212 ,
   9.84376832,-19.04546627, -1.22728247,  1.27287282,  0.08702981,
  -8.05811291, -2.14276733,  0.89713475, -1.00878185, -9.10246898,
 -19.08112705,  3.70402626]

qfrc_actuator:
[ 5.30490941e-04, 1.54571558e-03,-1.09843016e-04,-6.34271484e-04,
  2.28328483e-04, 1.77065892e-04,-2.06005817e-04, 6.44132827e-04,
  1.63972366e-04, 1.41308578e-03,-7.46497464e-05, 7.17124570e-04,
  7.93857937e-02,-1.14870732e-04, 7.22001639e-02,-3.80043266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037780297891200354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93862962e-13,  2.93862962e-13,  1.00000000e+00,  8.63554405e-26,
        1.00000000e+00, -2.93862962e-13, -1.00000000e+00,  0.00000000e+00,
       -2.93862962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09681681, -0.0910899 ,  0.06199322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.89853385e-06,-3.08792903e-05, 3.42744925e-06, 3.03655999e-05,
  3.41333996e-05,-2.03815353e-06, 1.76505031e-05,-5.08512011e-05,
 -2.73986150e-05,-1.01119705e-04,-1.78880584e-05,-3.32250482e-05,
 -5.51729722e-04,-8.79688850e-05,-3.38655290e-04,-1.37845116e-04,
  3.65499066e-04,-4.89559158e-04,-4.90515800e+00, 1.35286053e-04,
  1.19652726e-02,-5.97989595e-04]


--- Step 184 ---
qpos:
[ 1.82587857e-02, 2.95051016e-02,-9.22713738e-03,-2.49815090e-02,
  7.71402119e-03, 4.58786407e-03,-7.62732960e-03, 2.64649399e-02,
  1.20377724e-02, 2.74367493e-02,-8.09218029e-03, 2.58285943e-02,
  5.10188199e-01, 6.22598390e-03, 3.90334541e-01, 4.67614098e-02,
  5.98202634e-02,-7.57965624e-02, 1.71690409e-01, 9.99710002e-01,
  2.37599854e-02,-3.83794335e-04,-3.90226760e-03]

qacc:
[  1.56982948,  0.52613399, -4.05381097, 11.8773344 ,  3.20624213,
  -2.26815748, 12.129707  ,-29.68695837,  2.90471809, -1.31691898,
   3.61564177, -4.8605    , -1.68082452,  3.78292822,  0.79718982,
 -11.12650072, -2.14867377,  0.90535577, -1.01808314, -9.19523202,
 -19.16258581,  3.65184212]

qfrc_actuator:
[ 5.40117950e-04, 1.54948711e-03,-1.02143941e-04,-6.10939604e-04,
  2.46098624e-04, 1.52364036e-04,-2.14265398e-04, 5.91173031e-04,
  1.82187362e-04, 1.37402118e-03,-7.33991488e-05, 7.12218852e-04,
  7.92386885e-02,-1.10554939e-04, 7.20007407e-02,-3.91072860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003725091602688052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49019560e-13,  1.49019560e-13,  1.00000000e+00,  2.22068293e-26,
        1.00000000e+00, -1.49019560e-13, -1.00000000e+00,  0.00000000e+00,
       -1.49019560e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09681869, -0.09109042,  0.06199332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37846655e-06,-1.19258755e-05, 2.70818981e-06, 2.27247481e-05,
  1.87408429e-05,-2.44370851e-05,-8.28571252e-06,-5.34538346e-05,
  1.74166086e-05,-1.01152588e-04,-2.31029195e-05,-1.05491939e-05,
 -5.48005300e-04,-6.68320369e-05,-3.68767529e-04,-1.61391140e-04,
  4.19183941e-04,-5.37859700e-04,-4.90517272e+00, 1.24154241e-04,
  1.19819870e-02,-5.82466724e-04]


--- Step 185 ---
qpos:
[ 0.01826792, 0.02951848,-0.00923218,-0.02499313, 0.00771876, 0.00458954,
 -0.00763013, 0.02647617, 0.01204269, 0.02744758,-0.00809697, 0.02584125,
  0.5118349 , 0.00623184, 0.39217453, 0.04677239, 0.05967084,-0.07564472,
  0.17162308, 0.99972731, 0.02302527,-0.0010465 ,-0.00374901]

qacc:
[ -2.62217347,  0.8199118 , -1.48476953, -3.14136992, -1.47414172,
  -2.27587904,  8.76726271,-15.22153596, -1.38800622, -2.77089466,
  10.06002855,-18.09510979, -1.57438297,  3.28481002,  0.76743564,
 -11.07362479, -2.15490534,  0.91369538, -1.02814918, -9.29090299,
 -19.24875862,  3.60034613]

qfrc_actuator:
[ 5.24257106e-04, 1.54650681e-03,-1.31256432e-04,-6.28191718e-04,
  2.36824930e-04, 1.19016534e-04,-2.00211134e-04, 5.73126947e-04,
  1.73126925e-04, 1.31082247e-03,-7.06792206e-05, 6.86326277e-04,
  7.90965248e-02,-1.10358042e-04, 7.18149174e-02,-4.01637062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003674989546278984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51051181e-13,  1.51051181e-13,  1.00000000e+00,  2.28164594e-26,
        1.00000000e+00, -1.51051181e-13, -1.00000000e+00,  0.00000000e+00,
       -1.51051181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09682048, -0.09109086,  0.0619934 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56283420e-05,-8.54678209e-06,-3.05429976e-05,-1.72230261e-05,
 -8.74708164e-06,-5.10754979e-05, 6.12127822e-06,-2.04448213e-05,
 -8.54911207e-06,-1.25365320e-04,-2.14903350e-05,-3.12764424e-05,
 -5.37967681e-04,-6.94429263e-05,-3.70260342e-04,-1.61597797e-04,
  4.76777934e-04,-5.88325593e-04,-4.90518830e+00, 1.12336997e-04,
  1.19992769e-02,-5.66554846e-04]


--- Step 186 ---
qpos:
[ 0.01827645, 0.02953163,-0.00923689,-0.0250049 , 0.00772301, 0.00459119,
 -0.00763321, 0.02648743, 0.01204712, 0.02745806,-0.00810224, 0.02585311,
  0.51347879, 0.00623707, 0.39401071, 0.04678222, 0.0595334 ,-0.07550286,
  0.17157764, 0.99974235, 0.02234612,-0.00165872,-0.0036241 ]

qacc:
[ -5.19272183, -1.49639299,  5.49521012, -8.22623933, -4.34567901,
   0.7951002 , -3.01606176,  3.97843319, -4.19983835, -0.76182441,
   5.40946438,-18.13745258, -0.78873522, -1.02969399, -2.1269935 ,
  -0.73941291,  2.99479833, -2.49506117,  5.47240333, 27.69211078,
  25.00960045,-14.78825069]

qfrc_actuator:
[ 4.93516325e-04, 1.53932824e-03,-1.10908295e-04,-6.33707257e-04,
  2.11713132e-04, 1.34116206e-04,-2.08610725e-04, 5.75777551e-04,
  1.48069653e-04, 1.32242358e-03,-8.49809813e-05, 6.48270122e-04,
  7.89414485e-02,-1.48111259e-04, 7.16533752e-02,-4.06509184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.92548174,  4.17508655, -2.61323989,  4.17508655, 15.85623512,
       17.4637015 , -2.61323989, 17.4637015 , 32.82665742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039385815183923256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40941989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40941989e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03469659, -0.05098043,  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:
[-3.12317323e-05,-1.94371288e-05, 1.41451315e-05,-7.26736559e-06,
 -2.53775960e-05,-1.31302087e-05,-1.89151101e-05, 2.53447501e-07,
 -2.53173885e-05,-6.46351393e-05,-4.40204469e-05,-4.48212385e-05,
 -5.43954101e-04,-1.06583415e-04,-3.46613561e-04,-1.04859689e-04,
  5.38348542e-04,-6.41006138e-04,-4.90520473e+00, 9.98437271e-05,
  1.20171393e-02,-5.50248526e-04]


--- Step 187 ---
qpos:
[ 0.01828557, 0.02954441,-0.00924127,-0.02501627, 0.00772658, 0.00459312,
 -0.00763659, 0.02649928, 0.01205156, 0.02746891,-0.00810806, 0.02586434,
  0.51511971, 0.00624253, 0.39584311, 0.0467939 , 0.05940719,-0.07537048,
  0.17155081, 0.99975546, 0.02171773,-0.00222284,-0.00352308]

qacc:
[  5.15743651, -0.6378977 , -0.11619032,  6.63548263, -5.99068549,
   2.48750124,-10.78171174, 21.29152177,  0.05925919,  0.72427979,
   0.82217382,-11.24973784, -1.79974371,  4.42224934,-11.11243994,
  30.94606536,  2.80714455, -2.37212862,  4.65194439, 25.28850197,
  23.87037823,-12.52038966]

qfrc_actuator:
[ 5.25282350e-04, 1.51214083e-03,-9.70154468e-05,-6.14478121e-04,
  1.77489746e-04, 1.78047046e-04,-2.12252843e-04, 6.08352663e-04,
  1.49311592e-04, 1.39641285e-03,-9.11715639e-05, 6.21166965e-04,
  7.87893747e-02,-1.36964693e-04, 7.15118570e-02,-3.95553695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.63491834,  5.21606942, -2.13188285,  5.21606942, 12.66716901,
       17.20578015, -2.13188285, 17.20578015, 47.73223319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005035669441292856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10235892e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10235892e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03471492, -0.05101781,  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:
[ 3.08151942e-05,-3.58789033e-05, 1.12891407e-05, 1.87518351e-05,
 -3.49484003e-05, 3.26343546e-05,-8.68269984e-06, 3.13419381e-05,
  5.11405604e-07, 2.64919298e-05,-2.65966789e-05,-3.23046653e-05,
 -5.49488578e-04,-6.10839183e-05,-3.10342702e-04, 5.94024431e-05,
  4.58193545e-04,-5.43672085e-04,-4.90518671e+00, 1.45773033e-04,
  1.19762644e-02,-5.33549572e-04]


--- Step 188 ---
qpos:
[ 0.01829501, 0.02955683,-0.00924541,-0.02502766, 0.00772937, 0.00459525,
 -0.00763999, 0.02651142, 0.01205666, 0.02747975,-0.00811328, 0.02587477,
  0.51675772, 0.00624812, 0.39767192, 0.04680935, 0.05929153,-0.07524713,
  0.17153957, 0.99976693, 0.021136  ,-0.00274108,-0.00344234]

qacc:
[  2.66668421, -1.18929568,  3.64371952, -4.14312102, -6.89212228,
   0.8811904 , -3.99004151,  8.869451  ,  5.7364467 , -3.32574017,
  15.16259218,-29.78490569, -1.61931177,  3.55688657,-16.66427002,
  50.71276965,  2.63784537, -2.25556201,  3.89789225, 23.24170927,
  22.78965189,-10.69495415]

qfrc_actuator:
[ 5.40332142e-04, 1.49094595e-03,-8.71289902e-05,-6.16379525e-04,
  1.38182891e-04, 1.85699148e-04,-2.12898266e-04, 6.22802144e-04,
  1.83781314e-04, 1.40073849e-03,-5.67210377e-05, 5.83044910e-04,
  7.86445435e-02,-1.32604474e-04, 7.13718343e-02,-3.75356654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34399217,  5.86612717, -2.41553071,  5.86612717, 10.51589539,
       10.1314857 , -2.41553071, 10.1314857 , 30.94835067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005893992418880972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41273895e-13, -9.41825969e-14,  1.00000000e+00, -1.33055423e-26,
        1.00000000e+00,  9.41825969e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41273895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03472897, -0.05104687,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58994047e-05,-3.85275386e-05, 4.43199208e-06,-2.67826166e-06,
 -4.02895908e-05, 2.53815773e-05, 6.10256210e-06, 1.61356808e-05,
  3.45269665e-05, 1.19262215e-05, 3.54497817e-05,-3.85711659e-05,
 -5.40154399e-04,-6.61964718e-05,-2.75122949e-04, 1.65348201e-04,
  3.88508184e-04,-4.60649552e-04,-4.90516853e+00, 1.82458423e-04,
  1.19451513e-02,-5.18280914e-04]


--- Step 189 ---
qpos:
[ 0.01830421, 0.02956908,-0.00924945,-0.02503934, 0.00773235, 0.0045976 ,
 -0.00764364, 0.0265233 , 0.0120618 , 0.02749002,-0.00811806, 0.0258851 ,
  0.518393  , 0.00625276, 0.39949757, 0.04682408, 0.0591858 ,-0.07513235,
  0.17154112, 0.99977697, 0.02059741,-0.00321558,-0.003379  ]

qacc:
[-2.03844751,-1.0888838 , 4.798476  ,-9.89981474, 1.71993767, 0.47518066,
 -0.18723047,-3.99032053, 0.27987647,-2.18851441, 7.16980445,-9.33057729,
 -0.40927715,-2.97618124,-2.52255978, 2.00937044, 2.48367185,-2.14459917,
  3.19838296,21.47877878,21.75854609,-9.21831532]

qfrc_actuator:
[ 5.27649743e-04, 1.49122749e-03,-7.96851650e-05,-6.30702268e-04,
  1.49459314e-04, 1.89329811e-04,-2.29674548e-04, 6.08688780e-04,
  1.84265409e-04, 1.32799185e-03,-5.20749624e-05, 5.74225224e-04,
  7.84988337e-02,-1.85558100e-04, 7.11955489e-02,-3.80059920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.88644695,  6.36491004, -2.62889174,  6.36491004,  9.99304523,
        7.52150356, -2.62889174,  7.52150356, 25.09704603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006547638211756995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23902096e-14, -8.47804192e-14,  1.00000000e+00, -3.59385974e-27,
        1.00000000e+00,  8.47804192e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23902096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03473931, -0.05106907,  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:
[-1.22658884e-05,-2.08620310e-05,-1.41934900e-07,-1.58666826e-05,
  1.01394043e-05, 1.96976695e-05,-1.02340238e-05,-1.25231532e-05,
  1.53113062e-06,-6.07341740e-05, 1.00561882e-05,-7.86892204e-06,
 -5.34585621e-04,-1.23038625e-04,-2.84707836e-04,-7.35315771e-05,
  3.27857111e-04,-3.89543324e-04,-4.90515086e+00, 2.11912204e-04,
  1.19213536e-02,-5.04283419e-04]


--- Step 190 ---
qpos:
[ 0.01831284, 0.02958109,-0.00925364,-0.02505109, 0.00773579, 0.00460014,
 -0.00764773, 0.02653494, 0.01206656, 0.0274994 ,-0.00812225, 0.02589527,
  0.52002544, 0.00625712, 0.40131987, 0.04683877, 0.05908946,-0.07502575,
  0.17155295, 0.99978579, 0.02009895,-0.00364826,-0.00333072]

qacc:
[-4.88287994e+00,-1.50609548e-02,-1.50193084e-01,-4.20769172e-01,
  3.99937457e+00, 9.97423710e-01,-2.17313803e+00,-1.45166459e+00,
 -3.18815116e+00,-3.16267656e+00, 1.02257311e+01,-1.32133517e+01,
 -1.19534919e+00, 1.19601171e+00,-4.80603055e+00, 9.66976344e+00,
  2.34685091e+00,-2.04299631e+00, 2.56918144e+00, 1.99770177e+01,
  2.08115761e+01,-8.02581055e+00]

qfrc_actuator:
[ 4.98751474e-04, 1.46884580e-03,-9.14109644e-05,-6.34445529e-04,
  1.72666371e-04, 1.90432016e-04,-2.55882596e-04, 5.95619976e-04,
  1.64730108e-04, 1.26282488e-03,-2.98795325e-05, 5.64868866e-04,
  7.83526853e-02,-2.00864920e-04, 7.10402020e-02,-3.79877881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.27155158,  6.74317144, -2.72123158,  6.74317144, 10.1872744 ,
        7.22511783, -2.72123158,  7.22511783, 25.17528625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000702805102939269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94925642e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.94925642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03474648, -0.05108567,  0.0619874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92943793e-05,-3.51596253e-05,-1.66797454e-05,-4.94387911e-06,
  2.35030105e-05, 9.40091503e-06,-2.38448380e-05,-1.28466526e-05,
 -1.94820173e-05,-9.77120022e-05, 1.05342635e-05,-1.17985860e-05,
 -5.38351724e-04,-8.84158869e-05,-2.95398569e-04,-3.93679819e-05,
  2.75100002e-04,-3.28466506e-04,-4.90513412e+00, 2.35660345e-04,
  1.19030874e-02,-4.91427617e-04]


--- Step 191 ---
qpos:
[ 0.01832105, 0.02959279,-0.00925791,-0.02506278, 0.00773914, 0.00460252,
 -0.0076517 , 0.02654634, 0.01207139, 0.02750847,-0.00812577, 0.02590448,
  0.52165497, 0.00626163, 0.40313892, 0.04685459, 0.05900203,-0.07492696,
  0.17157284, 0.99979356, 0.01963807,-0.00404087,-0.00329562]

qacc:
[ -3.55398282, -0.04677181, -0.63027255,  1.88509183, -0.81374475,
  -1.07128036,  4.53201566, -8.80555969,  0.65187948, -4.27310559,
  18.72806883,-36.27789667, -1.70930886,  3.94021727, -8.15282064,
  21.70974113,  2.22752083, -1.95223614,  2.0147335 , 18.70741677,
  19.96274884, -7.06358176]

qfrc_actuator:
[ 4.78302089e-04, 1.45075364e-03,-9.66852355e-05,-6.31961696e-04,
  1.67188060e-04, 1.72208238e-04,-2.51947657e-04, 5.83268148e-04,
  1.69084067e-04, 1.29152141e-03, 2.02612060e-05, 5.19774647e-04,
  7.82063821e-02,-1.93868246e-04, 7.09082018e-02,-3.73252542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.52671376,  7.02986192, -2.6893236 ,  7.02986192, 10.62669055,
        8.1033048 , -2.6893236 ,  8.1033048 , 28.70866221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007363411948329845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13081717e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13081717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03475099, -0.05109771,  0.06198681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13451496e-05,-4.18068805e-05,-1.48342253e-05, 3.13384187e-07,
 -4.80561788e-06,-1.85049877e-05, 2.48657808e-06,-1.30476116e-05,
  3.77652103e-06,-2.45791728e-05, 3.07684567e-05,-4.91792220e-05,
 -5.36859040e-04,-6.47158044e-05,-2.72580648e-04, 2.57322881e-05,
  2.29214797e-04,-2.75820624e-04,-4.90511849e+00, 2.54887002e-04,
  1.18890193e-02,-4.79607679e-04]


--- Step 192 ---
qpos:
[ 0.0183293 , 0.02960425,-0.00926253,-0.02507433, 0.00774205, 0.00460466,
 -0.00765524, 0.02655715, 0.01207624, 0.02751769,-0.0081292 , 0.02591374,
  0.52328173, 0.00626558, 0.40495454, 0.04687042, 0.0589231 ,-0.07483566,
  0.17159887, 0.99980041, 0.01921264,-0.00439493,-0.0032722 ]

qacc:
[  0.29264645,  0.91302775, -4.29571028,  7.32080758, -3.82193121,
  -2.71422731, 11.72660283,-22.49117941,  0.1257505 ,  0.07172828,
  -0.23025222,  1.02137996, -0.84101776, -0.62611194, -5.0922256 ,
  10.4847001 ,  2.12468808, -1.87248214,  1.53301468, 17.63954716,
  19.21407993, -6.28726984]

qfrc_actuator:
[ 4.80747699e-04, 1.43540065e-03,-1.15839861e-04,-6.25826995e-04,
  1.44865753e-04, 1.60419035e-04,-2.30324860e-04, 5.53689532e-04,
  1.69718952e-04, 1.32304301e-03, 3.35940171e-05, 5.25119942e-04,
  7.80600936e-02,-2.27080846e-04, 7.07317363e-02,-3.73528529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.68214384,  7.25107083, -2.53718463,  7.25107083, 11.28344663,
       10.29223544, -2.53718463, 10.29223544, 37.09652985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007578495132517654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32482508e-14, -7.32482508e-14,  1.00000000e+00, -5.36530625e-27,
        1.00000000e+00,  7.32482508e-14, -1.00000000e+00,  0.00000000e+00,
       -7.32482508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03475329, -0.05110607,  0.06198643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77971865e-06,-4.21624129e-05,-2.96736686e-05, 3.84639266e-06,
 -2.24648897e-05,-2.22500138e-05, 1.76483992e-05,-3.05613058e-05,
  7.64741171e-07, 2.17335718e-05, 1.02629680e-05, 4.36733002e-06,
 -5.32543288e-04,-1.03599381e-04,-3.00274807e-04,-3.69435268e-05,
  1.89322459e-04,-2.30286776e-04,-4.90510406e+00, 2.70501981e-04,
  1.18781553e-02,-4.68737483e-04]


--- Step 193 ---
qpos:
[ 0.01833717, 0.02961523,-0.0092673 ,-0.02508537, 0.00774501, 0.00460655,
 -0.00765874, 0.0265672 , 0.01208175, 0.02752725,-0.00813257, 0.02592332,
  0.52490559, 0.0062692 , 0.40676632, 0.04688842, 0.05885232,-0.07475157,
  0.17162936, 0.99980646, 0.01882085,-0.00471176,-0.00325923]

qacc:
[ -3.25986577,  0.86437438, -6.17515716, 15.77871636,  0.48789457,
  -2.03403472,  9.96687742,-22.96743694,  5.62429526,  0.91501183,
  -3.9590586 ,  9.05841116, -1.13842077,  0.82153974,-12.18512983,
  34.45095915,  2.03682677, -1.80318723,  1.11865145, 16.74434824,
  18.56107298, -5.66066275]

qfrc_actuator:
[ 4.61141696e-04, 1.40400651e-03,-1.25273798e-04,-5.99849893e-04,
  1.48322741e-04, 1.34883342e-04,-2.33939707e-04, 5.14222291e-04,
  2.03657032e-04, 1.35593320e-03, 4.29126278e-05, 5.42337596e-04,
  7.78979295e-02,-2.48244274e-04, 7.05606795e-02,-3.61901363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.76300544, -7.42525171,  2.26492614, -7.42525171, 14.22992448,
       21.20091279,  2.26492614, 21.20091279, 77.26730885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007694792617287394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08211788e-13, -7.21411921e-14,  1.00000000e+00, -7.80652739e-27,
        1.00000000e+00,  7.21411921e-14, -1.00000000e+00,  0.00000000e+00,
       -1.08211788e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03475376, -0.05111147,  0.06198623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95971393e-05,-6.12950573e-05,-2.17260363e-05, 2.32290401e-05,
  2.81136961e-06,-3.57103509e-05,-7.10142266e-06,-4.04249941e-05,
  3.39949813e-05, 4.70521195e-05, 1.51397336e-05, 1.85564502e-05,
 -5.50365306e-04,-9.36699477e-05,-3.13393764e-04, 7.53085087e-05,
  1.54685872e-04,-1.90794567e-04,-4.90509084e+00, 2.83200200e-04,
  1.18697546e-02,-4.58747082e-04]


--- Step 194 ---
qpos:
[ 0.01834405, 0.02962562,-0.00927241,-0.02509528, 0.00774834, 0.0046083 ,
 -0.00766232, 0.02657704, 0.01208797, 0.02753743,-0.00813594, 0.025933  ,
  0.5265264 , 0.00627326, 0.40857464, 0.04690758, 0.05878938,-0.07467445,
  0.17166292, 0.99981181, 0.01846121,-0.00499251,-0.00325574]

qacc:
[ -8.46593529,  2.49446805,-14.70320278, 34.96773885,  3.19345393,
  -0.37765891,  1.96837879, -5.37440376,  6.03931477,  1.04079343,
  -2.93657106,  4.19157399, -2.10751765,  5.79108904, -8.56348067,
  22.72196464,  1.96223362, -1.74346543,  0.76482966, 15.99550918,
  17.99608619, -5.15439996]

qfrc_actuator:
[ 4.10953092e-04, 1.36330663e-03,-1.46693379e-04,-5.44658517e-04,
  1.66930635e-04, 1.36710244e-04,-2.34741954e-04, 5.04728885e-04,
  2.39173547e-04, 1.40714833e-03, 4.98167200e-05, 5.48648855e-04,
  7.77423291e-02,-2.26682682e-04, 7.04036802e-02,-3.55774482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.78753156, -7.56228901,  1.85941731, -7.56228901,  9.98175253,
        8.92394245,  1.85941731,  8.92394245, 44.08139166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007730774996858314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43610831e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43610831e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03475276, -0.05111449,  0.06198617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08084251e-05,-7.88169668e-05,-3.60065282e-05, 5.22777270e-05,
  1.86772958e-05,-2.13909821e-05,-1.04559503e-05,-1.20752240e-05,
  3.65564123e-05, 8.11509315e-05, 1.90407962e-05, 9.17711078e-06,
 -5.55120609e-04,-5.29436639e-05,-2.91765015e-04, 2.51309249e-05,
  1.24696624e-04,-1.56484126e-04,-4.90507878e+00, 2.93510800e-04,
  1.18632651e-02,-4.49579672e-04]


--- Step 195 ---
qpos:
[ 0.01834994, 0.02963568,-0.00927756,-0.02510486, 0.00775187, 0.00460996,
 -0.00766592, 0.02658668, 0.01209387, 0.02754808,-0.00813945, 0.02594305,
  0.52814443, 0.00627719, 0.41037989, 0.04692623, 0.05873404,-0.0746041 ,
  0.17169833, 0.99981655, 0.01813246,-0.00523818,-0.00326094]

qacc:
[-8.58898381, 0.39048802,-3.44036677, 9.59843251, 1.7349049 ,-0.47594973,
  2.35715449,-5.7174347 ,-2.66104002, 1.752498  ,-6.93441085,13.27746917,
 -1.36177199, 2.1502694 ,-2.96619487, 3.8855715 , 1.89922541,-1.69230925,
  0.46440219,15.3699858 ,17.51031178,-4.74479636]

qfrc_actuator:
[ 3.60925515e-04, 1.37058949e-03,-1.39543339e-04,-5.26000207e-04,
  1.76546284e-04, 1.37186722e-04,-2.33739440e-04, 4.95224023e-04,
  2.22065872e-04, 1.41567356e-03, 3.75621178e-05, 5.66259514e-04,
  7.76174128e-02,-2.33390969e-04, 7.02605455e-02,-3.58260370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.76807907, -7.64984592,  1.3501518 , -7.64984592,  9.44528466,
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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: -0.0007702207469347799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.20717424e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.20717424e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03475057, -0.05111564,  0.06198622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15609407e-05,-4.23228500e-05,-1.17988819e-05, 1.50671361e-05,
  1.01398852e-05,-1.41999982e-05,-5.12312081e-06,-1.10370638e-05,
 -1.59785777e-05, 5.79134647e-05, 7.07482181e-06, 2.18886577e-05,
 -5.22548691e-04,-7.95469095e-05,-2.75106026e-04,-6.13730131e-05,
  9.88575036e-05,-1.26668932e-04,-4.90506785e+00, 3.01836186e-04,
  1.18582745e-02,-4.41189095e-04]


--- Step 196 ---
qpos:
[ 0.01835552, 0.02964594,-0.00928256,-0.02511491, 0.00775513, 0.00461114,
 -0.00766906, 0.02659649, 0.01209919, 0.02755854,-0.00814274, 0.02595294,
  0.52975977, 0.0062807 , 0.41218188, 0.04694539, 0.05868609,-0.07454035,
  0.17173459, 0.99982076, 0.01783356,-0.0054496 ,-0.00327419]

qacc:
[ -2.59439992, -1.13101607,  6.44743083,-15.09979602, -2.23557942,
  -1.55359106,  3.92109472, -1.35904239, -5.05894845, -1.14937149,
   4.40520251, -7.27385131, -0.96132062,  0.20796973, -6.33190405,
  15.20157555,  1.84623924, -1.6487104 ,  0.21049072, 14.8480236 ,
  17.09488082, -4.41281474]

qfrc_actuator:
[ 3.46909101e-04, 1.42439724e-03,-1.15414219e-04,-5.46683670e-04,
  1.63034670e-04, 1.01361217e-04,-2.13929877e-04, 5.03538909e-04,
  1.91872398e-04, 1.36299409e-03, 3.16906789e-05, 5.54828207e-04,
  7.74843644e-02,-2.56663251e-04, 7.01151674e-02,-3.55141794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.71300193, -7.67824051,  0.73145164, -7.67824051,  8.39568058,
        7.16625757,  0.73145164,  7.16625757, 82.93909527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007622474956658493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.64128131e-14, -7.28256263e-14,  1.00000000e+00, -2.65178592e-27,
        1.00000000e+00,  7.28256263e-14, -1.00000000e+00,  0.00000000e+00,
       -3.64128131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03474744, -0.05111531,  0.06198637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55573819e-05, 2.80305195e-05, 1.44162378e-05,-2.25989035e-05,
 -1.32277449e-05,-4.53334813e-05, 1.58642792e-05, 7.29664033e-06,
 -3.06106383e-05,-1.82481777e-05, 7.62099057e-06,-8.31523040e-06,
 -5.10785816e-04,-9.38438259e-05,-2.80484069e-04,-8.27902381e-06,
  7.67647725e-05,-1.00802813e-04,-4.90505798e+00, 3.08482365e-04,
  1.18544740e-02,-4.33537784e-04]


--- Step 197 ---
qpos:
[ 0.01836123, 0.02965598,-0.0092868 ,-0.02512547, 0.00775753, 0.00461185,
 -0.00767161, 0.02660631, 0.0121041 , 0.02756847,-0.00814588, 0.02596302,
  0.53137225, 0.00628495, 0.41398021, 0.04696709, 0.05864535,-0.07448304,
  0.17177083, 0.99982448, 0.01756363,-0.00562748,-0.00329496]

qacc:
[ 1.16507864e+00,-3.46838395e+00, 1.40659799e+01,-2.38292162e+01,
 -7.68997290e+00,-2.24074161e+00, 7.03212143e+00,-7.39223816e+00,
 -3.41986523e+00,-7.68515425e-01, 9.58430704e-01, 2.31093364e+00,
 -2.32581641e+00, 7.26045829e+00,-1.29991319e+01, 3.78648797e+01,
  1.80187535e+00,-1.61172196e+00,-3.22025659e-03, 1.44129251e+01,
  1.67414350e+01,-4.14319205e+00]

qfrc_actuator:
[ 3.54201140e-04, 1.39919494e-03,-8.12758402e-05,-5.72538496e-04,
  1.18269040e-04, 7.96743602e-05,-1.83310635e-04, 5.04501622e-04,
  1.71987868e-04, 1.30955969e-03, 2.93561638e-05, 5.61854533e-04,
  7.73412021e-02,-2.18519398e-04, 6.99525933e-02,-3.41640582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007502891551217777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39863436e-14,  7.39863436e-14,  1.00000000e+00,  5.47397904e-27,
        1.00000000e+00, -7.39863436e-14, -1.00000000e+00,  0.00000000e+00,
       -7.39863436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0347436 , -0.05111383,  0.06198658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82372691e-06,-7.83175004e-06, 4.08770919e-05,-2.45857543e-05,
 -4.51583071e-05,-4.34807756e-05, 2.34629258e-05,-3.06123728e-07,
 -2.07562092e-05,-6.27772296e-05,-5.55224097e-06, 6.31041445e-06,
 -5.14238563e-04,-3.20947891e-05,-2.93655603e-04, 9.79490912e-05,
  5.80920459e-05,-7.84521347e-05,-4.90504912e+00, 3.13682173e-04,
  1.18516322e-02,-4.26595121e-04]


--- Step 198 ---
qpos:
[ 0.01836767, 0.02966547,-0.0092904 ,-0.02513586, 0.00776005, 0.00461254,
 -0.00767448, 0.02661573, 0.01210804, 0.02757828,-0.00814919, 0.02597342,
  0.53298201, 0.00628964, 0.41577546, 0.04698783, 0.05861166,-0.07443206,
  0.17180634, 0.99982778, 0.01732194,-0.00577245,-0.00332285]

qacc:
[ 6.31484017,-2.17406249, 5.92294158,-3.51837255, 1.17288088, 0.02908034,
  1.57559375,-8.08870205,-8.24227991, 1.00294671,-5.13315083,11.01561649,
 -1.95939759, 5.44931828,-1.58304079,-0.89183512, 1.76490754,-1.58048613,
 -0.18236961,14.05070477,16.44238429,-3.92371052]

qfrc_actuator:
[ 3.91716940e-04, 1.34468035e-03,-5.95591667e-05,-5.65773464e-04,
  1.26484684e-04, 8.44201872e-05,-1.99778490e-04, 4.83387984e-04,
  1.22829474e-04, 1.32710761e-03, 2.91150614e-05, 5.79682423e-04,
  7.72133879e-02,-1.97783194e-04, 6.97958323e-02,-3.46987251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007352982560025478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77473704e-14, -7.54947408e-14,  1.00000000e+00, -2.84972794e-27,
        1.00000000e+00,  7.54947408e-14, -1.00000000e+00,  0.00000000e+00,
       -3.77473704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03473922, -0.05111148,  0.06198685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76857162e-05,-5.18104259e-05, 2.42324785e-05, 7.37439694e-06,
  6.91620964e-06,-1.47689227e-05,-2.25686623e-05,-2.21870752e-05,
 -4.97583909e-05,-1.87709085e-05,-1.37702393e-05, 1.50325096e-05,
 -4.93330753e-04,-4.62238558e-05,-2.81056974e-04,-8.60681859e-05,
  4.25764349e-05,-5.92730626e-05,-4.90504121e+00, 3.17612931e-04,
  1.18495747e-02,-4.20336112e-04]


--- Step 199 ---
qpos:
[ 0.01837555, 0.0296746 ,-0.00929403,-0.02514572, 0.007763  , 0.00461305,
 -0.00767749, 0.02662483, 0.01211136, 0.02758805,-0.00815253, 0.02598359,
  0.53458923, 0.00629392, 0.41756708, 0.04700682, 0.05858491,-0.07438729,
  0.17184052, 0.99983069, 0.01710791,-0.00588499,-0.00335751]

qacc:
[12.31105358, 0.70741099,-5.45234476,14.92539823, 3.72418098,-0.52752908,
  2.87187292,-8.02952157,-5.2877928 ,-0.4216956 , 2.46044786,-6.48473334,
 -0.93970861, 0.28049098,-0.06162314,-7.52812863, 1.73427638,-1.55424253,
 -0.33190634,13.74971458,16.19098621,-3.74459835]

qfrc_actuator:
[ 4.64467016e-04, 1.32626959e-03,-6.32223150e-05,-5.39910989e-04,
  1.48075695e-04, 6.92505506e-05,-2.08319174e-04, 4.67196984e-04,
  9.23363832e-05, 1.33378670e-03, 3.03989447e-05, 5.68274440e-04,
  7.70788942e-02,-2.22980292e-04, 6.96000328e-02,-3.56293197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007180734974778086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.86528339e-14, -7.73056678e-14,  1.00000000e+00, -2.98808313e-27,
        1.00000000e+00,  7.73056678e-14, -1.00000000e+00,  0.00000000e+00,
       -3.86528339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03473446, -0.05110847,  0.06198716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.38037979e-05,-4.23472330e-05,-1.11778372e-05, 2.46334290e-05,
  2.17842388e-05,-2.90512226e-05,-1.51346432e-05,-1.80530943e-05,
 -3.19282803e-05,-6.36233798e-06,-3.86259790e-06,-1.24311543e-05,
 -4.87023748e-04,-9.05276230e-05,-3.36318373e-04,-1.34650047e-04,
  3.00070026e-05,-4.29933197e-05,-4.90503421e+00, 3.20409781e-04,
  1.18481702e-02,-4.14740332e-04]


--- Step 200 ---
qpos:
[ 0.01838424, 0.02968363,-0.00929754,-0.02515489, 0.00776584, 0.00461345,
 -0.00768034, 0.02663363, 0.01211499, 0.02759771,-0.00815609, 0.02599356,
  0.53619375, 0.00629797, 0.41935398, 0.0470286 , 0.058565  ,-0.07434866,
  0.17187289, 0.99983326, 0.01692101,-0.00596555,-0.00339865]

qacc:
[ 6.96621253e+00, 9.14952950e-01,-6.37446836e+00, 1.81641112e+01,
 -9.53771937e-01,-1.17982788e+00, 5.23686340e+00,-1.04893310e+01,
  2.53744117e+00, 3.60215864e-02, 4.50279456e-01,-3.34807060e+00,
 -1.12664184e+00, 1.16477064e+00,-1.53624724e+01, 4.36935754e+01,
  1.70907419e+00,-1.53232595e+00,-4.56128668e-01, 1.35002827e+01,
  1.59813296e+01,-3.59804178e+00]

qfrc_actuator:
[ 5.04105655e-04, 1.34728448e-03,-4.61896666e-05,-5.03013834e-04,
  1.41843859e-04, 7.78043672e-05,-1.94409687e-04, 4.54034119e-04,
  1.08588035e-04, 1.31614843e-03, 1.47734360e-05, 5.57505475e-04,
  7.69244986e-02,-2.39563247e-04, 6.93862960e-02,-3.41228591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006992816365098131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.93831102e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.93831102e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03472943, -0.05110498,  0.0619875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17491850e-05,-4.18438818e-06, 7.70882770e-06, 3.51821574e-05,
 -5.62153954e-06,-1.15878247e-05, 5.42775555e-06,-1.52985444e-05,
  1.53438873e-05,-2.28648640e-05,-1.79388567e-05,-1.14522507e-05,
 -5.08448808e-04,-8.41174533e-05,-3.82337415e-04, 9.98785889e-05,
  2.02153170e-05,-2.93976991e-05,-4.90502807e+00, 3.22175752e-04,
  1.18473193e-02,-4.09791080e-04]


--- Step 201 ---
qpos:
[ 0.01839231, 0.02969285,-0.00930095,-0.02516392, 0.00776858, 0.00461419,
 -0.00768352, 0.02664253, 0.01211947, 0.02760701,-0.0081597 , 0.02600334,
  0.53779544, 0.0063019 , 0.42113673, 0.04705288, 0.05855184,-0.07431608,
  0.17190301, 0.9998355 , 0.01676085,-0.00601447,-0.00344605]

qacc:
[ -5.37684202,  0.22730557, -1.00542951,  2.98046921, -0.86860964,
   1.57710872, -5.35568159,  7.24476305,  7.30978163, -0.72394446,
   2.64733577, -5.48857457, -1.34085143,  2.01645467,-13.65477475,
  38.96312735,  1.68852712, -1.51415907, -0.55874701, 13.29438786,
  15.80827136, -3.47779086]

qfrc_actuator:
[ 4.70668844e-04, 1.37409200e-03,-3.46431855e-05,-4.95373079e-04,
  1.37034198e-04, 1.18349358e-04,-2.02768729e-04, 4.60543423e-04,
  1.52216623e-04, 1.28401995e-03, 6.94738631e-06, 5.47171075e-04,
  7.67635926e-02,-2.50995822e-04, 6.92099575e-02,-3.27902278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006794764314317497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.16969488e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.16969488e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03472426, -0.05110117,  0.06198786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22475316e-05, 2.72876691e-05, 1.27942167e-05, 8.41812306e-06,
 -4.97304258e-06, 3.45278623e-05,-1.06042065e-05, 5.88879049e-06,
  4.41004369e-05,-4.94245018e-05,-1.52454481e-05,-1.21936303e-05,
 -5.29257657e-04,-8.16676355e-05,-3.36533120e-04, 9.04485857e-05,
  1.30677990e-05,-1.83166318e-05,-4.90502275e+00, 3.22989352e-04,
  1.18469469e-02,-4.05474705e-04]


--- Step 202 ---
qpos:
[ 0.01839956, 0.02970228,-0.00930473,-0.02517346, 0.0077709 , 0.00461504,
 -0.00768646, 0.02665177, 0.01212409, 0.0276157 ,-0.00816294, 0.02601224,
  0.53939426, 0.00630573, 0.42291644, 0.04707247, 0.05854537,-0.07428949,
  0.17193056, 0.99983744, 0.01662708,-0.00603203,-0.00349953]

qacc:
[ -6.9543171 ,  0.33537387,  1.34131211, -9.54293381, -3.72284696,
   0.17070344, -1.84216123,  7.30401465,  1.25381827, -3.65093149,
  15.61235595,-31.13774831, -1.53984149,  2.74274015,  9.7521887 ,
 -40.53497461,  1.67197696, -1.49924304, -0.64295449, 13.12537519,
  15.66735416, -3.37884272]

qfrc_actuator:
[ 4.30004807e-04, 1.36862962e-03,-6.19225735e-05,-5.22758701e-04,
  1.15356590e-04, 1.24421110e-04,-1.88558753e-04, 4.78586498e-04,
  1.58335808e-04, 1.24348929e-03, 2.14810237e-05, 5.01662790e-04,
  7.66095409e-02,-2.59355912e-04, 6.90348737e-02,-3.52982437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006591149441492333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.42207444e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.42207444e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03471901, -0.05109714,  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:
[-4.16184230e-05, 1.24890544e-05,-1.98313072e-05,-2.56037586e-05,
 -2.18067000e-05, 2.34306132e-05, 2.02487898e-05, 1.92561629e-05,
  7.42331216e-06,-7.21275022e-05, 1.93906459e-06,-4.84266199e-05,
 -5.36539113e-04,-8.15898555e-05,-3.17866839e-04,-2.88854835e-04,
  8.45954868e-06,-9.61718692e-06,-4.90501824e+00, 3.22910296e-04,
  1.18469958e-02,-4.01780063e-04]


--- Step 203 ---
qpos:
[ 0.01840696, 0.02971163,-0.00930901,-0.02518286, 0.00777329, 0.00461595,
 -0.00768885, 0.02666045, 0.01212806, 0.02762391,-0.00816576, 0.02602085,
  0.54099013, 0.00630984, 0.42469281, 0.04708685, 0.05854554,-0.07426886,
  0.17195527, 0.9998391 , 0.01651944,-0.00601848,-0.00355893]

qacc:
[  1.23106153,  1.54706939, -6.23780823,  9.44336584,  0.60599862,
  -2.60998009, 11.80405407,-22.4668055 , -5.53147779, -2.40783138,
   8.88165884,-14.20322101, -2.0038574 ,  4.99804762, 10.88313416,
 -45.04514761,  1.65886416, -1.48714774, -0.71149634, 12.9877159 ,
  15.5547209 , -3.29718816]

qfrc_actuator:
[ 4.38694778e-04, 1.34369949e-03,-9.42996875e-05,-5.17323439e-04,
  1.19429222e-04, 1.27660911e-04,-1.61251933e-04, 4.50004359e-04,
  1.24566029e-04, 1.23380744e-03, 4.90321552e-05, 4.89085562e-04,
  7.64543813e-02,-2.48096168e-04, 6.88659183e-02,-3.79183574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006385715302308914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.69302006e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.69302006e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03471378, -0.051093  ,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46006068e-06,-2.34517116e-05,-3.31764348e-05, 4.79427316e-06,
  3.45947883e-06, 2.13255999e-05, 3.53117849e-05,-2.65177769e-05,
 -3.35494344e-05,-5.19701941e-05, 1.11362157e-05,-1.65749671e-05,
 -5.43113934e-04,-6.31158075e-05,-3.48386941e-04,-3.19488505e-04,
  6.30937197e-06,-3.19598708e-06,-4.90501449e+00, 3.21983837e-04,
  1.18474227e-02,-3.98698084e-04]


--- Step 204 ---
qpos:
[ 0.01841406, 0.0297209 ,-0.00931312,-0.02519182, 0.00777571, 0.00461702,
 -0.00769118, 0.02666874, 0.01213229, 0.02763167,-0.00816855, 0.0260296 ,
  0.54258304, 0.00631442, 0.42646572, 0.04709946, 0.0585523 ,-0.07425413,
  0.17197691, 0.99984048, 0.01643769,-0.00597397,-0.00362412]

qacc:
[ -2.55981734,  0.35110578, -3.26233753, 10.67139826,  0.26318762,
  -0.74602866,  4.60324186,-11.52529444,  2.17576165, -0.39396445,
  -0.06614486,  2.87461751, -2.16706713,  5.94079326,  0.28170773,
  -8.21873115,  1.64871275, -1.47750246, -0.76673378, 12.87680614,
  15.46703344, -3.22960945]

qfrc_actuator:
[ 4.23109309e-04, 1.36054902e-03,-7.62183029e-05,-4.92632176e-04,
  1.20877962e-04, 1.29200649e-04,-1.61994798e-04, 4.29721210e-04,
  1.38611110e-04, 1.20725790e-03, 4.86863825e-05, 4.96021687e-04,
  7.63093197e-02,-2.25392319e-04, 6.87380561e-02,-3.86290871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006181498351064685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98020966e-14, -8.98020966e-14,  1.00000000e+00, -8.06441656e-27,
        1.00000000e+00,  8.98020966e-14, -1.00000000e+00,  0.00000000e+00,
       -8.98020966e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03470862, -0.05108883,  0.06198896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53986853e-05,-3.19970145e-06, 9.27134170e-06, 2.26405940e-05,
  1.55417607e-06, 1.95995668e-05, 7.09179402e-06,-1.86798116e-05,
  1.30686383e-05,-5.43039170e-05,-1.03595659e-05, 4.74269837e-06,
 -5.35406961e-04,-5.15240109e-05,-3.23413172e-04,-1.33864001e-04,
  6.55576493e-06, 1.02637815e-06,-4.90501150e+00, 3.20244052e-04,
  1.18481947e-02,-3.96221420e-04]


--- Step 205 ---
qpos:
[ 0.01842126, 0.02973016,-0.00931704,-0.02520042, 0.00777778, 0.00461824,
 -0.0076938 , 0.02667744, 0.01213665, 0.02763882,-0.00817146, 0.02603771,
  0.5441732 , 0.00631922, 0.42823513, 0.04711331, 0.05856562,-0.07424529,
  0.17199531, 0.99984158, 0.01638166,-0.00589866,-0.003695  ]

qacc:
[  0.88395859,  0.1657642 , -2.09462559,  7.8829841 , -3.05776561,
   1.85445644, -8.05981752, 15.50262564,  1.16497187, -1.77356715,
   7.85540748,-18.30320936, -1.72348356,  4.04380394, -8.81655716,
  23.49986037,  1.64111722, -1.46998751, -0.81070054, 12.78880112,
  15.40139943, -3.1735194 ]

qfrc_actuator:
[ 4.28849795e-04, 1.36700256e-03,-6.38201596e-05,-4.74498012e-04,
  1.03009931e-04, 1.29599756e-04,-1.79294095e-04, 4.49973101e-04,
  1.45195179e-04, 1.15298137e-03, 3.18159280e-05, 4.61088256e-04,
  7.61864001e-02,-2.13886463e-04, 6.86083532e-02,-3.78527495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000598093086257967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39220347e-13, -1.85627129e-13,  1.00000000e+00, -2.58430733e-26,
        1.00000000e+00,  1.85627129e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39220347e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03470356, -0.05108468,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26619963e-06, 7.25319703e-06, 1.36155343e-05, 1.87665620e-05,
 -1.78165315e-05, 1.19940957e-05,-1.30274072e-05, 2.09578327e-05,
  6.97188541e-06,-8.68304522e-05,-2.92735922e-05,-3.75570879e-05,
 -5.05796414e-04,-6.13009720e-05,-2.93500520e-04, 2.83095851e-05,
  9.15366192e-06, 3.10977180e-06,-4.90500925e+00, 3.17716339e-04,
  1.18492869e-02,-3.94344160e-04]


--- Step 206 ---
qpos:
[ 0.01842813, 0.02973918,-0.00932094,-0.0252087 , 0.00777996, 0.00461969,
 -0.00769665, 0.02668595, 0.01214071, 0.02764548,-0.0081746 , 0.02604534,
  0.54576079, 0.00632378, 0.43000095, 0.04712893, 0.05858549,-0.0742423 ,
  0.17201033, 0.99984242, 0.01635122,-0.00579264,-0.00377147]

qacc:
[ -2.84725431,  0.3201073 , -2.96495871,  8.75321764,  0.99758937,
   0.5331092 , -0.65962573, -2.4122204 , -2.55017668, -1.00574385,
   4.71550942,-12.46433037, -1.09695049,  1.14425777,-10.6299541 ,
  29.56322561,  1.63573135, -1.46432687, -0.84515184, 12.72047928,
  15.35530833, -3.12683339]

qfrc_actuator:
[ 4.11598983e-04, 1.33167016e-03,-7.26843469e-05,-4.60386319e-04,
  1.09421413e-04, 1.47021089e-04,-1.88448302e-04, 4.40645583e-04,
  1.29566559e-04, 1.13567488e-03, 2.29355789e-05, 4.37268230e-04,
  7.60662031e-02,-2.26787619e-04, 6.84457183e-02,-3.69171193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005785929363736203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79708166e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.79708166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03469866, -0.0510806 ,  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:
[-1.71198995e-05,-2.79521174e-05,-5.09082938e-06, 1.52644070e-05,
  5.90900336e-06, 2.22965964e-05,-7.55828473e-06,-8.87199685e-06,
 -1.54305094e-05,-7.37457451e-05,-3.17850972e-05,-2.93118784e-05,
 -4.82882831e-04,-8.27431408e-05,-2.95246986e-04, 5.69732516e-05,
  1.40717896e-05, 3.09802012e-06,-4.90500774e+00, 3.14419322e-04,
  1.18506802e-02,-3.93061598e-04]


--- Step 207 ---
qpos:
[ 0.01843371, 0.02974782,-0.00932453,-0.0252171 , 0.00778221, 0.00462132,
 -0.00769958, 0.02669428, 0.01214421, 0.02765199,-0.00817753, 0.02605357,
  0.54734587, 0.00632756, 0.43176372, 0.04713986, 0.05861189,-0.07424515,
  0.17202186, 0.99984297, 0.01634627,-0.00565596,-0.00385347]

qacc:
[-11.09735463, -1.60535477,  5.49037038, -7.69301848,  0.51901059,
   0.13523995,  0.64331533, -3.76737779, -4.79670503,  0.47790389,
  -4.57198789, 14.96037728, -0.57930409, -1.6366697 ,  9.66065759,
 -40.35027396,  1.63225886, -1.46028182, -0.87160596, 12.66913154,
  15.32657658, -3.08786783]

qfrc_actuator:
[ 3.45441692e-04, 1.30700477e-03,-5.86987787e-05,-4.66556090e-04,
  1.12325551e-04, 1.56752806e-04,-1.92672453e-04, 4.31756745e-04,
  1.00990967e-04, 1.17618184e-03, 5.45098371e-05, 4.73478680e-04,
  7.59264189e-02,-2.71717498e-04, 6.82581325e-02,-3.94467918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005597970768124877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98325978e-13, -9.91629888e-14,  1.00000000e+00, -1.96665967e-26,
        1.00000000e+00,  9.91629888e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98325978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03469394, -0.05107663,  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:
[-6.66890264e-05,-4.09840079e-05, 8.06589867e-06,-7.23899950e-06,
  3.08051887e-06, 2.02223289e-05,-8.59333907e-07,-8.38372404e-06,
 -2.90317271e-05,-8.76777957e-06, 1.13584756e-05, 3.13564805e-05,
 -4.88956654e-04,-1.13373755e-04,-3.17459893e-04,-2.88108066e-04,
  2.12905027e-05, 1.02171497e-06,-4.90500695e+00, 3.10366311e-04,
  1.18523605e-02,-3.92370043e-04]


--- Step 208 ---
qpos:
[ 0.01843948, 0.02975571,-0.00932746,-0.02522547, 0.00778481, 0.00462299,
 -0.00770225, 0.02670313, 0.01214769, 0.02765864,-0.00817997, 0.02606247,
  0.54892827, 0.00633086, 0.43352327, 0.04714659, 0.05864481,-0.07425384,
  0.17202982, 0.99984322, 0.01636673,-0.00548865,-0.00394094]

qacc:
[  1.72598656, -2.79392923,  8.46848246, -8.71931147,  3.19692592,
   0.33830352, -3.325422  , 11.77492136, -0.2025849 ,  0.17265543,
  -3.09990442, 13.54438258, -1.01875496,  0.35751004,  7.96019425,
 -34.73051204,  1.6304455 , -1.45764554, -0.89137939, 12.63247137,
  15.31330104, -3.05525944]

qfrc_actuator:
[ 3.57551619e-04, 1.25347930e-03,-3.13096891e-05,-4.66833534e-04,
  1.30886994e-04, 1.61822973e-04,-1.76224239e-04, 4.58704808e-04,
  1.00536513e-04, 1.21572633e-03, 9.22510602e-05, 5.09293813e-04,
  7.57749697e-02,-2.99712373e-04, 6.81089145e-02,-4.15127924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005418158073998008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12269580e-14, -1.02453916e-13,  1.00000000e+00, -5.24840245e-27,
        1.00000000e+00,  1.02453916e-13, -1.00000000e+00,  0.00000000e+00,
       -5.12269580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03468942, -0.05107279,  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:
[ 1.01313399e-05,-7.53801565e-05, 1.96241304e-05,-1.88492695e-06,
  1.86564290e-05, 1.57991653e-05, 2.02259524e-05, 2.76058861e-05,
 -1.29105090e-06, 3.81127780e-05, 3.83586443e-05, 3.64181945e-05,
 -5.09514286e-04,-9.94403039e-05,-3.28321983e-04,-2.63957653e-04,
  3.08000049e-05,-3.09953717e-06,-4.90500690e+00, 3.05566429e-04,
  1.18543168e-02,-3.92266661e-04]


--- Step 209 ---
qpos:
[ 0.0184457 , 0.02976292,-0.00933003,-0.02523343, 0.00778762, 0.00462465,
 -0.00770438, 0.02671222, 0.01215182, 0.02766536,-0.00818268, 0.02607109,
  0.55050788, 0.00633452, 0.43527966, 0.04715356, 0.05868424,-0.07426834,
  0.17203417, 0.99984317, 0.01641256,-0.00529073,-0.00403383]

qacc:
[ 3.83386969,-1.04250054, 0.63505317, 6.56225879, 1.79632395,-1.03350043,
  2.64061365, 0.6718354 , 5.59520676, 0.26451039, 0.29289446,-4.53740633,
 -1.9203242 , 4.87990114,-5.32922326,12.05097257, 1.63007259,-1.45623854,
 -0.9056162 ,12.60856183,15.31381976,-3.02790133]

qfrc_actuator:
[ 3.80142559e-04, 1.21865434e-03,-1.40985277e-05,-4.45904463e-04,
  1.40763562e-04, 1.64177672e-04,-1.47698627e-04, 4.71027210e-04,
  1.34394531e-04, 1.18344596e-03, 6.23201261e-05, 4.91327616e-04,
  7.56379295e-02,-2.82046155e-04, 6.80147981e-02,-4.11563472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005247277188751148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11580785e-13, -1.05790392e-13,  1.00000000e+00, -2.23832142e-26,
        1.00000000e+00,  1.05790392e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11580785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03468512, -0.05106912,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28386581e-05,-7.32517815e-05, 3.94870768e-06, 1.83500077e-05,
  1.04103026e-05, 1.65079618e-05, 3.52266855e-05, 1.42181856e-05,
  3.38507116e-05,-1.70484500e-06,-1.61389303e-05,-1.43254116e-05,
 -5.07788291e-04,-5.58942264e-05,-2.75006396e-04,-2.16328086e-05,
  4.25988772e-05,-9.25530039e-06,-4.90500758e+00, 3.00025476e-04,
  1.18565410e-02,-3.92749347e-04]


--- Step 210 ---
qpos:
[ 0.01845145, 0.02976959,-0.00933238,-0.02524143, 0.00779018, 0.00462639,
 -0.0077061 , 0.02672068, 0.01215632, 0.02767186,-0.00818583, 0.02607914,
  0.55208471, 0.00633841, 0.43703263, 0.04716316, 0.05873021,-0.07428868,
  0.17203485, 0.99984278, 0.01648373,-0.00506215,-0.00413208]

qacc:
[ -3.99498435, -1.3805818 ,  4.07183961, -4.72356882, -2.17353811,
  -2.28285823, 10.89202804,-22.2526257 ,  3.18406266, -0.23001953,
   2.83981222,-11.96107008, -1.7465487 ,  4.07590454,-12.94619878,
  38.11961053,  1.63095154, -1.45590478, -0.91531261, 12.59575641,
  15.32667909, -3.00489211]

qfrc_actuator:
[ 3.55438571e-04, 1.19528122e-03,-2.95917449e-06,-4.48168204e-04,
  1.27691831e-04, 1.64934509e-04,-1.30056733e-04, 4.39136949e-04,
  1.52662453e-04, 1.14360004e-03, 2.78512126e-05, 4.59506514e-04,
  7.54936647e-02,-2.73116479e-04, 6.78739657e-02,-3.97291406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005085846186311249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09148309e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09148309e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03468104, -0.05106561,  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:
[-2.40839401e-05,-6.29584871e-05,-2.91220474e-06,-4.90081043e-06,
 -1.27721389e-05, 1.78220676e-05, 2.58673895e-05,-2.97069892e-05,
  1.92810658e-05,-4.49527840e-05,-3.73678505e-05,-3.27601701e-05,
 -5.07259037e-04,-6.18545485e-05,-2.71934450e-04, 1.05409403e-04,
  5.66928557e-05,-1.74428367e-05,-4.90500900e+00, 2.93746604e-04,
  1.18590270e-02,-3.93816619e-04]


--- Step 211 ---
qpos:
[ 0.01845651, 0.02977592,-0.00933493,-0.02524974, 0.00779257, 0.00462811,
 -0.00770781, 0.02672875, 0.01216101, 0.02767821,-0.00818917, 0.02608706,
  0.55365868, 0.00634249, 0.43878165, 0.04717711, 0.0587827 ,-0.07431484,
  0.17203185, 0.99984203, 0.01658023,-0.00480289,-0.00423567]

qacc:
[-5.88665575e+00,-5.57514148e-01, 2.62994767e+00,-7.39557217e+00,
 -1.55076789e+00,-9.02381361e-01, 4.92480008e+00,-1.20323993e+01,
  1.57195991e+00, 4.15024869e-02, 9.25520398e-02,-1.86612736e+00,
 -1.67642234e+00, 3.63745731e+00,-1.89003885e+01, 5.77989580e+01,
  1.63293597e+00,-1.45652325e+00,-9.21249105e-01, 1.25927671e+01,
  1.53507477e+01,-2.98552267e+00]

qfrc_actuator:
[ 3.20843875e-04, 1.17891108e-03,-1.32124113e-05,-4.64055513e-04,
  1.18973392e-04, 1.46896840e-04,-1.36774411e-04, 4.16984304e-04,
  1.61596037e-04, 1.15272488e-03, 2.64520578e-05, 4.55294817e-04,
  7.53345128e-02,-2.69461885e-04, 6.76892635e-02,-3.75068136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004934158086091767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.62518978e-14, -1.12503796e-13,  1.00000000e+00, -6.32855200e-27,
        1.00000000e+00,  1.12503796e-13, -1.00000000e+00,  0.00000000e+00,
       -5.62518978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0346772 , -0.05106228,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53349333e-05,-5.26098965e-05,-2.38220377e-05,-1.87709546e-05,
 -9.07498960e-06,-4.06741974e-06,-8.96637976e-07,-2.10904792e-05,
  9.50495221e-06,-2.53313589e-05,-1.64742337e-05,-8.09398449e-06,
 -5.22295523e-04,-6.77900878e-05,-2.99790820e-04, 1.92498887e-04,
  7.30938117e-05,-2.76659049e-05,-4.90501118e+00, 2.86730845e-04,
  1.18617703e-02,-3.95467521e-04]


--- Step 212 ---
qpos:
[ 0.01846181, 0.0297822 ,-0.00933779,-0.02525751, 0.00779518, 0.0046298 ,
 -0.00770985, 0.0267365 , 0.01216543, 0.02768416,-0.00819241, 0.02609488,
  0.55522986, 0.00634661, 0.44052768, 0.04719149, 0.05884174,-0.07434683,
  0.17202515, 0.99984089, 0.01670209,-0.00451287,-0.00434457]

qacc:
[ 2.00449376, 1.90231989,-9.13098246,18.90740848, 1.94191679, 0.25497544,
  0.31922048,-5.01583356,-2.32038496,-0.99600226, 3.1856537 ,-4.7351094 ,
 -1.60482576, 3.20863804,-5.66972021,13.5672987 , 1.6359966 ,-1.45807516,
 -0.92359113,12.59917373,15.38586401,-2.96937072]

qfrc_actuator:
[ 3.33978102e-04, 1.20227388e-03,-1.82336656e-05,-4.34576582e-04,
  1.30646905e-04, 1.35394595e-04,-1.57883173e-04, 4.00714274e-04,
  1.47216448e-04, 1.12024165e-03, 2.70526250e-05, 4.49674910e-04,
  7.51931643e-02,-2.69005021e-04, 6.75476456e-02,-3.73203894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004792314279949972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.79168518e-14,  1.15833704e-13,  1.00000000e+00,  6.70872346e-27,
        1.00000000e+00, -1.15833704e-13, -1.00000000e+00,  0.00000000e+00,
       -5.79168518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0346736 , -0.05105914,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20726752e-05,-1.19887978e-05,-1.94997562e-05, 2.60473113e-05,
  1.14151109e-05,-1.49294814e-05,-2.28069486e-05,-1.69035206e-05,
 -1.40905052e-05,-5.05891493e-05,-6.98978894e-06,-7.45689865e-06,
 -5.15893369e-04,-7.37286071e-05,-2.58019363e-04,-9.40651347e-06,
  9.18190813e-05,-3.99338985e-05,-4.90501413e+00, 2.78977448e-04,
  1.18647675e-02,-3.97701562e-04]


--- Step 213 ---
qpos:
[ 0.01846757, 0.02978864,-0.00934085,-0.02526455, 0.00779756, 0.00463157,
 -0.00771216, 0.02674364, 0.01216999, 0.02768961,-0.0081953 , 0.02610291,
  0.55679823, 0.00635108, 0.44227106, 0.04720488, 0.05890734,-0.07438466,
  0.17201476, 0.99983931, 0.01684933,-0.004192  ,-0.00445875]

qacc:
[  3.94125973,  2.27509182,-10.85996897, 23.59244728, -1.99415573,
  -0.38614445,  4.11965172,-14.39129544,  1.19900665, -1.1871276 ,
   2.38787115,  1.07352516, -1.94752769,  4.88623793, -0.86689162,
  -2.45915329,  1.63998061, -1.46042986, -0.92316883, 12.61372855,
  15.43078636, -2.95588758]

qfrc_actuator:
[ 3.57351072e-04, 1.23156190e-03,-1.99177678e-05,-3.96349074e-04,
  1.18722641e-04, 1.45580812e-04,-1.69537981e-04, 3.70278381e-04,
  1.54738236e-04, 1.09862042e-03, 4.64069015e-05, 4.60985396e-04,
  7.50572702e-02,-2.52662407e-04, 6.74266078e-02,-3.78012301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004660231530902864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19116724e-13, -2.38233448e-13,  1.00000000e+00, -2.83775878e-26,
        1.00000000e+00,  2.38233448e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19116724e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03467022, -0.05105618,  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:
[ 2.37046690e-05, 1.94828252e-05,-5.68918641e-06, 3.75549620e-05,
 -1.16034498e-05,-3.64913658e-06,-1.81465709e-05,-3.22108843e-05,
  7.10873376e-06,-5.18601031e-05, 7.74141243e-06, 8.73352208e-06,
 -5.06644951e-04,-5.76424728e-05,-2.43939864e-04,-8.27623865e-05,
  1.12892028e-04,-5.42619388e-05,-4.90501788e+00, 2.70483752e-04,
  1.18680164e-02,-4.00518694e-04]


--- Step 214 ---
qpos:
[ 0.01847391, 0.02979519,-0.00934418,-0.02527142, 0.00779909, 0.00463346,
 -0.00771494, 0.02675037, 0.01217425, 0.02769483,-0.00819805, 0.026111  ,
  0.55836384, 0.00635575, 0.44401116, 0.04721993, 0.05897951,-0.07442835,
  0.17200068, 0.99983726, 0.01702199,-0.00384018,-0.00457819]

qacc:
[ 4.96896681, 1.25285419,-5.00279412, 8.41907464,-7.50560314, 0.61402826,
 -0.19008836,-6.34926095,-2.4633711 ,-0.61956128, 1.56524989,-0.77085471,
 -1.74147113, 3.9708755 ,-9.7947842 ,27.36228364, 1.64473127,-1.46345213,
 -0.92083425,12.63518964,15.48422233,-2.94458053]

qfrc_actuator:
[ 3.86547817e-04, 1.22870833e-03,-3.73322693e-05,-3.88780686e-04,
  7.52457000e-05, 1.50943197e-04,-1.93188119e-04, 3.49529866e-04,
  1.39593280e-04, 1.10151937e-03, 5.89717448e-05, 4.64432286e-04,
  7.49140974e-02,-2.44840808e-04, 6.72807147e-02,-3.68947391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045376773227717715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03466708, -0.0510534 ,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98767286e-05, 8.28235176e-06,-1.28226270e-05, 8.94310399e-06,
 -4.38058933e-05,-1.86414826e-06,-2.77626284e-05,-2.21739447e-05,
 -1.49394379e-05,-2.42925587e-05, 3.06469978e-06, 1.63928411e-06,
 -5.05135053e-04,-6.39929286e-05,-2.71650833e-04, 5.34260343e-05,
  1.36340219e-04,-7.06694646e-05,-4.90502243e+00, 2.61245938e-04,
  1.18715156e-02,-4.03919233e-04]


--- Step 215 ---
qpos:
[ 0.01848055, 0.02980146,-0.00934749,-0.02527846, 0.00780077, 0.00463524,
 -0.00771791, 0.02675646, 0.01217727, 0.02770002,-0.00820095, 0.02611836,
  0.55992678, 0.00636019, 0.44574775, 0.04723432, 0.05905829,-0.0744779 ,
  0.17198294, 0.99983468, 0.01722014,-0.00345729,-0.00470287]

qacc:
[  2.58921361, -0.7680144 ,  2.88069267, -5.57124862,  1.37687587,
  -0.93310271,  5.81575351,-16.46992618,-10.65117669, -1.03879207,
   6.71531351,-18.88491313, -1.21701448,  1.46118095, -3.15140573,
   3.60178705,  1.65011871, -1.46702991, -0.91729573, 12.6625303 ,
  15.54509643, -2.93505007]

qfrc_actuator:
[ 4.01182232e-04, 1.18879681e-03,-4.62908637e-05,-3.99350707e-04,
  8.45636341e-05, 1.35583371e-04,-2.05987495e-04, 3.16885618e-04,
  7.57158992e-05, 1.10130789e-03, 4.97637202e-05, 4.27731141e-04,
  7.47773073e-02,-2.59900508e-04, 6.70881071e-02,-3.73085681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044243060886117735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.27343024e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.27343024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03466417, -0.0510508 ,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54916092e-05,-3.77383270e-05,-8.54797304e-06,-1.04792543e-05,
  8.07442781e-06,-2.31535405e-05,-1.73739773e-05,-3.41275263e-05,
 -6.43086911e-05,-1.32593441e-05,-1.38338297e-05,-3.76263395e-05,
 -4.98447371e-04,-8.73647896e-05,-3.13819209e-04,-7.40888677e-05,
  1.62194418e-04,-8.91792901e-05,-4.90502782e+00, 2.51259389e-04,
  1.18752638e-02,-4.07903799e-04]


--- Step 216 ---
qpos:
[ 0.01848663, 0.02980753,-0.00935089,-0.02528592, 0.00780256, 0.00463664,
 -0.0077206 , 0.02676177, 0.01218019, 0.02770518,-0.00820393, 0.02612454,
  0.56148704, 0.00636478, 0.44748053, 0.04724548, 0.05914369,-0.07453334,
  0.17196155, 0.99983153, 0.01744384,-0.00304319,-0.00483278]

qacc:
[ -4.85391091, -0.89326122,  4.57293725,-11.56408057,  0.87971982,
  -2.8785909 , 12.82511017,-26.48264246, -0.8550932 , -2.28847837,
  13.14233713,-33.66061236, -1.70320065,  3.77482226,  4.18593207,
 -22.66776668,  1.65603599, -1.47107095, -0.91313766, 12.69490693,
  15.61252084, -2.92697305]

qfrc_actuator:
[ 3.71620971e-04, 1.18026782e-03,-5.03483041e-05,-4.20530202e-04,
  8.93854625e-05, 1.07963909e-04,-1.94616690e-04, 2.77492878e-04,
  7.24367264e-05, 1.09912031e-03, 4.54982151e-05, 3.67688674e-04,
  7.46444367e-02,-2.52819321e-04, 6.68729337e-02,-3.90306988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004319689245310676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28507279e-13, -1.28507279e-13,  1.00000000e+00, -1.65141208e-26,
        1.00000000e+00,  1.28507279e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28507279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03466147, -0.05104837,  0.06199227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91375174e-05,-3.20340559e-05,-1.32932710e-05,-2.32878864e-05,
  5.04533370e-06,-4.56592207e-05, 3.26724486e-06,-4.16616208e-05,
 -5.15205010e-06,-1.42556186e-05,-1.00477435e-05,-6.18398933e-05,
 -4.93344570e-04,-6.60570677e-05,-3.68362499e-04,-2.17073587e-04,
  1.90488048e-04,-1.09817014e-04,-4.90503408e+00, 2.40518864e-04,
  1.18792600e-02,-4.12473257e-04]


--- Step 217 ---
qpos:
[ 0.01849195, 0.02981338,-0.00935434,-0.02529357, 0.00780404, 0.00463766,
 -0.00772317, 0.02676727, 0.01218339, 0.02771026,-0.00820695, 0.02612995,
  0.56304466, 0.00636915, 0.44920949, 0.04725307, 0.05923575,-0.07459468,
  0.17193652, 0.99982775, 0.01769316,-0.00259776,-0.0049679 ]

qacc:
[ -6.40516684, -0.53366594,  2.36487829, -5.58834181, -2.63692589,
  -0.46507691,  0.14910085,  3.15923919,  2.4072617 , -1.56835157,
   8.6635506 ,-21.76353321, -1.27795482,  1.71070005,  5.21008409,
 -26.33277424,  1.66239565, -1.47549985, -0.90883837, 12.73163097,
  15.68576896, -2.92008883]

qfrc_actuator:
[ 3.34041153e-04, 1.17284997e-03,-5.13723972e-05,-4.30003022e-04,
  7.37528810e-05, 9.10597594e-05,-1.86882413e-04, 2.87706642e-04,
  8.71147765e-05, 1.09576199e-03, 4.41756402e-05, 3.29910038e-04,
  7.45033641e-02,-2.68246320e-04, 6.66923069e-02,-4.07993819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004223339890800232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31438986e-13, -2.62877972e-13,  1.00000000e+00, -3.45524140e-26,
        1.00000000e+00,  2.62877972e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31438986e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03465897, -0.05104609,  0.06199244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84524423e-05,-2.92659720e-05,-1.01026636e-05,-1.17470347e-05,
 -1.55035326e-05,-4.35770659e-05,-2.73337542e-06, 7.55011328e-06,
  1.45395286e-05,-1.62140894e-05,-7.68066721e-06,-3.99585712e-05,
 -4.95483037e-04,-8.63791723e-05,-3.72756811e-04,-2.36226304e-04,
  2.21256780e-04,-1.32610568e-04,-4.90504124e+00, 2.29018621e-04,
  1.18835035e-02,-4.17628680e-04]


--- Step 218 ---
qpos:
[ 0.01849713, 0.02981895,-0.00935749,-0.02530095, 0.00780533, 0.00463861,
 -0.00772605, 0.02677318, 0.01218674, 0.0277153 ,-0.0082103 , 0.02613522,
  0.56459966, 0.00637303, 0.45093436, 0.04725839, 0.05933447,-0.07466194,
  0.17190787, 0.99982326, 0.01796819,-0.00212082,-0.00510822]

qacc:
[ -1.2547593 , -0.6030533 ,  0.43897448,  4.1121132 , -1.75920047,
   1.63474772, -7.73693136, 15.50444548,  1.28165083,  0.58574862,
  -1.60952035, -0.14853708, -0.94125007,  0.11352093,  0.8214264 ,
 -11.6190108 ,  1.66912667, -1.48025548, -0.90478596, 12.7721445 ,
  15.76425183, -2.91418776]

qfrc_actuator:
[ 3.27562577e-04, 1.16618033e-03,-3.28264923e-05,-4.14752909e-04,
  6.39602313e-05, 9.84884586e-05,-1.99044685e-04, 3.09276302e-04,
  9.44722013e-05, 1.09175961e-03, 2.68615243e-05, 3.23290592e-04,
  7.43627887e-02,-2.96870712e-04, 6.65059170e-02,-4.18694752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004134732933298302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71278558e-14, -1.34255712e-13,  1.00000000e+00, -9.01229805e-27,
        1.00000000e+00,  1.34255712e-13, -1.00000000e+00,  0.00000000e+00,
       -6.71278558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03465667, -0.05104398,  0.0619926 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.62142970e-06,-2.58092112e-05, 1.08358329e-05, 1.34310820e-05,
 -1.02486515e-05,-1.72057597e-05,-2.12327808e-05, 1.97463590e-05,
  7.79407882e-06,-1.65139591e-05,-2.30255198e-05,-8.37435756e-06,
 -4.99264137e-04,-1.01577463e-04,-3.82528684e-04,-1.67959987e-04,
  2.54538229e-04,-1.57589879e-04,-4.90504933e+00, 2.16752508e-04,
  1.18879932e-02,-4.23371309e-04]


--- Step 219 ---
qpos:
[ 0.01850219, 0.02982437,-0.00936077,-0.02530739, 0.00780648, 0.00463952,
 -0.00772908, 0.02677894, 0.01218981, 0.02772015,-0.00821409, 0.02614075,
  0.56615196, 0.00637662, 0.4526551 , 0.04726227, 0.05943991,-0.07473514,
  0.17187561, 0.999818  , 0.01826901,-0.00161222,-0.00525373]

qacc:
[ -1.01831867,  2.06294551,-11.62913028, 28.22820083, -1.12688589,
   0.09645475,  0.25115417, -2.60708512, -2.4136727 ,  1.48828613,
  -6.73438328, 11.925317  , -1.18390952,  1.18812296, -1.72438129,
  -2.74452684,  1.67617178, -1.48528863, -0.90129228, 12.81599922,
  15.84749731, -2.90910171]

qfrc_actuator:
[ 3.21692025e-04, 1.16011980e-03,-3.83600972e-05,-3.67313400e-04,
  5.76899991e-05, 1.02617508e-04,-2.05001198e-04, 3.01849937e-04,
  7.97026215e-05, 1.06961525e-03, 2.58221116e-07, 3.35042155e-04,
  7.42172792e-02,-3.15307480e-04, 6.63215574e-02,-4.25192088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040533213360592624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36952259e-13, -1.36952259e-13,  1.00000000e+00, -1.87559212e-26,
        1.00000000e+00,  1.36952259e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36952259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03465456, -0.051042  ,  0.06199274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11551973e-06,-1.78471125e-05,-9.08158137e-06, 4.69813240e-05,
 -6.56745548e-06,-9.04952297e-06,-1.14326956e-05,-8.52255104e-06,
 -1.45319810e-05,-3.66359619e-05,-3.31687455e-05, 1.00689795e-05,
 -5.08860125e-04,-9.32902469e-05,-3.76538904e-04,-1.23173925e-04,
  2.90371735e-04,-1.84786618e-04,-4.90505838e+00, 2.03714021e-04,
  1.18927282e-02,-4.29702533e-04]


--- Step 220 ---
qpos:
[ 0.01850715, 0.02982957,-0.00936432,-0.02531353, 0.0078079 , 0.00464058,
 -0.00773227, 0.02678455, 0.0121913 , 0.02772456,-0.00821809, 0.02614673,
  0.56770151, 0.00638001, 0.45437227, 0.04726252, 0.05955207,-0.07481431,
  0.17183976, 0.9998119 , 0.01859572,-0.00107178,-0.00540443]

qacc:
[ -0.94840031,  1.08170565, -5.48283462, 11.09527915,  2.28532962,
   0.26586372, -0.03477874, -2.52110551,-13.46365611,  0.98867043,
  -6.26126672, 14.82635899, -1.38236065,  2.01559269,  5.76253112,
 -27.70845413,  1.68348516, -1.49056006, -0.89860522, 12.86283841,
  15.93513196, -2.90469629]

qfrc_actuator:
[ 3.16216206e-04, 1.13666187e-03,-5.80509517e-05,-3.54594246e-04,
  7.12940014e-05, 1.22496107e-04,-2.07266009e-04, 2.95180065e-04,
 -1.22833451e-06, 1.03675418e-03,-1.39265282e-05, 3.57484043e-04,
  7.40742371e-02,-3.27624302e-04, 6.61545436e-02,-4.43361806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039785490789903677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.97630595e-14, -1.39526119e-13,  1.00000000e+00,  9.73376894e-27,
        1.00000000e+00,  1.39526119e-13, -1.00000000e+00,  0.00000000e+00,
        6.97630595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03465262, -0.05104016,  0.06199287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.67429892e-06,-3.34633970e-05,-2.28854647e-05, 1.25645788e-05,
  1.34150224e-05, 1.20783586e-05,-5.82492286e-06,-7.62700878e-06,
 -8.13562899e-05,-5.99069817e-05,-2.55104387e-05, 1.99066891e-05,
 -5.11846896e-04,-8.82246941e-05,-3.51641227e-04,-2.36670209e-04,
  3.28798221e-04,-2.14234028e-04,-4.90506844e+00, 1.89896346e-04,
  1.18977075e-02,-4.36623859e-04]


--- Step 221 ---
qpos:
[ 1.85123382e-02, 2.98347110e-02,-9.36754556e-03,-2.53205696e-02,
  7.80981785e-03, 4.64201918e-03,-7.73586165e-03, 2.67896738e-02,
  1.21921537e-02, 2.77285342e-02,-8.22168151e-03, 2.61528970e-02,
  5.69248386e-01, 6.38324661e-03, 4.56085648e-01, 4.72572261e-02,
  5.96710025e-02,-7.48994584e-02, 1.71800324e-01, 9.99804876e-01,
  1.89484272e-02,-4.99323074e-04,-5.56029852e-03]

qacc:
[  2.07112772, -2.84051316, 13.78306015,-29.74903359,  4.35002127,
   0.65767579,  0.43206009, -8.42270025, -5.41571426, -1.33729624,
   3.21302475, -0.50052737, -1.42072488,  2.24914365, 11.19920805,
 -47.22474181,  1.69103047, -1.49603872, -0.89691927, 12.91238153,
  16.02686519, -2.90086446]

qfrc_actuator:
[ 3.28768659e-04, 1.15613860e-03,-3.27772837e-05,-3.97937718e-04,
  9.64854225e-05, 1.51672329e-04,-2.25015997e-04, 2.71276455e-04,
 -3.16830784e-05, 1.03329090e-03, 1.47964572e-05, 3.68279259e-04,
  7.39434273e-02,-3.36257303e-04, 6.59501033e-02,-4.71808189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003909861361891809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03465085, -0.05103844,  0.06199299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23642575e-05,-3.57502232e-06, 1.59680303e-05,-4.53140108e-05,
  2.55774255e-05, 3.43916572e-05,-1.62244694e-05,-2.37443333e-05,
 -3.28495939e-05,-4.15299157e-05, 1.38816752e-05, 7.72210517e-06,
 -5.00943557e-04,-8.48628558e-05,-3.92204947e-04,-3.43004386e-04,
  3.69860091e-04,-2.45966799e-04,-4.90507955e+00, 1.75292381e-04,
  1.19029298e-02,-4.44136900e-04]


--- Step 222 ---
qpos:
[ 1.85172950e-02, 2.98399692e-02,-9.37027272e-03,-2.53281094e-02,
  7.81236492e-03, 4.64368503e-03,-7.73935780e-03, 2.67948014e-02,
  1.21933232e-02, 2.77327372e-02,-8.22517796e-03, 2.61587322e-02,
  5.70792588e-01, 6.38639221e-03, 4.57794541e-01, 4.72521086e-02,
  5.97967282e-02,-7.49906145e-02, 1.71757301e-01, 9.99796836e-01,
  1.93272280e-02, 1.05335861e-04,-5.72133618e-03]

qacc:
[-2.00392426e+00,-2.25959977e+00, 1.03876694e+01,-1.99056180e+01,
  5.56070795e+00, 1.98460611e-02, 3.15015220e-01,-5.27508333e-01,
  2.69638548e+00,-6.46894117e-01, 4.11506638e+00,-1.00988105e+01,
 -1.36466501e+00, 2.16952884e+00,-7.12082128e+00, 1.54016675e+01,
  1.69877910e+00,-1.50170031e+00,-8.96384673e-01, 1.29644111e+01,
  1.61224757e+01,-2.89752120e+00]

qfrc_actuator:
[ 3.16326756e-04, 1.18355552e-03, 1.23321982e-06,-4.20589730e-04,
  1.28288905e-04, 1.68366292e-04,-2.16229732e-04, 2.72928210e-04,
 -1.44094450e-05, 1.08313788e-03, 3.32209518e-05, 3.54432031e-04,
  7.38093987e-02,-3.42636415e-04, 6.57766143e-02,-4.68803533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003846712504045058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44308032e-13,  1.44308032e-13,  1.00000000e+00,  2.08248082e-26,
        1.00000000e+00, -1.44308032e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44308032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464923, -0.05103683,  0.0619931 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20933825e-05, 2.66307639e-05, 3.36584795e-05,-2.31251335e-05,
  3.25440043e-05, 3.15442364e-05, 1.30831762e-05, 2.09436103e-06,
  1.63053097e-05, 2.96970598e-05, 1.18068104e-05,-1.50094273e-05,
 -4.96339523e-04,-8.09077196e-05,-3.90145586e-04,-3.92557375e-05,
  4.13601180e-04,-2.80020996e-04,-4.90509175e+00, 1.59894744e-04,
  1.19083938e-02,-4.52243355e-04]


--- Step 223 ---
qpos:
[ 1.85217190e-02, 2.98456184e-02,-9.37302118e-03,-2.53351716e-02,
  7.81492870e-03, 4.64548934e-03,-7.74276613e-03, 2.68013011e-02,
  1.21957242e-02, 2.77374906e-02,-8.22891564e-03, 2.61646817e-02,
  5.72334000e-01, 6.38984452e-03, 4.59499505e-01, 4.72488320e-02,
  5.99292807e-02,-7.50878007e-02, 1.71710690e-01, 9.99787690e-01,
  1.97322351e-02, 7.42394654e-04,-5.88753433e-03]

qacc:
[ -4.57871593,  1.56943002, -6.84196836, 14.82807307,  0.14818483,
   2.76216427,-15.37674226, 38.88174769, 10.48578394,  1.61639491,
  -5.2249736 ,  7.21906729, -1.85605193,  4.38274222,-11.2962144 ,
  31.27751913,  1.70670876, -1.50752601, -0.89711529, 13.01876154,
  16.22179973, -2.89459927]

qfrc_actuator:
[ 2.89267289e-04, 1.21558566e-03, 4.68000666e-06,-3.95359970e-04,
  1.28220228e-04, 1.77583120e-04,-2.09618131e-04, 3.42875745e-04,
  4.85550577e-05, 1.12898205e-03, 2.78647399e-05, 3.61738996e-04,
  7.36628830e-02,-3.29915538e-04, 6.56325461e-02,-4.57930442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000378857193155141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32613135e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.32613135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464776, -0.05103532,  0.0619932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74152409e-05, 5.27217364e-05, 1.22749015e-05, 2.70948387e-05,
  8.66572830e-07, 2.96292280e-05, 1.48201365e-05, 7.17840347e-05,
  6.34639263e-05, 6.41317271e-05, 1.69231884e-06, 8.68097762e-06,
 -5.04526359e-04,-6.12421491e-05,-3.24532210e-04, 5.69521450e-05,
  4.60066731e-04,-3.16434015e-04,-4.90510509e+00, 1.43695782e-04,
  1.19140980e-02,-4.60945005e-04]


--- Step 224 ---
qpos:
[ 0.01852544, 0.02985201,-0.00937616,-0.0253419 , 0.00781713, 0.00464729,
 -0.00774596, 0.02680825, 0.01219886, 0.02774266,-0.00823239, 0.02617065,
  0.5738725 , 0.00639416, 0.46120117, 0.04724802, 0.06006869,-0.07519104,
  0.17166048, 0.99977734, 0.02016356, 0.00141206,-0.00605889]

qacc:
[ -6.06759445,  2.77010729, -9.86029373, 15.74959291, -3.20655373,
   0.32143314, -3.03906744, 10.47867983,  6.28407061, -0.15952335,
   1.25136797, -1.57253266, -2.54489063,  7.50104591,-12.22497679,
  35.98204981,  1.71480222, -1.51350138, -0.89919525, 13.07530993,
  16.32472116, -2.89204559]

qfrc_actuator:
[ 2.53828953e-04, 1.26781466e-03,-9.89240213e-06,-3.77683851e-04,
  1.09390857e-04, 1.64555795e-04,-2.04340525e-04, 3.63668506e-04,
  8.46343618e-05, 1.15425687e-03, 4.40434517e-05, 3.63674915e-04,
  7.35143076e-02,-2.88342691e-04, 6.55115674e-02,-4.44284927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037349285874291316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48627075e-13, -1.48627075e-13,  1.00000000e+00, -2.20900075e-26,
        1.00000000e+00,  1.48627075e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48627075e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464643, -0.05103391,  0.0619933 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.62338607e-05, 8.52254600e-05,-1.25598928e-06, 2.08952471e-05,
 -1.87979916e-05, 9.63926459e-06, 1.57113725e-05, 2.39613151e-05,
  3.79743078e-05, 6.17473961e-05, 2.99096285e-05, 4.89401521e-06,
 -5.08964486e-04,-3.25576252e-05,-2.63644503e-04, 9.77601891e-05,
  5.09303396e-04,-3.55244564e-04,-4.90511963e+00, 1.26687560e-04,
  1.19200406e-02,-4.70243696e-04]


--- Step 225 ---
qpos:
[ 0.0185287 , 0.02985865,-0.00937895,-0.02534904, 0.00781943, 0.00464903,
 -0.00774865, 0.02681435, 0.01220172, 0.02774829,-0.00823589, 0.02617593,
  0.57540815, 0.0063993 , 0.46290017, 0.04725263, 0.06019488,-0.07528744,
  0.17162755, 0.9997671 , 0.02057304, 0.00201322,-0.00620088]

qacc:
[ -3.89108196, -1.4740024 ,  7.51311216,-15.45064516,  0.91559281,
  -3.22484207, 14.96506862,-30.44005674, -2.39728454, -0.74957588,
   6.51850405,-18.93127162, -2.4460846 ,  7.14987579,-20.19863608,
  65.22003141, -3.30600329,  1.70989605,  4.3199466 ,-10.73742278,
 -34.00987721, 15.3525609 ]

qfrc_actuator:
[ 2.31500470e-04, 1.26064818e-03, 6.04716634e-07,-4.00096200e-04,
  1.15185666e-04, 1.56018015e-04,-1.82277102e-04, 3.19835642e-04,
  6.90794423e-05, 1.16710405e-03, 3.72270584e-05, 3.26929050e-04,
  7.33752592e-02,-2.47885474e-04, 6.54471336e-02,-4.14910326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.07072161,  4.2105141 , -2.82555988,  4.2105141 , 14.92446894,
       14.68358264, -2.82555988, 14.68358264, 26.95149366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004211093207972111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31821236e-13, -1.31821236e-13,  1.00000000e+00, -1.73768383e-26,
        1.00000000e+00,  1.31821236e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31821236e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09657752, -0.09142055,  0.06199244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33707635e-05, 4.09218857e-05, 2.86419009e-05,-1.83914846e-05,
  5.26232789e-06, 1.07455361e-06, 2.68202489e-05,-4.24215140e-05,
 -1.44074461e-05, 5.36280487e-05, 9.76025220e-06,-3.29876710e-05,
 -4.97989229e-04,-3.25838362e-05,-1.77692337e-04, 2.64427264e-04,
  5.61359256e-04,-3.96492672e-04,-4.90513542e+00, 1.08861857e-04,
  1.19262199e-02,-4.80141340e-04]


--- Step 226 ---
qpos:
[ 0.01853133, 0.02986501,-0.00938105,-0.025356  , 0.00782143, 0.0046508 ,
 -0.00775133, 0.02681955, 0.01220437, 0.02775385,-0.0082389 , 0.0261804 ,
  0.57694111, 0.0064043 , 0.46459696, 0.0472587 , 0.06030847,-0.07537746,
  0.17160913, 0.99975708, 0.02096051, 0.00255075,-0.00631838]

qacc:
[ -5.44998328, -1.93044304,  5.58897798, -3.38870338, -2.58354876,
  -1.82079252, 10.34992431,-25.91480975, -1.75503852, -3.0849804 ,
  14.21307563,-28.66739824, -1.32673062,  1.9061373 , -7.64613269,
  22.11594885, -3.14935628,  1.59631449,  3.62648401,-10.82853095,
 -31.62918542, 12.87720504]

qfrc_actuator:
[ 1.99316859e-04, 1.21802939e-03, 2.55644615e-05,-3.92685611e-04,
  9.99282983e-05, 1.50238768e-04,-1.86011247e-04, 2.73854512e-04,
  5.87714360e-05, 1.13677835e-03, 5.23060769e-05, 2.85439821e-04,
  7.32313757e-02,-2.61677583e-04, 6.53261504e-02,-4.08446107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.69892388, -4.19925437,  3.85279069, -4.19925437,  8.61028957,
        3.17317136,  3.85279069,  3.17317136,  9.1574439 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005114494960853366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08536916e-13, -1.08536916e-13,  1.00000000e+00, -1.17802622e-26,
        1.00000000e+00,  1.08536916e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08536916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09653996, -0.09142281,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28673129e-05,-1.48181641e-05, 3.62711836e-05, 9.80310240e-06,
 -1.51067595e-05,-1.49956565e-06,-1.67922482e-06,-4.58444198e-05,
 -1.06954650e-05, 9.52856385e-08, 2.61842648e-05,-3.95106913e-05,
 -4.94226997e-04,-8.57652624e-05,-1.79817822e-04, 5.48070438e-05,
  4.48921016e-04,-3.33793517e-04,-4.90511752e+00, 1.53069238e-04,
  1.18975250e-02,-4.87985661e-04]


--- Step 227 ---
qpos:
[ 0.01853321, 0.02987125,-0.00938313,-0.02536244, 0.0078229 , 0.00465254,
 -0.00775404, 0.02682452, 0.01220688, 0.02775898,-0.00824071, 0.02618504,
  0.57847141, 0.00640852, 0.46629104, 0.04726818, 0.06041005,-0.07546149,
  0.17160266, 0.9997474 , 0.02132605, 0.00302884,-0.00641526]

qacc:
[ -6.44781814,  0.87647319, -5.48445197, 14.3955794 , -4.77959951,
  -0.47657346,  2.62775644, -6.64684646, -1.18251955, -3.60604681,
  11.39597271,-10.34309969, -0.57989719, -1.57456665,-14.31719854,
  44.28199103, -3.00330839,  1.49574364,  2.98879019,-10.80616863,
 -29.56630119, 10.90107573]

qfrc_actuator:
[ 1.61585780e-04, 1.20784077e-03, 2.32136148e-05,-3.67810394e-04,
  7.23945434e-05, 1.46042522e-04,-1.87182606e-04, 2.62475458e-04,
  5.16511713e-05, 1.11640409e-03, 1.15524938e-04, 2.94735729e-04,
  7.30793520e-02,-3.07363201e-04, 6.52085727e-02,-3.90695984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27950837, -4.63003844,  4.24204779, -4.63003844,  9.2464413 ,
        3.23829768,  4.24204779,  3.23829768,  9.81399065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005816756288299085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54331735e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.54331735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0965109 , -0.09142485,  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:
[-3.87121513e-05,-1.07736893e-05,-6.40559768e-07, 2.56934666e-05,
 -2.79616141e-05,-7.39611255e-06,-3.27452105e-06,-1.24026098e-05,
 -7.41783128e-06,-1.67767103e-05, 6.50599555e-05, 9.42233955e-06,
 -5.07460339e-04,-1.21259422e-04,-2.01571690e-04, 1.55511338e-04,
  3.56687595e-04,-2.79466729e-04,-4.90510109e+00, 1.86289907e-04,
  1.18739026e-02,-4.95664273e-04]


--- Step 228 ---
qpos:
[ 0.01853565, 0.02987721,-0.00938514,-0.02536852, 0.00782402, 0.00465419,
 -0.00775675, 0.02682966, 0.01220962, 0.02776419,-0.00824276, 0.02619047,
  0.57999889, 0.00641258, 0.46798277, 0.04728031, 0.06050015,-0.0755399 ,
  0.17160581, 0.99973813, 0.02166989, 0.00345113,-0.00649462]

qacc:
[  4.87071444,  0.13703256, -2.59306251,  9.01651247, -3.00279544,
   0.27802621, -1.85642128,  4.90961909,  2.03629474,  2.4360648 ,
 -11.92411426, 26.13232793, -1.37643908,  1.912044  ,-11.44409509,
  35.08172839, -2.86793534,  1.40657761,  2.40383193,-10.70306369,
 -27.77142443,  9.32079031]

qfrc_actuator:
[ 1.91905508e-04, 1.18154587e-03, 2.26278733e-05,-3.50614647e-04,
  5.56147422e-05, 1.42856795e-04,-1.86792909e-04, 2.71554328e-04,
  6.42154228e-05, 1.12013398e-03, 1.00199875e-04, 3.33872763e-04,
  7.29278645e-02,-3.18253748e-04, 6.51091396e-02,-3.77079428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.72129966,  4.98018532, -4.51371502,  4.98018532, 31.12471248,
       26.92538578, -4.51371502, 26.92538578, 36.42929193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006347080365099317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74593483e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.74593483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09648888, -0.09142688,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91708665e-05,-3.15583613e-05,-2.03543166e-06, 1.72190012e-05,
 -1.75763649e-05,-8.58166544e-06,-1.96912595e-06, 8.39945419e-06,
  1.23532140e-05, 8.02148035e-06,-1.04974087e-05, 4.08356387e-05,
 -5.21187566e-04,-9.13306066e-05,-1.80578596e-04, 1.17366094e-04,
  2.80751300e-04,-2.32364201e-04,-4.90508616e+00, 2.11292514e-04,
  1.18544087e-02,-5.03103222e-04]


--- Step 229 ---
qpos:
[ 0.01853913, 0.02988255,-0.00938697,-0.02537397, 0.00782493, 0.00465603,
 -0.00775981, 0.02683452, 0.01221215, 0.02776953,-0.00824581, 0.02619604,
  0.58152359, 0.0064162 , 0.46967203, 0.04729235, 0.06057927,-0.07561299,
  0.17161648, 0.99972932, 0.02199232, 0.00382077,-0.00655894]

qacc:
[ 8.88640435e+00,-1.18776700e-02,-3.87544480e+00, 1.51144374e+01,
 -1.86390804e+00, 6.32878220e-01,-7.01870934e-01,-3.81709062e+00,
 -1.86545636e+00, 3.20709094e+00,-1.17350632e+01, 1.54453532e+01,
 -1.09495042e+00, 5.72157450e-01,-3.36821795e+00, 6.55015316e+00,
 -2.74596279e+00, 1.32875578e+00, 1.88030552e+00,-1.05559395e+01,
 -2.62275755e+01, 8.05859468e+00]

qfrc_actuator:
[ 2.44285477e-04, 1.12805090e-03, 2.30276995e-05,-3.20331980e-04,
  4.53028047e-05, 1.58080097e-04,-2.03225291e-04, 2.57088479e-04,
  5.27590330e-05, 1.10248729e-03, 3.87161617e-05, 3.36947836e-04,
  7.27821358e-02,-3.44064741e-04, 6.49674020e-02,-3.78429608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.03642464,  5.14858236, -4.79618301,  5.14858236, 32.12049141,
       26.92711751, -4.79618301, 26.92711751, 35.94201098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006732108099842676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24573082e-14, -1.64914616e-13,  1.00000000e+00, -1.35984153e-26,
        1.00000000e+00,  1.64914616e-13, -1.00000000e+00,  0.00000000e+00,
       -8.24573082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09647266, -0.09142903,  0.06198794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32024468e-05,-7.10014986e-05,-5.80934429e-06, 2.91994528e-05,
 -1.08146998e-05, 1.03314986e-05,-1.81554197e-05,-1.47467008e-05,
 -1.10772008e-05,-1.37432075e-05,-5.97534985e-05, 3.83119193e-06,
 -5.20653912e-04,-1.06276747e-04,-2.18983969e-04,-3.20767756e-05,
  2.18154331e-04,-1.91523586e-04,-4.90507272e+00, 2.30098151e-04,
  1.18382832e-02,-5.10251683e-04]


--- Step 230 ---
qpos:
[ 0.01854252, 0.02988734,-0.00938906,-0.02537899, 0.00782606, 0.00465771,
 -0.00776235, 0.0268388 , 0.01221453, 0.02777493,-0.00824904, 0.02620154,
  0.5830456 , 0.00641947, 0.47135791, 0.04730066, 0.06064784,-0.07568103,
  0.17163283, 0.99972104, 0.02229371, 0.00414043,-0.00661016]

qacc:
[ -0.75724628,  0.88428907, -5.96027586, 14.08504706,  1.90369761,
  -2.8385291 , 12.2373437 ,-22.87384855, -1.34260452,  0.47496867,
  -1.32741016,  0.59792387, -1.20198084,  1.15918232,  6.32283827,
 -29.27696617, -2.63816289,  1.26157409,  1.41963928,-10.38841332,
 -24.91061042,  7.05161885]

qfrc_actuator:
[ 2.38197489e-04, 1.09419763e-03, 6.14465268e-06,-3.00367594e-04,
  5.66295802e-05, 1.48619995e-04,-1.76145097e-04, 2.28885347e-04,
  4.50017613e-05, 1.12519743e-03, 3.91468873e-05, 3.36490843e-04,
  7.26559368e-02,-3.60732645e-04, 6.47417926e-02,-3.99244279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.24615922,  5.19954114, -5.04693921,  5.19954114, 41.60689707,
       35.39968733, -5.04693921, 35.39968733, 43.71621027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006995590686413172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.93516284e-14, -7.93516284e-14,  1.00000000e+00, -6.29668092e-27,
        1.00000000e+00,  7.93516284e-14, -1.00000000e+00,  0.00000000e+00,
       -7.93516284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09646119, -0.09143134,  0.06198747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57785751e-06,-7.36580580e-05,-3.12869530e-05, 1.72935617e-05,
  1.10243891e-05,-8.11033502e-06, 2.64718074e-05,-2.86832601e-05,
 -8.06973752e-06, 2.68036354e-06,-9.67151798e-06,-3.05546421e-06,
 -5.03260574e-04,-9.82913296e-05,-3.35906525e-04,-2.39698393e-04,
  1.66583574e-04,-1.56104666e-04,-4.90506074e+00, 2.44199520e-04,
  1.18249132e-02,-5.17074847e-04]


--- Step 231 ---
qpos:
[ 0.01854512, 0.02989174,-0.0093911 ,-0.02538411, 0.00782731, 0.00465877,
 -0.00776435, 0.02684346, 0.01221679, 0.02778022,-0.00825188, 0.02620629,
  0.58456492, 0.00642315, 0.47303992, 0.04730541, 0.06070624,-0.07574426,
  0.17165325, 0.99971331, 0.0225744 , 0.00441237,-0.00664987]

qacc:
[ -6.75978146, -0.85804299,  2.74835015, -4.35319455,  1.14769949,
  -1.55703111,  2.77760021,  3.33288911, -0.93526989, -2.76695046,
  12.8590335 ,-26.49297732, -2.0539347 ,  5.18372773,  5.13446025,
 -26.06785956, -2.54418729,  1.20402168,  1.01913148,-10.21538745,
 -23.79400383,  6.24921698]

qfrc_actuator:
[ 1.97737255e-04, 1.09004054e-03, 1.47562781e-05,-3.04388176e-04,
  6.28465282e-05, 8.91082226e-05,-1.59190733e-04, 2.46100304e-04,
  3.94916536e-05, 1.11887103e-03, 5.85559619e-05, 2.98541829e-04,
  7.25362212e-02,-3.36324646e-04, 6.45459172e-02,-4.17167766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.37234166, -5.10949727,  5.31455164, -5.10949727, 17.9066898 ,
       10.12789538,  5.31455164, 10.12789538, 17.10946668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007158368357614714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09645358, -0.09143384,  0.06198718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06308067e-05,-5.12175805e-05,-9.87998684e-06,-7.91521906e-06,
  6.52754248e-06,-5.98451097e-05, 1.75472024e-05, 1.72169967e-05,
 -5.73038771e-06,-7.12160299e-06, 1.86308354e-05,-3.82445932e-05,
 -4.84398187e-04,-5.39020831e-05,-3.77950957e-04,-2.36202995e-04,
  1.24239861e-04,-1.25395503e-04,-4.90505018e+00, 2.54696843e-04,
  1.18138126e-02,-5.23549386e-04]


--- Step 232 ---
qpos:
[ 0.01854755, 0.02989594,-0.00939285,-0.02538963, 0.00782863, 0.00465931,
 -0.00776639, 0.02684866, 0.01221863, 0.02778515,-0.00825466, 0.0262113 ,
  0.58608165, 0.0064268 , 0.47471828, 0.04730681, 0.06075477,-0.07580287,
  0.17167638, 0.99970618, 0.02283475, 0.0046385 ,-0.0066793 ]

qacc:
[ -1.37064067, -1.87486529,  8.01959397,-15.26082991,  0.57883903,
   0.54517254, -5.25123246, 15.13680867, -3.63914276, -0.15244794,
  -1.22152631,  5.76523267, -1.49794943,  2.72099072,  4.80715704,
 -24.5085629 , -2.46309943,  1.15498676,  0.6739715 ,-10.04604116,
 -22.85165996,  5.61071374]

qfrc_actuator:
[ 1.90647136e-04, 1.10378387e-03, 3.84671317e-05,-3.22440863e-04,
  6.59988580e-05, 5.33444108e-05,-1.66296992e-04, 2.72092373e-04,
  1.75944120e-05, 1.07751676e-03, 5.33570354e-05, 3.09831610e-04,
  7.24045161e-02,-3.41153809e-04, 6.43893522e-02,-4.33223809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.4333397 , -4.93894267,  5.55530236, -4.93894267, 23.8915585 ,
       14.63218273,  5.55530236, 14.63218273, 20.44208469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007238520344433064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.66885338e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.66885338e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0964491 , -0.09143652,  0.06198704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30169094e-06,-1.74224902e-05, 1.16249772e-05,-2.07341277e-05,
  3.31552144e-06,-6.48905459e-05,-1.67108861e-05, 2.43610768e-05,
 -2.20521188e-05,-4.32909848e-05,-5.73522046e-06, 1.08695503e-05,
 -4.76962440e-04,-7.70591171e-05,-3.55422761e-04,-2.22231950e-04,
  8.97283113e-05,-9.88043386e-05,-4.90504096e+00, 2.62400313e-04,
  1.18045990e-02,-5.29660106e-04]


--- Step 233 ---
qpos:
[ 0.01855058, 0.02990025,-0.00939446,-0.02539536, 0.00782998, 0.00465964,
 -0.00776833, 0.02685374, 0.01221984, 0.02779003,-0.00825789, 0.02621674,
  0.58759591, 0.00642977, 0.47639296, 0.04730286, 0.06079374,-0.07585702,
  0.17170101, 0.99969967, 0.02307509, 0.00482043,-0.00669945]

qacc:
[  5.02005753, -0.70415116,  3.53137636, -7.29361157,  0.24685655,
  -0.81814953,  3.04352993, -5.21516038, -5.31162903,  2.13665239,
  -9.51790654, 17.8099773 , -0.73662292, -0.74291811, 10.72414693,
 -45.40314108, -2.39370094,  1.11337445,  0.37848274, -9.88583021,
 -22.05940216,  5.1035175 ]

qfrc_actuator:
[ 2.21019642e-04, 1.12820906e-03, 5.32209649e-05,-3.30823179e-04,
  6.73239035e-05, 6.74896413e-05,-1.51966708e-04, 2.67526599e-04,
 -1.37740347e-05, 1.08645924e-03, 3.35521389e-05, 3.32203743e-04,
  7.22710306e-02,-3.81000872e-04, 6.41979086e-02,-4.60464722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.44321642, -4.65760132,  5.80587812, -4.65760132, 32.76933231,
       20.31715933,  5.80587812, 20.31715933, 23.7420822 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007251599620339416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65502153e-14, -7.65502153e-14,  1.00000000e+00, -5.85993546e-27,
        1.00000000e+00,  7.65502153e-14, -1.00000000e+00,  0.00000000e+00,
       -7.65502153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644713, -0.09143936,  0.06198702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01145250e-05, 1.60657966e-05, 1.18513465e-05,-9.12310200e-06,
  1.39627947e-06,-2.45561216e-05,-2.83363469e-07,-7.45912210e-06,
 -3.20166168e-05,-1.61439671e-05,-2.91111655e-05, 2.05153425e-05,
 -4.76619306e-04,-1.13063447e-04,-3.79417680e-04,-3.30639668e-04,
  6.19694255e-05,-7.58454685e-05,-4.90503305e+00, 2.67906318e-04,
  1.17969746e-02,-5.35397529e-04]


--- Step 234 ---
qpos:
[ 0.01855394, 0.02990447,-0.00939555,-0.0254008 , 0.00783133, 0.00465987,
 -0.00777021, 0.02685975, 0.01222067, 0.02779518,-0.00826116, 0.02622095,
  0.58910763, 0.00643228, 0.47806323, 0.04730251, 0.06082337,-0.07590687,
  0.17172615, 0.99969379, 0.02329571, 0.00495948,-0.00671108]

qacc:
[  2.93962955, -0.9812823 ,  2.10029503,  2.12829535,  0.05146596,
   1.60770895, -9.8659677 , 25.95477231, -3.29623627, -2.05831089,
  13.02954678,-34.37416905, -0.82996248, -0.10594506,-17.37824099,
  51.35353219, -2.33472317,  1.07816815,  0.12684973, -9.73780667,
 -21.39563237,  4.70155823]

qfrc_actuator:
[ 2.37683174e-04, 1.12332753e-03, 8.03795117e-05,-3.15689644e-04,
  6.75642128e-05, 7.59696044e-05,-1.42653868e-04, 3.16088636e-04,
 -3.27078049e-05, 1.12539892e-03, 4.09894013e-05, 2.72178379e-04,
  7.21418856e-02,-4.05679937e-04, 6.40602331e-02,-4.39050329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.41241005, -4.26308203,  6.06382341, -4.26308203, 45.50474157,
       26.78025442,  6.06382341, 26.78025442, 26.23987475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007210899716190294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.69822816e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.69822816e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644716, -0.09144233,  0.06198709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75354238e-05, 6.03585772e-06, 3.15975068e-05, 1.60586533e-05,
  2.71741344e-07,-5.63035000e-06, 3.95485480e-06, 4.73469050e-05,
 -1.98646353e-05, 2.46191189e-05, 1.19775269e-06,-6.13394698e-05,
 -4.77488228e-04,-1.00769876e-04,-3.47963574e-04, 1.46978026e-04,
  4.01286508e-05,-5.61236160e-05,-4.90502638e+00, 2.71653691e-04,
  1.17907076e-02,-5.40756140e-04]


--- Step 235 ---
qpos:
[ 0.01855817, 0.02990887,-0.00939666,-0.025406  , 0.00783302, 0.00466008,
 -0.007772  , 0.02686628, 0.01222161, 0.02780054,-0.00826407, 0.0262244 ,
  0.59061666, 0.00643518, 0.47972988, 0.04730716, 0.06084385,-0.07595252,
  0.17175095, 0.99968857, 0.02349689, 0.0050568 ,-0.00671483]

qacc:
[  7.40245279,  0.77516778, -3.40003496,  7.26424378,  2.97034073,
   0.80060076, -5.082066  , 13.95920903,  0.95428716, -2.32318258,
  11.94209867,-26.04738548, -1.84502609,  4.40341607,-20.3791249 ,
  63.75166064, -2.28493338,  1.04845651, -0.08648348, -9.60348378,
 -20.84149941,  4.38400654]

qfrc_actuator:
[ 2.81636878e-04, 1.13651857e-03, 7.90462196e-05,-3.04607635e-04,
  8.49173282e-05, 8.10316065e-05,-1.36350358e-04, 3.42263844e-04,
 -2.64151427e-05, 1.14654322e-03, 6.45354084e-05, 2.35211671e-04,
  7.20101135e-02,-3.85717658e-04, 6.39390401e-02,-4.12201023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007127723125916474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.78806223e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.78806223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644877, -0.0914454 ,  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:
[ 4.44535144e-05, 2.36473262e-05, 4.33185608e-06, 1.27501072e-05,
  1.73567407e-05, 4.75992841e-06, 7.27178272e-06, 2.69824528e-05,
  5.73506459e-06, 3.23682710e-05, 2.66268135e-05,-3.70766206e-05,
 -4.77992959e-04,-5.58394405e-05,-2.63121153e-04, 2.32151102e-04,
  2.35614341e-05,-3.93190409e-05,-4.90502090e+00, 2.73965052e-04,
  1.17856192e-02,-5.45733131e-04]


--- Step 236 ---
qpos:
[ 0.01856323, 0.02991356,-0.00939786,-0.02541071, 0.00783525, 0.00466053,
 -0.00777374, 0.02687201, 0.01222296, 0.02780552,-0.00826673, 0.02622814,
  0.59212301, 0.00643867, 0.48139386, 0.04731385, 0.06085537,-0.07599407,
  0.17177468, 0.99968401, 0.02367888, 0.00511329,-0.00671117]

qacc:
[  7.19067439,  1.64405689, -7.46614158, 16.18517935,  4.7440534 ,
  -1.48409369,  9.10925861,-23.22057836,  3.53899742, -0.59545996,
   0.10470362,  5.02951493, -2.15711762,  5.7128093 ,-10.03564501,
  29.61132083, -2.24318864,  1.02344045, -0.2666177 , -9.48340018,
 -20.38079674,  4.1342314 ]

qfrc_actuator:
[ 3.23553328e-04, 1.16031911e-03, 7.87118083e-05,-2.78257996e-04,
  1.12204080e-04, 1.01742856e-04,-1.31905737e-04, 3.01787369e-04,
 -5.32924264e-06, 1.08595154e-03, 6.18595522e-05, 2.47623768e-04,
  7.18768701e-02,-3.57382195e-04, 6.38224968e-02,-4.01903326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007011634924134619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.58340107e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.58340107e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09645159, -0.09144854,  0.06198745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32072308e-05, 3.83320435e-05, 5.49135604e-06, 2.77618793e-05,
  2.77802513e-05, 2.60361206e-05, 7.26031223e-06,-3.95075768e-05,
  2.12804865e-05,-3.87425059e-05, 5.97145881e-06, 1.39857512e-05,
 -4.72524443e-04,-4.44963978e-05,-2.14171813e-04, 8.13136133e-05,
  1.17707625e-05,-2.51743482e-05,-4.90501657e+00, 2.75077108e-04,
  1.17815711e-02,-5.50327503e-04]


--- Step 237 ---
qpos:
[ 0.01856807, 0.02991811,-0.00939861,-0.02541469, 0.00783744, 0.00466154,
 -0.00777555, 0.02687648, 0.0122249 , 0.02780985,-0.00826922, 0.0262324 ,
  0.59362666, 0.00644255, 0.48305525, 0.04732038, 0.06085805,-0.07603162,
  0.17179673, 0.99968013, 0.02384189, 0.00512974,-0.00670049]

qacc:
[-1.92015455e+00, 1.38191409e-02,-3.33426762e+00, 1.50840022e+01,
 -3.23817033e-01,-1.64388381e+00, 1.22455388e+01,-3.42780228e+01,
  5.02587900e+00,-2.96663301e-01,-2.36411847e+00, 1.13930835e+01,
 -1.99118095e+00, 4.85613593e+00,-3.24652616e+00, 6.01445005e+00,
 -2.20845855e+00, 1.00242929e+00,-4.18123404e-01,-9.37748713e+00,
 -1.99997270e+01, 3.93895736e+00]

qfrc_actuator:
[ 3.10668610e-04, 1.13704386e-03, 9.67922691e-05,-2.43119522e-04,
  1.09608501e-04, 1.49356286e-04,-1.28570049e-04, 2.40186636e-04,
  2.42858458e-05, 1.03007878e-03, 6.11634252e-05, 2.71143196e-04,
  7.17321894e-02,-3.42128860e-04, 6.36874864e-02,-4.03216046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006870693846206116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.07940981e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.07940981e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09645534, -0.09145171,  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:
[-1.16267267e-05, 3.36175618e-07, 2.75968924e-05, 3.75101647e-05,
 -1.79565941e-06, 6.19807772e-05, 8.24236078e-06,-6.10137412e-05,
  3.02385591e-05,-7.58508882e-05,-7.51454232e-06, 2.23237940e-05,
 -4.78280087e-04,-5.61375518e-05,-2.30316317e-04,-3.76908437e-05,
  4.37453051e-06,-1.34832678e-05,-4.90501336e+00, 2.75162880e-04,
  1.17784572e-02,-5.54539427e-04]


--- Step 238 ---
qpos:
[ 0.01857237, 0.02992244,-0.00939927,-0.02541888, 0.00783924, 0.00466289,
 -0.00777728, 0.02688054, 0.01222753, 0.02781379,-0.00827148, 0.02623651,
  0.59512761, 0.00644667, 0.48471386, 0.04732733, 0.06085201,-0.07606522,
  0.17181661, 0.99967691, 0.02398611, 0.00510677,-0.00668308]

qacc:
[ -4.59807228, -0.90643231,  3.69611144, -7.18750973, -3.45806023,
  -0.62512826,  4.62937682,-12.13225005,  5.85228279, -1.41522751,
   4.87960152, -7.30087717, -1.81407238,  4.01535139, -5.29619202,
  12.75143542, -2.17983021,  0.98483143, -0.54503388, -9.28530718,
 -19.68661466,  3.78758637]

qfrc_actuator:
[ 2.83384771e-04, 1.10359356e-03, 8.99110552e-05,-2.56377140e-04,
  8.94426589e-05, 1.59428384e-04,-1.25802152e-04, 2.19943343e-04,
  5.86789184e-05, 1.03072524e-03, 7.93946777e-05, 2.65495754e-04,
  7.15860687e-02,-3.34764790e-04, 6.35627873e-02,-4.00704468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006711658162510542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.27085496e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.27085496e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09645978, -0.09145489,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76379746e-05,-2.61230228e-05,-2.15522518e-06,-1.15580407e-05,
 -2.01930312e-05, 4.37939622e-05, 1.44744944e-05,-1.84975651e-05,
  3.52646843e-05,-4.24856426e-05, 2.37983524e-06,-8.73797319e-06,
 -4.85636852e-04,-6.59391212e-05,-2.40477975e-04,-8.10754415e-06,
  1.08051722e-06,-4.08133694e-06,-4.90501123e+00, 2.74348013e-04,
  1.17761961e-02,-5.58369791e-04]


--- Step 239 ---
qpos:
[ 0.01857632, 0.02992657,-0.00940026,-0.02542317, 0.00784078, 0.004664  ,
 -0.0077787 , 0.02688473, 0.01223054, 0.02781737,-0.00827351, 0.02624018,
  0.59662603, 0.00645024, 0.48636964, 0.04733708, 0.06083734,-0.07609495,
  0.17183388, 0.99967436, 0.02411171, 0.0050449 ,-0.00665916]

qacc:
[ -3.10320972,  0.44463998, -1.56367878,  0.54447033, -2.23133772,
  -0.89353595,  2.16681202, -0.19444751,  3.35984175, -2.09302852,
   8.644726  ,-16.5157941 , -0.76771427, -0.46621193,-12.66296476,
  38.25653645, -2.15650357,  0.97014305, -0.65087477, -9.20620906,
 -19.43161303,  3.67165402]

qfrc_actuator:
[ 2.65615151e-04, 1.08191633e-03, 6.82487160e-05,-2.62534606e-04,
  7.68587607e-05, 1.11466941e-04,-1.23502199e-04, 2.24171622e-04,
  7.78537941e-05, 1.01200829e-03, 9.11060910e-05, 2.42789565e-04,
  7.14551598e-02,-3.67642566e-04, 6.34603628e-02,-3.85298356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006540166524568874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48772749e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.48772749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09646471, -0.09145805,  0.0619883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85955630e-05,-3.73879579e-05,-2.77597908e-05,-7.57408202e-06,
 -1.31422867e-05,-2.13193996e-05, 1.24851299e-05, 6.23843245e-06,
  2.02054137e-05,-4.24630123e-05, 2.89860563e-06,-2.46284708e-05,
 -4.76945795e-04,-1.08286939e-04,-2.18948384e-04, 1.21327708e-04,
  1.66720044e-06, 3.16172275e-06,-4.90501016e+00, 2.72722768e-04,
  1.17747258e-02,-5.61819881e-04]


--- Step 240 ---
qpos:
[ 0.01857933, 0.02993035,-0.00940174,-0.02542746, 0.00784147, 0.00466496,
 -0.00778003, 0.02688826, 0.01223342, 0.02782102,-0.00827587, 0.02624388,
  0.5981218 , 0.00645376, 0.48802281, 0.04734594, 0.06081412,-0.07612084,
  0.1718482 , 0.99967248, 0.0242188 , 0.00494453,-0.00662891]

qacc:
[ -8.01924502,  0.8773437 , -3.71929284,  4.51866252, -7.49883037,
  -1.81832198,  9.05774699,-20.72390595, -1.18679241,  1.08730797,
  -3.86204162,  4.83648615, -1.51371706,  2.65073618, -1.0790199 ,
  -1.69298144, -2.13778213,  0.95793641, -0.73871051, -9.13942796,
 -19.22642922,  3.58439491]

qfrc_actuator:
[ 2.18087752e-04, 1.04963186e-03, 3.80917071e-05,-2.64456352e-04,
  3.33383616e-05, 1.00146052e-04,-1.21734294e-04, 1.89446794e-04,
  7.01635255e-05, 1.03507025e-03, 8.10436487e-05, 2.45720032e-04,
  7.13174824e-02,-3.70705810e-04, 6.33128238e-02,-3.90815512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006360895434806002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74538795e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.74538795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09646996, -0.09146116,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.80919646e-05,-5.93961591e-05,-4.15901996e-05,-4.62783180e-06,
 -4.39020906e-05,-2.04340895e-05,-8.87459133e-07,-3.50931829e-05,
 -7.10166313e-06,-1.23787775e-06,-1.93530687e-05, 7.19825558e-07,
 -4.83465102e-04,-8.08982756e-05,-2.40087841e-04,-7.80086550e-05,
  5.96902011e-06, 8.34819096e-06,-4.90501011e+00, 2.70350866e-04,
  1.17739992e-02,-5.64891152e-04]


--- Step 241 ---
qpos:
[ 0.01858174, 0.0299338 ,-0.00940332,-0.02543178, 0.00784164, 0.00466594,
 -0.00778141, 0.02689132, 0.0122355 , 0.02782507,-0.00827855, 0.02624789,
  0.59961488, 0.00645729, 0.48967268, 0.04735543, 0.06078241,-0.07614294,
  0.17185928, 0.99967124, 0.02430752, 0.004806  ,-0.00659246]

qacc:
[-5.09247149e+00,-1.47374221e-01,-1.19905458e-03, 8.19982898e-02,
 -4.63978670e+00,-7.85057037e-01, 4.76322225e+00,-1.25909778e+01,
 -6.86861740e+00, 2.07007994e+00,-7.89573373e+00, 1.34141545e+01,
 -1.52298797e+00, 2.70172244e+00,-6.74389011e+00, 1.66553975e+01,
 -2.12306183e+00, 9.47848866e-01,-8.11196589e-01,-9.08415013e+00,
 -1.90640785e+01, 3.52039597e+00]

qfrc_actuator:
[ 1.88927883e-04, 1.04671087e-03, 3.86277167e-05,-2.63883903e-04,
  7.46117486e-06, 1.10808718e-04,-1.20197106e-04, 1.67604656e-04,
  2.89749346e-05, 1.08291188e-03, 7.61502927e-05, 2.63734783e-04,
  7.11758455e-02,-3.73933381e-04, 6.31542758e-02,-3.87324804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617769564794729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.98573747e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.98573747e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09647542, -0.0914642 ,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05894043e-05,-4.50588237e-05,-1.70321848e-05,-3.49374950e-06,
 -2.71304625e-05,-2.49400883e-06,-4.00913803e-06,-2.34367395e-05,
 -4.13866484e-05, 4.30764439e-05,-7.52798762e-06, 1.72958051e-05,
 -4.88291043e-04,-7.99252237e-05,-2.83082020e-04,-1.76800711e-06,
  1.38650254e-05, 1.15573451e-05,-4.90501107e+00, 2.67276024e-04,
  1.17739811e-02,-5.67585078e-04]


--- Step 242 ---
qpos:
[ 0.01858448, 0.02993726,-0.00940479,-0.02543611, 0.00784253, 0.00466694,
 -0.0077828 , 0.02689445, 0.01223775, 0.02782943,-0.00828102, 0.02625239,
  0.60110546, 0.00646012, 0.49131838, 0.04736864, 0.06074226,-0.07616129,
  0.17186687, 0.99967064, 0.02437795, 0.00462956,-0.0065499 ]

qacc:
[  2.75008427, -0.3537307 ,  1.33079407, -1.81012984,  6.35999111,
   0.18682577, -0.88267772,  1.89695288,  1.53066723,  0.87287592,
  -4.63722739, 12.78325265, -0.55293506, -1.33432724,-17.43037721,
  52.03053956, -2.11181967,  0.939573  , -0.87063126, -9.03955426,
 -18.93867086,  3.47532035]

qfrc_actuator:
[ 2.06327398e-04, 1.07927575e-03, 5.74012017e-05,-2.61803461e-04,
  4.54432195e-05, 1.16806377e-04,-1.18698678e-04, 1.71297420e-04,
  3.94189049e-05, 1.10976081e-03, 9.22321333e-05, 2.90509802e-04,
  7.10479086e-02,-4.12786343e-04, 6.29626494e-02,-3.67895567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005993709997776375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09648096, -0.09146716,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64849818e-05, 3.58595793e-06, 7.23526548e-06,-4.99779341e-07,
  3.72112988e-05, 2.73474628e-06,-3.22598522e-07, 2.98619141e-06,
  9.25578755e-06, 4.99918341e-05, 2.46300230e-05, 2.86872956e-05,
 -4.77913441e-04,-1.16360480e-04,-3.24862222e-04, 1.56936499e-04,
  2.52700927e-05, 1.28494900e-05,-4.90501302e+00, 2.63526803e-04,
  1.17746455e-02,-5.69903047e-04]


--- Step 243 ---
qpos:
[ 0.01858705, 0.02994108,-0.0094065 ,-0.02544041, 0.00784421, 0.00466796,
 -0.00778419, 0.02689794, 0.01224046, 0.02783433,-0.00828366, 0.02625718,
  0.60259339, 0.00646315, 0.4929607 , 0.04738002, 0.06069369,-0.0761759 ,
  0.17187078, 0.99967065, 0.02443016, 0.00441538,-0.00650127]

qacc:
[ -1.36986734,  1.22880655, -3.83384342,  4.5672964 ,  6.9764124 ,
   0.74686386, -4.19095102, 10.49710155,  3.84021571,  1.73296988,
  -6.34927116, 11.09867791, -1.79148482,  3.87194572,  0.64524762,
  -9.32095842, -2.10360304,  0.93284799, -0.91900366, -9.0048375 ,
 -18.84522994,  3.44568784]

qfrc_actuator:
[ 1.97728374e-04, 1.11518327e-03, 5.14333740e-05,-2.58811260e-04,
  8.51961636e-05, 1.19991320e-04,-1.17230799e-04, 1.89981818e-04,
  6.24281465e-05, 1.14169023e-03, 8.49950895e-05, 3.04470119e-04,
  7.09176210e-02,-4.01307987e-04, 6.27780018e-02,-3.78293483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005811475072371869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55198991e-14, -9.55198991e-14,  1.00000000e+00, -9.12405112e-27,
        1.00000000e+00,  9.55198991e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55198991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0964865 , -0.09147002,  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:
[-8.12638104e-06, 3.92844818e-05,-4.37041962e-06, 3.39033900e-06,
  4.08112855e-05, 4.76155446e-06, 2.09248820e-06, 1.88408773e-05,
  2.33080617e-05, 6.60736608e-05, 7.08562297e-06, 1.74989861e-05,
 -4.78405161e-04,-6.76020618e-05,-3.16287477e-04,-1.37144449e-04,
  4.01281002e-05, 1.22692101e-05,-4.90501595e+00, 2.59120216e-04,
  1.17759735e-02,-5.71846286e-04]


--- Step 244 ---
qpos:
[ 0.01858985, 0.02994537,-0.00940838,-0.02544431, 0.00784601, 0.00466899,
 -0.00778556, 0.02690197, 0.01224205, 0.02783928,-0.0082864 , 0.02626182,
  0.6040786 , 0.00646639, 0.49459964, 0.04738965, 0.06063672,-0.0761868 ,
  0.17187086, 0.99967125, 0.0244642 , 0.00416361,-0.00644664]

qacc:
[  1.88727873,  1.91927297, -7.59535493, 14.34231734,  1.04534628,
   1.07981288, -6.12291494, 15.47115491, -9.57735973,  0.07111457,
   0.54385632, -3.15210224, -1.82566174,  3.91771403,  0.36752398,
  -8.3670898 , -2.09802006,  0.92745222, -0.95803682, -8.97923149,
 -18.77954049,  3.42870042]

qfrc_actuator:
[ 2.09385601e-04, 1.15273604e-03, 4.86821150e-05,-2.37565956e-04,
  9.01472055e-05, 1.21485308e-04,-1.15796661e-04, 2.17331091e-04,
  3.86897044e-06, 1.10530793e-03, 6.40508485e-05, 2.93008945e-04,
  7.07700492e-02,-3.95755469e-04, 6.26242492e-02,-3.86652248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005633008962822039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85461795e-14,  9.85461795e-14,  1.00000000e+00, -9.71134949e-27,
        1.00000000e+00, -9.85461795e-14, -1.00000000e+00,  0.00000000e+00,
        9.85461795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09649197, -0.09147277,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14246969e-05, 5.86431130e-05, 4.92396830e-06, 2.28467799e-05,
  6.11164006e-06, 5.38209200e-06, 3.32225617e-06, 2.79837205e-05,
 -5.78399010e-05, 2.63960841e-06,-5.85285109e-06,-8.06009405e-06,
 -4.89066784e-04,-6.97302626e-05,-3.16332512e-04,-1.32527725e-04,
  5.84065938e-05, 9.84799796e-06,-4.90501984e+00, 2.54064422e-04,
  1.17779520e-02,-5.73415817e-04]


--- Step 245 ---
qpos:
[ 0.01859242, 0.0299496 ,-0.00941008,-0.02544754, 0.00784751, 0.00466996,
 -0.00778659, 0.02690628, 0.01224326, 0.02784338,-0.00828864, 0.02626635,
  0.60556123, 0.00646906, 0.49623488, 0.04739978, 0.06057138,-0.07619401,
  0.17186699, 0.99967241, 0.0244801 , 0.00387433,-0.006386  ]

qacc:
[ -1.93686392,  0.77584856, -5.7278559 , 17.13216965, -2.62035222,
  -0.45738364,  0.34486842,  4.00486322, -3.11341476, -2.72614823,
   8.50070834,-10.36313562, -0.83553578, -0.26745183, -6.98713801,
  16.54782072, -2.09473097,  0.92319701, -0.98922525, -8.9620118 ,
 -18.73802186,  3.42210365]

qfrc_actuator:
[ 1.97375025e-04, 1.12000535e-03, 4.78877215e-05,-2.05741696e-04,
  7.45741668e-05, 1.21965167e-04,-9.66443922e-05, 2.31803176e-04,
 -1.34739623e-05, 1.01045406e-03, 7.03990843e-05, 2.84372827e-04,
  7.06335110e-02,-4.29342549e-04, 6.24678531e-02,-3.83071112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000545988706046191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01670878e-13, -1.01670878e-13,  1.00000000e+00, -1.03369675e-26,
        1.00000000e+00,  1.01670878e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01670878e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09649732, -0.0914754 ,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16693564e-05, 1.92735969e-06, 1.26914222e-05, 3.49525927e-05,
 -1.53987749e-05, 5.34693210e-06, 2.16362647e-05, 1.53537833e-05,
 -1.90238153e-05,-9.51048960e-05, 5.86147761e-06,-8.89492759e-06,
 -4.85696791e-04,-1.10906485e-04,-3.18536738e-04,-1.28840501e-05,
  8.00925948e-05, 5.60638575e-06,-4.90502468e+00, 2.48360740e-04,
  1.17805721e-02,-5.74612435e-04]


--- Step 246 ---
qpos:
[ 0.01859449, 0.02995349,-0.0094116 ,-0.02544998, 0.00784881, 0.00467119,
 -0.00778774, 0.02691003, 0.01224495, 0.02784673,-0.00829075, 0.02627076,
  0.60704125, 0.00647136, 0.49786691, 0.04740815, 0.06049767,-0.07619754,
  0.17185906, 0.9996741 , 0.0244779 , 0.00354756,-0.00631936]

qacc:
[ -4.35241549,  0.70387796, -6.48763499, 20.11693255, -1.75422747,
  -0.47569206,  4.55766392,-14.24196693,  4.03591085, -1.61900905,
   4.85732509, -6.67874789, -1.13612872,  0.93113278,  0.62444314,
  -9.00761462, -2.09344084,  0.9199214 , -1.01386733, -8.95250291,
 -18.71762323,  3.42407671]

qfrc_actuator:
[ 1.71523198e-04, 1.08096133e-03, 4.79740262e-05,-1.68008404e-04,
  6.48097903e-05, 1.39650298e-04,-1.02703208e-04, 2.03087278e-04,
  1.13603983e-05, 9.70168145e-04, 7.48035298e-05, 2.77434943e-04,
  7.04983523e-02,-4.50228786e-04, 6.23153463e-02,-3.92009982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005293307618437909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04870443e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04870443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0965025 , -0.0914779 ,  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:
[-2.62041340e-05,-3.39869371e-05, 3.23210207e-06, 3.89370735e-05,
 -1.02016371e-05, 2.57641331e-05,-1.76654445e-06,-2.74482160e-05,
  2.42550386e-05,-9.27746746e-05,-1.48564947e-05,-1.09970464e-05,
 -4.87896603e-04,-1.01357965e-04,-3.01494258e-04,-1.31506597e-04,
  1.05189287e-04,-4.44320578e-07,-4.90503046e+00, 2.42005174e-04,
  1.17838288e-02,-5.75436686e-04]


--- Step 247 ---
qpos:
[ 0.01859691, 0.02995749,-0.00941326,-0.02545233, 0.00784998, 0.00467256,
 -0.00778917, 0.0269131 , 0.01224692, 0.02784994,-0.00829305, 0.02627465,
  0.60851861, 0.00647374, 0.49949558, 0.04741498, 0.06041558,-0.0761974 ,
  0.171847  , 0.99967628, 0.02445758, 0.00318332,-0.00624671]

qacc:
[  3.10681642,  0.70698823, -2.67247898,  4.32362041, -1.13068791,
  -0.42335017,  4.71056068,-16.33207462,  2.41938745, -0.75097017,
   4.59004757,-13.17550432, -1.66177437,  3.23444419, -0.24312528,
  -6.18865686, -2.09389315,  0.91748773, -1.03309282, -8.95008047,
 -18.71573745,  3.43314506]

qfrc_actuator:
[ 1.90997122e-04, 1.10944682e-03, 4.85328906e-05,-1.62620379e-04,
  5.85495115e-05, 1.31862121e-04,-1.23562223e-04, 1.66939289e-04,
  2.53031761e-05, 9.98362591e-04, 7.82124264e-05, 2.53831013e-04,
  7.03694436e-02,-4.45704148e-04, 6.21599371e-02,-3.99377221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005134148547511902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08121436e-13, -2.16242872e-13,  1.00000000e+00,  2.33804897e-26,
        1.00000000e+00,  2.16242872e-13, -1.00000000e+00,  0.00000000e+00,
        1.08121436e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09650749, -0.09148027,  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:
[ 1.86866173e-05, 1.16819553e-05,-4.73859650e-06, 4.80381370e-06,
 -6.53998975e-06, 5.03491400e-06,-1.67133558e-05,-3.56473829e-05,
  1.46321128e-05,-2.73185308e-05,-1.79890371e-05,-2.83210547e-05,
 -4.81732532e-04,-7.57142155e-05,-3.11340557e-04,-1.20569014e-04,
  1.33713380e-04,-8.30062539e-06,-4.90503718e+00, 2.34989553e-04,
  1.17877196e-02,-5.75888867e-04]


--- Step 248 ---
qpos:
[ 0.01859955, 0.02996135,-0.00941481,-0.02545458, 0.00785107, 0.00467354,
 -0.00779036, 0.02691608, 0.0122487 , 0.0278529 ,-0.00829504, 0.02627855,
  0.60999345, 0.00647584, 0.50112138, 0.04742035, 0.0603251 ,-0.0761936 ,
  0.17183075, 0.99967891, 0.02441914, 0.00278158,-0.00616803]

qacc:
[  1.84527482, -0.2964213 ,  0.35548301,  1.30113705, -0.72341333,
  -1.36815844,  4.46951467, -5.95794638, -1.6263775 , -1.14472605,
   3.56985067, -3.69274604, -1.16839047,  1.24294295,  0.2254659 ,
  -6.85064389, -2.09586589,  0.91577865, -1.04788045, -8.95417708,
 -18.73014142,  3.4481132 ]

qfrc_actuator:
[ 2.01493345e-04, 1.08936085e-03, 4.96120171e-05,-1.58500128e-04,
  5.43997892e-05, 9.10481101e-05,-1.17577919e-04, 1.62193648e-04,
  1.49570599e-05, 9.96328719e-04, 9.90378468e-05, 2.56176736e-04,
  7.02497087e-02,-4.61743679e-04, 6.20508471e-02,-4.05753722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004983016694056625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09651226, -0.09148251,  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:
[ 1.10341869e-05,-1.44479791e-05, 3.04902086e-06, 4.54876923e-06,
 -4.33166408e-06,-4.30207110e-05, 3.72645101e-06,-5.80838172e-06,
 -9.91605435e-06,-2.23268056e-05, 1.19687908e-05,-9.54263294e-09,
 -4.64373173e-04,-9.34022623e-05,-2.67836266e-04,-1.11198948e-04,
  1.65693006e-04,-1.79656827e-05,-4.90504481e+00, 2.27302403e-04,
  1.17922446e-02,-5.75969022e-04]


--- Step 249 ---
qpos:
[ 0.0186023 , 0.02996473,-0.00941613,-0.02545707, 0.00785176, 0.00467413,
 -0.00779142, 0.02691899, 0.01224931, 0.02785546,-0.00829698, 0.02628284,
  0.61146582, 0.00647744, 0.50274461, 0.04742376, 0.06022623,-0.07618614,
  0.17181026, 0.99968194, 0.02436257, 0.00234227,-0.00608327]

qacc:
[  0.92081178, -1.75171599,  6.34380282,-10.52879414, -3.53639903,
  -1.00265106,  3.11321635, -4.22986296, -9.97692761,  0.13158122,
  -2.81686427,  9.58538026, -0.95397131,  0.29753662,  2.12104665,
 -12.88876073, -2.09928413,  0.91474523, -1.05859947, -8.9647355 ,
 -18.75988729,  3.46818201]

qfrc_actuator:
[ 2.06606243e-04, 1.04034695e-03, 5.08124921e-05,-1.72940149e-04,
  3.37713451e-05, 6.63999340e-05,-1.13660893e-04, 1.58201304e-04,
 -4.51047889e-05, 9.58566016e-04, 9.43959917e-05, 2.73769880e-04,
  7.01195829e-02,-4.89783802e-04, 6.19429964e-02,-4.15032260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004840290403220343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14685580e-13, -2.29371160e-13,  1.00000000e+00, -2.63055645e-26,
        1.00000000e+00,  2.29371160e-13, -1.00000000e+00,  0.00000000e+00,
       -1.14685580e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09651679, -0.0914846 ,  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:
[ 5.41882687e-06,-5.63896457e-05,-1.27576157e-06,-1.48656411e-05,
 -2.07664682e-05,-4.82148459e-05,-4.71565683e-06,-5.82609820e-06,
 -6.03528035e-05,-4.78665525e-05,-7.79774462e-06, 1.70401860e-05,
 -4.64956909e-04,-1.04528881e-04,-2.47664042e-04,-1.34593458e-04,
  2.01166047e-04,-2.94483493e-05,-4.90505335e+00, 2.18929605e-04,
  1.17974054e-02,-5.75676949e-04]


--- Step 250 ---
qpos:
[ 0.01860509, 0.02996768,-0.0094177 ,-0.02545969, 0.0078522 , 0.00467445,
 -0.00779221, 0.0269218 , 0.01224954, 0.02785794,-0.00829907, 0.02628692,
  0.61293558, 0.00647909, 0.50436459, 0.04742736, 0.06011894,-0.07617502,
  0.17178551, 0.99968531, 0.02428782, 0.0018653 ,-0.00599241]

qacc:
[  0.34240728, -0.15474287,  0.26870403, -1.77172028, -2.21041656,
  -1.32112662,  4.64687456, -6.64359033, -3.24699666, -0.09997398,
   1.04786414, -4.17316845, -1.55818829,  2.86257541, -5.3169771 ,
  11.77089745, -2.10400443,  0.9143116 , -1.06589578, -8.98138299,
 -18.8035354 ,  3.49259617]

qfrc_actuator:
[ 2.08512165e-04, 1.00987436e-03, 3.41783063e-05,-1.80461666e-04,
  2.13611745e-05, 6.93705350e-05,-9.32038523e-05, 1.54682852e-04,
 -6.29296383e-05, 9.70632775e-04, 9.23585163e-05, 2.64632064e-04,
  6.99833102e-02,-4.89206879e-04, 6.17933596e-02,-4.13517812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047061354547253686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35909705e-13, -2.35909705e-13,  1.00000000e+00, -5.56533887e-26,
        1.00000000e+00,  2.35909705e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35909705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09652108, -0.09148657,  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:
[ 2.03594899e-06,-6.30130455e-05,-2.89734249e-05,-1.02692023e-05,
 -1.30167237e-05,-2.52377073e-05, 9.71511447e-06,-5.86577483e-06,
 -1.96049082e-05,-1.56796009e-05,-1.23095528e-05,-1.11355661e-05,
 -4.73021601e-04,-7.71951565e-05,-2.83957760e-04,-2.56427969e-05,
  2.40180864e-04,-4.27631322e-05,-4.90506280e+00, 2.09854403e-04,
  1.18032054e-02,-5.75012195e-04]


--- Step 251 ---
qpos:
[ 0.01860787, 0.02997021,-0.00941947,-0.02546238, 0.00785282, 0.00467473,
 -0.00779312, 0.02692455, 0.01225058, 0.02786015,-0.00830085, 0.0262912 ,
  0.61440263, 0.00648143, 0.50598107, 0.04743404, 0.06000321,-0.07616024,
  0.17175647, 0.99968897, 0.02419485, 0.00135056,-0.00589538]

qacc:
[ 1.03963971e-02,-1.44411977e-01, 9.76625961e-03,-6.31781212e-01,
  1.69083495e+00, 1.37673531e-01,-3.24651069e-01,-5.38768416e-01,
  6.98732123e+00,-8.13180371e-01, 1.53846693e+00, 1.59379856e+00,
 -2.24441212e+00, 5.86794770e+00,-1.43403734e+01, 4.29464692e+01,
 -2.10981204e+00, 9.14373560e-01,-1.07069847e+00,-9.00343450e+00,
 -1.88591208e+01, 3.52060629e+00]

qfrc_actuator:
[ 2.08517320e-04, 9.90666123e-04, 2.49691704e-05,-1.83850114e-04,
  3.16454377e-05, 7.11770191e-05,-9.85344444e-05, 1.51507061e-04,
 -2.02293046e-05, 9.59174639e-04, 1.09809200e-04, 2.75385698e-04,
  6.98541024e-02,-4.54041536e-04, 6.16560857e-02,-3.96787197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004580532905577167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21189286e-13,  1.21189286e-13,  1.00000000e+00,  1.46868430e-26,
        1.00000000e+00, -1.21189286e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21189286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09652512, -0.09148839,  0.06199179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68610708e-08,-6.09588565e-05,-2.61603766e-05,-7.28656763e-06,
  9.90538736e-06,-1.05646364e-05,-9.55052668e-06,-4.04005692e-06,
  4.21274015e-05,-2.33268285e-05, 1.22976604e-05, 9.42992708e-06,
 -4.67430137e-04,-4.17397782e-05,-2.73857713e-04, 1.28459654e-04,
  2.82794315e-04,-5.79293598e-05,-4.90507314e+00, 2.00058011e-04,
  1.18096493e-02,-5.73974055e-04]


--- Step 252 ---
qpos:
[ 1.86102935e-02, 2.99723089e-02,-9.42105985e-03,-2.54654664e-02,
  7.85391510e-03, 4.67490354e-03,-7.79433035e-03, 2.69269136e-02,
  1.22521300e-02, 2.78620336e-02,-8.30233143e-03, 2.62952451e-02,
  6.15867022e-01, 6.48452299e-03, 5.07594806e-01, 4.74415272e-02,
  5.98790217e-02,-7.61418061e-02, 1.71723144e-01, 9.99692850e-01,
  2.40836008e-02, 7.97921138e-04,-5.79215051e-03]

qacc:
[ -3.13194313, -1.86279416,  7.47719729,-14.21447176,  4.06760631,
  -0.08639843,  1.72776718, -7.82391587,  4.31009974, -1.77451788,
   6.68610677,-11.05989928, -2.39513754,  6.47049255, -6.40369084,
  16.79782171, -2.11652577,  0.91484403, -1.07379017, -9.03030863,
 -18.92499436,  3.55159877]

qfrc_actuator:
[ 1.89652234e-04, 9.78383386e-04, 3.80251980e-05,-2.02515185e-04,
  5.52021666e-05, 5.44281822e-05,-1.19049372e-04, 1.30787709e-04,
  4.48191883e-06, 9.33819776e-04, 1.20808569e-04, 2.62254631e-04,
  6.97239094e-02,-4.16530676e-04, 6.15370197e-02,-3.92525922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044633191745453715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24371906e-13,  1.24371906e-13,  1.00000000e+00,  1.54683710e-26,
        1.00000000e+00, -1.24371906e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24371906e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09652891, -0.09149009,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88895849e-05,-5.21588550e-05,-3.01375537e-06,-2.23181951e-05,
  2.38350946e-05,-2.48046467e-05,-2.40124601e-05,-2.15863215e-05,
  2.59436984e-05,-3.55059548e-05, 8.00659501e-06,-1.35337565e-05,
 -4.58739120e-04,-3.58475249e-05,-2.33710515e-04, 1.36818391e-05,
  3.29069152e-04,-7.49700327e-05,-4.90508436e+00, 1.89520315e-04,
  1.18167427e-02,-5.72561584e-04]


--- Step 253 ---
qpos:
[ 1.86124691e-02, 2.99739470e-02,-9.42192204e-03,-2.54687840e-02,
  7.85527973e-03, 4.67483968e-03,-7.79545632e-03, 2.69290008e-02,
  1.22532746e-02, 2.78639465e-02,-8.30379638e-03, 2.62987243e-02,
  6.17328858e-01, 6.48778269e-03, 5.09206042e-01, 4.74460994e-02,
  5.97463326e-02,-7.61197076e-02, 1.71685511e-01, 9.99696889e-01,
  2.39540135e-02, 2.07223759e-04,-5.68264717e-03]

qacc:
[ -2.07345185, -3.12782022, 11.25507524,-16.12815607,  2.41702237,
  -1.12884057,  4.72410645, -9.45116628, -3.45056366, -1.16239473,
   6.59136291,-16.38886718, -1.75174423,  3.66520184,  5.19956931,
 -23.36805797, -2.12399361,  0.91565062, -1.07582556, -9.06151709,
 -18.99977997,  3.58507172]

qfrc_actuator:
[ 1.77584744e-04, 9.70430224e-04, 8.18937727e-05,-2.12246215e-04,
  6.86219770e-05, 4.43697492e-05,-1.12938593e-04, 1.17642147e-04,
 -1.71186757e-05, 9.53560551e-04, 1.27823991e-04, 2.35151105e-04,
  6.95878940e-02,-4.13475586e-04, 6.13969824e-02,-4.08070117e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043542197127786897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09653245, -0.09149166,  0.06199219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26394083e-05,-3.87625970e-05, 3.19519115e-05,-1.24969977e-05,
  1.40903862e-05,-2.98036448e-05,-2.71156968e-06,-1.54634565e-05,
 -2.08466493e-05, 9.13703657e-07, 1.85927398e-07,-2.86221330e-05,
 -4.57416063e-04,-6.86987970e-05,-2.51701991e-04,-1.86234492e-04,
  3.79073137e-04,-9.39112486e-05,-4.90509645e+00, 1.78220134e-04,
  1.18244918e-02,-5.70773612e-04]


--- Step 254 ---
qpos:
[ 1.86155169e-02, 2.99752275e-02,-9.42201467e-03,-2.54718642e-02,
  7.85713961e-03, 4.67472861e-03,-7.79661450e-03, 2.69312427e-02,
  1.22534621e-02, 2.78660908e-02,-8.30530724e-03, 2.63021749e-02,
  6.18788181e-01, 6.49110011e-03, 5.10814550e-01, 4.74460822e-02,
  5.96051152e-02,-7.60939421e-02, 1.71643569e-01, 9.99701009e-01,
  2.38060133e-02,-4.21696871e-04,-5.56681293e-03]

qacc:
[  7.51372539, -2.14928382,  5.9502792 , -2.78195806,  4.356831  ,
   0.33760166, -1.96212772,  4.74154085, -8.16333463,  0.39143292,
  -0.80406074,  0.18416994, -1.64976881,  3.21885194,  9.91315435,
 -40.36977154, -2.13208873,  0.91673343, -1.07734845, -9.09665424,
 -19.08233639,  3.62061517]

qfrc_actuator:
[ 2.22878980e-04, 9.65280848e-04, 1.25874974e-04,-1.98864751e-04,
  9.37162503e-05, 5.62558957e-05,-1.08873509e-04, 1.26838052e-04,
 -6.57992856e-05, 9.82373307e-04, 1.32607658e-04, 2.35587302e-04,
  6.94591222e-02,-4.13043684e-04, 6.12497647e-02,-4.31606671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042528770762631507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30526113e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30526113e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09653576, -0.09149311,  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:
[ 4.49080383e-05,-2.08140091e-05, 3.94749066e-05, 1.25897463e-05,
  2.54850568e-05,-5.98726616e-06,-2.95160970e-06, 7.52133675e-06,
 -4.92852369e-05, 2.80720109e-05, 3.99396447e-06,-8.29195353e-08,
 -4.54615585e-04,-7.39605082e-05,-2.89408528e-04,-2.79607234e-04,
  4.32878384e-04,-1.14781755e-04,-4.90510940e+00, 1.66135412e-04,
  1.18329037e-02,-5.68608757e-04]


--- Step 255 ---
qpos:
[ 0.01861943, 0.02997655,-0.00942201,-0.02547442, 0.00785929, 0.00467485,
 -0.00779816, 0.02693391, 0.01225341, 0.02786856,-0.00830709, 0.02630561,
  0.62024496, 0.00649447, 0.51241937, 0.0474449 , 0.05945534,-0.0760645 ,
  0.17159731, 0.99970513, 0.02363952,-0.00108902,-0.00544458]

qacc:
[  7.41357654,  0.8518482 , -5.19971594, 14.12141273,  2.5020345 ,
   2.26447735, -9.42700699, 17.24655513, -2.06561991,  1.16096497,
  -3.44014431,  3.32407116, -1.55163834,  2.8705273 , -1.87339075,
  -1.20541269, -2.14070586,  0.91804324, -1.07880723, -9.13538699,
 -19.1717233 ,  3.65789475]

qfrc_actuator:
[ 2.66065726e-04, 9.79646267e-04, 1.34086376e-04,-1.71993628e-04,
  1.07731703e-04, 8.12129707e-05,-1.23704491e-04, 1.49118652e-04,
 -7.67558614e-05, 9.98664406e-04, 1.18357120e-04, 2.34485854e-04,
  6.93241335e-02,-4.14146146e-04, 6.10823720e-02,-4.36576233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004158874148762759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33476391e-13, -1.33476391e-13,  1.00000000e+00, -1.78159470e-26,
        1.00000000e+00,  1.33476391e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33476391e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09653884, -0.09149444,  0.06199253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44824392e-05, 1.13859800e-05, 9.19801600e-06, 2.75926531e-05,
  1.47374238e-05, 2.13430793e-05,-1.61621957e-05, 2.20650317e-05,
 -1.23864252e-05, 3.27263703e-05,-7.97571459e-06, 2.31107728e-07,
 -4.60015933e-04,-7.55543166e-05,-3.35809723e-04,-1.03631109e-04,
  4.90560874e-04,-1.37612610e-04,-4.90512319e+00, 1.53243355e-04,
  1.18419857e-02,-5.66065439e-04]


--- Step 256 ---
qpos:
[ 0.01862279, 0.02997807,-0.00942222,-0.02547732, 0.00786089, 0.00467536,
 -0.00779997, 0.0269368 , 0.01225426, 0.02787118,-0.0083087 , 0.02630899,
  0.62169927, 0.00649752, 0.51402026, 0.047447  , 0.05929696,-0.07603139,
  0.17154673, 0.99970916, 0.02345445,-0.00179494,-0.00531589]

qacc:
[ -4.69874405,  0.14289135,  1.36799699, -7.23553099, -4.75257431,
   1.71143192, -6.28055231, 10.19830924,  7.69748267, -0.39901554,
   1.90945686, -3.14429686, -0.99123684,  0.66575299,-15.68381542,
  46.51255423, -2.14975806,  0.91953973, -1.08056876, -9.17744545,
 -19.26717149,  3.69663828]

qfrc_actuator:
[ 2.36637080e-04, 9.87714890e-04, 1.21202421e-04,-1.90669173e-04,
  7.96055283e-05, 1.13748361e-04,-1.31752944e-04, 1.61164637e-04,
 -2.99062490e-05, 1.00726000e-03, 1.28439014e-04, 2.32462731e-04,
  6.91961592e-02,-4.33936218e-04, 6.09403393e-02,-4.18137923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000407175319256603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36332308e-13, -1.36332308e-13,  1.00000000e+00, -1.85864983e-26,
        1.00000000e+00,  1.36332308e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36332308e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0965417 , -0.09149565,  0.06199269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81338551e-05, 1.74776501e-05,-8.46043420e-06,-1.73323682e-05,
 -2.77001725e-05, 4.20903892e-05,-4.85684369e-06, 1.28274112e-05,
  4.65047227e-05, 2.51782843e-05, 1.58524705e-05,-9.00803229e-07,
 -4.56977203e-04,-9.54001740e-05,-3.08907199e-04, 1.35053814e-04,
  5.52200127e-04,-1.62436926e-04,-4.90513781e+00, 1.39520525e-04,
  1.18517456e-02,-5.63141890e-04]


--- Step 257 ---
qpos:
[ 0.01862544, 0.02997927,-0.00942233,-0.02548073, 0.00786215, 0.00467598,
 -0.0078015 , 0.0269398 , 0.01225601, 0.02787386,-0.00830985, 0.02631231,
  0.62315105, 0.00650067, 0.51561766, 0.0474525 , 0.05914921,-0.07600735,
  0.17151184, 0.99971148, 0.02331889,-0.00245546,-0.00521165]

qacc:
[ -6.19515037, -1.70678895,  7.58782703,-16.1462036 , -3.06581061,
  -0.39835377,  1.15935769,  0.3128563 ,  7.68435486, -1.35593036,
   5.1662393 , -6.93242804, -1.49304332,  2.75732129,-15.3868847 ,
  46.47581522,  2.65840047, -2.26960534,  3.92092764, 24.62594783,
  22.54062053,-12.80389862]

qfrc_actuator:
[ 2.00209095e-04, 9.38566538e-04, 1.13679606e-04,-2.18256037e-04,
  6.24099243e-05, 1.15086697e-04,-1.17943407e-04, 1.67106405e-04,
  1.50747406e-05, 1.01127417e-03, 1.52780582e-04, 2.29925975e-04,
  6.90724789e-02,-4.29090202e-04, 6.07976995e-02,-4.00254422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.48559883,  4.64936334, -2.91122226,  4.64936334, 17.08361529,
       18.52259562, -2.91122226, 18.52259562, 35.06708369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004845519053284647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14561826e-13, -2.29123653e-13,  1.00000000e+00, -2.62488241e-26,
        1.00000000e+00,  2.29123653e-13, -1.00000000e+00,  0.00000000e+00,
       -1.14561826e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457977, -0.05121482,  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:
[-3.72445865e-05,-4.19311920e-05,-5.56598578e-06,-2.74647495e-05,
 -1.79684579e-05, 2.44088176e-05, 2.23595623e-05, 7.82471615e-06,
  4.63603473e-05, 2.12652526e-05, 3.14435204e-05,-9.38356577e-07,
 -4.53015190e-04,-7.24074896e-05,-2.70706277e-04, 1.46228254e-04,
  6.17878977e-04,-1.89289689e-04,-4.90515323e+00, 1.24942904e-04,
  1.18621914e-02,-5.59836164e-04]


--- Step 258 ---
qpos:
[ 0.01862693, 0.0299802 ,-0.00942254,-0.02548408, 0.00786319, 0.00467647,
 -0.00780243, 0.02694286, 0.01225794, 0.02787622,-0.00831077, 0.02631565,
  0.62460024, 0.00650423, 0.51721171, 0.04745876, 0.0590115 ,-0.07599204,
  0.17149003, 0.99971229, 0.02322912,-0.0030724 ,-0.00512841]

qacc:
[ -9.84107222,  0.05158706, -0.88058885,  2.06403047, -1.87857264,
  -1.72380302,  5.64706946, -5.49634409,  1.56504061, -1.0528814 ,
   3.10274359, -3.08392933, -1.94536927,  4.5380425 , -7.16486398,
  18.10119584,  2.50830709, -2.18246976,  3.2719295 , 22.76733696,
  21.65027184,-11.06587998]

qfrc_actuator:
[ 1.42223943e-04, 9.26543878e-04, 1.09153750e-04,-2.15394975e-04,
  5.17988369e-05, 9.78187686e-05,-9.14656911e-05, 1.69399893e-04,
  2.30709946e-05, 9.59317697e-04, 1.49813229e-04, 2.27109283e-04,
  6.89408174e-02,-4.09750550e-04, 6.06228436e-02,-3.97049197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.09203405, -5.67102211,  2.22539596, -5.67102211,  7.17979804,
        2.77197124,  2.22539596,  2.77197124, 13.15590512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005591767801280678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96364953e-14,  9.92729906e-14,  1.00000000e+00, -4.92756333e-27,
        1.00000000e+00, -9.92729906e-14, -1.00000000e+00,  0.00000000e+00,
        4.96364953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03459083, -0.05124235,  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:
[-5.90865840e-05,-3.78514485e-05,-1.48281050e-05, 3.44603553e-07,
 -1.11144385e-05, 1.31801532e-06, 3.45491071e-05, 4.26149053e-06,
  9.37004302e-06,-3.36792317e-05, 5.24030863e-06,-8.48102438e-07,
 -4.54329409e-04,-5.56147215e-05,-2.86148766e-04, 4.50425952e-06,
  5.38112043e-04,-1.31441409e-04,-4.90513645e+00, 1.61575986e-04,
  1.18509903e-02,-5.56391825e-04]


--- Step 259 ---
qpos:
[ 0.01862703, 0.02998144,-0.00942338,-0.02548741, 0.00786376, 0.0046768 ,
 -0.00780265, 0.02694523, 0.01225961, 0.02787834,-0.00831169, 0.02631893,
  0.62604699, 0.00650771, 0.51880183, 0.04746346, 0.05888327,-0.07598513,
  0.17147891, 0.99971179, 0.02318196,-0.00364754,-0.00506341]

qacc:
[-12.01218601,  2.19842847, -7.27931353,  8.3309166 , -4.20179216,
  -3.58867155, 15.44436389,-28.45944586, -2.2393803 , -0.41740133,
   1.24269329, -1.95974773, -1.35117607,  2.1058127 , -1.03121712,
  -4.68479923,  2.37206678, -2.09862786,  2.67164631, 21.17935984,
  20.79662773, -9.66928393]

qfrc_actuator:
[ 7.20177847e-05, 9.72380494e-04, 8.88341509e-05,-2.12366493e-04,
  2.73921959e-05, 8.73441383e-05,-5.78130355e-05, 1.34010850e-04,
  9.23419842e-06, 9.45142096e-04, 1.48260074e-04, 2.24081005e-04,
  6.88151149e-02,-4.17571400e-04, 6.03968158e-02,-4.06073735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.56654969,  6.09510123, -2.44321833,  6.09510123, 13.93391654,
       18.37938352, -2.44321833, 18.37938352, 52.41763133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006160733786304134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01047719e-14, -9.01047719e-14,  1.00000000e+00, -8.11886991e-27,
        1.00000000e+00,  9.01047719e-14, -1.00000000e+00,  0.00000000e+00,
       -9.01047719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03459889, -0.05126351,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.19423814e-05, 2.15738549e-05,-2.99514945e-05, 9.09651279e-07,
 -2.47236118e-05,-2.43584943e-06, 3.83265477e-05,-3.40596042e-05,
 -1.35667065e-05,-3.20360180e-05,-7.91674679e-06,-4.31743359e-06,
 -4.46914495e-04,-8.16040070e-05,-3.60209766e-04,-1.27677926e-04,
  4.67345981e-04,-8.38261453e-05,-4.90512062e+00, 1.90815998e-04,
  1.18442262e-02,-5.54178929e-04]


--- Step 260 ---
qpos:
[ 0.01862663, 0.02998332,-0.00942468,-0.02549074, 0.00786437, 0.00467694,
 -0.00780272, 0.02694789, 0.01226144, 0.02788061,-0.0083131 , 0.02632247,
  0.62749131, 0.0065111 , 0.52038772, 0.04746799, 0.05876405,-0.0759863 ,
  0.17147631, 0.99971011, 0.02317471,-0.00418247,-0.00501442]

qacc:
[-4.30496238, 2.19340699,-6.60951881, 7.02501152, 0.43193184,-0.10701922,
 -1.24284372, 6.21067064, 1.39519567, 2.12573028,-8.41098805,13.68979361,
 -1.30291185, 1.97643177,-5.70212588,10.98214568, 2.25092874,-2.02115767,
  2.13062022,19.83392081,20.00635384,-8.54966372]

qfrc_actuator:
[ 4.84457887e-05, 1.03470300e-03, 7.73436093e-05,-2.09227962e-04,
  3.05643169e-05, 6.32624906e-05,-5.57079274e-05, 1.47750320e-04,
  1.81752846e-05, 9.71442833e-04, 1.29945288e-04, 2.38735318e-04,
  6.86930684e-02,-4.23600485e-04, 6.02041665e-02,-4.06257126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.91233707,  6.44344128, -2.50249242,  6.44344128, 13.51705647,
       17.0058943 , -2.50249242, 17.0058943 , 50.69927542,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006579299066023225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43724395e-14, -8.43724395e-14,  1.00000000e+00, -7.11870854e-27,
        1.00000000e+00,  8.43724395e-14, -1.00000000e+00,  0.00000000e+00,
       -8.43724395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460437, -0.05127944,  0.0619882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56618529e-05, 6.81861438e-05,-1.06867749e-05, 3.05315396e-06,
  2.46852764e-06,-1.90099916e-05, 5.13849209e-06, 1.42938222e-05,
  8.53894416e-06, 6.49298781e-06,-2.60758595e-05, 1.29143872e-05,
 -4.42801678e-04,-8.08149553e-05,-3.72283419e-04,-5.53850573e-05,
  4.04488397e-04,-4.47637943e-05,-4.90510598e+00, 2.14169104e-04,
  1.18407242e-02,-5.53081666e-04]


--- Step 261 ---
qpos:
[ 0.01862698, 0.02998558,-0.00942578,-0.02549401, 0.0078657 , 0.00467708,
 -0.00780312, 0.02695105, 0.01226371, 0.02788294,-0.00831502, 0.02632653,
  0.62893324, 0.00651413, 0.52197033, 0.04747481, 0.05865341,-0.07599528,
  0.17148032, 0.99970737, 0.02320511,-0.00467866,-0.00497969]

qacc:
[ 6.46924682e+00, 2.35213765e-02, 3.97600015e-01,-9.47144591e-02,
  6.34888315e+00, 1.95411136e+00,-9.06705120e+00, 1.82093729e+01,
  3.71456647e+00, 2.55294338e+00,-1.11318330e+01, 2.06784837e+01,
 -9.34646798e-01, 4.78080326e-01,-1.17458745e+01, 3.41176792e+01,
  2.14481462e+00,-1.95154870e+00, 1.65200053e+00, 1.87018189e+01,
  1.92919439e+01,-7.65455045e+00]

qfrc_actuator:
[ 8.80200589e-05, 1.05320447e-03, 8.90053002e-05,-2.06020244e-04,
  6.76999707e-05, 6.66327134e-05,-7.22666676e-05, 1.72505781e-04,
  4.04594877e-05, 9.68470085e-04, 1.02064458e-04, 2.63702393e-04,
  6.85679761e-02,-4.46276996e-04, 6.01169262e-02,-3.92336313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.14821124,  6.70924636, -2.46636111,  6.70924636, 14.65468362,
       20.41986971, -2.46636111, 20.41986971, 62.6964179 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006871593635504603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03917593e-14, -8.07835186e-14,  1.00000000e+00, -3.26298844e-27,
        1.00000000e+00,  8.07835186e-14, -1.00000000e+00,  0.00000000e+00,
       -4.03917593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460768, -0.05129108,  0.06198768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88466764e-05, 5.45006861e-05, 2.45358775e-05, 5.82403659e-06,
  3.71983686e-05,-5.59557268e-06,-1.93649407e-05, 2.43905618e-05,
  2.25438535e-05,-4.23955665e-06,-2.93209456e-05, 2.45845886e-05,
 -4.42777429e-04,-9.69391998e-05,-2.63371665e-04, 8.83673193e-05,
  3.48569080e-04,-1.28782613e-05,-4.90509262e+00, 2.32805985e-04,
  1.18396413e-02,-5.53005768e-04]


--- Step 262 ---
qpos:
[ 0.01862781, 0.02998777,-0.00942677,-0.0254975 , 0.00786712, 0.00467742,
 -0.00780377, 0.02695376, 0.01226589, 0.02788551,-0.00831708, 0.02633045,
  0.63037279, 0.00651659, 0.52355042, 0.04748045, 0.05855098,-0.07601182,
  0.17148926, 0.99970369, 0.02327126,-0.00513741,-0.0049578 ]

qacc:
[ 4.05275248,-0.858888  , 3.82061908,-7.67591707, 0.77651549, 0.04410105,
  2.09452634,-9.5677273 ,-0.8182275 , 0.40742713,-0.46424072,-1.70533312,
 -0.81371872,-0.15516682,-0.11124206,-4.98042229, 2.05282427,-1.89022824,
  1.23410108,17.75437151,18.65645522,-6.94119671]

qfrc_actuator:
[ 1.11170993e-04, 1.00991989e-03, 7.85691898e-05,-2.20568928e-04,
  7.12618498e-05, 8.63438985e-05,-8.18425029e-05, 1.50292225e-04,
  3.49060462e-05, 1.00122091e-03, 1.04167112e-04, 2.59005245e-04,
  6.84411405e-02,-4.78627639e-04, 5.99971335e-02,-3.98596252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.29557953, -6.92348534,  2.30018074, -6.92348534,  9.47720693,
        6.56664279,  2.30018074,  6.56664279, 27.06100676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007058898073711156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93199836e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.93199836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460916, -0.05129925,  0.06198734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42951607e-05,-7.54073833e-06, 4.03528532e-06,-1.12499427e-05,
  4.61682526e-06, 1.36325402e-05,-1.22785211e-05,-2.26567641e-05,
 -4.88737328e-06, 2.53209887e-05,-1.54629256e-06,-5.42534887e-06,
 -4.45963399e-04,-1.08624412e-04,-2.34793181e-04,-9.25774693e-05,
  2.98749128e-04, 1.29404202e-05,-4.90508055e+00, 2.47630550e-04,
  1.18403762e-02,-5.53874771e-04]


--- Step 263 ---
qpos:
[ 0.0186289 , 0.02998954,-0.0094277 ,-0.02550075, 0.00786823, 0.00467791,
 -0.00780458, 0.02695653, 0.01226764, 0.02788825,-0.00831884, 0.02633462,
  0.63180988, 0.006519  , 0.52512761, 0.04748331, 0.05845645,-0.07603571,
  0.1715017 , 0.99969914, 0.02337156,-0.00555984,-0.00494765]

qacc:
[  2.34066231, -0.21233067, -1.06340944,  5.5155598 , -2.76074128,
   0.7475678 , -2.59026706,  3.65975522, -3.64033688, -0.09888192,
  -0.31382247,  3.81184926, -1.46619878,  2.47904903,  4.14256237,
 -20.57859049,  1.97366679, -1.83701295,  0.8726598 , 16.96501378,
  18.09758861, -6.37491166]

qfrc_actuator:
[ 1.24448499e-04, 9.65366950e-04, 7.26380068e-05,-2.10018898e-04,
  5.50235968e-05, 9.79224390e-05,-8.71726304e-05, 1.53900583e-04,
  1.30076888e-05, 1.01970384e-03, 1.24079629e-04, 2.72445496e-04,
  6.83186696e-02,-4.80932764e-04, 5.98365559e-02,-4.13157771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.37339696, -7.07836384,  2.06488454, -7.07836384,  9.84665251,
        8.47824771,  2.06488454,  8.47824771, 36.43658223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000715974628509114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87661441e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.87661441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460916, -0.05130458,  0.06198717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39778260e-05,-4.84717044e-05,-7.38881600e-06, 1.01516717e-05,
 -1.61008509e-05, 1.56857544e-05,-4.81291387e-06, 3.32122793e-06,
 -2.20257816e-05, 3.20181919e-05, 2.47524166e-05, 1.43569931e-05,
 -4.45640858e-04,-8.03095207e-05,-2.85017321e-04,-1.82563520e-04,
  2.54317872e-04, 3.35771735e-05,-4.90506972e+00, 2.59337175e-04,
  1.18425025e-02,-5.55626814e-04]


--- Step 264 ---
qpos:
[ 0.01863084, 0.0299908 ,-0.00942834,-0.0255035 , 0.00786948, 0.00467844,
 -0.00780515, 0.02695965, 0.01226911, 0.02789081,-0.00832042, 0.02633827,
  0.63324462, 0.00652136, 0.52670102, 0.0474838 , 0.05836954,-0.07606676,
  0.17151638, 0.99969379, 0.02350471,-0.00594694,-0.00494833]

qacc:
[  7.22820184, -0.47184716, -1.4463156 , 10.01409218,  1.25458861,
   0.11498441, -1.83769911,  7.57182274, -2.34242771, -1.79357027,
   8.23095483,-17.25348304, -1.35639694,  2.20871551,  1.64079284,
 -13.72069448,  1.90592071, -1.7913954 ,  0.56225207, 16.31003695,
  17.61026447, -5.92763075]

qfrc_actuator:
[ 1.67318534e-04, 9.38167031e-04, 8.71646123e-05,-1.84785508e-04,
  6.27772576e-05, 1.04580137e-04,-7.22047620e-05, 1.72678584e-04,
 -5.74236839e-07, 9.76340864e-04, 1.18804173e-04, 2.43197112e-04,
  6.82095619e-02,-4.83251784e-04, 5.96356552e-02,-4.25393613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.39661037, -7.19246112,  1.72578912, -7.19246112,  9.80379992,
       10.03229019,  1.72578912, 10.03229019, 49.20754566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007190132546392031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.72046285e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.72046285e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460793, -0.05130765,  0.06198711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32562211e-05,-5.54410457e-05, 3.95240676e-06, 2.31047113e-05,
  7.30162392e-06, 1.45572490e-05, 1.77282636e-05, 1.93434827e-05,
 -1.42106683e-05,-1.98198116e-05, 4.86589759e-06,-2.67506091e-05,
 -4.28030333e-04,-7.77593813e-05,-3.56399065e-04,-1.70295207e-04,
  2.14681296e-04, 4.97318031e-05,-4.90506007e+00, 2.68457326e-04,
  1.18457197e-02,-5.58211934e-04]


--- Step 265 ---
qpos:
[ 0.01863224, 0.02999163,-0.00942938,-0.02550589, 0.00787082, 0.00467898,
 -0.00780521, 0.02696261, 0.01227007, 0.02789313,-0.00832191, 0.02634052,
  0.63467692, 0.00652404, 0.5282708 , 0.04748235, 0.05829002,-0.07610482,
  0.17153226, 0.99968769, 0.02366962,-0.00629957,-0.00495918]

qacc:
[ -4.59600761,  1.29302337, -6.90288021, 14.00035774,  0.74613554,
  -1.73794036,  6.90205162,-10.51053298, -4.41774744, -3.4277951 ,
  17.66665687,-41.82039886, -1.82847477,  4.10386482,  0.60634831,
  -9.69361514,  1.84818182, -1.75271961,  0.29713402, 15.76879281,
  17.18819   , -5.57670347]

qfrc_actuator:
[ 1.38503652e-04, 9.03908118e-04, 6.04638057e-05,-1.68845178e-04,
  6.68438377e-05, 1.08340125e-04,-4.53863790e-05, 1.64731508e-04,
 -2.68998497e-05, 9.49400750e-04, 1.16157957e-04, 1.71236083e-04,
  6.80872479e-02,-4.67795736e-04, 5.94799793e-02,-4.34387738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.37647217, -7.26385454,  1.2840401 , -7.26385454,  9.19762974,
       10.30234462,  1.2840401 , 10.30234462, 65.65715397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007163763327501932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74888124e-14,  7.74888124e-14,  1.00000000e+00,  6.00451604e-27,
        1.00000000e+00, -7.74888124e-14, -1.00000000e+00,  0.00000000e+00,
       -7.74888124e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460574, -0.0513089 ,  0.06198716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75777759e-05,-6.34781547e-05,-3.68697743e-05, 1.41559347e-05,
  4.27764339e-06, 1.63744920e-05, 3.26714595e-05,-6.34057941e-06,
 -2.67411613e-05,-3.82475468e-05,-7.08416223e-06,-7.31721072e-05,
 -4.29072745e-04,-5.69041556e-05,-3.38747463e-04,-1.45469782e-04,
  1.79347288e-04, 6.19544128e-05,-4.90505152e+00, 2.75396554e-04,
  1.18498184e-02,-5.61589852e-04]


--- Step 266 ---
qpos:
[ 0.01863363, 0.02999233,-0.00943144,-0.02550771, 0.00787184, 0.00467959,
 -0.00780493, 0.02696546, 0.01227139, 0.02789498,-0.00832281, 0.02634258,
  0.63610659, 0.00652736, 0.52983767, 0.04748023, 0.05821769,-0.07614977,
  0.17154842, 0.99968087, 0.0238654 ,-0.00661847,-0.00497963]

qacc:
[ -0.12661726,  3.83293121,-16.30471824, 27.77384111, -2.68742187,
  -1.0723662 ,  4.43076365, -6.96718979,  3.14789756, -2.67696276,
   9.4681994 ,-13.44748221, -2.28940183,  5.73979708, -2.16812421,
   1.6075652 ,  1.79914052, -1.72028485,  0.071717  , 15.32359227,
  16.82477346, -5.30387869]

qfrc_actuator:
[ 1.38727604e-04, 9.01023227e-04, 9.59016076e-06,-1.40786781e-04,
  5.09475961e-05, 1.10369781e-04,-2.95775850e-05, 1.58875763e-04,
 -7.26029681e-06, 9.32456291e-04, 1.50621582e-04, 1.63501331e-04,
  6.79357986e-02,-4.42038235e-04, 5.93888410e-02,-4.36058907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007092318692784455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.82693977e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.82693977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460278, -0.0513087 ,  0.06198729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.01916694e-07,-4.54166777e-05,-6.80277278e-05, 2.43473511e-05,
 -1.57700151e-05, 1.76392370e-05, 2.29834331e-05,-4.15487262e-06,
  1.88515232e-05,-4.30096269e-05, 2.31460151e-05,-1.10485611e-05,
 -4.55395425e-04,-4.51565796e-05,-2.64224268e-04,-6.87880779e-05,
  1.47910620e-04, 7.06752780e-05,-4.90504400e+00, 2.80463371e-04,
  1.18546544e-02,-5.65728151e-04]


--- Step 267 ---
qpos:
[ 0.01863536, 0.02999288,-0.00943358,-0.02550995, 0.00787302, 0.00468011,
 -0.00780437, 0.02696824, 0.01227328, 0.02789651,-0.00832279, 0.02634483,
  0.63753369, 0.00653101, 0.53140143, 0.0474772 , 0.0581524 ,-0.07620148,
  0.1715641 , 0.99967337, 0.02409131,-0.00690425,-0.00500929]

qacc:
[  2.8842892 , -0.81430762,  4.34383057,-11.14210928,  1.30032552,
  -1.04898042,  3.872094  , -5.4691024 ,  4.88850011, -2.60407233,
   7.81799806, -5.65091279, -1.9160636 ,  4.25587847, -1.75505463,
  -0.28743597,  1.75761628, -1.69340393, -0.11918821, 14.95944806,
  16.51362854, -5.09446466]

qfrc_actuator:
[ 1.56065225e-04, 9.16851435e-04, 1.60090618e-05,-1.59064394e-04,
  5.89352871e-05, 9.35532528e-05,-2.04017715e-05, 1.54290742e-04,
  2.15280796e-05, 9.39580299e-04, 2.06810500e-04, 1.75907144e-04,
  6.78042556e-02,-4.28291649e-04, 5.92406280e-02,-4.40486938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000698570375857202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19195903e-13, -7.94639354e-14,  1.00000000e+00, -9.47177555e-27,
        1.00000000e+00,  7.94639354e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19195903e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03459923, -0.05130738,  0.06198748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73062402e-05,-2.25774011e-05,-1.04784624e-05,-2.20946838e-05,
  7.54492759e-06,-2.42022335e-06, 1.54904593e-05,-3.12242683e-06,
  2.93311626e-05,-1.26699876e-05, 4.97581216e-05, 1.11412796e-05,
 -4.51078977e-04,-6.08324233e-05,-2.82231789e-04,-8.33595712e-05,
  1.20039098e-04, 7.62292830e-05,-4.90503743e+00, 2.83891543e-04,
  1.18601307e-02,-5.70600826e-04]


--- Step 268 ---
qpos:
[ 0.01863694, 0.02999359,-0.00943576,-0.02551311, 0.00787462, 0.00468049,
 -0.00780388, 0.02697028, 0.01227515, 0.02789804,-0.00832191, 0.02634683,
  0.63895831, 0.00653453, 0.53296174, 0.04747364, 0.058094  ,-0.07625989,
  0.17157866, 0.99966521, 0.02434677,-0.00715745,-0.00504783]

qacc:
[ -1.29572751, -1.58468908,  9.86378043,-26.00566452,  3.7964681 ,
  -1.54111204,  8.28842704,-20.75860781, -0.09403488, -2.9305069 ,
  11.53250713,-17.32017228, -1.31767077,  1.88045392, -3.46386211,
   4.8147244 ,  1.7225673 , -1.67143359, -0.28026624, 14.66375381,
  16.24882853, -4.9366396 ]

qfrc_actuator:
[ 1.47822770e-04, 9.43960320e-04, 2.07600827e-05,-2.04398868e-04,
  8.09227737e-05, 6.55502565e-05,-3.30423692e-05, 1.14965255e-04,
  1.99506997e-05, 9.61193131e-04, 2.57719466e-04, 1.64579606e-04,
  6.76740929e-02,-4.39461918e-04, 5.90742686e-02,-4.42968403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006852280415944045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05056039e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.05056039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03459526, -0.05130517,  0.06198772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74388788e-06, 1.13841111e-05,-1.94593011e-06,-4.70864448e-05,
  2.22005651e-05,-2.63196554e-05,-1.13598596e-05,-3.89629540e-05,
 -7.18710787e-07, 2.52391494e-05, 5.47836945e-05,-9.94131590e-06,
 -4.49266385e-04,-8.65942821e-05,-3.09355315e-04,-6.68058754e-05,
  9.54614207e-05, 7.88755409e-05,-4.90503175e+00, 2.85857216e-04,
  1.18661843e-02,-5.76187096e-04]


--- Step 269 ---
qpos:
[ 0.01863875, 0.02999452,-0.00943827,-0.0255161 , 0.00787545, 0.00468062,
 -0.00780351, 0.0269722 , 0.01227734, 0.02789972,-0.00832101, 0.02634872,
  0.64038031, 0.00653802, 0.53451911, 0.04746897, 0.05804237,-0.07632491,
  0.17159156, 0.99965639, 0.0246313 ,-0.00737852,-0.00509502]

qacc:
[ 1.99249187, 1.57293208,-5.95203591, 9.45041261,-6.89431944,-0.20846178,
  0.83447843,-2.64896895, 2.65397446,-0.10055931, 1.1158577 ,-3.19915036,
 -1.55519241, 2.60383954,-0.92000873,-2.92685969, 1.69308662,-1.65378806,
 -0.41567249,14.42595299,16.02501227,-4.82088991]

qfrc_actuator:
[ 1.60089721e-04, 9.59854024e-04, 6.76119951e-06,-1.94269146e-04,
  3.99560574e-05, 4.86902464e-05,-4.07863941e-05, 1.08745115e-04,
  3.60149560e-05, 9.55793081e-04, 2.51889584e-04, 1.57136154e-04,
  6.75235390e-02,-4.47493643e-04, 5.89557494e-02,-4.47833792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006699075358276851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.28639003e-14, -1.65727801e-13,  1.00000000e+00, -1.37328519e-26,
        1.00000000e+00,  1.65727801e-13, -1.00000000e+00,  0.00000000e+00,
       -8.28639003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03459098, -0.05130231,  0.061988  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20479394e-05, 1.98410675e-05,-1.34933751e-05, 9.64323994e-06,
 -4.03429061e-05,-3.56106158e-05,-1.59437390e-05,-8.50683459e-06,
  1.60563224e-05, 1.95397248e-05, 5.75666841e-06,-4.66920457e-06,
 -4.72593107e-04,-8.56181818e-05,-2.70557253e-04,-9.28422876e-05,
  7.39568698e-05, 7.88129628e-05,-4.90502689e+00, 2.86492016e-04,
  1.18727769e-02,-5.82470461e-04]


--- Step 270 ---
qpos:
[ 0.01864103, 0.02999515,-0.00944017,-0.02551893, 0.00787508, 0.00468026,
 -0.00780289, 0.02697473, 0.01227936, 0.02790153,-0.00832045, 0.02635088,
  0.64179965, 0.00654147, 0.53607375, 0.04746493, 0.05799742,-0.07639649,
  0.17160235, 0.99964692, 0.02494453,-0.00756784,-0.00515069]

qacc:
[  4.12489997, -1.80825223,  5.25953645, -3.49165295,-10.42487319,
  -0.08377851, -3.17143078, 13.59889901, -1.45116598,  1.68290249,
  -6.89178294, 12.01895198, -1.53086994,  2.47764646, -5.84150412,
  14.72691447,  1.66839132, -1.63994301, -0.5290524 , 14.2372263 ,
  15.83740587, -4.73955493]

qfrc_actuator:
[ 1.84338228e-04, 9.33380302e-04, 3.50663752e-05,-1.87106717e-04,
 -1.99879282e-05, 2.09127773e-05,-2.77513158e-05, 1.39825928e-04,
  2.68389021e-05, 9.51788389e-04, 2.30263550e-04, 1.69735370e-04,
  6.73821564e-02,-4.53689085e-04, 5.88606858e-02,-4.43398713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006531963794118439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49838624e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.49838624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0345865 , -0.05129896,  0.0619883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46068068e-05,-1.77519049e-05, 3.10976123e-05, 7.74219016e-06,
 -6.11019165e-05,-5.13766708e-05, 3.41250218e-06, 2.88337957e-05,
 -8.69173067e-06, 7.84790638e-06,-1.70751903e-05, 1.35346662e-05,
 -4.79044217e-04,-8.78039467e-05,-2.34493879e-04, 3.16669519e-06,
  5.53467098e-05, 7.61925291e-05,-4.90502282e+00, 2.85893052e-04,
  1.18798880e-02,-5.89437938e-04]


--- Step 271 ---
qpos:
[ 0.01864428, 0.02999562,-0.00944199,-0.02552164, 0.00787469, 0.00467975,
 -0.00780252, 0.0269776 , 0.01228125, 0.02790353,-0.00832018, 0.02635316,
  0.64321644, 0.00654451, 0.53762558, 0.04746334, 0.05795905,-0.07647458,
  0.17161064, 0.9996368 , 0.02528615,-0.00772572,-0.00521474]

qacc:
[  8.26410795, -0.19078418, -0.23153384,  2.52381608, -0.23571599,
   1.19872006, -6.02428133, 12.48952346, -1.08169688,  1.34126034,
  -4.93834136,  7.41072066, -0.99983265,  0.49712171,-11.57846264,
  34.54832557,  1.64780913, -1.62943399, -0.62358263, 14.09021122,
  15.68179905, -4.68645954]

qfrc_actuator:
[ 2.33190625e-04, 9.17416538e-04, 3.46875989e-05,-1.81761314e-04,
 -1.95910439e-05, 2.24371120e-05,-3.80821084e-05, 1.57099790e-04,
  2.06270307e-05, 9.66336775e-04, 2.17267776e-04, 1.76269676e-04,
  6.72570265e-02,-4.76511460e-04, 5.87531539e-02,-4.29961140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006355830020785824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74677897e-13, -8.73389487e-14,  1.00000000e+00, -1.52561839e-26,
        1.00000000e+00,  8.73389487e-14, -1.00000000e+00,  0.00000000e+00,
       -1.74677897e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03458191, -0.05129526,  0.06198861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95620651e-05,-1.91294520e-05, 7.04769521e-08, 5.81971808e-06,
 -1.35883393e-06,-2.52865504e-05,-1.95316843e-05, 1.57477041e-05,
 -6.45719887e-06, 1.59162775e-05,-1.30396691e-05, 6.53385842e-06,
 -4.67095819e-04,-1.06056492e-04,-2.21152070e-04, 1.02841298e-04,
  3.94870874e-05, 7.11269282e-05,-4.90501947e+00, 2.84130572e-04,
  1.18875104e-02,-5.97079449e-04]


--- Step 272 ---
qpos:
[ 0.01864706, 0.02999597,-0.00944411,-0.0255239 , 0.00787431, 0.00467954,
 -0.00780277, 0.02698027, 0.01228306, 0.02790577,-0.00832038, 0.02635516,
  0.64463078, 0.00654694, 0.53917468, 0.04746497, 0.05793021,-0.07655171,
  0.17162104, 0.99962698, 0.02562161,-0.00784414,-0.00528292]

qacc:
[-4.06896823e+00, 1.62936560e+00,-7.89226749e+00, 1.61923892e+01,
  3.57324759e-02, 1.72705322e+00,-4.74652117e+00, 2.13023482e+00,
 -7.78134627e-01, 1.02977067e+00,-2.03697357e+00,-2.23975387e+00,
 -7.04517699e-01,-5.83577693e-01,-1.37326789e+01, 4.22109666e+01,
  2.37960462e+00, 2.42216284e-01, 5.28576704e-01,-3.20658236e+00,
  1.96508168e+01,-2.53700257e+00]

qfrc_actuator:
[ 2.07366471e-04, 9.07757965e-04, 1.73901903e-05,-1.59796677e-04,
 -1.91808252e-05, 5.91560914e-05,-6.20322157e-05, 1.48357084e-04,
  1.62178651e-05, 9.74152658e-04, 1.91791737e-04, 1.61451197e-04,
  6.71364070e-02,-5.08928687e-04, 5.86435721e-02,-4.13106865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.68923073,  -1.73483705,  -6.46035202,  -1.73483705,
        45.94651569, -10.541994  ,  -6.46035202, -10.541994  ,
         9.52013556,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006308363933840433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39980570e-14, -4.39980570e-14,  1.00000000e+00, -1.93582902e-27,
        1.00000000e+00,  4.39980570e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39980570e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.028199  , -0.08016275,  0.0619887 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43860836e-05,-2.00742254e-05,-2.10216330e-05, 2.12677733e-05,
  3.62908638e-07, 1.92262850e-05,-3.10389391e-05,-1.02017185e-05,
 -4.58570014e-06, 1.42260182e-05,-2.35976759e-05,-1.44699247e-05,
 -4.56938401e-04,-1.15670459e-04,-2.06058805e-04, 1.44251001e-04,
  2.62632049e-05, 6.36981192e-05,-4.90501683e+00, 2.81253805e-04,
  1.18956462e-02,-6.05387324e-04]


--- Step 273 ---
qpos:
[ 0.01864882, 0.02999647,-0.00944624,-0.02552662, 0.00787428, 0.00467955,
 -0.00780305, 0.02698279, 0.01228479, 0.02790846,-0.008321  , 0.02635659,
  0.64604259, 0.00654931, 0.54072144, 0.04746917, 0.05791063,-0.07662791,
  0.17163267, 0.99961746, 0.02595114,-0.00792348,-0.00535548]

qacc:
[ -8.75798707, -0.73879533,  4.88456692,-13.01341088,  3.09887312,
   0.0698961 ,  0.81381563, -3.58659389, -0.59187484,  0.61016688,
   1.10163984,-10.62025163, -1.39260949,  2.12877176,-11.21195631,
  34.32298062,  2.31762825,  0.23209772,  0.30638372, -3.0837692 ,
  19.46884922, -2.67090282]

qfrc_actuator:
[ 1.55539887e-04, 9.37391394e-04, 2.57930937e-05,-1.81488882e-04,
 -1.03259636e-06, 8.10866943e-05,-5.81813321e-05, 1.42158538e-04,
  1.29041939e-05, 1.01331214e-03, 1.76863385e-04, 1.34174788e-04,
  6.70132512e-02,-5.11232644e-04, 5.85488316e-02,-3.99701538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299874235460579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40573487e-14,  8.81146975e-14,  1.00000000e+00, -3.88209995e-27,
        1.00000000e+00, -8.81146975e-14, -1.00000000e+00,  0.00000000e+00,
        4.40573487e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02819537, -0.08016227,  0.06198871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.25426594e-05, 1.49767798e-05, 2.42753069e-06,-2.28553531e-05,
  1.81669301e-05, 2.58379094e-05, 3.64563802e-06,-6.65213046e-06,
 -3.43438812e-06, 4.15412928e-05,-1.54232031e-05,-2.77733400e-05,
 -4.53770422e-04,-8.50468898e-05,-1.80189227e-04, 1.13881505e-04,
  1.39015398e-05, 4.59540179e-05,-4.90501138e+00, 2.75615214e-04,
  1.18975217e-02,-6.13501014e-04]


--- Step 274 ---
qpos:
[ 0.01865063, 0.02999779,-0.0094486 ,-0.02552966, 0.00787481, 0.00467971,
 -0.00780353, 0.02698489, 0.01228648, 0.02791157,-0.00832217, 0.02635839,
  0.64745174, 0.00655232, 0.54226583, 0.04747363, 0.05790012,-0.07670322,
  0.17164477, 0.99960827, 0.02627496,-0.00796405,-0.00543265]

qacc:
[  0.43854635,  1.12098332, -1.10681956, -4.49183898,  4.94196475,
  -0.12289553,  2.47663439, -9.51004176, -0.47583155,  2.83182938,
 -10.80862654, 17.65122943, -2.29943912,  5.64448364, -4.14826232,
   9.72076816,  2.26580838,  0.22283724,  0.1167107 , -2.97778753,
  19.29897734, -2.78205568]

qfrc_actuator:
[ 1.59858707e-04, 1.02589843e-03, 3.16867919e-05,-1.93137903e-04,
  2.74097390e-05, 7.63572237e-05,-7.34869360e-05, 1.19771924e-04,
  1.02613250e-05, 1.03545996e-03, 1.50656334e-04, 1.53083327e-04,
  6.68833438e-02,-4.78022359e-04, 5.84204535e-02,-3.99082336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006254686257446268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87512961e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.87512961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02819134, -0.08016201,  0.06198879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79511874e-06, 9.63937825e-05, 8.52056299e-06,-1.13573411e-05,
  2.89677673e-05, 1.01909076e-05,-9.75270492e-06,-2.12884683e-05,
 -2.71918097e-06, 4.09129413e-05,-2.05121969e-05, 1.96072559e-05,
 -4.53193236e-04,-4.64402729e-05,-2.06955212e-04,-1.27285826e-05,
  5.41690428e-06, 2.88636886e-05,-4.90500696e+00, 2.69555026e-04,
  1.18992357e-02,-6.21450295e-04]


--- Step 275 ---
qpos:
[ 0.01865248, 0.02999992,-0.00945099,-0.02553213, 0.00787533, 0.00468002,
 -0.00780444, 0.02698603, 0.01228777, 0.02791436,-0.00832332, 0.02636045,
  0.64885833, 0.00655574, 0.54380746, 0.04747717, 0.0578985 ,-0.07677767,
  0.17165668, 0.99959938, 0.02659327,-0.00796616,-0.00551462]

qacc:
[  0.30468049,  2.29477451, -8.98377042, 18.10495594, -0.08722569,
  -0.57779368,  6.39762817,-22.42150922, -3.30725579,  0.10661187,
  -2.14325565,  7.06054382, -2.01302416,  4.54927273, -1.18215654,
  -1.53541988,  2.22274239,  0.21433085, -0.04448649, -2.88596052,
  19.14502547, -2.87650215]

qfrc_actuator:
[ 1.61693693e-04, 1.07797992e-03, 3.63137406e-05,-1.63222244e-04,
  2.61721786e-05, 7.33671422e-05,-1.00110973e-04, 7.02462189e-05,
 -9.71881925e-06, 9.76233874e-04, 1.35723281e-04, 1.63492176e-04,
  6.67548132e-02,-4.59682964e-04, 5.82719793e-02,-4.04230160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006180662340020404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79628487e-13,  4.49071217e-14,  1.00000000e+00,  8.06659833e-27,
        1.00000000e+00, -4.49071217e-14, -1.00000000e+00,  0.00000000e+00,
       -1.79628487e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.028187  , -0.08016193,  0.06198893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94898459e-06, 1.07239194e-04, 2.52089325e-05, 3.41249291e-05,
 -4.09491455e-07,-2.12816757e-07,-2.64588612e-05,-4.98459337e-05,
 -2.00365921e-05,-3.98430035e-05,-8.35496145e-06, 1.18260642e-05,
 -4.45496984e-04,-5.76684572e-05,-2.52867725e-04,-8.07566475e-05,
  7.14704129e-07, 1.23659788e-05,-4.90500353e+00, 2.63025375e-04,
  1.19007612e-02,-6.29241191e-04]


--- Step 276 ---
qpos:
[ 0.01865433, 0.03000234,-0.00945337,-0.02553381, 0.00787618, 0.00468045,
 -0.0078054 , 0.0269862 , 0.01228882, 0.02791687,-0.0083246 , 0.02636229,
  0.65026245, 0.00655909, 0.54534611, 0.04747544, 0.05790562,-0.07685129,
  0.17166788, 0.99959081, 0.02690623,-0.00793008,-0.00560153]

qacc:
[  0.06486654,  1.98213745, -9.82150956, 23.20293115,  2.86631701,
  -1.71491116, 10.44073246,-27.2504631 , -2.12580941, -0.5186762 ,
   2.28060854, -5.89213113, -1.5421199 ,  2.58768721, 11.57699761,
 -46.72921015,  2.18720759,  0.20648164, -0.18090511, -2.80605141,
  19.00911186, -2.95885447]

qfrc_actuator:
[ 1.62033392e-04, 1.05463073e-03, 2.23079726e-05,-1.26867043e-04,
  4.29776394e-05, 8.91120742e-05,-9.77112060e-05, 2.28970492e-05,
 -2.19918441e-05, 9.57530516e-04, 1.27219356e-04, 1.50994932e-04,
  6.66218703e-02,-4.68044893e-04, 5.80849386e-02,-4.32258571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006084483460381818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56169793e-14,  4.56169793e-14,  1.00000000e+00,  2.08090880e-27,
        1.00000000e+00, -4.56169793e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56169793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02818243, -0.08016197,  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:
[ 4.27607679e-07, 4.32363407e-05, 1.24346207e-05, 4.24889046e-05,
  1.67968933e-05, 8.02112491e-06,-2.62329650e-06,-4.92450659e-05,
 -1.28666850e-05,-4.22979122e-05,-1.73755832e-05,-1.42707884e-05,
 -4.46780062e-04,-8.41483916e-05,-3.17998328e-04,-3.18764773e-04,
 -2.91668719e-07,-3.59420934e-06,-4.90500109e+00, 2.55988351e-04,
  1.19020788e-02,-6.36878834e-04]


--- Step 277 ---
qpos:
[ 0.01865618, 0.03000486,-0.00945573,-0.02553537, 0.00787723, 0.00468097,
 -0.00780638, 0.0269865 , 0.01228971, 0.0279194 ,-0.00832613, 0.02636393,
  0.65166416, 0.00656174, 0.54688126, 0.047469  , 0.05792139,-0.07692412,
  0.17167789, 0.99958255, 0.02721396,-0.00785604,-0.00569353]

qacc:
[ -0.08875827,  0.33992133, -1.58144113,  3.73215065,  1.71177519,
   0.43440738, -1.91884437,  4.06341886, -1.33482858,  0.35160664,
  -0.35008478, -2.6824952 , -0.78820506, -0.39867478,  9.10100044,
 -39.33425516,  2.15814754,  0.19920156, -0.29586636, -2.73619947,
  18.89219174, -3.03262456]

qfrc_actuator:
[ 1.61490161e-04, 1.03947483e-03, 1.48504399e-05,-1.22605020e-04,
  5.25251781e-05, 9.83118367e-05,-9.58619142e-05, 3.05070599e-05,
 -2.96242988e-05, 9.80986177e-04, 1.22698937e-04, 1.42901357e-04,
  6.64863640e-02,-5.09864666e-04, 5.79121573e-02,-4.55791980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005971795474325886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3943332e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3943332e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02817772, -0.0801621 ,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.22889408e-07, 1.33467008e-05, 4.47498131e-06, 7.37404133e-06,
  1.00298447e-05, 1.10339893e-05, 1.48423445e-06, 6.90467508e-06,
 -8.01631061e-06,-4.47930587e-06,-1.59084648e-05,-1.07912499e-05,
 -4.55289351e-04,-1.20142954e-04,-3.57910785e-04,-2.94916369e-04,
  2.32268265e-06,-1.90664092e-05,-4.90499962e+00, 2.48412560e-04,
  1.19031739e-02,-6.44367635e-04]


--- Step 278 ---
qpos:
[ 0.018658  , 0.03000747,-0.00945729,-0.02553726, 0.00787803, 0.00468161,
 -0.00780767, 0.02698759, 0.01229085, 0.02792196,-0.00832799, 0.02636512,
  0.65306344, 0.00656391, 0.54841256, 0.04746425, 0.05794568,-0.07699618,
  0.17168633, 0.99957457, 0.02751662,-0.00774423,-0.00579074]

qacc:
[ -0.15777183, -2.81745526, 11.63486906,-18.79293819, -2.10971516,
   2.68762934,-12.68383471, 26.82729807,  2.08781797,  0.05078361,
   1.73535258, -8.93880657, -0.85224389,  0.03338094,-10.81366081,
  29.59847984,  2.13465474,  0.19241193, -0.39231924, -2.67486135,
  18.79443667, -3.10047672]

qfrc_actuator:
[ 1.60432235e-04, 1.06482335e-03, 6.45675419e-05,-1.37256426e-04,
  3.99662808e-05, 1.03573527e-04,-1.12098243e-04, 7.03851815e-05,
 -1.67138754e-05, 9.76270543e-04, 1.02996945e-04, 1.19755179e-04,
  6.63653798e-02,-5.35604076e-04, 5.77906930e-02,-4.44517454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847341562656705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42400997e-13,  4.74669990e-14,  1.00000000e+00,  6.75934798e-27,
        1.00000000e+00, -4.74669990e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42400997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02817292, -0.08016229,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07425542e-06, 3.39856805e-05, 5.32796706e-05,-1.37787752e-05,
 -1.22703567e-05, 1.20299879e-05,-1.35310101e-05, 4.05366604e-05,
  1.26816230e-05,-1.10467029e-05,-2.29743249e-05,-2.41039992e-05,
 -4.52652618e-04,-1.08941077e-04,-3.20003161e-04, 4.98993041e-05,
  8.49583775e-06,-3.40951653e-05,-4.90499911e+00, 2.40270657e-04,
  1.19040359e-02,-6.51711414e-04]


--- Step 279 ---
qpos:
[ 0.0186598 , 0.03001005,-0.00945843,-0.02553927, 0.00787868, 0.0046822 ,
 -0.00780906, 0.02698881, 0.01229247, 0.02792476,-0.00833078, 0.02636603,
  0.65446008, 0.00656674, 0.54994066, 0.04745645, 0.05797845,-0.07706749,
  0.17169288, 0.99956688, 0.02781429,-0.00759479,-0.0058933 ]

qacc:
[ -0.21693856, -1.44217162,  5.5823076 , -8.26847451, -1.37890867,
   0.43560531, -2.21959138,  4.68272936,  4.14922407,  2.30480882,
  -6.59463781,  3.11344739, -2.38597626,  5.8718775 ,  4.635499  ,
 -22.75969975,  2.11595241,  0.18604326, -0.47286245, -2.62075909,
  18.71549982, -3.16442243]

qfrc_actuator:
[ 1.59080415e-04, 1.04342838e-03, 7.67863391e-05,-1.45089029e-04,
  3.22515433e-05, 8.86435379e-05,-1.21132858e-04, 7.56472344e-05,
  8.18267475e-06, 9.90160620e-04, 5.66221326e-05, 1.05659321e-04,
  6.62425470e-02,-4.98365947e-04, 5.76202898e-02,-4.60743094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715080585331211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45696505e-13,  9.71310035e-14,  1.00000000e+00,  1.41516478e-26,
        1.00000000e+00, -9.71310035e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45696505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02816809, -0.08016253,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37914984e-06, 7.94532303e-06, 2.53133091e-05,-4.80094239e-06,
 -8.06039138e-06,-9.27557441e-06,-6.80796234e-06, 6.09784373e-06,
  2.52730114e-05, 1.86873489e-06,-5.23304851e-05,-1.58377877e-05,
 -4.49971768e-04,-4.49875426e-05,-3.13390771e-04,-2.01076382e-04,
  1.81795702e-05,-4.87206168e-05,-4.90499954e+00, 2.31537601e-04,
  1.19046568e-02,-6.58913498e-04]


--- Step 280 ---
qpos:
[ 0.01866157, 0.03001245,-0.00946013,-0.02554127, 0.00787923, 0.00468243,
 -0.00781013, 0.02699044, 0.01229439, 0.02792775,-0.00833389, 0.02636709,
  0.65585417, 0.00657032, 0.55146471, 0.04744779, 0.05801961,-0.07713809,
  0.17169727, 0.99955945, 0.02810709,-0.00740785,-0.0060013 ]

qacc:
[-0.27163705, 1.33230192,-5.13431528, 6.31697211,-0.84111841,-0.47595874,
 -0.70883595, 7.57473837, 2.42581022, 1.43200409,-5.34081782, 8.10014136,
 -2.34918918, 5.92236534,-3.23660438, 2.94062842, 2.10137702, 0.18003465,
 -0.53977486,-2.5728355 ,18.65470163,-3.22597068]

qfrc_actuator:
[ 1.57566438e-04, 9.94072512e-04, 3.10685768e-05,-1.48913587e-04,
  2.74567675e-05, 6.17337355e-05,-1.08197549e-04, 9.59890707e-05,
  2.21754420e-05, 1.01497892e-03, 4.82116240e-05, 1.14753854e-04,
  6.61240361e-02,-4.59800268e-04, 5.74259279e-02,-4.64657661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005578291909153904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97564058e-14, -4.97564058e-14,  1.00000000e+00, -2.47569992e-27,
        1.00000000e+00,  4.97564058e-14, -1.00000000e+00,  0.00000000e+00,
       -4.97564058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0281633 , -0.0801628 ,  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:
[-1.55882006e-06,-3.99721421e-05,-4.11393750e-05,-2.70110881e-06,
 -5.02705990e-06,-3.32523880e-05, 1.03986732e-05, 1.98268347e-05,
  1.47436820e-05, 1.43179986e-05,-1.50196668e-05, 7.05288538e-06,
 -4.33637144e-04,-3.72213642e-05,-3.64116490e-04,-9.15224707e-05,
  3.13391408e-05,-6.29790459e-05,-4.90500093e+00, 2.22189444e-04,
  1.19050303e-02,-6.65976808e-04]


--- Step 281 ---
qpos:
[ 0.0186633 , 0.0300147 ,-0.00946212,-0.02554298, 0.00787938, 0.00468228,
 -0.00781073, 0.02699264, 0.01229645, 0.0279305 ,-0.00833667, 0.02636859,
  0.65724584, 0.00657407, 0.55298435, 0.04744163, 0.05806914,-0.07720798,
  0.17169929, 0.99955226, 0.02839509,-0.00718349,-0.00611486]

qacc:
[ -0.28136473,  1.21659044, -5.8591195 , 11.50603926, -3.55650983,
  -0.66857475, -0.75369622, 10.11587089,  1.32301097, -0.28418801,
  -1.34995661,  8.85348413, -1.5284644 ,  2.86083684,-14.05265853,
  39.85716971,  2.09036221,  0.1743331 , -0.59504902, -2.53021617,
  18.6111596 , -3.28624412]

qfrc_actuator:
[ 1.55969101e-04, 9.99112545e-04, 2.24025286e-05,-1.32661491e-04,
  6.66482649e-06, 4.57064538e-05,-8.24374702e-05, 1.25048001e-04,
  2.96341605e-05, 9.93061763e-04, 6.23584489e-05, 1.37460598e-04,
  6.59975544e-02,-4.56295260e-04, 5.72440119e-02,-4.50630369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00054396677182314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.10243953e-14,  5.10243953e-14,  1.00000000e+00, -2.60348892e-27,
        1.00000000e+00, -5.10243953e-14, -1.00000000e+00,  0.00000000e+00,
        5.10243953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02815857, -0.08016308,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66039676e-06,-2.59928879e-05,-2.20873034e-05, 1.30674164e-05,
 -2.09476559e-05,-3.16258622e-05, 2.08645521e-05, 2.83780410e-05,
  7.90295019e-06,-1.67735233e-05, 1.54989705e-05, 2.29355909e-05,
 -4.29231285e-04,-6.88958565e-05,-3.59517128e-04, 8.82399577e-05,
  4.79526675e-05,-7.69033768e-05,-4.90500326e+00, 2.12202493e-04,
  1.19051516e-02,-6.72903922e-04]


--- Step 282 ---
qpos:
[ 0.01866535, 0.03001678,-0.00946394,-0.0255445 , 0.00787927, 0.00468165,
 -0.00781063, 0.02699483, 0.01229825, 0.02793289,-0.00833915, 0.02637003,
  0.65863504, 0.00657792, 0.55450071, 0.04743565, 0.058127  ,-0.0772772 ,
  0.17169873, 0.99954528, 0.02867839,-0.00692176,-0.00623409]

qacc:
[ 2.68448829,-0.32960047, 0.07242877, 2.90438904,-2.17228531,-2.59074073,
  8.42557319,-9.52494012,-2.29333342,-1.46948111, 4.84270909,-6.24188755,
 -1.56703786, 2.8484889 ,-5.2762204 ,11.59485187, 2.08242448, 0.1688926 ,
 -0.6404243 ,-2.49217781,18.58387882,-3.34606879]

qfrc_actuator:
[ 1.72088430e-04, 1.00132587e-03, 3.59238409e-05,-1.22403999e-04,
 -5.62445230e-06, 1.86333955e-05,-4.92758189e-05, 1.23508830e-04,
  1.54379178e-05, 9.61196863e-04, 7.17653634e-05, 1.32457832e-04,
  6.58663708e-02,-4.55792706e-04, 5.71123485e-02,-4.49219634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005301394003124765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.5706572e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.5706572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02815395, -0.08016337,  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:
[ 1.60574716e-05,-1.63843757e-05, 5.88375977e-06, 8.63787947e-06,
 -1.28976502e-05,-3.92320217e-05, 3.01854004e-05,-1.62261682e-06,
 -1.39656962e-05,-3.71214801e-05, 8.64351877e-06,-4.74214707e-06,
 -4.35695551e-04,-7.44788926e-05,-2.86327841e-04,-2.71359333e-05,
  6.80102655e-05,-9.05236188e-05,-4.90500654e+00, 2.01552753e-04,
  1.19050162e-02,-6.79697122e-04]


--- Step 283 ---
qpos:
[ 0.01866757, 0.03001853,-0.00946524,-0.0255459 , 0.00787937, 0.00468078,
 -0.00781044, 0.02699664, 0.01229952, 0.02793486,-0.00834117, 0.02637174,
  0.6600218 , 0.00658151, 0.55601415, 0.04743332, 0.05819317,-0.07734577,
  0.17169547, 0.99953849, 0.02895704,-0.00662267,-0.0063591 ]

qacc:
[  1.54309236, -1.62247353,  4.61610918, -2.97914662,  1.75072714,
  -1.35657325,  5.9050551 ,-12.22751047, -4.48416194, -1.27535259,
   2.58973742,  1.70163855, -1.08905406,  1.01085416,-15.36837132,
  47.5778926 ,  2.07715076,  0.16367343, -0.67741803, -2.45812191,
  18.57181482, -3.40604361]

qfrc_actuator:
[ 1.80753970e-04, 9.84177336e-04, 6.24192635e-05,-1.15746355e-04,
  4.94675207e-06, 2.92108160e-06,-4.75848924e-05, 1.03971392e-04,
 -1.13882995e-05, 9.41335782e-04, 9.59678935e-05, 1.46673863e-04,
  6.57324562e-02,-4.74839301e-04, 5.70321964e-02,-4.28615721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005165221459622477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.37354997e-14,  5.37354997e-14,  1.00000000e+00,  2.88750393e-27,
        1.00000000e+00, -5.37354997e-14, -1.00000000e+00,  0.00000000e+00,
       -5.37354997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02814947, -0.08016365,  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:
[ 9.12268870e-06,-2.47767203e-05, 2.41327313e-05, 6.32971373e-06,
  1.01898241e-05,-3.14732069e-05,-2.74939556e-06,-2.02089870e-05,
 -2.72436095e-05,-3.90975218e-05, 1.74352502e-05, 1.28299164e-05,
 -4.43334949e-04,-9.59917628e-05,-2.18476682e-04, 1.66743020e-04,
  9.15130811e-05,-1.03867255e-04,-4.90501078e+00, 1.90215559e-04,
  1.19046202e-02,-6.86358437e-04]


--- Step 284 ---
qpos:
[ 0.01866988, 0.03002015,-0.00946542,-0.02554762, 0.00787993, 0.0046799 ,
 -0.00781065, 0.0269989 , 0.01230045, 0.02793636,-0.00834282, 0.02637362,
  0.66140622, 0.00658424, 0.55752524, 0.04743205, 0.05826764,-0.0774137 ,
  0.17168938, 0.99953184, 0.02923112,-0.00628622,-0.00648999]

qacc:
[  0.77815359, -3.97815259, 15.29693683,-22.57281161,  4.12841638,
   2.02056081, -9.11574627, 17.49607432, -2.80679485, -1.27506193,
   2.94457973, -0.26337069, -0.45229547, -1.51021757, -6.64958973,
  18.21091164,  2.0741877 ,  0.15864134, -0.70735369, -2.42755304,
  18.57391681, -3.46659417]

qfrc_actuator:
[ 1.84957053e-04, 1.00888743e-03, 1.31782172e-04,-1.29022287e-04,
  2.88858456e-05, 1.17452485e-05,-6.44566793e-05, 1.27248861e-04,
 -2.76737925e-05, 9.11136592e-04, 1.11021708e-04, 1.54355210e-04,
  6.56076424e-02,-5.23054757e-04, 5.69244537e-02,-4.23481361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005032527478161519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51523578e-14, -5.51523578e-14,  1.00000000e+00, -3.04178257e-27,
        1.00000000e+00,  5.51523578e-14, -1.00000000e+00,  0.00000000e+00,
       -5.51523578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02814514, -0.08016391,  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:
[ 4.45507517e-06, 1.60615512e-05, 6.74321207e-05,-1.33772229e-05,
  2.42186450e-05,-1.01808103e-05,-2.44073863e-05, 2.14373275e-05,
 -1.70949584e-05,-4.79683471e-05, 9.56826583e-06, 6.85650577e-06,
 -4.42119218e-04,-1.29031361e-04,-1.95848665e-04, 3.09754106e-05,
  1.18472301e-04,-1.16959584e-04,-4.90501600e+00, 1.78165349e-04,
  1.19039601e-02,-6.92889672e-04]


--- Step 285 ---
qpos:
[ 0.01867223, 0.03002192,-0.0094648 ,-0.02555019, 0.00788043, 0.00467911,
 -0.0078114 , 0.02700107, 0.01230119, 0.02793766,-0.00834434, 0.02637487,
  0.66278834, 0.00658637, 0.55903401, 0.04742743, 0.05835039,-0.07748102,
  0.17168037, 0.99952531, 0.02950068,-0.00591236,-0.00662688]

qacc:
[  0.29831886, -3.77440937, 17.29706344,-33.32403891, -0.56791465,
   1.45670707, -4.62502612,  3.8755684 , -1.72253853, -1.96640728,
   9.30914923,-20.35477556, -0.82137255, -0.11423434,  6.72740822,
 -28.46079944,  2.07327721,  0.15377026, -0.73119452, -2.40010757,
  18.58952165, -3.52808334]

qfrc_actuator:
[ 1.86502625e-04, 1.02313879e-03, 1.72794927e-04,-1.71611061e-04,
  2.49886556e-05, 1.73968198e-05,-9.20078339e-05, 1.22290883e-04,
 -3.76204838e-05, 9.10451462e-04, 1.20500113e-04, 1.22605360e-04,
  6.54990181e-02,-5.52567102e-04, 5.67789065e-02,-4.41716018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004904370311585859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12225835e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12225835e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.028141  , -0.08016417,  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:
[ 1.67418604e-06, 3.65283238e-05, 5.21565148e-05,-3.98286494e-05,
 -3.21238454e-06,-4.12674722e-06,-3.19118764e-05,-5.82519856e-06,
 -1.04620893e-05,-2.52811017e-05, 9.84921452e-07,-3.33439246e-05,
 -4.30524533e-04,-1.13489992e-04,-2.40145627e-04,-2.07787942e-04,
  1.48908184e-04,-1.29824013e-04,-4.90502220e+00, 1.65375533e-04,
  1.19030320e-02,-6.99292435e-04]


--- Step 286 ---
qpos:
[ 0.01867388, 0.0300241 ,-0.00946462,-0.0255532 , 0.00788054, 0.00467856,
 -0.00781254, 0.02700245, 0.01230179, 0.02793906,-0.00834562, 0.02637603,
  0.66416788, 0.00658885, 0.56053952, 0.04742431, 0.05844145,-0.07754774,
  0.17166836, 0.99951884, 0.02976577,-0.00550105,-0.00676988]

qacc:
[ -5.93403479,  0.86566359, -0.41369956, -6.83433816, -3.49580949,
  -0.23815153,  4.6538965 ,-17.95768212, -1.06306644, -0.70219573,
   3.07803944, -5.08345915, -1.90459442,  4.0322541 , -9.2771737 ,
  25.67566334,  2.07424897,  0.14904113, -0.74956733, -2.37553645,
  18.61837345, -3.59084816]

qfrc_actuator:
[ 1.50968027e-04, 1.03089891e-03, 1.43423638e-04,-1.95627493e-04,
  4.73452501e-06, 3.87925173e-05,-1.07915896e-04, 8.29952469e-05,
 -4.37598528e-05, 9.45144789e-04, 1.44457846e-04, 1.21188972e-04,
  6.53629083e-02,-5.35249867e-04, 5.66480387e-02,-4.32743010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004781528286942893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32189994e-13, -1.23350934e-13,  1.00000000e+00, -2.86408527e-26,
        1.00000000e+00,  1.23350934e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32189994e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02813704, -0.0801644 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54792516e-05, 3.71809291e-05,-1.68059058e-05,-2.14237216e-05,
 -2.03453330e-05, 1.22776786e-05,-2.08794062e-05,-4.06913310e-05,
 -6.45089176e-06, 1.92970188e-05, 1.77040126e-05,-3.11636521e-06,
 -4.48147589e-04,-6.30952902e-05,-2.71322884e-04, 4.55475161e-05,
  1.82849848e-04,-1.42482565e-04,-4.90502942e+00, 1.51818187e-04,
  1.19018320e-02,-7.05568158e-04]


--- Step 287 ---
qpos:
[ 0.01867441, 0.03002649,-0.00946476,-0.02555577, 0.00788109, 0.00467827,
 -0.00781312, 0.02700362, 0.01230267, 0.02794034,-0.00834654, 0.02637752,
  0.66554487, 0.00659127, 0.5620415 , 0.04742522, 0.05854081,-0.07761388,
  0.17165329, 0.99951239, 0.03002645,-0.00505218,-0.00691909]

qacc:
[-9.69383915e+00, 2.10281762e+00,-8.94353232e+00, 1.69693117e+01,
  3.93774911e+00,-1.63796348e+00, 7.20391665e+00,-1.18513811e+01,
  2.28370140e+00,-4.53751623e-01,-2.44319842e-02, 5.37585074e+00,
 -1.33632041e+00, 1.90026008e+00,-1.73766991e+01, 5.33438707e+01,
  2.07683531e+00, 1.44428331e-01,-7.63547123e-01,-2.35350893e+00,
  1.86591751e+01,-3.65494474e+00]

qfrc_actuator:
[ 9.38938840e-05, 1.03443289e-03, 1.25988124e-04,-1.73063946e-04,
  2.82821508e-05, 8.72180904e-05,-6.35146012e-05, 7.70958192e-05,
 -2.98586132e-05, 9.29835993e-04, 1.59204515e-04, 1.37682819e-04,
  6.52263931e-02,-5.43820535e-04, 5.65048445e-02,-4.11347153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046645249919614884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38014166e-13, -1.26445026e-13,  1.00000000e+00, -3.00957073e-26,
        1.00000000e+00,  1.26445026e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38014166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02813328, -0.08016462,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.80998945e-05, 1.98449244e-05,-1.25886530e-05, 2.31593681e-05,
  2.29762568e-05, 4.92578163e-05, 4.29753378e-05,-6.88610382e-06,
  1.37215149e-05,-1.03290205e-06, 2.08024244e-05, 1.78702648e-05,
 -4.52025667e-04,-8.73051385e-05,-2.67170972e-04, 1.80495391e-04,
  2.20335533e-04,-1.54956321e-04,-4.90503768e+00, 1.37463700e-04,
  1.19003561e-02,-7.11718113e-04]


--- Step 288 ---
qpos:
[ 0.01867493, 0.0300285 ,-0.00946486,-0.02555764, 0.00788227, 0.00467831,
 -0.00781293, 0.02700469, 0.0123037 , 0.02794153,-0.00834724, 0.02637921,
  0.66691948, 0.00659297, 0.56354073, 0.04742724, 0.0586485 ,-0.07767946,
  0.17163513, 0.99950591, 0.03028274,-0.00456565,-0.00707464]

qacc:
[ 1.61341645e-02, 8.23075811e-01,-6.55111878e+00, 1.86486562e+01,
  5.49584192e+00,-1.95938853e+00, 8.04227732e+00,-1.13244688e+01,
  1.37180708e+00,-3.66028762e-01, 2.79929948e-01, 2.81018863e+00,
 -6.25185723e-01,-8.73345326e-01,-7.38096126e+00, 1.99329019e+01,
  2.08080180e+00, 1.39910009e-01,-7.74086488e-01,-2.33374794e+00,
  1.87107093e+01,-3.72037297e+00]

qfrc_actuator:
[ 9.56212912e-05, 9.82215242e-04, 1.15772780e-04,-1.41015101e-04,
  5.96747598e-05, 1.16231587e-04,-1.92211241e-05, 7.32120173e-05,
 -2.20272737e-05, 9.20201463e-04, 1.68207570e-04, 1.46779278e-04,
  6.51003747e-02,-5.85402837e-04, 5.63810250e-02,-4.05889646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004553673619686893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02812972, -0.08016481,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40619736e-08,-4.28301015e-05,-6.88469792e-06, 3.29169497e-05,
  3.20613136e-05, 6.51636570e-05, 5.95300805e-05,-4.21577409e-07,
  8.23530929e-06,-5.18092923e-06, 1.19629850e-05, 1.01152118e-05,
 -4.47870726e-04,-1.23616649e-04,-2.30348236e-04, 2.92774626e-05,
  2.61410006e-04,-1.67264868e-04,-4.90504700e+00, 1.22281430e-04,
  1.18985999e-02,-7.17743414e-04]


--- Step 289 ---
qpos:
[ 0.01867651, 0.03003005,-0.00946502,-0.02555876, 0.00788346, 0.00467848,
 -0.00781237, 0.0270061 , 0.01230413, 0.02794257,-0.00834748, 0.02638064,
  0.66829159, 0.00659481, 0.56503785, 0.04742809, 0.05875536,-0.07773408,
  0.17162336, 0.99950043, 0.0304977 ,-0.00408729,-0.00721673]

qacc:
[  9.01700152,  1.08231899, -7.98673081, 21.6108113 ,  0.20827742,
  -0.15322442, -0.65589861,  5.9237301 , -5.12505753, -1.99004251,
   7.93815604,-13.08790698, -1.71632098,  3.23810176,  0.4842635 ,
  -6.03009396, -0.20409369,  2.7404433 ,  1.5993299 ,-20.61505955,
  -4.02092997,  6.94398343]

qfrc_actuator:
[ 1.49704317e-04, 9.50306384e-04, 1.09664848e-04,-1.03694533e-04,
  5.99141897e-05, 9.79213671e-05,-1.09397079e-05, 8.82713215e-05,
 -5.33432152e-05, 9.14009040e-04, 1.91506916e-04, 1.33692306e-04,
  6.49860584e-02,-5.75094199e-04, 5.62901899e-02,-4.11638062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.24615051,  3.96218355, -3.43848756,  3.96218355, 16.42645011,
       12.88310585, -3.43848756, 12.88310585, 20.09140711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045016573603021137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46625395e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.46625395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06424529, -0.11062175,  0.06199192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40620955e-05,-5.59406442e-05,-1.46815003e-05, 3.58894764e-05,
  1.17093547e-06, 3.04136189e-05, 2.90532365e-05, 1.98991578e-05,
 -3.10737208e-05,-6.21737967e-06, 2.40438972e-05,-1.27031999e-05,
 -4.39257024e-04,-7.47906235e-05,-1.99835190e-04,-8.70738957e-05,
  3.06123572e-04,-1.79426499e-04,-4.90505742e+00, 1.06239786e-04,
  1.18965584e-02,-7.23645029e-04]


--- Step 290 ---
qpos:
[ 0.01867838, 0.03003151,-0.00946538,-0.0255598 , 0.00788397, 0.0046786 ,
 -0.00781185, 0.02700807, 0.01230453, 0.02794361,-0.0083472 , 0.02638187,
  0.66966132, 0.00659673, 0.56653256, 0.04742984, 0.05886143,-0.07777816,
  0.17161666, 0.99949598, 0.03067137,-0.00361592,-0.00734744]

qacc:
[  2.49280664,  0.61298261, -2.66347627,  4.32365072, -6.12151724,
   1.23696375, -6.9033397 , 16.847731  , -0.27584869, -1.84635512,
   7.39143916,-11.53177347, -1.51672614,  2.69504287, -6.18961268,
  16.67064731, -0.20216949,  2.63646092,  1.26518213,-20.59558625,
  -3.47004952,  5.88726493]

qfrc_actuator:
[ 1.63140630e-04, 9.66325304e-04, 1.06092592e-04,-9.90659357e-05,
  2.40600571e-05, 6.90357233e-05,-2.41705684e-05, 1.14289251e-04,
 -5.41904794e-05, 9.27715260e-04, 2.23062457e-04, 1.25425086e-04,
  6.48788596e-02,-5.69721747e-04, 5.61978841e-02,-4.06174850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.46467036, -3.49378711,  4.20191311, -3.49378711, 19.86906283,
       11.97689706,  4.20191311, 11.97689706, 15.42316485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048175202210457013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15227646e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15227646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0642375 , -0.11062042,  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:
[ 1.49866269e-05,-1.67959649e-05,-1.57099282e-05, 2.42132202e-06,
 -3.58122423e-05,-5.03955538e-06,-2.69329016e-06, 2.87089575e-05,
 -1.75799946e-06, 1.46041104e-05, 3.27823551e-05,-7.95253974e-06,
 -4.17983966e-04,-7.36731198e-05,-2.02585916e-04, 2.19413287e-05,
  2.94017220e-04,-1.49447251e-04,-4.90505895e+00, 1.17536431e-04,
  1.18780106e-02,-7.27855538e-04]


--- Step 291 ---
qpos:
[ 0.01868005, 0.03003337,-0.0094663 ,-0.02556116, 0.00788403, 0.0046784 ,
 -0.00781134, 0.02701038, 0.01230526, 0.02794481,-0.00834689, 0.02638336,
  0.67102866, 0.00659875, 0.56802473, 0.04743121, 0.05896669,-0.07781205,
  0.17161383, 0.99949258, 0.03080395,-0.00315061,-0.00746842]

qacc:
[ -1.72313055,  1.43295923, -2.98814569, -1.95796793, -3.80720812,
   0.29064826, -2.9886375 ,  8.85990569,  2.82057966,  0.63025552,
  -3.01889219,  7.20247459, -1.5761198 ,  2.87058619, -2.57322857,
   3.70938332, -0.198525  ,  2.54714378,  0.96980105,-20.51693154,
  -3.02451071,  5.03420336]

qfrc_actuator:
[ 1.52527897e-04, 1.01090806e-03, 8.64661839e-05,-1.13668120e-04,
  2.76443212e-06, 3.39411007e-05,-3.22878092e-05, 1.28767005e-04,
 -3.70842423e-05, 9.35522067e-04, 2.23820053e-04, 1.37837234e-04,
  6.47547069e-02,-5.67316300e-04, 5.60675173e-02,-4.08346336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.6492993 , -3.52052489,  4.41819952, -3.52052489, 24.96488516,
       15.39111135,  4.41819952, 15.39111135, 17.91329742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005053414147001972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09848806e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09848806e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06423143, -0.11061985,  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:
[-1.01854398e-05, 3.20026254e-05,-2.49594564e-05,-1.58187803e-05,
 -2.23162149e-05,-3.72659267e-05,-8.50699162e-06, 1.47229756e-05,
  1.70625986e-05, 2.23613085e-05, 7.51921468e-06, 1.40119681e-05,
 -4.19969912e-04,-7.31302907e-05,-2.28972674e-04,-4.85031057e-05,
  2.84042105e-04,-1.21194829e-04,-4.90506025e+00, 1.27019380e-04,
  1.18618945e-02,-7.31162839e-04]


--- Step 292 ---
qpos:
[ 0.01868123, 0.03003526,-0.00946739,-0.02556198, 0.00788419, 0.00467798,
 -0.00781064, 0.02701247, 0.01230618, 0.02794588,-0.00834674, 0.02638538,
  0.6723935 , 0.00660147, 0.56951403, 0.04743034, 0.05907118,-0.07783605,
  0.17161384, 0.99949024, 0.03089568,-0.00269058,-0.007581  ]

qacc:
[ -4.16349303,  1.64978585, -8.11181411, 17.79150566,  0.79084464,
  -1.27156021,  4.99113942, -8.80699072,  1.70086679,  1.34393418,
  -7.27525005, 16.79969249, -2.35116408,  5.73026953,  2.69319031,
 -15.24575549, -0.19362564,  2.47023117,  0.70806994,-20.39844333,
  -2.6623624 ,  4.34216468]

qfrc_actuator:
[ 1.27858430e-04, 1.00116852e-03, 7.53942080e-05,-8.61868735e-05,
  7.97241853e-06, 3.08976096e-05,-1.96065969e-05, 1.18582981e-04,
 -2.73101667e-05, 9.04130105e-04, 2.06381120e-04, 1.62291877e-04,
  6.46311199e-02,-5.31236538e-04, 5.59090880e-02,-4.20333554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.78631809, -3.47203366,  4.62887236, -3.47203366, 32.22693769,
       19.83263179,  4.62887236, 19.83263179, 20.66241743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005221533359912461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06311973e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06311973e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06422672, -0.11062   ,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49581213e-05, 2.26133086e-06,-8.09295041e-06, 2.76808631e-05,
  4.56050770e-06,-2.50211099e-05, 4.43700737e-06,-1.17937753e-05,
  1.02858639e-05,-1.67756531e-05,-1.14297521e-05, 2.59385428e-05,
 -4.20908684e-04,-3.97808569e-05,-2.76025340e-04,-1.53748292e-04,
  2.75690789e-04,-9.44075664e-05,-4.90506160e+00, 1.35140697e-04,
  1.18477686e-02,-7.33556320e-04]


--- Step 293 ---
qpos:
[ 0.01868246, 0.03003678,-0.0094679 ,-0.02556177, 0.00788441, 0.0046776 ,
 -0.00780989, 0.02701406, 0.01230722, 0.02794691,-0.00834678, 0.02638732,
  0.67375592, 0.00660465, 0.57099967, 0.04742776, 0.05917492,-0.07785044,
  0.17161575, 0.99948898, 0.03094684,-0.00223521,-0.00768629]

qacc:
[ 3.65929057e-01,-1.80235619e-02,-4.98201439e+00, 2.20663549e+01,
  5.35180284e-01,-1.12513606e+00, 6.22582118e+00,-1.51194469e+01,
  9.33810374e-01, 3.46719897e-01,-1.00850451e+00, 7.82274226e-02,
 -1.99173094e+00, 4.45124626e+00,-1.44489830e-01,-7.11892403e+00,
 -1.87869177e-01, 2.40429908e+00, 4.77517399e-01,-2.02585329e+01,
 -2.36653847e+00, 3.77788103e+00]

qfrc_actuator:
[ 1.30625985e-04, 9.76797712e-04, 1.04795216e-04,-3.41942606e-05,
  1.09811286e-05, 4.71301246e-05,-1.23915497e-05, 9.40107176e-05,
 -2.19365381e-05, 9.02692120e-04, 1.95943855e-04, 1.58086040e-04,
  6.45079686e-02,-5.11099428e-04, 5.57179635e-02,-4.29131552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.87762746, -3.32851307,  4.84432713, -3.32851307, 43.06281386,
       25.54975663,  4.84432713, 25.54975663, 23.43273816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005332721630936926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04095348e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04095348e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06422308, -0.11062081,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03557283e-06,-2.36589669e-05, 2.98212682e-05, 5.23493179e-05,
  3.12989396e-06, 2.65566686e-06, 2.17685439e-06,-2.57260205e-05,
  5.67282851e-06,-1.21071336e-05,-1.44311968e-05,-4.82291041e-06,
 -4.15965893e-04,-5.25158642e-05,-3.40293837e-04,-1.33350248e-04,
  2.68591458e-04,-6.88769433e-05,-4.90506320e+00, 1.42240805e-04,
  1.18352861e-02,-7.35030650e-04]


--- Step 294 ---
qpos:
[ 0.01868405, 0.03003843,-0.00946792,-0.02556134, 0.00788466, 0.00467699,
 -0.00780897, 0.02701536, 0.01230797, 0.02794783,-0.00834663, 0.02638884,
  0.67511596, 0.0066081 , 0.57248147, 0.04742374, 0.05927794,-0.07785544,
  0.17161877, 0.99948878, 0.03095775,-0.00178398,-0.00778517]

qacc:
[  3.16683564, -0.72630045,  1.92204472,  0.97266808,  0.313804  ,
  -1.38507179,  5.7081833 ,-10.73624551, -2.44813337, -1.54776552,
   7.12907157,-14.78628994, -1.75639596,  3.58148564, -1.23517964,
  -3.69664201, -0.18155534,  2.34816018,  0.27595033,-20.11133418,
  -2.12353136,  3.31503803]

qfrc_actuator:
[ 1.49525225e-04, 1.01505317e-03, 1.40040645e-04,-2.14510594e-05,
  1.26627641e-05, 2.14965997e-05,-8.38760320e-06, 7.89386861e-05,
 -3.69461193e-05, 9.01443123e-04, 2.07570491e-04, 1.37076712e-04,
  6.43851613e-02,-5.00561749e-04, 5.55393525e-02,-4.35979583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005396554532930142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02864061e-13, -1.02864061e-13,  1.00000000e+00, -1.05810150e-26,
        1.00000000e+00,  1.02864061e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02864061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06422028, -0.11062222,  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:
[ 1.89426076e-05, 3.33734596e-05, 3.58294609e-05, 1.37783942e-05,
  1.77249435e-06,-2.47984569e-05, 3.92259610e-06,-1.53880642e-05,
 -1.48430187e-05,-1.12429228e-05, 7.16629595e-06,-2.21279397e-05,
 -4.14763499e-04,-6.24992018e-05,-3.51512033e-04,-1.20152521e-04,
  2.62467923e-04,-4.44310668e-05,-4.90506521e+00, 1.48578657e-04,
  1.18241737e-02,-7.35584030e-04]


--- Step 295 ---
qpos:
[ 0.01868551, 0.03004032,-0.00946834,-0.02556175, 0.00788493, 0.0046763 ,
 -0.00780859, 0.0270165 , 0.01230853, 0.02794883,-0.00834699, 0.02639011,
  0.6764736 , 0.00661202, 0.57395937, 0.04742178, 0.05936996,-0.077856  ,
  0.17162665, 0.99948897, 0.03095147,-0.00137997,-0.00786784]

qacc:
[ -1.13621805, -0.33036321,  5.17892971,-19.2613548 ,  0.14418073,
   1.11359722, -3.4692773 ,  1.70059233, -1.59988868,  1.02387507,
  -2.4804799 , -0.92974007, -1.87132492,  4.11926321,-11.89212718,
  33.46396386, -2.74760744,  1.10864707,  1.21480952, -8.39839198,
 -23.41473725,  8.84906837]

qfrc_actuator:
[ 1.42254447e-04, 1.00176098e-03, 1.07651923e-04,-6.73638828e-05,
  1.35500173e-05, 6.49223070e-06,-4.19704647e-05, 6.95450519e-05,
 -4.60787893e-05, 9.00391361e-04, 1.78870323e-04, 1.24122673e-04,
  6.42679696e-02,-4.78032201e-04, 5.53950255e-02,-4.23864011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005513110618986933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01378696e-13, -1.00689348e-13,  1.00000000e+00, -2.02766895e-26,
        1.00000000e+00,  1.00689348e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01378696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09639932, -0.09183722,  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:
[-6.71448706e-06, 1.33009520e-05,-2.06288397e-05,-4.29817131e-05,
  9.29453087e-07,-2.87121279e-05,-3.87613905e-05,-1.06238042e-05,
 -9.56797955e-06,-6.84805959e-06,-3.09200164e-05,-1.36235261e-05,
 -4.09993286e-04,-5.14345089e-05,-3.20220760e-04, 6.89408735e-05,
  2.57112742e-04,-2.09265155e-05,-4.90506773e+00, 1.54352616e-04,
  1.18142151e-02,-7.35216909e-04]


--- Step 296 ---
qpos:
[ 0.01868688, 0.03004208,-0.00946953,-0.02556264, 0.00788521, 0.00467544,
 -0.00780863, 0.02701787, 0.01230933, 0.02794966,-0.00834763, 0.02639159,
  0.67782891, 0.00661622, 0.57543422, 0.04741715, 0.05945137,-0.07785231,
  0.17163805, 0.99948959, 0.03092776,-0.00102183,-0.00793593]

qacc:
[ -0.86365371,  1.05125839, -2.00132276, -4.80208236,  0.06571516,
   1.39327566, -6.2512587 , 10.94775906,  1.96207672,  0.94528693,
  -4.54775317,  8.54546789, -1.80497863,  3.74197803,  3.64873971,
 -19.0891332 , -2.6529987 ,  1.06300743,  0.87996162, -8.52576778,
 -22.76831732,  8.0083354 ]

qfrc_actuator:
[ 1.37385384e-04, 9.57381440e-04, 5.31108887e-05,-9.42423017e-05,
  1.39631837e-05,-2.18374558e-06,-6.19372414e-05, 8.12980579e-05,
 -3.39197978e-05, 8.81560404e-04, 1.62096309e-04, 1.33736781e-04,
  6.41489089e-02,-4.66360517e-04, 5.52394585e-02,-4.37942703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21233134, -6.13752706,  0.96115678, -6.13752706,  6.99739942,
        5.01310153,  0.96115678,  5.01310153, 38.22380633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005736237673858585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67727531e-14,  9.67727531e-14,  1.00000000e+00,  9.36496575e-27,
        1.00000000e+00, -9.67727531e-14, -1.00000000e+00,  0.00000000e+00,
       -9.67727531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09639335, -0.09184086,  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:
[-5.06293735e-06,-4.31121280e-05,-5.58392330e-05,-2.78620408e-05,
  4.31565754e-07,-3.31755256e-05,-3.10383794e-05, 8.97275889e-06,
  1.18808110e-05,-2.96676289e-05,-2.24777680e-05, 7.98187722e-06,
 -4.06107444e-04,-6.07446352e-05,-2.96721926e-04,-1.78606099e-04,
  2.05104033e-04,-8.11012234e-06,-4.90505575e+00, 1.72717316e-04,
  1.18092653e-02,-7.34214955e-04]


--- Step 297 ---
qpos:
[ 1.86881737e-02, 3.00437336e-02,-9.47113544e-03,-2.55638656e-02,
  7.88514846e-03, 4.67441360e-03,-7.80839356e-03, 2.70193212e-02,
  1.23106064e-02, 2.79504175e-02,-8.34798588e-03, 2.63934549e-02,
  6.79182012e-01, 6.61995387e-03, 5.76906390e-01, 4.74103374e-02,
  5.95225011e-02,-7.78445201e-02, 1.71651794e-01, 9.99490706e-01,
  3.08864912e-02,-7.08376113e-04,-7.99076993e-03]

qacc:
[ -0.6045588 ,  0.2915684 ,  0.19872593, -5.39470944, -2.99955434,
  -0.82585162,  2.30895847, -1.26605638,  4.13515163, -0.04470438,
  -1.64440447,  8.11306414, -0.8948019 ,  0.3540953 ,  2.65936738,
 -14.98120746, -2.57060054,  1.02449398,  0.58595127, -8.59947656,
 -22.19309951,  7.32588905]

qfrc_actuator:
[ 1.33977113e-04, 9.65629161e-04, 3.90860641e-05,-1.09733248e-04,
 -3.65840132e-06, 1.08115479e-05,-3.81479081e-05, 8.76663952e-05,
 -9.32809217e-06, 9.05542900e-04, 1.87957671e-04, 1.56550308e-04,
  6.40288078e-02,-4.96715307e-04, 5.51411206e-02,-4.47819916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33576826, -6.20691366,  1.27129157, -6.20691366,  8.08872774,
        8.55859381,  1.27129157,  8.55859381, 48.1219754 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005884143696174987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0963896 , -0.09184411,  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:
[-3.57161139e-06,-2.86395594e-05,-3.07759192e-05,-1.98105790e-05,
 -1.76200208e-05,-1.15547036e-05, 1.34314304e-05, 4.04624762e-06,
  2.49326843e-05, 3.07208084e-06, 1.72355182e-05, 2.09156940e-05,
 -4.06215630e-04,-1.03121233e-04,-2.58696512e-04,-1.47927557e-04,
  1.60439530e-04, 2.11211237e-06,-4.90504521e+00, 1.87674582e-04,
  1.18053959e-02,-7.32934008e-04]


--- Step 298 ---
qpos:
[ 1.86894175e-02, 3.00453301e-02,-9.47240495e-03,-2.55656726e-02,
  7.88452947e-03, 4.67361966e-03,-7.80831238e-03, 2.70204701e-02,
  1.23118253e-02, 2.79514297e-02,-8.34871742e-03, 2.63952403e-02,
  6.80532840e-01, 6.62336402e-03, 5.78375614e-01, 4.74036283e-02,
  5.95836325e-02,-7.78327628e-02, 1.71666857e-01, 9.99492337e-01,
  3.08275977e-02,-4.38552673e-04,-8.03342372e-03]

qacc:
[ -0.42840677, -2.20301897, 10.18820671,-20.70919369, -4.89975612,
   0.13802534,  1.23521427, -6.37652654, -0.52421323,  1.19875448,
  -3.44229493,  2.41546735, -1.02416641,  0.83956755, -4.62380648,
   9.93220912, -2.49941261,  0.99220627,  0.33002775, -8.63672468,
 -21.68676156,  6.77112654]

qfrc_actuator:
[ 1.31455663e-04, 9.87733662e-04, 6.70621723e-05,-1.36084165e-04,
 -3.17533864e-05, 3.68671409e-05,-4.18913431e-05, 7.31068811e-05,
 -1.31275532e-05, 9.19665062e-04, 1.67948346e-04, 1.51501103e-04,
  6.39081543e-02,-5.16140936e-04, 5.50239382e-02,-4.46242179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40720137, -6.18067098,  1.68864905, -6.18067098, 10.45023164,
       14.79800663,  1.68864905, 14.79800663, 60.56979376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005969689569111369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29883382e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.29883382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09638769, -0.09184709,  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:
[-2.63680599e-06,-1.15857850e-06, 1.75862634e-05,-2.90251313e-05,
 -2.86004700e-05, 2.25669626e-05,-4.32922930e-06,-1.45119534e-05,
 -3.06619653e-06, 2.02818752e-05,-1.65366949e-05,-3.91998583e-06,
 -4.13609475e-04,-9.68096629e-05,-2.58327957e-04,-2.71683370e-05,
  1.22354228e-04, 9.87056254e-06,-4.90503605e+00, 1.99820003e-04,
  1.18025297e-02,-7.31355607e-04]


--- Step 299 ---
qpos:
[ 1.86906214e-02, 3.00468196e-02,-9.47334660e-03,-2.55674302e-02,
  7.88392338e-03, 4.67304920e-03,-7.80832345e-03, 2.70217767e-02,
  1.23119559e-02, 2.79521626e-02,-8.34890815e-03, 2.63969566e-02,
  6.81881255e-01, 6.62690373e-03, 5.79842083e-01, 4.73947537e-02,
  5.96350107e-02,-7.78171442e-02, 1.71682355e-01, 9.99494516e-01,
  3.07510640e-02,-2.11448430e-04,-8.06476214e-03]

qacc:
[ -0.33092477, -0.95520593,  2.99273772, -2.5826189 ,  0.10675919,
   0.87783262, -3.367804  ,  6.08145539, -9.25472587, -2.00506975,
   6.93713573, -8.82756339, -1.68138536,  3.12681201,  2.55639877,
 -14.65974461, -2.43832913,  0.96531387,  0.10879532, -8.65002592,
 -21.24507802,  6.31934063]

qfrc_actuator:
[ 1.29475992e-04, 9.82639923e-04, 8.41556792e-05,-1.33071033e-04,
 -3.02765956e-05, 5.26803925e-05,-4.40743978e-05, 8.18448463e-05,
 -6.91168730e-05, 8.92077925e-04, 1.91963277e-04, 1.47807087e-04,
  6.37819295e-02,-5.11213069e-04, 5.48849185e-02,-4.57459971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006004079096678522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24557294e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.24557294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09638727, -0.09184988,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05981519e-06,-3.39591482e-06, 1.80150002e-05, 3.00992166e-06,
  6.72652709e-07, 2.69320471e-05, 1.45008177e-06, 9.27303949e-06,
 -5.60685532e-05,-1.98585379e-05, 2.60260910e-05,-3.47757277e-06,
 -4.22878238e-04,-7.33418507e-05,-2.66043508e-04,-1.48226016e-04,
  9.02233746e-05, 1.52874857e-05,-4.90502820e+00, 2.09612044e-04,
  1.18006001e-02,-7.29466339e-04]


--- Step 300 ---
qpos:
[ 1.86921370e-02, 3.00479441e-02,-9.47391305e-03,-2.55694532e-02,
  7.88402913e-03, 4.67297478e-03,-7.80851791e-03, 2.70234938e-02,
  1.23117587e-02, 2.79526598e-02,-8.34876087e-03, 2.63982784e-02,
  6.83227407e-01, 6.62987893e-03, 5.81305220e-01, 4.73894976e-02,
  5.96768439e-02,-7.77977533e-02, 1.71697528e-01, 9.99497263e-01,
  3.06569015e-02,-2.62753913e-05,-8.08549170e-03]

qacc:
[  2.69221724, -2.08333863,  7.83553667,-12.74204091,  6.24823122,
   2.00116883, -7.93827284, 14.99349918, -2.77939478, -2.06283087,
   8.57756826,-15.77999864, -0.63945894, -0.51560664,-15.85840399,
  48.34883777, -2.38624032,  0.94307146, -0.08135403, -8.64845018,
 -20.86291403,  5.95062262]

qfrc_actuator:
[ 1.45583255e-04, 9.43546734e-04, 9.45917217e-05,-1.48342427e-04,
  6.34944485e-06, 9.77676989e-05,-4.53244518e-05, 1.04222957e-04,
 -8.43570691e-05, 8.75399994e-04, 2.06124039e-04, 1.27193098e-04,
  6.36631078e-02,-5.45255235e-04, 5.47754916e-02,-4.37076787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005997000038005657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25648672e-14, -9.25648672e-14,  1.00000000e+00, -8.56825465e-27,
        1.00000000e+00,  9.25648672e-14, -1.00000000e+00,  0.00000000e+00,
       -9.25648672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09638807, -0.09185254,  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:
[ 1.60417958e-05,-3.71861056e-05, 1.20539176e-05,-1.47323467e-05,
  3.66541117e-05, 6.08629932e-05, 4.81649320e-06, 2.37612453e-05,
 -1.68902185e-05,-2.26031863e-05, 1.31362238e-05,-2.06348425e-05,
 -4.17977772e-04,-1.11593530e-04,-2.53857767e-04, 1.59966448e-04,
  6.35389452e-05, 1.84723093e-05,-4.90502160e+00, 2.17403381e-04,
  1.17995520e-02,-7.27256512e-04]


--- Step 301 ---
qpos:
[ 1.86938340e-02, 3.00484146e-02,-9.47359621e-03,-2.55719862e-02,
  7.88457313e-03, 4.67322882e-03,-7.80867413e-03, 2.70254714e-02,
  1.23120691e-02, 2.79530293e-02,-8.34930022e-03, 2.63994008e-02,
  6.84571259e-01, 6.63217800e-03, 5.82765310e-01, 4.73905725e-02,
  5.97093087e-02,-7.77746632e-02, 1.71711725e-01, 9.99500592e-01,
  3.05451370e-02, 1.17641943e-04,-8.09618824e-03]

qacc:
[  1.59466189, -4.38704956, 16.5279865 ,-26.26305934,  3.85102508,
   0.85602084, -3.53513171,  7.75448444,  4.30733926,  1.33137508,
  -4.16453023,  1.92035634, -0.47100276, -1.14485897,-23.65055196,
  76.19337918, -2.34209017,  0.92482242, -0.24398006, -8.6385378 ,
 -20.53484377,  5.64895288]

qfrc_actuator:
[ 1.54454330e-04, 9.02107486e-04, 1.36360073e-04,-1.74289463e-04,
  2.78556588e-05, 1.06799594e-04,-4.58866645e-05, 1.16716674e-04,
 -5.77204075e-05, 8.47583154e-04, 1.61100881e-04, 1.14532612e-04,
  6.35381496e-02,-5.84284533e-04, 5.46786456e-02,-4.03550587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000595677581704035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86379857e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.86379857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09638983, -0.09185511,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.32308600e-06,-6.04032795e-05, 3.50588553e-05,-2.74066691e-05,
  2.25679414e-05, 4.50940260e-05, 1.34231760e-05, 1.57262513e-05,
  2.61356534e-05,-3.86566861e-05,-4.87981750e-05,-1.35799106e-05,
 -4.26626111e-04,-1.20047226e-04,-2.00263327e-04, 3.10382263e-04,
  4.18895902e-05, 1.95197419e-05,-4.90501619e+00, 2.23465280e-04,
  1.17993405e-02,-7.24719144e-04]


--- Step 302 ---
qpos:
[ 1.86945900e-02, 3.00487150e-02,-9.47327848e-03,-2.55737754e-02,
  7.88502623e-03, 4.67349661e-03,-7.80839510e-03, 2.70275965e-02,
  1.23126961e-02, 2.79536298e-02,-8.35055313e-03, 2.63999735e-02,
  6.85912636e-01, 6.63437867e-03, 5.84223472e-01, 4.73938528e-02,
  5.97325539e-02,-7.77479330e-02, 1.71724392e-01, 9.99504509e-01,
  3.04158036e-02, 2.20878150e-04,-8.09732242e-03]

qacc:
[ -8.07107858,  1.32072285, -8.13994105, 21.08939644, -0.78605039,
  -0.89305776,  2.59018909, -0.74494768,  2.67194584,  1.16262567,
  -1.39019881, -7.14460941, -1.36909383,  1.92131481, -9.46096112,
  29.10323918, -2.30490615,  0.90999561, -0.38244749, -8.62496942,
 -20.2555193 ,  5.40145283]

qfrc_actuator:
[ 1.05731387e-04, 9.12953363e-04, 1.43011736e-04,-1.35280604e-04,
  2.25262127e-05, 9.41674157e-05,-2.84318111e-05, 1.23265576e-04,
 -4.21671408e-05, 8.84079794e-04, 1.34714707e-04, 8.88543484e-05,
  6.34095945e-02,-5.90463437e-04, 5.45947682e-02,-3.92734040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890516220494468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42381774e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42381774e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09639234, -0.0918576 ,  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:
[-4.84739314e-05,-1.68807280e-05,-2.45959964e-06, 3.71051786e-05,
 -4.67354825e-06, 1.60274538e-05, 2.89606715e-05, 9.24627841e-06,
  1.63098014e-05, 4.21815032e-06,-4.08528840e-05,-2.92907592e-05,
 -4.36816010e-04,-9.00254622e-05,-1.48002308e-04, 9.80625537e-05,
  2.49438402e-05, 1.85095150e-05,-4.90501193e+00, 2.28006409e-04,
  1.17999295e-02,-7.21849201e-04]


--- Step 303 ---
qpos:
[ 1.86947553e-02, 3.00497458e-02,-9.47386145e-03,-2.55751375e-02,
  7.88506721e-03, 4.67382955e-03,-7.80815913e-03, 2.70298106e-02,
  1.23138500e-02, 2.79538946e-02,-8.35168568e-03, 2.64005939e-02,
  6.87251648e-01, 6.63618389e-03, 5.85679697e-01, 4.73947892e-02,
  5.97467038e-02,-7.77176105e-02, 1.71735060e-01, 9.99509017e-01,
  3.02689339e-02, 2.83917700e-04,-8.08928001e-03]

qacc:
[ -5.10711224,  4.37282737,-15.96986137, 24.23131849, -3.62786446,
   0.39667521, -1.65271713,  3.19979778,  4.50008369, -0.6905453 ,
   1.60175943, -0.7044429 , -1.11752104,  0.93914986,  4.26357917,
 -18.97851632, -2.27381136,  0.89809867, -0.49985229, -8.61105784,
 -20.01987724,  5.19777376]

qfrc_actuator:
[ 7.67598844e-05, 9.90453312e-04, 1.11369851e-04,-1.11605866e-04,
  1.44921058e-06, 8.64727370e-05,-3.60842960e-05, 1.26256334e-04,
 -1.55232607e-05, 8.52341135e-04, 1.37564938e-04, 9.13007929e-05,
  6.32896313e-02,-6.12744634e-04, 5.44654232e-02,-4.06035537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804260440194775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56386293e-14, -9.56386293e-14,  1.00000000e+00,  9.14674740e-27,
        1.00000000e+00,  9.56386293e-14, -1.00000000e+00,  0.00000000e+00,
        9.56386293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09639543, -0.09186002,  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:
[-3.03922329e-05, 6.91111806e-05,-3.41495442e-05, 2.35939572e-05,
 -2.12057790e-05, 7.62708131e-06,-4.65768648e-07, 4.85381462e-06,
  2.71273662e-05,-3.90745195e-05,-2.31745310e-06, 6.43237883e-07,
 -4.29880265e-04,-1.05032405e-04,-1.97126302e-04,-1.49167086e-04,
  1.24361953e-05, 1.55070173e-05,-4.90500878e+00, 2.31187290e-04,
  1.18012908e-02,-7.18643021e-04]


--- Step 304 ---
qpos:
[ 1.86956059e-02, 3.00509542e-02,-9.47436397e-03,-2.55765481e-02,
  7.88520038e-03, 4.67401334e-03,-7.80790120e-03, 2.70320670e-02,
  1.23146259e-02, 2.79530092e-02,-8.35241472e-03, 2.64020155e-02,
  6.88588224e-01, 6.63805017e-03, 5.87133128e-01, 4.73922247e-02,
  5.97518617e-02,-7.76837331e-02, 1.71743332e-01, 9.99514111e-01,
  3.01045557e-02, 3.07164863e-04,-8.07237831e-03]

qacc:
[  5.87885685, -0.10161844,  0.88717418, -1.96336017,  0.81417251,
  -0.17304   ,  0.14968196,  0.65975112, -3.18904805, -0.99224718,
  -2.03974045, 16.09637675, -1.66848976,  2.95738567,  6.5363321 ,
 -28.66948015, -2.24802621,  0.88870964, -0.59899331, -8.59910995,
 -19.82324247,  5.02960022]

qfrc_actuator:
[ 1.12923115e-04, 9.82844853e-04, 1.10910959e-04,-1.14865087e-04,
  6.78651346e-06, 6.39310300e-05,-4.07443449e-05, 1.27111778e-04,
 -3.58198872e-05, 7.44630247e-04, 1.39655878e-04, 1.27997116e-04,
  6.31695767e-02,-6.08845538e-04, 5.42982161e-02,-4.24564836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703109059068401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09639894, -0.09186237,  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:
[ 3.52997219e-05, 2.49562856e-05, 1.04241106e-05,-1.01906030e-06,
  4.73713682e-06,-1.81920302e-05,-2.98476819e-06, 1.25529081e-06,
 -1.95146428e-05,-1.29997377e-04,-6.23480472e-06, 3.49538025e-05,
 -4.28552918e-04,-7.90313364e-05,-2.83704335e-04,-2.21212377e-04,
  4.15569328e-06, 1.05643708e-05,-4.90500670e+00, 2.33131382e-04,
  1.18034021e-02,-7.15097880e-04]


--- Step 305 ---
qpos:
[ 1.86968838e-02, 3.00516063e-02,-9.47450814e-03,-2.55779107e-02,
  7.88539629e-03, 4.67404371e-03,-7.80764044e-03, 2.70336276e-02,
  1.23148076e-02, 2.79516133e-02,-8.35297794e-03, 2.64027646e-02,
  6.89922257e-01, 6.64061759e-03, 5.88583054e-01, 4.73917078e-02,
  5.97481121e-02,-7.76463299e-02, 1.71748874e-01, 9.99519783e-01,
  2.99226892e-02, 2.90952645e-04,-8.04687913e-03]

qacc:
[  3.68583688, -1.64490721,  4.5825981 , -3.9000473 ,  0.55427499,
  -1.64415116,  8.50366562,-20.43417617, -5.05244501, -2.51314814,
  10.83809835,-22.38535462, -2.23849943,  5.21388544,-11.24709609,
  32.13071745, -2.22686419,  0.88146829, -0.68237115, -8.59069397,
 -19.66136836,  4.89024832]

qfrc_actuator:
[ 1.33869660e-04, 9.06679351e-04, 1.10788360e-04,-1.16227245e-04,
  9.88032431e-06, 5.04219850e-05,-4.36567135e-05, 9.11918649e-05,
 -6.58341295e-05, 7.52058427e-04, 1.58712578e-04, 9.57076590e-05,
  6.30495587e-02,-5.71783966e-04, 5.41723482e-02,-4.12291370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005591343604063187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92805221e-14, -1.98561044e-13,  1.00000000e+00, -1.97132441e-26,
        1.00000000e+00,  1.98561044e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92805221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09640276, -0.09186467,  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:
[ 2.19804237e-05,-6.01260460e-05, 6.27288312e-06, 4.70659185e-08,
  3.22215372e-06,-2.42580213e-05,-7.00483314e-06,-3.67845997e-05,
 -3.06364533e-05,-6.50241542e-05,-7.33737683e-06,-3.73944491e-05,
 -4.23873674e-04,-4.27612218e-05,-2.86127607e-04, 7.26212169e-05,
 -6.34445271e-08, 3.72168406e-06,-4.90500565e+00, 2.33933556e-04,
  1.18062464e-02,-7.11211674e-04]


--- Step 306 ---
qpos:
[ 1.86980583e-02, 3.00520241e-02,-9.47498245e-03,-2.55796166e-02,
  7.88528283e-03, 4.67398806e-03,-7.80773081e-03, 2.70347619e-02,
  1.23149719e-02, 2.79500514e-02,-8.35320499e-03, 2.64027183e-02,
  6.91253809e-01, 6.64366261e-03, 5.90030035e-01, 4.73941414e-02,
  5.97355236e-02,-7.76054224e-02, 1.71751408e-01, 9.99526017e-01,
  2.97233445e-02, 2.35550766e-04,-8.01299934e-03]

qacc:
[-8.92926560e-01,-9.26941553e-02, 1.33083763e+00,-6.57084042e+00,
 -2.73140968e+00,-4.76153023e-03, 1.66149625e+00,-8.42623286e+00,
 -1.35006181e-01,-2.79591727e+00, 1.30091991e+01,-2.71892350e+01,
 -1.94670850e+00, 4.17571860e+00,-1.31725795e+01, 4.00156032e+01,
 -2.20972459e+00, 8.76067765e-01,-7.52202341e-01,-8.58683720e+00,
 -1.95304391e+01, 4.77434199e+00]

qfrc_actuator:
[ 1.27917493e-04, 8.96558157e-04, 9.28048241e-05,-1.34281004e-04,
 -6.13203108e-06, 4.23964549e-05,-6.32627706e-05, 6.94331006e-05,
 -6.58060867e-05, 7.75132758e-04, 1.88025029e-04, 5.86852599e-05,
  6.29243342e-02,-5.50994678e-04, 5.40714483e-02,-3.96153149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005472533505806038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01435928e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01435928e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09640678, -0.0918669 ,  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:
[-5.33455118e-06,-4.24606748e-05,-2.96324313e-05,-2.04093093e-05,
 -1.59274369e-05,-2.46206400e-05,-2.67595119e-05,-2.37608628e-05,
 -8.96285937e-07,-1.63604163e-05, 1.37057967e-05,-4.07865771e-05,
 -4.19099499e-04,-5.47827861e-05,-2.28062821e-04, 1.27678155e-04,
 -3.49446412e-07,-4.99166870e-06,-4.90500562e+00, 2.33666582e-04,
  1.18098108e-02,-7.06982681e-04]


--- Step 307 ---
qpos:
[ 1.86998417e-02, 3.00523665e-02,-9.47579357e-03,-2.55812002e-02,
  7.88497827e-03, 4.67396712e-03,-7.80814351e-03, 2.70356089e-02,
  1.23147901e-02, 2.79484825e-02,-8.35375258e-03, 2.64025986e-02,
  6.92583017e-01, 6.64665892e-03, 5.91474368e-01, 4.73938353e-02,
  5.97141507e-02,-7.75610259e-02, 1.71750699e-01, 9.99532796e-01,
  2.95065209e-02, 1.41172760e-04,-7.97091930e-03]

qacc:
[ 5.21601782e+00, 1.08367998e+00,-4.54005648e+00, 7.26498316e+00,
 -1.69208328e+00, 3.58676542e-01, 6.32808552e-03,-4.49469378e+00,
 -2.95893611e+00, 7.41007450e-01,-2.33515391e+00, 1.56938312e+00,
 -1.47571395e+00, 2.34297284e+00, 4.43877225e+00,-2.10471981e+01,
 -2.19608389e+00, 8.72246929e-01,-8.10441356e-01,-8.58817279e+00,
 -1.94270506e+01, 4.67755281e+00]

qfrc_actuator:
[ 1.59443654e-04, 9.08211630e-04, 8.24025188e-05,-1.26472230e-04,
 -1.55084421e-05, 5.54076432e-05,-7.47795824e-05, 5.61799483e-05,
 -8.35972312e-05, 7.71949005e-04, 1.69996358e-04, 5.47201484e-05,
  6.28013977e-02,-5.57778306e-04, 5.39057182e-02,-4.11598275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005349630996894505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09641092, -0.09186906,  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:
[ 3.13574493e-05,-1.90952701e-05,-2.35240167e-05, 4.57213387e-06,
 -9.83557501e-06,-7.30768502e-06,-2.07208540e-05,-1.56981197e-05,
 -1.78271800e-05,-1.11898388e-05,-2.11100344e-05,-4.98160167e-06,
 -4.15002073e-04,-8.31693056e-05,-2.62772816e-04,-1.78255828e-04,
  3.20078330e-06,-1.55558261e-05,-4.90500658e+00, 2.32386093e-04,
  1.18140858e-02,-7.02409383e-04]


--- Step 308 ---
qpos:
[ 1.87019891e-02, 3.00528238e-02,-9.47687532e-03,-2.55823624e-02,
  7.88490851e-03, 4.67391595e-03,-7.80842877e-03, 2.70362670e-02,
  1.23147409e-02, 2.79470737e-02,-8.35492831e-03, 2.64031228e-02,
  6.93909982e-01, 6.64926185e-03, 5.92915634e-01, 4.73883793e-02,
  5.96840359e-02,-7.75131502e-02, 1.71746556e-01, 9.99540094e-01,
  2.92722062e-02, 7.98223699e-06,-7.92078962e-03]

qacc:
[  3.11230674,  1.77036934, -7.87645992, 15.51831206,  2.06994002,
  -0.78907173,  3.54602564, -6.98904238,  1.10784441,  3.29089016,
 -14.1496177 , 26.1854498 , -1.10243209,  0.97785348, 11.07986177,
 -45.24969774, -2.18548701,  0.86978353, -0.85880576, -8.59504882,
 -19.34818099,  4.59639134]

qfrc_actuator:
[ 1.77280561e-04, 9.32864558e-04, 7.66876602e-05,-1.03474280e-04,
 -3.14517400e-06, 6.32019123e-05,-6.35785629e-05, 4.80616036e-05,
 -7.62389816e-05, 7.88423174e-04, 1.41837881e-04, 8.79383583e-05,
  6.26852366e-02,-5.80770405e-04, 5.37277982e-02,-4.38441357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005225054839615995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06240323e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06240323e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0964151 , -0.09187114,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87447821e-05, 9.31825341e-06,-1.23917807e-05, 2.14584923e-05,
  1.20826912e-05,-1.24489049e-06, 6.59975525e-06,-9.45449321e-06,
  6.82692933e-06, 5.69934576e-06,-3.32168469e-05, 3.19169994e-05,
 -4.11060311e-04,-1.01467394e-04,-3.24595584e-04,-3.13654306e-04,
  1.05165837e-05,-2.79593154e-05,-4.90500851e+00, 2.30134394e-04,
  1.18190643e-02,-6.97490342e-04]


--- Step 309 ---
qpos:
[ 1.87032996e-02, 3.00536601e-02,-9.47791906e-03,-2.55829511e-02,
  7.88533245e-03, 4.67368184e-03,-7.80857208e-03, 2.70378770e-02,
  1.23147800e-02, 2.79457203e-02,-8.35615206e-03, 2.64040139e-02,
  6.95234592e-01, 6.65193399e-03, 5.94353317e-01, 4.73819621e-02,
  5.96452110e-02,-7.74618006e-02, 1.71738817e-01, 9.99547882e-01,
  2.90203761e-02,-1.63901586e-04,-7.86273659e-03]

qacc:
[ -7.18537882,  1.59029002, -7.33417843, 16.88117509,  4.35149419,
   1.31269394, -9.06501651, 25.46308126,  0.75065404,  0.96120506,
  -4.87205156, 11.25876823, -1.52856843,  2.61039351, -2.3161979 ,
   0.59072735, -2.1775389 ,  0.86848827, -0.89880179, -8.60760948,
 -19.29115557,  4.52804015]

qfrc_actuator:
[ 1.33647500e-04, 9.82909772e-04, 9.16064583e-05,-7.17108587e-05,
  2.19124492e-05, 5.01644418e-05,-5.68203060e-05, 9.62985843e-05,
 -7.18838379e-05, 7.98775168e-04, 1.43542600e-04, 1.07273168e-04,
  6.25678904e-02,-5.77618181e-04, 5.35906294e-02,-4.41593125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005100763926345064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08829093e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08829093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09641926, -0.09187314,  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:
[-4.30841207e-05, 5.36137150e-05, 1.60665026e-05, 3.21543073e-05,
  2.54006932e-05,-1.27675548e-05, 6.98884999e-06, 4.82267636e-05,
  4.55183130e-06, 8.11126053e-06,-7.62389887e-08, 1.90551797e-05,
 -4.13390379e-04,-7.64053437e-05,-3.24693620e-04,-9.16120911e-05,
  2.15493859e-05,-4.21980416e-05,-4.90501139e+00, 2.26943382e-04,
  1.18247417e-02,-6.92224103e-04]


--- Step 310 ---
qpos:
[ 1.87040773e-02, 3.00544026e-02,-9.47829945e-03,-2.55831378e-02,
  7.88536345e-03, 4.67352298e-03,-7.80901684e-03, 2.70403953e-02,
  1.23145262e-02, 2.79446042e-02,-8.35743907e-03, 2.64051069e-02,
  6.96556884e-01, 6.65436759e-03, 5.95787801e-01, 4.73756834e-02,
  5.95976984e-02,-7.74069783e-02, 1.71727351e-01, 9.99556126e-01,
  2.87509948e-02,-3.74399052e-04,-7.79686662e-03]

qacc:
[ -4.54977908, -1.14114685,  2.20960568,  3.73437551, -3.46712469,
   2.81860805,-13.72825585, 29.85988407, -2.5022806 ,  0.9111479 ,
  -3.63807649,  7.05122032, -1.15141607,  1.23979656, -5.10214073,
  11.09257289, -2.17189913,  0.86820065, -0.93173928, -8.62586412,
 -19.25363128,  4.47022464]

qfrc_actuator:
[ 1.07445610e-04, 9.59117024e-04, 1.18705058e-04,-5.27614332e-05,
  9.75953801e-07, 6.02979995e-05,-7.05458329e-05, 1.41778265e-04,
 -8.70920188e-05, 8.23247073e-04, 1.45083753e-04, 1.18297561e-04,
  6.24445980e-02,-5.94589858e-04, 5.34727423e-02,-4.39619303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004978321824798543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11505751e-13, -1.11505751e-13,  1.00000000e+00, -1.24335324e-26,
        1.00000000e+00,  1.11505751e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11505751e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09642337, -0.09187506,  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:
[-2.74420794e-05, 1.08464054e-05, 4.12669511e-05, 2.24301746e-05,
 -2.02213826e-05, 6.51965712e-06,-1.38335625e-05, 4.61091186e-05,
 -1.50779896e-05, 2.98716464e-05, 3.89459039e-06, 1.17437813e-05,
 -4.16123301e-04,-9.46033811e-05,-2.79719628e-04,-2.77533887e-05,
  3.62693142e-05,-5.82743938e-05,-4.90501522e+00, 2.22836800e-04,
  1.18311148e-02,-6.86609132e-04]


--- Step 311 ---
qpos:
[ 1.87045344e-02, 3.00549749e-02,-9.47849627e-03,-2.55833973e-02,
  7.88479854e-03, 4.67337387e-03,-7.80932157e-03, 2.70434165e-02,
  1.23144362e-02, 2.79442069e-02,-8.35893784e-03, 2.64062711e-02,
  6.97876787e-01, 6.65665476e-03, 5.97219650e-01, 4.73694957e-02,
  5.95415125e-02,-7.73486806e-02, 1.71712052e-01, 9.99564786e-01,
  2.84640138e-02,-6.23467275e-04,-7.72326947e-03]

qacc:
[ -2.74150082, -0.88280158,  3.13663068, -4.57253057, -5.23770207,
   0.66733771, -4.46678341, 12.92221022,  1.37775285,  1.68578055,
  -4.93737895,  5.98339498, -1.31739456,  1.74628674, -4.11432249,
   8.87492992, -2.16836273,  0.86881985, -0.95840354, -8.6500518 ,
 -19.23426981,  4.42126501]

qfrc_actuator:
[ 9.17331517e-05, 9.26848057e-04, 1.16965737e-04,-5.93109386e-05,
 -2.91152014e-05, 6.63965287e-05,-6.06697410e-05, 1.67513866e-04,
 -7.81870260e-05, 8.91492168e-04, 1.46561197e-04, 1.24353784e-04,
  6.23178195e-02,-6.05603187e-04, 5.33771704e-02,-4.38192168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048589528856760045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28490181e-13, -1.14245091e-13,  1.00000000e+00, -2.61038814e-26,
        1.00000000e+00,  1.14245091e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28490181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09642739, -0.09187688,  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:
[-1.65128323e-05,-1.67545189e-05, 6.35580903e-06,-4.21999600e-06,
 -3.06649120e-05, 8.86109105e-06, 1.11166206e-05, 2.64302594e-05,
  8.46784467e-06, 8.63042304e-05, 8.55991858e-06, 7.70315521e-06,
 -4.24082516e-04,-9.14182306e-05,-2.31603773e-04,-2.43398798e-05,
  5.46624176e-05,-7.61964812e-05,-4.90501998e+00, 2.17831966e-04,
  1.18381822e-02,-6.80643771e-04]


--- Step 312 ---
qpos:
[ 1.87047989e-02, 3.00558501e-02,-9.47918749e-03,-2.55834010e-02,
  7.88422214e-03, 4.67321855e-03,-7.80918644e-03, 2.70463581e-02,
  1.23141088e-02, 2.79444624e-02,-8.36012985e-03, 2.64071251e-02,
  6.99194128e-01, 6.65977270e-03, 5.98648732e-01, 4.73641257e-02,
  5.94766597e-02,-7.72869020e-02, 1.71692834e-01, 9.99573819e-01,
  2.81593730e-02,-9.11096643e-04,-7.64202111e-03]

qacc:
[ -1.67210289,  2.31243311, -8.73410578, 13.7130526 , -0.08723521,
  -1.40130405,  5.32060983, -7.39618977, -2.02503433, -0.6295059 ,
   4.81302371,-11.16096624, -2.45500012,  5.85511659, -6.42022107,
  16.86983652, -2.1666885 ,  0.87023496, -0.97973967, -8.68007303,
 -19.23137034,  4.3796882 ]

qfrc_actuator:
[ 8.23151430e-05, 9.60617812e-04, 9.81380969e-05,-4.53405161e-05,
 -2.88337606e-05, 7.01094368e-05,-3.69535749e-05, 1.63692304e-04,
 -9.06589393e-05, 9.32166837e-04, 1.65926858e-04, 1.09726491e-04,
  6.21996907e-02,-5.59780292e-04, 5.32577714e-02,-4.33543321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047435755958823156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09643128, -0.09187862,  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:
[-9.90665930e-06, 2.55077918e-05,-2.16548299e-05, 1.33911511e-05,
 -5.88479359e-07, 1.20885620e-05, 2.78300875e-05,-2.54728161e-06,
 -1.21966765e-05, 9.10668422e-05, 3.85330585e-05,-1.04814458e-05,
 -4.19802282e-04,-3.59929303e-05,-2.35517821e-04, 1.36565883e-05,
  7.67292960e-05,-9.59782449e-05,-4.90502565e+00, 2.11940805e-04,
  1.18459433e-02,-6.74326194e-04]


--- Step 313 ---
qpos:
[ 0.01870564, 0.03005701,-0.00948014,-0.02558325, 0.00788365, 0.00467305,
 -0.00780844, 0.02704887, 0.01231363, 0.02794499,-0.0083609 , 0.02640784,
  0.7005091 , 0.0066634 , 0.60007497, 0.04736061, 0.05940314,-0.07722163,
  0.17166963, 0.99958317, 0.027837  ,-0.00123731,-0.00755319]

qacc:
[  4.91365367,  1.4268474 , -5.19278378,  8.06110746,  0.08549709,
  -2.59446257, 11.03187914,-19.3705635 , -1.24133883, -1.11704327,
   5.10209556, -8.42417312, -1.94719022,  4.22784894, -9.72103194,
  28.15677143, -2.16661077,  0.87232834, -0.99680046, -8.7155741 ,
 -19.24297858,  4.34419459]

qfrc_actuator:
[ 1.12179303e-04, 9.80347830e-04, 8.74146349e-05,-3.71102031e-05,
 -2.84274347e-05, 7.24030401e-05,-5.28921523e-06, 1.42517822e-04,
 -9.78686929e-05, 9.20572570e-04, 1.77839003e-04, 1.00794705e-04,
  6.20921790e-02,-5.34032194e-04, 5.31401602e-02,-4.23487220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046328429385388004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.19820922e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.19820922e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09643503, -0.09188025,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95826325e-05, 3.00666926e-05,-7.66100137e-06, 8.83392751e-06,
  3.92804396e-07, 1.46904343e-05, 3.74947821e-05,-1.97495943e-05,
 -7.53712699e-06, 4.68388166e-05, 3.51159847e-05,-3.89928353e-06,
 -3.96498254e-04,-4.95671851e-05,-2.31119978e-04, 6.93886674e-05,
  1.02483051e-04,-1.17638519e-04,-4.90503223e+00, 2.05170992e-04,
  1.18543991e-02,-6.67654386e-04]


--- Step 314 ---
qpos:
[ 0.01870683, 0.0300582 ,-0.00948082,-0.02558335, 0.00788344, 0.00467269,
 -0.00780749, 0.02705152, 0.01231342, 0.02794552,-0.00836185, 0.02640783,
  0.70182189, 0.00666673, 0.60149855, 0.04736021, 0.05932095,-0.07715287,
  0.17164238, 0.99959279, 0.02749682,-0.00160214,-0.00745682]

qacc:
[  3.0242863 , -1.27180871,  5.61298637,-10.38774328,  3.12851504,
  -0.59376863,  1.18692612,  0.81512383,  2.22758654, -0.96381237,
   6.5066353 ,-18.75965358, -0.92485289,  0.63509033,-13.29067824,
  40.88885841, -2.16789949,  0.8749989 , -1.01050204, -8.7562008 ,
 -19.26738451,  4.31372199]

qfrc_actuator:
[ 1.29417770e-04, 9.73794184e-04, 9.92743087e-05,-5.00759609e-05,
 -1.02079895e-05, 3.83445366e-05,-4.70779158e-06, 1.46814948e-04,
 -8.41643310e-05, 8.77737322e-04, 1.49532827e-04, 5.97297126e-05,
  6.19751349e-02,-5.55845529e-04, 5.30450318e-02,-4.06772957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045271874917174326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22617301e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.22617301e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09643862, -0.09188179,  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:
[ 1.81081620e-05, 9.03163116e-06, 1.74267174e-05,-1.17736984e-05,
  1.82350455e-05,-1.89530496e-05, 7.53833128e-06, 5.83269753e-06,
  1.34993774e-05,-9.57186421e-06,-1.44395759e-05,-3.79194354e-05,
 -3.92414529e-04,-9.46307418e-05,-2.00163588e-04, 1.39689659e-04,
  1.31947090e-04,-1.41199995e-04,-4.90503972e+00, 1.97526983e-04,
  1.18635508e-02,-6.60626131e-04]


--- Step 315 ---
qpos:
[ 0.01870822, 0.03005945,-0.00948108,-0.02558363, 0.00788379, 0.00467238,
 -0.00780717, 0.02705421, 0.01231303, 0.02794591,-0.00836334, 0.02640771,
  0.70313235, 0.00666988, 0.6029197 , 0.04736045, 0.05923008,-0.07708059,
  0.17161105, 0.99960262, 0.02713872,-0.00200567,-0.00735297]

qacc:
[  1.7068301 , -1.42227428,  5.9362391 , -9.62502525,  4.94869099,
   1.94101835, -7.05990092,  9.0058513 , -1.53557725,  1.09782736,
  -3.76536793,  2.97925852, -1.24757627,  1.55569009, -5.48527636,
  14.09483886, -2.17035656,  0.87816011, -1.02163656, -8.80161281,
 -19.30310215,  4.28740235]

qfrc_actuator:
[ 1.39073792e-04, 9.87131376e-04, 1.24248621e-04,-5.76643729e-05,
  1.83493740e-05, 3.59309397e-05,-4.03689323e-05, 1.48261477e-04,
 -9.37668287e-05, 8.51817821e-04, 1.15290717e-04, 5.32835617e-05,
  6.18417889e-02,-5.70082710e-04, 5.29208714e-02,-4.04016050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044268606232625296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644205, -0.09188323,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01835856e-05, 2.14506269e-05, 2.85709927e-05,-6.82996222e-06,
  2.90684215e-05,-1.12025521e-05,-3.84593873e-05, 1.00067528e-06,
 -9.20699401e-06,-3.58839820e-05,-3.93057089e-05,-8.09358087e-06,
 -4.13401060e-04,-9.14697213e-05,-2.08208725e-04, 7.75462719e-06,
  1.65153608e-04,-1.66688700e-04,-4.90504809e+00, 1.89010705e-04,
  1.18734005e-02,-6.53239006e-04]


--- Step 316 ---
qpos:
[ 0.01870936, 0.03006076,-0.00948129,-0.02558396, 0.00788413, 0.00467215,
 -0.00780702, 0.02705653, 0.01231322, 0.02794632,-0.00836484, 0.0264085 ,
  0.70444042, 0.00667291, 0.60433798, 0.04736105, 0.05913051,-0.07700478,
  0.17157559, 0.99961259, 0.02676263,-0.00244799,-0.00724168]

qacc:
[ -2.05413451, -0.2136618 ,  1.11010648, -2.27608684, -0.05436456,
  -0.18455847,  2.42792013, -8.8291096 ,  4.91822916,  1.90997354,
 -10.57897894, 26.18320886, -1.32486967,  1.78050749, -5.28887388,
  12.4674288 , -2.1738121 ,  0.88173812, -1.03088481, -8.85149289,
 -19.34884859,  4.2645264 ]

qfrc_actuator:
[ 1.26441042e-04, 9.76831492e-04, 1.21335157e-04,-6.20047085e-05,
  1.72520181e-05, 5.23232062e-05,-4.37649955e-05, 1.30264406e-04,
 -6.37597647e-05, 8.89457232e-04, 1.31167935e-04, 1.02779500e-04,
  6.17147308e-02,-5.79785020e-04, 5.27740419e-02,-4.02410028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004331966323383174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28143081e-13,  1.28143081e-13,  1.00000000e+00,  1.64206493e-26,
        1.00000000e+00, -1.28143081e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28143081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644531, -0.09188457,  0.06199222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23330633e-05, 7.26076328e-06, 4.78645107e-06,-2.56876880e-06,
 -2.73662539e-07, 2.23775141e-06,-1.04199091e-05,-1.97956786e-05,
  2.97260924e-05, 9.10604045e-06, 3.35663959e-06, 4.64436561e-05,
 -4.20966878e-04,-9.03836768e-05,-2.49692873e-04,-1.22355518e-05,
  2.02142362e-04,-1.94133570e-04,-4.90505734e+00, 1.79622090e-04,
  1.18839503e-02,-6.45490386e-04]


--- Step 317 ---
qpos:
[ 0.01871001, 0.03006202,-0.00948205,-0.02558394, 0.00788412, 0.004672  ,
 -0.00780697, 0.02705895, 0.01231411, 0.02794692,-0.00836624, 0.02640985,
  0.70574624, 0.0066755 , 0.60575324, 0.0473605 , 0.05902223,-0.07692543,
  0.17153598, 0.99962262, 0.02636841,-0.00292919,-0.00712298]

qacc:
[ -4.34779715,  2.20609072, -9.40075335, 16.33372575, -3.17622717,
   0.60699462, -2.44197731,  4.35118531,  5.99022935,  1.09560223,
  -5.93246491, 15.3116765 , -0.94383833,  0.46552693, -0.9203725 ,
  -3.16901387, -2.17812117,  0.88567008, -1.0388284 , -8.90555218,
 -19.40352321,  4.24451478]

qfrc_actuator:
[ 1.00793114e-04, 9.52348959e-04, 8.41309859e-05,-4.66868930e-05,
 -1.29387454e-06, 6.22020551e-05,-4.57536690e-05, 1.36522874e-04,
 -2.84237727e-05, 9.11859521e-04, 1.41301089e-04, 1.31621639e-04,
  6.16021854e-02,-6.04496824e-04, 5.26190644e-02,-4.08593240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004242490216429251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61691358e-13,  2.61691358e-13,  1.00000000e+00, -6.84823667e-26,
        1.00000000e+00, -2.61691358e-13, -1.00000000e+00,  0.00000000e+00,
        2.61691358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09644839, -0.09188582,  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:
[-2.60087179e-05,-1.95958393e-05,-3.52167365e-05, 1.57428363e-05,
 -1.85516437e-05, 8.13082400e-06,-3.49898736e-06, 5.60358286e-06,
  3.62089631e-05, 3.01898733e-05, 1.40445142e-05, 3.02518521e-05,
 -4.11672476e-04,-1.06626039e-04,-2.77137143e-04,-9.61094473e-05,
  2.42959679e-04,-2.23566114e-04,-4.90506746e+00, 1.69359494e-04,
  1.18952030e-02,-6.37377443e-04]


--- Step 318 ---
qpos:
[ 0.01871034, 0.0300635 ,-0.00948365,-0.02558376, 0.00788423, 0.00467194,
 -0.00780697, 0.02706142, 0.01231507, 0.02794758,-0.00836745, 0.02641153,
  0.70704974, 0.00667781, 0.60716563, 0.0473568 , 0.05892574,-0.07684446,
  0.17150701, 0.99963227, 0.02597493,-0.00335922,-0.00702395]

qacc:
[ -2.71377418,  3.00525585,-11.01921151, 15.17268303,  1.0776817 ,
   0.32187311, -1.20575539,  2.0946053 ,  0.62363029,  0.25298466,
  -2.23248275,  7.82952001, -1.23942638,  1.41968369,  5.31003481,
 -24.62399373,  2.9463217 ,  0.40535304,  2.66202507,  0.1578192 ,
  25.32072966,-10.50921955]

qfrc_actuator:
[ 8.54498923e-05, 9.72683241e-04, 4.46860090e-05,-3.77126188e-05,
  5.55370301e-06, 6.81392373e-05,-4.69060304e-05, 1.39246956e-04,
 -2.57522144e-05, 9.07200794e-04, 1.47880617e-04, 1.48054216e-04,
  6.14824448e-02,-6.20089024e-04, 5.24752910e-02,-4.24638383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.05614949,  4.99986267, -0.7523436 ,  4.99986267,  5.7577302 ,
        4.66250693, -0.7523436 ,  4.66250693, 36.04185138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041851840271220353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98955951e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98955951e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02812726, -0.08026638,  0.06199248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61104045e-05, 2.72901577e-06,-4.72904335e-05, 7.22322906e-06,
  6.32310530e-06, 9.99426551e-06, 2.86611207e-07, 3.05608551e-06,
  3.74306805e-06, 1.64284110e-05, 1.55981474e-05, 1.87985011e-05,
 -4.15742758e-04,-9.76015553e-05,-2.86756644e-04,-2.02669101e-04,
  2.87657674e-04,-2.55020146e-04,-4.90507844e+00, 1.58220003e-04,
  1.19071612e-02,-6.28897153e-04]


--- Step 319 ---
qpos:
[ 0.01871083, 0.03006501,-0.0094851 ,-0.0255842 , 0.0078851 , 0.00467191,
 -0.00780664, 0.02706319, 0.01231606, 0.02794821,-0.00836875, 0.02641309,
  0.70835088, 0.00667997, 0.6085753 , 0.04734777, 0.05883878,-0.07677213,
  0.17148907, 0.99964044, 0.02562625,-0.00374748,-0.006946  ]

qacc:
[ 1.35815302e+00,-1.67862483e+00, 8.67994891e+00,-1.98121881e+01,
  6.79163191e+00,-2.30820006e+00, 1.12056200e+01,-2.37640072e+01,
  2.11332575e-01,-4.19270446e-02, 6.34503342e-01,-2.69042418e+00,
 -1.48274269e+00, 2.16875228e+00, 1.21790889e+01,-4.82693348e+01,
  2.38363262e+00,-2.16199757e+00, 2.75676601e+00, 2.22341180e+01,
  2.07549419e+01,-1.11585768e+01]

qfrc_actuator:
[ 9.40520597e-05, 9.84164666e-04, 5.76715149e-05,-6.80118461e-05,
  4.50508672e-05, 7.16760364e-05,-2.98249062e-05, 1.04357166e-04,
 -2.45776056e-05, 8.86350375e-04, 1.34443075e-04, 1.39279262e-04,
  6.13584734e-02,-6.30206479e-04, 5.23383361e-02,-4.51681471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047292876275485674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17377406e-13, -1.17377406e-13,  1.00000000e+00, -1.37774554e-26,
        1.00000000e+00,  1.17377406e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17377406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03463003, -0.05138874,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13219280e-06, 3.50780947e-06, 7.97603348e-06,-3.16774077e-05,
  3.96802095e-05, 9.31468845e-06, 1.92814863e-05,-3.43977786e-05,
  1.28990412e-06,-7.64511557e-06,-7.46887808e-06,-7.16788462e-06,
 -4.21320516e-04,-9.19270081e-05,-2.96335394e-04,-3.19839957e-04,
  2.28203538e-04,-2.25105863e-04,-4.90507083e+00, 1.84493826e-04,
  1.18984763e-02,-6.19419770e-04]


--- Step 320 ---
qpos:
[ 0.01871141, 0.03006593,-0.00948559,-0.02558463, 0.0078861 , 0.00467216,
 -0.00780649, 0.02706454, 0.01231705, 0.02794921,-0.00837089, 0.02641385,
  0.70964959, 0.00668206, 0.6099817 , 0.04733876, 0.05876091,-0.07670816,
  0.17148019, 0.9996473 , 0.02531949,-0.00409532,-0.00688639]

qacc:
[ 8.93077984e-01,-3.44603253e+00, 1.11460090e+01,-1.21423666e+01,
  1.05795201e+00,-4.15895207e-03, 2.36060665e+00,-9.69593727e+00,
  2.09379208e-02, 1.18158430e+00,-9.24474468e-02,-1.28055550e+01,
 -1.41305163e+00, 2.03195317e+00,-4.84968903e+00, 1.00774858e+01,
  2.27358364e+00,-2.08805554e+00, 2.26264257e+00, 2.07899527e+01,
  2.01132931e+01,-9.76341922e+00]

qfrc_actuator:
[ 9.89232465e-05, 9.37179429e-04, 1.01460637e-04,-6.78843378e-05,
  5.01825960e-05, 9.15441298e-05,-3.76554640e-05, 8.31308812e-05,
 -2.42827016e-05, 9.09111794e-04, 9.14526883e-05, 9.79622716e-05,
  6.12320517e-02,-6.37052023e-04, 5.22268647e-02,-4.49473543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.83194313, -5.45825628,  2.05402021, -5.45825628,  7.77814572,
        5.17174682,  2.05402021,  5.17174682, 19.5750988 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005277167926100446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05191178e-13, -1.05191178e-13,  1.00000000e+00, -1.10651840e-26,
        1.00000000e+00,  1.05191178e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05191178e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03463772, -0.05140926,  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:
[ 5.10718503e-06,-4.47677799e-05, 4.43995365e-05,-6.27872179e-08,
  6.26330399e-06, 2.75928415e-05,-4.73087056e-06,-2.08357043e-05,
  3.31643515e-07, 1.66287662e-05,-4.57322161e-05,-4.20443854e-05,
 -4.26737891e-04,-8.90827969e-05,-2.88460099e-04,-3.51138341e-05,
  1.85221443e-04,-1.78586608e-04,-4.90506117e+00, 2.07445397e-04,
  1.18818216e-02,-6.10988695e-04]


--- Step 321 ---
qpos:
[ 0.01871171, 0.0300662 ,-0.00948544,-0.02558468, 0.00788681, 0.00467264,
 -0.00780644, 0.02706562, 0.01231838, 0.02795053,-0.00837332, 0.02641407,
  0.71094574, 0.00668446, 0.61138465, 0.04733492, 0.05869174,-0.07665226,
  0.17147855, 0.99965302, 0.02505217,-0.004404  ,-0.00684289]

qacc:
[-2.46370448e+00,-1.83090313e+00, 3.67181988e+00, 2.41535138e+00,
 -2.56591832e+00, 4.89797435e-02, 1.40058888e+00,-6.00438619e+00,
  2.88750138e+00, 1.06262186e-01, 2.47479895e+00,-1.14770824e+01,
 -1.73662240e+00, 3.22216825e+00,-2.06351847e+01, 6.50275500e+01,
  2.17512300e+00,-2.01857506e+00, 1.81258276e+00, 1.95621411e+01,
  1.95036193e+01,-8.63831140e+00]

qfrc_actuator:
[ 8.37984139e-05, 8.91212553e-04, 1.27351458e-04,-4.98850083e-05,
  3.50361547e-05, 1.03196753e-04,-4.23037736e-05, 7.01141571e-05,
 -6.75418964e-06, 9.39897878e-04, 8.47734213e-05, 7.33551428e-05,
  6.10989243e-02,-6.24200211e-04, 5.21201805e-02,-4.21160653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17560044, -5.80923143,  2.09544054, -5.80923143,  8.37377964,
        6.09405585,  2.09544054,  6.09405585, 23.07027251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005692171844070282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46282876e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.46282876e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464326, -0.05142492,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49957479e-05,-6.18600986e-05, 2.21059749e-05, 1.76172105e-05,
 -1.49577554e-05, 2.52009622e-05,-2.60171780e-07,-1.24076230e-05,
  1.75487552e-05, 2.88269757e-05,-1.03192900e-05,-2.62940995e-05,
 -4.35965242e-04,-7.04342669e-05,-2.47367074e-04, 2.43046334e-04,
  1.48216341e-04,-1.39549318e-04,-4.90505178e+00, 2.25627756e-04,
  1.18694676e-02,-6.03642135e-04]


--- Step 322 ---
qpos:
[ 0.01871217, 0.03006673,-0.00948534,-0.02558459, 0.00788768, 0.00467323,
 -0.00780612, 0.02706653, 0.01231957, 0.0279515 ,-0.00837502, 0.02641435,
  0.71223938, 0.0066873 , 0.6127843 , 0.04733351, 0.05863093,-0.07660419,
  0.17148255, 0.99965773, 0.0248222 ,-0.00467468,-0.00681374]

qacc:
[  1.37086385,  0.74389725, -2.78755574,  5.19445341,  1.39690322,
  -0.97344983,  4.39336439, -7.88969764, -1.20213479, -2.37143683,
   7.50932606, -7.30201767, -1.94457996,  3.9756312 ,-12.12305413,
  35.58288499,  2.08810099, -1.95482587,  1.40885117, 18.52171471,
  18.93873056, -7.73090836]

qfrc_actuator:
[ 9.25316542e-05, 9.52677310e-04, 1.42450465e-04,-3.92945311e-05,
  4.35918104e-05, 1.09854480e-04,-2.72995218e-05, 6.20305396e-05,
 -1.47274753e-05, 9.04391989e-04, 1.17410351e-04, 7.65754854e-05,
  6.09831769e-02,-5.99877094e-04, 5.19472657e-02,-4.09655500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.42795642, -6.09320146,  2.04732011, -6.09320146,  8.89140503,
        7.33167648,  2.04732011,  7.33167648, 28.24837505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005994549099874596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63013567e-14, -9.26027134e-14,  1.00000000e+00, -4.28763127e-27,
        1.00000000e+00,  9.26027134e-14, -1.00000000e+00,  0.00000000e+00,
       -4.63013567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464695, -0.05143662,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27208068e-06, 3.21755742e-05, 5.65052446e-06, 9.04963774e-06,
  8.13989522e-06, 2.01390322e-05, 1.97404603e-05,-7.25712594e-06,
 -7.44523522e-06,-2.26536443e-05, 3.64238224e-05, 3.58841631e-06,
 -4.20602116e-04,-5.90838616e-05,-2.64631521e-04, 9.55401441e-05,
  1.16527661e-04,-1.06919088e-04,-4.90504293e+00, 2.39952808e-04,
  1.18603939e-02,-5.97294691e-04]


--- Step 323 ---
qpos:
[ 0.01871273, 0.03006775,-0.0094855 ,-0.02558439, 0.0078883 , 0.00467373,
 -0.00780557, 0.02706805, 0.01232031, 0.02795245,-0.00837642, 0.026415  ,
  0.71353085, 0.00668974, 0.61418109, 0.04733339, 0.05857817,-0.0765637 ,
  0.17149076, 0.99966153, 0.02462783,-0.00490841,-0.0067975 ]

qacc:
[ 0.84869964, 1.58771023,-5.180214  , 7.11607365,-2.18247054, 0.49313774,
 -4.49143859,14.7603339 ,-3.8215815 ,-0.08456863,-1.27877262, 7.18770594,
 -0.86618932, 0.3646322 ,-8.08487843,22.21286039, 2.01212858,-1.89755322,
  1.05194554,17.64405327,18.42666724,-6.9994577 ]

qfrc_actuator:
[ 9.74922709e-05, 9.89194369e-04, 1.33740416e-04,-3.30654929e-05,
  3.05309160e-05, 9.58008752e-05,-1.85844346e-05, 9.24264293e-05,
 -3.76532233e-05, 9.18418798e-04, 1.37232778e-04, 9.61078159e-05,
  6.08832699e-02,-6.22196223e-04, 5.18252626e-02,-4.02841855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.60122235, -6.32109597,  1.9025988 , -6.32109597,  9.24060396,
        8.7689451 ,  1.9025988 ,  8.7689451 , 35.73471252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006202391900026333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94995868e-14,  8.94995868e-14,  1.00000000e+00,  8.01017604e-27,
        1.00000000e+00, -8.94995868e-14, -1.00000000e+00,  0.00000000e+00,
       -8.94995868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464904, -0.05144508,  0.06198887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21048772e-06, 5.60447380e-05,-1.06406914e-06, 7.97628183e-06,
 -1.28230324e-05, 9.50769716e-07, 1.50424676e-05, 3.17963285e-05,
 -2.31522599e-05, 9.02173600e-06, 1.97628751e-05, 1.98931947e-05,
 -3.92698665e-04,-1.01685450e-04,-2.37886405e-04, 3.82237879e-05,
  8.95959841e-05,-7.98181838e-05,-4.90503479e+00, 2.51123729e-04,
  1.18538477e-02,-5.91876643e-04]


--- Step 324 ---
qpos:
[ 0.01871334, 0.03006899,-0.00948589,-0.02558477, 0.00788841, 0.004674  ,
 -0.0078048 , 0.02706994, 0.01232077, 0.02795354,-0.00837791, 0.02641589,
  0.71482034, 0.00669125, 0.61557563, 0.04733391, 0.05853319,-0.0765306 ,
  0.17150192, 0.9996645 , 0.02446756,-0.00510613,-0.00679303]

qacc:
[  0.46369224, -0.22709662,  3.69144913,-13.54976459, -4.44096802,
  -0.13708166, -1.53129037,  7.82319479, -2.39834297,  0.9405236 ,
  -4.0452141 ,  8.11989053, -0.21133683, -1.84100355, -5.31397794,
  13.69805606,  1.94642798, -1.84689269,  0.73984819, 16.90638463,
  17.9698878 , -6.41008189]

qfrc_actuator:
[ 1.00184770e-04, 9.74897425e-04, 1.10976568e-04,-6.49801432e-05,
  4.84405622e-06, 6.94626873e-05,-1.37198930e-05, 1.09688505e-04,
 -5.14349316e-05, 9.26467033e-04, 1.31756263e-04, 1.07344760e-04,
  6.07876016e-02,-6.71826931e-04, 5.17445369e-02,-3.98825821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.70851866, -6.50031858,  1.65833683, -6.50031858,  9.26841442,
       10.0342329 ,  1.65833683, 10.0342329 , 46.04052256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00063316426399182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.76725905e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.76725905e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464981, -0.0514509 ,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86047642e-06, 1.71289192e-05,-1.10551937e-05,-2.93993463e-05,
 -2.60528766e-05,-2.13694119e-05, 7.99856114e-06, 1.84368677e-05,
 -1.44575992e-05, 1.80029254e-05,-4.84911037e-07, 1.26951886e-05,
 -3.77041691e-04,-1.28859024e-04,-1.92029620e-04, 1.01703431e-05,
  6.69492589e-05,-5.75337723e-05,-4.90502743e+00, 2.59681161e-04,
  1.18492725e-02,-5.87331112e-04]


--- Step 325 ---
qpos:
[ 0.01871398, 0.0300704 ,-0.00948656,-0.02558517, 0.00788856, 0.0046739 ,
 -0.00780385, 0.0270717 , 0.01232106, 0.02795437,-0.00837898, 0.02641693,
  0.71610771, 0.00669248, 0.61696802, 0.0473345 , 0.05849577,-0.07650471,
  0.17151496, 0.99966673, 0.02434016,-0.00526865,-0.0067994 ]

qacc:
[ 0.22489369, 0.94743479,-2.92473588, 2.78111247, 0.33081402,-1.26218877,
  4.34856588,-6.65670234,-1.42090049,-1.2172452 , 3.21145278,-1.14914064,
 -1.04664167, 1.02208878,-3.31850077, 7.11106708, 1.89004394,-1.80262295,
  0.46919776,16.28831073,17.56750584,-5.93537834]

qfrc_actuator:
[ 1.01521483e-04, 9.83443122e-04, 9.76239464e-05,-6.58740574e-05,
  7.44347538e-06, 3.59422486e-05,-1.12387388e-05, 1.01310730e-04,
 -5.97191263e-05, 8.95261527e-04, 1.46874634e-04, 1.13591832e-04,
  6.06838857e-02,-6.83892115e-04, 5.16513458e-02,-3.98251335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.76191112, -6.63296868,  1.31421778, -6.63296868,  8.83333788,
       10.45466672,  1.31421778, 10.45466672, 59.52750146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006396203797940786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.67876525e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.67876525e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464946, -0.05145459,  0.06198853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42426043e-06, 1.45417247e-05,-1.22033836e-05,-1.11681646e-06,
  1.85047442e-06,-4.30601668e-05,-3.25287930e-07,-8.66345196e-06,
 -8.70037895e-06,-2.07221486e-05, 1.92203491e-05, 7.24845227e-06,
 -3.78997537e-04,-9.17629575e-05,-1.88877910e-04,-2.04623626e-05,
  4.81941631e-05,-3.94924963e-05,-4.90502090e+00, 2.66038974e-04,
  1.18462569e-02,-5.83611736e-04]


--- Step 326 ---
qpos:
[ 0.01871498, 0.03007169,-0.00948701,-0.02558524, 0.00788874, 0.00467339,
 -0.00780253, 0.027073  , 0.01232125, 0.02795488,-0.00837949, 0.02641768,
  0.71739279, 0.00669395, 0.61835817, 0.0473351 , 0.05846572,-0.07648588,
  0.17152895, 0.99966826, 0.02424458,-0.0053967 ,-0.00681586]

qacc:
[  3.0627028 , -0.09889271, -1.35636344,  7.04011056,  0.28018346,
  -2.53052145, 10.21103047,-18.58476835, -0.84422795, -2.57763563,
   9.76046734,-15.29083362, -1.68246666,  3.14724312, -3.26981056,
   6.83274647,  1.8419735 , -1.76432957,  0.23603677, 15.77196039,
  17.21675494, -5.55323634]

qfrc_actuator:
[ 1.19803046e-04, 9.70142682e-04, 1.07797426e-04,-4.84797533e-05,
  8.92213205e-06, 1.60937150e-05, 7.51629098e-06, 7.79064015e-05,
 -6.47045468e-05, 8.76367241e-04, 1.73877284e-04, 9.90860617e-05,
  6.05647741e-02,-6.73711564e-04, 5.15507465e-02,-3.97933995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006408100731732508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.66265272e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.66265272e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464822, -0.05145657,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83249445e-05,-7.78122719e-06, 1.16266575e-05, 1.75719901e-05,
  1.51659024e-06,-4.43772289e-05, 9.50653843e-06,-2.54354036e-05,
 -5.24719094e-06,-2.62232858e-05, 2.53415615e-05,-1.45890328e-05,
 -3.89053947e-04,-6.58789295e-05,-1.98762962e-04,-2.44501702e-05,
  3.30061888e-05,-2.52365327e-05,-4.90501520e+00, 2.70512938e-04,
  1.18444969e-02,-5.80680734e-04]


--- Step 327 ---
qpos:
[ 0.01871653, 0.0300728 ,-0.00948699,-0.02558545, 0.00788893, 0.00467267,
 -0.00780078, 0.02707362, 0.01232103, 0.0279547 ,-0.00837944, 0.02641795,
  0.7186757 , 0.00669524, 0.61974548, 0.04733512, 0.05844287,-0.07647397,
  0.17154308, 0.99966913, 0.02417996,-0.00549088,-0.00684183]

qacc:
[  4.78850691, -1.86826432,  6.920669  ,-10.07206993,  0.15913809,
  -2.86571927, 12.63796216,-24.72774122, -3.42901833, -3.45194818,
  13.01103934,-21.66662781, -1.177985  ,  1.44162946, -2.3839974 ,
   2.37855004,  1.80124118, -1.73150835,  0.03626885, 15.34191701,
  16.9139221 , -5.24584761]

qfrc_actuator:
[ 1.47912147e-04, 9.61726727e-04, 1.31698693e-04,-5.59765556e-05,
  9.72031565e-06, 2.23871507e-05, 3.57749072e-05, 4.58738317e-05,
 -8.54629026e-05, 8.11764180e-04, 1.89945625e-04, 7.24977146e-05,
  6.04524935e-02,-6.86079140e-04, 5.13978566e-02,-4.01318873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006377666177526387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35199567e-14,  8.70399135e-14,  1.00000000e+00, -3.78797327e-27,
        1.00000000e+00, -8.70399135e-14, -1.00000000e+00,  0.00000000e+00,
        4.35199567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464625, -0.05145719,  0.06198856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86355688e-05,-9.65149608e-06, 2.43226508e-05,-7.08819384e-06,
  8.26470844e-07,-1.76481323e-05, 1.93702679e-05,-3.41051561e-05,
 -2.09205947e-05,-7.46730997e-05, 1.32668512e-05,-2.71206218e-05,
 -3.84377959e-04,-8.74701557e-05,-2.55744131e-04,-6.28905866e-05,
  2.11198137e-05,-1.44025089e-05,-4.90501031e+00, 2.73343267e-04,
  1.18437676e-02,-5.78507329e-04]


--- Step 328 ---
qpos:
[ 0.01871841, 0.0300741 ,-0.00948737,-0.02558573, 0.00788913, 0.00467217,
 -0.00779947, 0.02707421, 0.01232023, 0.02795386,-0.00837915, 0.02641793,
  0.71995639, 0.00669644, 0.62112912, 0.0473358 , 0.0584271 ,-0.07646888,
  0.17155668, 0.99966938, 0.02414558,-0.00555173,-0.00687682]

qacc:
[  2.77160037,  1.23593146, -3.73235911,  2.95903658,  0.05111244,
   1.45578813, -4.60600384,  4.49608272, -5.02693945, -2.15153406,
   7.71397674,-12.87370854, -1.23436772,  1.64119759, -7.35116577,
  17.98204644,  1.76693912, -1.70362826, -0.1340763 , 14.98502461,
  16.65492551, -4.99888703]

qfrc_actuator:
[ 1.63822575e-04, 9.74094703e-04, 1.10241737e-04,-6.03019073e-05,
  1.01119050e-05, 4.43269258e-05, 1.62621699e-05, 4.45562771e-05,
 -1.15340394e-04, 7.73489476e-04, 1.99231178e-04, 5.67208059e-05,
  6.03337316e-02,-6.93912021e-04, 5.12137264e-02,-3.97989971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006313727586089168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79213594e-14,  1.75842719e-13,  1.00000000e+00, -1.54603309e-26,
        1.00000000e+00, -1.75842719e-13, -1.00000000e+00,  0.00000000e+00,
        8.79213594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0346437 , -0.05145673,  0.06198868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67373238e-05, 1.16560986e-05,-2.07154457e-05,-4.03864368e-06,
  4.09556352e-07, 1.46149093e-05,-2.19660382e-05,-2.07112340e-06,
 -3.05170581e-05,-7.84567029e-05,-5.44200011e-06,-1.90452093e-05,
 -3.92050608e-04,-8.44002507e-05,-3.14553759e-04,-4.54810708e-06,
  1.23194668e-05,-6.70365791e-06,-4.90500624e+00, 2.74712123e-04,
  1.18439033e-02,-5.77066463e-04]


--- Step 329 ---
qpos:
[ 0.01872012, 0.03007557,-0.00948835,-0.02558536, 0.00788899, 0.00467195,
 -0.00779875, 0.02707479, 0.01231975, 0.02795303,-0.00837878, 0.02641798,
  0.72123472, 0.00669792, 0.62250935, 0.04733578, 0.05841827,-0.07647051,
  0.17156916, 0.99966904, 0.02414085,-0.00557969,-0.00692045]

qacc:
[ -1.46459981,  3.24842803,-14.00204245, 26.15617381, -3.03049314,
   1.96538789, -6.40542252,  6.83368066,  2.87053571, -0.06364524,
  -0.13483395,  1.45303991, -1.77700231,  3.39365979, -2.86098555,
   2.904164  ,  1.73824518, -1.68016828, -0.27870149, 14.69013928,
  16.43565944, -4.80083949]

qfrc_actuator:
[ 1.54669938e-04, 9.80880919e-04, 8.00139025e-05,-2.72328192e-05,
 -7.49122891e-06, 5.75566797e-05,-1.34548727e-05, 4.35527773e-05,
 -9.70829384e-05, 8.22261124e-04, 2.22293782e-04, 6.51996668e-05,
  6.02111642e-02,-6.81283357e-04, 5.10536350e-02,-4.01384924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006223786551489835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45959632e-14, -1.78383853e-13,  1.00000000e+00, -7.95519974e-27,
        1.00000000e+00,  1.78383853e-13, -1.00000000e+00,  0.00000000e+00,
       -4.45959632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03464072, -0.05145544,  0.06198884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.66351468e-06, 8.81084561e-06,-3.05241744e-05, 3.27703135e-05,
 -1.75854212e-05, 1.67778702e-05,-2.94861851e-05,-1.18069763e-06,
  1.73336171e-05, 2.97156587e-06, 5.53379763e-06, 4.56011156e-06,
 -4.00782783e-04,-6.49573641e-05,-3.07745838e-04,-7.53272432e-05,
  6.43157647e-06,-1.91508259e-06,-4.90500295e+00, 2.74757099e-04,
  1.18447816e-02,-5.76337759e-04]


--- Step 330 ---
qpos:
[ 0.01872137, 0.03007683,-0.00948898,-0.02558461, 0.0078883 , 0.0046716 ,
 -0.00779823, 0.02707502, 0.01231985, 0.02795271,-0.00837844, 0.02641842,
  0.72251069, 0.00669989, 0.62388679, 0.04733122, 0.0584163 ,-0.07647878,
  0.17158004, 0.99966812, 0.02416529,-0.00557513,-0.00697242]

qacc:
[ -3.99589716, -0.47451636, -0.29897175,  6.4183263 , -4.88296021,
  -0.28636669,  2.22298067, -7.66481605,  4.81856106,  1.56104984,
  -6.21683634, 12.58000303, -2.14133731,  4.55429261,  9.75014792,
 -39.77639232,  1.71442802, -1.66063747, -0.40097775, 14.44786727,
  16.2521895 , -4.64245089]

qfrc_actuator:
[ 1.30842676e-04, 9.66504689e-04, 9.81306355e-05,-7.93344349e-06,
 -3.55446395e-05, 2.99171130e-05,-3.12227601e-05, 2.49794578e-05,
 -6.83887838e-05, 8.87364425e-04, 2.35933469e-04, 8.79674200e-05,
  6.00970567e-02,-6.56719524e-04, 5.09134024e-02,-4.24682816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006114184776360443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53953824e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.53953824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0346374 , -0.0514535 ,  0.06198904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40805233e-05,-1.44017233e-05, 1.73028327e-05, 1.92567828e-05,
 -2.85460755e-05,-2.44063610e-05,-1.79812220e-05,-1.88992060e-05,
  2.92009582e-05, 6.81338801e-05, 1.50970128e-05, 2.31754162e-05,
 -3.94686615e-04,-5.25475669e-05,-2.93503651e-04,-2.77619932e-04,
  3.31775492e-06, 1.38219135e-07,-4.90500043e+00, 2.73581534e-04,
  1.18463131e-02,-5.76304676e-04]


--- Step 331 ---
qpos:
[ 0.01872266, 0.03007811,-0.00948943,-0.02558435, 0.00788762, 0.0046711 ,
 -0.00779819, 0.02707505, 0.01231994, 0.02795268,-0.0083784 , 0.02641884,
  0.72378428, 0.00670251, 0.62526071, 0.0473252 , 0.05842112,-0.07649363,
  0.1715889 , 0.99966661, 0.02421849,-0.00553836,-0.00703248]

qacc:
[  0.42577568, -1.48519786,  7.37276959,-16.05003592,  0.11061301,
   0.75655815, -2.12095069, -0.4836548 , -0.02166921,  1.17027798,
  -3.49594733,  3.27357773, -2.20959489,  4.88706377, -0.64860327,
  -4.9966542 ,  1.69484466, -1.64458473, -0.50392634, 14.25031319,
  16.10085409, -4.51628266]

qfrc_actuator:
[ 1.34082382e-04, 9.75256474e-04, 1.09042641e-04,-3.23854060e-05,
 -3.40135091e-05, 1.35482149e-05,-5.97237016e-05, 1.39438823e-05,
 -6.93024240e-05, 8.72984921e-04, 2.08495863e-04, 8.34674157e-05,
  5.99774587e-02,-6.25307208e-04, 5.07585216e-02,-4.31105659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005990254225288483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26691074e-14, -9.26691074e-14,  1.00000000e+00, -8.58756347e-27,
        1.00000000e+00,  9.26691074e-14, -1.00000000e+00,  0.00000000e+00,
       -9.26691074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03463387, -0.05145108,  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:
[ 2.52798386e-06, 5.04431954e-06, 1.07254983e-05,-2.40972429e-05,
  7.12874401e-07,-3.45451716e-05,-3.64124805e-05,-1.30711774e-05,
 -3.55005575e-08, 2.78501361e-05,-1.07044846e-05,-6.09017019e-07,
 -3.94001526e-04,-4.32299966e-05,-3.25916462e-04,-1.18715967e-04,
  2.86905384e-06,-4.09009538e-07,-4.90499867e+00, 2.71262407e-04,
  1.18484322e-02,-5.76953832e-04]


--- Step 332 ---
qpos:
[ 0.01872329, 0.03007975,-0.00948991,-0.02558406, 0.00788731, 0.00467057,
 -0.00779858, 0.02707494, 0.01231968, 0.02795257,-0.00837853, 0.02641958,
  0.7250555 , 0.00670556, 0.62663084, 0.04732198, 0.05843264,-0.07651501,
  0.1715954 , 0.99966453, 0.02430014,-0.00546963,-0.00710044]

qacc:
[ -5.67961878,  0.64330798, -1.69297896,  1.87420892,  3.22683451,
   0.80613298, -2.3314949 ,  0.44992959, -3.03536307,  1.03435556,
  -5.21609097, 11.19918053, -1.80658965,  3.60875249,-13.98827777,
  41.04458863,  1.67893412, -1.63160222, -0.59022743, 14.09085028,
  15.97830797, -4.41635203]

qfrc_actuator:
[ 9.99748649e-05, 1.01548806e-03, 1.15657629e-04,-2.91191925e-05,
 -1.50784411e-05, 2.17625783e-05,-7.65459212e-05, 7.43010822e-06,
 -8.76399816e-05, 8.46441662e-04, 1.92199852e-04, 9.83718272e-05,
  5.98546541e-02,-6.07897162e-04, 5.06216486e-02,-4.15102240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005856451025508247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42179498e-13,  9.47863322e-14,  1.00000000e+00,  1.34766732e-26,
        1.00000000e+00, -9.47863322e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42179498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03463018, -0.05144831,  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:
[-3.40351767e-05, 4.41908285e-05, 8.13227632e-06, 3.38118914e-06,
  1.89452837e-05,-1.91675286e-05,-2.88899317e-05,-9.50753101e-06,
 -1.83284049e-05,-1.32065971e-05,-1.18836364e-05, 1.57147438e-05,
 -3.94979603e-04,-5.61769750e-05,-3.02641835e-04, 1.10813953e-04,
  5.00117027e-06,-3.45457644e-06,-4.90499765e+00, 2.67856344e-04,
  1.18510919e-02,-5.78274453e-04]


--- Step 333 ---
qpos:
[ 0.01872316, 0.03008176,-0.00949036,-0.02558375, 0.00788722, 0.00467009,
 -0.00779898, 0.0270747 , 0.01231954, 0.02795259,-0.00837895, 0.02642082,
  0.72632431, 0.00670919, 0.62799811, 0.04731885, 0.05845084,-0.07654287,
  0.17159925, 0.99966186, 0.02440998,-0.00536913,-0.00717615]

qacc:
[-6.51369638, 0.44066676,-0.94332276, 1.04214468, 2.01490304,-0.1291993 ,
  1.06047457,-3.11808577, 1.06851917, 2.01615954,-9.06633718,18.11575493,
 -2.12785182, 4.55728669,-4.36458314, 9.45841924, 1.66620938,-1.62132514,
 -0.66224284,13.96391774,15.88153166,-4.33784241]

qfrc_actuator:
[ 6.19022362e-05, 1.03876138e-03, 1.19847053e-04,-2.72880961e-05,
 -3.81345070e-06, 4.46827575e-05,-6.84794992e-05, 3.65851132e-06,
 -8.05714413e-05, 8.66112881e-04, 1.82572114e-04, 1.24574139e-04,
  5.97300089e-02,-5.81178265e-04, 5.05010566e-02,-4.14416011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716473746996964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85536659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.85536659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03462641, -0.0514453 ,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90542174e-05, 4.97407142e-05, 1.44215193e-05, 4.06837573e-06,
  1.17982679e-05, 5.85733709e-06, 2.30073238e-07,-5.77610912e-06,
  6.52581346e-06, 1.05012594e-05,-1.32741382e-05, 2.55305929e-05,
 -3.99134493e-04,-4.89107027e-05,-2.50109029e-04,-2.65811901e-05,
  9.65046889e-06,-8.92269349e-06,-4.90499736e+00, 2.63404203e-04,
  1.18542586e-02,-5.80257932e-04]


--- Step 334 ---
qpos:
[ 0.01872395, 0.03008395,-0.00949064,-0.02558374, 0.00788693, 0.00466951,
 -0.00779896, 0.02707441, 0.01231984, 0.02795295,-0.00837956, 0.02642129,
  0.72759068, 0.00671349, 0.62936328, 0.0473143 , 0.05847565,-0.07657718,
  0.17160021, 0.99965858, 0.02454781,-0.00523702,-0.00725949]

qacc:
[  7.92077973, -0.86717899,  4.71109225,-10.41187226, -1.82417858,
  -1.423554  ,  5.11228957, -6.65305271,  3.65366061, -0.61907416,
   6.10251573,-19.34832904, -2.29629453,  5.07169301,  1.29703749,
  -8.74808993,  1.65624883, -1.61342945, -0.72204516, 13.86484593,
  15.8078213 , -4.276871  ]

qfrc_actuator:
[ 1.10575655e-04, 1.03394338e-03, 1.22511168e-04,-4.40841942e-05,
 -1.49114085e-05, 4.08406422e-05,-4.57162453e-05, 1.56065590e-06,
 -5.85992997e-05, 8.95586260e-04, 1.77140331e-04, 8.62404219e-05,
  5.96096757e-02,-5.49195398e-04, 5.04222394e-02,-4.20985712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005573367243769528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98003709e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.98003709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03462263, -0.05144213,  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:
[ 4.75459861e-05, 2.60676492e-05, 1.48368086e-05,-1.40908727e-05,
 -1.07603873e-05,-7.39858205e-07, 2.38120598e-05,-1.94928705e-06,
  2.21665563e-05, 3.37012738e-05,-4.01263184e-06,-3.78482891e-05,
 -3.96009724e-04,-4.38234628e-05,-2.03005697e-04,-1.00857947e-04,
  1.67706905e-05,-1.67590791e-05,-4.90499779e+00, 2.57934579e-04,
  1.18579091e-02,-5.82897458e-04]


--- Step 335 ---
qpos:
[ 0.01872464, 0.03008584,-0.00949036,-0.0255839 , 0.00788651, 0.00466904,
 -0.00779874, 0.02707409, 0.01232039, 0.02795363,-0.00838023, 0.02642095,
  0.72885486, 0.00671756, 0.63072592, 0.04730995, 0.05850707,-0.07661793,
  0.17159809, 0.99965468, 0.02471348,-0.0050734 ,-0.00735037]

qacc:
[ -0.94028734, -2.28755286,  8.28782748,-11.83410067, -1.14610827,
  -0.48065041,  2.08121349, -3.09894603,  2.21878714, -1.05083286,
   7.79057708,-21.9782839 , -1.13317596,  1.21625056, -4.27554811,
   9.65647042,  1.64868804, -1.60762863, -0.77144869, 13.78970789,
  15.75476839, -4.23030264]

qfrc_actuator:
[ 1.03402691e-04, 9.94563136e-04, 1.41877185e-04,-5.39787921e-05,
 -2.13279059e-05, 5.65828982e-05,-3.23191979e-05, 4.50059403e-07,
 -4.57917113e-05, 9.12917630e-04, 1.74233213e-04, 4.57591937e-05,
  5.94920171e-02,-5.67627992e-04, 5.03152658e-02,-4.19334758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005429613468837385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03461887, -0.05143888,  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:
[-5.78502722e-06,-2.24044617e-05, 2.60645811e-05,-8.54602171e-06,
 -6.72343446e-06, 2.01815627e-05, 1.61173844e-05,-3.53966636e-07,
  1.34718943e-05, 3.37280734e-05, 2.25173266e-06,-3.99138052e-05,
 -3.89965339e-04,-9.33449681e-05,-2.20638530e-04,-1.73943229e-05,
  2.63302297e-05,-2.69270534e-05,-4.90499896e+00, 2.51466474e-04,
  1.18620280e-02,-5.86187731e-04]


--- Step 336 ---
qpos:
[ 0.01872419, 0.03008755,-0.00949042,-0.02558379, 0.00788636, 0.0046688 ,
 -0.00779814, 0.02707372, 0.01232075, 0.02795406,-0.00838074, 0.02642088,
  0.73011697, 0.00672078, 0.63208547, 0.04730651, 0.05854505,-0.07666509,
  0.17159272, 0.99965012, 0.02490688,-0.00487835,-0.00744872]

qacc:
[-9.65899872, 1.27939112,-6.03854755,11.43401938, 2.39295587,-0.8425489 ,
  3.62150356,-5.09459238,-1.64937263,-0.2775553 ,-0.61766046, 5.12032481,
 -0.34448673,-1.39901328,-7.34796725,19.05215427, 1.64321213,-1.60367009,
 -0.81203961,13.7351947 ,15.72023489,-4.1956009 ]

qfrc_actuator:
[ 4.56352397e-05, 9.70356794e-04, 1.17548287e-04,-4.19987366e-05,
 -7.17756143e-06, 8.39022038e-05,-6.73556254e-06,-6.52320307e-08,
 -5.62387204e-05, 8.69591324e-04, 1.72803081e-04, 5.75995552e-05,
  5.93813566e-02,-6.15680218e-04, 5.01648824e-02,-4.14631374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005287210718474683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09982746e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09982746e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03461518, -0.05143561,  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:
[-5.79507770e-05,-3.17928826e-05,-2.60671408e-05, 1.17518146e-05,
  1.39656797e-05, 4.19320214e-05, 3.17293164e-05, 9.01923025e-07,
 -1.00371077e-05,-2.57203426e-05, 4.43387833e-06, 1.25871565e-05,
 -3.87829179e-04,-1.27664931e-04,-2.61261222e-04, 1.58791337e-05,
  3.83098824e-05,-3.94044189e-05,-4.90500084e+00, 2.44011348e-04,
  1.18666057e-02,-5.90124711e-04]


--- Step 337 ---
qpos:
[ 0.01872341, 0.03008925,-0.00949113,-0.02558353, 0.00788603, 0.00466855,
 -0.00779711, 0.02707339, 0.01232064, 0.02795408,-0.00838087, 0.0264213 ,
  0.73137701, 0.00672311, 0.63344242, 0.04730548, 0.0585896 ,-0.07671866,
  0.17158397, 0.99964487, 0.02512795,-0.0046519 ,-0.00755449]

qacc:
[ -2.97735489,  2.09976296, -8.09491167, 11.59233533, -1.51704507,
  -1.18542542,  4.08371276, -4.31909208, -4.00834942, -0.54541287,
  -0.9329615 ,  9.21917259, -0.27451704, -1.62284838,-11.12653577,
  33.29229877,  1.63954898, -1.6013315 , -0.84520398, 13.69851159,
  15.70232715, -4.17070919]

qfrc_actuator:
[ 2.95793595e-05, 9.73011007e-04, 8.54223835e-05,-3.50220616e-05,
 -1.65419501e-05, 6.47391401e-05, 8.14452024e-06,-2.04381995e-07,
 -8.02870665e-05, 8.43577385e-04, 1.89793145e-04, 8.23265102e-05,
  5.92749613e-02,-6.63044696e-04, 5.00844588e-02,-4.01075479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000514774270036128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39179544e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.39179544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03461159, -0.05143236,  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:
[-1.77605067e-05,-2.00848420e-05,-4.15128165e-05, 4.94103654e-06,
 -8.95418098e-06, 1.08855378e-05, 2.74769860e-05, 2.77262051e-06,
 -2.43515945e-05,-3.89534934e-05, 1.26605895e-05, 2.40239325e-05,
 -3.88593891e-04,-1.30543836e-04,-2.03813286e-04, 1.01600659e-04,
  5.27009774e-05,-5.41809624e-05,-4.90500347e+00, 2.35574694e-04,
  1.18716370e-02,-5.94705427e-04]


--- Step 338 ---
qpos:
[ 0.01872209, 0.03009114,-0.00949208,-0.02558324, 0.00788559, 0.00466822,
 -0.00779639, 0.02707345, 0.01232024, 0.02795423,-0.00838102, 0.02642197,
  0.73263494, 0.00672487, 0.63479755, 0.04730459, 0.05864069,-0.07677862,
  0.17157172, 0.9996389 , 0.02537663,-0.00439406,-0.00766765]

qacc:
[-4.57482643, 0.99899275,-3.30274701, 4.01745232,-0.97080942, 1.62864637,
 -7.67643689,15.29266436,-2.45760834, 0.74394825,-3.40959823, 7.58976976,
 -0.74215522,-0.11924054,-3.08602317, 6.93028136, 1.63746324,-1.60041733,
 -0.87215297,13.67729195,15.69937057,-4.15395587]

qfrc_actuator:
[ 2.71488793e-06, 1.00943452e-03, 8.45716199e-05,-3.10248165e-05,
 -2.19258353e-05, 3.56017785e-05,-1.91082012e-05, 1.75846450e-05,
 -9.43879351e-05, 8.81471425e-04, 1.99821565e-04, 9.66965440e-05,
  5.91711999e-02,-6.91866966e-04, 5.00141240e-02,-4.00145722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501243870644083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10746793e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10746793e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460811, -0.05142916,  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:
[-2.73922744e-05, 1.67725456e-05,-9.95140628e-06, 1.79540726e-06,
 -5.63577865e-06,-1.72608307e-05,-2.15319675e-05, 1.92595749e-05,
 -1.48302645e-05, 1.97470678e-05, 4.37402310e-06, 1.36066560e-05,
 -3.86297664e-04,-1.12904145e-04,-1.60353142e-04,-1.31009882e-05,
  6.95038246e-05,-7.12564476e-05,-4.90500684e+00, 2.26157248e-04,
  1.18771203e-02,-5.99927804e-04]


--- Step 339 ---
qpos:
[ 0.0187208 , 0.03009285,-0.00949268,-0.02558222, 0.0078851 , 0.00466777,
 -0.00779625, 0.02707376, 0.01232002, 0.02795449,-0.00838105, 0.0264228 ,
  0.73389067, 0.00672658, 0.63615061, 0.04730378, 0.05869833,-0.07684499,
  0.17155591, 0.99963214, 0.02565292,-0.0041048 ,-0.00778818]

qacc:
[ 0.29560845, 0.2970905 ,-4.5245459 ,16.89899032,-0.55406996, 1.95061505,
 -8.1661555 ,13.25259833, 1.5228393 , 0.13415426,-0.98290133, 3.55018744,
 -1.33898381, 1.93984642,-3.27057617, 7.16896253, 1.636804  ,-1.60080742,
 -0.89366366,13.66992622,15.71034616,-4.14409747]

qfrc_actuator:
[ 5.19568052e-06, 9.94915640e-04, 1.02341919e-04, 6.74800711e-06,
 -2.49164529e-05, 1.83002334e-05,-5.33073792e-05, 2.79861745e-05,
 -8.47631239e-05, 8.86305586e-04, 2.05907087e-04, 1.04902992e-04,
  5.90690983e-02,-6.91765328e-04, 4.99179111e-02,-3.99560179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048822260361996994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.68502470e-14,  1.13700494e-13,  1.00000000e+00,  6.46390117e-27,
        1.00000000e+00, -1.13700494e-13, -1.00000000e+00,  0.00000000e+00,
       -5.68502470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03460478, -0.05142604,  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:
[ 1.68367332e-06,-7.18149857e-06, 2.00617559e-05, 3.81802633e-05,
 -3.15673853e-06,-3.05747669e-05,-3.97547801e-05, 9.29086017e-06,
  9.19641843e-06, 1.73515999e-05, 1.11727235e-05, 9.46787371e-06,
 -3.79655961e-04,-8.17374671e-05,-1.81968474e-04,-1.80288355e-05,
  8.87264225e-05,-9.06389962e-05,-4.90501097e+00, 2.15755930e-04,
  1.18830565e-02,-6.05790534e-04]


--- Step 340 ---
qpos:
[ 0.0187199 , 0.03009418,-0.00949265,-0.02558074, 0.00788422, 0.00466717,
 -0.00779595, 0.02707379, 0.01231957, 0.02795491,-0.00838131, 0.02642374,
  0.73514415, 0.00672833, 0.63750158, 0.04730299, 0.05876252,-0.07691777,
  0.17153645, 0.99962456, 0.02595682,-0.00378409,-0.00791606]

qacc:
[ 3.32180254,-1.32287684, 2.09858932, 4.96656653,-3.30965367,-1.19706657,
  5.10885401,-9.90042042,-1.94968103, 1.06377827,-3.92102031, 5.9989628 ,
 -1.47257539, 2.34688085,-3.05250321, 6.36501225, 1.63744828,-1.60240329,
 -0.91037875,13.67510859,15.73441488,-4.14014093]

qfrc_actuator:
[ 2.49316389e-05, 9.67875415e-04, 1.30782754e-04, 2.85565361e-05,
 -4.42282261e-05, 2.59182457e-05,-3.80310254e-05, 1.62110906e-05,
 -9.67594145e-05, 8.89044495e-04, 1.91747952e-04, 1.09396335e-04,
  5.89520979e-02,-6.92357781e-04, 4.98275619e-02,-3.99182387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004757763553746436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16674884e-13, -1.16674884e-13,  1.00000000e+00, -1.36130286e-26,
        1.00000000e+00,  1.16674884e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16674884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0346016 , -0.05142303,  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:
[ 1.97751267e-05,-2.53304800e-05, 3.07353509e-05, 2.29340648e-05,
 -1.94109388e-05,-1.72806178e-05, 4.38861931e-06,-1.42799231e-05,
 -1.17203925e-05, 1.51474207e-05,-8.87623817e-06, 5.80499540e-06,
 -3.84546154e-04,-7.76236697e-05,-1.85593341e-04,-2.29262735e-05,
  1.10384049e-04,-1.12344446e-04,-4.90501588e+00, 2.04364271e-04,
  1.18894485e-02,-6.12292982e-04]


--- Step 341 ---
qpos:
[ 0.01871924, 0.03009557,-0.00949238,-0.02557939, 0.00788313, 0.00466658,
 -0.00779531, 0.027074  , 0.01231898, 0.02795543,-0.0083817 , 0.02642473,
  0.73639544, 0.00673009, 0.63884974, 0.04730362, 0.05883606,-0.07698977,
  0.1715166 , 0.99961703, 0.02625457,-0.00342729,-0.00804686]

qacc:
[ 2.0934392 ,-0.85026126, 3.62192425,-6.12245128,-1.96743008,-0.59650992,
  1.44891353, 0.89188293,-1.20082642, 0.62757003,-2.26289434, 3.28400225,
 -1.33699766, 1.98341689,-8.38190104,23.45873858, 2.337277  , 0.1956746 ,
 -0.10026832,-3.2199587 ,17.97805038,-1.91167981]

qfrc_actuator:
[ 3.69035416e-05, 9.86843000e-04, 1.47458539e-04, 2.30282708e-05,
 -5.52396780e-05, 4.85781453e-05,-1.13265730e-05, 2.70451331e-05,
 -1.03641037e-04, 8.90420117e-04, 1.83487542e-04, 1.11652671e-04,
  5.88422188e-02,-6.93439617e-04, 4.96928759e-02,-3.91823583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.35616604, -1.30870795, -5.19382308, -1.30870795, 23.86553893,
       -4.66387919, -5.19382308, -4.66387919,  6.53134195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004666322060489225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.94806258e-14, -5.94806258e-14,  1.00000000e+00, -3.53794484e-27,
        1.00000000e+00,  5.94806258e-14, -1.00000000e+00,  0.00000000e+00,
       -5.94806258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805842, -0.08029799,  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:
[ 1.25325941e-05, 1.20904675e-05, 1.60038866e-05,-5.10978175e-06,
 -1.15687043e-05, 1.33026455e-05, 2.31856303e-05, 9.96885163e-06,
 -7.21875851e-06, 8.24153287e-06,-6.02795513e-06, 2.70924713e-06,
 -3.79909463e-04,-7.86596723e-05,-2.32046736e-04, 4.61694318e-05,
  1.34498724e-04,-1.36395637e-04,-4.90502158e+00, 1.91972851e-04,
  1.18963013e-02,-6.19435117e-04]


--- Step 342 ---
qpos:
[ 0.01871908, 0.03009692,-0.00949188,-0.0255781 , 0.00788225, 0.00466625,
 -0.00779504, 0.02707469, 0.01231866, 0.02795537,-0.00838189, 0.0264258 ,
  0.73764458, 0.00673183, 0.64019433, 0.04730588, 0.0589188 ,-0.07706101,
  0.17149591, 0.9996095 , 0.02654644,-0.00303371,-0.00818121]

qacc:
[  4.24171603, -0.84801155,  3.23395522, -4.73804409,  1.93021034,
   2.40204747,-10.12232017, 19.00240438,  2.29287893, -1.18947217,
   2.78160547, -1.26812444, -1.24648418,  1.76179453,-10.1701038 ,
  28.05399312,  2.30086773,  0.19106617, -0.20677777, -3.10011895,
  18.31046504, -2.25317262]

qfrc_actuator:
[ 6.19568892e-05, 9.79890571e-04, 1.57217701e-04, 1.92422955e-05,
 -4.35196850e-05, 6.24026615e-05,-3.12729578e-05, 5.11156411e-05,
 -8.96976101e-05, 8.19971141e-04, 1.78774646e-04, 1.12580764e-04,
  5.87366899e-02,-6.94796492e-04, 4.95050982e-02,-3.83968240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004664193518182508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19015540e-13, -1.19015540e-13,  1.00000000e+00, -1.41646989e-26,
        1.00000000e+00,  1.19015540e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19015540e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805276, -0.08029661,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54174322e-05, 2.84523055e-06, 1.40283799e-05,-2.82123549e-06,
  1.13945147e-05, 2.64894361e-05,-1.39984289e-05, 2.56367378e-05,
  1.37361078e-05,-6.69899760e-05,-3.66313896e-06, 1.12314071e-06,
 -3.72853215e-04,-7.81936548e-05,-2.95987738e-04, 4.96619049e-05,
  1.65146370e-04,-1.48784262e-04,-4.90502891e+00, 1.80637143e-04,
  1.18937278e-02,-6.26304386e-04]


--- Step 343 ---
qpos:
[ 0.01871956, 0.03009824,-0.00949125,-0.02557686, 0.00788152, 0.00466624,
 -0.00779528, 0.02707498, 0.01231782, 0.02795498,-0.00838274, 0.0264269 ,
  0.7388915 , 0.00673362, 0.6415355 , 0.0473077 , 0.05901063,-0.07713149,
  0.17147403, 0.99960193, 0.02683261,-0.00260282,-0.00831966]

qacc:
[ 5.55046355,-0.54070105, 2.0473925 ,-3.05522044, 1.27288967, 1.00620203,
 -1.30008549,-5.07471437,-4.44438901, 1.49631501,-6.09044712, 7.94723223,
 -1.42675218, 2.23694752,-3.63902095, 5.55821872, 2.2718373 , 0.18632668,
 -0.29908427,-3.00020132,18.57244512,-2.53396302]

qfrc_actuator:
[ 9.45115432e-05, 9.75196253e-04, 1.62731213e-04, 1.64961693e-05,
 -3.62696146e-05, 7.06644555e-05,-6.08777212e-05, 2.94812082e-05,
 -1.16868298e-04, 7.95824237e-04, 1.40388262e-04, 1.12660064e-04,
  5.86178681e-02,-6.96300277e-04, 4.93335679e-02,-3.86544872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004646075807605704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.97398251e-14,  8.96097377e-14,  1.00000000e+00,  5.35327005e-27,
        1.00000000e+00, -8.96097377e-14, -1.00000000e+00,  0.00000000e+00,
       -5.97398251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02804776, -0.08029557,  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:
[ 3.32908495e-05,-3.75086686e-07, 7.70588093e-06,-2.20193414e-06,
  7.58263296e-06, 2.12928724e-05,-2.49715106e-05,-2.04865906e-05,
 -2.67911935e-05,-6.23109944e-05,-5.26368835e-05,-2.89886187e-06,
 -3.81819460e-04,-7.68511163e-05,-3.05332609e-04,-6.18965548e-05,
  1.99731234e-04,-1.61213716e-04,-4.90503720e+00, 1.68430218e-04,
  1.18911944e-02,-6.33017753e-04]


--- Step 344 ---
qpos:
[ 0.01871939, 0.03009909,-0.00949029,-0.02557631, 0.00788088, 0.00466643,
 -0.00779583, 0.02707432, 0.012317  , 0.02795469,-0.0083843 , 0.02642829,
  0.74013623, 0.00673542, 0.6428733 , 0.04731042, 0.05909049,-0.07719652,
  0.17146193, 0.99959464, 0.02710157,-0.00222945,-0.00843202]

qacc:
[ -5.53349054, -2.92589865, 12.44850024,-24.54187904,  0.80203392,
  -0.84305275,  7.41892871,-23.57141907,  0.19063354,  2.71556574,
 -10.69216146, 16.69780194, -1.33975478,  1.98666048, -7.60291154,
  19.54302826, -2.99367708,  1.36541427,  2.44608761, -8.33741158,
 -28.47397429, 13.83816707]

qfrc_actuator:
[ 6.02061470e-05, 9.18614015e-04, 1.65700838e-04,-2.11236158e-05,
 -3.17159114e-05, 7.54418148e-05,-7.82367716e-05,-1.88796192e-05,
 -1.14769566e-04, 8.34947136e-04, 1.18093761e-04, 1.29998952e-04,
  5.85071310e-02,-6.97943573e-04, 4.91985299e-02,-3.81035819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.75631666,  5.69882297, -0.8115407 ,  5.69882297,  6.37417999,
        4.33877651, -0.8115407 ,  4.33877651, 36.22419009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005184860828015558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07063918e-13, -1.07063918e-13,  1.00000000e+00, -1.14626824e-26,
        1.00000000e+00,  1.07063918e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07063918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09629431, -0.0920649 ,  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:
[-3.33406769e-05,-5.53426564e-05, 3.73754048e-06,-3.74207310e-05,
  4.77848646e-06, 1.06536344e-05,-1.67432311e-05,-4.87114790e-05,
  1.29151018e-06,-6.70943828e-06,-4.17371200e-05, 1.27921575e-05,
 -3.79683834e-04,-7.85202701e-05,-2.85705897e-04, 1.15116841e-05,
  2.38272904e-04,-1.73633256e-04,-4.90504651e+00, 1.55337003e-04,
  1.18886210e-02,-6.39578863e-04]


--- Step 345 ---
qpos:
[ 0.01871778, 0.03009951,-0.00948953,-0.02557653, 0.00788031, 0.00466657,
 -0.0077965 , 0.02707311, 0.01231691, 0.02795469,-0.00838597, 0.02642912,
  0.74137888, 0.00673689, 0.64420852, 0.04730734, 0.05915884,-0.0772564 ,
  0.17145767, 0.99958769, 0.02735274,-0.0019106 ,-0.00852203]

qacc:
[-12.38633015, -1.55051596,  7.99620662,-20.69673395,  0.52282089,
  -0.87388755,  5.34059917,-14.67350678,  6.12994272, -0.46931699,
   4.56653808,-14.27079251, -1.16312355,  1.24073548, 13.71951113,
 -53.42819999, -2.87568357,  1.28545497,  1.95727344, -8.63777525,
 -27.0180792 , 11.9288536 ]

qfrc_actuator:
[-1.31804030e-05, 8.84607909e-04, 1.49154428e-04,-6.12547974e-05,
 -2.87844596e-05, 6.03561043e-05,-8.82514942e-05,-4.70598422e-05,
 -7.76934754e-05, 8.76226830e-04, 1.23521884e-04, 1.04169975e-04,
  5.84013230e-02,-7.17408530e-04, 4.90428987e-02,-4.11622453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15479718, -5.26648955,  3.18521838, -5.26648955,  8.94264128,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005667198191127015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.79516674e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.79516674e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09627415, -0.09207142,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.43798139e-05,-6.58375374e-05,-2.88316900e-05,-4.31038669e-05,
  3.07367459e-06,-1.46715661e-05,-1.15563134e-05,-2.92489353e-05,
  3.71105474e-05, 2.94779150e-05,-6.38338876e-07,-2.73108780e-05,
 -3.73264200e-04,-9.64025759e-05,-2.89736536e-04,-3.42979490e-04,
  1.76837671e-04,-1.39217064e-04,-4.90503823e+00, 1.82171775e-04,
  1.18713262e-02,-6.44790968e-04]


--- Step 346 ---
qpos:
[ 0.01871565, 0.03009979,-0.00948916,-0.02557656, 0.00787908, 0.00466674,
 -0.00779733, 0.02707156, 0.0123176 , 0.02795511,-0.00838739, 0.02642924,
  0.74261927, 0.0067385 , 0.64554072, 0.0472989 , 0.05921612,-0.07731142,
  0.17145946, 0.99958116, 0.02758579,-0.00164365,-0.00859268]

qacc:
[ -4.49849711,  1.28648047, -5.64744106,  9.61783421, -5.72720299,
  -0.16240024,  2.08318634, -7.68001065,  6.73174975, -1.61910427,
   9.5442045 ,-22.45695614, -1.75094715,  3.12411907, 11.86885491,
 -47.78306166, -2.76874347,  1.21625192,  1.51626819, -8.81955774,
 -25.75359717, 10.40162325]

qfrc_actuator:
[-3.79494873e-05, 8.99794016e-04, 1.39046933e-04,-4.92793348e-05,
 -6.23357823e-05, 6.90372533e-05,-9.39201693e-05,-6.31503688e-05,
 -3.80887557e-05, 9.18576325e-04, 1.45269793e-04, 7.09245889e-05,
  5.82825635e-02,-7.11722859e-04, 4.88962660e-02,-4.38380785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.4524529 , -5.47961015,  3.4070546 , -5.47961015, 10.09903393,
        5.86484362,  3.4070546 ,  5.86484362, 15.88495704,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0006023895703873156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84303162e-13, -9.21515809e-14,  1.00000000e+00, -1.69838277e-26,
        1.00000000e+00,  9.21515809e-14, -1.00000000e+00,  0.00000000e+00,
       -1.84303162e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625912, -0.09207694,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69587115e-05,-2.94741603e-05,-2.87560003e-05, 7.32106412e-06,
 -3.34674081e-05,-3.15712776e-06,-1.11258736e-05,-1.76845662e-05,
  4.07031487e-05, 5.75619088e-05, 2.68295511e-05,-3.25354138e-05,
 -3.85830570e-04,-7.20171040e-05,-3.23521135e-04,-3.25298673e-04,
  1.27656936e-04,-1.09512033e-04,-4.90503085e+00, 2.02158960e-04,
  1.18570128e-02,-6.49819697e-04]


--- Step 347 ---
qpos:
[ 0.01871358, 0.03009984,-0.00948895,-0.0255761 , 0.00787746, 0.00466705,
 -0.00779837, 0.02707085, 0.01231842, 0.0279558 ,-0.00838797, 0.02642964,
  0.74385725, 0.00674087, 0.64686952, 0.0472885 , 0.0592627 ,-0.07736182,
  0.17146576, 0.99957508, 0.02780056,-0.00142637,-0.00864638]

qacc:
[  0.54450703,  1.13383036, -6.512451  , 15.27428022, -3.46235042,
   2.50001649,-12.18238306, 26.97258339,  1.08936511, -1.44198097,
   4.50248999, -1.35371508, -2.37654692,  5.23891227,  1.03871792,
 -10.5627235 , -2.67365163,  1.15684926,  1.1249693 , -8.91933137,
 -24.66512216,  9.18100238]

qfrc_actuator:
[-3.38911257e-05, 8.91130355e-04, 1.33068077e-04,-2.44426165e-05,
 -8.15853012e-05, 9.19110642e-05,-9.68844414e-05,-1.87245632e-05,
 -3.28297730e-05, 9.43562245e-04, 1.94238534e-04, 8.68569381e-05,
  5.81614493e-02,-6.73537752e-04, 4.87658165e-02,-4.46674683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.66138762, -5.58777883,  3.62640493, -5.58777883, 11.77764955,
        7.88343846,  3.62640493,  7.88343846, 18.80865506,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.0006274796624947121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84668533e-14,  8.84668533e-14,  1.00000000e+00,  7.82638413e-27,
        1.00000000e+00, -8.84668533e-14, -1.00000000e+00,  0.00000000e+00,
       -8.84668533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624833, -0.09208174,  0.06198874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26206831e-06,-3.07877973e-05,-1.53587626e-05, 2.27226529e-05,
 -2.02005441e-05, 1.80477571e-05,-5.58601085e-06, 4.35677422e-05,
  6.47315738e-06, 6.13400809e-05, 6.30482862e-05, 1.86946327e-05,
 -3.92255561e-04,-3.89913254e-05,-3.19232009e-04,-1.43606939e-04,
  8.86387422e-05,-8.40267983e-05,-4.90502442e+00, 2.16886660e-04,
  1.18452295e-02,-6.54614296e-04]


--- Step 348 ---
qpos:
[ 0.01871192, 0.03009987,-0.00948892,-0.02557538, 0.00787665, 0.00466768,
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qacc:
[  3.50391931,  1.00235114, -4.76542217,  9.72136063,  7.17169913,
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   8.85259602, -2.59027896,  1.10617002,  0.78195402, -8.96326443,
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qfrc_actuator:
[-1.29138221e-05, 9.03801278e-04, 1.29491718e-04,-1.00111631e-05,
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 -1.23244066e-05, 9.58120325e-04, 2.05595719e-04, 9.60966996e-05,
  5.80549963e-02,-6.69779844e-04, 4.87038026e-02,-4.44016841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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Contact:
<MjContact
  H: array([ 6.79594552, -5.59614675,  3.85590677, -5.59614675, 14.30344986,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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  dim: 3
  dist: -0.00064374616849322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.096241  , -0.09208604,  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:
[ 2.10608474e-05,-6.74207703e-06,-1.10425554e-05, 1.30230962e-05,
  4.20225170e-05, 4.20654972e-05, 3.31755739e-06, 4.56178032e-05,
  2.07149641e-05, 6.26704232e-05, 3.24388361e-05, 1.44125619e-05,
 -3.75327710e-04,-7.09765842e-05,-2.28085413e-04,-2.32837405e-05,
  5.81866462e-05,-6.23257581e-05,-4.90501896e+00, 2.27528441e-04,
  1.18355964e-02,-6.59138343e-04]


--- Step 349 ---
qpos:
[ 0.01871121, 0.03010025,-0.00948911,-0.02557489, 0.00787671, 0.00466874,
 -0.00780106, 0.02707098, 0.0123211 , 0.02795816,-0.0083888 , 0.02643101,
  0.74632668, 0.0067459 , 0.64951959, 0.04727307, 0.05932508,-0.0774495 ,
  0.17148655, 0.99956441, 0.02817504,-0.00113343,-0.00871009]

qacc:
[  8.16725791,  0.62328827, -0.61743185, -3.1386441 ,  7.56082063,
   1.06530915, -2.30428021, -0.36120547,  2.00771842,  1.32981892,
  -5.16860621,  8.53619886, -1.14728739,  1.55976179,-18.98356635,
  61.52726751, -2.51797965,  1.06313269,  0.48397522, -8.97006385,
 -22.94385118,  7.42870953]

qfrc_actuator:
[ 3.55966247e-05, 9.46914225e-04, 1.27436919e-04,-1.95547639e-05,
  4.14616248e-06, 1.41491187e-04,-1.16059211e-04, 1.58942733e-05,
 -7.50407341e-07, 9.30668991e-04, 1.76836921e-04, 1.01276662e-04,
  5.79627340e-02,-6.68614101e-04, 4.86669233e-02,-4.15387532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.86974523, -5.50715338,  4.1066606 , -5.50715338, 18.17315887,
       15.15821217,  4.1066606 , 15.15821217, 27.19735629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006527249431679399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70090485e-13, -8.50452427e-14,  1.00000000e+00, -1.44653866e-26,
        1.00000000e+00,  8.50452427e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70090485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962365 , -0.09208997,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91214986e-05, 3.76294591e-05,-4.35815581e-06,-9.96299166e-06,
  4.43464616e-05, 4.44844289e-05,-7.25312616e-06,-6.76244342e-06,
  1.22048517e-05, 1.48861861e-05,-1.13295568e-05, 9.26477392e-06,
 -3.54692624e-04,-7.47839732e-05,-1.51551239e-04, 2.53943684e-04,
  3.50816639e-05,-4.40340201e-05,-4.90501449e+00, 2.34950062e-04,
  1.18278024e-02,-6.63365964e-04]


--- Step 350 ---
qpos:
[ 0.01871109, 0.03010117,-0.00948945,-0.02557454, 0.0078766 , 0.00467004,
 -0.00780294, 0.02707053, 0.01232199, 0.027959  ,-0.00838911, 0.02643189,
  0.74755833, 0.00674842, 0.6508417 , 0.04726769, 0.0593414 ,-0.07748711,
  0.17149882, 0.99955987, 0.0283348 ,-0.00105478,-0.00872284]

qacc:
[  5.02334021,  0.82537965, -1.31638727, -1.34901011, -1.53687248,
   0.53744147,  0.35473108, -7.32253235, -4.76788113, -1.01346639,
   2.40384605, -0.78469039, -1.32200025,  2.01730537, -1.82611662,
   2.79560853, -2.45585153,  1.02671705,  0.2269217 , -8.95308767,
 -22.27511264,  6.80924806]

qfrc_actuator:
[ 6.44135621e-05, 9.90166739e-04, 1.26415107e-04,-2.53449282e-05,
 -6.01515359e-06, 1.34047798e-04,-1.43790982e-04,-7.49205054e-06,
 -3.00362749e-05, 8.78085583e-04, 1.77713012e-04, 1.03967863e-04,
  5.78630766e-02,-6.68929781e-04, 4.85599823e-02,-4.17841297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.89449454, -5.31908102,  4.38650567, -5.31908102, 24.12798818,
       20.89735108,  4.38650567, 20.89735108, 32.2346427 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006557472216462967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46532771e-14,  8.46532771e-14,  1.00000000e+00,  7.16617732e-27,
        1.00000000e+00, -8.46532771e-14, -1.00000000e+00,  0.00000000e+00,
       -8.46532771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623428, -0.09209363,  0.06198824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02610242e-05, 6.29744342e-05, 5.86384386e-06,-4.52733532e-06,
 -8.88493582e-06, 1.56391426e-05,-1.96668452e-05,-2.18633996e-05,
 -2.89190134e-05,-4.62344049e-05, 2.86704498e-06, 3.11387531e-06,
 -3.47815816e-04,-7.34702039e-05,-1.58015438e-04,-3.21826747e-05,
  1.83926849e-05,-2.88353891e-05,-4.90501100e+00, 2.39789285e-04,
  1.18215970e-02,-6.67278993e-04]


--- Step 351 ---
qpos:
[ 0.01871166, 0.03010248,-0.00948952,-0.02557393, 0.00787567, 0.00467147,
 -0.00780486, 0.02707015, 0.01232287, 0.02795938,-0.00838933, 0.02643281,
  0.74878794, 0.00675069, 0.65216168, 0.04726142, 0.05934812,-0.07752073,
  0.17151111, 0.99955587, 0.02847633,-0.00101974,-0.00872421]

qacc:
[ 5.93541746e+00, 2.78381723e-01,-1.34252563e+00, 5.12412339e+00,
 -7.13215604e+00, 3.96938841e-01,-1.38024678e+00, 2.30292554e+00,
 -1.02651787e-01,-7.62480394e-01, 1.64835842e+00,-7.05846972e-01,
 -1.06118688e+00, 1.08264476e+00,-4.00348738e-01,-3.07697314e+00,
 -2.40289648e+00, 9.95996746e-01, 6.40937354e-03,-8.92185343e+00,
 -2.17123850e+01, 6.31663686e+00]

qfrc_actuator:
[ 9.91519963e-05, 1.01543049e-03, 1.43784898e-04,-1.11183858e-05,
 -4.74673732e-05, 1.46672936e-04,-1.41685583e-04,-3.33563606e-06,
 -2.98769804e-05, 8.46452112e-04, 1.78218347e-04, 1.05173191e-04,
  5.77484011e-02,-6.87885420e-04, 4.84483160e-02,-4.22635441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.87985411, -5.02631371,  4.69771892, -5.02631371, 33.20259217,
       28.16395395,  4.69771892, 28.16395395, 37.01381282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006539586688579374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48848006e-14,  8.48848006e-14,  1.00000000e+00,  7.20542938e-27,
        1.00000000e+00, -8.48848006e-14, -1.00000000e+00,  0.00000000e+00,
       -8.48848006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623388, -0.09209709,  0.06198827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56395832e-05, 6.14765283e-05, 3.09330651e-05, 1.70341479e-05,
 -4.16975574e-05, 1.63441717e-05, 2.16535203e-06, 3.72331958e-06,
 -7.02810739e-07,-5.67984497e-05,-8.59028794e-06,-6.17966286e-07,
 -3.58519040e-04,-9.05321419e-05,-1.98662934e-04,-7.26166523e-05,
  7.40867844e-06,-1.64670601e-05,-4.90500849e+00, 2.42515117e-04,
  1.18167810e-02,-6.70864856e-04]


--- Step 352 ---
qpos:
[ 0.01871265, 0.03010424,-0.00948966,-0.02557313, 0.0078746 , 0.00467316,
 -0.00780684, 0.02707014, 0.0123241 , 0.02795927,-0.00838924, 0.02643372,
  0.75001545, 0.00675279, 0.65347868, 0.04725732, 0.0593454 ,-0.07755047,
  0.17152268, 0.99955242, 0.02859972,-0.00102735,-0.00871496]

qacc:
[  3.52767173,  1.15406861, -4.05400488,  7.03614157, -1.27999508,
   1.28728544, -5.70067904, 12.21277951,  2.91028134, -1.5241044 ,
   4.52556391, -4.76164568, -1.05916318,  1.12234317,-10.88863121,
  31.81766937, -2.35811481,  0.97015128, -0.18187287, -8.88311428,
 -21.24133737,  5.92588322]

qfrc_actuator:
[ 1.19351354e-04, 1.02982237e-03, 1.36315136e-04,-2.98252792e-06,
 -5.37295542e-05, 1.71349703e-04,-1.39634979e-04, 1.70318099e-05,
 -1.23739859e-05, 8.27600161e-04, 1.96312891e-04, 1.05503699e-04,
  5.76354395e-02,-7.00013164e-04, 4.83179351e-02,-4.11005209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000648339365883252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.56205163e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.56205163e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623494, -0.0921004 ,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12532202e-05, 5.58492218e-05, 9.60825661e-06, 1.21640990e-05,
 -7.44171972e-06, 3.43803021e-05, 5.83058960e-06, 2.12189504e-05,
  1.74641000e-05,-5.24254802e-05, 5.27964084e-06,-2.41498250e-06,
 -3.67463406e-04,-8.77083822e-05,-2.38651352e-04, 8.45953205e-05,
  1.58746770e-06,-6.71311874e-06,-4.90500696e+00, 2.43471608e-04,
  1.18131972e-02,-6.74115006e-04]


--- Step 353 ---
qpos:
[ 0.01871318, 0.03010604,-0.00948965,-0.0255729 , 0.00787415, 0.00467512,
 -0.00780877, 0.02707002, 0.01232552, 0.0279589 ,-0.00838875, 0.02643459,
  0.75124078, 0.00675508, 0.65479295, 0.04725553, 0.0593334 ,-0.07757642,
  0.17153288, 0.99954952, 0.02870506,-0.0010768 ,-0.00869569]

qacc:
[-3.89386786e+00,-1.51293299e+00, 7.84994779e+00,-1.78445549e+01,
  5.47541178e+00, 7.71487745e-04, 9.59001811e-01,-3.10189824e+00,
  1.72296064e+00,-1.57211867e+00, 5.25871295e+00,-6.38120947e+00,
 -1.48940684e+00, 2.52371087e+00,-1.09796597e+01, 3.27465565e+01,
 -2.32055753e+00, 9.48465798e-01,-3.41975203e-01,-8.84162797e+00,
 -2.08494099e+01, 5.61701153e+00]

qfrc_actuator:
[ 9.53246741e-05, 1.00198338e-03, 1.31930931e-04,-3.40344157e-05,
 -2.14664742e-05, 1.85323291e-04,-1.37582072e-04, 1.12724843e-05,
 -2.56476069e-06, 8.34372972e-04, 2.24700764e-04, 1.05340885e-04,
  5.75289117e-02,-6.90274135e-04, 4.82084326e-02,-3.98666651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006397232778367901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.73547386e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.73547386e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623714, -0.09210357,  0.06198853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33943279e-05, 5.83693057e-06, 8.73212095e-06,-2.80979220e-05,
  3.20624746e-05, 3.52721754e-05, 1.06106678e-05,-3.67033392e-06,
  1.03030467e-05,-2.15460607e-05, 1.81240844e-05,-2.27626075e-06,
 -3.66453262e-04,-6.72744112e-05,-2.15843030e-04, 9.59487064e-05,
  5.17030878e-07, 6.02025775e-07,-4.90500640e+00, 2.42910141e-04,
  1.18107229e-02,-6.77023763e-04]


--- Step 354 ---
qpos:
[ 0.01871342, 0.03010744,-0.0094889 ,-0.02557303, 0.00787409, 0.0046769 ,
 -0.00781018, 0.02706986, 0.0123267 , 0.02795883,-0.00838844, 0.02643543,
  0.75246381, 0.00675785, 0.656105  , 0.04725413, 0.05931224,-0.07759865,
  0.17154116, 0.99954716, 0.02879243,-0.00116744,-0.00866688]

qacc:
[ -2.47407903, -3.33040768, 12.6148879 ,-19.68167673,  3.45360895,
  -1.78241512,  6.20168696, -7.66158321, -2.04159856,  0.84095976,
  -2.26304404,  1.65819516, -1.96303399,  3.94047416, -4.32491412,
  10.64610343, -2.28935215,  0.93032445, -0.47759758, -8.80070855,
 -20.5257207 ,  5.37405807]

qfrc_actuator:
[ 8.09693274e-05, 9.66784162e-04, 1.64712520e-04,-5.24211577e-05,
 -2.30317978e-06, 1.57256188e-04,-1.17850759e-04, 7.92882003e-06,
 -1.51209659e-05, 8.74246992e-04, 2.23537454e-04, 1.04917145e-04,
  5.74103495e-02,-6.67706133e-04, 4.81115421e-02,-3.96657270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006288164265955132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.82787868e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.82787868e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962402 , -0.09210663,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50400046e-05,-3.14103678e-05, 3.40691703e-05,-1.83855783e-05,
  2.00865120e-05,-6.34526594e-06, 2.81958541e-05,-1.53754888e-06,
 -1.22626188e-05, 3.14852462e-05,-3.46277597e-06,-7.66651370e-07,
 -3.73715418e-04,-5.20029438e-05,-1.92719226e-04,-4.06705340e-06,
  3.88623223e-06, 5.61972497e-06,-4.90500679e+00, 2.41013236e-04,
  1.18092628e-02,-6.79587468e-04]


--- Step 355 ---
qpos:
[ 0.01871313, 0.03010876,-0.00948791,-0.02557234, 0.00787427, 0.00467852,
 -0.00781126, 0.02706933, 0.01232807, 0.02795909,-0.00838821, 0.02643623,
  0.75368454, 0.00676097, 0.65741444, 0.04725234, 0.05928203,-0.07761722,
  0.17154708, 0.99954532, 0.02886193,-0.00129874,-0.00862889]

qacc:
[ -4.44505795,  0.90255593, -6.76218027, 20.41287384,  2.04038285,
  -1.90732373,  8.01281455,-14.78476719,  1.56825191,  0.59593904,
  -1.37778757,  0.80940985, -1.83726406,  3.45762683, -2.58680565,
   3.68521208, -2.26371265,  0.91520055, -0.59205998, -8.76262391,
 -20.26091173,  5.18426279]

qfrc_actuator:
[ 5.46833666e-05, 9.80852267e-04, 1.83637471e-04,-9.93092002e-06,
  8.98353517e-06, 1.39803206e-04,-1.05761035e-04,-1.17395850e-05,
 -5.23277648e-06, 8.98026089e-04, 2.22831403e-04, 1.04353259e-04,
  5.72846549e-02,-6.55566828e-04, 4.79743392e-02,-3.98969064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006162134131977581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.00842955e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.00842955e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624392, -0.09210959,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67409818e-05, 2.68798461e-06, 1.59731009e-05, 4.19621841e-05,
  1.18542644e-05,-1.52840140e-05, 1.41937847e-05,-1.89959783e-05,
  9.53987739e-06, 4.06344986e-05, 5.34180344e-06, 6.49017912e-07,
 -3.82723993e-04,-6.20946406e-05,-2.35396768e-04,-5.03071287e-05,
  1.14626335e-05, 8.45246794e-06,-4.90500812e+00, 2.37912097e-04,
  1.18087435e-02,-6.81803850e-04]


--- Step 356 ---
qpos:
[ 0.01871254, 0.03011035,-0.00948712,-0.02557117, 0.00787457, 0.00468013,
 -0.00781223, 0.02706822, 0.01232955, 0.02795939,-0.00838816, 0.02643742,
  0.75490306, 0.00676396, 0.6587209 , 0.0472506 , 0.05924285,-0.07763218,
  0.17155025, 0.99954399, 0.02891362,-0.00147025,-0.008582  ]

qacc:
[ -2.69982067,  1.94379165, -8.4521791 , 17.00884486,  1.18184143,
  -1.52061525,  7.90025223,-18.21639726,  0.91539206,  1.34345853,
  -6.30822187, 13.11221699, -1.26305474,  1.59914939, -4.4919681 ,
   9.48372092, -2.24294013,  0.90264585, -0.68830693, -8.72888377,
 -20.04697227,  5.03742129]

qfrc_actuator:
[ 3.93357922e-05, 1.00656508e-03, 1.76699802e-04, 1.48037408e-05,
  1.55480801e-05, 1.46545763e-04,-9.82684204e-05,-4.08601216e-05,
  4.15264529e-08, 8.76483003e-04, 2.04607547e-04, 1.21459925e-04,
  5.71654164e-02,-6.67486774e-04, 4.78343676e-02,-3.98485827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006024121870854271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21481212e-14, -9.21481212e-14,  1.00000000e+00, -8.49127624e-27,
        1.00000000e+00,  9.21481212e-14, -1.00000000e+00,  0.00000000e+00,
       -9.21481212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624812, -0.09211244,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61336375e-05, 3.22421701e-05,-2.99061931e-06, 2.62140141e-05,
  6.89631496e-06, 2.72992952e-07, 5.42096362e-06,-2.96545847e-05,
  5.56927404e-06, 2.30499074e-06,-9.15632808e-06, 1.90424544e-05,
 -3.84520374e-04,-8.90100076e-05,-2.60957102e-04,-2.99595315e-05,
  2.30756172e-05, 9.18850257e-06,-4.90501037e+00, 2.33699560e-04,
  1.18091089e-02,-6.83671571e-04]


--- Step 357 ---
qpos:
[ 0.01871211, 0.03011222,-0.00948642,-0.02557006, 0.00787496, 0.0046816 ,
 -0.00781307, 0.02706713, 0.01233142, 0.02795952,-0.00838796, 0.02643915,
  0.75611946, 0.00676651, 0.6600248 , 0.04724518, 0.05919476,-0.07764357,
  0.17155034, 0.99954315, 0.02894755,-0.00168163,-0.00852645]

qacc:
[  1.40720037,  0.47104533, -0.86014518, -0.36985916,  0.68005755,
  -0.53312369,  1.52127135, -1.23435931,  3.38863974,  0.4619743 ,
  -4.2768886 , 13.59310463, -1.01542951,  0.7011266 ,  7.37961195,
 -31.2178299 , -2.22641841,  0.89227988, -0.76893048, -8.70044931,
 -19.87706199,  4.92536667]

qfrc_actuator:
[ 4.83058333e-05, 1.02119100e-03, 1.72344946e-04, 1.11296199e-05,
  1.92836086e-05, 1.32188691e-04,-9.34534113e-05,-3.97826879e-05,
  2.03029722e-05, 8.63411405e-04, 2.11516754e-04, 1.48775647e-04,
  5.70554520e-02,-6.93514159e-04, 4.76981867e-02,-4.17657432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000587827103055702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.44344875e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.44344875e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625264, -0.09211519,  0.06198945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50406512e-06, 3.30868153e-05, 2.81364826e-06,-1.89383411e-06,
  3.93262657e-06,-1.43979252e-05, 4.50765545e-06, 7.00332571e-07,
  2.04264267e-05,-1.28654618e-05, 6.91099270e-06, 2.74649138e-05,
 -3.81593604e-04,-1.06786322e-04,-2.65096456e-04,-2.28301597e-04,
  3.86034963e-05, 7.89574008e-06,-4.90501355e+00, 2.28439670e-04,
  1.18103165e-02,-6.85189893e-04]


--- Step 358 ---
qpos:
[ 0.01871145, 0.03011415,-0.00948623,-0.02556895, 0.00787538, 0.00468284,
 -0.00781352, 0.0270664 , 0.01233422, 0.02795964,-0.0083874 , 0.02644047,
  0.75733366, 0.00676931, 0.6613252 , 0.04723918, 0.05913782,-0.07765142,
  0.17154709, 0.99954277, 0.02896378,-0.00193261,-0.00846239]

qacc:
[ -2.02271247,  1.51805676, -5.33079136,  6.21614454,  0.3847445 ,
  -0.62605001,  0.25319675,  5.57271638,  7.83190157, -1.88691269,
   8.38829504,-16.0034369 , -1.65215259,  2.97271917, -3.32872529,
   4.34382037, -2.21360714,  0.88378012, -0.83620165, -8.67788651,
 -19.74534552,  4.8415558 ]

qfrc_actuator:
[ 3.60082005e-05, 9.93542441e-04, 1.33998258e-04, 8.52338332e-06,
  2.13255958e-05, 1.23073880e-04,-7.25617045e-05,-2.09607473e-05,
  6.69775385e-05, 8.73366057e-04, 2.33240484e-04, 1.28640719e-04,
  5.69617751e-02,-6.74374745e-04, 4.75377211e-02,-4.19846676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005728003823253086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69118613e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69118613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625736, -0.09211783,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20451693e-05,-8.72095548e-06,-3.12646425e-05,-1.13767328e-06,
  2.14851215e-06,-1.62449682e-05, 1.84918307e-05, 1.83753826e-05,
  4.72688051e-05, 5.36664653e-06, 2.08609892e-05,-1.99177261e-05,
 -3.67028418e-04,-6.32001994e-05,-3.14051858e-04,-7.02158800e-05,
  5.79636224e-05, 4.62501998e-06,-4.90501762e+00, 2.22174773e-04,
  1.18123347e-02,-6.86358429e-04]


--- Step 359 ---
qpos:
[ 0.01871064, 0.03011599,-0.0094873 ,-0.02556746, 0.00787583, 0.00468368,
 -0.00781336, 0.02706625, 0.01233686, 0.02796013,-0.00838729, 0.0264412 ,
  0.75854576, 0.00677233, 0.66262249, 0.04723181, 0.05907206,-0.07765576,
  0.17154027, 0.99954282, 0.02896235,-0.002223  ,-0.00838994]

qacc:
[ -1.2557985 ,  4.1611751 ,-16.57627528, 25.12653632,  0.21406351,
  -1.05639986,  0.55574553,  8.79480231, -1.30953137,  0.54618333,
   1.27194775,-11.06792241, -1.58623724,  2.7950195 , -0.35483539,
  -5.20589005, -2.20403398,  0.87687328, -0.89210487, -8.66147875,
 -19.64684383,  4.78073959]

qfrc_actuator:
[ 2.90353801e-05, 9.58397496e-04, 5.79637119e-05, 2.42632819e-05,
  2.23554787e-05, 9.94994600e-05,-4.23198317e-05, 8.16018857e-06,
  5.78098394e-05, 8.97059198e-04, 2.10330764e-04, 9.85245529e-05,
  5.68619756e-02,-6.64170593e-04, 4.74054685e-02,-4.26211076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005576121280034124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95515493e-14,  9.95515493e-14,  1.00000000e+00,  9.91051096e-27,
        1.00000000e+00, -9.95515493e-14, -1.00000000e+00,  0.00000000e+00,
       -9.95515493e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626219, -0.09212036,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33209708e-06,-4.66040624e-05,-8.17517176e-05, 1.42561058e-05,
  1.08375997e-06,-2.80886960e-05, 2.97920351e-05, 2.94220183e-05,
 -7.77811618e-06, 3.01614912e-05,-1.99307580e-05,-2.95578807e-05,
 -3.55380970e-04,-6.40438698e-05,-2.87462863e-04,-1.08687112e-04,
  8.11047541e-05,-5.87176076e-07,-4.90502259e+00, 2.14930783e-04,
  1.18151406e-02,-6.87176973e-04]


--- Step 360 ---
qpos:
[ 0.0187101 , 0.0301178 ,-0.00948902,-0.02556653, 0.00787629, 0.00468401,
 -0.00781297, 0.02706615, 0.01233902, 0.02796096,-0.00838724, 0.02644188,
  0.75975588, 0.00677487, 0.66391717, 0.04722124, 0.05899751,-0.07765662,
  0.17152969, 0.99954326, 0.02894327,-0.00255266,-0.0083092 ]

qacc:
[ 2.27047138e+00, 6.52225487e-01,-4.23372752e-02,-8.54447161e+00,
  9.52912749e-02,-1.18656088e+00, 3.05867999e+00,-2.21825387e+00,
 -4.05268134e+00, 5.30427813e-01,-1.00988920e+00, 2.54037095e-02,
 -8.76188735e-01, 4.27019314e-01, 5.85329158e+00,-2.60043428e+01,
 -2.19728671e+00, 8.71327578e-01,-9.38371684e-01,-8.65130966e+00,
 -1.95773043e+01, 4.73870043e+00]

qfrc_actuator:
[ 4.30118674e-05, 9.72129944e-04, 3.12711179e-05,-2.61900353e-06,
  2.27819309e-05, 4.97513485e-05,-4.23640479e-05, 7.59170132e-06,
  3.35912282e-05, 9.28608526e-04, 2.14567033e-04, 9.82708663e-05,
  5.67532487e-02,-6.94882238e-04, 4.72902335e-02,-4.42079529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005424890545819017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02326767e-13, -1.02326767e-13,  1.00000000e+00, -1.04707673e-26,
        1.00000000e+00,  1.02326767e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02326767e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626705, -0.09212278,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37442200e-05,-2.86596637e-05,-4.59045679e-05,-3.14329966e-05,
  4.45020147e-07,-5.80724034e-05,-1.17035621e-06,-1.70726357e-07,
 -2.44324183e-05, 4.30172981e-05, 6.98339794e-06,-2.28125920e-07,
 -3.56508381e-04,-1.03035520e-04,-2.63998520e-04,-2.02798402e-04,
  1.08001135e-04,-7.71647548e-06,-4.90502844e+00, 2.06721108e-04,
  1.18187179e-02,-6.87645367e-04]


--- Step 361 ---
qpos:
[ 0.01870939, 0.03011945,-0.00949049,-0.02556667, 0.0078764 , 0.00468408,
 -0.00781293, 0.02706605, 0.01234053, 0.02796192,-0.00838676, 0.02644221,
  0.76096398, 0.0067768 , 0.6652086 , 0.04721406, 0.05891419,-0.07765402,
  0.17151521, 0.99954405, 0.02890654,-0.00292149,-0.0082202 ]

qacc:
[ -1.47539034, -3.12470483, 15.34956912,-34.13370117, -3.02808918,
   0.62007173, -2.72416011,  3.51051234, -5.54417206, -1.7704667 ,
   8.07420504,-15.07169694, -0.50779167, -0.65658779,-15.05397862,
  45.68501715, -2.19300584,  0.86694623, -0.97651234, -8.64732439,
 -19.53308918,  4.71204329]

qfrc_actuator:
[ 3.37004072e-05, 9.79668595e-04, 5.18505845e-05,-5.42888747e-05,
  5.09742338e-06, 3.78263394e-05,-6.04285457e-05, 7.26322536e-06,
  7.25928906e-07, 9.29239730e-04, 2.34873806e-04, 8.01205692e-05,
  5.66392287e-02,-7.31797682e-04, 4.71906022e-02,-4.22581504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005276120865543715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10424108e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10424108e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09627186, -0.09212509,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.92188683e-06,-1.93548427e-05, 7.91615288e-06,-5.50999226e-05,
 -1.76920748e-05,-4.46647853e-05,-3.02184753e-05,-2.86231639e-06,
 -3.35644051e-05, 2.60853751e-05, 3.00361401e-05,-1.60717095e-05,
 -3.69791142e-04,-1.14415928e-04,-2.49613589e-04, 1.48288015e-04,
  1.38647875e-04,-1.67487533e-05,-4.90503516e+00, 1.97549573e-04,
  1.18230557e-02,-6.87763416e-04]


--- Step 362 ---
qpos:
[ 0.01870857, 0.03012055,-0.00949102,-0.02556709, 0.0078763 , 0.00468419,
 -0.00781332, 0.0270666 , 0.0123413 , 0.0279635 ,-0.00838709, 0.02644268,
  0.76216974, 0.00677872, 0.66649756, 0.04721268, 0.0588221 ,-0.07764795,
  0.1714967 , 0.99954514, 0.02885218,-0.00332946,-0.008123  ]

qacc:
[ -0.86968702, -3.93091996, 14.10851541,-19.90594575, -1.88822254,
   2.59826177,-11.92797408, 23.86809008, -6.43497711,  3.40916067,
 -11.57130553, 14.94835122, -1.25421042,  1.60319648,-21.14813341,
  68.83961819, -2.19087777,  0.86356189, -1.00784423, -8.64937466,
 -19.51108034,  4.69802958]

qfrc_actuator:
[ 2.85021583e-05, 9.48120056e-04, 1.00137472e-04,-6.68400123e-05,
 -5.35209647e-06, 6.63099759e-05,-7.10774357e-05, 4.26093148e-05,
 -3.69603806e-05, 9.64668518e-04, 1.93349223e-04, 8.70682011e-05,
  5.65114579e-02,-7.36604141e-04, 4.71377658e-02,-3.91270765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005131229696559159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08182940e-13,  1.08182940e-13,  1.00000000e+00,  1.17035484e-26,
        1.00000000e+00, -1.08182940e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08182940e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09627658, -0.09212728,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46672838e-06,-4.31387334e-05, 4.33574018e-05,-1.41784805e-05,
 -1.09665614e-05,-2.86679466e-06,-2.36964136e-05, 3.23314636e-05,
 -3.86587057e-05, 5.54836144e-05,-3.30074709e-05, 8.78974489e-06,
 -3.93653452e-04,-8.67162639e-05,-1.56131926e-04, 2.88053635e-04,
  1.73057319e-04,-2.76785912e-05,-4.90504273e+00, 1.87412617e-04,
  1.18281475e-02,-6.87530820e-04]


--- Step 363 ---
qpos:
[ 0.01870839, 0.03012104,-0.00949056,-0.02556798, 0.00787642, 0.00468451,
 -0.00781421, 0.02706721, 0.01234264, 0.02796568,-0.00838799, 0.02644356,
  0.76337311, 0.00678093, 0.66778488, 0.04721363, 0.05872902,-0.07763213,
  0.17147968, 0.99954719, 0.02875837,-0.00373868,-0.00802444]

qacc:
[  5.47329319, -4.55707975, 17.09031097,-26.5696449 ,  1.91763478,
   1.81557047, -6.31857465,  7.97816059,  4.88065134,  3.20775389,
 -12.03408573, 19.60814605, -1.78706821,  3.17091373, -9.35316685,
  29.4508688 , -0.25009345,  2.44080902,  0.37346086,-19.71806061,
  -0.7655179 ,  0.76102493]

qfrc_actuator:
[ 6.12790390e-05, 9.11325416e-04, 1.46501967e-04,-9.17957293e-05,
  6.29897795e-06, 8.33287423e-05,-9.48095627e-05, 4.54511847e-05,
 -6.16892916e-06, 1.00267692e-03, 1.69055932e-04, 1.08711952e-04,
  5.63915132e-02,-7.22491630e-04, 4.70651202e-02,-3.79878852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  5.67294321,   4.81834034,   2.9943081 ,   4.81834034,
        13.79684254, -13.07270678,   2.9943081 , -13.07270678,
        26.70910522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005082545169298597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09219199e-13, -1.09219199e-13,  1.00000000e+00, -1.19288334e-26,
        1.00000000e+00,  1.09219199e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09219199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06407003, -0.11089452,  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:
[ 3.25984910e-05,-5.26018523e-05, 4.22994966e-05,-2.55786884e-05,
  1.13380244e-05, 1.19017375e-05,-2.61218654e-05, 2.52816213e-06,
  2.96825264e-05, 6.25284214e-05,-1.66070112e-05, 2.30483536e-05,
 -3.95234844e-04,-6.95571303e-05,-1.21927640e-04, 1.07621510e-04,
  2.11256183e-04,-4.05080002e-05,-4.90505115e+00, 1.76300940e-04,
  1.18339901e-02,-6.86947138e-04]


--- Step 364 ---
qpos:
[ 0.01870894, 0.03012108,-0.00949009,-0.02556947, 0.00787702, 0.00468516,
 -0.00781546, 0.02706748, 0.01234468, 0.02796756,-0.00838769, 0.02644469,
  0.76457427, 0.00678325, 0.66907   , 0.04721473, 0.058647  ,-0.07761508,
  0.17147045, 0.99954912, 0.02866454,-0.00410031,-0.00794278]

qacc:
[  6.34764318, -1.86548773,  8.25425703,-18.1405111 ,  4.23572921,
   0.72446641, -0.52191338, -5.05134281,  6.03892527, -3.22531578,
   9.88962904, -7.32507752, -1.53151956,  2.47114935, -3.61131782,
   8.09219759,  2.76696536,  0.30626972,  1.94817044, -0.2344623 ,
  23.54062409, -9.12738543]

qfrc_actuator:
[ 9.83915222e-05, 8.71671573e-04, 1.38047337e-04,-1.23871051e-04,
  3.08623527e-05, 1.11037617e-04,-1.08385657e-04, 2.91247927e-05,
  2.91775680e-05, 9.70993619e-04, 2.26188918e-04, 1.21099398e-04,
  5.62923321e-02,-7.15081574e-04, 4.69273457e-02,-3.80322298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.92568498,  4.02954107, -4.34471417,  4.02954107, 28.28101044,
       20.73363137, -4.34471417, 20.73363137, 25.15526276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005391009233324667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54454803e-13,  1.02969869e-13,  1.00000000e+00,  1.59041908e-26,
        1.00000000e+00, -1.02969869e-13, -1.00000000e+00,  0.00000000e+00,
       -1.54454803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0280403 , -0.08039042,  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:
[ 3.80416975e-05,-6.14360490e-05,-1.50040920e-05,-3.33634749e-05,
  2.48906927e-05, 2.90782892e-05,-1.42426561e-05,-1.66715470e-05,
  3.62448281e-05, 7.84643115e-07, 6.87844038e-05, 1.49351926e-05,
 -3.72221006e-04,-7.45551516e-05,-1.94252238e-04,-1.70480072e-05,
  2.12109175e-04,-6.05980343e-05,-4.90504903e+00, 1.75152419e-04,
  1.18433383e-02,-6.85217233e-04]


--- Step 365 ---
qpos:
[ 0.0187089 , 0.03012089,-0.00948957,-0.02557102, 0.00787757, 0.00468582,
 -0.00781617, 0.02706684, 0.01234644, 0.02796899,-0.00838681, 0.02644602,
  0.76577329, 0.00678563, 0.670352  , 0.04721751, 0.05857563,-0.07759691,
  0.17146744, 0.99955102, 0.02856963,-0.00441576,-0.00787576]

qacc:
[ -5.08456662, -0.56577304,  1.86463863, -2.84863163, -0.46757903,
  -3.38174386, 15.90742203,-32.51916641, -2.36568702, -1.84450808,
   4.83764087, -1.92526242, -1.35178966,  2.03649637, -9.64214033,
  27.22155816,  2.66104949,  0.27916209,  1.55300524, -0.75097346,
  22.86337818, -7.9801509 ]

qfrc_actuator:
[ 6.67357995e-05, 8.83641379e-04, 1.50531445e-04,-1.24413103e-04,
  2.73165343e-05, 1.09452345e-04,-8.03099267e-05,-1.60787222e-05,
  1.36409858e-05, 9.15898162e-04, 2.41882528e-04, 1.27934366e-04,
  5.61897011e-02,-7.11626956e-04, 4.67719073e-02,-3.71764214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18343913, -6.18127999,  0.1633924 , -6.18127999,  6.19865972,
        0.57580864,  0.1633924 ,  0.57580864, 27.96679225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005701578756722725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.73610181e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.73610181e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02804741, -0.08039821,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05667949e-05,-2.69036983e-05,-3.21133396e-06,-4.34067603e-06,
 -2.82703162e-06, 1.10181689e-05, 3.17566341e-05,-4.47749520e-05,
 -1.44700278e-05,-3.98633579e-05, 2.48172629e-05, 9.53076875e-06,
 -3.62195445e-04,-7.44323563e-05,-2.55701859e-04, 5.74902382e-05,
  1.64569694e-04,-5.14717492e-05,-4.90503830e+00, 1.93084785e-04,
  1.18435367e-02,-6.82956162e-04]


--- Step 366 ---
qpos:
[ 0.0187078 , 0.03012075,-0.00948908,-0.02557191, 0.00787772, 0.00468633,
 -0.00781646, 0.02706569, 0.01234835, 0.02797011,-0.00838626, 0.02644712,
  0.76697033, 0.00678745, 0.67163137, 0.04722149, 0.05851453,-0.07757771,
  0.17146923, 0.99955298, 0.02847283,-0.00468632,-0.0078216 ]

qacc:
[ -9.1679057 ,  1.57372254, -8.30029858, 19.83863786, -3.42715985,
  -2.42210961, 10.53608308,-19.96043714,  1.23153179,  0.07608639,
   0.11793271, -3.3136103 , -0.61989582, -0.30246175, -7.48954989,
  20.59387278,  2.56812941,  0.25738316,  1.20216008, -1.14956784,
  22.24999612, -7.05820814]

qfrc_actuator:
[ 1.26085529e-05, 9.08781923e-04, 1.57776629e-04,-8.85774261e-05,
  7.25028529e-06, 9.04838332e-05,-6.35057364e-05,-4.23989466e-05,
  2.15352743e-05, 8.82548519e-04, 2.15082208e-04, 1.13628119e-04,
  5.60850733e-02,-7.46055737e-04, 4.66699409e-02,-3.65066794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36634636e+00, -6.36634068e+00,  8.50441527e-03, -6.36634068e+00,
        6.36639699e+00,  3.79026613e-02,  8.50441527e-03,  3.79026613e-02,
        3.47399908e+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: -0.0005920762395321966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87513525e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87513525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805214, -0.08040443,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50267817e-05, 9.24068486e-06, 1.14373275e-06, 3.44921623e-05,
 -2.01421609e-05,-8.18108098e-06, 2.14445557e-05,-2.56189737e-05,
  7.46022730e-06,-5.01710727e-05,-3.16757770e-05,-1.49775517e-05,
 -3.57883455e-04,-1.10288606e-04,-2.18506745e-04, 3.59832572e-05,
  1.24517165e-04,-4.37610603e-05,-4.90502924e+00, 2.07266951e-04,
  1.18438111e-02,-6.80712043e-04]


--- Step 367 ---
qpos:
[ 0.01870674, 0.03012082,-0.0094889 ,-0.02557201, 0.00787729, 0.00468692,
 -0.0078169 , 0.02706459, 0.01234999, 0.02797081,-0.00838516, 0.02644834,
  0.76816532, 0.00678862, 0.67290894, 0.04722276, 0.05846338,-0.07755756,
  0.17147461, 0.99955505, 0.02837351,-0.0049131 ,-0.00777883]

qacc:
[  0.40500286,  2.7088894 ,-12.55222203, 26.3464274 , -5.1682562 ,
   0.65834264, -2.40971271,  3.49783306, -2.23360558, -1.83651867,
   5.21858407, -3.68088917, -0.76052988, -0.09399984,  5.53909849,
 -23.20821258,  2.48743194,  0.23995704,  0.89415572, -1.45738687,
  21.70293975, -6.31669853]

qfrc_actuator:
[ 1.67214137e-05, 9.23892689e-04, 1.44202528e-04,-4.93713366e-05,
 -2.23698938e-05, 9.67318616e-05,-7.13192578e-05,-3.96720081e-05,
  7.66931853e-06, 8.80020436e-04, 2.52242507e-04, 1.22493531e-04,
  5.59686583e-02,-7.84852356e-04, 4.65841485e-02,-3.79031970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.4855433 , -6.48172182, -0.22260755, -6.48172182,  6.52979275,
       -1.28842267, -0.22260755, -1.28842267, 44.00087984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006063551652461668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83097809e-13, -2.86090327e-14,  1.00000000e+00, -5.23825122e-27,
        1.00000000e+00,  2.86090327e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83097809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0280549 , -0.0804094 ,  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:
[ 2.51105922e-06, 2.19766189e-05,-1.03301274e-05, 4.03166700e-05,
 -3.01952525e-05, 4.98501659e-06,-7.74791962e-06, 2.62264745e-06,
 -1.36583610e-05,-3.78100160e-05, 2.23565872e-05, 5.32174604e-06,
 -3.73268802e-04,-1.18587943e-04,-1.89487488e-04,-1.67497834e-04,
  9.11233938e-05,-3.70157684e-05,-4.90502177e+00, 2.18471636e-04,
  1.18440396e-02,-6.78448668e-04]


--- Step 368 ---
qpos:
[ 0.01870677, 0.03012133,-0.00948868,-0.02557239, 0.00787651, 0.00468756,
 -0.00781745, 0.02706388, 0.01235145, 0.02797105,-0.00838386, 0.02644934,
  0.76935813, 0.00678965, 0.67418466, 0.04722092, 0.0584219 ,-0.0775365 ,
  0.17148248, 0.99955728, 0.02827119,-0.00509711,-0.00774632]

qacc:
[  9.35101548, -0.07030491,  2.23075774, -7.31412054, -3.09884833,
   1.16054369, -5.68020463, 12.50902288, -1.51008718, -1.64471469,
   5.94010362, -9.80741207, -1.40237003,  1.9116945 ,  6.75267037,
 -27.40345479,  2.41792634,  0.22608288,  0.62609891, -1.69542393,
  21.22091263, -5.71964674]

qfrc_actuator:
[ 7.28412428e-05, 9.68317527e-04, 1.53916735e-04,-6.17792625e-05,
 -3.96178225e-05, 1.00200092e-04,-7.57359228e-05,-1.98754194e-05,
 -1.14819993e-06, 8.42978356e-04, 2.56021374e-04, 1.09498113e-04,
  5.58612261e-02,-7.90453184e-04, 4.65027556e-02,-3.94400488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.55186826, -6.52924183, -0.54403926, -6.52924183,  6.89655677,
       -4.13675052, -0.54403926, -4.13675052, 56.19873489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006143107077695581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03633138e-14, -9.60110209e-14,  1.00000000e+00, -8.67587400e-27,
        1.00000000e+00,  9.60110209e-14, -1.00000000e+00,  0.00000000e+00,
       -9.03633138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805601, -0.08041341,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.61990413e-05, 5.63064817e-05, 1.43739961e-05,-1.10395353e-05,
 -1.81041044e-05, 4.74346162e-06,-4.24857288e-06, 1.97965572e-05,
 -9.22890287e-06,-5.33798188e-05,-1.11496989e-06,-1.37444378e-05,
 -3.76082750e-04,-8.94922644e-05,-1.97044064e-04,-1.89742424e-04,
  6.37139700e-05,-3.09063998e-05,-4.90501576e+00, 2.27284103e-04,
  1.18441422e-02,-6.76138536e-04]


--- Step 369 ---
qpos:
[ 0.01870748, 0.03012218,-0.00948828,-0.02557394, 0.00787587, 0.00468826,
 -0.00781838, 0.02706412, 0.01235246, 0.02797082,-0.00838271, 0.02644952,
  0.77054867, 0.0067915 , 0.6754577 , 0.04721957, 0.05838985,-0.07751458,
  0.17149193, 0.99955971, 0.02816549,-0.00523921,-0.00772312]

qacc:
[  5.77005548, -2.52715524, 14.62540287,-35.57388635,  1.25454056,
   3.12408541,-15.00101873, 31.97534699, -3.9332019 , -1.85054836,
   9.20255514,-22.90203818, -2.27071479,  4.91425885, -5.29305353,
  13.09964445,  2.35848855,  0.21510585,  0.39441763, -1.87992439,
  20.80049069, -5.23824852]

qfrc_actuator:
[ 1.05845701e-04, 9.76747943e-04, 1.59644221e-04,-1.22166247e-04,
 -3.16900261e-05, 1.02002265e-04,-9.58542731e-05, 2.75600037e-05,
 -2.46694049e-05, 8.03176554e-04, 2.39887646e-04, 6.59293599e-05,
  5.57699206e-02,-7.40890538e-04, 4.63921158e-02,-3.90934658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006170879006520275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99566353e-14, -5.62228971e-15,  1.00000000e+00, -5.05762265e-28,
        1.00000000e+00,  5.62228971e-15, -1.00000000e+00,  0.00000000e+00,
       -8.99566353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805579, -0.08041667,  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:
[ 3.46600310e-05, 4.24117794e-05, 1.87350968e-05,-5.76970622e-05,
  7.41429822e-06, 4.40420937e-06,-1.89755013e-05, 4.78791298e-05,
 -2.38076129e-05,-7.04962776e-05,-2.77914510e-05,-4.61673755e-05,
 -3.56319493e-04,-3.12701846e-05,-2.32125995e-04,-3.57101418e-06,
  4.17424868e-05,-2.51916843e-05,-4.90501113e+00, 2.34146886e-04,
  1.18440656e-02,-6.73760746e-04]


--- Step 370 ---
qpos:
[ 0.01870823, 0.03012295,-0.00948763,-0.02557581, 0.00787533, 0.00468902,
 -0.00781952, 0.02706457, 0.01235282, 0.02797042,-0.00838194, 0.02644949,
  0.77173699, 0.00679397, 0.67672811, 0.04721725, 0.05836704,-0.07749183,
  0.17150217, 0.99956236, 0.02805611,-0.00534015,-0.00770848]

qacc:
[  0.40710512, -1.46161529,  6.35847441,-12.10597045,  0.8706323 ,
   1.08765376, -4.68481453,  8.66842006, -5.41834149,  0.3846864 ,
  -0.8413817 , -1.94857572, -2.1030171 ,  4.34806532, -0.83106124,
  -2.41419849,  2.30799974,  0.20649212,  0.19532195, -2.02346395,
  20.43717456, -4.84946972]

qfrc_actuator:
[ 1.07210135e-04, 9.45751046e-04, 1.62802664e-04,-1.39314180e-04,
 -2.67645793e-05, 1.02754189e-04,-1.07321605e-04, 3.76047739e-05,
 -5.66583499e-05, 8.15171268e-04, 2.29849476e-04, 5.79664317e-05,
  5.56564233e-02,-7.12376618e-04, 4.62640703e-02,-3.95931102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006156757500910964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01629652e-14, -5.63518533e-15,  1.00000000e+00,  5.08085018e-28,
        1.00000000e+00,  5.63518533e-15, -1.00000000e+00,  0.00000000e+00,
        9.01629652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805449, -0.08041934,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38814704e-06,-5.90395068e-06, 1.22157267e-05,-1.58084041e-05,
  5.13646203e-06, 1.33415309e-06,-1.12363298e-05, 1.05084148e-05,
 -3.27083540e-05,-3.51571497e-05,-2.96298167e-05,-1.28453285e-05,
 -3.54266379e-04,-4.12315207e-05,-2.42279416e-04,-8.17123838e-05,
  2.47683229e-05,-1.96946411e-05,-4.90500778e+00, 2.39394265e-04,
  1.18437738e-02,-6.71299384e-04]


--- Step 371 ---
qpos:
[ 0.01870899, 0.03012368,-0.00948694,-0.02557752, 0.0078752 , 0.0046898 ,
 -0.00782079, 0.02706513, 0.01235315, 0.02797034,-0.00838219, 0.02645039,
  0.77292313, 0.00679684, 0.67799518, 0.04721602, 0.05835329,-0.07746828,
  0.1715125 , 0.99956526, 0.02794281,-0.00540057,-0.0077018 ]

qacc:
[ 9.41790045e-02, 2.17276783e-01,-1.53014705e+00, 4.33910423e+00,
  3.58746834e+00, 5.94651499e-01,-2.59061217e+00, 4.78676994e+00,
 -3.97483507e-01, 5.20576076e+00,-2.18235124e+01, 3.91693267e+01,
 -1.74523776e+00, 3.27054444e+00,-8.15851484e+00, 2.16230436e+01,
  2.26540167e+00, 1.99807454e-01, 2.50793283e-02,-2.13577900e+00,
  2.01260484e+01,-4.53490630e+00]

qfrc_actuator:
[ 1.07700381e-04, 9.44652058e-04, 1.64286118e-04,-1.30913710e-04,
 -5.90127119e-06, 1.02872503e-04,-1.13618951e-04, 4.33240551e-05,
 -5.78649604e-05, 8.58140024e-04, 1.88230358e-04, 1.06578113e-04,
  5.55403394e-02,-6.96633733e-04, 4.61096954e-02,-3.89901863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006109231816841115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08643720e-14, -2.83951162e-14,  1.00000000e+00, -2.58010440e-27,
        1.00000000e+00,  2.83951162e-14, -1.00000000e+00,  0.00000000e+00,
       -9.08643720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805233, -0.08042155,  0.06198904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.55215548e-07,-2.58707728e-06, 1.20834332e-06, 8.26324688e-06,
  2.10097625e-05,-1.01968812e-06,-7.03883247e-06, 5.59182156e-06,
 -2.17708346e-06, 1.66330073e-05,-5.29779207e-05, 4.58305047e-05,
 -3.57559402e-04,-5.48737863e-05,-2.81777796e-04, 2.29317720e-05,
  1.24379087e-05,-1.42850632e-05,-4.90500565e+00, 2.43278607e-04,
  1.18432421e-02,-6.68742301e-04]


--- Step 372 ---
qpos:
[ 0.01870975, 0.03012464,-0.00948662,-0.02557947, 0.00787498, 0.00469054,
 -0.00782215, 0.02706646, 0.01235311, 0.02797049,-0.00838273, 0.02645216,
  0.77410725, 0.0067996 , 0.67925848, 0.04721752, 0.05834846,-0.07744396,
  0.17152236, 0.99956842, 0.02782542,-0.00542101,-0.00770259]

qacc:
[-1.69061556e-02, 8.11039022e-01,-1.46370960e+00,-2.23445272e+00,
 -8.27199055e-01, 1.76965903e+00,-9.57615160e+00, 2.28745751e+01,
 -3.09689836e+00, 2.89447927e+00,-1.36029146e+01, 2.91222978e+01,
 -1.01361151e+00, 1.08430349e+00,-1.37535625e+01, 4.01354039e+01,
  2.22972428e+00, 1.94699211e-01,-1.19831709e-01,-2.22440670e+00,
  1.98621771e+01,-4.27986139e+00]

qfrc_actuator:
[ 1.07683151e-04, 9.61473301e-04, 1.47135519e-04,-1.43040930e-04,
 -1.13288897e-05, 1.02624985e-04,-1.16817124e-04, 8.19655131e-05,
 -7.64459094e-05, 8.83755929e-04, 1.81730754e-04, 1.52587342e-04,
  5.54387578e-02,-7.06332326e-04, 4.59396816e-02,-3.75649862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0006035547638986588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83947355e-13, -5.17351936e-14,  1.00000000e+00, -9.51655203e-27,
        1.00000000e+00,  5.17351936e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83947355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0280495 , -0.08042339,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02648263e-09, 1.59450468e-05,-1.72637209e-05,-1.20347777e-05,
 -4.83084682e-06,-2.03926952e-06,-4.07862714e-06, 3.84619998e-05,
 -1.86391121e-05, 2.59418508e-05,-8.00105761e-06, 4.57797735e-05,
 -3.47924511e-04,-8.27166233e-05,-3.01275009e-04, 1.06524533e-04,
  4.46917519e-06,-8.86671771e-06,-4.90500467e+00, 2.45990356e-04,
  1.18424531e-02,-6.66080178e-04]


--- Step 373 ---
qpos:
[ 0.0187112 , 0.03012559,-0.00948646,-0.02558118, 0.00787435, 0.0046912 ,
 -0.00782321, 0.02706787, 0.01235285, 0.02797044,-0.00838257, 0.02645377,
  0.77528946, 0.00680193, 0.68051889, 0.04721595, 0.05835243,-0.07741887,
  0.17153124, 0.99957184, 0.02770379,-0.00540192,-0.00771046]

qacc:
[  5.85767617,  0.90840834, -4.22818672,  8.48105864, -3.57935469,
  -0.74636231,  2.15410467, -1.08437783, -1.87048228, -2.54095887,
   9.38929627,-13.24665943, -0.87981054,  0.50645297,  5.03937499,
 -23.76306702,  2.20009628,  0.1908813 , -0.24264556, -2.29517912,
  19.64083342, -4.07260108]

qfrc_actuator:
[ 1.42873416e-04, 9.53298301e-04, 1.36933101e-04,-1.31643730e-04,
 -3.21922801e-05, 1.02201116e-04,-1.00387289e-04, 8.64127994e-05,
 -8.73622644e-05, 8.63427953e-04, 2.13716977e-04, 1.43448846e-04,
  5.53406151e-02,-7.30936240e-04, 4.57817465e-02,-3.92175574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005941855512937022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86847866e-13, -2.91949791e-14,  1.00000000e+00, -5.45501955e-27,
        1.00000000e+00,  2.91949791e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86847866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02804616, -0.08042494,  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:
[ 3.51939007e-05,-3.37586990e-06,-9.46317603e-06, 1.12495753e-05,
 -2.10028277e-05,-7.74114946e-07, 1.68415071e-05, 4.96592552e-06,
 -1.14553866e-05,-5.52165648e-06, 3.79446874e-05,-7.41500395e-06,
 -3.43415371e-04,-9.94001946e-05,-2.87188767e-04,-1.98726552e-04,
  6.38778851e-07,-3.36800679e-06,-4.90500481e+00, 2.47673147e-04,
  1.18413942e-02,-6.63305819e-04]


--- Step 374 ---
qpos:
[ 0.01871271, 0.03012633,-0.00948579,-0.02558242, 0.00787416, 0.00469176,
 -0.00782429, 0.027069  , 0.01235246, 0.02797003,-0.00838158, 0.02645458,
  0.77646956, 0.0068046 , 0.68177656, 0.04720899, 0.0583651 ,-0.07739303,
  0.17153874, 0.99957553, 0.0275778 ,-0.00534368,-0.00772508]

qacc:
[  0.58580891, -0.72304692,  0.16105566,  7.41728826,  3.91381404,
  -0.63825953,  3.25367075, -7.94889076, -1.06833465, -4.43496283,
  18.52550204,-33.47534406, -1.8987086 ,  3.60744152, 12.37549971,
 -48.89576321,  2.17574558,  0.18812169, -0.34628146, -2.35260519,
  19.45761733, -3.90375651]

qfrc_actuator:
[ 1.45246754e-04, 9.48012053e-04, 1.66348450e-04,-1.06504586e-04,
 -8.70743926e-06, 8.39788820e-05,-1.08034831e-04, 7.07125071e-05,
 -9.36747364e-05, 8.33618874e-04, 2.50181204e-04, 1.01917302e-04,
  5.52392732e-02,-7.10868097e-04, 4.56417671e-02,-4.19596604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005833347213830831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51617471e-14,  1.78428276e-14,  1.00000000e+00,  1.69795465e-27,
        1.00000000e+00, -1.78428276e-14, -1.00000000e+00,  0.00000000e+00,
       -9.51617471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02804244, -0.08042627,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39489202e-06,-8.67170039e-06, 2.79297380e-05, 2.48858707e-05,
  2.28868048e-05,-1.49854454e-05,-5.55886041e-06,-1.50554776e-05,
 -6.65133535e-06,-2.53849476e-05, 3.97360802e-05,-4.06029617e-05,
 -3.47222112e-04,-5.59147072e-05,-2.98910453e-04,-3.23377633e-04,
  7.71673248e-07, 2.26484245e-06,-4.90500601e+00, 2.48435207e-04,
  1.18400558e-02,-6.60413611e-04]


--- Step 375 ---
qpos:
[ 0.0187132 , 0.03012697,-0.00948479,-0.02558335, 0.0078746 , 0.00469211,
 -0.00782566, 0.02706962, 0.01235234, 0.02796959,-0.0083805 , 0.02645454,
  0.77764767, 0.00680722, 0.68303082, 0.04720266, 0.05838639,-0.07736644,
  0.17154451, 0.99957947, 0.02744735,-0.00524659,-0.00774618]

qacc:
[ -8.71340791, -0.4317969 ,  0.06356335,  4.78059694,  5.51760276,
  -0.56078059,  3.72434608,-11.91377018,  2.31825884, -2.0185707 ,
  10.6608667 ,-25.27169491, -1.17291068,  1.53354531, -6.87096945,
  16.88203349,  2.15599418,  0.1862322 , -0.43334373, -2.40016654,
  19.30850749, -3.76584472]

qfrc_actuator:
[ 9.27686831e-05, 9.44671878e-04, 1.83424936e-04,-9.12109865e-05,
  2.29440358e-05, 5.51257214e-05,-1.29926610e-04, 4.32540337e-05,
 -7.94766921e-05, 8.33860098e-04, 2.53413180e-04, 5.94043947e-05,
  5.51360977e-02,-7.17853981e-04, 4.55286287e-02,-4.14143937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005714378833594075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94285863e-13, -5.46428990e-14,  1.00000000e+00, -1.06163428e-26,
        1.00000000e+00,  5.46428990e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94285863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02803847, -0.08042741,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23871052e-05,-1.39089387e-06, 1.95709311e-05, 1.63724314e-05,
  3.22975165e-05,-3.90288301e-05,-2.61901757e-05,-2.85883220e-05,
  1.39940610e-05,-7.48839501e-06, 1.46898259e-06,-4.30189584e-05,
 -3.43497474e-04,-7.80853215e-05,-2.91586100e-04,-3.13213418e-06,
  4.73262753e-06, 8.07273967e-06,-4.90500826e+00, 2.48357945e-04,
  1.18384305e-02,-6.57399115e-04]


--- Step 376 ---
qpos:
[ 0.01871306, 0.03012795,-0.00948457,-0.02558442, 0.00787507, 0.0046925 ,
 -0.00782738, 0.02706954, 0.01235205, 0.02796912,-0.00837942, 0.02645435,
  0.77882385, 0.00680947, 0.68428196, 0.04719754, 0.05841625,-0.07733911,
  0.17154825, 0.99958366, 0.02731235,-0.00511091,-0.00777356]

qacc:
[ -5.46284861,  2.41013898, -7.34028108,  6.00368482,  0.25959951,
  -0.3765582 ,  4.40486815,-16.06725503, -1.47845836, -0.37746478,
   1.95266543, -4.67518467, -0.76392764,  0.2764882 , -8.28159902,
  22.32289934,  2.14025022,  0.18506007, -0.50613797, -2.44054698,
  19.18987294, -3.65288569]

qfrc_actuator:
[ 6.16944436e-05, 9.60230843e-04, 1.39807662e-04,-9.96003473e-05,
  2.36292963e-05, 7.33056567e-05,-1.42349144e-04, 9.08256488e-06,
 -8.88266600e-05, 8.34202323e-04, 2.54869840e-04, 5.21649523e-05,
  5.50372148e-02,-7.40817539e-04, 4.54051241e-02,-4.07106245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005588580580125208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.07053056e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.07053056e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02803433, -0.08042841,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26057957e-05, 1.94717243e-05,-4.09432286e-05,-7.45247686e-06,
  1.59174977e-06,-1.02672215e-05,-2.46903326e-05,-3.73070554e-05,
 -8.94064826e-06,-5.37748902e-06,-1.40578275e-06,-8.34869722e-06,
 -3.40277215e-04,-9.65868486e-05,-2.61535188e-04, 3.18254514e-05,
  1.24193371e-05, 1.40873443e-05,-4.90501154e+00, 2.47502425e-04,
  1.18365122e-02,-6.54258754e-04]


--- Step 377 ---
qpos:
[ 0.01871255, 0.03012921,-0.00948519,-0.02558557, 0.0078759 , 0.00469311,
 -0.00782939, 0.02706902, 0.01235165, 0.02796829,-0.00837821, 0.02645446,
  0.77999817, 0.00681114, 0.68553057, 0.04719281, 0.05845462,-0.07731105,
  0.17154973, 0.99958808, 0.02717273,-0.0049368 ,-0.00780704]

qacc:
[-3.22158008, 2.5271837 ,-8.10891331, 7.80020602, 3.06314283, 0.1548238 ,
  1.69468089,-8.96647869,-0.92310267,-0.22395212,-1.09721585, 6.18810155,
 -0.58450107,-0.32068477,-4.8961023 ,11.7105833 , 2.12799901, 0.18448119,
 -0.56669503,-2.47581068,19.09846136,-3.56009667]

qfrc_actuator:
[ 4.34854881e-05, 9.68965210e-04, 9.62752616e-05,-1.04127129e-04,
  4.15858331e-05, 1.01782407e-04,-1.48892324e-04,-1.09637590e-05,
 -9.42162518e-05, 7.99113078e-04, 2.55309863e-04, 6.57448062e-05,
  5.49409717e-02,-7.73019179e-04, 4.53074523e-02,-4.04527415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005458953957140772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03376514e-13, -1.33465837e-13,  1.00000000e+00, -2.71438167e-26,
        1.00000000e+00,  1.33465837e-13, -1.00000000e+00,  0.00000000e+00,
       -2.03376514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0280301 , -0.08042929,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91535782e-05, 1.08009634e-05,-4.48214274e-05,-5.25369276e-06,
  1.80007397e-05, 1.60430381e-05,-1.29801887e-05,-2.20635698e-05,
 -5.65376399e-06,-3.87435736e-05,-1.13938290e-06, 1.31376755e-05,
 -3.38674843e-04,-1.07850275e-04,-2.19273653e-04,-7.25305175e-06,
  2.37568261e-05, 2.03336938e-05,-4.90501584e+00, 2.45914236e-04,
  1.18342957e-02,-6.50989580e-04]


--- Step 378 ---
qpos:
[ 0.01871217, 0.03013029,-0.00948562,-0.02558642, 0.00787693, 0.00469375,
 -0.00783147, 0.02706896, 0.01235153, 0.02796776,-0.0083778 , 0.02645436,
  0.78117052, 0.00681219, 0.68677691, 0.04719091, 0.05850146,-0.07728225,
  0.17154873, 0.99959271, 0.02702843,-0.00472443,-0.00784648]

qacc:
[  1.12571173, -0.14004836, -1.08932621,  5.98402307,  1.83592101,
   1.1782541 , -6.11536078, 14.23775318,  2.37915   ,  2.20755414,
  -6.47605966,  4.08110174, -0.51581455, -0.58490946,-11.91289205,
  36.82897585,  2.11879391,  0.18439453, -0.61679809, -2.50754078,
  19.03137502, -3.48364866]

qfrc_actuator:
[ 5.07403865e-05, 9.55775625e-04, 1.06402711e-04,-8.85831643e-05,
  5.18214317e-05, 1.00744212e-04,-1.51848118e-04, 1.29842644e-05,
 -7.94716309e-05, 8.31855553e-04, 2.19505657e-04, 5.59244543e-05,
  5.48303999e-02,-8.10415785e-04, 4.52466427e-02,-3.88611709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005327957331519306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04188431e-13, -1.10700207e-13,  1.00000000e+00, -1.15336809e-26,
        1.00000000e+00,  1.10700207e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04188431e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02802585, -0.08043006,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69932239e-06,-1.66730090e-05, 6.65241547e-06, 1.43553702e-05,
  1.07542042e-05, 4.31532734e-06,-1.98718040e-06, 2.37605604e-05,
  1.45634184e-05, 1.14166315e-05,-4.34979589e-05,-1.12653481e-05,
 -3.53747346e-04,-1.14449564e-04,-1.69682962e-04, 1.28824816e-04,
  3.86928920e-05, 2.68321139e-05,-4.90502115e+00, 2.43627172e-04,
  1.18317760e-02,-6.47589093e-04]


--- Step 379 ---
qpos:
[ 0.01871154, 0.03013138,-0.009486  ,-0.02558745, 0.00787738, 0.00469429,
 -0.00783325, 0.02706953, 0.01235056, 0.02796764,-0.00837796, 0.02645411,
  0.78234074, 0.00681314, 0.68802159, 0.04719046, 0.05855675,-0.07725271,
  0.17154511, 0.99959752, 0.02687939,-0.00447387,-0.00789175]

qacc:
[-2.18699853,-0.52243777, 2.60703594,-5.6778943 ,-5.04788226, 0.36692649,
 -4.07863741,14.41972193,-7.32337766, 1.83706987,-5.10788071, 3.10458472,
 -1.25553105, 1.59716908,-6.7814297 ,20.30936448, 2.11224783, 0.18471771,
 -0.65800995,-2.53694721,18.98604115,-3.42047247]

qfrc_actuator:
[ 3.74149046e-05, 9.65294743e-04, 1.12548991e-04,-9.68419771e-05,
  2.19200298e-05, 9.98521743e-05,-1.34996912e-04, 4.48501542e-05,
 -1.24005297e-04, 8.69293049e-04, 1.98340932e-04, 5.01921823e-05,
  5.47219580e-02,-8.15147863e-04, 4.51867141e-02,-3.80931726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005197581026702564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.20405690e-13,  2.00253556e-14,  1.00000000e+00,  6.41623790e-27,
        1.00000000e+00, -2.00253556e-14, -1.00000000e+00,  0.00000000e+00,
       -3.20405690e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02802163, -0.08043075,  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:
[-1.31397190e-05, 2.15580864e-06, 4.01325989e-06,-8.46267074e-06,
 -2.95951816e-05, 2.13408201e-06, 1.83365991e-05, 3.24473929e-05,
 -4.41015550e-05, 3.43733037e-05,-2.45529246e-05,-6.96746291e-06,
 -3.62028753e-04,-8.60268198e-05,-1.32858186e-04, 5.99594186e-05,
  5.71943897e-05, 3.35996028e-05,-4.90502749e+00, 2.40666005e-04,
  1.18289487e-02,-6.44055102e-04]


--- Step 380 ---
qpos:
[ 0.01871005, 0.03013245,-0.00948654,-0.02558889, 0.00787747, 0.004695  ,
 -0.00783487, 0.02706976, 0.01234906, 0.02796721,-0.00837814, 0.02645454,
  0.78350878, 0.00681409, 0.68926472, 0.0471912 , 0.05862048,-0.07722243,
  0.17153872, 0.99960249, 0.02672555,-0.00418518,-0.00794275]

qacc:
[ -7.24678511, -0.38526909,  3.10712246,-10.02245028, -3.18213052,
  -0.94504979,  5.1080376 ,-11.33015563, -4.4766529 ,  1.08171654,
  -7.28062608, 19.2609249 , -1.37737752,  1.93438603, -5.78472071,
  17.10031125,  2.10802532,  0.18538338, -0.69169887, -2.56495072,
  18.96018072, -3.36810452]

qfrc_actuator:
[-5.67815392e-06, 9.52811966e-04, 9.85919807e-05,-1.19037148e-04,
  4.14212228e-06, 1.16900494e-04,-1.24345871e-04, 2.78652821e-05,
 -1.49822057e-04, 8.20547597e-04, 1.86046392e-04, 8.24468094e-05,
  5.46095545e-02,-8.18316197e-04, 4.51273415e-02,-3.74617650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005069413090772329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19004253e-13, -8.89704776e-14,  1.00000000e+00,  1.94849129e-26,
        1.00000000e+00,  8.89704776e-14, -1.00000000e+00,  0.00000000e+00,
        2.19004253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02801749, -0.08043137,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34779267e-05,-1.08461017e-05,-1.33152138e-05,-2.21274644e-05,
 -1.86203199e-05, 2.34093044e-05, 1.44875251e-05,-1.56247385e-05,
 -2.70977685e-05,-3.49056214e-05,-8.45487570e-06, 3.27453389e-05,
 -3.65672812e-04,-8.26051270e-05,-1.25546230e-04, 4.66194943e-05,
  7.92441918e-05, 4.06508339e-05,-4.90503484e+00, 2.37048588e-04,
  1.18258093e-02,-6.40385630e-04]


--- Step 381 ---
qpos:
[ 0.01870876, 0.03013327,-0.00948715,-0.02559056, 0.00787735, 0.00469612,
 -0.00783674, 0.02706978, 0.01234795, 0.02796663,-0.00837878, 0.02645536,
  0.78467459, 0.00681506, 0.69050605, 0.04719138, 0.05869262,-0.0771914 ,
  0.17152945, 0.99960759, 0.02656685,-0.00385838,-0.00799941]

qacc:
[ 1.58231022,-0.62374064, 2.72080126,-6.44162356,-1.89958071, 0.82414426,
 -1.27594208,-2.21831426, 3.32008632, 1.8516756 ,-8.57751673,16.2468904 ,
 -1.51830682, 2.27042593,-0.89856415,-0.51990562, 2.10585079, 0.18633766,
 -0.71899828,-2.59226564,18.95190207,-3.3245853 ]

qfrc_actuator:
[ 5.06984599e-06, 9.27155283e-04, 9.05394478e-05,-1.31528390e-04,
 -6.34473403e-06, 1.44502259e-04,-1.35161550e-04, 1.77847994e-05,
 -1.28891469e-04, 8.09402652e-04, 1.61007400e-04, 1.01220920e-04,
  5.44895288e-02,-8.20586510e-04, 4.50257453e-02,-3.78030620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004944696830337381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12264014e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12264014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02801345, -0.08043192,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47601801e-06,-3.54586422e-05,-1.26977258e-05,-1.38430376e-05,
 -1.10077905e-05, 4.30016364e-05,-4.72544155e-06,-8.87781024e-06,
  2.01210662e-05,-3.10052684e-05,-3.21519061e-05, 1.76242315e-05,
 -3.74915852e-04,-8.21093665e-05,-1.66408313e-04,-5.05742176e-05,
  1.04838692e-04, 4.79988777e-05,-4.90504324e+00, 2.32787440e-04,
  1.18223533e-02,-6.36578829e-04]


--- Step 382 ---
qpos:
[ 0.01870864, 0.03013378,-0.00948733,-0.02559136, 0.00787711, 0.00469741,
 -0.00783866, 0.02706969, 0.01234779, 0.02796614,-0.00837954, 0.02645601,
  0.7858381 , 0.00681635, 0.69174499, 0.04719184, 0.05877319,-0.07715962,
  0.17151722, 0.99961276, 0.02640324,-0.00349347,-0.00806166]

qacc:
[10.07765916, 0.15240317,-4.85086078,19.50809049,-1.10184704, 0.13062494,
  0.32617542,-2.23460597, 8.07659031, 0.09736413, 0.55226176,-3.49199912,
 -1.80268615, 3.18808956,-4.28644902,10.1134336 , 2.10557602, 0.18754438,
 -0.74051843,-2.61953561,18.96027486,-3.28846297]

qfrc_actuator:
[ 6.51843885e-05, 9.29335071e-04, 1.21497432e-04,-8.49563459e-05,
 -1.24599417e-05, 1.42620549e-04,-1.40749353e-04, 1.18527353e-05,
 -8.06187699e-05, 8.38545996e-04, 1.64258876e-04, 9.41663666e-05,
  5.43756648e-02,-8.04601113e-04, 4.49095452e-02,-3.76501754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048243783925551453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30127684e-13, -5.75319209e-14,  1.00000000e+00, -1.32396877e-26,
        1.00000000e+00,  5.75319209e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30127684e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02800955, -0.08043242,  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:
[ 6.03777920e-05,-2.08748344e-05, 2.15940458e-05, 4.43481614e-05,
 -6.41246895e-06, 2.07860795e-05, 2.41489308e-06,-4.42345156e-06,
  4.88503549e-05, 5.94884568e-06,-6.49305812e-06,-9.15292811e-06,
 -3.75217297e-04,-6.54602670e-05,-2.09056408e-04,-1.14589693e-05,
  1.33985952e-04, 5.56557732e-05,-4.90505270e+00, 2.27890918e-04,
  1.18185761e-02,-6.32632925e-04]


--- Step 383 ---
qpos:
[ 0.01870889, 0.03013414,-0.0094872 ,-0.02559127, 0.00787748, 0.00469853,
 -0.00784022, 0.02707025, 0.01234752, 0.02796567,-0.00837972, 0.02645652,
  0.78699935, 0.00681786, 0.69298199, 0.04718939, 0.05886219,-0.07712709,
  0.17150196, 0.99961798, 0.02623466,-0.00309038,-0.00812943]

qacc:
[  3.2461645 ,  0.79035186, -6.8955802 , 22.0358027 ,  5.45728606,
   0.08463082, -3.35601917, 13.99792122, -0.91200483, -1.89398288,
   7.34428065,-10.57989494, -1.83203866,  3.17812088,  6.0603027 ,
 -25.10861798,  2.10696295,  0.18896465, -0.75726157, -2.64713136,
  18.98356627, -3.25842076]

qfrc_actuator:
[ 8.28463000e-05, 9.30626717e-04, 1.39882209e-04,-3.94636559e-05,
  1.95493287e-05, 1.23115430e-04,-1.25559963e-04, 4.38966077e-05,
 -8.76651327e-05, 8.56176823e-04, 2.02100580e-04, 8.97839872e-05,
  5.42602582e-02,-7.95714847e-04, 4.48113300e-02,-3.91597205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047091321461252555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17879791e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.17879791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0280058 , -0.08043287,  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:
[ 1.94102981e-05,-4.01581942e-06, 1.82629259e-05, 4.62082346e-05,
  3.18343761e-05,-7.59871764e-06, 1.96351777e-05, 3.29339526e-05,
 -5.61289863e-06, 1.92658390e-05, 3.79652149e-05,-4.53093919e-06,
 -3.73978735e-04,-7.03953035e-05,-2.03977462e-04,-1.80459329e-04,
  1.66705445e-04, 6.36332232e-05,-4.90506324e+00, 2.22363849e-04,
  1.18144728e-02,-6.28546172e-04]


--- Step 384 ---
qpos:
[ 0.01870866, 0.03013446,-0.0094874 ,-0.02559094, 0.00787823, 0.0046992 ,
 -0.00784084, 0.02707083, 0.01234648, 0.02796511,-0.00837908, 0.02645663,
  0.78815842, 0.00681948, 0.69421627, 0.04718418, 0.05895963,-0.07709379,
  0.17148363, 0.99962319, 0.02606105,-0.00264906,-0.00820269]

qacc:
[ -4.11877793,  1.3564934 , -5.85985966, 10.36022546,  3.38743723,
  -3.17150865, 10.31685234,-10.9853038 , -6.54642537, -3.22267143,
  13.06310391,-21.35122972, -1.60771942,  2.57968452,  4.38641092,
 -20.96412742,  2.10977986,  0.19056387, -0.77020933, -2.6752951 ,
  19.02004404, -3.23335832]

qfrc_actuator:
[ 5.76105656e-05, 9.13596411e-04, 1.15173464e-04,-3.04972232e-05,
  3.82344814e-05, 9.33190872e-05,-8.05288670e-05, 4.47655916e-05,
 -1.27224884e-04, 8.49182650e-04, 2.42275229e-04, 6.92758886e-05,
  5.41546575e-02,-7.91123515e-04, 4.46653675e-02,-4.05706987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004599402690783766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20692088e-13, -6.03460438e-14,  1.00000000e+00, -7.28329000e-27,
        1.00000000e+00,  6.03460438e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20692088e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02800221, -0.08043328,  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:
[-2.46753790e-05,-1.35343450e-05,-2.16971082e-05, 1.03240356e-05,
  1.95850376e-05,-2.85907128e-05, 4.70221428e-05, 1.86212034e-06,
 -3.97206092e-05, 1.14428281e-05, 4.86801225e-05,-1.84565384e-05,
 -3.64515724e-04,-7.50923718e-05,-2.69298694e-04,-1.79614440e-04,
  2.03025412e-04, 7.19424752e-05,-4.90507489e+00, 2.16208483e-04,
  1.18100383e-02,-6.24316816e-04]


--- Step 385 ---
qpos:
[ 0.01870814, 0.03013472,-0.00948818,-0.02559015, 0.00787852, 0.00469946,
 -0.00784113, 0.02707145, 0.01234566, 0.02796469,-0.00837854, 0.02645618,
  0.7893154 , 0.00682087, 0.69544664, 0.0471807 , 0.05904576,-0.07705554,
  0.17147171, 0.9996287 , 0.02586804,-0.00225912,-0.0082591 ]

qacc:
[ -2.59519859,  2.52163036,-11.07384133, 20.17052446, -4.13043912,
  -1.3566025 ,  3.88841546, -3.37538367,  1.89333663, -0.65923697,
   4.97486959,-14.54266672, -1.00281124,  0.87929307,-10.93171641,
  29.95936997, -2.82717014,  1.23877697,  1.60696458, -9.47095861,
 -25.54413158,  9.11654138]

qfrc_actuator:
[ 4.28467305e-05, 9.03273607e-04, 8.28759332e-05,-7.63213175e-06,
  1.34103058e-05, 5.76901222e-05,-7.15803194e-05, 4.50370628e-05,
 -1.14576419e-04, 8.45260400e-04, 2.30126191e-04, 3.94188465e-05,
  5.40443620e-02,-8.06829058e-04, 4.44908966e-02,-3.96047005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.46929526,  5.36202883, -1.07788567,  5.36202883,  7.24923967,
        8.85447635, -1.07788567,  8.85447635, 49.51659876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004823738628109836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15079103e-13,  1.15079103e-13,  1.00000000e+00,  1.32431998e-26,
        1.00000000e+00, -1.15079103e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15079103e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626744, -0.09219272,  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:
[-1.54881154e-05,-2.19479943e-05,-3.74087182e-05, 2.17360942e-05,
 -2.42795421e-05,-4.18356760e-05, 8.89615552e-06, 7.07256173e-07,
  1.14850151e-05, 1.17366645e-05,-4.42870719e-06,-2.80404667e-05,
 -3.64451142e-04,-9.39685027e-05,-3.24204904e-04, 5.05563227e-05,
  2.42981147e-04, 8.05944083e-05,-4.90508767e+00, 2.09425142e-04,
  1.18052671e-02,-6.19943072e-04]


--- Step 386 ---
qpos:
[ 0.01870778, 0.03013496,-0.0094891 ,-0.02558946, 0.00787884, 0.00469941,
 -0.0078416 , 0.02707245, 0.01234535, 0.02796473,-0.00837857, 0.02645537,
  0.79047036, 0.00682177, 0.6966734 , 0.04717731, 0.05912096,-0.07701253,
  0.17146476, 0.99963454, 0.02565546,-0.00191865,-0.00830069]

qacc:
[  1.46692441,  0.0914321 ,  0.10325135, -1.83740463,  0.39942118,
   0.86512867, -5.22933875, 12.114578  ,  4.25394643,  1.43227036,
  -2.74060782, -2.90369541, -0.74932843,  0.07216275, -5.60541754,
  11.92161762, -2.73073128,  1.19086585,  1.23937002, -9.56046996,
 -24.61200662,  8.06870533]

qfrc_actuator:
[ 5.21318367e-05, 9.14762395e-04, 8.19117641e-05,-1.22666057e-05,
  1.64384045e-05, 3.64513944e-05,-8.40447639e-05, 6.26762075e-05,
 -8.90412089e-05, 8.78490367e-04, 2.04933800e-04, 2.20186651e-05,
  5.39419726e-02,-8.34427396e-04, 4.43208286e-02,-3.95540481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.75169208, -4.97798928,  2.88124704, -4.97798928, 12.88544801,
       12.32513564,  2.88124704, 12.32513564, 27.04608033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000517920136428679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07180909e-13,  2.14361819e-13,  1.00000000e+00, -2.29754947e-26,
        1.00000000e+00, -2.14361819e-13, -1.00000000e+00,  0.00000000e+00,
        1.07180909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625499, -0.09219469,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.82648787e-06,-7.58561293e-06,-9.34692867e-06,-6.44499590e-06,
  2.32310818e-06,-4.27815983e-05,-1.99861140e-05, 1.61675729e-05,
  2.58766917e-05, 3.76878525e-05,-2.42854467e-05,-1.75960767e-05,
 -3.60177747e-04,-1.08400600e-04,-3.15256841e-04,-3.42516124e-05,
  1.88214986e-04, 8.21493740e-05,-4.90507363e+00, 2.27105510e-04,
  1.18063278e-02,-6.14618416e-04]


--- Step 387 ---
qpos:
[ 0.01870789, 0.03013508,-0.00948943,-0.02558923, 0.0078799 , 0.00469918,
 -0.00784198, 0.02707326, 0.012345  , 0.02796509,-0.00837896, 0.02645505,
  0.79162327, 0.00682263, 0.69789739, 0.04717344, 0.05918559,-0.07696491,
  0.17146144, 0.99964076, 0.02542328,-0.00162595,-0.00832911]

qacc:
[  3.95352807, -2.69957912, 11.26703194,-19.78175594,  6.36905152,
  -0.89008905,  3.54210985, -6.59702092, -0.32096077,  2.41345612,
 -10.03225338, 18.78974399, -1.29315688,  1.75315706, -2.5960422 ,
   3.29344917, -2.64443319,  1.14980588,  0.90949403, -9.59719578,
 -23.79161166,  7.21660687]

qfrc_actuator:
[ 7.54945266e-05, 9.21573829e-04, 1.17280105e-04,-3.30048461e-05,
  5.36021672e-05, 4.16642978e-05,-7.34698075e-05, 5.48892641e-05,
 -9.16475591e-05, 8.98146349e-04, 1.90173372e-04, 4.76242824e-05,
  5.38497204e-02,-8.33301127e-04, 4.42227513e-02,-3.96882176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.96706621, -5.05024376,  3.17819401, -5.05024376, 16.18473034,
       16.23616883,  3.17819401, 16.23616883, 31.76681602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005441085296352954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04044407e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.04044407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624586, -0.09219651,  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:
[ 2.36179728e-05, 3.67957601e-07, 3.24338600e-05,-2.15122181e-05,
  3.72149843e-05,-2.21406151e-05,-1.60688503e-07,-9.99834017e-06,
 -1.83253251e-06, 3.49697023e-05,-1.05750972e-05, 2.60386165e-05,
 -3.50065290e-04,-8.08251151e-05,-2.49375955e-04,-5.64930847e-05,
  1.42280766e-04, 8.09725083e-05,-4.90506184e+00, 2.40952453e-04,
  1.18080459e-02,-6.08974732e-04]


--- Step 388 ---
qpos:
[ 0.01870827, 0.03013527,-0.00948969,-0.02558888, 0.00788104, 0.0046991 ,
 -0.00784268, 0.02707396, 0.01234427, 0.02796523,-0.00837929, 0.02645542,
  0.79277402, 0.0068241 , 0.69911917, 0.04717088, 0.05923995,-0.07691284,
  0.1714606 , 0.99964736, 0.02517149,-0.00137956,-0.0083457 ]

qacc:
[  2.39741854,  0.09923172, -0.71033379,  2.4404325 ,  0.79737624,
   0.83503375, -2.21878379,  0.63879237, -3.16892781,  1.02410992,
  -7.03210579, 19.22637038, -1.96131479,  3.90249443, -7.07181783,
  20.29849357, -2.56806056,  1.11493486,  0.61655229, -9.59975233,
 -23.07495885,  6.52182286]

qfrc_actuator:
[ 8.91953913e-05, 9.25677638e-04, 1.20531018e-04,-2.75235303e-05,
  5.72934021e-05, 6.27493184e-05,-8.47830337e-05, 4.99967914e-05,
 -1.10801806e-04, 8.56338861e-04, 1.81678433e-04, 8.05764372e-05,
  5.37583018e-02,-7.97437619e-04, 4.41679232e-02,-3.88627877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11887474, -5.00848306,  3.5150712 , -5.00848306, 21.37399365,
       21.73640318,  3.5150712 , 21.73640318, 37.09019827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005624042590849782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623949, -0.0921983 ,  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:
[ 1.43887965e-05, 1.00938555e-05, 6.57800331e-06, 6.19920811e-06,
  4.74154335e-06, 8.26623147e-06,-1.62485888e-05,-6.04343770e-06,
 -1.91957723e-05,-2.33305053e-05,-1.67237392e-06, 3.45923636e-05,
 -3.36598997e-04,-4.08090746e-05,-1.81938745e-04, 4.58606094e-05,
  1.04079167e-04, 7.72423956e-05,-4.90505207e+00, 2.51740543e-04,
  1.18103953e-02,-6.02991142e-04]


--- Step 389 ---
qpos:
[ 0.01870847, 0.03013557,-0.00949022,-0.02558811, 0.00788187, 0.004699  ,
 -0.00784347, 0.02707461, 0.01234436, 0.02796483,-0.00837926, 0.02645621,
  0.7939229 , 0.00682564, 0.70033875, 0.04717056, 0.0592843 ,-0.07685642,
  0.17146118, 0.99965436, 0.02490015,-0.0011782 ,-0.00835154]

qacc:
[ -1.5816454 ,  1.80624988, -7.99396558, 15.67657525, -2.72294618,
   0.15487968, -0.30022364, -0.58210189,  6.92445985, -0.91069555,
   0.46711349,  6.45276413, -1.20639287,  1.76793657, -9.9793384 ,
  30.35970195, -2.50119163,  1.08563422,  0.35898511, -9.5820024 ,
 -22.45389889,  5.95362683]

qfrc_actuator:
[ 7.93423592e-05, 9.28032978e-04, 1.04791391e-04,-6.68563019e-06,
  4.12430363e-05, 5.75954683e-05,-9.11042678e-05, 4.68491802e-05,
 -6.85232832e-05, 8.13584643e-04, 1.94443550e-04, 9.97771517e-05,
  5.36727907e-02,-7.94622394e-04, 4.40858359e-02,-3.76549647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21634676, -4.84285474,  3.89739978, -4.84285474, 29.60738685,
       29.06538098,  3.89739978, 29.06538098, 42.33258479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005741052980872546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962354 , -0.09220011,  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:
[-9.43106831e-06, 9.62315152e-06,-1.26311217e-05, 2.16170895e-05,
 -1.59118233e-05,-4.13528522e-06,-6.81674795e-06,-3.47321877e-06,
  4.17060909e-05,-5.46745872e-05, 8.93836711e-06, 1.88165374e-05,
 -3.13173576e-04,-6.63508322e-05,-1.69917714e-04, 9.77507103e-05,
  7.27278450e-05, 7.11142025e-05,-4.90504415e+00, 2.60057211e-04,
  1.18133521e-02,-5.96652828e-04]


--- Step 390 ---
qpos:
[ 0.01870821, 0.03013628,-0.00949105,-0.02558782, 0.00788251, 0.00469846,
 -0.00784389, 0.02707592, 0.01234426, 0.02796458,-0.00837935, 0.02645716,
  0.79506998, 0.00682666, 0.70155616, 0.04717134, 0.05931888,-0.07679576,
  0.17146231, 0.99966177, 0.02460932,-0.00102078,-0.00834752]

qacc:
[ -4.00072089,  0.36027431,  1.5499042 , -9.76211577, -1.72612418,
  -0.25106676, -2.81180706, 14.19582745, -1.57177919,  0.88857525,
  -3.56831597,  6.54545576, -0.57871973, -0.22694274, -6.48546107,
  18.05372583, -2.44315809,  1.06128225,  0.13426406, -9.55370342,
 -21.91942068,  5.48723336]

qfrc_actuator:
[ 5.57077698e-05, 9.64759776e-04, 9.57279280e-05,-3.02510576e-05,
  3.14647500e-05, 1.90379592e-05,-7.67665527e-05, 8.02450018e-05,
 -7.91817942e-05, 8.59423923e-04, 2.01868293e-04, 1.10736998e-04,
  5.35695748e-02,-8.29100597e-04, 4.39821455e-02,-3.71200294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803498035462651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56511933e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56511933e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623318, -0.09220198,  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:
[-2.39070406e-05, 4.04144485e-05,-7.88251930e-06,-2.31703109e-05,
 -1.02315081e-05,-4.24212397e-05, 1.25333337e-05, 3.29163606e-05,
 -9.45640400e-06, 1.79447709e-05,-2.11611375e-06, 9.28964317e-06,
 -3.20264859e-04,-1.02603456e-04,-1.80274928e-04, 3.48711459e-05,
  4.75185658e-05, 6.27180211e-05,-4.90503792e+00, 2.66348542e-04,
  1.18168970e-02,-5.89949325e-04]


--- Step 391 ---
qpos:
[ 1.87076603e-02, 3.01373143e-02,-9.49167176e-03,-2.55885349e-02,
  7.88302132e-03, 4.69769246e-03,-7.84361997e-03, 2.70772285e-02,
  1.23430002e-02, 2.79648058e-02,-8.37951053e-03, 2.64578547e-02,
  7.96215163e-01, 6.82732781e-03, 7.02771571e-01, 4.71729875e-02,
  5.93438809e-02,-7.67309352e-02, 1.71463187e-01, 9.99669581e-01,
  2.42990899e-02,-9.06363177e-04,-8.33437405e-03]

qacc:
[ -2.41421339, -2.18744587, 12.64202459,-30.48541525, -1.05226352,
  -2.24260981,  7.61758631, -8.71578169, -9.9038003 ,  0.2946466 ,
   0.9870408 , -5.82458503, -0.85523856,  0.52263842, -5.57651432,
  15.30877817, -2.39317932,  1.04128685, -0.06059601, -9.52164965,
 -21.46245638,  5.10269031]

qfrc_actuator:
[ 4.19114812e-05, 9.86266457e-04, 1.08546219e-04,-7.97202789e-05,
  2.54626892e-05, 3.18995572e-05,-3.27131369e-05, 8.15998776e-05,
 -1.38685423e-04, 9.04681154e-04, 2.06428276e-04, 9.90772669e-05,
  5.34664468e-02,-8.49880394e-04, 4.39028509e-02,-3.66311456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821276310793849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53590729e-14, -9.53590729e-14,  1.00000000e+00, -9.09335279e-27,
        1.00000000e+00,  9.53590729e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53590729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623247, -0.09220392,  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:
[-1.44791263e-05, 4.14617676e-05, 1.93946876e-05,-4.84621796e-05,
 -6.30951301e-06,-6.84282268e-06, 3.79821684e-05, 6.10882356e-07,
 -5.97757314e-05, 5.52570545e-05, 8.32950245e-06,-1.07841774e-05,
 -3.32066107e-04,-9.51597015e-05,-1.67297160e-04, 2.55052298e-05,
  2.78849924e-05, 5.21595402e-05,-4.90503327e+00, 2.70953588e-04,
  1.18210150e-02,-5.82873249e-04]


--- Step 392 ---
qpos:
[ 1.87069532e-02, 3.01383888e-02,-9.49175839e-03,-2.55894751e-02,
  7.88311292e-03, 4.69720531e-03,-7.84322318e-03, 2.70771350e-02,
  1.23417271e-02, 2.79651857e-02,-8.37895434e-03, 2.64583835e-02,
  7.97358410e-01, 6.82777547e-03, 7.03985089e-01, 4.71744821e-02,
  5.93594845e-02,-7.66620085e-02, 1.71463153e-01, 9.99677781e-01,
  2.39695203e-02,-8.34153044e-04,-8.31270399e-03]

qacc:
[ -1.36765645, -1.91764977,  7.8722966 ,-12.70045508, -3.70808721,
  -2.85911915, 16.64933487,-41.29914637, -0.10383398, -2.12786384,
   8.57392816,-12.63516753, -1.04432792,  1.05924319, -2.27861529,
   4.02134262, -2.35044607,  1.02510302, -0.22871311, -9.4905021 ,
 -21.07435021,  4.78396164]

qfrc_actuator:
[ 3.40209216e-05, 9.80806736e-04, 1.34117688e-04,-9.07647091e-05,
  3.97716846e-06, 5.78053688e-05,-2.45587607e-05, 1.08846501e-05,
 -1.37682350e-04, 9.13716931e-04, 2.44778854e-04, 9.19640339e-05,
  5.33687721e-02,-8.62410303e-04, 4.38169527e-02,-3.67047540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005802937291512628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56604362e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56604362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623299, -0.09220592,  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:
[-8.29935695e-06, 1.96240128e-05, 3.48445622e-05,-9.54063036e-06,
 -2.16687772e-05, 2.99706674e-05, 1.14433770e-05,-6.96839319e-05,
 -7.30318671e-07, 4.11618438e-05, 5.04164081e-05,-4.66634675e-06,
 -3.32709486e-04,-8.84050427e-05,-1.69847332e-04,-2.97961293e-05,
  1.33761059e-05, 3.95220192e-05,-4.90503006e+00, 2.74130499e-04,
  1.18256953e-02,-5.75419365e-04]


--- Step 393 ---
qpos:
[ 1.87065014e-02, 3.01395836e-02,-9.49179450e-03,-2.55908626e-02,
  7.88329145e-03, 4.69675269e-03,-7.84292079e-03, 2.70762418e-02,
  1.23411648e-02, 2.79653505e-02,-8.37746328e-03, 2.64592012e-02,
  7.98499586e-01, 6.82816294e-03, 7.05195766e-01, 4.71779486e-02,
  5.93658313e-02,-7.65890329e-02, 1.71461627e-01, 9.99686356e-01,
  2.36206748e-02,-8.03482916e-04,-8.28300988e-03]

qacc:
[  2.1901311 , -0.90787962,  5.34317822,-13.23338078,  0.76071007,
  -1.3385483 ,  8.21298586,-21.92611546,  6.09130352, -2.31424212,
   6.59850727, -2.91138626, -1.18459394,  1.46376292,-10.10344815,
  29.39253305, -2.31417037,  1.01224024, -0.37314255, -9.46338974,
 -20.74710526,  4.51817331]

qfrc_actuator:
[ 4.74188237e-05, 9.77078713e-04, 1.31420632e-04,-1.14631093e-04,
  9.05463774e-06, 3.78723638e-05,-3.76525209e-05,-3.06669995e-05,
 -1.01057327e-04, 8.83386039e-04, 2.84888971e-04, 1.05334215e-04,
  5.32531375e-02,-8.69972296e-04, 4.36792232e-02,-3.56887979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005755820213808327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64435114e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64435114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623448, -0.09220799,  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:
[ 1.31587329e-05, 1.39971332e-05, 5.30895014e-06,-2.20060735e-05,
  4.47456592e-06,-3.78992861e-06,-7.90236852e-06,-4.12261978e-05,
  3.66179854e-05, 2.87563824e-06, 5.46476328e-05, 1.67842829e-05,
 -3.49837024e-04,-8.26996712e-05,-2.29202853e-04, 7.57076664e-05,
  3.63452160e-06, 2.48687714e-05,-4.90502823e+00, 2.76076311e-04,
  1.18309301e-02,-5.67583886e-04]


--- Step 394 ---
qpos:
[ 1.87062140e-02, 3.01405754e-02,-9.49199980e-03,-2.55921221e-02,
  7.88387409e-03, 4.69651276e-03,-7.84288298e-03, 2.70751921e-02,
  1.23407018e-02, 2.79652314e-02,-8.37621989e-03, 2.64606102e-02,
  7.99638505e-01, 6.82886938e-03, 7.06403477e-01, 4.71848877e-02,
  5.93630438e-02,-7.65120483e-02, 1.71458114e-01, 9.99695285e-01,
  2.32526014e-02,-8.13793298e-04,-8.24570977e-03]

qacc:
[  1.40777404,  0.46549542, -2.59167607,  5.22608955,  3.54286636,
   0.69154115, -1.40898909, -1.02048462,  0.84298456,  1.53270031,
  -8.50854829, 19.34959079, -1.63255855,  2.75641911,-14.78814156,
  45.60387827, -2.283613  ,  1.00226372, -0.49676649, -9.44234455,
 -20.47348912,  4.2949972 ]

qfrc_actuator:
[ 5.54850181e-05, 9.38786604e-04, 1.12033896e-04,-1.10374997e-04,
  2.97301768e-05, 6.15781479e-05,-4.55731016e-05,-3.70082214e-05,
 -9.70366022e-05, 8.29745359e-04, 2.54539801e-04, 1.30608535e-04,
  5.31321346e-02,-8.56875739e-04, 4.35584804e-02,-3.38622381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005686189424792404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95249040e-13,  9.76245198e-14,  1.00000000e+00,  1.90610937e-26,
        1.00000000e+00, -9.76245198e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95249040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623673, -0.0922101 ,  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:
[ 8.45180152e-06,-3.03444803e-05,-1.66138924e-05, 4.61056262e-06,
  2.08034152e-05, 1.82038402e-05,-1.10996493e-05,-7.57724565e-06,
  5.09517008e-06,-4.00393106e-05,-2.24666949e-05, 2.76079065e-05,
 -3.65565546e-04,-6.46045250e-05,-2.24275394e-04, 1.55825189e-04,
 -1.62106618e-06, 8.24571638e-06,-4.90502769e+00, 2.76941894e-04,
  1.18367143e-02,-5.59363966e-04]


--- Step 395 ---
qpos:
[ 1.87056808e-02, 3.01414885e-02,-9.49221784e-03,-2.55930019e-02,
  7.88435491e-03, 4.69670748e-03,-7.84336107e-03, 2.70740629e-02,
  1.23406350e-02, 2.79655965e-02,-8.37590211e-03, 2.64615694e-02,
  8.00775282e-01, 6.82973081e-03, 7.07608993e-01, 4.71895593e-02,
  5.93512238e-02,-7.64310845e-02, 1.71452191e-01, 9.99704541e-01,
  2.28653325e-02,-8.64620793e-04,-8.20115559e-03]

qacc:
[ -2.10747796,  0.71786261, -4.30241912, 10.93596461, -0.91946964,
   1.85451334, -5.43986127,  4.56457531,  3.3409497 ,  2.29453838,
  -5.36475488, -1.28489197, -1.649152  ,  2.69606348,  3.7070705 ,
 -17.44965443, -2.25809688,  0.99479202, -0.60223848, -9.42861636,
 -20.24705329,  4.10615053]

qfrc_actuator:
[ 4.25884803e-05, 9.51041611e-04, 1.18338124e-04,-8.96416344e-05,
  2.39073525e-05, 9.35226092e-05,-6.79344453e-05,-4.02991734e-05,
 -7.67458414e-05, 8.86542058e-04, 2.18228919e-04, 1.09349504e-04,
  5.30293052e-02,-8.49491762e-04, 4.34320657e-02,-3.51227366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005599361613212034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623955, -0.09221224,  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:
[-1.26630037e-05,-7.97402765e-06,-1.85600135e-06, 1.89499366e-05,
 -5.22449491e-06, 3.95245555e-05,-2.02265015e-05,-3.04043094e-06,
  2.04271881e-05, 3.09356729e-05,-4.64105208e-05,-2.32209027e-05,
 -3.53833039e-04,-7.12003514e-05,-2.18836581e-04,-1.47800061e-04,
 -2.61002461e-06,-1.03162188e-05,-4.90502838e+00, 2.76843221e-04,
  1.18430445e-02,-5.50757332e-04]


--- Step 396 ---
qpos:
[ 1.87046523e-02, 3.01424214e-02,-9.49239804e-03,-2.55939886e-02,
  7.88441747e-03, 4.69719787e-03,-7.84379525e-03, 2.70725364e-02,
  1.23404669e-02, 2.79670689e-02,-8.37585040e-03, 2.64617933e-02,
  8.01909942e-01, 6.83097301e-03, 7.08812196e-01, 4.71899850e-02,
  5.93477757e-02,-7.63575646e-02, 1.71450830e-01, 9.99712736e-01,
  2.25149519e-02,-8.77224780e-04,-8.17019734e-03]

qacc:
[ -4.24761756, -0.29127151,  1.54086301, -3.47798525, -3.68347171,
  -0.54267566,  4.19173279,-11.36874011, -0.89096846,  0.69504758,
   2.75289179,-15.87243685, -1.93707693,  3.58750078,  9.54451716,
 -38.05924398,  2.09296203, -1.86098895,  1.14029975, 18.28819497,
  19.10147446, -7.25324696]

qfrc_actuator:
[ 1.74586992e-05, 9.58076652e-04, 1.22215515e-04,-9.48301546e-05,
  2.52978656e-06, 1.12350610e-04,-6.30978483e-05,-5.95269866e-05,
 -8.25350910e-05, 1.00894665e-03, 2.32375902e-04, 7.87276218e-05,
  5.29321251e-02,-8.27746312e-04, 4.33076111e-02,-3.73043276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.08358241,  5.16761036, -3.21026138,  5.16761036, 18.98547722,
       20.76839151, -3.21026138, 20.76839151, 39.51480256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005581599332562526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94538445e-14, -9.94538445e-14,  1.00000000e+00, -9.89106719e-27,
        1.00000000e+00,  9.94538445e-14, -1.00000000e+00,  0.00000000e+00,
       -9.94538445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457503, -0.05161609,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55048240e-05, 2.97279032e-06, 2.65242045e-06,-5.22406889e-06,
 -2.15113031e-05, 3.66212737e-05, 1.04105588e-05,-1.82896734e-05,
 -5.17475782e-06, 1.29109983e-04, 1.40063252e-05,-3.13584516e-05,
 -3.42288550e-04,-5.52663669e-05,-2.49879949e-04,-2.56522616e-04,
  4.98860679e-07,-3.07989488e-05,-4.90503026e+00, 2.75869865e-04,
  1.18499186e-02,-5.41762012e-04]


--- Step 397 ---
qpos:
[ 1.87036754e-02, 3.01429984e-02,-9.49263682e-03,-2.55949742e-02,
  7.88387826e-03, 4.69802163e-03,-7.84392290e-03, 2.70707679e-02,
  1.23395420e-02, 2.79692358e-02,-8.37553047e-03, 2.64613173e-02,
  8.03042522e-01, 6.83276949e-03, 7.10012621e-01, 4.71896860e-02,
  5.93524465e-02,-7.62913012e-02, 1.71452795e-01, 9.99719963e-01,
  2.21996714e-02,-8.52499634e-04,-8.15123680e-03]

qacc:
[  0.44636631, -0.30547369,  0.40085702, -0.02614173, -5.29012995,
  -0.90412446,  4.90273349, -9.84622412, -6.45411973, -1.26002396,
   8.80112313,-21.87703282, -1.92595658,  3.74699615, -1.79249226,
   0.60573843,  2.02971347, -1.81410477,  0.8314717 , 17.39816061,
  18.66710392, -6.43671698]

qfrc_actuator:
[ 2.08420033e-05, 9.08654653e-04, 1.06838702e-04,-9.74844917e-05,
 -2.78234516e-05, 1.41026491e-04,-4.22959341e-05,-7.02147057e-05,
 -1.21385832e-04, 1.02787818e-03, 2.41003050e-04, 4.29534912e-05,
  5.28384093e-02,-7.97671749e-04, 4.32057252e-02,-3.75243509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24467089, -6.10273019,  1.32385752, -6.10273019,  7.63829165,
        6.4243254 ,  1.32385752,  6.4243254 , 35.85958347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775009916829943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61230405e-14, -9.61230405e-14,  1.00000000e+00, -9.23963892e-27,
        1.00000000e+00,  9.61230405e-14, -1.00000000e+00,  0.00000000e+00,
       -9.61230405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457708, -0.05162516,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63855444e-06,-4.74705980e-05,-1.46214225e-05,-2.53524054e-06,
 -3.09514442e-05, 5.05046101e-05, 2.90196374e-05,-9.10990119e-06,
 -3.89520316e-05, 9.26233394e-05, 3.59185389e-05,-3.03706189e-05,
 -3.28592080e-04,-4.23371414e-05,-2.52590330e-04,-7.01517748e-05,
 -2.08818976e-06,-1.05228509e-05,-4.90502767e+00, 2.81627792e-04,
  1.18395464e-02,-5.33351331e-04]


--- Step 398 ---
qpos:
[ 1.87030914e-02, 3.01427700e-02,-9.49252209e-03,-2.55962988e-02,
  7.88332427e-03, 4.69913947e-03,-7.84383760e-03, 2.70699322e-02,
  1.23395376e-02, 2.79714376e-02,-8.37531683e-03, 2.64601831e-02,
  8.04173300e-01, 6.83456396e-03, 7.11210304e-01, 4.71880342e-02,
  5.93650176e-02,-7.62321250e-02, 1.71456999e-01, 9.99726296e-01,
  2.19179931e-02,-7.91240576e-04,-8.14298463e-03]

qacc:
[  3.39459095, -2.75777658,  9.70363761,-15.52191539, -0.12771844,
   1.71428696, -9.48654851, 25.07381649,  7.84166639, -1.02711223,
   6.48179988,-17.70060975, -1.19850286,  1.69594395,  0.10320984,
  -6.08883433,  1.97509707, -1.77181574,  0.55985346, 16.65289406,
  18.27954863, -5.77617484]

qfrc_actuator:
[ 4.09844565e-05, 8.43478965e-04, 1.15495899e-04,-1.16436110e-04,
 -2.77060132e-05, 1.57702490e-04,-2.99476499e-05,-2.25167969e-05,
 -7.28616716e-05, 9.66943149e-04, 2.10385170e-04, 4.34668628e-06,
  5.27574967e-02,-7.98430810e-04, 4.30802252e-02,-3.81834004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34772395, -6.25098057,  1.10401145, -6.25098057,  7.55611823,
        6.84200253,  1.10401145,  6.84200253, 45.087562  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005898461431729091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41112388e-14, -9.41112388e-14,  1.00000000e+00, -8.85692527e-27,
        1.00000000e+00,  9.41112388e-14, -1.00000000e+00,  0.00000000e+00,
       -9.41112388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457792, -0.05163159,  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:
[ 2.02021059e-05,-9.48609247e-05,-3.03640132e-06,-2.15377349e-05,
 -7.45334414e-07, 5.04872886e-05, 2.60369252e-05, 5.06927256e-05,
  4.74207512e-05,-3.11907554e-06,-8.13933379e-06,-3.39888161e-05,
 -3.03906465e-04,-6.89138973e-05,-2.55556135e-04,-1.03751058e-04,
 -1.09592837e-06, 5.52347216e-06,-4.90502559e+00, 2.85457897e-04,
  1.18313735e-02,-5.25786068e-04]


--- Step 399 ---
qpos:
[ 1.87024086e-02, 3.01418668e-02,-9.49206309e-03,-2.55975107e-02,
  7.88312093e-03, 4.70029406e-03,-7.84372904e-03, 2.70697211e-02,
  1.23394262e-02, 2.79729718e-02,-8.37483861e-03, 2.64590075e-02,
  8.05302250e-01, 6.83638469e-03, 7.12405069e-01, 4.71861900e-02,
  5.93853023e-02,-7.61798855e-02, 1.71462495e-01, 9.99731792e-01,
  2.16686646e-02,-6.94144683e-04,-8.14439809e-03]

qacc:
[-0.82496623,-1.61999618, 4.00940696,-2.11536616, 3.08515957, 1.26354823,
 -7.08248875,17.84012606,-0.89336077,-1.70551807, 4.97908277,-5.63184525,
 -1.19109917, 1.68901078,-3.66574048, 6.71859801, 1.92839   ,-1.73417983,
  0.32293737,16.0299026 ,17.93896867,-5.24043623]

qfrc_actuator:
[ 3.53151580e-05, 8.22700855e-04, 1.38184852e-04,-1.09321183e-04,
 -9.65246070e-06, 1.31579241e-04,-4.04531949e-05, 5.87653240e-06,
 -7.98030401e-05, 8.93975185e-04, 2.09745392e-04,-2.16177540e-07,
  5.26630127e-02,-7.99602822e-04, 4.29566310e-02,-3.82090537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40254094, -6.35134233,  0.80807246, -6.35134233,  7.21794461,
        6.40896467,  0.80807246,  6.40896467, 56.77615323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005964107954626457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457776, -0.05163591,  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:
[-5.11170991e-06,-7.53536955e-05, 1.98200527e-06, 2.53157136e-06,
  1.80468299e-05, 9.62027020e-06, 4.87209179e-06, 3.24435797e-05,
 -5.54270935e-06,-7.79131910e-05,-3.49026171e-06,-5.64446979e-06,
 -3.06667561e-04,-6.80629696e-05,-2.58420790e-04,-4.25946324e-05,
  3.20189301e-06, 1.78051392e-05,-4.90502416e+00, 2.87677408e-04,
  1.18249043e-02,-5.19020637e-04]


--- Step 400 ---
qpos:
[ 1.87020078e-02, 3.01407833e-02,-9.49159135e-03,-2.55979786e-02,
  7.88244592e-03, 4.70110287e-03,-7.84346136e-03, 2.70688572e-02,
  1.23385437e-02, 2.79737972e-02,-8.37375984e-03, 2.64581141e-02,
  8.06429120e-01, 6.83862981e-03, 7.13597394e-01, 4.71835009e-02,
  5.94131422e-02,-7.61344502e-02, 1.71468462e-01, 9.99736493e-01,
  2.14506403e-02,-5.61815195e-04,-8.15463134e-03]

qacc:
[  2.42206579,  1.25379341, -7.95710388, 20.93603345, -4.13881723,
  -2.23776819, 10.08609478,-21.3996215 , -6.54134962, -2.0214775 ,
   4.6780621 , -0.25310621, -1.81356016,  3.34573492, -0.93764877,
  -1.68125164,  1.88881209, -1.70104322,  0.11765516, 15.50995804,
  17.64371695, -4.80454014]

qfrc_actuator:
[ 4.99985422e-05, 8.46505294e-04, 1.51408069e-04,-6.91299022e-05,
 -3.44546415e-05, 7.99161420e-05,-4.68139001e-05,-3.06357233e-05,
 -1.19364311e-04, 8.67733893e-04, 2.44516757e-04, 1.52939062e-05,
  5.25444756e-02,-7.83297448e-04, 4.28609236e-02,-3.85709667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005982502296943831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27891850e-14, -9.27891850e-14,  1.00000000e+00, -8.60983285e-27,
        1.00000000e+00,  9.27891850e-14, -1.00000000e+00,  0.00000000e+00,
       -9.27891850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457675, -0.05163853,  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:
[ 1.45105765e-05,-1.77843286e-05,-1.99930266e-06, 3.70870028e-05,
 -2.42874985e-05,-4.39231117e-05,-2.66591526e-06,-3.53031117e-05,
 -3.97455255e-05,-7.08345220e-05, 1.80312629e-05, 1.19389123e-05,
 -3.32202931e-04,-5.11497770e-05,-2.24598434e-04,-7.30757740e-05,
  1.05906871e-05, 2.66900264e-05,-4.90502344e+00, 2.88523459e-04,
  1.18197695e-02,-5.13017957e-04]


--- Step 401 ---
qpos:
[ 1.87021308e-02, 3.01396288e-02,-9.49130959e-03,-2.55979620e-02,
  7.88113409e-03, 4.70164000e-03,-7.84326880e-03, 2.70675703e-02,
  1.23382272e-02, 2.79744883e-02,-8.37281642e-03, 2.64580806e-02,
  8.07553912e-01, 6.84113955e-03, 7.14787550e-01, 4.71782885e-02,
  5.94484045e-02,-7.60957035e-02, 1.71474191e-01, 9.99740431e-01,
  2.12630489e-02,-3.94767595e-04,-8.17299574e-03]

qacc:
[  4.48899619,  1.4264426 , -7.27704916, 16.02203169, -5.60015078,
  -1.00893165,  4.88099266,-11.90102461,  4.82250347,  1.96167764,
 -10.89820987, 26.11144528, -1.73178692,  2.99971769,  4.52855479,
 -20.24475067,  1.85558876, -1.67213363, -0.05924628, 15.07676785,
  17.3911427 , -4.44853003]

qfrc_actuator:
[ 7.65523941e-05, 8.43576965e-04, 1.41393021e-04,-4.52743167e-05,
 -6.65355742e-05, 6.65548577e-05,-5.08328649e-05,-5.18057987e-05,
 -8.90275295e-05, 8.87589607e-04, 2.46835107e-04, 6.02931570e-05,
  5.24328983e-02,-7.74666903e-04, 4.27607072e-02,-3.98374463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005962744839290851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30966404e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.30966404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457506, -0.05163978,  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:
[ 2.69721337e-05,-1.16571223e-05,-1.26431840e-05, 2.37490950e-05,
 -3.27849112e-05,-4.00260423e-05,-1.46515300e-05,-2.38311193e-05,
  2.91485035e-05,-1.55763256e-05,-9.69911450e-06, 4.28191796e-05,
 -3.38196856e-04,-6.18455556e-05,-2.19174396e-04,-1.61385118e-04,
  2.09040323e-05, 3.24673819e-05,-4.90502349e+00, 2.88172958e-04,
  1.18156932e-02,-5.07747813e-04]


--- Step 402 ---
qpos:
[ 1.87022265e-02, 3.01386051e-02,-9.49120779e-03,-2.55983771e-02,
  7.88013755e-03, 4.70206634e-03,-7.84325540e-03, 2.70667167e-02,
  1.23382764e-02, 2.79753511e-02,-8.37254573e-03, 2.64582386e-02,
  8.08676899e-01, 6.84338333e-03, 7.15974868e-01, 4.71729063e-02,
  5.94909788e-02,-7.60635452e-02, 1.71479077e-01, 9.99743623e-01,
  2.11051657e-02,-1.93436467e-04,-8.19892823e-03]

qacc:
[ -0.2416793 , -0.21258047,  2.8277319 ,-10.09782578,  2.77021752,
   1.24089747, -6.47551132, 14.35180263,  3.09358965,  2.49536942,
  -9.38705954, 13.66133286, -0.88478552,  0.71510891, -3.64105682,
   6.74140303,  1.82798672, -1.64712055, -0.21097791, 14.71661523,
  17.17810999, -4.15646338]

qfrc_actuator:
[ 7.43685951e-05, 8.60077075e-04, 1.35385275e-04,-6.67635453e-05,
 -4.93720487e-05, 7.62388747e-05,-5.32762006e-05,-2.82340835e-05,
 -7.10384624e-05, 8.99307061e-04, 2.12424693e-04, 6.90376078e-05,
  5.23522006e-02,-7.88403874e-04, 4.26365458e-02,-3.98512402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005912636620857281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38856128e-14, -1.87771226e-13,  1.00000000e+00, -1.76290166e-26,
        1.00000000e+00,  1.87771226e-13, -1.00000000e+00,  0.00000000e+00,
       -9.38856128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457283, -0.05163997,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39889050e-06, 8.43461919e-06,-9.14184644e-06,-2.19624972e-05,
  1.62194247e-05,-1.67769201e-05,-1.33448646e-05, 2.08883086e-05,
  1.88404442e-05, 2.81173009e-06,-3.73615281e-05, 8.56983156e-06,
 -3.13388221e-04,-8.69309590e-05,-2.51179261e-04,-4.05006416e-05,
  3.40148008e-05, 3.53632165e-05,-4.90502434e+00, 2.86757700e-04,
  1.18124683e-02,-5.03185545e-04]


--- Step 403 ---
qpos:
[ 1.87026403e-02, 3.01376565e-02,-9.49088804e-03,-2.55994123e-02,
  7.88004413e-03, 4.70229921e-03,-7.84325592e-03, 2.70661509e-02,
  1.23375072e-02, 2.79764889e-02,-8.37276459e-03, 2.64581288e-02,
  8.09798037e-01, 6.84548076e-03, 7.17159999e-01, 4.71653773e-02,
  5.95407744e-02,-7.60378895e-02, 1.71482600e-01, 9.99746080e-01,
  2.09763900e-02, 4.18174579e-05,-8.23196616e-03]

qacc:
[  2.73377695, -1.79309831,  9.13926212,-20.25184145,  7.94788199,
   0.36014787, -2.89696893,  8.0709966 , -6.99412458,  1.1939755 ,
  -2.57563579, -1.50466679, -1.14387571,  1.3912507 ,  3.31952762,
 -16.16282004,  1.80533196, -1.62565303, -0.34057983, 14.41800327,
  17.00132351, -3.91561065]

qfrc_actuator:
[ 9.07890031e-05, 8.70308036e-04, 1.49600518e-04,-9.69847454e-05,
 -3.35923138e-06, 6.41925884e-05,-5.46400717e-05,-1.40095783e-05,
 -1.13742029e-04, 9.23642039e-04, 1.92073802e-04, 5.63535391e-05,
  5.22581262e-02,-7.97384001e-04, 4.25460877e-02,-4.09021259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838827696783844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90144851e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90144851e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03457017, -0.05163932,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63870777e-05, 1.21551071e-05, 1.40831644e-05,-3.06010316e-05,
  4.64675700e-05,-2.32975746e-05,-5.75422745e-06, 1.34505815e-05,
 -4.21457249e-05, 1.85289715e-05,-2.40897038e-05,-1.36931879e-05,
 -3.15609390e-04,-8.06958626e-05,-2.16092262e-04,-1.40985990e-04,
  4.98280109e-05, 3.55528063e-05,-4.90502603e+00, 2.84375766e-04,
  1.18099388e-02,-4.99311007e-04]


--- Step 404 ---
qpos:
[ 1.87032480e-02, 3.01367233e-02,-9.49065506e-03,-2.56007728e-02,
  7.88015815e-03, 4.70228285e-03,-7.84351655e-03, 2.70657846e-02,
  1.23355433e-02, 2.79773863e-02,-8.37248703e-03, 2.64578654e-02,
  8.10917136e-01, 6.84758788e-03, 7.18342908e-01, 4.71581667e-02,
  5.95977180e-02,-7.60186634e-02, 1.71484320e-01, 9.99747801e-01,
  2.08762254e-02, 3.10700443e-04,-8.27172715e-03]

qacc:
[  1.65944888, -0.41050628,  2.85721494, -8.34568206,  1.82117758,
   0.80470203, -4.19545591,  8.25347189,-10.16402162, -2.0013336 ,
   7.35759247,-10.66837969, -1.33061475,  1.85312008, -4.17426924,
  10.01077439,  1.78701683, -1.60738265, -0.45085601, 14.1713234 ,
  16.85752616, -3.71580981]

qfrc_actuator:
[ 1.00284865e-04, 8.59028360e-04, 1.40118360e-04,-1.14331211e-04,
  5.99133225e-06, 3.92351157e-05,-7.32024581e-05,-5.42120602e-06,
 -1.74070768e-04, 9.02117733e-04, 2.15749811e-04, 4.89476828e-05,
  5.21401172e-02,-8.03523230e-04, 4.24758951e-02,-4.06020293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746955849443985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65922702e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.65922702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03456719, -0.05163802,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98127176e-06,-2.84688631e-06,-6.28738047e-06,-1.69317710e-05,
  1.06626665e-05,-3.85888250e-05,-2.36215269e-05, 7.65146328e-06,
 -6.15537074e-05,-1.67811763e-05, 2.40529210e-05,-7.71203298e-06,
 -3.39554508e-04,-7.76071457e-05,-1.93281593e-04,-7.52482977e-06,
  6.82750708e-05, 3.31707324e-05,-4.90502856e+00, 2.81100074e-04,
  1.18079864e-02,-4.96107722e-04]


--- Step 405 ---
qpos:
[ 1.87036202e-02, 3.01359572e-02,-9.49090513e-03,-2.56019769e-02,
  7.88003871e-03, 4.70214848e-03,-7.84406022e-03, 2.70655090e-02,
  1.23339047e-02, 2.79780906e-02,-8.37189189e-03, 2.64571764e-02,
  8.12034196e-01, 6.84965859e-03, 7.19522918e-01, 4.71527310e-02,
  5.96617517e-02,-7.60058052e-02, 1.71483863e-01, 9.99748778e-01,
  2.08042636e-02, 6.12979268e-04,-8.31789307e-03]

qacc:
[ -2.03701905,  1.89742201, -7.09513346, 10.43771519, -2.06066177,
   0.82607689, -3.54801896,  5.65092878,  2.78561008, -2.02482873,
   8.63735131,-16.36081544, -1.19675923,  1.50430652, -9.59068527,
  27.48001457,  1.7725005 , -1.59197676, -0.54434848, 13.96855812,
  16.74361289, -3.548948  ]

qfrc_actuator:
[ 8.78704125e-05, 8.70377312e-04, 1.16635310e-04,-1.06247105e-04,
 -6.32104029e-06, 4.21693524e-05,-8.40795744e-05,-2.41334590e-07,
 -1.55507629e-04, 8.88988331e-04, 2.29546540e-04, 2.69490068e-05,
  5.20344602e-02,-8.08055433e-04, 4.23380569e-02,-3.96849339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005641773334622985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83930901e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.83930901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03456398, -0.05163623,  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:
[-1.21206103e-05, 7.76918913e-06,-2.54209828e-05, 7.41903480e-06,
 -1.20221841e-05,-2.31881916e-05,-2.14892744e-05, 2.85877617e-06,
  1.67540605e-05,-1.79383769e-05, 1.30134122e-05,-2.20355102e-05,
 -3.41610983e-04,-8.07071691e-05,-2.36313071e-04, 6.43832576e-05,
  8.93091380e-05, 2.83188857e-05,-4.90503196e+00, 2.76984777e-04,
  1.18065210e-02,-4.93562215e-04]


--- Step 406 ---
qpos:
[ 1.87041853e-02, 3.01356768e-02,-9.49191773e-03,-2.56027513e-02,
  7.88011767e-03, 4.70184416e-03,-7.84447847e-03, 2.70656210e-02,
  1.23331897e-02, 2.79790956e-02,-8.37136501e-03, 2.64565372e-02,
  8.13149246e-01, 6.85141691e-03, 7.20700325e-01, 4.71489933e-02,
  5.97157322e-02,-7.59881248e-02, 1.71486169e-01, 9.99750228e-01,
  2.07117829e-02, 8.67139463e-04,-8.35170208e-03]

qacc:
[  1.62335163,  3.65552474,-13.91592612, 22.20789641,  1.75254823,
   0.21916958, -2.74935101,  9.38679271,  7.86490947,  0.67580471,
  -2.07055324,  2.85206634, -0.91636813,  0.619226  , -8.94254696,
  25.79233599, -2.51328513,  1.20553431,  0.69082474,-10.06552429,
 -24.01021601,  6.6731233 ]

qfrc_actuator:
[ 9.81667368e-05, 9.12898020e-04, 8.51826960e-05,-8.32562216e-05,
  4.23202247e-06, 4.40544514e-05,-7.24659208e-05, 2.06749584e-05,
 -1.08404263e-04, 9.34202739e-04, 2.37395972e-04, 3.20335213e-05,
  5.19256360e-02,-8.29333822e-04, 4.22343334e-02,-3.87685307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.12232359,  4.9873568 , -3.55093203,  4.9873568 , 21.93769417,
       22.21301208, -3.55093203, 22.21301208, 37.32095427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005628187769556453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86305957e-14, -9.86305957e-14,  1.00000000e+00, -9.72799440e-27,
        1.00000000e+00,  9.86305957e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86305957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.096219  , -0.09224219,  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:
[ 9.94941802e-06, 4.19604542e-05,-3.27075327e-05, 2.25938665e-05,
  1.02040589e-05,-1.53906320e-05, 4.28494322e-06, 1.92373183e-05,
  4.75916802e-05, 3.68966747e-05, 4.96840638e-06, 4.33483017e-06,
 -3.46939913e-04,-9.82582733e-05,-2.11349543e-04, 6.33941701e-05,
  1.12901373e-04, 2.10728238e-05,-4.90503625e+00, 2.72070027e-04,
  1.18054735e-02,-4.91663477e-04]


--- Step 407 ---
qpos:
[ 0.01870487, 0.03013573,-0.00949304,-0.02560292, 0.00788032, 0.00470136,
 -0.00784504, 0.02706635, 0.0123327 , 0.02797943,-0.00837009, 0.02645672,
  0.81426231, 0.00685265, 0.72187516, 0.0471496 , 0.0597599 ,-0.07596576,
  0.17149018, 0.99975217, 0.02059886, 0.0010749 ,-0.00837463]

qacc:
[  1.01236155,  1.97851642, -8.95560498, 19.27876222,  1.1055044 ,
   1.43785969, -8.06881515, 19.08014106,  1.96657769, -1.29174765,
  -0.17779798, 13.76405158, -0.5818895 , -0.32641543,-16.9394142 ,
  53.76000072, -2.45252121,  1.17052439,  0.42655165,-10.03235504,
 -23.16732595,  5.91429961]

qfrc_actuator:
[ 1.04002757e-04, 9.38231238e-04, 8.49263197e-05,-5.16572083e-05,
  1.04132281e-05, 2.76565721e-05,-8.31583150e-05, 5.07000902e-05,
 -9.81630972e-05, 8.54233164e-04, 2.59688470e-04, 7.08151448e-05,
  5.18203083e-02,-8.60369387e-04, 4.21511563e-02,-3.64386628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23482285, -3.7170367 ,  5.00566221, -3.7170367 , 28.97922518,
       16.88922959,  5.00566221, 16.88922959, 18.77619773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005763205187385018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92639857e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92639857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09621195, -0.09224443,  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:
[ 6.14306562e-06, 4.30345681e-05, 5.17911495e-06, 3.27079729e-05,
  6.46484893e-06,-2.32756339e-05,-1.26703384e-05, 2.98891802e-05,
  1.16533304e-05,-5.81514421e-05, 3.06568545e-05, 4.06149577e-05,
 -3.50096072e-04,-1.11745164e-04,-1.80702954e-04, 2.07597268e-04,
  7.93250809e-05, 2.49456387e-05,-4.90502796e+00, 2.81215129e-04,
  1.18044042e-02,-4.89017795e-04]


--- Step 408 ---
qpos:
[ 0.01870527, 0.03013597,-0.00949387,-0.02560204, 0.0078806 , 0.00470064,
 -0.0078454 , 0.02706707, 0.01233234, 0.027979  ,-0.00836867, 0.02645743,
  0.81537322, 0.00685412, 0.72304756, 0.04715331, 0.05979448,-0.07593884,
  0.17149497, 0.99975461, 0.02046561, 0.00123771,-0.00838785]

qacc:
[ -2.39460484,  1.62762047, -9.87471316, 27.55660367,  0.64914741,
  -0.91806601,  2.85522295, -3.16189295,  1.10230335, -0.34045272,
  -2.4372009 , 11.73942323, -1.50789565,  2.39416521,-12.85666106,
  39.98393323, -2.39911064,  1.14095086,  0.19534975, -9.98661955,
 -22.45513699,  5.30309179]

qfrc_actuator:
[ 8.94066833e-05, 9.53213374e-04, 1.03039728e-04, 2.51619506e-06,
  1.39645648e-05, 1.81180840e-05,-7.15071061e-05, 5.03028852e-05,
 -9.19591154e-05, 7.88770978e-04, 2.54350825e-04, 9.35146366e-05,
  5.17224749e-02,-8.43665252e-04, 4.20377920e-02,-3.48917293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29890997, -3.52201806,  5.22222707, -3.52201806, 37.43703992,
       21.00043803,  5.22222707, 21.00043803, 20.46220103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00058399984857746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50533658e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.50533658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620738, -0.09224666,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44025814e-05, 4.15282728e-05, 2.87829254e-05, 5.68343988e-05,
  3.72620367e-06,-2.38659540e-05, 6.32728034e-06,-1.25091382e-06,
  6.52502286e-06,-8.99325344e-05,-1.21885291e-05, 2.20540746e-05,
 -3.46698097e-04,-6.68905846e-05,-1.81582378e-04, 1.41075507e-04,
  5.25874027e-05, 2.60732711e-05,-4.90502140e+00, 2.88041257e-04,
  1.18041928e-02,-4.85996409e-04]


--- Step 409 ---
qpos:
[ 0.01870515, 0.03013678,-0.00949512,-0.0256012 , 0.00788057, 0.00470002,
 -0.00784545, 0.02706738, 0.01233206, 0.02797811,-0.00836711, 0.02645801,
  0.81648199, 0.00685581, 0.72421793, 0.04715647, 0.05981964,-0.07590745,
  0.17149975, 0.99975754, 0.02031214, 0.00135679,-0.00839233]

qacc:
[-4.50864104e+00, 1.83096456e+00,-5.25823444e+00, 4.73223389e+00,
 -2.67371811e+00,-1.54231274e+00, 7.39088454e+00,-1.49443816e+01,
  6.68436258e-01,-1.22986644e+00, 4.00511049e+00,-5.91756749e+00,
 -1.66217020e+00, 2.73047531e+00,-1.27063162e+00, 3.17107258e-01,
 -2.35263651e+00, 1.11618715e+00,-5.53073566e-03,-9.93592190e+00,
 -2.18557621e+01, 4.80965489e+00]

qfrc_actuator:
[ 6.29026372e-05, 9.79736804e-04, 7.85574922e-05,-1.47476385e-06,
 -1.81174871e-06, 4.83288797e-05,-4.67481893e-05, 3.20296532e-05,
 -8.81687359e-05, 7.85628028e-04, 2.68247680e-04, 8.87892761e-05,
  5.16132463e-02,-8.34370807e-04, 4.19276978e-02,-3.52396338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32315131, -3.2398292 ,  5.4300782 , -3.2398292 , 48.79403744,
       25.34004338,  5.4300782 , 25.34004338, 21.44216241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005869033403670121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45831237e-14,  9.45831237e-14,  1.00000000e+00, -8.94596729e-27,
        1.00000000e+00, -9.45831237e-14, -1.00000000e+00,  0.00000000e+00,
        9.45831237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620481, -0.09224892,  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:
[-2.69129496e-05, 5.81159041e-05,-1.03890482e-05,-1.10544579e-07,
 -1.56789515e-05, 1.81481375e-05, 2.05759303e-05,-1.91007587e-05,
  3.95023900e-06,-5.50078873e-05,-5.43195340e-06,-8.57597655e-06,
 -3.47015686e-04,-6.73827177e-05,-1.86632906e-04,-5.23480274e-05,
  3.18935800e-05, 2.46586785e-05,-4.90501644e+00, 2.93027844e-04,
  1.18047550e-02,-4.82588609e-04]


--- Step 410 ---
qpos:
[ 0.01870437, 0.03013818,-0.00949666,-0.02560112, 0.00788036, 0.00469967,
 -0.00784559, 0.02706747, 0.01233251, 0.02797667,-0.00836532, 0.02645785,
  0.81758875, 0.00685759, 0.72538584, 0.04715789, 0.05983555,-0.07587167,
  0.1715038 , 0.99976098, 0.02013855, 0.00143315,-0.00838883]

qacc:
[ -5.69663283,  0.06181525,  4.15413699,-17.28068228, -1.66953766,
   0.14303282,  0.95952152, -4.84936655,  6.29723526, -2.92581865,
  12.498254  ,-25.3465662 , -1.46919719,  2.23221711,  1.7150296 ,
 -11.07397784, -2.31256386,  1.0956458 , -0.1790868 , -9.8854643 ,
 -21.35346423,  4.41020079]

qfrc_actuator:
[ 2.96088675e-05, 1.01274865e-03, 6.46216545e-05,-3.96841365e-05,
 -1.10836810e-05, 6.66512199e-05,-4.98027183e-05, 2.11827524e-05,
 -5.03219285e-05, 7.48864414e-04, 2.75880190e-04, 5.02844556e-05,
  5.15185605e-02,-8.29606094e-04, 4.17929890e-02,-3.61678750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005859355041312048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89478708e-13, -9.47393541e-14,  1.00000000e+00, -1.79510904e-26,
        1.00000000e+00,  9.47393541e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89478708e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620384, -0.0922512 ,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40588649e-05, 6.33338152e-05,-3.21179211e-06,-3.60825287e-05,
 -9.71121287e-06, 3.19198904e-05, 2.57560463e-06,-9.72749625e-06,
  3.79429897e-05,-6.90009315e-05,-4.70556823e-06,-4.12200117e-05,
 -3.33137812e-04,-7.19511977e-05,-2.35825623e-04,-1.21975308e-04,
  1.66293595e-05, 2.08626427e-05,-4.90501298e+00, 2.96530008e-04,
  1.18060268e-02,-4.78787110e-04]


--- Step 411 ---
qpos:
[ 0.01870355, 0.03013973,-0.00949765,-0.02560115, 0.00788038, 0.00469923,
 -0.00784562, 0.02706782, 0.01233341, 0.02797571,-0.00836444, 0.02645649,
  0.81869346, 0.00686   , 0.72655119, 0.04715941, 0.05984235,-0.07583158,
  0.17150654, 0.9997649 , 0.01994495, 0.00146766,-0.00837797]

qacc:
[ -0.40142571, -1.58284694,  6.38990609, -9.31790255,  2.0781367 ,
   0.10316106, -1.59870492,  5.82497695,  3.79512459,  0.68871993,
   3.54943955,-23.30554567, -1.95390888,  3.81193765, -3.96564439,
   8.68226811, -2.27831207,  1.07879152, -0.32832537, -9.83873231,
 -20.93457217,  4.08577889]

qfrc_actuator:
[ 2.80945353e-05, 1.01387885e-03, 9.25585990e-05,-4.44338861e-05,
  1.30570459e-06, 4.21109373e-05,-5.15332664e-05, 3.25215622e-05,
 -2.82373343e-05, 8.16477518e-04, 2.44100491e-04,-7.81247618e-06,
  5.14326661e-02,-7.92004573e-04, 4.16968808e-02,-3.60099463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818732646404867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54007592e-14, -1.90801518e-13,  1.00000000e+00, -1.82026097e-26,
        1.00000000e+00,  1.90801518e-13, -1.00000000e+00,  0.00000000e+00,
       -9.54007592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620414, -0.09225352,  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:
[-2.48612026e-06, 3.42951094e-05, 3.93771072e-05,-2.85026036e-06,
  1.21248448e-05,-6.56465810e-06, 4.84948959e-06, 1.26077812e-05,
  2.31727435e-05, 2.63350896e-05,-4.80434642e-05,-6.20208430e-05,
 -3.16811610e-04,-3.67495665e-05,-2.25217303e-04,-2.30124830e-05,
  6.32052574e-06, 1.48106028e-05,-4.90501091e+00, 2.98811208e-04,
  1.18079602e-02,-4.74586987e-04]


--- Step 412 ---
qpos:
[ 0.0187027 , 0.03014123,-0.0094982 ,-0.02560086, 0.0078802 , 0.00469882,
 -0.00784567, 0.02706794, 0.01233388, 0.02797554,-0.00836426, 0.02645508,
  0.81979613, 0.0068629 , 0.72771472, 0.04715761, 0.05984016,-0.07578723,
  0.17150746, 0.99976929, 0.01973142, 0.00146102,-0.00836027]

qacc:
[ -0.087571  , -0.66946922,  0.93923464,  3.91594549, -1.73248879,
  -0.35059744,  2.2243976 , -5.98414502, -3.71121389,  2.89562786,
  -8.61084976,  8.29823446, -1.99220207,  3.77396271,  7.47804905,
 -29.73918164, -2.24929916,  1.06514578, -0.45612487, -9.79798811,
 -20.5873139 ,  3.82129678]

qfrc_actuator:
[ 2.75466372e-05, 9.96099566e-04, 1.09387295e-04,-2.94511322e-05,
 -9.16240836e-06, 4.53672742e-05,-5.26208628e-05, 2.12850586e-05,
 -5.11226922e-05, 8.92642833e-04, 2.25225767e-04,-5.89612316e-06,
  5.13254933e-02,-7.70783175e-04, 4.16133793e-02,-3.76971394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753801691913002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.64773452e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.64773452e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620545, -0.09225587,  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:
[-6.13742339e-07, 9.36615117e-06, 2.86573794e-05, 1.77570086e-05,
 -1.01265492e-05, 1.14706472e-06,-1.40583559e-06,-1.11048847e-05,
 -2.21942835e-05, 7.83484545e-05,-2.14943965e-05, 1.77968953e-07,
 -3.20103610e-04,-4.50908989e-05,-1.96813835e-04,-2.00667751e-04,
  6.02074295e-07, 6.59861470e-06,-4.90501016e+00, 3.00067217e-04,
  1.18105197e-02,-4.69984904e-04]


--- Step 413 ---
qpos:
[ 0.01870152, 0.03014267,-0.00949845,-0.02560072, 0.00788024, 0.00469845,
 -0.00784574, 0.02706759, 0.01233442, 0.02797612,-0.00836474, 0.02645473,
  0.82089673, 0.00686615, 0.72887595, 0.04715278, 0.05982906,-0.07573867,
  0.17150612, 0.99977414, 0.01949804, 0.0014138 ,-0.00833613]

qacc:
[ -2.94836278, -1.18331282,  4.77873604, -7.89182549,  1.9427354 ,
  -0.92321063,  5.41018262,-13.79943169,  0.53711666,  5.03531895,
 -21.0073007 , 39.98125361, -1.81996851,  3.2168018 ,  5.89703418,
 -25.28139021, -2.22496748,  1.05428627, -0.56516145, -9.7646256 ,
 -20.30161409,  3.60473561]

qfrc_actuator:
[ 9.80882253e-06, 9.84863516e-04, 1.19429975e-04,-3.85220205e-05,
  2.49843622e-06, 4.74701634e-05,-5.32389027e-05,-3.12912177e-06,
 -4.70309468e-05, 9.37944886e-04, 1.96497131e-04, 4.91062886e-05,
  5.12109519e-02,-7.59512113e-04, 4.15001861e-02,-3.92149537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005670197882115674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78998483e-14, -9.78998483e-14,  1.00000000e+00, -9.58438029e-27,
        1.00000000e+00,  9.78998483e-14, -1.00000000e+00,  0.00000000e+00,
       -9.78998483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620754, -0.09225823,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77585705e-05, 6.34246922e-07, 1.61099657e-05,-7.33520673e-06,
  1.13739779e-05, 1.98980562e-06,-9.32907637e-07,-2.46286065e-05,
  3.46819625e-06, 8.46838868e-05,-1.51814354e-05, 5.76238632e-05,
 -3.31282837e-04,-5.69502757e-05,-2.35598651e-04,-1.90519629e-04,
 -8.05346207e-07,-3.70159713e-06,-4.90501068e+00, 3.00443728e-04,
  1.18136793e-02,-4.64978559e-04]


--- Step 414 ---
qpos:
[ 0.01870082, 0.03014391,-0.00949847,-0.02560102, 0.00788077, 0.00469811,
 -0.00784581, 0.02706694, 0.012335  , 0.02797725,-0.00836576, 0.02645472,
  0.82199535, 0.00686928, 0.73003425, 0.0471491 , 0.05980914,-0.07568592,
  0.17150214, 0.99977942, 0.01924485, 0.00132649,-0.00830589]

qacc:
[  4.17957367, -1.84634946,  7.99650047,-15.68788801,  4.25945292,
  -0.53432135,  3.15701431, -8.12086347,  0.35715731,  2.90673803,
 -10.74590004, 17.0237617 , -1.1097131 ,  1.24389091, -7.75874263,
  20.96414743, -2.20479753,  1.04584354, -0.65787605, -9.739426  ,
 -20.06888346,  3.426523  ]

qfrc_actuator:
[ 3.53526044e-05, 9.59824725e-04, 1.25387035e-04,-6.16773169e-05,
  2.70975995e-05, 4.88538639e-05,-5.35807103e-05,-1.73439165e-05,
 -4.48312024e-05, 9.46684189e-04, 1.62091648e-04, 6.38525495e-05,
  5.11027168e-02,-7.72003224e-04, 4.13905896e-02,-3.84903784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005572680397306073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96130179e-14, -9.96130179e-14,  1.00000000e+00,  9.92275334e-27,
        1.00000000e+00,  9.96130179e-14, -1.00000000e+00,  0.00000000e+00,
        9.96130179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09621021, -0.09226059,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50217708e-05,-2.17229188e-05, 7.80613626e-06,-2.27155941e-05,
  2.49241583e-05, 1.26716458e-06,-8.92467653e-07,-1.46398274e-05,
  2.33050753e-06, 5.54167139e-05,-1.67889220e-05, 1.89719707e-05,
 -3.34883665e-04,-8.45753025e-05,-2.46634716e-04, 2.97874505e-05,
  1.88650138e-06,-1.60384349e-05,-4.90501240e+00, 3.00049309e-04,
  1.18174197e-02,-4.59566280e-04]


--- Step 415 ---
qpos:
[ 0.01870078, 0.03014483,-0.00949809,-0.0256009 , 0.00788159, 0.00469779,
 -0.00784589, 0.02706613, 0.01233492, 0.02797793,-0.00836616, 0.02645459,
  0.82309197, 0.00687229, 0.73119045, 0.04714085, 0.05979754,-0.07564026,
  0.17150171, 0.99978384, 0.0190259 , 0.00127718,-0.00828598]

qacc:
[ 5.64709217e+00,-6.70812328e-01,-2.47707341e-02, 6.93570797e+00,
  2.55782534e+00,-3.01608136e-01, 1.79274854e+00,-4.62805280e+00,
 -5.65586904e+00,-2.52624560e+00, 8.70010731e+00,-1.14727232e+01,
 -1.39058763e+00, 1.85187102e+00, 1.07828704e+01,-4.20173664e+01,
  2.07745800e+00,-1.77246106e+00, 8.85894400e-01, 1.69682344e+01,
  1.90412998e+01,-5.50681644e+00]

qfrc_actuator:
[ 6.84198322e-05, 9.44428674e-04, 1.46573967e-04,-3.96864497e-05,
  4.13554149e-05, 4.98042746e-05,-5.37505605e-05,-2.54419558e-05,
 -7.92767163e-05, 8.80142238e-04, 1.77680869e-04, 5.47497270e-05,
  5.09983326e-02,-7.80680466e-04, 4.12726405e-02,-4.08881965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20931694,  5.33729906, -3.17314601,  5.33729906, 21.9224318 ,
       26.42979327, -3.17314601, 26.42979327, 50.66479114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005732622547518079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68337803e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.68337803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0345527 , -0.05166033,  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:
[ 3.37856751e-05,-2.69366487e-05, 1.68619910e-05, 2.08855743e-05,
  1.49672229e-05, 8.70690167e-07,-5.19278765e-07,-8.35819862e-06,
 -3.43554205e-05,-3.82337203e-05, 2.56241197e-05,-6.93988716e-06,
 -3.38514967e-04,-8.56408537e-05,-2.33705850e-04,-2.71174973e-04,
  8.51953693e-06,-3.03769678e-05,-4.90501530e+00, 2.98964961e-04,
  1.18217272e-02,-4.53746743e-04]


--- Step 416 ---
qpos:
[ 0.01870113, 0.03014544,-0.00949715,-0.02560053, 0.00788257, 0.00469732,
 -0.0078459 , 0.02706524, 0.01233443, 0.02797794,-0.00836565, 0.02645506,
  0.82418669, 0.00687514, 0.73234433, 0.04712968, 0.05979401,-0.07560152,
  0.17150372, 0.99978747, 0.01883976, 0.00126502,-0.00827525]

qacc:
[  3.42728052, -1.4398166 ,  3.4992565 ,  0.13849013,  1.45504283,
  -0.54319987,  1.97005185, -3.26686066, -3.47318543, -2.21267427,
   4.07343541,  5.2669932 , -1.21087398,  1.47477087,  5.47731943,
 -23.99535614,  2.01987751, -1.73142325,  0.60926691, 16.26108094,
  18.6228413 , -4.92703154]

qfrc_actuator:
[ 8.78838505e-05, 9.35020827e-04, 1.76651694e-04,-2.67934975e-05,
  4.94081746e-05, 3.27415384e-05,-5.38167697e-05,-2.98781841e-05,
 -9.95105355e-05, 8.40203776e-04, 2.22332929e-04, 8.49181450e-05,
  5.09123092e-02,-7.87016858e-04, 4.11816636e-02,-4.22665474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32153784, -6.24837655,  0.95897403, -6.24837655,  7.31728712,
        6.48799261,  0.95897403,  6.48799261, 48.59527983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867101012299036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.034554  , -0.05166661,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04344362e-05,-2.01196100e-05, 2.72970542e-05, 1.27252363e-05,
  8.47878609e-06,-1.70215278e-05,-2.33568398e-07,-4.57745360e-06,
 -2.12539557e-05,-5.63555611e-05, 3.96685610e-05, 2.92825665e-05,
 -3.23125832e-04,-8.40807518e-05,-2.36520318e-04,-1.84840374e-04,
  2.32852611e-06,-1.54257974e-05,-4.90501180e+00, 3.03360943e-04,
  1.18166520e-02,-4.48530588e-04]


--- Step 417 ---
qpos:
[ 0.01870068, 0.03014573,-0.00949635,-0.0256003 , 0.0078833 , 0.00469692,
 -0.00784627, 0.02706432, 0.01233335, 0.02797807,-0.0083649 , 0.02645582,
  0.82527973, 0.00687726, 0.73349556, 0.04712209, 0.05979836,-0.07556957,
  0.17150719, 0.99979036, 0.01868524, 0.00128927,-0.00827279]

qacc:
[ -6.88758385, -0.35408312,  1.2709325 , -3.33552214, -2.26565079,
   1.03895778, -3.36819964,  3.13080943, -4.97467423,  0.1228867 ,
  -1.44421816,  6.13007066, -0.18991776, -1.21554056,-14.76524423,
  45.91174536,  1.97039287, -1.69500397,  0.36759791, 15.66972931,
  18.25501393, -4.4596211 ]

qfrc_actuator:
[ 4.59248404e-05, 8.93806662e-04, 1.58488510e-04,-3.71072298e-05,
  3.59948922e-05, 4.05315362e-05,-7.16469702e-05,-3.21408871e-05,
 -1.28957812e-04, 8.87661547e-04, 2.48376490e-04, 1.02476305e-04,
  5.08320394e-02,-8.27372721e-04, 4.11229437e-02,-4.01909002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.38428274, -6.3516387 ,  0.64478828, -6.3516387 ,  6.94777001,
        5.55076393,  0.64478828,  5.55076393, 61.063389  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005942241943780735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34178577e-14, -9.34178577e-14,  1.00000000e+00, -8.72689614e-27,
        1.00000000e+00,  9.34178577e-14, -1.00000000e+00,  0.00000000e+00,
       -9.34178577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03455419, -0.05167083,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13750679e-05,-4.63101412e-05,-1.85364201e-05,-9.98810285e-06,
 -1.31780647e-05,-1.95084291e-06,-2.15261354e-05,-3.08660554e-06,
 -3.00926025e-05, 2.53763166e-05, 2.02950379e-05, 1.70841646e-05,
 -3.06904129e-04,-1.14897214e-04,-1.95223166e-04, 1.65179721e-04,
 -2.86482465e-07,-4.24448964e-06,-4.90500922e+00, 3.06192601e-04,
  1.18128179e-02,-4.44089233e-04]


--- Step 418 ---
qpos:
[ 0.01869973, 0.03014556,-0.00949596,-0.02560016, 0.00788351, 0.00469678,
 -0.00784729, 0.02706405, 0.01233123, 0.02797844,-0.00836418, 0.02645644,
  0.82637105, 0.00687887, 0.73464484, 0.04711558, 0.05981043,-0.07554427,
  0.1715113 , 0.99979254, 0.01856135, 0.00134929,-0.00827786]

qacc:
[ -4.28777954,  0.37903701, -1.85945747,  1.35489906, -4.52297321,
   3.50280263,-14.8131292 , 27.18453633, -8.81912876,  0.1024799 ,
   0.71719588, -3.30460256, -0.57751697, -0.15977374, -6.11541193,
  17.25599117,  1.92823109, -1.66305513,  0.15790321, 15.17637812,
  17.9356543 , -4.08207981]

qfrc_actuator:
[ 2.14111636e-05, 8.51403507e-04, 1.29592123e-04,-4.33001722e-05,
  1.00569847e-05, 6.30715662e-05,-9.97266150e-05, 2.40475607e-06,
 -1.81348748e-04, 8.98257070e-04, 2.45808012e-04, 9.47735155e-05,
  5.07499448e-02,-8.51992593e-04, 4.10410853e-02,-3.96467234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005968756196232938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.30028793e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.30028793e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03455346, -0.05167341,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57362981e-05,-7.25886514e-05,-4.11006537e-05,-9.01262351e-06,
 -2.63120983e-05, 1.68865600e-05,-3.12291066e-05, 3.36615113e-05,
 -5.32650657e-05, 2.96815163e-05, 5.75242045e-06,-5.58321164e-06,
 -3.03294421e-04,-1.00842344e-04,-1.60488656e-04, 3.68115221e-05,
  4.30161532e-07, 3.54026495e-06,-4.90500759e+00, 3.07698595e-04,
  1.18099402e-02,-4.40388013e-04]


--- Step 419 ---
qpos:
[ 0.01869849, 0.03014481,-0.0094956 ,-0.02560011, 0.00788342, 0.0046966 ,
 -0.00784828, 0.0270642 , 0.01232919, 0.02797876,-0.00836362, 0.02645702,
  0.82746064, 0.00688043, 0.73579191, 0.04711042, 0.05983007,-0.07552551,
  0.17151531, 0.99979405, 0.01846727, 0.00144452,-0.00828987]

qacc:
[-2.4528592 ,-0.83028641, 2.24865469,-3.30004963,-2.74771434, 0.72117022,
 -4.32270735,11.29073961, 0.65566851, 0.32497471,-1.05190149, 0.53903056,
 -1.01190479, 1.21636004,-7.31947979,20.99189972, 1.89261287,-1.63530904,
 -0.02303474,14.76585012,17.66164169,-3.77643153]

qfrc_actuator:
[ 7.38209501e-06, 8.26308155e-04, 1.30099656e-04,-4.70205281e-05,
 -5.28531067e-06, 5.87518145e-05,-9.80303177e-05, 2.28365154e-05,
 -1.75811700e-04, 8.68814813e-04, 2.26233770e-04, 8.99852724e-05,
  5.06774705e-02,-8.49352985e-04, 4.09400496e-02,-3.89455663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005955895264151967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32037062e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.32037062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.034552  , -0.05167466,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48022986e-05,-7.45651670e-05,-1.98590574e-05,-8.42520119e-06,
 -1.60843066e-05, 1.23677543e-07, 2.51801307e-06, 2.07342660e-05,
  3.98690706e-06,-1.19437715e-05,-1.29420155e-05,-3.42793206e-06,
 -2.88374968e-04,-7.09740895e-05,-1.80516220e-04, 4.92349874e-05,
  4.28338295e-06, 8.22198882e-06,-4.90500691e+00, 3.08057086e-04,
  1.18078086e-02,-4.37398700e-04]


--- Step 420 ---
qpos:
[ 0.01869744, 0.030144  ,-0.00949523,-0.02559982, 0.00788383, 0.00469642,
 -0.00784922, 0.02706423, 0.01232724, 0.02797908,-0.0083633 , 0.02645719,
  0.82854841, 0.00688206, 0.73693585, 0.04710889, 0.05985716,-0.07551319,
  0.17151862, 0.9997949 , 0.01840231, 0.0015745 ,-0.00830832]

qacc:
[  1.59269902,  0.32552877, -2.28434787,  6.32596838,  4.45800501,
  -0.3864276 ,  1.77620829, -3.64168206,  0.68894101, -0.20835701,
   2.47087454, -9.19120607, -1.08085128,  1.44470362,-15.54303646,
  47.80268338,  1.86279341, -1.61143888, -0.17842174, 14.42530022,
  17.42942386, -3.52832687]

qfrc_actuator:
[ 1.73837887e-05, 8.65146042e-04, 1.48035154e-04,-3.14687562e-05,
  2.12407095e-05, 5.62453282e-05,-9.66348109e-05, 1.70429061e-05,
 -1.71721149e-04, 8.68802539e-04, 2.14373186e-04, 6.91577800e-05,
  5.05788767e-02,-8.48357999e-04, 4.07903208e-02,-3.70921806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000591160128833701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.39020555e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.39020555e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03454994, -0.05167488,  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:
[ 9.54741209e-06,-7.29905536e-06,-1.95760115e-07, 1.15097948e-05,
  2.60679985e-05,-1.01669358e-06, 2.46257774e-06,-5.29470777e-06,
  4.20569987e-06,-9.53605573e-06,-1.60541885e-05,-2.18576527e-05,
 -2.98956833e-04,-6.52878604e-05,-2.35956740e-04, 1.62822091e-04,
  1.11194055e-05, 1.00299173e-05,-4.90500719e+00, 3.07400763e-04,
  1.18062674e-02,-4.35098297e-04]


--- Step 421 ---
qpos:
[ 0.01869721, 0.03014355,-0.00949461,-0.02559943, 0.00788421, 0.00469661,
 -0.00785057, 0.02706384, 0.012325  , 0.02797922,-0.00836305, 0.02645712,
  0.82963426, 0.00688381, 0.73807666, 0.04710797, 0.0598916 ,-0.07550724,
  0.17152067, 0.9997951 , 0.01836591, 0.00173882,-0.00833284]

qacc:
[ 7.00932804, 0.02540248, 0.13155207, 1.13450031,-0.28980245, 0.78166055,
 -0.21472085,-6.91548804,-2.38768655,-0.48809878, 2.40115479,-6.24534318,
 -1.29806123, 1.88699676,-6.39215171,15.80957047, 1.8380838 ,-1.5910968 ,
 -0.31131091,14.1439132 ,17.2353439 ,-3.32631556]

qfrc_actuator:
[ 5.91989756e-05, 9.24323883e-04, 1.76388005e-04,-2.23910329e-05,
  1.89357599e-05, 9.03306629e-05,-1.13205910e-04,-4.13842837e-06,
 -1.86286329e-04, 8.50912678e-04, 2.07262663e-04, 5.68399119e-05,
  5.04700077e-02,-8.48465886e-04, 4.06168644e-02,-3.68834516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005842653967413486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50101641e-14, -9.50101641e-14,  1.00000000e+00, -9.02693129e-27,
        1.00000000e+00,  9.50101641e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50101641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03454741, -0.05167427,  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:
[ 4.20925687e-05, 5.55797617e-05, 2.72246550e-05, 8.98273838e-06,
 -1.56435767e-06, 3.38254143e-05,-1.66489300e-05,-2.12413927e-05,
 -1.44421895e-05,-2.74960155e-05,-1.18241583e-05,-1.37097811e-05,
 -3.15179308e-04,-6.76542161e-05,-2.69156716e-04,-1.66468753e-06,
  2.08189685e-05, 9.14163527e-06,-4.90500843e+00, 3.05828197e-04,
  1.18052008e-02,-4.33468068e-04]


--- Step 422 ---
qpos:
[ 0.01869645, 0.03014362,-0.00949428,-0.02559926, 0.00788421, 0.00469676,
 -0.00785169, 0.0270632 , 0.0123233 , 0.02797908,-0.0083626 , 0.02645724,
  0.83071815, 0.00688561, 0.7392151 , 0.04710547, 0.05993331,-0.07550758,
  0.17152103, 0.99979463, 0.01835761, 0.00193718,-0.00836311]

qacc:
[-4.5713072 , 1.02135158,-1.72079912,-2.0426481 ,-3.29101848,-1.21378389,
  5.25752893,-9.76633383, 4.5461359 ,-0.60128252, 0.76874106, 2.42190471,
 -1.41248632, 2.07802601, 1.36256348,-9.63695753, 1.81786024,-1.57393704,
 -0.42452924,13.91261384,17.07583512,-3.16126157]

qfrc_actuator:
[ 3.06334075e-05, 9.42034161e-04, 1.57502957e-04,-3.49208679e-05,
 -3.33177335e-07, 7.49664962e-05,-1.04604055e-04,-1.64285217e-05,
 -1.58457842e-04, 8.40231175e-04, 2.20702888e-04, 6.73719574e-05,
  5.03656994e-02,-8.49289026e-04, 4.05198230e-02,-3.76457893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005754808862450805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64604604e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64604604e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03454453, -0.05167303,  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:
[-2.73201903e-05, 5.48206344e-05,-3.74655218e-06,-9.03637867e-06,
 -1.93000321e-05,-7.89056534e-07, 1.28179168e-05,-1.18264591e-05,
  2.73969604e-05,-2.91073370e-05, 5.82374032e-06, 8.67725343e-06,
 -3.22161627e-04,-7.18087612e-05,-2.25526744e-04,-1.12019117e-04,
  3.32916298e-05, 5.69325542e-06,-4.90501063e+00, 3.03412369e-04,
  1.18045226e-02,-4.32492761e-04]


--- Step 423 ---
qpos:
[ 0.01869535, 0.03014413,-0.00949443,-0.02559956, 0.00788433, 0.00469643,
 -0.0078522 , 0.02706245, 0.01232194, 0.0279785 ,-0.00836162, 0.02645748,
  0.8318    , 0.00688749, 0.74035191, 0.04709921, 0.05998223,-0.07551417,
  0.17151931, 0.9997935 , 0.01837701, 0.0021693 ,-0.00839885]

qacc:
[ -2.90518712,  0.93814049, -0.47411839, -7.33166063,  1.03271457,
  -2.55949509,  8.69087842,-11.26561618,  2.97903706, -1.76272087,
   4.93362627, -3.31117074, -1.60861105,  2.46764686,  9.06467541,
 -34.96835098,  1.80156581, -1.55962937, -0.52064658, 13.72380225,
  16.94753019, -3.02587426]

qfrc_actuator:
[ 1.41183285e-05, 9.52331554e-04, 1.28458722e-04,-6.01278010e-05,
  6.08138221e-06, 3.02133875e-05,-8.13848468e-05,-2.34041531e-05,
 -1.41398620e-04, 8.16301329e-04, 2.46206594e-04, 7.35279381e-05,
  5.02535485e-02,-8.50543915e-04, 4.04580224e-02,-3.95039378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005652924370502521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81989986e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.81989986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03454139, -0.0516713 ,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72922369e-05, 3.97781937e-05,-1.84991319e-05,-2.31654140e-05,
  5.86577285e-06,-4.30509941e-05, 2.42393822e-05,-6.79169800e-06,
  1.78521949e-05,-3.86281948e-05, 2.05019548e-05, 5.27655532e-06,
 -3.35076457e-04,-7.44666221e-05,-1.85392533e-04,-2.22801522e-04,
  4.84710188e-05,-2.12445623e-07,-4.90501379e+00, 3.00207056e-04,
  1.18041684e-02,-4.32159980e-04]


--- Step 424 ---
qpos:
[ 0.0186944 , 0.03014483,-0.00949455,-0.02560016, 0.00788418, 0.00469625,
 -0.00785289, 0.02706091, 0.0123208 , 0.0279777 ,-0.00836066, 0.02645746,
  0.8328798 , 0.0068894 , 0.74148698, 0.04708901, 0.06002123,-0.07551581,
  0.17152018, 0.9997929 , 0.018375  , 0.00235426,-0.0084244 ]

qacc:
[  1.32745323, -0.41256976,  3.09945277, -8.45346182, -2.38026115,
  -0.93541459,  6.96415758,-20.51148289,  1.83789963, -0.81775726,
   3.58832556, -7.95654613, -1.56582848,  2.32254159,  9.43203295,
 -36.53070397, -2.48097612,  1.23602747,  0.64793298,-10.52604601,
 -23.57540355,  5.50907535]

qfrc_actuator:
[ 2.26037285e-05, 9.58038181e-04, 1.29125397e-04,-7.48457481e-05,
 -7.93853465e-06, 5.70341804e-05,-8.53664001e-05,-6.27273910e-05,
 -1.30828568e-04, 8.02432019e-04, 2.43057480e-04, 5.92979007e-05,
  5.01474217e-02,-8.52094599e-04, 4.03801044e-02,-4.14588571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.12075618,  4.95872671, -3.58813121,  4.95872671, 25.48008431,
       26.75421042, -3.58813121, 26.75421042, 43.09454836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005626303944508554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86636196e-14, -9.86636196e-14,  1.00000000e+00,  9.73450984e-27,
        1.00000000e+00,  9.86636196e-14, -1.00000000e+00,  0.00000000e+00,
        9.86636196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09619247, -0.09228288,  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:
[ 7.99559928e-06, 2.31190249e-05, 5.80055195e-06,-1.41052339e-05,
 -1.38689387e-05, 7.48389610e-06,-1.01125598e-05,-4.04583118e-05,
  1.10784505e-05,-3.09984858e-05,-8.42781918e-06,-1.50757737e-05,
 -3.37677476e-04,-7.79767617e-05,-1.98151818e-04,-2.34118126e-04,
  6.63109011e-05,-8.49955304e-06,-4.90501791e+00, 2.96251619e-04,
  1.18040898e-02,-4.32459687e-04]


--- Step 425 ---
qpos:
[ 0.01869322, 0.03014596,-0.0094948 ,-0.02560061, 0.00788386, 0.00469625,
 -0.00785369, 0.0270589 , 0.0123198 , 0.02797692,-0.00836015, 0.02645762,
  0.83395764, 0.00689127, 0.74261916, 0.04708052, 0.06005053,-0.07551264,
  0.17152261, 0.99979285, 0.01835176, 0.00249363,-0.00844091]

qacc:
[ -2.03552028,  1.2382367 , -4.23142922,  6.75336156, -1.47446208,
  -0.43148287,  3.86536577,-11.9516742 ,  1.14161817,  1.65923472,
  -6.61188411, 10.34181179, -1.15053263,  1.39600752, -9.3961587 ,
  26.82832031, -2.42257033,  1.20077012,  0.39051035,-10.43120083,
 -22.79498367,  4.91121875]

qfrc_actuator:
[ 1.02274229e-05, 9.96571967e-04, 1.29566368e-04,-6.55025938e-05,
 -1.61283379e-05, 7.31145561e-05,-8.73709245e-05,-8.52289198e-05,
 -1.24159169e-04, 8.12319347e-04, 2.23035255e-04, 6.86782011e-05,
  5.00556349e-02,-8.53803733e-04, 4.02712827e-02,-4.04370132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22571657, -3.3190501 ,  5.26720544, -3.3190501 , 37.04580589,
       19.42081463,  5.26720544, 19.42081463, 18.46345011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005752287936693773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.65027339e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.65027339e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09618628, -0.09228435,  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:
[-1.21368345e-05, 5.20390149e-05, 5.43747377e-06, 1.02588934e-05,
 -8.57923844e-06, 1.64561202e-05,-3.08978451e-06,-2.33121160e-05,
  6.98298653e-06,-9.81612327e-06,-2.79885689e-05, 7.46587757e-06,
 -3.25810181e-04,-7.91962581e-05,-2.35563198e-04, 6.14411696e-05,
  4.19478620e-05,-1.29519932e-06,-4.90501180e+00, 3.02050047e-04,
  1.18017493e-02,-4.32080853e-04]


--- Step 426 ---
qpos:
[ 0.01869224, 0.03014748,-0.00949508,-0.0256006 , 0.00788345, 0.00469591,
 -0.00785378, 0.02705734, 0.01231888, 0.02797635,-0.00835997, 0.02645716,
  0.83503355, 0.00689337, 0.74374849, 0.04707457, 0.06007035,-0.0755048 ,
  0.1715257 , 0.99979335, 0.01830751, 0.00258875,-0.00844933]

qacc:
[  1.75585741,  1.52473316, -6.61079164, 14.26668977, -0.81178444,
  -1.49879884,  2.82213471,  4.01022369,  0.73311809, -0.05078036,
   3.17437481,-13.40325962, -1.3659613 ,  2.13705474,-11.81292733,
  35.40113413, -2.37143204,  1.1707447 ,  0.16543657,-10.3358332 ,
 -22.13532194,  4.43154374]

qfrc_actuator:
[ 2.11684198e-05, 1.01898429e-03, 1.30008219e-04,-4.20558774e-05,
 -2.08149818e-05, 4.71530546e-05,-5.26860869e-05,-6.21387257e-05,
 -1.19836616e-04, 8.36302644e-04, 2.11091651e-04, 3.86346668e-05,
  4.99725180e-02,-8.37800130e-04, 4.01547354e-02,-3.90901607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28399856, -3.06910451,  5.48354224, -3.06910451, 47.97638761,
       23.33497099,  5.48354224, 23.33497099, 19.34443678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005822135711190529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.53449971e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.53449971e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09618238, -0.09228598,  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:
[ 1.06015505e-05, 5.30367998e-05, 1.22066997e-05, 2.60623986e-05,
 -4.92361738e-06,-1.83853101e-05, 3.69111803e-05, 2.32414596e-05,
  4.52287297e-06, 1.30537292e-05,-1.71587853e-05,-3.12875530e-05,
 -3.09459779e-04,-5.93958978e-05,-2.23997659e-04, 1.06426443e-04,
  2.37025354e-05, 3.02659812e-06,-4.90500723e+00, 3.06129841e-04,
  1.18003791e-02,-4.31293916e-04]


--- Step 427 ---
qpos:
[ 0.0186921 , 0.03014895,-0.0094954 ,-0.0256006 , 0.00788298, 0.00469545,
 -0.00785351, 0.0270564 , 0.01231836, 0.02797601,-0.00835996, 0.02645564,
  0.83610759, 0.00689565, 0.74487562, 0.0470698 , 0.06008086,-0.07549237,
  0.17152867, 0.99979439, 0.01824243, 0.00264074,-0.00845039]

qacc:
[ 7.10527592e+00, 2.00956191e-02,-1.63671909e-01, 1.86899781e-01,
 -4.54102191e-01, 1.45751827e-01,-3.38946471e+00, 1.37900056e+01,
  3.43019148e+00,-1.43105662e+00, 1.00036516e+01,-2.82543068e+01,
 -1.34982084e+00, 2.08213043e+00,-6.72183834e+00, 1.90057292e+01,
 -2.32710946e+00, 1.14536908e+00,-3.00528504e-02,-1.02448840e+01,
 -2.15802384e+01, 4.04624330e+00]

qfrc_actuator:
[ 6.35053095e-05, 9.78327636e-04, 1.12644979e-04,-4.60178229e-05,
 -2.34043408e-05, 4.96655090e-05,-3.22636869e-05,-3.01736078e-05,
 -9.91758432e-05, 8.50791725e-04, 2.04055143e-04,-1.43457657e-05,
  4.98840195e-02,-8.29180332e-04, 4.00709342e-02,-3.84510185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005845980484111557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49561008e-14, -9.49561008e-14,  1.00000000e+00, -9.01666109e-27,
        1.00000000e+00,  9.49561008e-14, -1.00000000e+00,  0.00000000e+00,
       -9.49561008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09618031, -0.09228778,  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:
[ 4.26582446e-05,-7.40730931e-06,-4.01834216e-06,-7.64430192e-07,
 -2.73815744e-06, 8.67000037e-07, 2.19838925e-05, 3.29113821e-05,
  2.07982874e-05, 1.69217781e-05,-7.53162169e-06,-5.36221175e-05,
 -3.00028517e-04,-6.07163073e-05,-1.81267418e-04, 3.95625944e-05,
  1.09334855e-05, 4.68947492e-06,-4.90500410e+00, 3.08839382e-04,
  1.17998697e-02,-4.30093400e-04]


--- Step 428 ---
qpos:
[ 0.0186928 , 0.03014983,-0.00949534,-0.0256006 , 0.00788249, 0.00469506,
 -0.00785332, 0.02705586, 0.01231776, 0.02797569,-0.00836034, 0.02645492,
  0.83717988, 0.00689775, 0.74600073, 0.04706412, 0.06008222,-0.07547544,
  0.17153084, 0.99979598, 0.01815669, 0.00265055,-0.0084447 ]

qacc:
[  7.34616977, -1.8390036 ,  5.39994544, -5.58004198, -0.24556298,
   1.12548878, -5.57561662, 12.55316552, -0.80135628,  2.75351672,
 -13.14794754, 27.58561474, -1.00865124,  1.05615511, -0.17679991,
  -3.61033363, -2.28905283,  1.12409093, -0.19892695,-10.16147804,
 -21.11543792,  3.73634167]

qfrc_actuator:
[ 1.06222063e-04, 9.17867447e-04, 1.20129435e-04,-4.83921542e-05,
 -2.47394591e-05, 5.14203969e-05,-3.80862461e-05,-1.09980305e-05,
 -1.04568393e-04, 8.41733187e-04, 1.82175214e-04, 2.61205688e-05,
  4.97923555e-02,-8.42780820e-04, 3.99695435e-02,-3.89431532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000583257682901156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51743164e-14, -9.51743164e-14,  1.00000000e+00, -9.05815049e-27,
        1.00000000e+00,  9.51743164e-14, -1.00000000e+00,  0.00000000e+00,
       -9.51743164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09617972, -0.09228971,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39532745e-05,-6.54992820e-05, 5.41812661e-06,-2.84971428e-06,
 -1.41488916e-06, 8.20558649e-06,-1.79262417e-06, 2.06165205e-05,
 -4.77536435e-06,-3.42823843e-06,-2.11616479e-05, 3.98904821e-05,
 -2.97043214e-04,-8.14148267e-05,-1.89150643e-04,-7.23808957e-05,
  3.14437666e-06, 3.87149548e-06,-4.90500234e+00, 3.10435062e-04,
  1.18001378e-02,-4.28476107e-04]


--- Step 429 ---
qpos:
[ 0.01869333, 0.03015024,-0.00949524,-0.02559994, 0.00788164, 0.00469492,
 -0.00785359, 0.02705626, 0.01231709, 0.02797533,-0.00836094, 0.02645469,
  0.8382503 , 0.00689975, 0.74712404, 0.04705612, 0.06007454,-0.07545409,
  0.17153164, 0.99979809, 0.01805045, 0.00261895,-0.00843273]

qacc:
[ -1.55505578,  0.62385688, -5.93147471, 17.74310678, -3.16126805,
   3.55158836,-16.08947014, 32.69375132, -0.51506839,  1.59700815,
  -7.84753702, 16.71660586, -1.26404281,  1.64082066,  4.42324636,
 -19.14539177, -2.25667903,  1.10640254, -0.34414208,-10.08747941,
 -20.72845472,  3.48671908]

qfrc_actuator:
[ 9.55519450e-05, 8.99351725e-04, 1.24378711e-04,-1.43086414e-05,
 -4.30790301e-05, 7.03444713e-05,-5.93606784e-05, 3.59882493e-05,
 -1.07505483e-04, 8.36411328e-04, 1.69427497e-04, 5.02080678e-05,
  4.96881979e-02,-8.51665289e-04, 3.98896179e-02,-4.00978290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005789442139160217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58834200e-14, -9.58834200e-14,  1.00000000e+00, -9.19363023e-27,
        1.00000000e+00,  9.58834200e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58834200e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0961803 , -0.09229176,  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:
[-9.41488036e-06,-5.41644151e-05,-8.72312098e-06, 3.14071558e-05,
 -1.83777032e-05, 2.40385340e-05,-1.90832967e-05, 4.76788371e-05,
 -3.08070801e-06,-9.88684022e-06,-1.46728468e-05, 2.39879376e-05,
 -3.12076949e-04,-7.90497837e-05,-1.83785047e-04,-1.45890964e-04,
 -4.73619951e-08, 7.12624622e-07,-4.90500188e+00, 3.11105500e-04,
  1.18011206e-02,-4.26440330e-04]


--- Step 430 ---
qpos:
[ 0.01869268, 0.03015046,-0.00949574,-0.0255992 , 0.00788057, 0.00469482,
 -0.00785406, 0.02705756, 0.01231639, 0.02797492,-0.00836169, 0.0264544 ,
  0.83931879, 0.0069017 , 0.7482455 , 0.04704702, 0.06005795,-0.07542838,
  0.17153057, 0.9998007 , 0.01792383, 0.0025466 ,-0.00841488]

qacc:
[-10.01618484,  1.59714419, -6.29494462,  8.5068639 , -1.8805014 ,
   2.48102235,-12.62445822, 28.71559055, -0.26020901,  0.18588084,
  -0.49194717, -0.32639221, -1.27049855,  1.65237202,  0.65407945,
  -6.11703487, -2.22941074,  1.09184689, -0.46851607,-10.02388433,
 -20.40851743,  3.28532973]

qfrc_actuator:
[ 3.57918266e-05, 8.88359751e-04, 9.13531456e-05,-1.22787434e-05,
 -5.35279101e-05, 6.38520223e-05,-7.17343892e-05, 8.12198199e-05,
 -1.08965166e-04, 8.33392386e-04, 1.62161445e-04, 4.67065037e-05,
  4.95872694e-02,-8.57747541e-04, 3.98226230e-02,-4.05672244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005722994847139756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.69966822e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.69966822e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09618181, -0.09229389,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00558800e-05,-4.17594437e-05,-4.42076352e-05, 1.83770664e-08,
 -1.09639807e-05, 5.05238209e-06,-8.10419987e-06, 4.65301564e-05,
 -1.55573168e-06,-1.05330093e-05,-1.02742586e-05,-3.96342352e-06,
 -3.18072142e-04,-7.90411567e-05,-1.77365524e-04,-8.09420135e-05,
  1.06525966e-06,-4.67881713e-06,-4.90500267e+00, 3.10989296e-04,
  1.18027710e-02,-4.23985295e-04]


--- Step 431 ---
qpos:
[ 0.01869236, 0.03015067,-0.00949672,-0.02559917, 0.00787974, 0.0046945 ,
 -0.00785425, 0.02705905, 0.01231603, 0.02797514,-0.00836313, 0.02645437,
  0.84038536, 0.00690361, 0.74936456, 0.04703872, 0.06003254,-0.07539834,
  0.17152719, 0.9998038 , 0.01777696, 0.00243401,-0.00839146]

qacc:
[  2.75029697, -0.16314581,  3.49779386,-14.86997398,  2.01861241,
  -0.71043052,  1.31190404,  1.6372937 ,  2.79738737,  3.33559443,
 -11.7797512 , 16.9148944 , -1.18678806,  1.47279876, -5.91657671,
  15.73554165, -2.20669899,  1.08001837, -0.57466194, -9.97109794,
 -20.14637655,  3.12257603]

qfrc_actuator:
[ 5.41499070e-05, 8.99538815e-04, 7.21001762e-05,-4.68993124e-05,
 -4.14910438e-05, 4.22214544e-05,-6.11000196e-05, 8.95361043e-05,
 -9.17914703e-05, 9.02784476e-04, 1.40425839e-04, 6.25117829e-05,
  4.94883500e-02,-8.62142622e-04, 3.97208513e-02,-4.00957192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005638684488387946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84469894e-14,  9.84469894e-14,  1.00000000e+00,  9.69180973e-27,
        1.00000000e+00, -9.84469894e-14, -1.00000000e+00,  0.00000000e+00,
       -9.84469894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09618402, -0.09229609,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65946427e-05,-2.13246443e-05,-3.33169875e-05,-3.79359733e-05,
  1.17254338e-05,-1.84828139e-05, 1.22940507e-05, 9.15676460e-06,
  1.71228444e-05, 6.12312851e-05,-2.53004944e-05, 1.49244145e-05,
 -3.19660621e-04,-7.87628828e-05,-2.02015019e-04, 1.75854862e-05,
  6.26007837e-06,-1.22207091e-05,-4.90500466e+00, 3.10188077e-04,
  1.18050535e-02,-4.21110767e-04]


--- Step 432 ---
qpos:
[ 0.01869261, 0.03015101,-0.00949805,-0.02559959, 0.00787939, 0.00469438,
 -0.00785473, 0.02706027, 0.01231622, 0.02797575,-0.00836453, 0.0264545 ,
  0.84144988, 0.00690581, 0.75048132, 0.04703131, 0.06001531,-0.07537517,
  0.17152641, 0.99980613, 0.01766279, 0.00235905,-0.00837671]

qacc:
[ 4.84621391, 0.27761838, 1.13036385,-8.30013958, 4.34485884, 0.51083071,
 -0.2993512 ,-4.07482689, 4.71191611, 0.71517389,-2.51698068, 5.05341245,
 -1.59973983, 2.61252541,-5.96933229,16.17459545, 2.04601368,-1.71665628,
  0.64841258,16.21044473,18.86703005,-4.63390251]

qfrc_actuator:
[ 8.28518195e-05, 9.23927426e-04, 6.12189933e-05,-6.72622863e-05,
 -1.63185512e-05, 6.50105038e-05,-7.25688129e-05, 7.60645589e-05,
 -6.37878084e-05, 9.26200405e-04, 1.46140376e-04, 7.18538610e-05,
  4.93853806e-02,-8.47762188e-04, 3.96249566e-02,-3.96069960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005609911428846731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.8951921e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.8951921e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0345304 , -0.05168653,  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:
[ 2.91813808e-05, 3.96952162e-06,-2.06927166e-05,-2.31663893e-05,
  2.54983884e-05, 1.53999266e-05,-1.34534453e-05,-1.36627049e-05,
  2.85269071e-05, 5.30841295e-05, 1.57762545e-05, 1.13831544e-05,
 -3.24662872e-04,-6.03274858e-05,-1.94716892e-04, 2.20415601e-05,
  1.53712803e-05,-2.18526091e-05,-4.90500782e+00, 3.08776075e-04,
  1.18079420e-02,-4.17816768e-04]


--- Step 433 ---
qpos:
[ 0.01869217, 0.03015136,-0.00949895,-0.02560028, 0.0078797 , 0.00469444,
 -0.00785538, 0.02706166, 0.01231674, 0.02797592,-0.00836491, 0.02645479,
  0.84251239, 0.0069082 , 0.75159569, 0.04702614, 0.06000606,-0.07535873,
  0.17152727, 0.99980773, 0.01758016, 0.00232093,-0.00836976]

qacc:
[ -5.92040648, -1.79195447,  7.58229244,-13.12911505,  5.70424582,
   1.07992883, -4.23871743,  7.34694592,  2.89421266, -3.12058278,
   9.64230809, -8.33014733, -1.4075376 ,  2.12368232,-10.21356347,
  30.79619141,  1.99560623, -1.68238641,  0.40840483, 15.6253319 ,
  18.48373741, -4.18901115]

qfrc_actuator:
[ 4.63763357e-05, 9.38338220e-04, 9.09474181e-05,-7.90489118e-05,
  1.63767664e-05, 7.86101870e-05,-7.90854221e-05, 8.54095318e-05,
 -4.73930662e-05, 8.68758742e-04, 1.85603950e-04, 7.73058102e-05,
  4.92853868e-02,-8.40188128e-04, 3.95326667e-02,-3.84017613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19084554, -6.17758284,  0.40501701, -6.17758284,  6.42866087,
        3.62731415,  0.40501701,  3.62731415, 61.51699972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005710465416363386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72095043e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.72095043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03453131, -0.05169135,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56214661e-05, 1.13783392e-05, 2.72092870e-05,-1.27818583e-05,
  3.34264413e-05, 1.88630435e-05,-5.46207789e-06, 9.27106268e-06,
  1.72495035e-05,-2.40056084e-05, 5.27738394e-05, 8.49453302e-06,
 -3.20990814e-04,-6.55730605e-05,-1.87764119e-04, 9.47657005e-05,
  6.77511584e-06,-1.12939068e-05,-4.90500445e+00, 3.12170740e-04,
  1.18055643e-02,-4.15128052e-04]


--- Step 434 ---
qpos:
[ 0.01869163, 0.03015177,-0.00949899,-0.02560045, 0.0078804 , 0.0046946 ,
 -0.00785579, 0.02706279, 0.0123178 , 0.02797559,-0.00836494, 0.02645519,
  0.84357309, 0.00691008, 0.7527078 , 0.04702075, 0.06000461,-0.0753489 ,
  0.17152892, 0.99980865, 0.01752808, 0.00231899,-0.0083699 ]

qacc:
[ -0.73817621, -1.2339931 ,  2.34734071,  5.17351315,  3.43414822,
  -1.1112891 ,  5.24188027,-10.24392842,  4.60126748, -1.41286322,
   3.53275337, -1.61306534, -0.70342022,  0.06891877, -2.65789793,
   4.52976501,  1.95230179, -1.65218769,  0.19899446, 15.13720709,
  18.14920356, -3.83229014]

qfrc_actuator:
[ 4.28366078e-05, 9.64599904e-04, 1.44384692e-04,-5.01712224e-05,
  3.54809528e-05, 8.66372959e-05,-6.48720294e-05, 7.26066165e-05,
 -2.02140587e-05, 8.16733185e-04, 1.91069970e-04, 8.03731337e-05,
  4.91872484e-02,-8.72219280e-04, 3.94160017e-02,-3.85589544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005760649436742094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.81813308e-14, -9.63626616e-14,  1.00000000e+00, -4.64288128e-27,
        1.00000000e+00,  9.63626616e-14, -1.00000000e+00,  0.00000000e+00,
       -4.81813308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03453123, -0.05169448,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57454660e-06, 3.76852126e-05, 5.87060432e-05, 3.00616528e-05,
  2.00605476e-05, 1.78585396e-05, 1.77603935e-05,-1.20062902e-05,
  2.76743955e-05,-5.41793005e-05, 7.30298515e-06, 4.02913086e-06,
 -3.17569954e-04,-1.05377033e-04,-2.00779134e-04,-3.65217887e-05,
  1.72792628e-06,-4.18988977e-06,-4.90500216e+00, 3.14202827e-04,
  1.18039771e-02,-4.13175952e-04]


--- Step 435 ---
qpos:
[ 0.01869141, 0.03015213,-0.00949861,-0.02559955, 0.00788063, 0.00469482,
 -0.00785623, 0.02706274, 0.01231849, 0.02797436,-0.00836494, 0.0264557 ,
  0.84463202, 0.0069113 , 0.75381748, 0.04700995, 0.06001084,-0.07534557,
  0.17153064, 0.99980891, 0.01750574, 0.00235263,-0.00837657]

qacc:
[ 2.64088423e+00, 9.77585905e-01,-8.13315632e+00, 2.61868124e+01,
 -4.10232503e+00,-2.25457380e+00, 1.31476601e+01,-3.35244711e+01,
 -3.14665616e+00,-1.03614784e+00, 1.55044131e+00, 8.81671929e-01,
 -7.40344970e-01, 9.25854715e-03, 1.27718649e+01,-4.98634812e+01,
  1.91540583e+00,-1.62589378e+00, 1.73953997e-02, 1.47312736e+01,
  1.78604879e+01,-3.54612068e+00]

qfrc_actuator:
[ 5.87323082e-05, 9.44649657e-04, 1.58199722e-04, 2.42087032e-06,
  1.09251491e-05, 7.35824211e-05,-7.40799645e-05, 1.13744091e-05,
 -4.01589738e-05, 7.32701249e-04, 1.76399592e-04, 8.19796540e-05,
  4.90902777e-02,-9.09643453e-04, 3.92475042e-02,-4.14708641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005769708814824526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62113566e-14,  9.62113566e-14,  1.00000000e+00,  9.25662514e-27,
        1.00000000e+00, -9.62113566e-14, -1.00000000e+00,  0.00000000e+00,
       -9.62113566e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03453035, -0.05169625,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57706882e-05, 1.45208545e-05, 2.98654480e-05, 5.68219129e-05,
 -2.39796880e-05, 8.95705304e-08,-3.74720611e-06,-6.00888258e-05,
 -1.91534518e-05,-1.12623537e-04,-2.48196250e-05,-3.85207758e-07,
 -3.22689764e-04,-1.15855984e-04,-2.72939981e-04,-3.20926303e-04,
  7.68626191e-09,-2.36160652e-07,-4.90500092e+00, 3.15061537e-04,
  1.18029994e-02,-4.11932606e-04]


--- Step 436 ---
qpos:
[ 0.01869137, 0.03015237,-0.0094982 ,-0.02559833, 0.00788022, 0.00469496,
 -0.00785677, 0.02706301, 0.01231859, 0.02797242,-0.00836459, 0.02645618,
  0.84568895, 0.00691241, 0.75492362, 0.04699841, 0.06002459,-0.07534865,
  0.1715318 , 0.99980852, 0.01751247, 0.00242137,-0.00838933]

qacc:
[ 1.65344797, 0.42505338,-3.09406063, 8.63614116,-5.63830238, 0.86554362,
 -4.60546282,10.48173623,-4.99848545,-1.97304032, 5.78964385,-6.31859754,
 -1.19353853, 1.39172047,-2.90836864, 2.73531795, 1.88423273,-1.60325503,
 -0.13928362,14.39495952,17.61413049,-3.3164452 ]

qfrc_actuator:
[ 6.81770337e-05, 9.14807416e-04, 1.48328775e-04, 1.52124661e-05,
 -2.13741857e-05, 6.56195785e-05,-7.94159424e-05, 2.86184892e-05,
 -6.99319606e-05, 7.18811646e-04, 2.03084472e-04, 8.26758113e-05,
  4.89887445e-02,-9.14428207e-04, 3.90959376e-02,-4.17221600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005745618588386403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66147515e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.66147515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03452881, -0.05169693,  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:
[ 9.90413717e-06,-1.31348535e-05,-1.23890821e-06, 1.55487902e-05,
 -3.29781260e-05,-1.12730865e-05,-7.85456232e-06, 1.59504151e-05,
 -3.03768698e-05,-8.19740579e-05, 3.65159352e-07,-4.99396706e-06,
 -3.33934544e-04,-8.53040921e-05,-3.18471219e-04,-7.94267357e-05,
  1.43568137e-06, 8.05181081e-07,-4.90500072e+00, 3.14887801e-04,
  1.18024991e-02,-4.11375359e-04]


--- Step 437 ---
qpos:
[ 0.01869214, 0.03015228,-0.00949777,-0.02559728, 0.00787978, 0.00469508,
 -0.00785714, 0.02706381, 0.01231902, 0.02797088,-0.00836418, 0.02645654,
  0.84674375, 0.00691381, 0.75602608, 0.04699213, 0.06004578,-0.07535807,
  0.17153186, 0.99980749, 0.0175477 , 0.0025248 ,-0.00840781]

qacc:
[  6.89673295, -0.91187127,  3.32696172, -6.13281247, -0.33940514,
   0.57346587, -4.29615255, 13.09365513,  2.80971755,  0.08713294,
   0.97814066, -3.50338233, -1.40163364,  2.12156199,-21.29334394,
  66.7964016 ,  1.85813412, -1.58398199, -0.27386919, 14.11764204,
  17.40650749, -3.13204949]

qfrc_actuator:
[ 1.09247739e-04, 8.79127579e-04, 1.42231770e-04, 4.45546399e-06,
 -2.24532535e-05, 7.85857231e-05,-6.45885919e-05, 5.64096737e-05,
 -5.19773873e-05, 8.18203734e-04, 2.36499550e-04, 8.29173855e-05,
  4.88845567e-02,-8.99928691e-04, 3.89866709e-02,-3.88043392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005695217181882206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.74697706e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.74697706e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03452676, -0.05169676,  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:
[ 4.13527710e-05,-4.26274615e-05,-8.43503937e-06,-1.10640016e-05,
 -2.02055269e-06, 5.71221204e-06, 1.20885243e-05, 2.73483742e-05,
  1.70293836e-05, 5.34680729e-05, 1.63732508e-05,-3.35213202e-06,
 -3.37447236e-04,-6.38919435e-05,-2.66841286e-04, 2.45882744e-04,
  5.86993277e-06,-8.81480763e-07,-4.90500156e+00, 3.13786164e-04,
  1.18023796e-02,-4.11485799e-04]


--- Step 438 ---
qpos:
[ 0.01869305, 0.03015172,-0.00949727,-0.02559704, 0.00787966, 0.00469528,
 -0.00785734, 0.02706458, 0.01231967, 0.0279693 ,-0.00836353, 0.02645729,
  0.84779649, 0.0069154 , 0.75712613, 0.04698917, 0.06007432,-0.07537376,
  0.17153037, 0.99980582, 0.01761098, 0.00266255,-0.00843172]

qacc:
[  1.22707455, -2.44549288, 11.21020027,-24.92927627,  2.95182873,
  -0.41618552,  1.75433844, -2.59902498,  1.81393981,  0.09954168,
  -2.08675564,  8.50701466, -1.40326721,  2.06022805,-13.47628435,
  42.18938541,  1.83651329, -1.567773  , -0.38902693, 13.89037851,
  17.23404702, -2.9839872 ]

qfrc_actuator:
[ 1.15348353e-04, 8.40202530e-04, 1.38376353e-04,-3.78185102e-05,
 -5.14533076e-06, 8.63314132e-05,-5.56466827e-05, 5.46975194e-05,
 -4.15752646e-05, 7.89447595e-04, 2.38588005e-04, 1.00744949e-04,
  4.87841858e-02,-8.91962246e-04, 3.89082500e-02,-3.70601742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005624335208866404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86981557e-14, -9.86981557e-14,  1.00000000e+00, -9.74132594e-27,
        1.00000000e+00,  9.86981557e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86981557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03452431, -0.05169591,  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:
[ 7.29140795e-06,-6.49698299e-05,-1.40899017e-05,-4.46112967e-05,
  1.72508675e-05, 1.46065236e-05, 1.25582660e-05,-5.17998592e-07,
  1.09154147e-05, 4.43939235e-06, 1.50458470e-05, 2.06212554e-05,
 -3.30239394e-04,-6.86015047e-05,-1.77235911e-04, 1.52999252e-04,
  1.31994976e-05,-5.15478708e-06,-4.90500341e+00, 3.11833749e-04,
  1.18025705e-02,-4.12248993e-04]


--- Step 439 ---
qpos:
[ 0.01869334, 0.03015092,-0.00949722,-0.02559731, 0.00787907, 0.00469543,
 -0.00785735, 0.027065  , 0.01232008, 0.02796712,-0.0083631 , 0.02645835,
  0.84884732, 0.00691702, 0.75822508, 0.04698609, 0.06009318,-0.0753846 ,
  0.17153047, 0.9998047 , 0.01765276, 0.00275475,-0.00844704]

qacc:
[ -5.35427929, -0.11163894,  2.10680756,-10.00205594, -4.22939791,
  -1.34009175,  6.21392993,-12.70642763, -1.90779795,  0.47183191,
  -4.13607321, 10.32029169, -1.34409165,  1.88583765, -1.21287917,
   2.06678396, -2.41832963,  1.2127615 ,  0.39596079,-10.5751632 ,
 -22.79038627,  4.67360669]

qfrc_actuator:
[ 8.30542372e-05, 8.35112986e-04, 1.18082612e-04,-6.27927000e-05,
 -3.04217913e-05, 7.31011829e-05,-5.02946166e-05, 3.56285509e-05,
 -5.34710061e-05, 7.01839811e-04, 2.03937748e-04, 1.10907556e-04,
  4.87021541e-02,-8.87930451e-04, 3.88803090e-02,-3.70868319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005620877253579709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87588747e-14,  9.87588747e-14,  1.00000000e+00,  9.75331533e-27,
        1.00000000e+00, -9.87588747e-14, -1.00000000e+00,  0.00000000e+00,
       -9.87588747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09617442, -0.09231109,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21005911e-05,-4.62260076e-05,-3.69917811e-05,-2.91128650e-05,
 -2.47815966e-05,-2.49067729e-06, 9.89584110e-06,-1.80209964e-05,
 -1.15796519e-05,-8.10798185e-05,-3.11570839e-05, 1.12748541e-05,
 -3.07467647e-04,-7.21836128e-05,-1.00990115e-04,-1.89285324e-05,
  2.33396027e-05,-1.19079914e-05,-4.90500627e+00, 3.09086990e-04,
  1.18030207e-02,-4.13652871e-04]


--- Step 440 ---
qpos:
[ 0.01869323, 0.03015014,-0.00949732,-0.02559758, 0.00787783, 0.00469542,
 -0.00785751, 0.02706521, 0.01232036, 0.02796518,-0.00836338, 0.02645877,
  0.84989644, 0.00691861, 0.75932309, 0.04698094, 0.06010257,-0.07539071,
  0.17153126, 0.99980414, 0.01767326, 0.0028027 ,-0.00845461]

qacc:
[ -3.34698373,  0.46030944, -1.56562517,  1.70243609, -5.65812421,
  -0.20190657,  1.2534186 , -4.28066301, -1.27490449,  0.96516915,
  -0.249785  ,-10.01647293, -1.23386841,  1.67238911,  4.96992971,
 -19.2290808 , -2.36879736,  1.18204776,  0.17352443,-10.46258153,
 -22.13976545,  4.23061144]

qfrc_actuator:
[ 6.39367683e-05, 8.68021099e-04, 1.23900085e-04,-5.96142990e-05,
 -6.28136416e-05, 4.73789485e-05,-6.49492136e-05, 2.42374532e-05,
 -6.06414430e-05, 7.57018547e-04, 1.83107515e-04, 8.08878872e-05,
  4.86311849e-02,-8.86185456e-04, 3.88346933e-02,-3.81550071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1831237 , -2.77358731,  5.5261408 , -2.77358731, 51.56591268,
       22.77776338,  5.5261408 , 22.77776338, 17.6153542 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000570120025528642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21709352e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21709352e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09617021, -0.0923124 ,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00639363e-05,-1.81067045e-06,-9.28260341e-06,-6.43943563e-07,
 -3.30966345e-05,-2.58580473e-05,-1.45752998e-05,-1.15063487e-05,
 -7.54383766e-06, 3.95424087e-06,-4.10070034e-05,-3.43508108e-05,
 -2.82079490e-04,-7.05714741e-05,-1.07417894e-04,-1.23946666e-04,
  1.04387262e-05,-5.24476679e-06,-4.90500283e+00, 3.11931572e-04,
  1.18009704e-02,-4.14467246e-04]


--- Step 441 ---
qpos:
[ 0.0186929 , 0.03014958,-0.00949723,-0.02559751, 0.00787656, 0.00469519,
 -0.0078578 , 0.0270653 , 0.01232054, 0.02796394,-0.00836398, 0.02645907,
  0.85094394, 0.00691989, 0.76041935, 0.04697589, 0.06010266,-0.0753922 ,
  0.17153196, 0.99980413, 0.01767271, 0.00280752,-0.00845514]

qacc:
[-1.96105071e+00, 4.39339444e-01,-2.57534952e+00, 7.92064987e+00,
 -2.98066004e-01,-1.64745263e-01, 7.15393456e-01,-2.57600600e+00,
 -7.78392806e-01, 1.59970985e+00,-3.91001653e+00, 2.05939440e+00,
 -7.70908614e-01, 5.04915609e-01,-2.88848743e+00, 6.42949771e+00,
 -2.32579729e+00, 1.15587979e+00,-2.02328828e-02,-1.03566157e+01,
 -2.15921959e+01, 3.87689774e+00]

qfrc_actuator:
[ 5.27410473e-05, 9.05814351e-04, 1.45276573e-04,-3.98431321e-05,
 -6.36154218e-05, 3.20434636e-05,-7.35965702e-05, 1.74316216e-05,
 -6.49647068e-05, 8.44020143e-04, 1.88902080e-04, 8.08527032e-05,
  4.85509282e-02,-9.03501237e-04, 3.87571947e-02,-3.80527134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735152904892404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83955286e-14,  7.25932928e-14,  1.00000000e+00,  3.51319078e-27,
        1.00000000e+00, -7.25932928e-14, -1.00000000e+00,  0.00000000e+00,
       -4.83955286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09616785, -0.09231391,  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:
[-1.17781065e-05, 3.48591493e-05, 1.98487442e-05, 1.93633617e-05,
 -1.75030869e-06,-3.33092794e-05,-1.61793504e-05,-8.64094974e-06,
 -4.54645542e-06, 7.93410809e-05, 3.97636445e-07,-1.94872313e-06,
 -2.75014017e-04,-8.40536321e-05,-1.53934820e-04,-1.35777236e-05,
  2.82029439e-06,-1.33906990e-06,-4.90500077e+00, 3.13543558e-04,
  1.17998522e-02,-4.14859299e-04]


--- Step 442 ---
qpos:
[ 0.01869209, 0.03014899,-0.00949681,-0.02559685, 0.00787529, 0.00469484,
 -0.00785797, 0.02706528, 0.01232067, 0.02796319,-0.00836482, 0.02646008,
  0.85198974, 0.00692103, 0.7615136 , 0.04697328, 0.06009358,-0.07538915,
  0.17153192, 0.99980467, 0.01765131, 0.00277012,-0.00844917]

qacc:
[-4.07541725e+00, 2.89861051e-01,-3.58566808e+00, 1.34338521e+01,
  4.67948952e-03,-7.46820896e-01, 2.88972202e+00,-4.93658209e+00,
 -4.69044939e-01, 2.76782689e+00,-1.19008007e+01, 2.41418878e+01,
 -8.69013906e-01, 7.93218756e-01,-1.02781842e+01, 3.17344228e+01,
 -2.28884441e+00, 1.13373624e+00,-1.88064241e-01,-1.02599489e+01,
 -2.11337568e+01, 3.59458102e+00]

qfrc_actuator:
[ 2.85409037e-05, 8.93085795e-04, 1.57952226e-04,-1.04552408e-05,
 -6.35677699e-05, 4.08174582e-05,-6.08313117e-05, 1.33906053e-05,
 -6.75787746e-05, 8.60793035e-04, 1.75058706e-04, 1.16278141e-04,
  4.84598251e-02,-9.14225109e-04, 3.86873021e-02,-3.67291396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731405283373042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45281520e-13,  9.68543463e-14,  1.00000000e+00,  1.40711466e-26,
        1.00000000e+00, -9.68543463e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45281520e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09616697, -0.0923156 ,  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:
[-2.45311788e-05, 1.17089243e-05, 2.29959560e-05, 3.19456140e-05,
 -1.27031101e-08,-1.35542770e-05, 3.59892344e-06,-6.19539413e-06,
 -2.72420377e-06, 6.11899130e-05, 2.54848348e-06, 3.88050136e-05,
 -2.84313412e-04,-7.79582880e-05,-1.52285028e-04, 1.09444163e-04,
  2.82216843e-08, 2.21015738e-09,-4.90500001e+00, 3.14148656e-04,
  1.17995689e-02,-4.14827157e-04]


--- Step 443 ---
qpos:
[ 0.01869135, 0.03014816,-0.0094958 ,-0.02559582, 0.00787437, 0.00469451,
 -0.00785781, 0.02706552, 0.01232111, 0.02796281,-0.00836575, 0.02646152,
  0.85303372, 0.00692237, 0.76260589, 0.04696896, 0.06007548,-0.07538165,
  0.17153054, 0.99980572, 0.01760923, 0.00269128,-0.00843714]

qacc:
[  0.54491048, -1.24104695,  2.41486502,  3.06265396,  3.13472276,
  -0.32630529,  0.11748137,  3.87142544,  2.65275282,  1.61291058,
  -6.85560746, 14.09214102, -1.48914757,  2.38201881,  2.34796783,
 -12.18083144, -2.25740644,  1.11513185, -0.33275859,-10.17409063,
 -20.7522742 ,  3.36940878]

qfrc_actuator:
[ 3.23823866e-05, 8.67941033e-04, 1.82941636e-04, 6.55122100e-06,
 -4.52779519e-05, 6.40545575e-05,-3.54259662e-05, 2.87956527e-05,
 -5.14147048e-05, 8.70858008e-04, 1.67228481e-04, 1.36704004e-04,
  4.83676068e-02,-9.03267458e-04, 3.85634762e-02,-3.77143584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000569741965889034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87160456e-14, -7.30740685e-14,  1.00000000e+00, -3.55987965e-27,
        1.00000000e+00,  7.30740685e-14, -1.00000000e+00,  0.00000000e+00,
       -4.87160456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09616729, -0.09231743,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12964501e-06,-1.24714035e-05, 3.13473519e-05, 1.89255215e-05,
  1.82848390e-05, 1.61503621e-05, 2.28406454e-05, 1.48293777e-05,
  1.61007466e-05, 4.65061817e-05, 6.48252551e-06, 2.38929015e-05,
 -2.89800989e-04,-5.74910231e-05,-1.91344720e-04,-1.14271763e-04,
  1.71268425e-06,-1.06814471e-06,-4.90500050e+00, 3.13911256e-04,
  1.18000472e-02,-4.14370232e-04]


--- Step 444 ---
qpos:
[ 0.018691  , 0.0301473 ,-0.0094945 ,-0.0255953 , 0.00787403, 0.00469436,
 -0.00785739, 0.02706558, 0.01232106, 0.02796302,-0.0083663 , 0.02646278,
  0.8540759 , 0.00692387, 0.7636957 , 0.04696121, 0.06004846,-0.07536974,
  0.17152734, 0.99980729, 0.01754663, 0.00257163,-0.0084194 ]

qacc:
[  3.40737001, -1.86676586,  8.74032897,-17.89554846,  5.0301533 ,
  -0.8984104 ,  4.25173999, -7.83660081, -4.25315335, -0.63785487,
   4.18298531, -8.3024674 , -1.48001649,  2.32361927,  6.79381768,
 -28.86298554, -2.23094571,  1.09962571, -0.45700501,-10.09975237,
 -20.4372015 ,  3.19002286]

qfrc_actuator:
[ 5.27021322e-05, 8.71096107e-04, 1.97178186e-04,-1.93762617e-05,
 -1.63981491e-05, 7.81042769e-05,-2.04387405e-05, 2.00344702e-05,
 -7.75858844e-05, 9.30090906e-04, 1.98465405e-04, 1.30377335e-04,
  4.82747909e-02,-8.97354484e-04, 3.84180091e-02,-3.95207036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639581490864132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.46078327e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.46078327e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09616854, -0.09231938,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04059894e-05, 3.48549443e-06, 1.61726922e-05,-2.50109936e-05,
  2.94035358e-05, 2.84504057e-05, 2.16503902e-05,-6.99108745e-06,
 -2.56858138e-05, 8.76310437e-05, 4.24806060e-05,-3.64524683e-06,
 -2.90490838e-04,-6.02633334e-05,-2.55096448e-04,-2.13688731e-04,
  7.60763931e-06,-4.43090464e-06,-4.90500220e+00, 3.12950565e-04,
  1.18012316e-02,-4.13488707e-04]


--- Step 445 ---
qpos:
[ 0.01869089, 0.03014705,-0.00949356,-0.02559582, 0.00787403, 0.00469463,
 -0.00785716, 0.02706518, 0.01232   , 0.02796343,-0.00836626, 0.02646365,
  0.85511627, 0.00692548, 0.76478265, 0.04695392, 0.06002949,-0.07536461,
  0.1715261 , 0.99980812, 0.01751588, 0.0024892 ,-0.00840954]

qacc:
[  2.08852883, -0.36393314,  6.8310417 ,-24.6931562 ,  3.05489139,
   0.16049465,  2.15165267, -9.98882342, -8.52691839, -2.17325983,
   9.7964064 ,-17.68816643, -1.25889929,  1.80787995, -5.50394601,
  13.29427219,  2.01472469, -1.69273238,  0.49066038, 15.78231905,
  18.67371213, -4.2277354 ]

qfrc_actuator:
[ 6.47965483e-05, 9.26597750e-04, 1.87276737e-04,-7.03433958e-05,
  7.24974611e-07, 1.04248151e-04,-2.95278705e-05,-2.89329812e-06,
 -1.28471625e-04, 9.11925996e-04, 2.17194934e-04, 1.08429696e-04,
  4.81816799e-02,-8.94499970e-04, 3.83182583e-02,-3.91327607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005645768638231213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.8323461e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.8323461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03451773, -0.05170765,  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:
[ 1.26920265e-05, 5.97428935e-05,-8.06185871e-06,-5.07483489e-05,
  1.79680880e-05, 4.62369400e-05,-7.91966095e-07,-2.10974571e-05,
 -5.16098471e-05, 3.94443457e-05, 4.19392324e-05,-1.67943909e-05,
 -2.92598843e-04,-6.35471676e-05,-2.46886895e-04,-7.32230156e-06,
  1.75134044e-05,-9.99466063e-06,-4.90500506e+00, 3.11352429e-04,
  1.18030805e-02,-4.12183181e-04]


--- Step 446 ---
qpos:
[ 0.01869128, 0.03014695,-0.0094929 ,-0.02559655, 0.00787424, 0.0046951 ,
 -0.00785696, 0.02706454, 0.01231903, 0.02796367,-0.00836604, 0.02646433,
  0.85615483, 0.00692717, 0.76586665, 0.04694741, 0.0600184 ,-0.07536612,
  0.17152594, 0.99980825, 0.01751596, 0.00244327,-0.00840684]

qacc:
[ 4.20146668, 0.54909635,-0.80670884,-2.4359191 , 1.80466361,-0.19354148,
  2.12130084,-6.58553746, 0.75338412,-1.11760241, 4.49374101,-8.03160029,
 -1.19657003, 1.63294483,-6.66270493,17.15437925, 1.96877239,-1.66210206,
  0.27135569,15.27524062,18.31258514,-3.8695255 ]

qfrc_actuator:
[ 8.97001373e-05, 9.06379289e-04, 1.63417446e-04,-8.23384380e-05,
  1.07879856e-05, 1.01814702e-04,-3.49596901e-05,-1.62214487e-05,
 -1.22472937e-04, 8.65246013e-04, 2.10314562e-04, 9.51487219e-05,
  4.80884577e-02,-8.93502954e-04, 3.81874775e-02,-3.86959542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715385654694732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.71258189e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.71258189e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03451815, -0.05171132,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52966893e-05, 9.35526639e-06,-1.42764456e-05,-1.07052742e-05,
  1.05906933e-05, 2.23493258e-05, 3.28578776e-06,-1.17857171e-05,
  4.49902238e-06,-1.67173898e-05, 5.84586715e-06,-1.04673245e-05,
 -2.94170359e-04,-6.66480574e-05,-2.50532514e-04, 1.02667799e-05,
  8.28625326e-06,-3.40403733e-06,-4.90500233e+00, 3.13768136e-04,
  1.18023109e-02,-4.11491756e-04]


--- Step 447 ---
qpos:
[ 0.01869196, 0.03014647,-0.00949287,-0.02559663, 0.00787457, 0.0046955 ,
 -0.00785671, 0.02706412, 0.01231813, 0.02796396,-0.00836594, 0.02646449,
  0.85719179, 0.00692852, 0.76694756, 0.04693719, 0.06001503,-0.07537418,
  0.17152611, 0.99980772, 0.01754603, 0.00243321,-0.00841076]

qacc:
[  2.52826554,  2.60440849,-12.74057241, 25.21508032,  1.0528529 ,
   0.23244006, -1.90906159,  5.72144636,  0.66772388, -0.70500817,
   4.77163485,-13.55100334, -0.85419144,  0.65105808,  6.66800658,
 -29.87723689,  1.92939483, -1.63539319,  0.08060067, 14.85360877,
  17.99979886, -3.58399526]

qfrc_actuator:
[ 1.04193082e-04, 8.40940351e-04, 1.13500577e-04,-5.36140078e-05,
  1.66185828e-05, 8.22986858e-05,-3.82847534e-05,-6.05633158e-06,
 -1.18537614e-04, 8.72743639e-04, 2.05992510e-04, 6.92747671e-05,
  4.80112113e-02,-9.11375008e-04, 3.79955829e-02,-4.07203855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005740669372182872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66980462e-14, -1.93396092e-13,  1.00000000e+00, -1.87010243e-26,
        1.00000000e+00,  1.93396092e-13, -1.00000000e+00,  0.00000000e+00,
       -9.66980462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03451767, -0.05171353,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52342729e-05,-6.36093500e-05,-5.01197301e-05, 2.84218103e-05,
  6.13973202e-06,-6.85872886e-06, 1.28155461e-06, 1.10066884e-05,
  4.06278955e-06,-1.10620937e-06,-7.42546494e-06,-2.65947088e-05,
 -2.79784780e-04,-8.63876961e-05,-3.11064900e-04,-2.35277443e-04,
  2.54719750e-06,-4.59691419e-08,-4.90500072e+00, 3.14939430e-04,
  1.18021097e-02,-4.11516392e-04]


--- Step 448 ---
qpos:
[ 0.01869281, 0.03014598,-0.00949388,-0.02559639, 0.00787462, 0.0046959 ,
 -0.00785654, 0.02706416, 0.0123173 , 0.02796412,-0.00836584, 0.0264647 ,
  0.85822709, 0.00692968, 0.76802486, 0.04692655, 0.06001924,-0.07538868,
  0.17152594, 0.99980653, 0.01760539, 0.00245848,-0.00842084]

qacc:
[  1.4139003 ,  3.55328002,-14.05643738, 21.34719185, -2.44465856,
   1.21544825, -6.26649621, 14.46384298,  0.46472252, -0.03146192,
  -0.34836915,  1.33058206, -0.85472216,  0.74635127, -4.0205953 ,
   6.41267955,  1.89591871, -1.61239038, -0.08442168, 14.50448016,
  17.7317307 , -3.3567266 ]

qfrc_actuator:
[ 1.12438069e-04, 8.55353391e-04, 6.61686910e-05,-3.67345134e-05,
  2.16111536e-06, 8.82297183e-05,-4.04048879e-05, 1.78323717e-05,
 -1.15866689e-04, 8.59348692e-04, 2.03419987e-04, 7.17487485e-05,
  4.79276195e-02,-9.22439794e-04, 3.78470265e-02,-4.08067909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005730000069229246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.68780987e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.68780987e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03451647, -0.05171458,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.66914894e-06,-3.02707306e-05,-6.56545992e-05, 1.29759982e-05,
 -1.42858869e-05, 2.81788880e-06,-3.00503966e-06, 2.38525902e-05,
  2.79217067e-06,-1.67004959e-05,-4.64188127e-06, 1.65048941e-06,
 -2.82111699e-04,-7.91118426e-05,-3.20693677e-04,-6.24292378e-05,
  8.89844460e-08, 3.35954679e-07,-4.90500019e+00, 3.15020894e-04,
  1.18023530e-02,-4.12233548e-04]


--- Step 449 ---
qpos:
[ 0.01869307, 0.03014565,-0.00949559,-0.02559633, 0.00787416, 0.00469619,
 -0.00785634, 0.0270645 , 0.01231684, 0.02796412,-0.00836578, 0.02646528,
  0.85926043, 0.00693114, 0.76909925, 0.04691925, 0.06003092,-0.07540956,
  0.17152486, 0.99980469, 0.01769345, 0.00251862,-0.00843672]

qacc:
[ -5.14667494,  1.78269274, -5.25186241,  2.97537415, -4.55770062,
   0.35529078, -2.73014658,  7.8571359 ,  3.26814102,  0.66448748,
  -4.27112497, 10.99244207, -1.41048674,  2.20471882,-14.30883566,
  44.04219472,  1.86769506, -1.5928236 , -0.22652689, 14.2168779 ,
  17.50454961, -3.17621185]

qfrc_actuator:
[ 8.14382581e-05, 8.81952276e-04, 3.87942243e-05,-4.46525194e-05,
 -2.41199727e-05, 7.38616613e-05,-4.16952890e-05, 3.18676825e-05,
 -9.62087798e-05, 8.51326532e-04, 2.01846385e-04, 9.08723244e-05,
  4.78189800e-02,-9.11671312e-04, 3.77832145e-02,-3.88607586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005690583604498062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75491357e-14, -1.95098271e-13,  1.00000000e+00, -1.90316678e-26,
        1.00000000e+00,  1.95098271e-13, -1.00000000e+00,  0.00000000e+00,
       -9.75491357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03451469, -0.0517147 ,  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:
[-3.07530805e-05,-3.30326914e-06,-4.12477851e-05,-1.12305598e-05,
 -2.66869665e-05,-1.24127723e-05,-2.59429892e-07, 1.45155101e-05,
  1.97347456e-05,-1.82582632e-05,-5.54235602e-06, 1.82780907e-05,
 -3.06830626e-04,-5.68405276e-05,-2.19780457e-04, 1.49526129e-04,
  7.45024242e-07,-2.05965094e-06,-4.90500072e+00, 3.14127114e-04,
  1.18029521e-02,-4.13624132e-04]


--- Step 450 ---
qpos:
[ 0.01869226, 0.03014554,-0.00949745,-0.02559642, 0.00787372, 0.00469662,
 -0.00785649, 0.02706431, 0.01231697, 0.02796378,-0.00836535, 0.02646574,
  0.86029177, 0.00693281, 0.77017158, 0.04691546, 0.06004998,-0.07543674,
  0.17152239, 0.9998022 , 0.01780975, 0.00261326,-0.00845813]

qacc:
[ -9.12784763,  0.45084803, -0.5441377 , -1.88538072,  0.27944266,
   0.07717301,  2.21825065,-10.92545506,  4.9943283 , -1.7469133 ,
   6.08968473, -8.57504308, -1.39063836,  2.05976186,-13.57744468,
  43.26558571,  1.844119  , -1.57640079, -0.34840767, 13.98153406,
  17.31446195, -3.03326538]

qfrc_actuator:
[ 2.75898237e-05, 9.15707472e-04, 4.12276209e-05,-4.93120071e-05,
 -2.16380572e-05, 8.29501744e-05,-6.03256613e-05, 4.47068999e-06,
 -6.67093429e-05, 8.28851591e-04, 2.18651036e-04, 8.41323828e-05,
  4.77113758e-02,-9.05974255e-04, 3.77277090e-02,-3.69739030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005628580340927697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86237166e-14, -9.86237166e-14,  1.00000000e+00, -9.72663747e-27,
        1.00000000e+00,  9.86237166e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86237166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03451246, -0.05171409,  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:
[-5.47409505e-05, 2.29286667e-05,-3.69272566e-06,-6.44101942e-06,
  1.71857398e-06, 2.69268454e-06,-2.07295904e-05,-2.76561595e-05,
  3.00716195e-05,-3.30433573e-05, 1.29796024e-05,-7.36079277e-06,
 -3.15407637e-04,-6.44708294e-05,-1.46042711e-04, 1.67341981e-04,
  4.38320836e-06,-7.08060154e-06,-4.90500229e+00, 3.12342429e-04,
  1.18038435e-02,-4.15672695e-04]


--- Step 451 ---
qpos:
[ 0.01869115, 0.03014545,-0.00949895,-0.02559658, 0.00787298, 0.00469726,
 -0.00785696, 0.02706412, 0.01231745, 0.02796272,-0.00836395, 0.02646613,
  0.86132108, 0.00693463, 0.77124227, 0.04691616, 0.06005934,-0.07545908,
  0.17152158, 0.99980027, 0.01790446, 0.00266232,-0.00847104]

qacc:
[ -2.51832649, -1.11967076,  4.333748  , -6.10207319, -2.76031202,
   1.2106935 , -3.89615972,  4.3124391 ,  3.05159316, -3.83050488,
  12.56415367,-14.8631683 , -1.30574143,  1.79341159,-15.90775367,
  52.32567677, -2.42476488,  1.21054349,  0.41482216,-10.61050403,
 -22.79793603,  4.62294825]

qfrc_actuator:
[ 1.39948964e-05, 9.18118547e-04, 6.12796141e-05,-5.19862840e-05,
 -3.77480228e-05, 1.05907192e-04,-7.12298744e-05, 6.17980440e-06,
 -4.94116932e-05, 7.80198856e-04, 2.63845384e-04, 7.99787184e-05,
  4.76044675e-02,-9.03357073e-04, 3.76878684e-02,-3.46049889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731528185127233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68522695e-14,  9.68522695e-14,  1.00000000e+00,  9.38036210e-27,
        1.00000000e+00, -9.68522695e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68522695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615684, -0.09233096,  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:
[-1.51796418e-05, 1.42036094e-05, 2.41362186e-05,-1.93875641e-06,
 -1.60581972e-05, 1.89830701e-05,-1.38609914e-05, 5.68761284e-07,
  1.81675037e-05,-6.47481447e-05, 3.97095529e-05,-5.26632265e-06,
 -3.20903297e-04,-7.09821229e-05,-9.83130088e-05, 2.25129403e-04,
  1.09005677e-05,-1.46120203e-05,-4.90500488e+00, 3.09728282e-04,
  1.18049823e-02,-4.18366787e-04]


--- Step 452 ---
qpos:
[ 0.01869024, 0.03014528,-0.00950011,-0.02559709, 0.00787204, 0.00469779,
 -0.00785691, 0.02706429, 0.01231745, 0.02796126,-0.00836207, 0.02646611,
  0.86234835, 0.00693653, 0.77231197, 0.04691991, 0.0600592 ,-0.0754767 ,
  0.17152151, 0.9997989 , 0.01797787, 0.00266713,-0.00847628]

qacc:
[  1.64078068, -1.83339065,  7.87152363,-14.56776567, -1.62711696,
  -0.89904739,  1.50165236,  3.82406021, -4.11724796, -2.69031111,
  10.57013707,-18.11141018, -1.3576099 ,  1.84317082,-10.59638782,
  35.14950166, -2.37433228,  1.17857659,  0.18667681,-10.47942709,
 -22.14731911,  4.21012967]

qfrc_actuator:
[ 2.42090519e-05, 9.01829838e-04, 7.36911689e-05,-7.12412313e-05,
 -4.69283035e-05, 1.01535651e-04,-4.18845290e-05, 2.50299286e-05,
 -7.49431351e-05, 7.69624519e-04, 2.89822313e-04, 5.96244429e-05,
  4.74980511e-02,-9.02595659e-04, 3.76627882e-02,-3.30358143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27145514, -2.72914318,  5.64649689, -2.72914318, 53.61383212,
       22.88217417,  5.64649689, 22.88217417, 17.33118489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005807107558927355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43387609e-13, -4.77958697e-14,  1.00000000e+00, -6.85333548e-27,
        1.00000000e+00,  4.77958697e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43387609e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615288, -0.09233221,  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:
[ 9.77764646e-06,-3.42516629e-06, 1.82712324e-05,-1.78448047e-05,
 -9.62947639e-06, 3.38198122e-06, 3.15780463e-05, 1.91957919e-05,
 -2.50243348e-05,-3.87757930e-05, 1.73060878e-05,-2.18597679e-05,
 -3.24590471e-04,-7.53631110e-05,-5.74140945e-05, 1.53983542e-04,
  2.85601251e-06,-6.22892600e-06,-4.90500247e+00, 3.11499319e-04,
  1.18024791e-02,-4.20492254e-04]


--- Step 453 ---
qpos:
[ 0.01869014, 0.03014507,-0.00950084,-0.0255975 , 0.00787135, 0.0046979 ,
 -0.00785603, 0.02706435, 0.0123161 , 0.0279601 ,-0.00836048, 0.02646581,
  0.86337357, 0.00693847, 0.77338056, 0.04692487, 0.06004974,-0.07548972,
  0.1715214 , 0.99979807, 0.01803023, 0.00262878,-0.00847447]

qacc:
[ 7.03738877e+00,-1.01332030e+00, 3.07488315e+00,-1.85283347e+00,
  2.16449097e+00,-3.08855827e+00, 1.06383076e+01,-1.34332880e+01,
 -1.14378420e+01, 6.34855914e-01,-4.49649901e-01,-4.24002058e+00,
 -1.39640653e+00, 1.88664380e+00,-5.24561777e+00, 1.61592088e+01,
 -2.33070564e+00, 1.15125297e+00,-1.17576452e-02,-1.03579594e+01,
 -2.16002989e+01, 3.88223982e+00]

qfrc_actuator:
[ 6.60945159e-05, 9.09933354e-04, 9.91437285e-05,-6.46198071e-05,
 -3.41983511e-05, 6.32659141e-05,-6.86173226e-06, 1.83103876e-05,
 -1.43227222e-04, 8.17358628e-04, 2.86617882e-04, 4.76647344e-05,
  4.73920044e-02,-9.02948915e-04, 3.75986324e-02,-3.24826344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000583576461415547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42683491e-13,  4.75611637e-14,  1.00000000e+00,  6.78619288e-27,
        1.00000000e+00, -4.75611637e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42683491e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615075, -0.0923337 ,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21710758e-05, 9.22505631e-06, 2.63952725e-05, 6.76330352e-06,
  1.24553997e-05,-2.90565752e-05, 4.02682195e-05,-5.10967592e-06,
 -6.90341628e-05, 2.87107045e-05,-9.84272624e-06,-1.34478727e-05,
 -3.27142628e-04,-7.81445193e-05,-8.81445608e-05, 5.30829441e-05,
 -5.98259288e-08,-6.68482642e-07,-4.90500135e+00, 3.12110915e-04,
  1.18009675e-02,-4.22193269e-04]


--- Step 454 ---
qpos:
[ 0.01869021, 0.03014491,-0.00950074,-0.02559752, 0.00787082, 0.0046976 ,
 -0.00785491, 0.02706402, 0.01231395, 0.0279593 ,-0.00835903, 0.02646569,
  0.86439691, 0.00694009, 0.77444741, 0.04692858, 0.06003111,-0.07549823,
  0.17152056, 0.99979778, 0.01806175, 0.00254819,-0.00846613]

qacc:
[  1.38233284, -1.46566594,  3.66807549,  1.69665691,  1.40379003,
  -2.00546685,  7.97333588,-14.69816051, -6.90321798,  1.29132805,
  -4.69096121,  7.8947715 , -1.01247356,  0.83435399,  1.27105203,
  -8.05042751, -2.29335062,  1.12803428, -0.18341196,-10.24816365,
 -21.14292853,  3.62238773]

qfrc_actuator:
[ 7.30199929e-05, 9.32651714e-04, 1.49961540e-04,-4.27948521e-05,
 -2.64294092e-05, 2.27579018e-05,-4.45157881e-06,-3.43678492e-06,
 -1.82855923e-04, 8.46277471e-04, 2.84226510e-04, 5.85315046e-05,
  4.72969045e-02,-9.21717006e-04, 3.74791236e-02,-3.32430352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826353611842888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52759735e-14, -4.76379867e-14,  1.00000000e+00, -4.53875556e-27,
        1.00000000e+00,  4.76379867e-14, -1.00000000e+00,  0.00000000e+00,
       -9.52759735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615011, -0.09233539,  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:
[ 8.15789351e-06, 3.36499835e-05, 5.62182605e-05, 2.32661132e-05,
  8.11135766e-06,-4.86678192e-05, 1.17879766e-06,-2.17013776e-05,
 -4.16448671e-05, 4.23601199e-05, 1.85853935e-06, 1.14971591e-05,
 -3.18864288e-04,-9.73529129e-05,-1.67778998e-04,-8.76010814e-05,
  1.72549751e-06, 2.27611281e-06,-4.90500148e+00, 3.11765194e-04,
  1.18003410e-02,-4.23469174e-04]


--- Step 455 ---
qpos:
[ 0.01868966, 0.03014497,-0.00950003,-0.02559798, 0.00787038, 0.00469712,
 -0.00785412, 0.02706345, 0.01231237, 0.02795858,-0.00835782, 0.02646609,
  0.86541837, 0.00694172, 0.77551196, 0.04692746, 0.06000343,-0.0755023 ,
  0.17151838, 0.99979801, 0.01807264, 0.00242614,-0.00845166]

qacc:
[ -5.18859146, -2.29242341, 10.47474804,-19.20589065,  0.84786406,
   0.18450992,  0.05748705, -3.70460606,  4.89244442,  1.78901759,
  -8.43234944, 17.71093789, -1.47675106,  2.11624151, 11.30605789,
 -44.2696252 , -2.26169398,  1.10842028, -0.33122602,-10.15105213,
 -20.76299487,  3.41710023]

qfrc_actuator:
[ 4.15498951e-05, 9.46321609e-04, 1.79914521e-04,-6.54303255e-05,
 -2.16496574e-05, 1.65766274e-05,-2.13479156e-05,-1.61251210e-05,
 -1.52028987e-04, 8.28229160e-04, 2.64551559e-04, 8.27373748e-05,
  4.72137576e-02,-9.15676825e-04, 3.73211732e-02,-3.58369222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000578648523923711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59324165e-14, -9.59324165e-14,  1.00000000e+00, -9.20302854e-27,
        1.00000000e+00,  9.59324165e-14, -1.00000000e+00,  0.00000000e+00,
       -9.59324165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615065, -0.09233725,  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:
[-3.12234154e-05, 4.51010816e-05, 4.46320669e-05,-1.87968508e-05,
  4.99413816e-06,-3.40816809e-05,-2.75642618e-05,-1.51569422e-05,
  2.96184658e-05, 6.50730600e-06,-1.03059430e-05, 2.63093628e-05,
 -3.06699703e-04,-7.33076513e-05,-2.54840212e-04,-2.88183712e-04,
  7.88642456e-06, 2.76881157e-06,-4.90500281e+00, 3.10607812e-04,
  1.18005185e-02,-4.24320384e-04]


--- Step 456 ---
qpos:
[ 0.01868978, 0.03014527,-0.00949949,-0.02559865, 0.00787001, 0.00469655,
 -0.00785335, 0.02706305, 0.01231118, 0.02795807,-0.00835661, 0.02646675,
  0.86643783, 0.00694402, 0.77657347, 0.04692192, 0.05996681,-0.07550201,
  0.17151438, 0.99979874, 0.01806306, 0.00226325,-0.00843136]

qacc:
[  5.66278576,  0.31293784,  0.21965952, -3.81676728,  0.53429266,
   0.27715303, -1.85896583,  4.81554647,  3.24651612,  0.81345621,
  -3.60162198,  7.905658  , -2.14615527,  4.01646752,  9.00358676,
 -37.67344996, -2.23516446,  1.09195722, -0.45801499,-10.06693964,
 -20.44990823,  3.25562942]

qfrc_actuator:
[ 7.65071138e-05, 9.36606901e-04, 1.61732434e-04,-7.85655156e-05,
 -1.86659032e-05, 3.09157978e-05,-1.38487391e-05,-5.60738033e-06,
 -1.33246777e-04, 8.53147615e-04, 2.70147283e-04, 9.67892520e-05,
  4.71218720e-02,-8.77211456e-04, 3.71615744e-02,-3.80698772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005722663868941713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70022921e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.70022921e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615212, -0.09233923,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40611005e-05, 2.38997201e-05,-4.02684747e-06,-1.00254085e-05,
  3.11553056e-06,-1.10517359e-05,-3.46297114e-06, 7.80886371e-06,
  1.96516597e-05, 2.75722911e-05, 6.57132262e-06, 1.44826231e-05,
 -3.03959795e-04,-3.40482221e-05,-3.15300522e-04,-2.73627416e-04,
  1.81777858e-05, 9.37974900e-07,-4.90500530e+00, 3.08742839e-04,
  1.18014390e-02,-4.24747924e-04]


--- Step 457 ---
qpos:
[ 0.01869032, 0.03014532,-0.00949896,-0.02559873, 0.00787002, 0.00469601,
 -0.00785256, 0.0270624 , 0.01231056, 0.02795851,-0.00835541, 0.02646713,
  0.86745538, 0.00694678, 0.77763151, 0.0469166 , 0.05993825,-0.07550854,
  0.17151249, 0.99979871, 0.01808566, 0.00213761,-0.00841932]

qacc:
[ 3.5921723 , 0.93173811,-6.32260718,16.80606465, 3.37477334,-0.54198429,
  2.95791467,-7.07685013, 4.91642072, 0.71222313, 0.47285643,-6.00649818,
 -1.65330516, 2.85785615,-5.69458515,12.74504923, 2.01733319,-1.7059013 ,
  0.52728475,15.93725437,18.68482819,-4.42857812]

qfrc_actuator:
[ 9.70376994e-05, 8.95010857e-04, 1.50702576e-04,-5.05439052e-05,
  9.90611929e-07, 3.98002653e-05,-9.64366782e-06,-1.69856360e-05,
 -1.03975122e-04, 9.56946962e-04, 2.90778610e-04, 8.70507645e-05,
  4.70301485e-02,-8.55449291e-04, 3.70384169e-02,-3.77632620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005690536966442561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75499352e-14, -9.75499352e-14,  1.00000000e+00, -9.51598986e-27,
        1.00000000e+00,  9.75499352e-14, -1.00000000e+00,  0.00000000e+00,
       -9.75499352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03450655, -0.05172737,  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:
[ 2.15308061e-05,-2.94967813e-05,-6.94647498e-06, 2.87084750e-05,
  1.97410123e-05, 2.33720264e-06, 1.76427901e-06,-1.18193772e-05,
  2.98565811e-05, 1.21202190e-04, 2.76257093e-05,-8.05173789e-06,
 -2.94411723e-04,-4.38725003e-05,-3.01953784e-04,-2.59008548e-05,
  3.24180446e-05,-3.11750023e-06,-4.90500892e+00, 3.06243653e-04,
  1.18030563e-02,-4.24753109e-04]


--- Step 458 ---
qpos:
[ 0.01869075, 0.03014519,-0.00949857,-0.02559848, 0.00787061, 0.00469559,
 -0.00785152, 0.02706195, 0.01231099, 0.02796012,-0.00835468, 0.02646739,
  0.8684712 , 0.0069495 , 0.7786866 , 0.04691053, 0.05991758,-0.07552177,
  0.1715118 , 0.99979796, 0.01813936, 0.00204847,-0.0084148 ]

qacc:
[-0.87984562, 0.84699945,-4.74914361,10.86126236, 5.11147804,-0.15309745,
 -0.02125673, 2.77213454, 8.87410068, 2.62106369,-6.64911406, 4.58746103,
 -1.10093189, 1.35011713,-1.98927366, 0.78989339, 1.96932285,-1.67515656,
  0.30136035,15.41647   ,18.31239664,-4.06191985]

qfrc_actuator:
[ 9.11380972e-05, 8.87941408e-04, 1.43886455e-04,-3.40551007e-05,
  3.03035809e-05, 6.30873319e-05, 1.02958099e-05,-5.66222581e-06,
 -5.10071566e-05, 1.01847265e-03, 2.67178861e-04, 8.12250752e-05,
  4.69439116e-02,-8.61528926e-04, 3.69159687e-02,-3.80919650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005763665172731219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03450697, -0.05173124,  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:
[-5.28396304e-06,-2.37710513e-05,-1.27783689e-05, 1.55425577e-05,
  2.98752246e-05, 2.44707456e-05, 2.02282919e-05, 1.12546391e-05,
  5.38879469e-05, 1.34641750e-04, 4.53851005e-06, 1.61618456e-07,
 -2.84190470e-04,-7.15983324e-05,-2.66797253e-04,-7.37466782e-05,
  1.91533335e-05, 2.82786247e-06,-4.90500581e+00, 3.09060929e-04,
  1.18031527e-02,-4.25355139e-04]


--- Step 459 ---
qpos:
[ 0.01869145, 0.0301453 ,-0.00949876,-0.0255977 , 0.00787085, 0.00469542,
 -0.00785006, 0.02706229, 0.0123117 , 0.02796234,-0.00835403, 0.02646763,
  0.86948533, 0.0069519 , 0.77973893, 0.04690366, 0.05990462,-0.0755416 ,
  0.17151153, 0.99979652, 0.01822332, 0.00199519,-0.00841724]

qacc:
[  2.29941283,  2.97811781,-12.35967485, 22.07876738, -3.00962866,
   0.8344386 , -5.86423361, 18.86874175,  2.44253908,  0.93511265,
  -2.05038435,  1.22833398, -0.81429869,  0.51270349, -1.63363845,
  -0.13956929,  1.92810259, -1.64840856,  0.10485134, 14.98425927,
  17.98910197, -3.77152112]

qfrc_actuator:
[ 1.05239051e-04, 9.19356955e-04, 1.21970711e-04,-6.71149574e-06,
  1.18022929e-05, 9.49076357e-05, 3.94477433e-05, 3.67080536e-05,
 -3.77772387e-05, 1.01853779e-03, 2.53016055e-04, 7.76938659e-05,
  4.68503672e-02,-8.83992968e-04, 3.67993496e-02,-3.84378519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005791056904764919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58566841e-14, -9.58566841e-14,  1.00000000e+00, -9.18850389e-27,
        1.00000000e+00,  9.58566841e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58566841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03450648, -0.05173359,  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:
[ 1.39384833e-05, 1.61455267e-05,-2.78651876e-05, 2.61854164e-05,
 -1.76450100e-05, 5.01798321e-05, 3.70801931e-05, 4.43362826e-05,
  1.48632906e-05, 7.62549263e-05, 1.41844049e-05, 2.39096691e-06,
 -2.90472518e-04,-9.03392227e-05,-2.51945005e-04,-7.40369113e-05,
  9.48382456e-06, 5.48469796e-06,-4.90500383e+00, 3.10534866e-04,
  1.18038042e-02,-4.26682013e-04]


--- Step 460 ---
qpos:
[ 0.01869232, 0.03014534,-0.00949911,-0.0255966 , 0.00787018, 0.00469557,
 -0.00784883, 0.02706318, 0.01231188, 0.0279649 ,-0.00835342, 0.0264682 ,
  0.8704976 , 0.00695437, 0.78078844, 0.04690124, 0.05989922,-0.07556792,
  0.171511  , 0.9997944 , 0.01833681, 0.00197721,-0.00842617]

qacc:
[  1.40085481,  1.05709684, -5.31833133, 11.40377669, -8.04643962,
   2.180919  , -9.39556715, 18.80762037, -4.56851858,  1.26378577,
  -5.25791361, 10.86386797, -1.07516085,  1.32803754,-17.56520287,
  55.56748197,  1.89297252, -1.62544548, -0.06513787, 14.62719248,
  17.71129559, -3.5423193 ]

qfrc_actuator:
[ 1.13255716e-04, 9.02516011e-04, 1.09239294e-04, 9.07377383e-06,
 -3.46961675e-05, 9.61646899e-05, 2.06045225e-05, 6.15118645e-05,
 -6.58036830e-05, 1.01732100e-03, 2.44297309e-04, 9.32510527e-05,
  4.67578235e-02,-8.80479150e-04, 3.67289245e-02,-3.59501835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781343008371964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60177439e-14, -9.60177439e-14,  1.00000000e+00, -9.21940714e-27,
        1.00000000e+00,  9.60177439e-14, -1.00000000e+00,  0.00000000e+00,
       -9.60177439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03450526, -0.05173473,  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:
[ 8.42824399e-06,-1.24474488e-05,-1.19249126e-05, 1.60200980e-05,
 -4.69857420e-05, 3.88596174e-05,-2.39174543e-06, 2.90971622e-05,
 -2.75567832e-05, 4.43767565e-05, 8.82861363e-06, 1.93549246e-05,
 -2.97170247e-04,-6.87528685e-05,-1.99665278e-04, 2.11049167e-04,
  3.18121939e-06, 5.12251708e-06,-4.90500295e+00, 3.10835379e-04,
  1.18048937e-02,-4.28709455e-04]


--- Step 461 ---
qpos:
[ 0.01869259, 0.03014514,-0.00949948,-0.02559633, 0.00786965, 0.00469602,
 -0.00784805, 0.02706403, 0.01231173, 0.02796739,-0.00835301, 0.02646971,
  0.8715081 , 0.0069566 , 0.78183635, 0.04690126, 0.05990129,-0.07560067,
  0.17150963, 0.99979162, 0.01847925, 0.00199406,-0.00844123]

qacc:
[ -5.14166749, -2.02190331, 10.32695853,-24.7603801 ,  1.19246095,
   1.58843898, -4.97498664,  4.92825441, -2.87453425,  2.41240078,
 -12.70503936, 29.32737233, -0.85624328,  0.63287589, -9.72153541,
  30.64616346,  1.86325787, -1.60599627, -0.21150799, 14.33387684,
  17.47509096, -3.36228785]

qfrc_actuator:
[ 8.21151207e-05, 8.74689017e-04, 1.01843180e-04,-3.53555462e-05,
 -2.62750385e-05, 9.66593622e-05,-8.81314720e-06, 5.79647059e-05,
 -8.23706097e-05, 9.79858340e-04, 2.21093536e-04, 1.37661548e-04,
  4.66659558e-02,-8.97158100e-04, 3.66863191e-02,-3.46521624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005741944914392783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66765653e-14, -9.66765653e-14,  1.00000000e+00, -9.34635827e-27,
        1.00000000e+00,  9.66765653e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66765653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03450345, -0.05173491,  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:
[-3.08994540e-05,-3.65639067e-05,-1.08813241e-05,-4.50651316e-05,
  7.09829130e-06, 2.29395702e-05,-2.06948347e-05,-1.40148070e-06,
 -1.73521225e-05,-1.01039346e-05,-1.23170736e-05, 4.69872081e-05,
 -2.95036117e-04,-8.76026441e-05,-1.17547880e-04, 1.14346142e-04,
  6.06668904e-08, 1.94954237e-06,-4.90500313e+00, 3.10088363e-04,
  1.18063394e-02,-4.31417842e-04]


--- Step 462 ---
qpos:
[ 0.01869214, 0.03014457,-0.00949961,-0.02559626, 0.00786957, 0.00469646,
 -0.0078475 , 0.0270645 , 0.01231103, 0.02796967,-0.00835277, 0.0264714 ,
  0.87251691, 0.00695832, 0.78288304, 0.04690207, 0.0599107 ,-0.07563978,
  0.1715069 , 0.99978817, 0.01865014, 0.00204533,-0.00846216]

qacc:
[-6.16309827e+00,-1.50379323e+00, 5.47800066e+00,-8.86493887e+00,
  3.94967906e+00,-1.60352907e-01, 2.13024504e+00,-8.21428970e+00,
 -4.62144589e+00, 5.85576162e-01,-3.25807105e+00, 6.92023636e+00,
 -6.34071301e-01,-1.39931666e-02,-4.17850462e+00, 1.20754545e+01,
  1.83833004e+00,-1.58976530e+00,-3.37035723e-01, 1.40946922e+01,
  1.72766262e+01,-3.22182271e+00]

qfrc_actuator:
[ 4.59308159e-05, 8.58217075e-04, 1.15308241e-04,-4.38583064e-05,
 -3.34049600e-06, 7.88518043e-05,-2.64997370e-05, 3.77631404e-05,
 -1.09798848e-04, 9.56434771e-04, 2.07133010e-04, 1.45388748e-04,
  4.65798792e-02,-9.25665333e-04, 3.66390957e-02,-3.42431211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005679207443594486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77445388e-14, -9.77445388e-14,  1.00000000e+00, -9.55399486e-27,
        1.00000000e+00,  9.77445388e-14, -1.00000000e+00,  0.00000000e+00,
       -9.77445388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03450118, -0.05173432,  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:
[-3.70943286e-05,-4.10954527e-05, 3.02110363e-06,-1.13203419e-05,
  2.31451683e-05,-9.33921224e-06,-1.55620727e-05,-1.99667843e-05,
 -2.79336593e-05,-2.97089567e-05,-1.59755373e-05, 7.77335796e-06,
 -2.91126080e-04,-1.02327612e-04,-9.98603897e-05, 2.95225234e-05,
 -2.57949943e-08,-3.87513492e-06,-4.90500434e+00, 3.08386325e-04,
  1.18080840e-02,-4.34791359e-04]


--- Step 463 ---
qpos:
[ 0.01869194, 0.03014404,-0.00949976,-0.02559632, 0.00786977, 0.00469673,
 -0.00784681, 0.02706474, 0.01231035, 0.02797168,-0.00835232, 0.02647213,
  0.87352394, 0.00695998, 0.78392789, 0.04690443, 0.05991043,-0.07567413,
  0.17150565, 0.99978525, 0.01879976, 0.00205107,-0.00847421]

qacc:
[  2.21622695, -0.19077562,  1.32174816, -3.68967818,  2.43212179,
  -1.12959998,  4.72584957, -9.09017845,  0.19022437, -2.92863703,
  14.04010186,-31.01796963, -1.05847007,  1.20963385, -7.33152156,
  21.81820571, -2.42293662,  1.19129537,  0.36813588,-10.4561338 ,
 -22.76956735,  4.84532975]

qfrc_actuator:
[ 6.03383044e-05, 8.84285099e-04, 1.23301660e-04,-4.88757956e-05,
  1.01823307e-05, 6.79899583e-05,-1.94485871e-05, 2.56746428e-05,
 -1.07898583e-04, 9.41590032e-04, 2.16509814e-04, 9.59749447e-05,
  4.64973329e-02,-9.25404868e-04, 3.65465169e-02,-3.34731794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22450291,  4.99387873, -3.71559036,  4.99387873, 27.92520859,
       29.1664802 , -3.71559036, 29.1664802 , 45.42523583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005750832799950728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65271521e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65271521e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09614232, -0.09235184,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33143336e-05, 3.23763448e-06,-5.03748007e-07,-6.88984375e-06,
  1.41787882e-05,-2.01703065e-05, 2.50062100e-06,-1.34200410e-05,
  1.07861000e-06,-3.45261661e-05, 1.50836445e-06,-5.10968261e-05,
 -2.88142433e-04,-7.51196849e-05,-1.47774144e-04, 6.28653767e-05,
  2.80507262e-06,-1.22318152e-05,-4.90500657e+00, 3.05796404e-04,
  1.18100889e-02,-4.38817333e-04]


--- Step 464 ---
qpos:
[ 0.01869227, 0.03014371,-0.00950019,-0.02559645, 0.00786978, 0.00469682,
 -0.00784607, 0.02706552, 0.0123097 , 0.02797308,-0.00835133, 0.02647227,
  0.8745291 , 0.00696197, 0.78497099, 0.04690797, 0.05990065,-0.07570383,
  0.17150498, 0.99978287, 0.01892837, 0.00201256,-0.00847818]

qacc:
[  4.4355739 ,  0.94055227, -2.70595384,  1.93709245, -1.6154308 ,
   0.76879996, -5.40245652, 14.97812665,  0.26649175, -3.53191948,
  13.84304465,-24.23744794, -1.51747438,  2.43537962, -6.03827556,
  17.61902075, -2.37441593,  1.15925899,  0.14542511,-10.33179866,
 -22.13218669,  4.4342676 ]

qfrc_actuator:
[ 8.66577489e-05, 9.00116508e-04, 1.10415212e-04,-5.17779540e-05,
  2.99718067e-07, 6.14716316e-05,-1.55761977e-05, 5.39831954e-05,
 -1.06500237e-04, 8.96532722e-04, 2.39586873e-04, 6.66212960e-05,
  4.64063219e-02,-9.08124592e-04, 3.64747584e-02,-3.28523524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27971047, -2.80084776,  5.62049957, -2.80084776, 52.64697269,
       23.1060675 ,  5.62049957, 23.1060675 , 17.79409216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005816998411055929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.54292013e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.54292013e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09613859, -0.0923533 ,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67107662e-05, 1.72692030e-05,-1.25104231e-05,-2.91399406e-06,
 -9.48624800e-06,-1.78696926e-05,-4.62778471e-07, 2.72662663e-05,
  1.42698958e-06,-6.63242055e-05, 1.43318439e-05,-3.17827566e-05,
 -2.89397070e-04,-5.30507891e-05,-1.42717273e-04, 4.42433806e-05,
 -3.73029362e-07,-2.02923234e-06,-4.90500533e+00, 3.06642471e-04,
  1.18069416e-02,-4.42295014e-04]


--- Step 465 ---
qpos:
[ 0.01869256, 0.03014308,-0.00950004,-0.02559626, 0.00787002, 0.0046967 ,
 -0.00784554, 0.02706665, 0.01230804, 0.02797399,-0.00835038, 0.02647244,
  0.87553228, 0.00696451, 0.78601205, 0.04691321, 0.05988155,-0.07572901,
  0.17150412, 0.99978101, 0.0190362 , 0.00193088,-0.0084747 ]

qacc:
[ -0.24407417, -1.41377603,  3.12230869,  1.61918102,  1.9908247 ,
   1.04204107, -5.61456697, 12.24593945, -8.61832232, -0.44378873,
   0.62711853,  0.05102757, -1.78715719,  3.15194287, -8.05587594,
  24.11081861, -2.33255104,  1.13181145, -0.04810746,-10.21559681,
 -21.59766777,  4.10986812]

qfrc_actuator:
[ 8.42556884e-05, 8.74116308e-04, 1.38536971e-04,-3.56775445e-05,
  1.22286807e-05, 3.98796649e-05,-3.13286414e-05, 7.03258090e-05,
 -1.58676405e-04, 8.69309723e-04, 2.34954159e-04, 6.70486282e-05,
  4.63049794e-02,-8.80986050e-04, 3.63835943e-02,-3.19684734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005837899225154403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50875462e-14,  1.90175092e-13,  1.00000000e+00,  1.80832829e-26,
        1.00000000e+00, -1.90175092e-13, -1.00000000e+00,  0.00000000e+00,
       -9.50875462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09613667, -0.09235496,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61544491e-06,-1.90265859e-05, 3.00546022e-05, 1.63510086e-05,
  1.16520191e-05,-3.05289188e-05,-1.85683379e-05, 1.60882575e-05,
 -5.21512142e-05,-6.27775890e-05,-1.76964121e-05,-2.54343116e-06,
 -2.95827633e-04,-4.00636522e-05,-1.62373141e-04, 7.00463701e-05,
  1.43287290e-06, 5.31675656e-06,-4.90500528e+00, 3.06322287e-04,
  1.18048703e-02,-4.45355886e-04]


--- Step 466 ---
qpos:
[ 0.01869317, 0.03014236,-0.00949959,-0.02559589, 0.0078704 , 0.00469652,
 -0.00784527, 0.02706796, 0.01230577, 0.02797475,-0.0083499 , 0.02647225,
  0.87653372, 0.0069668 , 0.78705092, 0.04691587, 0.05985326,-0.07574976,
  0.1715024 , 0.99977967, 0.01912347, 0.00180693,-0.00846429]

qacc:
[  2.70229029, -0.55897476,  1.03859557,  1.75517867,  1.23302755,
   0.96207939, -4.29271246,  7.72901688, -5.23484111,  0.36302891,
  -0.10000311, -5.16947674, -1.02839456,  0.99374281,  4.60439043,
 -20.69366437, -2.29681233,  1.10840661, -0.21540404,-10.10973323,
 -21.15200884,  3.85496025]

qfrc_actuator:
[ 1.00468293e-04, 8.76704656e-04, 1.54990838e-04,-2.62823244e-05,
  1.91548158e-05, 4.48477186e-05,-4.08646277e-05, 7.94645355e-05,
 -1.88710489e-04, 8.70647719e-04, 2.14073245e-04, 4.94773421e-05,
  4.62081662e-02,-9.01562415e-04, 3.62382695e-02,-3.34221684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005822162948701803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.5344551e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.5344551e-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([ 0.0961362 , -0.09235678,  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:
[ 1.61588015e-05,-1.12469438e-06, 1.67963982e-05, 9.93949566e-06,
  7.24669718e-06,-1.52504651e-05,-1.75804042e-05, 7.49712346e-06,
 -3.15811013e-05,-3.76002202e-05,-3.61379740e-05,-2.09260481e-05,
 -2.92739496e-04,-8.70871915e-05,-2.21668339e-04,-1.64561168e-04,
  7.82684281e-06, 1.00185060e-05,-4.90500637e+00, 3.05027275e-04,
  1.18037555e-02,-4.47999200e-04]


--- Step 467 ---
qpos:
[ 0.01869431, 0.03014155,-0.0094992 ,-0.02559538, 0.00787051, 0.00469619,
 -0.00784486, 0.02707004, 0.0123035 , 0.02797506,-0.00834904, 0.02647183,
  0.8775335 , 0.0069683 , 0.78808761, 0.0469134 , 0.0598159 ,-0.07576615,
  0.17149924, 0.99977881, 0.01919037, 0.00164146,-0.00844732]

qacc:
[ 4.58444451e+00, 3.11252826e-01,-1.86706293e+00, 4.37134266e+00,
 -2.32241853e+00, 1.04133194e+00,-7.23303791e+00, 2.04811155e+01,
  3.39083539e-02,-2.12050869e+00, 7.69586591e+00,-1.19971898e+01,
 -5.91121292e-01,-3.39025130e-01, 1.23607584e+01,-4.78713866e+01,
 -2.26663668e+00, 1.08854155e+00,-3.59387075e-01,-1.00153642e+01,
 -2.07830028e+01, 3.65584634e+00]

qfrc_actuator:
[ 1.27517193e-04, 8.60845263e-04, 1.46755606e-04,-2.09048030e-05,
  5.32168654e-06, 4.79436665e-05,-2.87940043e-05, 1.19826643e-04,
 -1.87701018e-04, 8.53494403e-04, 2.37135692e-04, 3.92223623e-05,
  4.61087943e-02,-9.50177814e-04, 3.61191199e-02,-3.60648379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005777197615821072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.60866408e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.60866408e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09613688, -0.09235873,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75200983e-05,-1.25701063e-05,-6.05392437e-06, 6.10302253e-06,
 -1.36321113e-05,-8.73934377e-06, 7.01015484e-06, 3.92427422e-05,
  7.50929719e-08,-4.65919398e-05, 1.01053107e-05,-1.35254270e-05,
 -3.04282210e-04,-1.21429914e-04,-2.46631755e-04,-3.03638938e-04,
  1.85110434e-05, 1.22447926e-05,-4.90500859e+00, 3.02893528e-04,
  1.18035060e-02,-4.50225332e-04]


--- Step 468 ---
qpos:
[ 0.01869577, 0.03014047,-0.00949881,-0.0255948 , 0.00787081, 0.00469582,
 -0.00784434, 0.02707257, 0.0123016 , 0.02797489,-0.00834789, 0.02647164,
  0.87853129, 0.00696963, 0.78912168, 0.04690605, 0.05976958,-0.07577826,
  0.17149415, 0.99977843, 0.01923708, 0.00143507,-0.00842411]

qacc:
[  2.71361926, -0.19984058, -0.16600272,  1.77861901,  1.57301717,
   0.55892714, -4.0176223 , 11.77874536,  3.20578771, -0.96587407,
   1.48942094,  2.54251813, -1.36808034,  1.62427876, 10.90382499,
 -43.59172809, -2.24146543,  1.07176302, -0.48283833, -9.93294277,
 -20.48010049,  3.50159696]

qfrc_actuator:
[ 1.42969060e-04, 8.33955705e-04, 1.41693393e-04,-1.79619961e-05,
  1.48876051e-05, 5.00149203e-05,-2.17942058e-05, 1.42748668e-04,
 -1.68434920e-04, 8.25588788e-04, 2.50401467e-04, 5.11302014e-05,
  4.59972919e-02,-9.61724653e-04, 3.59891232e-02,-3.84972919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570932795229323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.72288712e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.72288712e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09613847, -0.09236078,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62515930e-05,-3.48780534e-05,-8.19130935e-06, 2.31246411e-06,
  9.17354004e-06, 3.11502676e-07, 7.41072933e-06, 2.35495197e-05,
  1.92540002e-05,-5.24800165e-05, 4.40309412e-06, 9.99548494e-06,
 -3.31441463e-04,-9.20533869e-05,-2.83715476e-04,-2.93397614e-04,
  3.32645568e-05, 1.21282179e-05,-4.90501190e+00, 3.00016461e-04,
  1.18040525e-02,-4.52035322e-04]


--- Step 469 ---
qpos:
[ 0.01869671, 0.03013965,-0.009499  ,-0.02559421, 0.00787121, 0.00469552,
 -0.00784405, 0.02707537, 0.01230029, 0.02797433,-0.00834661, 0.0264716 ,
  0.87952706, 0.00697135, 0.79015305, 0.04689602, 0.05973131,-0.07579728,
  0.17149135, 0.99977725, 0.01931648, 0.00126585,-0.00840989]

qacc:
[ -4.44444255,  1.98100391, -6.53791632,  7.26249218,  0.97836185,
   1.30302406, -5.61761028, 10.50377471,  5.04174803, -0.6013425 ,
   0.79192225,  1.74204599, -1.83871868,  3.07428044,  4.27379254,
 -20.44998611,  2.01339229, -1.73067296,  0.57332538, 16.20468357,
  18.63801763, -4.83580437]

qfrc_actuator:
[ 1.15962316e-04, 8.71679587e-04, 1.20748458e-04,-1.64801180e-05,
  2.04031635e-05, 5.14357483e-05,-3.56227940e-05, 1.55213531e-04,
 -1.38587938e-04, 8.09209431e-04, 2.57729551e-04, 5.82057500e-05,
  4.59158804e-02,-9.33570123e-04, 3.58900179e-02,-3.97206947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000575959151093694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63803616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63803616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03449511, -0.05174894,  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:
[-2.65421065e-05, 1.66621990e-05,-2.90725519e-05,-2.50475960e-07,
  5.77508969e-06, 4.13996986e-06,-1.20444261e-05, 1.31865484e-05,
  3.03934907e-05,-4.43946187e-05,-2.63791974e-06, 5.17051713e-06,
 -3.12665590e-04,-5.33632983e-05,-2.67126722e-04,-1.76289560e-04,
  5.19270828e-05, 9.77143650e-06,-4.90501628e+00, 2.96461501e-04,
  1.18053430e-02,-4.53430542e-04]


--- Step 470 ---
qpos:
[ 0.01869732, 0.03013927,-0.00949959,-0.02559364, 0.00787202, 0.00469513,
 -0.00784384, 0.02707797, 0.01229935, 0.0279731 ,-0.00834536, 0.02647134,
  0.88052112, 0.00697326, 0.79118172, 0.04688837, 0.05970089,-0.07582311,
  0.1714899 , 0.99977531, 0.0194275 , 0.00113305,-0.0084039 ]

qacc:
[ -2.85976747,  1.64746912, -4.93181915,  4.85055183,  3.58970129,
  -0.36243628,  1.95935025, -5.3288228 ,  3.15045297, -1.2234898 ,
   3.97289245, -7.08655701, -1.17279652,  1.68094902,-11.14053692,
  33.35031745,  1.96297758, -1.69942632,  0.33852638, 15.6606798 ,
  18.25482075, -4.44720803]

qfrc_actuator:
[ 9.96906588e-05, 9.12233433e-04, 1.08604336e-04,-1.58271752e-05,
  4.12359141e-05, 3.46099042e-05,-4.38909102e-05, 1.43661938e-04,
 -1.20510912e-04, 7.46579327e-04, 2.43781068e-04, 4.46307747e-05,
  4.58579239e-02,-9.17604702e-04, 3.58255261e-02,-3.82681302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29582063, -6.28634379,  0.34531018, -6.28634379,  6.4718975 ,
        3.20546515,  0.34531018,  3.20546515, 64.65105343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005836297874220603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90227272e-13, -9.51136361e-14,  1.00000000e+00, -1.80932076e-26,
        1.00000000e+00,  9.51136361e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90227272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03449548, -0.05175309,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70355496e-05, 4.38742738e-05,-1.22815238e-05, 3.57450119e-07,
  2.09982543e-05,-1.64303532e-05,-8.44652037e-06,-1.15407717e-05,
  1.89525670e-05,-8.77673335e-05,-2.32757388e-05,-1.54711443e-05,
 -2.68712249e-04,-5.56885994e-05,-2.12150257e-04, 9.99043633e-05,
  3.45848809e-05, 1.50430414e-05,-4.90501282e+00, 2.99839859e-04,
  1.18064319e-02,-4.55404950e-04]


--- Step 471 ---
qpos:
[ 0.01869842, 0.03013896,-0.00950022,-0.0255927 , 0.00787342, 0.00469454,
 -0.00784337, 0.0270797 , 0.01229933, 0.02797177,-0.00834478, 0.02647056,
  0.88151356, 0.0069748 , 0.79220849, 0.04688265, 0.05967815,-0.07585562,
  0.171489  , 0.99977263, 0.01956922, 0.00103599,-0.00840553]

qacc:
[  4.1974537 ,  0.978492  , -4.92005228, 11.35667788,  5.18692519,
  -2.74457226, 13.05538196,-28.22158452,  7.76396468,  0.60422135,
  -0.14076652, -7.91003485, -0.64138252,  0.16181317, -8.59035961,
  26.0476431 ,  1.9196282 , -1.67230256,  0.13434134, 15.21013341,
  17.92134764, -4.14108659]

qfrc_actuator:
[ 1.25387107e-04, 9.00950445e-04, 1.01790463e-04, 2.10366216e-06,
  7.09181666e-05, 2.47338451e-05,-3.11403355e-05, 1.00312252e-04,
 -7.40048965e-05, 7.63147950e-04, 2.17181666e-04, 1.89623184e-05,
  4.57661530e-02,-9.44404491e-04, 3.57712480e-02,-3.72028033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005865469424332359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46405943e-14, -9.46405943e-14,  1.00000000e+00, -8.95684209e-27,
        1.00000000e+00,  9.46405943e-14, -1.00000000e+00,  0.00000000e+00,
       -9.46405943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03449494, -0.05175564,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52174305e-05, 1.07412644e-05, 7.57472739e-07, 1.93927988e-05,
  3.02740885e-05,-2.12898328e-05, 7.91250678e-06,-4.45769157e-05,
  4.70303232e-05,-3.79484261e-05,-4.81326174e-05,-3.05365485e-05,
 -2.74016546e-04,-9.00861980e-05,-1.46959006e-04, 8.33768496e-05,
  2.09423067e-05, 1.69468458e-05,-4.90501047e+00, 3.01723136e-04,
  1.18080974e-02,-4.58119577e-04]


--- Step 472 ---
qpos:
[ 1.86984451e-02, 3.01384246e-02,-9.50048532e-03,-2.55915457e-02,
  7.87517090e-03, 4.69391967e-03,-7.84252051e-03, 2.70805260e-02,
  1.22998579e-02, 2.79707455e-02,-8.34456896e-03, 2.64700810e-02,
  8.82504225e-01, 6.97587153e-03, 7.93233903e-01, 4.68764727e-02,
  5.96629377e-02,-7.58947342e-02, 1.71487921e-01, 9.99769247e-01,
  1.97409061e-02, 9.74092356e-04,-8.41429532e-03]

qacc:
[ -9.24265741, -0.84742225,  1.68198399,  1.67096598,  3.04640413,
  -3.0004521 , 14.42507311,-30.66056198,  4.73558403,  2.07577546,
  -8.13242957, 13.91288042, -0.78623524,  0.27540945, -0.60660191,
  -0.7202748 ,  1.88260704, -1.64909149, -0.04224517, 14.83882404,
  17.6339952 , -3.90124618]

qfrc_actuator:
[ 6.90603784e-05, 8.76505609e-04, 1.15733732e-04, 1.22647572e-05,
  8.78139730e-05, 3.69025467e-05,-6.07947646e-06, 5.63739054e-05,
 -4.66388586e-05, 8.26946989e-04, 2.19142193e-04, 3.97014088e-05,
  4.56541467e-02,-9.78637760e-04, 3.57124712e-02,-3.74398861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005856071196768536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8958496e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.8958496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03449365, -0.0517569 ,  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:
[-5.55874521e-05,-1.74300473e-05, 1.69326522e-05, 1.10235590e-05,
  1.77502724e-05, 9.71828997e-09, 2.00915251e-05,-4.54493562e-05,
  2.87318810e-05, 3.13865296e-05,-1.28547011e-05, 1.68546028e-05,
 -3.04150125e-04,-1.04518827e-04,-1.26679682e-04,-4.01890652e-05,
  1.07475649e-05, 1.57704662e-05,-4.90500920e+00, 3.02303936e-04,
  1.18102261e-02,-4.61548836e-04]


--- Step 473 ---
qpos:
[ 1.86977912e-02, 3.01380029e-02,-9.50068491e-03,-2.55906461e-02,
  7.87641616e-03, 4.69349710e-03,-7.84149403e-03, 2.70808018e-02,
  1.23003697e-02, 2.79696105e-02,-8.34448720e-03, 2.64698960e-02,
  8.83493164e-01, 6.97625237e-03, 7.94257303e-01, 4.68697815e-02,
  5.96551332e-02,-7.59403632e-02, 1.71486068e-01, 9.99765153e-01,
  1.99419347e-02, 9.46865452e-04,-8.42983352e-03]

qacc:
[ -5.79454177, -0.5591233 ,  3.32103747, -7.98673387, -4.40492973,
  -1.34403803,  7.52064628,-17.49704291, -0.17127112,  0.81437644,
  -4.3489442 ,  9.66636532, -0.52207034, -0.42459558, -1.41051954,
   0.63537099,  1.85120435, -1.6295177 , -0.19425881, 14.53468951,
  17.38886989, -3.71474702]

qfrc_actuator:
[ 3.59032294e-05, 8.97699096e-04, 1.23990696e-04, 1.43965509e-08,
  6.15407888e-05, 6.22327637e-05, 8.38570952e-06, 3.02233535e-05,
 -4.85190760e-05, 7.94434782e-04, 2.02700468e-04, 5.21474298e-05,
  4.55620264e-02,-1.01707314e-03, 3.56030832e-02,-3.77322324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000581581045698179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.54486939e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.54486939e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03449176, -0.05175714,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47826542e-05, 1.54165393e-05, 7.13299768e-06,-1.21945841e-05,
 -2.57676534e-05, 2.75552167e-05, 1.53640327e-05,-2.63425805e-05,
 -1.02970648e-06,-1.68464981e-05,-1.09486359e-05, 1.36760639e-05,
 -3.06335085e-04,-1.17503231e-04,-1.83614484e-04,-5.04223909e-05,
  3.79572146e-06, 1.17354544e-05,-4.90500897e+00, 3.01725123e-04,
  1.18127399e-02,-4.65672119e-04]


--- Step 474 ---
qpos:
[ 1.86977782e-02, 3.01380670e-02,-9.50150437e-03,-2.55902453e-02,
  7.87699202e-03, 4.69338729e-03,-7.84064401e-03, 2.70807717e-02,
  1.23008551e-02, 2.79684201e-02,-8.34460754e-03, 2.64698594e-02,
  8.84480250e-01, 6.97646193e-03, 7.95278830e-01, 4.68633409e-02,
  5.96546277e-02,-7.59924452e-02, 1.71482916e-01, 9.99760348e-01,
  2.01718136e-02, 9.53896134e-04,-8.45185390e-03]

qacc:
[ 5.47045887, 1.33617895,-1.7486303 ,-6.22444642,-5.89992777, 0.28835338,
  0.88317828,-6.14722232,-0.22959409, 0.79778512,-3.57694934, 6.50984647,
 -1.07495688, 1.08899122,-3.46719167, 8.25131847, 1.82475997,-1.613278  ,
 -0.32459653,14.28754775,17.18207492,-3.57124715]

qfrc_actuator:
[ 6.99336923e-05, 9.28266210e-04, 9.34775557e-05,-2.52939259e-05,
  2.78266881e-05, 7.74785980e-05,-1.20268523e-06, 1.47532309e-05,
 -4.98400054e-05, 7.93203082e-04, 1.92881851e-04, 5.95149266e-05,
  4.54765715e-02,-1.02212067e-03, 3.55379971e-02,-3.75227366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005751275251665716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65197262e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65197262e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03448942, -0.05175657,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30237160e-05, 4.01444985e-05,-2.68651925e-05,-2.46380132e-05,
 -3.44362965e-05, 3.26933910e-05,-2.92221558e-06,-1.42712380e-05,
 -1.36068174e-06,-1.22860949e-05,-1.41605543e-05, 6.53578861e-06,
 -3.04365933e-04,-8.64210998e-05,-1.63623953e-04,-7.43231263e-06,
 -7.83942278e-08, 5.01054310e-06,-4.90500976e+00, 3.00091695e-04,
  1.18155870e-02,-4.70472894e-04]


--- Step 475 ---
qpos:
[ 1.86978285e-02, 3.01382682e-02,-9.50230521e-03,-2.55901504e-02,
  7.87750413e-03, 4.69351449e-03,-7.83989771e-03, 2.70805612e-02,
  1.23009759e-02, 2.79676512e-02,-8.34508142e-03, 2.64698602e-02,
  8.85465348e-01, 6.97719015e-03, 7.96298250e-01, 4.68588098e-02,
  5.96444294e-02,-7.60398898e-02, 1.71480956e-01, 9.99756038e-01,
  2.03809969e-02, 9.15330079e-04,-8.46411070e-03]

qacc:
[  0.54098152, -0.50181063,  3.33790987, -8.75141619, -0.56828032,
   0.2328178 ,  0.38807249, -3.52139913, -3.12611474,  1.62804915,
  -5.1432354 ,  6.03113495, -1.73909415,  2.96935245, -8.77188936,
  26.45036519, -2.42322096,  1.15935689,  0.29798068,-10.1623202 ,
 -22.78212455,  5.33272614]

qfrc_actuator:
[ 7.22199971e-05, 9.28536758e-04, 9.36220166e-05,-4.03398557e-05,
  2.55221511e-05, 8.64823621e-05,-7.18985109e-06, 5.66674183e-06,
 -6.85635803e-05, 8.46231353e-04, 1.87160072e-04, 6.38609363e-05,
  4.53898636e-02,-9.89624982e-04, 3.54569459e-02,-3.64851487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17145027,  4.97177443, -3.65626277,  4.97177443, 25.02243069,
       25.63350294, -3.65626277, 25.63350294, 41.02780563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005687190683484056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95214665e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95214665e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09612954, -0.09237512,  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:
[ 3.26540638e-06, 1.61334123e-05, 4.28108491e-06,-1.47370254e-05,
 -3.27105841e-06, 2.60529945e-05,-9.48163234e-08,-8.06446040e-06,
 -1.87713735e-05, 4.35584655e-05,-9.76170454e-06, 3.45988808e-06,
 -2.97454493e-04,-4.36940392e-05,-1.66604251e-04, 8.01177855e-05,
 -1.00634211e-06,-4.27776750e-06,-4.90501153e+00, 2.97479771e-04,
  1.18187338e-02,-4.75937975e-04]


--- Step 476 ---
qpos:
[ 1.86979062e-02, 3.01384847e-02,-9.50274919e-03,-2.55905897e-02,
  7.87798438e-03, 4.69386936e-03,-7.83953021e-03, 2.70806092e-02,
  1.23012156e-02, 2.79673326e-02,-8.34515997e-03, 2.64702013e-02,
  8.86448547e-01, 6.97856313e-03, 7.97315465e-01, 4.68548859e-02,
  5.96247195e-02,-7.60828237e-02, 1.71479339e-01, 9.99752218e-01,
  2.05696958e-02, 8.32424562e-04,-8.46745627e-03]

qacc:
[  0.24553268, -2.07846176,  9.68822412,-19.50178822, -0.29602938,
   1.89249111, -7.40151726, 12.31206095,  1.01859129,  0.18896814,
  -1.25126651,  6.18367877, -1.85299608,  3.35181748, -4.9623496 ,
  12.94645536, -2.37788055,  1.12768316,  0.08561827,-10.06110169,
 -22.16042757,  4.89906312]

qfrc_actuator:
[ 7.35336975e-05, 9.28536306e-04, 1.11770477e-04,-6.69745600e-05,
  2.39728338e-05, 9.16915369e-05,-2.87710724e-05, 1.81599432e-05,
 -6.18745572e-05, 8.95855602e-04, 2.19633952e-04, 8.41985282e-05,
  4.53078084e-02,-9.52977416e-04, 3.53451009e-02,-3.62109823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22056141, -2.95866446,  5.47189993, -2.95866446, 49.10339979,
       23.18681474,  5.47189993, 23.18681474, 18.75770676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005746106826748504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66065423e-14, -9.66065423e-14,  1.00000000e+00, -9.33282402e-27,
        1.00000000e+00,  9.66065423e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66065423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09612588, -0.09237692,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41509569e-06, 9.27724665e-06, 2.15045512e-05,-2.60818545e-05,
 -1.63284454e-06, 1.93989588e-05,-1.64999538e-05, 1.34480954e-05,
  6.15087712e-06, 7.21414990e-05, 4.04042897e-05, 2.19373963e-05,
 -2.79198789e-04,-3.13438964e-05,-1.88604661e-04, 8.36862826e-06,
  7.98261226e-07, 8.04152566e-06,-4.90501172e+00, 2.97394944e-04,
  1.18145796e-02,-4.80875468e-04]


--- Step 477 ---
qpos:
[ 1.86976545e-02, 3.01386299e-02,-9.50321335e-03,-2.55909619e-02,
  7.87878744e-03, 4.69419962e-03,-7.83932262e-03, 2.70808241e-02,
  1.23011889e-02, 2.79672000e-02,-8.34420617e-03, 2.64714628e-02,
  8.87430040e-01, 6.98007894e-03, 7.98331158e-01, 4.68501513e-02,
  5.95956544e-02,-7.61213558e-02, 1.71477326e-01, 9.99748877e-01,
  2.07381133e-02, 7.06229559e-04,-8.46255942e-03]

qacc:
[ -2.82503698,  0.10594603, -0.78768306,  2.02249523,  2.83535794,
   0.75256253, -3.44489294,  6.6181153 , -2.24122264, -0.74023024,
  -0.88263838, 15.0174248 , -1.33510881,  1.9600687 ,  0.28777698,
  -4.06660792, -2.33880751,  1.10046894, -0.09896963, -9.96325843,
 -21.64067369,  4.55901066]

qfrc_actuator:
[ 5.65217654e-05, 9.10687626e-04, 1.04870407e-04,-6.47064287e-05,
  4.06228962e-05, 7.67858600e-05,-4.16395218e-05, 2.54815591e-05,
 -7.57810295e-05, 9.07734851e-04, 2.74417758e-04, 1.31565633e-04,
  4.52232827e-02,-9.49677564e-04, 3.52947511e-02,-3.65670081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762051987308059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09612399, -0.09237883,  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:
[-1.69673831e-05,-9.33764148e-06,-3.23436523e-06, 2.90284340e-06,
  1.66105348e-05,-6.90754074e-06,-1.04368054e-05, 7.84209231e-06,
 -1.37044533e-05, 6.15220610e-05, 7.54252174e-05, 5.22835384e-05,
 -2.67877508e-04,-5.86805250e-05,-1.44314390e-04,-6.12748613e-05,
  7.48401537e-06, 1.74744550e-05,-4.90501295e+00, 2.96066791e-04,
  1.18116262e-02,-4.85411507e-04]


--- Step 478 ---
qpos:
[ 1.86972010e-02, 3.01384522e-02,-9.50368169e-03,-2.55902362e-02,
  7.88012894e-03, 4.69422378e-03,-7.83883778e-03, 2.70807861e-02,
  1.23009959e-02, 2.79671220e-02,-8.34268444e-03, 2.64726408e-02,
  8.88409888e-01, 6.98138910e-03, 7.99344606e-01, 4.68463833e-02,
  5.95573672e-02,-7.61555791e-02, 1.71474279e-01, 9.99746001e-01,
  2.08864383e-02, 5.37616613e-04,-8.44994193e-03]

qacc:
[ -1.72512286,  1.85022113,-11.83355312, 31.04780566,  4.75050135,
  -1.70953391,  6.56028945,-11.13836752, -1.40079439, -1.68435547,
   6.46766742, -8.86593129, -0.84424258,  0.69191057, -6.19948412,
  16.97091087, -2.3055197 ,  1.07716763, -0.25859856, -9.87176955,
 -21.20877075,  4.2940495 ]

qfrc_actuator:
[ 4.66129233e-05, 8.82210511e-04, 1.00928131e-04,-9.97905932e-06,
  6.78506506e-05, 4.99724896e-05,-3.15950559e-05, 1.19357566e-05,
 -8.39544198e-05, 8.79298551e-04, 2.88534484e-04, 1.23423788e-04,
  4.51319998e-02,-9.66142300e-04, 3.51907779e-02,-3.60467159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005743256715319695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66544837e-14, -9.66544837e-14,  1.00000000e+00,  9.34208921e-27,
        1.00000000e+00,  9.66544837e-14, -1.00000000e+00,  0.00000000e+00,
        9.66544837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09612353, -0.09238083,  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:
[-1.04064967e-05,-3.42464526e-05,-6.16322061e-06, 5.42745117e-05,
  2.76974926e-05,-3.25050546e-05, 7.59599101e-06,-1.40526960e-05,
 -8.55837539e-06, 2.37739630e-05, 3.79122991e-05,-1.88215319e-06,
 -2.72910338e-04,-8.06541802e-05,-1.87734635e-04, 2.76067807e-05,
  1.86830578e-05, 2.42370292e-05,-4.90501520e+00, 2.93685940e-04,
  1.18097340e-02,-4.89544343e-04]


--- Step 479 ---
qpos:
[ 1.86973216e-02, 3.01376702e-02,-9.50347391e-03,-2.55888712e-02,
  7.88109643e-03, 4.69412312e-03,-7.83829361e-03, 2.70805779e-02,
  1.23010510e-02, 2.79671676e-02,-8.34095190e-03, 2.64737293e-02,
  8.89388043e-01, 6.98254509e-03, 8.00354869e-01, 4.68450353e-02,
  5.95099701e-02,-7.61855733e-02, 1.71469647e-01, 9.99743569e-01,
  2.10148423e-02, 3.27303814e-04,-8.43000777e-03]

qacc:
[  4.95618609, -1.38135281,  1.05576815,  9.37915952, -3.28625881,
  -0.67462147,  2.8953155 , -5.85421164,  2.11804825, -0.6143105 ,
   2.79832212, -4.76830742, -0.81633349,  0.65483164,-11.9872101 ,
  35.19406621, -2.27749978,  1.05728118, -0.39605403, -9.78844702,
 -20.85250708,  4.08941113]

qfrc_actuator:
[ 7.64753484e-05, 8.47636404e-04, 1.34257878e-04, 2.19083125e-05,
  4.78223859e-05, 5.18110877e-05,-2.59286572e-05, 3.97526074e-06,
 -7.09288700e-05, 8.79987813e-04, 2.96055069e-04, 1.18117597e-04,
  4.50420444e-02,-9.76421824e-04, 3.50281216e-02,-3.48376366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005696786356334804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94885845e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94885845e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0961242 , -0.09238289,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95460913e-05,-5.26654292e-05, 2.73822531e-05, 3.12651708e-05,
 -1.92521959e-05,-1.53684232e-05,-6.05649600e-07,-9.36633634e-06,
  1.27828688e-05, 2.17133095e-05, 1.70166185e-05,-3.01774303e-06,
 -2.79633900e-04,-7.90120869e-05,-2.53659445e-04, 9.65065417e-05,
  3.41232461e-05, 2.85015814e-05,-4.90501847e+00, 2.90385785e-04,
  1.18087962e-02,-4.93273612e-04]


--- Step 480 ---
qpos:
[ 1.86974541e-02, 3.01368710e-02,-9.50275728e-03,-2.55878898e-02,
  7.88181642e-03, 4.69420433e-03,-7.83809291e-03, 2.70799189e-02,
  1.23012617e-02, 2.79675425e-02,-8.33949003e-03, 2.64747528e-02,
  8.90364503e-01, 6.98358830e-03, 8.01362564e-01, 4.68440294e-02,
  5.94703818e-02,-7.62224658e-02, 1.71466438e-01, 9.99740308e-01,
  2.11756158e-02, 1.53208398e-04,-8.41944875e-03]

qacc:
[  0.11749119, -2.23541252,  9.55134571,-16.97945898, -2.19152674,
   0.27630406,  1.27497482, -8.67241587,  1.31250395,  1.05542345,
  -2.86202892,  1.93318411, -0.98425105,  1.02816073, -4.77471837,
  11.32401571,  1.9522274 , -1.72455081,  0.35568995, 16.03823739,
  18.14211351, -5.06511726]

qfrc_actuator:
[ 7.62474519e-05, 8.80825304e-04, 1.71519566e-04, 4.60588141e-06,
  3.56428328e-05, 7.07820345e-05,-4.05347214e-05,-1.83683520e-05,
 -6.32843754e-05, 8.98061575e-04, 2.81995288e-04, 1.14552236e-04,
  4.49582748e-02,-9.82959428e-04, 3.49156336e-02,-3.46538960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19129244,  5.36502237, -3.09008689,  5.36502237, 20.40482314,
       24.67759412, -3.09008689, 24.67759412, 49.0366392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005711001587406922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.72003779e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.72003779e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03448156, -0.05176638,  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:
[ 6.14428086e-07, 1.07656765e-05, 3.08410274e-05,-1.80040577e-05,
 -1.27316305e-05, 9.84134358e-06,-1.81832833e-05,-2.32051760e-05,
  8.02861668e-06, 3.35819899e-05,-7.60673764e-06,-2.11171539e-06,
 -2.77843395e-04,-7.62262593e-05,-2.22372474e-04,-9.79640002e-06,
  5.36068598e-05, 3.04041554e-05,-4.90502274e+00, 2.86257749e-04,
  1.18087314e-02,-4.96599824e-04]


--- Step 481 ---
qpos:
[ 1.86975827e-02, 3.01367084e-02,-9.50245882e-03,-2.55871440e-02,
  7.88307471e-03, 4.69428595e-03,-7.83802822e-03, 2.70790061e-02,
  1.23015626e-02, 2.79682777e-02,-8.33847974e-03, 2.64750437e-02,
  8.91339142e-01, 6.98488726e-03, 8.02367888e-01, 4.68421723e-02,
  5.94384260e-02,-7.62661533e-02, 1.71463834e-01, 9.99736246e-01,
  2.13677910e-02, 1.46728993e-05,-8.41755501e-03]

qacc:
[ -0.05677111,  1.52485114, -3.22267721, -0.65230974,  4.73110417,
  -0.15085204,  1.59380347, -5.75004264,  0.74866686,  0.22849113,
   2.96741156,-15.18917575, -1.48989035,  2.30159149, -0.83212466,
  -1.94116051,  1.90811269, -1.69878533,  0.15116618, 15.5561438 ,
  17.81584839, -4.70898002]

qfrc_actuator:
[ 7.60505982e-05, 9.36573807e-04, 1.57779360e-04,-5.93796007e-06,
  6.37008678e-05, 6.42703758e-05,-4.91725470e-05,-3.12403329e-05,
 -5.88753232e-05, 9.08558342e-04, 2.55384438e-04, 7.65372997e-05,
  4.48676262e-02,-9.69478975e-04, 3.48066766e-02,-3.50742593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753158372746314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64881334e-14, -9.64881334e-14,  1.00000000e+00, -9.30995988e-27,
        1.00000000e+00,  9.64881334e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64881334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03448113, -0.05176966,  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:
[-1.74080281e-07, 6.73855575e-05,-8.34262003e-06,-9.36855143e-06,
  2.77013500e-05,-5.76704406e-06,-9.64881039e-06,-1.35296338e-05,
  4.65955356e-06, 2.75847826e-05,-2.07078594e-05,-3.68867831e-05,
 -2.82847694e-04,-5.54970635e-05,-2.18460073e-04,-7.26109279e-05,
  3.61748164e-05, 3.20422831e-05,-4.90502002e+00, 2.88990426e-04,
  1.18113378e-02,-5.00511978e-04]


--- Step 482 ---
qpos:
[ 1.86973633e-02, 3.01371519e-02,-9.50235097e-03,-2.55868882e-02,
  7.88431460e-03, 4.69407659e-03,-7.83768525e-03, 2.70783004e-02,
  1.23022590e-02, 2.79689963e-02,-8.33738220e-03, 2.64748882e-02,
  8.92311928e-01, 6.98640792e-03, 8.03369923e-01, 4.68405728e-02,
  5.94139513e-02,-7.63165475e-02, 1.71461124e-01, 9.99731404e-01,
  2.15905718e-02,-8.88722509e-05,-8.42377189e-03]

qacc:
[ -3.00215793,  0.33039077,  2.05751324,-10.67745841, -0.14802191,
  -0.73578423,  1.19159234,  2.16131331,  3.37379438, -1.19119446,
   6.08849821,-13.92785439, -1.38833059,  2.04725914, -5.55059534,
  12.57393213,  1.87027779, -1.67665668, -0.0262475 , 15.15997828,
  17.53272541, -4.43113681]

qfrc_actuator:
[ 5.81307221e-05, 9.69705998e-04, 1.49666752e-04,-3.01738056e-05,
  6.19567575e-05, 4.25778454e-05,-3.65468901e-05,-2.06935797e-05,
 -3.86517504e-05, 8.96593504e-04, 2.57037387e-04, 5.40516143e-05,
  4.47675968e-02,-9.62063735e-04, 3.46360035e-02,-3.49588893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005755605850729928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64471033e-14, -9.64471033e-14,  1.00000000e+00, -9.30204374e-27,
        1.00000000e+00,  9.64471033e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64471033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03447998, -0.05177152,  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:
[-1.79006674e-05, 6.86895448e-05, 4.44973059e-06,-2.18238618e-05,
 -9.57925467e-07,-2.74824177e-05, 9.77702377e-06, 9.70300988e-06,
  2.03756641e-05,-2.43399891e-06, 3.50314520e-06,-2.27426330e-05,
 -2.91017555e-04,-5.92928064e-05,-2.86050161e-04,-2.21841534e-05,
  2.22626224e-05, 3.04901884e-05,-4.90501834e+00, 2.90223018e-04,
  1.18144715e-02,-5.05160438e-04]


--- Step 483 ---
qpos:
[ 1.86965862e-02, 3.01377732e-02,-9.50161653e-03,-2.55869265e-02,
  7.88517911e-03, 4.69376427e-03,-7.83727088e-03, 2.70780620e-02,
  1.23028482e-02, 2.79695442e-02,-8.33595756e-03, 2.64751582e-02,
  8.93282901e-01, 6.98804264e-03, 8.04369363e-01, 4.68385994e-02,
  5.93968287e-02,-7.63735736e-02, 1.71457697e-01, 9.99725788e-01,
  2.18433082e-02,-1.57915465e-04,-8.43766930e-03]

qacc:
[ -4.7676208 , -2.11315171,  9.12900203,-15.36063516, -3.29791751,
   0.63270244, -4.41490258, 12.45071744, -0.90159583, -0.2620726 ,
  -1.18660962,  8.15086619, -1.31686833,  1.82993118, -2.62288723,
   3.80411283,  1.83803318, -1.6579684 , -0.1794028 , 14.8364321 ,
  17.28955608, -4.21627878]

qfrc_actuator:
[ 2.99227867e-05, 9.71291697e-04, 1.80375679e-04,-4.45237233e-05,
  4.26727483e-05, 4.75732919e-05,-2.92756523e-05, 3.54513254e-06,
 -4.47861580e-05, 8.89137105e-04, 2.75290426e-04, 7.63954528e-05,
  4.46779847e-02,-9.58355882e-04, 3.45403103e-02,-3.50623410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726105716333113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.6943986e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.6943986e-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([ 0.03447824, -0.05177225,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87065173e-05, 3.99573142e-05, 4.46824781e-05,-1.16810967e-05,
 -1.93216232e-05,-7.93268347e-06, 3.13434955e-06, 2.35894348e-05,
 -5.53335944e-06,-9.09768901e-06, 1.73738320e-05, 2.19137164e-05,
 -2.87107864e-04,-6.51246770e-05,-2.32752059e-04,-4.90686525e-05,
  1.16510723e-05, 2.59899997e-05,-4.90501767e+00, 2.90129753e-04,
  1.18180500e-02,-5.10522687e-04]


--- Step 484 ---
qpos:
[ 1.86954770e-02, 3.01382948e-02,-9.50064069e-03,-2.55867284e-02,
  7.88615054e-03, 4.69359935e-03,-7.83686413e-03, 2.70777433e-02,
  1.23026700e-02, 2.79701452e-02,-8.33439825e-03, 2.64756779e-02,
  8.94252200e-01, 6.98967625e-03, 8.05367500e-01, 4.68342177e-02,
  5.93869490e-02,-7.64371696e-02, 1.71453026e-01, 9.99719397e-01,
  2.21254732e-02,-1.92870991e-04,-8.45891730e-03]

qacc:
[ -2.83967874, -0.3137999 , -0.05934025,  3.82547462,  0.93773644,
   0.04917041,  0.44285392, -1.92399739, -6.53585844,  0.22052303,
  -1.71646256,  5.75917192, -1.2665464 ,  1.69597138,  5.43634184,
 -21.62454843,  1.81073217, -1.64247623, -0.31107296, 14.57431349,
  17.08298278, -4.0521772 ]

qfrc_actuator:
[ 1.36434542e-05, 9.36382570e-04, 1.80378667e-04,-3.51891565e-05,
  4.87343925e-05, 6.85099007e-05,-2.51214972e-05, 1.50778724e-07,
 -8.41433247e-05, 9.02299177e-04, 2.85476140e-04, 8.94384343e-05,
  4.46053377e-02,-9.56853486e-04, 3.45162899e-02,-3.61794334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567130887735301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.78806699e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.78806699e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03447605, -0.05177207,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71060412e-05,-3.87571693e-06, 1.33406580e-05, 1.23621417e-05,
  5.50866513e-06, 1.81592207e-05, 3.71792495e-06,-3.16564717e-06,
 -3.95210248e-05, 1.25653333e-05, 1.11817815e-05, 1.36760784e-05,
 -2.68355567e-04,-6.77610756e-05,-1.42412488e-04,-1.45738041e-04,
  4.16227627e-06, 1.87258867e-05,-4.90501798e+00, 2.88839073e-04,
  1.18220200e-02,-5.16580750e-04]


--- Step 485 ---
qpos:
[ 1.86941808e-02, 3.01388771e-02,-9.49994602e-03,-2.55867488e-02,
  7.88718675e-03, 4.69381380e-03,-7.83684951e-03, 2.70780736e-02,
  1.23020215e-02, 2.79706281e-02,-8.33289721e-03, 2.64760401e-02,
  8.95219897e-01, 6.99129312e-03, 8.06364807e-01, 4.68260211e-02,
  5.93672858e-02,-7.64962494e-02, 1.71449606e-01, 9.99713458e-01,
  2.23873709e-02,-2.73795726e-04,-8.46949162e-03]

qacc:
[ -1.61358374,  0.41916701, -0.45209115, -2.92650642,  0.55134022,
   2.93247969,-12.47019281, 24.05126416, -4.00858026, -0.30964608,
   1.55614234, -4.11664315, -1.28745615,  1.76027883, 10.39277043,
 -37.94088194, -2.44590944,  1.12903014,  0.31271018, -9.94032317,
 -22.94575078,  5.84775704]

qfrc_actuator:
[ 4.51879518e-06, 9.33040928e-04, 1.62092656e-04,-4.75622017e-05,
  5.19186573e-05, 9.88020235e-05,-4.05397582e-05, 3.37950260e-05,
 -1.07225978e-04, 8.74418868e-04, 2.73130399e-04, 7.91539206e-05,
  4.45322709e-02,-9.56604827e-04, 3.44926441e-02,-3.80603961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23450181,  5.02873998, -3.68521195,  5.02873998, 24.01032235,
       24.25640119, -3.68521195, 24.25640119, 39.33412706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005762820334013485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63263611e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63263611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09611306, -0.09239538,  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:
[-9.62828360e-06,-2.25752556e-06,-1.70318547e-05,-1.18395458e-05,
  3.34713538e-06, 4.10830758e-05,-1.13211503e-05, 3.44894171e-05,
 -2.42350514e-05,-1.80133453e-05,-7.92473408e-06,-9.09734865e-06,
 -2.56737296e-04,-6.58618695e-05,-1.16300630e-04,-2.17063676e-04,
 -3.46720741e-07, 8.83581444e-06,-4.90501924e+00, 2.86444431e-04,
  1.18263490e-02,-5.23320369e-04]


--- Step 486 ---
qpos:
[ 1.86931298e-02, 3.01395255e-02,-9.49923531e-03,-2.55865931e-02,
  7.88790819e-03, 4.69426139e-03,-7.83674127e-03, 2.70794798e-02,
  1.23014455e-02, 2.79709889e-02,-8.33181066e-03, 2.64763023e-02,
  8.96185917e-01, 6.99296594e-03, 8.07360862e-01, 4.68171960e-02,
  5.93380235e-02,-7.65509438e-02, 1.71446566e-01, 9.99707964e-01,
  2.26292095e-02,-3.99407520e-04,-8.47027318e-03]

qacc:
[  2.10198371,  0.40106461, -2.05160715,  5.02753804, -2.76935855,
   2.26687764,-12.16862974, 30.45721329,  0.60811961,  0.79005913,
  -2.63132982,  1.65616136, -1.23932627,  1.68456838,  0.12852221,
  -2.9483907 , -2.3997357 ,  1.09637825,  0.09518237, -9.84104176,
 -22.3123945 ,  5.39981562]

qfrc_actuator:
[ 1.74272722e-05, 9.48519279e-04, 1.68764521e-04,-3.70941802e-05,
  3.56232391e-05, 1.16663895e-04,-3.18086556e-05, 8.89653167e-05,
 -1.02781301e-04, 8.57568373e-04, 2.47404875e-04, 7.29328396e-05,
  4.44430286e-02,-9.57092342e-04, 3.44639016e-02,-3.82456666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28180252, -3.11702855,  5.45391382, -3.11702855, 46.3416012 ,
       22.89503282,  5.45391382, 22.89503282, 19.36680407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000581950480115917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53881011e-14, -9.53881011e-14,  1.00000000e+00, -9.09888983e-27,
        1.00000000e+00,  9.53881011e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53881011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0961094 , -0.09239736,  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:
[ 1.26257133e-05, 1.01630278e-05, 3.68516182e-06, 9.54939712e-06,
 -1.61869371e-05, 3.99677327e-05, 1.70127959e-05, 5.72089724e-05,
  3.73128661e-06,-2.89968510e-05,-3.07610036e-05,-7.44863046e-06,
 -2.65036207e-04,-6.39154903e-05,-1.18962256e-04,-4.84825909e-05,
  6.32561389e-06, 2.30582451e-05,-4.90502091e+00, 2.85249444e-04,
  1.18211454e-02,-5.29558165e-04]


--- Step 487 ---
qpos:
[ 1.86925865e-02, 3.01398105e-02,-9.49825933e-03,-2.55862754e-02,
  7.88842884e-03, 4.69483687e-03,-7.83640089e-03, 2.70805039e-02,
  1.23016163e-02, 2.79714140e-02,-8.33140568e-03, 2.64761374e-02,
  8.97150206e-01, 6.99469429e-03, 8.08354901e-01, 4.68099056e-02,
  5.92993212e-02,-7.66013651e-02, 1.71443151e-01, 9.99702903e-01,
  2.28511911e-02,-5.68637286e-04,-8.46195084e-03]

qacc:
[  4.37055105, -0.89641538,  1.80185717,  0.85884616, -1.76159109,
  -1.26300553,  6.36768216,-13.45202376,  6.34173876,  1.09833278,
  -2.010299  , -4.31792611, -1.13800031,  1.45261257, -7.55238053,
  22.25981185, -2.36002915,  1.06825452, -0.09377738, -9.74402318,
 -21.78362094,  5.04994576]

qfrc_actuator:
[ 4.31983591e-05, 9.04249377e-04, 1.72473725e-04,-3.09812589e-05,
  2.57462628e-05, 1.09309461e-04,-2.66694676e-05, 6.76015983e-05,
 -6.44224238e-05, 8.65139730e-04, 2.14031004e-04, 5.14026150e-05,
  4.43494714e-02,-9.58087548e-04, 3.43735851e-02,-3.74301256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005832494934203819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51756527e-14, -9.51756527e-14,  1.00000000e+00, -9.05840487e-27,
        1.00000000e+00,  9.51756527e-14, -1.00000000e+00,  0.00000000e+00,
       -9.51756527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610755, -0.09239941,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61392411e-05,-3.74412984e-05, 6.57678539e-06, 6.85779933e-06,
 -1.03261129e-05, 2.09353356e-05, 1.74610230e-05,-1.79526249e-05,
  3.84620801e-05,-1.53440886e-05,-4.34284054e-05,-2.39862588e-05,
 -2.73765850e-04,-6.61004691e-05,-1.62083254e-04, 6.08669472e-05,
  1.78422172e-05, 3.43305934e-05,-4.90502349e+00, 2.82720399e-04,
  1.18172662e-02,-5.35407811e-04]


--- Step 488 ---
qpos:
[ 1.86927015e-02, 3.01394381e-02,-9.49646343e-03,-2.55865775e-02,
  7.88882712e-03, 4.69531666e-03,-7.83586775e-03, 2.70812964e-02,
  1.23015565e-02, 2.79718569e-02,-8.33089295e-03, 2.64756665e-02,
  8.98112785e-01, 6.99617859e-03, 8.09346919e-01, 4.68042621e-02,
  5.92513137e-02,-7.66476100e-02, 1.71438708e-01, 9.99698258e-01,
  2.30535049e-02,-7.80599228e-04,-8.44505934e-03]

qacc:
[  5.68188501, -4.44895682, 17.19097487,-28.70684518, -1.06891512,
  -1.13989923,  4.86210601, -9.11120274, -1.96278141, -0.90392298,
   4.55554041,-10.04399871, -0.83540349,  0.59973914, -7.92639523,
  23.4909698 , -2.32628323,  1.04409218, -0.257102  , -9.65245175,
 -21.34492892,  4.77889649]

qfrc_actuator:
[ 7.63262482e-05, 8.60038768e-04, 2.09654958e-04,-6.30430615e-05,
  1.97322981e-05, 8.68372452e-05,-2.38613852e-05, 5.46029915e-05,
 -7.74287170e-05, 8.87226449e-04, 2.29758892e-04, 3.88067302e-05,
  4.42533903e-02,-9.77161952e-04, 3.42890445e-02,-3.65657949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810201227830353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55408411e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.55408411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610717, -0.09240152,  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:
[ 3.38741273e-05,-6.35070246e-05, 3.04796900e-05,-3.33082298e-05,
 -6.30007223e-06,-7.95834774e-06, 8.64944917e-06,-1.18505878e-05,
 -1.18788616e-05, 3.50171099e-06, 6.36860323e-06,-1.52259658e-05,
 -2.82415667e-04,-8.63542962e-05,-1.61202384e-04, 6.69332854e-05,
  3.38462016e-05, 4.28836860e-05,-4.90502699e+00, 2.79046619e-04,
  1.18145524e-02,-5.40867377e-04]


--- Step 489 ---
qpos:
[ 0.01869321, 0.03013893,-0.00949469,-0.02558727, 0.00788881, 0.00469547,
 -0.0078352 , 0.02708265, 0.01230031, 0.0279723 ,-0.00832998, 0.02647572,
  0.89907364, 0.00699745, 0.81033715, 0.04679929, 0.05919411,-0.07668976,
  0.17143267, 0.99969401, 0.02323632,-0.00103457,-0.00842001]

qacc:
[  3.40044942, -0.92548947,  4.66475705,-11.25183374, -3.684828  ,
   0.36875526, -4.31453376, 14.0932171 ,-10.12048671, -0.03397927,
  -2.05943375, 10.44630106, -0.93662607,  0.82479926, -4.61171984,
  12.42334616, -2.29795776,  1.0233772 , -0.39768152, -9.56830167,
 -20.98375701,  4.57129706]

qfrc_actuator:
[ 9.57621016e-05, 8.69561151e-04, 2.13000757e-04,-8.17873504e-05,
 -1.71460358e-06, 5.54667840e-05,-2.25054428e-05, 8.21310245e-05,
 -1.38328068e-04, 9.00290722e-04, 2.56678520e-04, 6.71264327e-05,
  4.41665069e-02,-9.89053894e-04, 3.42133682e-02,-3.62120309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000575983813036654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92752470e-13, -1.92752470e-13,  1.00000000e+00, -3.71535146e-26,
        1.00000000e+00,  1.92752470e-13, -1.00000000e+00,  0.00000000e+00,
       -1.92752470e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610794, -0.09240368,  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:
[ 2.04005037e-05,-2.11164058e-05,-7.18642343e-06,-2.10613107e-05,
 -2.16285764e-05,-3.45696705e-05, 3.53924461e-07, 2.72518484e-05,
 -6.12443912e-05, 1.56601797e-05, 2.78908414e-05, 2.83932022e-05,
 -2.82892782e-04,-8.44350575e-05,-1.51228859e-04, 1.63302145e-05,
  5.40776573e-05, 4.89021290e-05,-4.90503141e+00, 2.74358647e-04,
  1.18128817e-02,-5.45936419e-04]


--- Step 490 ---
qpos:
[ 0.01869395, 0.03013883,-0.00949373,-0.0255882 , 0.00788818, 0.00469536,
 -0.00783482, 0.02708469, 0.01229903, 0.02797254,-0.0083286 , 0.02647579,
  0.90003284, 0.0069983 , 0.8113258 , 0.04679272, 0.05912782,-0.07672789,
  0.17142457, 0.99969012, 0.0233998 ,-0.00132994,-0.00838711]

qacc:
[  1.93278566,  2.32108947, -6.48301293,  3.3790373 , -5.2989304 ,
   1.86863793,-10.02200165, 22.47877783, -0.24859611, -1.5109123 ,
   4.93031645, -5.23639193, -0.79764271,  0.38738739,  2.50522934,
 -12.08752657, -2.27451559,  1.00565157, -0.51825366, -9.49270721,
 -20.68930444,  4.41486953]

qfrc_actuator:
[ 1.06981397e-04, 9.11067414e-04, 1.78808825e-04,-9.25231036e-05,
 -3.20746742e-05, 3.67820215e-05,-3.97879107e-05, 1.15519673e-04,
 -1.38149460e-04, 8.72447954e-04, 2.72220491e-04, 6.60299468e-05,
  4.40798791e-02,-1.01432670e-03, 3.41324102e-02,-3.70490502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000568755926619216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76010071e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76010071e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610962, -0.09240586,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18075944e-05, 2.73170851e-05,-4.01814601e-05,-1.23008178e-05,
 -3.09879486e-05,-3.67992495e-05,-2.34485381e-05, 3.24458576e-05,
 -1.61253290e-06,-1.21596051e-05, 2.31797338e-05, 1.09139741e-06,
 -2.82479216e-04,-9.76677894e-05,-1.58351906e-04,-1.04470265e-04,
  7.83516233e-05, 5.25321501e-05,-4.90503675e+00, 2.68743954e-04,
  1.18121600e-02,-5.50615445e-04]


--- Step 491 ---
qpos:
[ 0.01869413, 0.03013947,-0.00949371,-0.02558894, 0.00788789, 0.00469505,
 -0.00783463, 0.02708642, 0.0122981 , 0.02797266,-0.00832729, 0.02647552,
  0.90099024, 0.00699915, 0.8123125 , 0.04678713, 0.05906946,-0.07677323,
  0.17141903, 0.99968527, 0.02359771,-0.00158871,-0.00836592]

qacc:
[ -4.85119989,  4.02566934,-13.73464566, 18.00551098,  2.90643419,
  -0.41478031,  2.40659128, -7.4476912 ,  3.03486056, -0.65671288,
   3.52479654, -9.10144058, -1.17370629,  1.44711664, -5.77546696,
  16.19146954,  1.98454007, -1.80236591,  0.64334814, 17.05976387,
  18.30687565, -6.30543156]

qfrc_actuator:
[ 7.77742039e-05, 9.71263592e-04, 1.40641330e-04,-8.06982719e-05,
 -1.41748781e-05, 2.57661569e-05,-5.01410469e-05, 9.88210427e-05,
 -1.19758920e-04, 8.55769465e-04, 2.62970093e-04, 4.75823883e-05,
  4.39934607e-02,-1.01181445e-03, 3.40643074e-02,-3.64502786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.2852502 ,  5.39550212, -3.22380629,  5.39550212, 19.68038304,
       22.41867569, -3.22380629, 22.41867569, 43.80611882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005823635172535896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90640896e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90640896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03446917, -0.05179243,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88519269e-05, 6.66421200e-05,-3.79092981e-05, 1.13641580e-05,
  1.70058997e-05,-3.50635347e-05,-1.97266328e-05,-1.84594040e-05,
  1.83401868e-05,-1.86727822e-05,-8.88956768e-06,-1.81492991e-05,
 -2.85127255e-04,-7.18782774e-05,-1.62367470e-04, 3.14292449e-05,
  1.06541442e-04, 5.38881892e-05,-4.90504301e+00, 2.62258353e-04,
  1.18123161e-02,-5.54905527e-04]


--- Step 492 ---
qpos:
[ 0.01869396, 0.03014051,-0.00949435,-0.02558985, 0.00788816, 0.00469455,
 -0.00783458, 0.02708757, 0.01229706, 0.02797293,-0.0083268 , 0.0264754 ,
  0.90194569, 0.0070009 , 0.81329689, 0.04678396, 0.05901882,-0.07682565,
  0.17141508, 0.99967949, 0.02382881,-0.00181163,-0.00835545]

qacc:
[ -3.04006314,  1.99698207, -5.60951843,  3.3194201 ,  4.93733247,
  -1.01764568,  5.66362083,-15.09525651, -1.02423394,  2.75066327,
 -10.14369203, 13.84476964, -2.03849541,  3.83406956,-10.52841886,
  32.25998404,  1.92998561, -1.77107185,  0.39450374, 16.44175511,
  17.92815126, -5.81106984]

qfrc_actuator:
[ 6.05145096e-05, 9.71178954e-04, 1.00551085e-04,-9.11764350e-05,
  1.42364120e-05, 1.94104654e-05,-5.63172858e-05, 7.05513809e-05,
 -1.26321355e-04, 8.63532307e-04, 2.21431400e-04, 5.45726700e-05,
  4.39125659e-02,-9.57397809e-04, 3.39667267e-02,-3.51869209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35734293, -6.27695706,  1.00777938, -6.27695706,  7.51661894,
        7.22055428,  1.00777938,  7.22055428, 51.330588  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005909980528785858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87855615e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87855615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03446924, -0.05179762,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80781744e-05, 2.98055390e-05,-3.06072671e-05,-8.71387707e-06,
  2.88839080e-05,-3.08180340e-05,-1.64906565e-05,-3.08183688e-05,
 -6.02812840e-06,-5.30891510e-06,-4.71365835e-05, 5.52572545e-06,
 -2.75451340e-04,-1.64615688e-05,-1.77835066e-04, 1.05116907e-04,
  8.08450591e-05, 5.83973093e-05,-4.90503867e+00, 2.67802774e-04,
  1.18160089e-02,-5.59721276e-04]


--- Step 493 ---
qpos:
[ 0.01869358, 0.03014151,-0.009495  ,-0.02559121, 0.00788876, 0.00469406,
 -0.00783471, 0.02708836, 0.01229664, 0.02797335,-0.00832657, 0.02647499,
  0.90289946, 0.00700295, 0.81427876, 0.04678201, 0.05897571,-0.07688505,
  0.17141183, 0.99967283, 0.02409208,-0.00199938,-0.00835492]

qacc:
[ -1.76413354, -0.94852129,  5.21217256,-12.97476126,  2.97104752,
  -0.244458  ,  2.42218887, -8.4923101 ,  5.26244686,  0.32642256,
   0.3818317 , -5.23917674, -1.31909055,  2.0468874 , -7.37257133,
  20.58060322,  1.88294025, -1.74391184,  0.17792413, 15.9325963 ,
  17.59526867, -5.42410692]

qfrc_actuator:
[ 5.04381564e-05, 9.52722425e-04, 9.48975259e-05,-1.14745953e-04,
  3.08389288e-05, 3.36537074e-05,-5.99598403e-05, 5.34672827e-05,
 -9.42669662e-05, 8.85749232e-04, 2.14546433e-04, 4.09746137e-05,
  4.38350647e-02,-9.43736883e-04, 3.38355836e-02,-3.46081592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.38703423, -6.3498507 ,  0.68818773, -6.3498507 ,  7.06882879,
        6.29086151,  0.68818773,  6.29086151, 64.43228826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005945537034304643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.33660844e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.33660844e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03446844, -0.05180094,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05936956e-05,-8.51790797e-06,-3.57055150e-06,-2.35201232e-05,
  1.74145623e-05,-7.69266611e-06,-1.31045347e-05,-1.95779424e-05,
  3.18787010e-05, 9.72750623e-06,-1.36057527e-05,-1.53503889e-05,
 -2.54100069e-04,-4.60080681e-05,-2.09354595e-04, 3.89960634e-05,
  5.90389029e-05, 5.92827725e-05,-4.90503535e+00, 2.71352051e-04,
  1.18204133e-02,-5.65327909e-04]


--- Step 494 ---
qpos:
[ 0.01869274, 0.03014245,-0.00949545,-0.02559251, 0.00788991, 0.00469368,
 -0.00783471, 0.02708924, 0.01229661, 0.027974  ,-0.00832624, 0.02647472,
  0.90385172, 0.00700489, 0.81525845, 0.04677576, 0.05893997,-0.07695133,
  0.17140855, 0.9996653 , 0.02438667,-0.00215254,-0.00836374]

qacc:
[-3.96313840e+00,-5.02742750e-01, 1.44946608e+00,-7.02139074e-01,
  4.74685440e+00,-1.49955956e-02,-1.66366917e-01, 1.60103736e+00,
  3.30161717e+00, 3.37059374e-01,-1.41739991e+00, 3.71932017e+00,
 -1.09699760e+00, 1.31281533e+00, 9.82697053e+00,-3.89177091e+01,
  1.84260199e+00,-1.72073820e+00,-9.51575533e-03, 1.55153491e+01,
  1.73056890e+01,-5.12361351e+00]

qfrc_actuator:
[ 2.69140784e-05, 9.59026232e-04, 1.09524831e-04,-1.10318679e-04,
  5.81072558e-05, 6.01469214e-05,-4.42293991e-05, 6.08755033e-05,
 -7.52367396e-05, 9.16569650e-04, 2.28236731e-04, 5.09160634e-05,
  4.37543180e-02,-9.54298491e-04, 3.36950579e-02,-3.69233998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005939822310213894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03446693, -0.05180275,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38368981e-05,-2.31691930e-07, 1.16143790e-05, 3.48381883e-06,
  2.77618913e-05, 1.86692037e-05, 1.18547612e-05, 6.24301845e-06,
  1.99714856e-05, 3.27844905e-05, 1.34842677e-05, 9.58686412e-06,
 -2.50734701e-04,-7.03322791e-05,-2.38869913e-04,-2.57758995e-04,
  4.08259215e-05, 5.68862762e-05,-4.90503303e+00, 2.73178069e-04,
  1.18254090e-02,-5.71695248e-04]


--- Step 495 ---
qpos:
[ 0.01869197, 0.03014332,-0.00949598,-0.02559373, 0.00789103, 0.00469326,
 -0.0078342 , 0.0270902 , 0.01229646, 0.02797492,-0.00832579, 0.02647456,
  0.90480237, 0.00700675, 0.81623529, 0.0467671 , 0.05891147,-0.07702442,
  0.17140459, 0.9996569 , 0.02471191,-0.00227162,-0.00838145]

qacc:
[  0.59149657,  0.30619651, -1.60467454,  3.28343795, -0.21899759,
  -1.35948778,  4.46604725, -4.01233451, -0.98796316,  0.2438763 ,
  -0.81585867,  2.35088757, -1.09155086,  1.30719784,  3.18867758,
 -17.0821786 ,  1.80820101, -1.70131234, -0.17098292, 15.17570982,
  17.05629129, -4.8928485 ]

qfrc_actuator:
[ 3.11660621e-05, 9.44709732e-04, 1.00606485e-04,-1.07177315e-04,
  5.59335143e-05, 5.83765778e-05,-1.71123066e-05, 6.49072771e-05,
 -8.17898770e-05, 9.34667511e-04, 2.36264267e-04, 5.68980358e-05,
  4.36663451e-02,-9.61334423e-04, 3.35649407e-02,-3.80842553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000590102200029155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40704021e-14, -9.40704021e-14,  1.00000000e+00, -8.84924055e-27,
        1.00000000e+00,  9.40704021e-14, -1.00000000e+00,  0.00000000e+00,
       -9.40704021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03446487, -0.05180336,  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:
[ 3.55430444e-06,-1.19298482e-05,-7.41630932e-06, 3.60407201e-06,
 -1.37899812e-06, 1.14075374e-05, 3.26510811e-05, 5.36123000e-06,
 -5.95443785e-06, 3.96075510e-05, 1.67805980e-05, 8.03765401e-06,
 -2.61984167e-04,-6.97137426e-05,-2.74819835e-04,-1.62588633e-04,
  2.59628832e-05, 5.14697641e-05,-4.90503165e+00, 2.73483867e-04,
  1.18309191e-02,-5.78799188e-04]


--- Step 496 ---
qpos:
[ 0.01869195, 0.03014382,-0.00949677,-0.02559451, 0.00789177, 0.00469277,
 -0.00783358, 0.02709123, 0.01229623, 0.02797558,-0.00832522, 0.02647386,
  0.90575152, 0.00700824, 0.8172094 , 0.04675893, 0.05889008,-0.07710424,
  0.17139938, 0.99964763, 0.02506724,-0.00235703,-0.00840769]

qacc:
[  6.40131426,  1.11980112, -6.59160605, 14.9500885 , -3.33299371,
  -0.20805057,  0.30904288,  0.85405163, -0.64571546, -1.80824477,
   8.23958806,-17.69091756, -0.59371674,  0.10604125, -5.49688663,
  13.41541167,  1.77902359, -1.68535085, -0.30952536, 14.90165449,
  16.84374304, -4.71841706]

qfrc_actuator:
[ 6.94895220e-05, 9.00314368e-04, 7.77653442e-05,-8.71046155e-05,
  3.64449824e-05, 3.97530479e-05,-1.91143573e-05, 6.68993678e-05,
 -8.55920486e-05, 8.73983285e-04, 2.23073081e-04, 2.49773533e-05,
  4.35900760e-02,-9.84016265e-04, 3.34784858e-02,-3.76664514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005836135838053064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51162769e-14, -9.51162769e-14,  1.00000000e+00, -9.04710613e-27,
        1.00000000e+00,  9.51162769e-14, -1.00000000e+00,  0.00000000e+00,
       -9.51162769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03446236, -0.05180302,  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:
[ 3.84210742e-05,-5.24625769e-05,-2.60943152e-05, 1.93775017e-05,
 -1.95252810e-05,-5.26346791e-06, 4.55823881e-06, 3.71273162e-06,
 -3.96070633e-06,-3.47655183e-05,-2.68029513e-06,-2.94887815e-05,
 -2.57325853e-04,-8.76469250e-05,-2.34798231e-04,-3.49891029e-06,
  1.42519423e-05, 4.32317814e-05,-4.90503118e+00, 2.72419695e-04,
  1.18368975e-02,-5.86620577e-04]


--- Step 497 ---
qpos:
[ 0.01869204, 0.03014395,-0.00949755,-0.02559471, 0.00789262, 0.00469201,
 -0.00783289, 0.02709266, 0.01229596, 0.02797557,-0.00832431, 0.02647281,
  0.90669914, 0.00700946, 0.81818142, 0.04674981, 0.05887571,-0.07719076,
  0.17139247, 0.99963749, 0.02545223,-0.00240915,-0.00844219]

qacc:
[  0.99265173,  0.69234485, -5.58425694, 15.76489115,  0.93843483,
   0.21176266, -2.93704736,  9.76926384, -0.34990654, -2.52670978,
   9.20261588,-15.19017137, -0.80434433,  0.59785928, -0.20140698,
  -3.69209696,  1.75442273, -1.67255469, -0.42798514, 14.68310585,
  16.66472646, -4.58959606]

qfrc_actuator:
[ 7.42930417e-05, 8.91454585e-04, 8.22801099e-05,-5.72645124e-05,
  4.24360973e-05, 1.10625399e-05,-2.06213080e-05, 8.53897889e-05,
 -8.77364765e-05, 8.19721617e-04, 2.32613944e-04, 6.43422672e-06,
  4.35155525e-02,-9.97997618e-04, 3.33970183e-02,-3.80961126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005751116398365064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65223922e-14, -1.93044784e-13,  1.00000000e+00, -1.86331444e-26,
        1.00000000e+00,  1.93044784e-13, -1.00000000e+00,  0.00000000e+00,
       -9.65223922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03445952, -0.05180193,  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:
[ 5.90461806e-06,-4.27494979e-05,-8.86025812e-06, 2.70693003e-05,
  5.43404991e-06,-3.05318092e-05,-1.90732075e-06, 1.84930504e-05,
 -2.26889703e-06,-7.55508944e-05, 9.96317512e-07,-2.07006413e-05,
 -2.55684577e-04,-8.13580854e-05,-1.94816483e-04,-7.44985937e-05,
  5.53346166e-06, 3.23204717e-05,-4.90503160e+00, 2.70095267e-04,
  1.18433201e-02,-5.95144303e-04]


--- Step 498 ---
qpos:
[ 0.01869218, 0.03014381,-0.00949834,-0.02559421, 0.00789353, 0.00469105,
 -0.00783195, 0.02709427, 0.01229566, 0.02797531,-0.00832286, 0.02647114,
  0.90764506, 0.00701085, 0.81915095, 0.04674252, 0.0588513 ,-0.07727289,
  0.17138736, 0.99962769, 0.02581796,-0.00250896,-0.008463  ]

qacc:
[  0.49533111,  1.08693445, -7.30229947, 19.47026191,  0.58243974,
  -0.54823648,  0.7953669 ,  2.20837   , -0.18396628, -3.14655097,
  13.33945265,-24.79103317, -1.17569257,  1.61869623, -9.13292236,
  26.78808791, -2.50997424,  1.09715639,  0.45313901, -9.40767061,
 -23.74694587,  7.48026144]

qfrc_actuator:
[ 7.70700973e-05, 8.86304072e-04, 8.53007408e-05,-2.18717432e-05,
  4.56289305e-05, 1.20733135e-05,-4.09900429e-06, 9.56809111e-05,
 -8.88887267e-05, 8.40814347e-04, 2.73272968e-04,-2.18210940e-05,
  4.34314808e-02,-9.88958015e-04, 3.33026066e-02,-3.70690969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21418495,  5.06637387, -3.59832607,  5.06637387, 20.14552307,
       19.61505602, -3.59832607, 19.61505602, 33.83180644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005738460576882598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67352663e-14, -9.67352663e-14,  1.00000000e+00,  9.35771175e-27,
        1.00000000e+00,  9.67352663e-14, -1.00000000e+00,  0.00000000e+00,
        9.67352663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09609267, -0.09242746,  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:
[ 2.93389182e-06,-2.97199216e-05,-5.95551224e-06, 3.37847214e-05,
  3.33591385e-06,-1.56459506e-05, 1.06178674e-05, 9.27337096e-06,
 -1.24360044e-06,-2.18470782e-05, 2.44508466e-05,-3.18610358e-05,
 -2.62532243e-04,-5.71324888e-05,-1.99751505e-04, 7.17848760e-05,
 -3.20040893e-07, 1.88438451e-05,-4.90503288e+00, 2.66589093e-04,
  1.18501777e-02,-6.04358572e-04]


--- Step 499 ---
qpos:
[ 0.01869305, 0.03014346,-0.00949879,-0.02559402, 0.00789412, 0.00469057,
 -0.00783137, 0.0270956 , 0.01229536, 0.02797461,-0.0083206 , 0.0264695 ,
  0.90858922, 0.00701242, 0.8201186 , 0.04673832, 0.05881705,-0.07735078,
  0.17138312, 0.99961823, 0.02616457,-0.00265497,-0.00847133]

qacc:
[  6.20341866, -1.86561463,  7.48558556,-13.05115992, -2.78404204,
   1.08338465, -1.76118314, -2.84199287, -0.06576777, -2.77959926,
   8.98337195, -9.56682237, -1.22116769,  1.68304321,-12.04719238,
  38.29331619, -2.46002973,  1.05971162,  0.2145772 , -9.353588  ,
 -23.00845379,  6.85624674]

qfrc_actuator:
[ 1.14148318e-04, 8.83427382e-04, 1.05184062e-04,-3.67532275e-05,
  2.93887068e-05, 6.64335856e-05,-1.24608994e-05, 8.33459927e-05,
 -8.94477952e-05, 8.18231413e-04, 3.14515517e-04,-1.99805877e-05,
  4.33364242e-02,-9.84185871e-04, 3.32591230e-02,-3.53695434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28592581, -3.68215139,  5.09456812, -3.68215139, 31.69447206,
       18.36428756,  5.09456812, 18.36428756, 19.5589031 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005824444546451563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.53072019e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.53072019e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608727, -0.09243022,  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:
[ 3.71533373e-05,-1.92657320e-05, 1.41899924e-05,-1.57012402e-05,
 -1.61516959e-05, 4.82228649e-05,-9.96870083e-06,-1.24612595e-05,
 -6.02512420e-07,-3.11196132e-05, 3.86285270e-05, 1.13129324e-06,
 -2.72284747e-04,-5.90103325e-05,-1.34005525e-04, 1.46744441e-04,
  8.81039627e-06, 3.95196032e-05,-4.90503677e+00, 2.65148949e-04,
  1.18409092e-02,-6.13033531e-04]


--- Step 500 ---
qpos:
[ 0.01869333, 0.03014333,-0.00949916,-0.0255944 , 0.00789487, 0.00469085,
 -0.00783133, 0.02709606, 0.01229574, 0.02797363,-0.00831823, 0.0264693 ,
  0.90953144, 0.00701443, 0.82108514, 0.04673668, 0.05877313,-0.07742456,
  0.1713789 , 0.9996091 , 0.02649219,-0.00284592,-0.00846815]

qacc:
[-5.11905817e+00,-1.07407784e+00, 6.61798193e+00,-1.66219593e+01,
  1.24970189e+00, 6.86141789e-01, 2.68318052e+00,-1.75003714e+01,
  5.84573892e+00, 2.28404466e+00,-1.47896582e+01, 3.98247931e+01,
 -1.64148721e+00, 2.65252343e+00,-9.26153058e+00, 3.02918053e+01,
 -2.41677550e+00, 1.02734505e+00, 6.62753716e-03,-9.28874971e+00,
 -2.23917644e+01, 6.36843450e+00]

qfrc_actuator:
[ 8.23568554e-05, 9.17475709e-04, 1.17090012e-04,-6.33301662e-05,
  3.73470898e-05, 1.16707329e-04,-3.52412290e-05, 4.00743922e-05,
 -5.41486414e-05, 8.05223462e-04, 3.20122378e-04, 5.27793752e-05,
  4.32348449e-02,-9.64308454e-04, 3.32409054e-02,-3.39964971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.3161035 , -3.45999385,  5.2840899 , -3.45999385, 41.00000988,
       22.71083668,  5.2840899 , 22.71083668, 21.18703809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005860592401463471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.47193516e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.47193516e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608408, -0.09243287,  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:
[-3.07137575e-05, 2.55613081e-05, 9.13789855e-06,-2.72169549e-05,
  7.51711987e-06, 7.46491233e-05,-1.44816539e-05,-4.17950321e-05,
  3.52687914e-05,-2.23809662e-05, 3.96087347e-06, 7.27851265e-05,
 -2.84368564e-04,-4.68248560e-05,-7.33235301e-05, 1.25988372e-04,
  2.31457535e-05, 5.69173581e-05,-4.90504123e+00, 2.61928943e-04,
  1.18334296e-02,-6.21357410e-04]


--- Step 501 ---
qpos:
[ 0.01869287, 0.03014344,-0.00949946,-0.02559474, 0.0078957 , 0.00469163,
 -0.00783128, 0.02709668, 0.01229619, 0.02797308,-0.00831666, 0.02646994,
  0.91047184, 0.00701645, 0.8220506 , 0.04673634, 0.0587197 ,-0.07749435,
  0.17137399, 0.99960029, 0.02680097,-0.00308077,-0.00845421]

qacc:
[ -6.2440182 ,  0.19046747, -0.26328784,  0.33304042,  0.77968627,
   0.98303729, -3.2181557 ,  5.64248382,  0.61001023,  4.53574505,
 -18.90161922, 34.46422717, -1.20975781,  1.4712904 , -5.47034243,
  16.99333589, -2.37978118,  0.99940433, -0.173627  , -9.21935146,
 -21.87970295,  5.99003032]

qfrc_actuator:
[ 4.57783374e-05, 9.37833486e-04, 1.24339660e-04,-6.10378594e-05,
  4.17379776e-05, 1.46309092e-04,-3.08531856e-05, 4.99576024e-05,
 -5.12842210e-05, 8.51233758e-04, 2.86966728e-04, 9.56499173e-05,
  4.31347556e-02,-9.71209794e-04, 3.31899136e-02,-3.33589715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31244799, -3.15669608,  5.46646773, -3.15669608, 53.34131273,
       27.15754315,  5.46646773, 27.15754315, 21.99499006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856214132685666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47901664e-14, -9.47901664e-14,  1.00000000e+00, -8.98517565e-27,
        1.00000000e+00,  9.47901664e-14, -1.00000000e+00,  0.00000000e+00,
       -9.47901664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608265, -0.09243544,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74630817e-05, 3.53720393e-05, 1.27204809e-05, 3.17602780e-06,
  4.63289671e-06, 6.65546925e-05, 1.65730442e-05, 1.17656860e-05,
  3.88736518e-06, 3.74536886e-05,-3.47893161e-05, 4.34609544e-05,
 -2.87130634e-04,-7.45505494e-05,-8.40061133e-05, 5.82719362e-05,
  4.22375807e-05, 7.13333215e-05,-4.90504633e+00, 2.57201498e-04,
  1.18274902e-02,-6.29324004e-04]


--- Step 502 ---
qpos:
[ 0.01869267, 0.03014367,-0.00949959,-0.0255954 , 0.00789589, 0.00469267,
 -0.00783109, 0.02709778, 0.01229598, 0.02797369,-0.00831613, 0.02647032,
  0.91141062, 0.00701804, 0.8230142 , 0.04673754, 0.05867656,-0.07756313,
  0.17137374, 0.99959152, 0.02710552,-0.00327001,-0.00844955]

qacc:
[  2.1839174 , -0.98066815,  4.96445825,-10.5461605 , -5.66055552,
   0.94031739, -4.87462078, 12.76916691, -5.66442443,  3.91264254,
 -10.63700619,  6.97472829, -0.62134181,  0.06684911, -7.34957382,
  21.79056079,  2.57563767,  0.24959829,  1.16517703, -2.32100914,
  22.65550878, -5.24638003]

qfrc_actuator:
[ 5.99552010e-05, 9.32094132e-04, 1.28764871e-04,-7.72896160e-05,
  8.48082271e-06, 1.45699098e-04,-2.82443466e-05, 7.32946896e-05,
 -8.52975445e-05, 9.49805219e-04, 2.49168044e-04, 8.51035692e-05,
  4.30569237e-02,-9.93906853e-04, 3.30873400e-02,-3.26278799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35542026,  6.3352978 , -0.50534001,  6.3352978 ,  6.7353013 ,
        4.76245581, -0.50534001,  4.76245581, 66.06091585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005907678069089761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69822074e-14,  7.04733111e-14,  1.00000000e+00,  3.31099171e-27,
        1.00000000e+00, -7.04733111e-14, -1.00000000e+00,  0.00000000e+00,
       -4.69822074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789395, -0.08065266,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30967170e-05, 1.67918503e-05, 1.34121302e-05,-1.42325614e-05,
 -3.31034223e-05, 4.05066374e-05, 1.87937440e-05, 2.69881868e-05,
 -3.38866154e-05, 1.14194627e-04,-3.28564898e-05,-9.30303032e-06,
 -2.72772815e-04,-9.55363917e-05,-1.47684585e-04, 6.25560153e-05,
  6.57643327e-05, 8.30069223e-05,-4.90505212e+00, 2.51153843e-04,
  1.18228970e-02,-6.36929835e-04]


--- Step 503 ---
qpos:
[ 0.01869333, 0.03014401,-0.00949993,-0.02559621, 0.00789567, 0.00469366,
 -0.00783094, 0.02709886, 0.01229572, 0.02797531,-0.00831613, 0.0264709 ,
  0.91234762, 0.00701993, 0.82397534, 0.04674002, 0.05864342,-0.07763099,
  0.17137692, 0.99958281, 0.02740573,-0.00341483,-0.00845354]

qacc:
[ 7.37400738e+00, 3.97899345e-01,-5.20278769e-01,-2.04356630e+00,
 -3.51663544e+00, 1.91137262e-02,-8.00842690e-02,-1.64419715e-01,
 -5.57413289e-01, 3.25130691e+00,-1.04848251e+01, 1.40218062e+01,
 -1.40128372e+00, 2.11901365e+00,-7.43934489e+00, 2.09620425e+01,
  2.49811094e+00, 2.31754712e-01, 8.59897062e-01,-2.37505404e+00,
  2.20667448e+01,-4.91544846e+00]

qfrc_actuator:
[ 1.03894516e-04, 9.28498503e-04, 1.13611929e-04,-8.65985254e-05,
 -1.11626460e-05, 1.09257751e-04,-4.45946690e-05, 6.88146667e-05,
 -8.74758100e-05, 1.00801416e-03, 2.26900788e-04, 9.65291547e-05,
  4.29765157e-02,-9.72405093e-04, 3.29539256e-02,-3.20256732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006048143066715583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37673210e-13,  9.17821398e-14,  1.00000000e+00,  1.26359418e-26,
        1.00000000e+00, -9.17821398e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37673210e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789699, -0.0806548 ,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43264662e-05, 7.95491908e-06,-1.05254531e-05,-8.40238379e-06,
 -2.05719804e-05,-8.80517030e-06,-4.75005118e-06,-1.57249235e-06,
 -3.12830329e-06, 1.14840106e-04,-3.06056807e-06, 1.49993384e-05,
 -2.71551432e-04,-5.14634897e-05,-2.03684273e-04, 4.25494399e-05,
  4.17890998e-05, 6.58997690e-05,-4.90504184e+00, 2.52613108e-04,
  1.18283425e-02,-6.44248590e-04]


--- Step 504 ---
qpos:
[ 0.01869451, 0.0301442 ,-0.00950036,-0.02559641, 0.00789557, 0.0046945 ,
 -0.00783122, 0.02710026, 0.01229577, 0.02797715,-0.00831604, 0.02647099,
  0.91328294, 0.00702179, 0.8249342 , 0.04674117, 0.05862   ,-0.07769798,
  0.17138249, 0.99957421, 0.02770152,-0.00351626,-0.00846566]

qacc:
[  4.47798703,  1.33405046, -7.64105601, 18.52272466,  0.96590072,
   1.65264917, -7.51304434, 13.84242173,  2.73413593, -1.01870834,
   6.13740658,-15.07443481, -1.1447796 ,  1.38632703,  0.71690687,
  -7.23568694,  2.43130515,  0.21635003,  0.59402135, -2.40631318,
  21.55327121, -4.65415292]

qfrc_actuator:
[ 1.29477927e-04, 9.08378824e-04, 1.04781740e-04,-5.62538496e-05,
 -4.87167946e-06, 8.70333010e-05,-7.21885184e-05, 8.34585678e-05,
 -7.08867280e-05, 9.70673239e-04, 2.13865950e-04, 6.75276057e-05,
  4.28893098e-02,-9.78194725e-04, 3.28340832e-02,-3.27471515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006125774557500102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06189915e-14,  1.13273739e-13,  1.00000000e+00,  1.02647520e-26,
        1.00000000e+00, -1.13273739e-13, -1.00000000e+00,  0.00000000e+00,
       -9.06189915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789832, -0.08065658,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68782370e-05,-1.81982815e-05,-8.77498112e-06, 3.01573103e-05,
  5.70351476e-06,-2.82440296e-05,-3.00670203e-05, 1.40675080e-05,
  1.65420801e-05, 2.68271773e-05, 1.08087505e-05,-2.38989952e-05,
 -2.68710007e-04,-7.07898803e-05,-2.15491615e-04,-9.75281196e-05,
  2.35063989e-05, 4.93480978e-05,-4.90503338e+00, 2.52625539e-04,
  1.18330634e-02,-6.51450413e-04]


--- Step 505 ---
qpos:
[ 0.01869599, 0.03014405,-0.00950081,-0.02559589, 0.0078952 , 0.00469514,
 -0.00783179, 0.02710183, 0.01229637, 0.02797926,-0.00831663, 0.02647042,
  0.91421657, 0.00702361, 0.8258911 , 0.04673966, 0.05860608,-0.07776416,
  0.17138951, 0.99956571, 0.02799285,-0.0035752 ,-0.00848553]

qacc:
[ 2.56362057e+00, 1.07127091e+00,-7.57752317e+00, 2.04930241e+01,
 -2.37165479e+00, 9.15020261e-01,-4.35768607e+00, 7.86185234e+00,
  4.60440240e+00, 9.16029797e-01,-1.95915754e-02,-1.02800443e+01,
 -1.22577568e+00, 1.53278033e+00, 5.23108160e+00,-2.23135176e+01,
  2.37419452e+00, 2.02982981e-01, 3.64041275e-01,-2.42097276e+00,
  2.11095323e+01,-4.44976830e+00]

qfrc_actuator:
[ 1.44042125e-04, 8.78567217e-04, 9.97178083e-05,-2.05812926e-05,
 -1.88761430e-05, 7.34419597e-05,-8.83830435e-05, 9.14912852e-05,
 -4.33950879e-05, 9.65160677e-04, 1.70446934e-04, 3.26402465e-05,
  4.28034051e-02,-9.82389985e-04, 3.27490852e-02,-3.40643084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006151950505329795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02334165e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.02334165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789825, -0.08065809,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53401733e-05,-4.05048553e-05,-8.85883250e-06, 3.51767372e-05,
 -1.38516058e-05,-3.50222677e-05,-2.52554419e-05, 6.05112519e-06,
  2.79927450e-05, 1.06362574e-05,-3.73963576e-05,-3.38339816e-05,
 -2.70190097e-04,-7.16889443e-05,-2.01595005e-04,-1.66403345e-04,
  1.04486091e-05, 3.33480015e-05,-4.90502658e+00, 2.51387471e-04,
  1.18371411e-02,-6.58530753e-04]


--- Step 506 ---
qpos:
[ 0.01869763, 0.03014365,-0.0095016 ,-0.02559527, 0.00789536, 0.00469538,
 -0.00783215, 0.02710244, 0.01229729, 0.02798174,-0.00831784, 0.02646978,
  0.91514841, 0.0070257 , 0.82684548, 0.04673788, 0.05860147,-0.07782958,
  0.17139719, 0.99955734, 0.02827972,-0.00359242,-0.00851284]

qacc:
[  1.39509857,  0.80748553, -3.70942523,  5.93445424,  4.63229131,
  -3.11692695, 14.40964417,-31.12775567,  2.74636732,  2.04664663,
  -6.24565508,  5.52984227, -1.47363506,  2.22933158, -2.80867824,
   4.6467536 ,  2.32573965,  0.19131188,  0.16622929, -2.42366085,
  20.72935688, -4.29196511]

qfrc_actuator:
[ 1.52009854e-04, 8.60953696e-04, 7.91136348e-05,-1.75800843e-05,
  8.53556888e-06, 4.74052291e-05,-7.99351279e-05, 4.23257834e-05,
 -2.74652804e-05, 9.96348028e-04, 1.45036148e-04, 3.00739070e-05,
  4.27130164e-02,-9.67854140e-04, 3.26424403e-02,-3.41225068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006136498882100272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04606231e-14, -9.04606231e-14,  1.00000000e+00, -8.18312433e-27,
        1.00000000e+00,  9.04606231e-14, -1.00000000e+00,  0.00000000e+00,
       -9.04606231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789705, -0.08065938,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.40043429e-06,-4.05765183e-05,-2.88400059e-05, 1.64480193e-06,
  2.70066057e-05,-5.06037576e-05,-1.69145339e-06,-5.14255074e-05,
  1.67636064e-05, 2.79039087e-05,-2.90075795e-05,-4.06613481e-06,
 -2.75740311e-04,-5.34939597e-05,-2.25589355e-04,-4.27984349e-05,
  2.23620762e-06, 1.78797081e-05,-4.90502130e+00, 2.49043840e-04,
  1.18406426e-02,-6.65486748e-04]


--- Step 507 ---
qpos:
[ 0.01869936, 0.03014311,-0.00950239,-0.025595  , 0.00789619, 0.00469542,
 -0.00783252, 0.02710279, 0.01229806, 0.02798405,-0.00831861, 0.0264691 ,
  0.91607877, 0.00702732, 0.82779741, 0.04673334, 0.05860599,-0.07789427,
  0.17140486, 0.9995491 , 0.02856214,-0.00356857,-0.00854735]

qacc:
[ 7.12604023e-01,-9.00949572e-01, 4.40377526e+00,-1.03285832e+01,
  5.91526490e+00,-8.15979811e-01, 3.57535419e+00,-7.85487946e+00,
 -1.34787491e+00,-1.52262572e+00, 5.23513336e+00,-6.35055007e+00,
 -6.56728876e-01, 1.57917339e-01, 4.78456455e+00,-2.19235923e+01,
  2.28494596e+00, 1.81048487e-01,-3.08944763e-03,-2.41784261e+00,
  2.04065149e+01,-4.17236426e+00]

qfrc_actuator:
[ 1.56035229e-04, 8.68441290e-04, 8.50224414e-05,-3.38302522e-05,
  4.23579050e-05, 4.96760673e-05,-7.48508290e-05, 3.09154964e-05,
 -3.62244405e-05, 9.78341834e-04, 1.66150922e-04, 2.88430811e-05,
  4.26413120e-02,-9.95647158e-04, 3.25122773e-02,-3.55688846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006087856107358791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.11834154e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.11834154e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789496, -0.08066048,  0.06198907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25908870e-06,-2.10683546e-05,-5.95615784e-06,-1.89525736e-05,
  3.45743869e-05,-2.85768106e-05,-7.35739970e-06,-1.46404244e-05,
 -8.24981980e-06,-8.63375052e-06, 2.31520238e-05,-1.11976124e-06,
 -2.56531588e-04,-9.39995695e-05,-2.44634527e-04,-1.77402459e-04,
 -1.43535646e-06, 2.91426583e-06,-4.90501741e+00, 2.45700085e-04,
  1.18436226e-02,-6.72316770e-04]


--- Step 508 ---
qpos:
[ 0.01870078, 0.03014297,-0.00950339,-0.02559499, 0.00789707, 0.00469544,
 -0.00783299, 0.02710401, 0.01229871, 0.02798604,-0.00831901, 0.02646844,
  0.91700765, 0.00702859, 0.82874709, 0.04672301, 0.05861952,-0.07795828,
  0.17141195, 0.99954099, 0.02884011,-0.00350419,-0.00858888]

qacc:
[ -2.67398696,  0.59985312, -0.27520948, -4.10575727,  0.47279245,
   2.09212017,-11.18900269, 26.5622548 , -0.92551122, -1.40024563,
   4.32421398, -4.41383778, -0.92749458,  0.78353079, 14.19041029,
 -54.36211088,  2.25089418,  0.17195125, -0.14738505, -2.40611257,
  20.13503664, -4.08417005]

qfrc_actuator:
[ 1.39957758e-04, 9.26495715e-04, 8.88871415e-05,-4.34769312e-05,
  4.41643891e-05, 6.89035292e-05,-7.16548915e-05, 7.73427415e-05,
 -4.16891421e-05, 9.48964413e-04, 1.78860637e-04, 2.83940106e-05,
  4.25702020e-02,-1.01268584e-03, 3.23893904e-02,-3.85322243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006013223157137204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789217, -0.08066144,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59571871e-05, 4.42559960e-05,-1.86281074e-06,-1.11219696e-05,
  2.77998833e-06, 1.11426915e-06,-4.11811235e-06, 4.46616368e-05,
 -5.70422017e-06,-2.95446469e-05, 1.37237622e-05,-4.12127129e-08,
 -2.53182046e-04,-8.57442232e-05,-2.60315143e-04,-3.38873463e-04,
 -8.07505436e-07,-1.15820591e-05,-4.90501483e+00, 2.41431270e-04,
  1.18461253e-02,-6.79020083e-04]


--- Step 509 ---
qpos:
[ 0.0187013 , 0.03014354,-0.00950481,-0.02559512, 0.00789831, 0.00469556,
 -0.00783291, 0.02710538, 0.01229964, 0.02798774,-0.00831922, 0.02646778,
  0.91793483, 0.00703   , 0.82969387, 0.04671275, 0.05864193,-0.07802162,
  0.17141795, 0.99953301, 0.02911367,-0.00339974,-0.00863733]

qacc:
[-7.68810086, 1.84101335,-4.60091157, 2.31488291, 3.18146041,-1.11353425,
  3.56756901,-2.08724184, 2.3463171 ,-0.89904976, 2.59331837,-2.50486261,
 -1.23426806, 1.69065439,-4.40656035, 9.37737576, 2.22275331, 0.16381873,
 -0.26984731,-2.39041156,19.90937896,-4.02186933]

qfrc_actuator:
[ 9.44258046e-05, 9.78890509e-04, 7.39779520e-05,-4.91164923e-05,
  6.26157903e-05, 9.81908908e-05,-3.39794649e-05, 8.64297343e-05,
 -2.74100632e-05, 9.30731524e-04, 1.86430034e-04, 2.83806283e-05,
  4.24835244e-02,-1.00544661e-03, 3.22975691e-02,-3.82814713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005918712891639227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37892279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.37892279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02788885, -0.08066228,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59796042e-05, 7.62878321e-05,-6.37065444e-06,-4.02292505e-06,
  1.85291004e-05, 3.09766945e-05, 3.89461004e-05, 9.85959171e-06,
  1.41066546e-05,-3.19872136e-05, 3.13924914e-06,-8.07139402e-07,
 -2.65369870e-04,-5.91338019e-05,-2.54414886e-04,-2.84572670e-05,
  3.93116955e-06,-2.56449410e-05,-4.90501350e+00, 2.36289042e-04,
  1.18481869e-02,-6.85596588e-04]


--- Step 510 ---
qpos:
[ 0.01870127, 0.03014408,-0.00950559,-0.02559495, 0.00789942, 0.00469594,
 -0.00783241, 0.02710648, 0.01230107, 0.02798894,-0.00831898, 0.02646749,
  0.91886045, 0.00703119, 0.83063779, 0.046708  , 0.05866354,-0.07807497,
  0.17142713, 0.99952624, 0.02934447,-0.00330004,-0.00867827]

qacc:
[ -4.69484385, -1.2307725 ,  3.1028351 ,  1.00217733, -1.1661828 ,
  -1.37326132,  6.46922904,-11.79284103,  4.3586652 , -1.21196265,
   1.85930965,  3.95458462, -0.52360853,  0.07481371,-20.86646509,
  66.90832   , -0.20293658,  2.50172668,  0.79458644,-21.35527432,
  -2.44742883,  3.89923823]

qfrc_actuator:
[ 6.74336600e-05, 9.56420846e-04, 1.01361743e-04,-3.46121419e-05,
  5.52214319e-05, 1.15651075e-04,-1.17344444e-05, 7.34993544e-05,
 -1.62510926e-06, 9.01536842e-04, 2.08697751e-04, 4.63808717e-05,
  4.24088827e-02,-1.01950556e-03, 3.22298522e-02,-3.52499452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.46543249,  4.76603415, -4.3688369 ,  4.76603415, 27.47616028,
       22.9209395 , -4.3688369 , 22.9209395 , 31.47025255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006039448441905182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19142729e-14, -9.19142729e-14,  1.00000000e+00, -8.44823356e-27,
        1.00000000e+00,  9.19142729e-14, -1.00000000e+00,  0.00000000e+00,
       -9.19142729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06386581, -0.11118746,  0.06198915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83054827e-05, 1.86803231e-05, 4.22275483e-05, 1.74757910e-05,
 -6.85894959e-06, 4.32479275e-05, 3.37756422e-05,-1.00677462e-05,
  2.61925867e-05,-4.65178995e-05, 1.60035330e-05, 1.67201190e-05,
 -2.54370226e-04,-7.89644452e-05,-1.92028967e-04, 2.67921519e-04,
  1.26361588e-05,-3.93102037e-05,-4.90501334e+00, 2.30306924e-04,
  1.18498359e-02,-6.92046634e-04]


--- Step 511 ---
qpos:
[ 0.01870092, 0.03014441,-0.00950586,-0.02559458, 0.00790008, 0.00469656,
 -0.00783218, 0.02710747, 0.01230212, 0.02798963,-0.00831839, 0.02646708,
  0.9197845 , 0.00703247, 0.83157988, 0.04670739, 0.05868434,-0.07811859,
  0.17143844, 0.99952069, 0.0295332 ,-0.00320465,-0.00871247]

qacc:
[ -2.75774777, -1.24055338,  3.1330934 , -0.16503586, -3.90031372,
   0.84061792, -2.01833548,  0.24581834, -3.31242146, -1.89199552,
   6.23762688, -8.40775764, -0.94588053,  1.14539938,-15.18123153,
  49.33059873, -0.2010619 ,  2.4290071 ,  0.53270328,-21.01346646,
  -2.23681313,  3.50618197]

qfrc_actuator:
[ 5.15790944e-05, 9.24983868e-04, 1.17710344e-04,-2.61554546e-05,
  3.26691055e-05, 1.08074079e-04,-3.43446126e-05, 6.54529861e-05,
 -2.25389117e-05, 8.66079186e-04, 2.21683214e-04, 3.93329717e-05,
  4.23415108e-02,-1.01053463e-03, 3.21766985e-02,-3.30900247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006112499696993151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08157938e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.08157938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06386313, -0.11118828,  0.06198903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66763816e-05,-1.15423597e-05, 2.60155748e-05, 1.10590738e-05,
 -2.27331003e-05, 2.31285848e-05,-9.87735899e-06,-5.22445515e-06,
 -2.01589262e-05,-5.74807110e-05, 5.91028950e-06,-8.16563134e-06,
 -2.43156150e-04,-5.76164059e-05,-1.17318163e-04, 2.04921618e-04,
  1.17066604e-05,-3.13604170e-05,-4.90501032e+00, 2.30565496e-04,
  1.18421659e-02,-6.97302897e-04]


--- Step 512 ---
qpos:
[ 0.01870141, 0.03014491,-0.00950632,-0.02559445, 0.00790048, 0.00469728,
 -0.00783214, 0.02710838, 0.0123029 , 0.02799004,-0.0083177 , 0.02646622,
  0.92070676, 0.00703425, 0.83252108, 0.04670791, 0.05870435,-0.07815275,
  0.17145098, 0.99951637, 0.02968048,-0.00311322,-0.00874055]

qacc:
[  7.25039665,  0.20798936,  0.63575001, -4.79056256, -2.43067788,
   0.50331988, -1.2293356 , -0.06209254, -2.19818578, -1.50742609,
   6.72958257,-14.31849335, -1.64993803,  2.73409001, -4.59277918,
  14.43598694, -0.19894252,  2.36716984,  0.30671753,-20.70391532,
  -2.06661531,  3.18981862]

qfrc_actuator:
[ 9.56588525e-05, 9.41628269e-04, 1.09579713e-04,-3.91102568e-05,
  1.91364067e-05, 1.03128309e-04,-4.78450998e-05, 6.02977578e-05,
 -3.52704519e-05, 8.62598596e-04, 2.29029340e-04, 1.75851876e-05,
  4.22466041e-02,-9.87972266e-04, 3.21482699e-02,-3.25266398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006135503802680992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04752943e-14, -9.04752943e-14,  1.00000000e+00, -8.18577888e-27,
        1.00000000e+00,  9.04752943e-14, -1.00000000e+00,  0.00000000e+00,
       -9.04752943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06386111, -0.11119003,  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:
[ 4.35873897e-05, 1.60225397e-05,-6.92816479e-06,-1.23337263e-05,
 -1.41700635e-05, 5.68807914e-06,-1.01316781e-05,-4.61071768e-06,
 -1.33401865e-05,-3.47877129e-05,-4.09403548e-06,-2.41663659e-05,
 -2.58366750e-04,-3.83291915e-05,-6.95297564e-05, 5.03624531e-05,
  1.08869453e-05,-2.43067617e-05,-4.90500766e+00, 2.30826090e-04,
  1.18359642e-02,-7.01587534e-04]


--- Step 513 ---
qpos:
[ 0.01870312, 0.03014589,-0.00950703,-0.02559451, 0.00790036, 0.00469818,
 -0.00783231, 0.0271092 , 0.01230387, 0.02799056,-0.0083177 , 0.02646547,
  0.92162722, 0.00703638, 0.83346159, 0.0467064 , 0.05872357,-0.07817764,
  0.17146397, 0.99951328, 0.02978688,-0.00302546,-0.008763  ]

qacc:
[ 10.39500788,  0.93313085, -1.65035987, -1.52791126, -4.50005093,
   0.64916658, -1.63966933,  0.47343034,  1.55817392,  2.24047159,
  -8.18169187, 10.84207485, -1.72185567,  2.75096926,  5.2260383 ,
 -19.46434953, -0.1967201 ,  2.31489781,  0.11279619,-20.42822275,
  -1.92881631,  2.93471405]

qfrc_actuator:
[ 1.56906141e-04, 9.86810218e-04, 1.04991031e-04,-4.67833150e-05,
 -6.72689714e-06, 1.17567460e-04,-5.58408850e-05, 5.68962314e-05,
 -2.53158167e-05, 8.78258798e-04, 1.97606014e-04, 2.28950346e-05,
  4.21459031e-02,-9.75434985e-04, 3.21027036e-02,-3.36176144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006118067893181173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.07331403e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.07331403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06385961, -0.11119253,  0.06198902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.25228296e-05, 5.21830229e-05,-2.56261460e-06,-7.46924980e-06,
 -2.62634177e-05, 1.52959321e-05,-8.23861095e-06,-3.60119486e-06,
  9.55415979e-06,-5.69783479e-06,-3.99592354e-05, 3.20724489e-06,
 -2.69200642e-04,-4.85354846e-05,-8.54794655e-05,-1.18363967e-04,
  1.01378999e-05,-1.80235852e-05,-4.90500545e+00, 2.31141731e-04,
  1.18310178e-02,-7.04911993e-04]


--- Step 514 ---
qpos:
[ 0.01870417, 0.0301474 ,-0.00950814,-0.02559466, 0.00790062, 0.00469914,
 -0.00783227, 0.02710997, 0.01230461, 0.02799142,-0.00831849, 0.02646441,
  0.9225461 , 0.00703859, 0.83440038, 0.04670533, 0.05874201,-0.07819346,
  0.17147675, 0.99951141, 0.02985287,-0.00294114,-0.00878023]

qacc:
[ -5.66021485,  1.63510481, -4.42897272,  3.12577197,  3.3550645 ,
  -0.6189624 ,  2.5954744 , -4.05290413, -2.01605654,  2.04189129,
  -5.40152738,  1.30480509, -1.1223186 ,  1.47328475, -3.80453203,
   9.77413049, -0.19449049,  2.27098189, -0.05279554,-20.18631921,
  -1.81699477,  2.72856441]

qfrc_actuator:
[ 1.21232245e-04, 1.01324091e-03, 8.49226915e-05,-5.12484490e-05,
  1.36145492e-05, 1.25770409e-04,-4.26948157e-05, 5.45720017e-05,
 -3.75954817e-05, 9.05130059e-04, 1.61406253e-04, 8.57398624e-06,
  4.20790730e-02,-9.68980174e-04, 3.20202393e-02,-3.33663964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006068437490688444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06385851, -0.11119563,  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:
[-3.38354820e-05, 5.47511032e-05,-9.87214876e-06,-2.46848121e-06,
  1.96008855e-05, 1.48589185e-05, 1.51570373e-05,-2.02626315e-06,
 -1.19983606e-05, 1.55573175e-05,-4.21914127e-05,-1.58851244e-05,
 -2.44771570e-04,-5.85257295e-05,-1.48558433e-04, 4.39517399e-06,
  9.43214149e-06,-1.24126923e-05,-4.90500377e+00, 2.31551336e-04,
  1.18271634e-02,-7.07286888e-04]


--- Step 515 ---
qpos:
[ 0.01870376, 0.03014889,-0.009509  ,-0.0255945 , 0.00790181, 0.00469989,
 -0.00783192, 0.02711038, 0.01230554, 0.02799281,-0.00831936, 0.02646346,
  0.92346357, 0.00704079, 0.83533727, 0.04670487, 0.05875968,-0.07820033,
  0.17148876, 0.99951076, 0.02987888,-0.00286008,-0.00879256]

qacc:
[-1.25943972e+01,-1.67259224e-02,-1.26204266e+00, 6.33507303e+00,
  8.20932139e+00,-1.89633772e+00, 7.81076501e+00,-1.41975119e+01,
  1.62044840e+00, 1.14008871e+00,-3.46380371e+00, 4.97560118e+00,
 -8.96464588e-01, 1.04024956e+00,-4.57410674e+00, 1.20759408e+01,
 -1.92317066e-01, 2.23433693e+00,-1.93558096e-01,-1.99771153e+01,
 -1.72601172e+00, 2.56156533e+00]

qfrc_actuator:
[ 4.65438336e-05, 9.92675720e-04, 9.13162609e-05,-3.60613096e-05,
  6.09917875e-05, 9.47596897e-05,-3.49452192e-05, 3.51576309e-05,
 -2.73660878e-05, 9.73975286e-04, 1.75984055e-04, 1.83325948e-05,
  4.20219577e-02,-9.66042453e-04, 3.19370577e-02,-3.30364844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005993649171101151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26166174e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.26166174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06385774, -0.1111992 ,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.56585464e-05, 7.84999714e-06, 1.63961647e-05, 1.71422759e-05,
  4.79389364e-05,-1.96877318e-05, 1.26014689e-05,-1.82973625e-05,
  9.88685907e-06, 6.81279466e-05, 1.20479241e-05, 8.65915163e-06,
 -2.22439393e-04,-5.82397316e-05,-1.60357501e-04, 1.19685703e-05,
  8.75019869e-06,-7.39734822e-06,-4.90500264e+00, 2.32083640e-04,
  1.18242758e-02,-7.08721815e-04]


--- Step 516 ---
qpos:
[ 0.01870348, 0.03014993,-0.00950871,-0.02559416, 0.00790322, 0.00470031,
 -0.00783168, 0.02711095, 0.01230659, 0.02799456,-0.00831976, 0.02646297,
  0.92437946, 0.00704313, 0.8362726 , 0.04670208, 0.05877659,-0.07819839,
  0.17149951, 0.99951132, 0.02986527,-0.00278211,-0.00880025]

qacc:
[  1.25889272, -3.5027604 , 10.86740833, -9.36471808,  1.88456624,
   0.16505088, -1.90517307,  5.03443467,  0.9924434 ,  0.10125067,
  -1.58947517,  8.43541042, -1.32561876,  1.89997604,  4.82000428,
 -20.01382479, -0.19024017,  2.20400363, -0.31269256,-19.79893288,
  -1.65175542,  2.42590527]

qfrc_actuator:
[ 5.60371738e-05, 9.61993798e-04, 1.48610490e-04,-2.72065696e-05,
  7.06294125e-05, 5.82256638e-05,-4.83776611e-05, 4.13073043e-05,
 -2.17152183e-05, 9.96646117e-04, 2.02876015e-04, 4.22585054e-05,
  4.19281063e-02,-9.65154874e-04, 3.18535226e-02,-3.42605365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005899674603680738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40918864e-14, -9.40918864e-14,  1.00000000e+00, -8.85328308e-27,
        1.00000000e+00,  9.40918864e-14, -1.00000000e+00,  0.00000000e+00,
       -9.40918864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06385722, -0.11120311,  0.06198941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.28580939e-06,-2.22414280e-05, 6.15236996e-05, 1.00933691e-05,
  1.09933879e-05,-4.57403177e-05,-1.65960401e-05, 5.38050517e-06,
  5.96716828e-06, 6.35963765e-05, 4.27448512e-05, 2.74315734e-05,
 -2.45327359e-04,-5.53411948e-05,-1.64403471e-04,-1.44326476e-04,
  8.07799614e-06,-2.91759800e-06,-4.90500209e+00, 2.32759980e-04,
  1.18222592e-02,-7.09225252e-04]


--- Step 517 ---
qpos:
[ 0.01870367, 0.03015035,-0.00950753,-0.02559402, 0.00790404, 0.00470051,
 -0.00783164, 0.02711157, 0.012307  , 0.02799622,-0.00831956, 0.02646247,
  0.9252938 , 0.00704501, 0.83720614, 0.04669581, 0.05879275,-0.07818774,
  0.17150861, 0.99951308, 0.02981234,-0.00270712,-0.00880351]

qacc:
[  3.98329095, -3.67992446, 12.77769106,-17.19076305, -5.14917413,
   0.42826703, -2.16668175,  3.66852088, -5.34060364, -1.80731317,
   6.28029348, -7.24774759, -0.79456428,  0.39500757,  7.90645552,
 -31.40166485, -0.18828392,  2.1791425 , -0.41307942,-19.64978788,
  -1.59093577,  2.31535989]

qfrc_actuator:
[ 7.95111605e-05, 9.07940516e-04, 1.82169310e-04,-3.98874932e-05,
  4.02157059e-05, 5.40961167e-05,-5.64718940e-05, 4.46761807e-05,
 -5.43172962e-05, 9.56072538e-04, 2.18890255e-04, 3.87875174e-05,
  4.18282575e-02,-1.00114315e-03, 3.17591629e-02,-3.60349656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579155288685837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06385689, -0.11120726,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36720276e-05,-5.33899546e-05, 3.68753775e-05,-1.13120234e-05,
 -3.01168033e-05,-3.29207862e-05,-1.94099840e-05, 9.35998343e-07,
 -3.24026606e-05, 4.94271885e-06, 3.53511318e-05, 1.26528669e-06,
 -2.65246684e-04,-9.65932849e-05,-1.95302545e-04,-2.08766764e-04,
  7.40518218e-06, 1.07336903e-06,-4.90500215e+00, 2.33596306e-04,
  1.18210405e-02,-7.08804543e-04]


--- Step 518 ---
qpos:
[ 0.01870413, 0.03015024,-0.00950646,-0.02559397, 0.0079038 , 0.00470067,
 -0.00783147, 0.0271115 , 0.01230771, 0.02799775,-0.00831989, 0.02646166,
  0.92620655, 0.00704647, 0.83813755, 0.04668739, 0.05880816,-0.07816844,
  0.17151573, 0.99951602, 0.02972034,-0.00263499,-0.00880253]

qacc:
[  2.40887293, -0.62510205,  1.58477833, -2.63992503, -9.32870337,
  -1.82327476,  9.39495033,-21.69270255,  2.50328766,  0.7094979 ,
  -1.48013506, -2.80042746, -0.7999235 ,  0.43537219,  3.38749471,
 -16.3315578 , -0.18646103,  2.15902387, -0.49728294,-19.52757226,
  -1.54091911,  2.22496803]

qfrc_actuator:
[ 9.32458778e-05, 8.57955198e-04, 1.65804857e-04,-4.74309194e-05,
 -1.35154385e-05, 6.94162661e-05,-4.34689895e-05, 1.09050645e-05,
 -3.81622957e-05, 9.13377216e-04, 1.74802083e-04, 1.91546268e-05,
  4.17461672e-02,-1.02320617e-03, 3.16690360e-02,-3.70537031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567351003727401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78426950e-14, -9.78426950e-14,  1.00000000e+00, -9.57319297e-27,
        1.00000000e+00,  9.78426950e-14, -1.00000000e+00,  0.00000000e+00,
       -9.78426950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06385671, -0.11121157,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44024343e-05,-7.27303383e-05,-2.32611105e-05,-8.77863498e-06,
 -5.45977826e-05,-7.07846292e-06, 3.84124707e-06,-3.58359804e-05,
  1.52099731e-05,-3.26457800e-05,-3.86879922e-05,-1.81748546e-05,
 -2.69243231e-04,-9.39572386e-05,-2.11072023e-04,-1.40432696e-04,
  6.72400503e-06, 4.61203517e-06,-4.90500282e+00, 2.34604619e-04,
  1.18205635e-02,-7.07465898e-04]


--- Step 519 ---
qpos:
[ 0.01870579, 0.03014988,-0.00950626,-0.025594  , 0.00790326, 0.00470084,
 -0.00783123, 0.02711137, 0.01230827, 0.02799917,-0.00832072, 0.02646029,
  0.92711734, 0.00704886, 0.83906599, 0.04668212, 0.05881427,-0.07814551,
  0.17152118, 0.99951947, 0.02960973,-0.00260497,-0.00879222]

qacc:
[ 10.23025637,  1.96049703, -7.16480998,  7.48347151, -2.61468484,
  -0.32407595,  1.47559563, -2.75027843, -1.34856684,  0.05212786,
   1.99413243,-11.02570461, -1.97599908,  3.60944391,-13.74520773,
  42.06385897, -2.32590875,  0.91125394, -0.41453448, -9.10572753,
 -20.98015515,  5.31508358]

qfrc_actuator:
[ 1.54390815e-04, 8.46085532e-04, 1.20112890e-04,-5.19190471e-05,
 -2.72692514e-05, 7.85744013e-05,-3.58048262e-05, 8.84324313e-06,
 -4.66838275e-05, 9.04964610e-04, 1.48800525e-04,-9.87609620e-06,
  4.16641400e-02,-9.65779381e-04, 3.15602410e-02,-3.53105442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005585140254827092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.93907918e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.93907918e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09607493, -0.09249929,  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:
[ 6.15398941e-05,-5.77245565e-05,-6.38940871e-05,-8.58065812e-06,
 -1.53065655e-05, 4.43110969e-06, 5.43381082e-06,-2.92795929e-06,
 -8.07999332e-06,-3.54812660e-05,-3.81512980e-05,-3.21234764e-05,
 -2.71066120e-04,-1.49241567e-05,-2.28239839e-04, 1.37810744e-04,
  6.02854909e-06, 7.72673244e-06,-4.90500412e+00, 2.35794030e-04,
  1.18207857e-02,-7.05214442e-04]


--- Step 520 ---
qpos:
[ 0.01870782, 0.03014912,-0.00950605,-0.02559412, 0.00790325, 0.00470127,
 -0.00783133, 0.02711189, 0.01230837, 0.02800023,-0.00832129, 0.02645924,
  0.92802638, 0.00705163, 0.83999124, 0.04667997, 0.05881118,-0.07811896,
  0.17152454, 0.99952343, 0.02948069,-0.00261643,-0.00877285]

qacc:
[  3.23021612, -0.79775553,  2.4416912 , -3.78079598,  4.63562971,
   2.65016318,-11.78835146, 23.68193497, -3.82789582, -0.50995117,
  -0.22747102,  5.74388538, -1.3163505 ,  2.00210368,-14.10187483,
  42.70878211, -2.29994841,  0.90198947, -0.52429082, -9.02296839,
 -20.68394505,  5.1666217 ]

qfrc_actuator:
[ 1.71944167e-04, 8.39248071e-04, 1.28650162e-04,-5.45556769e-05,
  3.76886255e-07, 1.01740422e-04,-4.91027211e-05, 4.32049761e-05,
 -6.96773359e-05, 8.99429099e-04, 1.69337839e-04, 9.10454350e-06,
  4.15769153e-02,-9.50579789e-04, 3.14084427e-02,-3.37298170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000552174131560515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00531966e-13, -2.01063933e-13,  1.00000000e+00,  2.02133525e-26,
        1.00000000e+00,  2.01063933e-13, -1.00000000e+00,  0.00000000e+00,
        1.00531966e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09607663, -0.09250053,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93306349e-05,-5.26531786e-05,-1.15531245e-05,-7.48819479e-06,
  2.72125881e-05, 2.66266666e-05,-1.18185712e-05, 3.46826655e-05,
 -2.32366988e-05,-3.46735555e-05, 7.39473032e-06, 1.55170982e-05,
 -2.59738435e-04,-4.41267927e-05,-2.46339155e-04, 1.35295810e-04,
  7.33149738e-07, 3.63768337e-06,-4.90500280e+00, 2.36861053e-04,
  1.18225837e-02,-7.02571462e-04]


--- Step 521 ---
qpos:
[ 0.01870937, 0.03014793,-0.00950519,-0.02559432, 0.00790392, 0.00470202,
 -0.0078319 , 0.02711249, 0.01230889, 0.0280012 ,-0.0083223 , 0.02645879,
  0.92893394, 0.0070535 , 0.84091391, 0.04667897, 0.05879897,-0.07808884,
  0.17152542, 0.99952787, 0.02933337,-0.0026689 ,-0.00874464]

qacc:
[ -4.21242031, -2.49636691,  8.40215097,-10.38146841,  5.92802358,
   1.86010976, -6.29583771,  7.90899153,  3.5044435 ,  2.33012504,
 -11.00365295, 22.08866369, -0.08938583, -1.28737211, -7.29802698,
  19.90885819, -2.27829447,  0.89456649, -0.61785714, -8.95652047,
 -20.44058783,  5.04368412]

qfrc_actuator:
[ 1.45931402e-04, 8.35697295e-04, 1.69179250e-04,-5.60324046e-05,
  3.44032682e-05, 1.15316434e-04,-7.45892129e-05, 4.54584182e-05,
 -4.77392971e-05, 8.95892653e-04, 1.46225639e-04, 3.84665887e-05,
  4.14759716e-02,-1.01380736e-03, 3.12948784e-02,-3.31466821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005442688205689883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01992157e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01992157e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09607894, -0.09250192,  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:
[-2.54647417e-05,-3.56748246e-05, 2.79763330e-05,-4.27625595e-06,
  3.48080647e-05, 2.75047306e-05,-2.02481370e-05, 3.65749862e-06,
  2.12458726e-05,-2.07708892e-05,-2.88291918e-05, 2.84362191e-05,
 -2.72948945e-04,-1.25074515e-04,-2.15449572e-04, 3.33424161e-05,
 -1.57919382e-07,-2.54083733e-06,-4.90500257e+00, 2.36726482e-04,
  1.18251855e-02,-6.99569250e-04]


--- Step 522 ---
qpos:
[ 0.01871024, 0.03014691,-0.00950492,-0.02559487, 0.0079043 , 0.00470284,
 -0.00783267, 0.02711277, 0.01230932, 0.02800191,-0.00832407, 0.02645874,
  0.92983982, 0.00705495, 0.84183446, 0.04667952, 0.05877772,-0.07805516,
  0.17152352, 0.99953278, 0.02916786,-0.00276197,-0.0087078 ]

qacc:
[-5.75686280e+00, 1.15136879e+00,-2.25986069e+00,-3.07471050e+00,
 -2.53147323e+00, 8.90243165e-03, 1.42193511e+00,-6.52788683e+00,
 -7.47828139e-01, 2.60601324e+00,-1.14863549e+01, 1.98309907e+01,
 -6.49132276e-01, 8.29329129e-02,-7.79258093e+00, 2.27889413e+01,
 -2.26047116e+00, 8.88763640e-01,-6.97336861e-01,-8.90493336e+00,
 -2.02429575e+01, 4.94173559e+00]

qfrc_actuator:
[ 1.12251201e-04, 8.52051278e-04, 1.39511407e-04,-7.45493822e-05,
  1.86409004e-05, 1.05215246e-04,-8.93697576e-05, 2.87840123e-05,
 -5.27833254e-05, 8.57929295e-04, 9.75204465e-05, 5.59067493e-05,
  4.13934656e-02,-1.03420469e-03, 3.12256185e-02,-3.22670483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005352102745937032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03718396e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03718396e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608171, -0.09250341,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44328192e-05, 2.01971794e-06,-3.37344495e-05,-1.91577788e-05,
 -1.47628893e-05, 1.24406087e-06,-1.14712736e-05,-1.61283172e-05,
 -4.42601906e-06,-5.43284506e-05,-5.55616000e-05, 1.61062483e-05,
 -2.80140490e-04,-9.93097956e-05,-1.70039573e-04, 6.08644290e-05,
  3.17710095e-06,-1.07482230e-05,-4.90500337e+00, 2.35462935e-04,
  1.18285688e-02,-6.96208663e-04]


--- Step 523 ---
qpos:
[ 0.01871104, 0.03014673,-0.00950564,-0.02559569, 0.00790415, 0.00470349,
 -0.00783295, 0.02711283, 0.01230969, 0.02800184,-0.00832594, 0.02645927,
  0.93074401, 0.00705637, 0.8427532 , 0.04667874, 0.05874749,-0.07801794,
  0.17151856, 0.99953814, 0.02898425,-0.00289532,-0.00866246]

qacc:
[ -0.61590677,  3.31746452, -9.0757767 ,  5.31007497, -4.7005741 ,
  -2.0325882 ,  7.84977745,-12.28642857, -0.52853601,  0.41137625,
  -5.40164622, 16.10154721, -1.1963197 ,  1.4551655 ,  1.43541931,
  -8.73192745, -2.24604429,  0.88438373, -0.76462762, -8.86685333,
 -20.08496259,  4.85709097]

qfrc_actuator:
[ 1.09847933e-04, 9.33176472e-04, 1.04201925e-04,-8.52273831e-05,
 -8.54948427e-06, 9.87817358e-05,-6.23090428e-05, 1.88522747e-05,
 -5.59308283e-05, 7.99519855e-04, 8.72147692e-05, 8.39028011e-05,
  4.13220921e-02,-1.02901052e-03, 3.11297336e-02,-3.29934765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000525343798882888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05666330e-13,  1.05666330e-13,  1.00000000e+00, -1.11653733e-26,
        1.00000000e+00, -1.05666330e-13, -1.00000000e+00,  0.00000000e+00,
        1.05666330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608482, -0.09250495,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40089150e-06, 7.44871902e-05,-3.96994799e-05,-1.21275808e-05,
 -2.76083639e-05,-8.82526578e-06, 2.53460288e-05,-1.05893683e-05,
 -3.29429233e-06,-9.95821938e-05,-2.78011212e-05, 2.40615779e-05,
 -2.67233644e-04,-7.11589068e-05,-1.75194191e-04,-9.29379119e-05,
  1.06047191e-05,-2.09412067e-05,-4.90500518e+00, 2.33125247e-04,
  1.18327172e-02,-6.92490313e-04]


--- Step 524 ---
qpos:
[ 0.0187125 , 0.03014688,-0.00950645,-0.02559595, 0.00790401, 0.00470397,
 -0.0078326 , 0.02711277, 0.01231036, 0.02800128,-0.0083272 , 0.02646004,
  0.93164658, 0.0070578 , 0.84367066, 0.04667134, 0.05870832,-0.0779772 ,
  0.17151031, 0.99954391, 0.02878259,-0.0030687 ,-0.00860877]

qacc:
[  5.60478995,  1.83108   , -8.27421985, 17.96643926,  0.20004343,
  -2.26118961,  8.27115922,-11.38917753,  2.61341568, -1.80814416,
   4.4892488 , -0.8625661 , -1.47841539,  2.05454269, 18.22553597,
 -66.24502146, -2.23462194,  0.88125218, -0.82142762, -8.8410357 ,
 -19.96140019,  4.78675231]

qfrc_actuator:
[ 1.43628870e-04, 9.45921791e-04, 1.01656191e-04,-5.56350575e-05,
 -6.72715233e-06, 9.47654487e-05,-2.85015477e-05, 1.29981451e-05,
 -4.01758686e-05, 8.18231663e-04, 1.35090214e-04, 1.00143823e-04,
  4.12468084e-02,-1.02644699e-03, 3.10445517e-02,-3.64361285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005149565040707682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07797748e-13, -1.07797748e-13,  1.00000000e+00, -1.16203544e-26,
        1.00000000e+00,  1.07797748e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07797748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608816, -0.09250654,  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:
[ 3.37113760e-05, 4.56924992e-05, 7.54110528e-06, 3.11755927e-05,
  1.03406495e-06,-4.19978519e-06, 3.47365675e-05,-5.56125056e-06,
  1.56216853e-05,-4.16635344e-05, 2.47355543e-05, 1.14832122e-05,
 -2.57381492e-04,-6.59165359e-05,-1.84526971e-04,-3.73915175e-04,
  2.20278996e-05,-3.30908294e-05,-4.90500797e+00, 2.29754394e-04,
  1.18376183e-02,-6.88414530e-04]


--- Step 525 ---
qpos:
[ 0.01871436, 0.03014666,-0.00950695,-0.02559543, 0.0079039 , 0.00470453,
 -0.00783192, 0.02711262, 0.01231122, 0.02800012,-0.0083278 , 0.02646067,
  0.93254766, 0.00705919, 0.84458623, 0.04666111, 0.05866025,-0.07793294,
  0.17149859, 0.99955007, 0.02856291,-0.00328192,-0.00854682]

qacc:
[  3.3979501 ,  0.23347917, -4.82651548, 17.95525931,  0.20629352,
  -0.96252739,  3.93397151, -5.92570983,  1.59599705, -2.97556626,
  10.04457848,-13.17125352, -1.10143062,  1.35375425,  5.83458693,
 -24.32808894, -2.22585297,  0.87921508, -0.86924811, -8.82634799,
 -19.86782689,  4.72827686]

qfrc_actuator:
[ 1.62920816e-04, 8.82287818e-04, 1.00496817e-04,-2.03647077e-05,
 -5.59180970e-06, 1.10023953e-04,-8.73602837e-06, 9.58947980e-06,
 -3.11736074e-05, 7.76709680e-04, 1.63962795e-04, 9.16812673e-05,
  4.11852110e-02,-1.02548835e-03, 3.09817856e-02,-3.77223359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005042850219540429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20157843e-13, -1.10078921e-13,  1.00000000e+00, -2.42347378e-26,
        1.00000000e+00,  1.10078921e-13, -1.00000000e+00,  0.00000000e+00,
       -2.20157843e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09609164, -0.09250813,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02891376e-05,-3.51796988e-05, 1.02902476e-05, 3.80949512e-05,
  1.16209410e-06, 1.98261129e-05, 2.29744553e-05,-2.49671265e-06,
  9.44167983e-06,-5.91782587e-05, 2.37299796e-05,-9.16683477e-06,
 -2.37147216e-04,-6.41455722e-05,-1.98528794e-04,-1.75308725e-04,
  3.73794740e-05,-4.71799916e-05,-4.90501172e+00, 2.25380511e-04,
  1.18432637e-02,-6.83981336e-04]


--- Step 526 ---
qpos:
[ 0.01871609, 0.03014629,-0.00950748,-0.02559485, 0.0079038 , 0.00470514,
 -0.00783127, 0.02711246, 0.01231183, 0.02799823,-0.00832821, 0.02646123,
  0.93344721, 0.00706036, 0.84549946, 0.04665589, 0.0586033 ,-0.07788517,
  0.17148323, 0.99955657, 0.02832522,-0.00353483,-0.0084767 ]

qacc:
[-1.09274167e+00, 6.09083597e-03,-5.61989502e-01, 1.81822069e+00,
  1.26475823e-01, 1.05817345e-01,-2.10882570e-01,-2.37376230e-02,
 -2.05352633e+00,-1.60865598e+00, 4.58742779e+00,-5.35406706e+00,
 -5.57827113e-01, 1.52735999e-01,-1.85814481e+01, 6.00630961e+01,
 -2.21944600e+00, 8.78145675e-01,-9.09344143e-01,-8.82184551e+00,
 -1.98006197e+01, 4.67971092e+00]

qfrc_actuator:
[ 1.55765068e-04, 8.79934334e-04, 9.98230064e-05,-1.76226568e-05,
 -4.87903232e-06, 1.01154602e-04,-1.50928247e-05, 7.65224684e-06,
 -4.39771622e-05, 7.17124342e-04, 1.63372831e-04, 8.64409381e-05,
  4.10999164e-02,-1.04319410e-03, 3.09485489e-02,-3.48855780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004935223297011099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24959026e-13, -5.62397564e-14,  1.00000000e+00, -1.26516408e-26,
        1.00000000e+00,  5.62397564e-14, -1.00000000e+00,  0.00000000e+00,
       -2.24959026e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09609519, -0.09250971,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.57756753e-06,-1.82551665e-05,-5.34954784e-06, 2.33300703e-06,
  7.51899876e-07, 6.82885752e-06, 4.67774764e-07,-3.43741982e-07,
 -1.25519336e-05,-8.81155137e-05,-1.01887357e-05,-7.13136912e-06,
 -2.47619407e-04,-7.82247158e-05,-1.51362765e-04, 2.46711074e-04,
  5.66168947e-05,-6.32014779e-05,-4.90501640e+00, 2.20025194e-04,
  1.18496474e-02,-6.79190436e-04]


--- Step 527 ---
qpos:
[ 0.01871737, 0.03014593,-0.00950778,-0.02559463, 0.00790406, 0.00470551,
 -0.00783082, 0.02711233, 0.01231228, 0.02799627,-0.00832891, 0.02646203,
  0.93434504, 0.00706144, 0.84641158, 0.04665258, 0.05855676,-0.07783628,
  0.17147308, 0.99956302, 0.02808653,-0.00374177,-0.00842123]

qacc:
[ -3.80095992, -1.3295773 ,  6.25402822,-12.72803191,  3.11700437,
   0.30197361, -1.68307532,  2.72608484, -1.36121207,  1.21273113,
  -5.38783551,  9.80778516, -1.02231953,  1.0503387 , -7.38450996,
  23.56036777,  2.60338448,  0.27829872,  1.303461  , -0.72170774,
  22.76648207, -7.96938936]

qfrc_actuator:
[ 1.33104842e-04, 8.96506057e-04, 1.17392851e-04,-3.40006150e-05,
  1.33317503e-05, 6.00465491e-05,-3.69096109e-05, 6.56167867e-06,
 -5.17582706e-05, 7.53578133e-04, 1.63067878e-04, 1.00856589e-04,
  4.10004611e-02,-1.05415854e-03, 3.09171592e-02,-3.39028319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.76495034,  5.70678464, -0.81686072,  5.70678464,  6.49296137,
        5.0860595 , -0.81686072,  5.0860595 , 41.29738033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005195421794403632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.3423142e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.3423142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785803, -0.08071057,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28565904e-05, 5.36902005e-06, 1.32290345e-05,-1.72985522e-05,
  1.82345299e-05,-3.72368384e-05,-2.03750427e-05,-7.90947438e-07,
 -8.18566126e-06,-1.51616321e-05,-1.99814213e-05, 1.01527253e-05,
 -2.69803993e-04,-7.70054141e-05,-8.11939726e-05, 9.08000058e-05,
  7.97182676e-05,-8.11565263e-05,-4.90502201e+00, 2.13703226e-04,
  1.18567659e-02,-6.74041215e-04]


--- Step 528 ---
qpos:
[ 0.01871906, 0.03014552,-0.00950729,-0.02559463, 0.00790488, 0.00470564,
 -0.00783032, 0.02711183, 0.01231195, 0.02799462,-0.0083298 , 0.02646224,
  0.93524109, 0.00706271, 0.84732235, 0.04665049, 0.05852033,-0.07778636,
  0.17146694, 0.99956949, 0.02784596,-0.0039039 ,-0.00837855]

qacc:
[  3.52224351, -2.76271048, 10.69192375,-15.86254215,  4.94227775,
  -1.23267829,  5.49675888,-11.85765844, -6.71487441, -0.27430269,
   4.01019766,-13.97515214, -1.34879081,  1.86243564, -5.57884326,
  16.85773627,  2.52588549,  0.25961626,  1.0019946 , -1.1521019 ,
  22.2063488 , -7.01962186]

qfrc_actuator:
[ 1.54767119e-04, 9.06588132e-04, 1.63427735e-04,-4.37058953e-05,
  4.16955048e-05, 5.31318543e-05,-3.23060788e-05,-1.18117914e-05,
 -9.20182067e-05, 7.94020152e-04, 1.63342900e-04, 7.35476401e-05,
  4.09138844e-02,-1.04336346e-03, 3.08495728e-02,-3.33114124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.94182237, -5.90433564, -0.6663885 , -5.90433564,  6.340971  ,
       -3.53653692, -0.6663885 , -3.53653692, 37.27624841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000541054931877144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02597995e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02597995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786337, -0.08071686,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09995936e-05, 1.50799709e-05, 4.81814034e-05,-9.35291020e-06,
  2.88698224e-05,-3.19926173e-05,-5.63535342e-06,-2.06919118e-05,
 -4.05117352e-05, 2.83468974e-05,-4.93657629e-06,-2.84478876e-05,
 -2.69875766e-04,-6.02017723e-05,-1.07206057e-04, 5.09115704e-05,
  5.27664346e-05,-6.59777559e-05,-4.90501873e+00, 2.25634035e-04,
  1.18531616e-02,-6.68352878e-04]


--- Step 529 ---
qpos:
[ 0.01872065, 0.03014514,-0.0095063 ,-0.02559405, 0.00790568, 0.00470539,
 -0.00782977, 0.02711216, 0.01231079, 0.02799372,-0.00833063, 0.02646136,
  0.93613537, 0.00706412, 0.8482312 , 0.04665083, 0.05849373,-0.07773546,
  0.17146374, 0.99957603, 0.02760282,-0.00402226,-0.00834717]

qacc:
[ -0.8286055 , -0.15649397, -1.81267875, 11.02315254, -0.08909212,
   1.08776058, -8.14352334, 22.84166146, -7.04611334, -1.39376207,
  11.08007389,-30.73760395, -1.21547054,  1.58588474,-10.12201932,
  31.48189684,  2.4581052 ,  0.24506897,  0.73509934, -1.48846012,
  21.7078926 , -6.25346721]

qfrc_actuator:
[ 1.49091015e-04, 9.12839225e-04, 1.90380295e-04,-1.38844576e-05,
  4.02973312e-05, 3.13230095e-05,-2.97724226e-05, 3.08482762e-05,
 -1.33321405e-04, 8.72029553e-04, 1.81725685e-04, 2.19182809e-05,
  4.08244512e-02,-1.03750317e-03, 3.07603281e-02,-3.20678874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.06333048, -5.99446494, -0.91124453, -5.99446494,  6.98926773,
       -6.09111848, -0.91124453, -6.09111848, 46.13270259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005557221630677345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786682, -0.08072187,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05955814e-06, 2.42456316e-05, 3.56741571e-05, 3.19505517e-05,
 -5.87794889e-07,-4.17495342e-05,-5.49238325e-06, 4.06898865e-05,
 -4.24865673e-05, 9.16770910e-05, 2.26764592e-05,-5.11322150e-05,
 -2.69443488e-04,-6.20675259e-05,-1.44207386e-04, 1.10800033e-04,
  3.19291724e-05,-5.18170220e-05,-4.90501667e+00, 2.34907353e-04,
  1.18499306e-02,-6.62641209e-04]


--- Step 530 ---
qpos:
[ 0.01872147, 0.03014477,-0.00950523,-0.02559275, 0.00790647, 0.00470477,
 -0.00782943, 0.02711267, 0.01230983, 0.02799388,-0.00833148, 0.02646052,
  0.93702798, 0.00706559, 0.84913838, 0.04664868, 0.05847672,-0.07768362,
  0.17146254, 0.99958267, 0.02735658,-0.00409776,-0.0083259 ]

qacc:
[ -6.59841832,  1.29818015, -7.6713473 , 20.15137424, -0.20001487,
   0.46961277, -3.15284322,  6.89001504,  1.70530633,  1.54268648,
  -3.65396739,  3.66128533, -1.32017967,  1.74872232,  5.15386775,
 -21.42029576,  2.39937992,  0.23388525,  0.50090967, -1.75234366,
  21.26965034, -5.63400561]

qfrc_actuator:
[ 1.09602212e-04, 8.98965098e-04, 1.88100969e-04, 2.11814719e-05,
  3.91424470e-05, 8.13175597e-07,-4.62527140e-05, 3.80557322e-05,
 -1.21639214e-04, 9.54245080e-04, 1.93055807e-04, 2.74569682e-05,
  4.07440184e-02,-1.03464236e-03, 3.06475373e-02,-3.34680819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.13783793,  -6.01321833,  -1.23055263,  -6.01321833,
         8.27448221, -10.44092566,  -1.23055263, -10.44092566,
        57.15846385,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005646829419777843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83049905e-14,  4.30084333e-14,  1.00000000e+00,  4.22794363e-27,
        1.00000000e+00, -4.30084333e-14, -1.00000000e+00,  0.00000000e+00,
       -9.83049905e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786869, -0.0807259 ,  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:
[-3.96305030e-05, 8.41357527e-06, 8.21739112e-06, 3.79576584e-05,
 -1.18763383e-06,-5.32455786e-05,-2.43770913e-05, 6.01879276e-06,
  1.04650445e-05, 1.36000698e-04, 3.13139515e-05, 9.26430139e-06,
 -2.60820953e-04,-6.52038167e-05,-1.75827551e-04,-1.54472794e-04,
  1.66269427e-05,-3.83456826e-05,-4.90501578e+00, 2.42053229e-04,
  1.18469092e-02,-6.56877733e-04]


--- Step 531 ---
qpos:
[ 0.01872216, 0.03014447,-0.00950441,-0.0255917 , 0.00790758, 0.00470407,
 -0.0078291 , 0.02711218, 0.01230937, 0.02799439,-0.00833191, 0.02646016,
  0.937919  , 0.00706706, 0.85004351, 0.04664353, 0.05846912,-0.07763088,
  0.17146253, 0.99958943, 0.02710681,-0.00413118,-0.00831376]

qacc:
[ -1.16929564,  0.28898116,  0.23176336, -4.44622558,  2.8575535 ,
  -2.1871868 , 11.88472801,-29.23287804,  4.20232627,  0.25783115,
  -2.2935739 ,  9.67672227, -1.23121589,  1.57903176,  6.14946298,
 -25.69393532,  2.34892601,  0.22543966,  0.29687681, -1.96050612,
  20.88844743, -5.13174095]

qfrc_actuator:
[ 1.03794204e-04, 8.90783907e-04, 1.68501463e-04, 5.75342486e-06,
  5.59022283e-05, 1.84863479e-05,-3.83956239e-05,-1.11916538e-05,
 -9.66159446e-05, 9.31862096e-04, 2.00206015e-04, 4.88421696e-05,
  4.06690409e-02,-1.03354198e-03, 3.05419692e-02,-3.49947352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005689349056603454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75703032e-14, -9.75703032e-14,  1.00000000e+00, -9.51996406e-27,
        1.00000000e+00,  9.75703032e-14, -1.00000000e+00,  0.00000000e+00,
       -9.75703032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786925, -0.08072915,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96217003e-06,-1.72637010e-07,-1.55469124e-05,-1.40473604e-05,
  1.67081787e-05,-1.68624890e-05,-5.93355896e-06,-5.22559518e-05,
  2.53755235e-05, 6.05414753e-05, 3.94291639e-05, 2.84799581e-05,
 -2.51639600e-04,-6.52056525e-05,-2.12236007e-04,-1.85862091e-04,
  6.39776576e-06,-2.53183467e-05,-4.90501603e+00, 2.47470406e-04,
  1.18439782e-02,-6.51040610e-04]


--- Step 532 ---
qpos:
[ 0.01872312, 0.03014441,-0.00950418,-0.02559119, 0.00790853, 0.00470304,
 -0.00782808, 0.02711178, 0.01230921, 0.02799402,-0.00833134, 0.02646053,
  0.93880844, 0.00706854, 0.85094633, 0.04663586, 0.05847073,-0.07757726,
  0.17146301, 0.99959634, 0.02685317,-0.00412321,-0.00830997]

qacc:
[  2.28756082,  0.82684126, -0.24324842, -8.26630644, -1.31593746,
  -2.12539565,  6.60166612, -5.93331175,  2.64276334, -2.47277858,
   4.07095065,  7.5090817 , -1.18105668,  1.49612131,  4.2547095 ,
 -19.68312449,  2.30592606,  0.21922574,  0.12015687, -2.12596146,
  20.56022303, -4.72312816]

qfrc_actuator:
[ 1.17868161e-04, 9.03701141e-04, 1.38821899e-04,-2.15149320e-05,
  4.75671765e-05, 1.16665935e-05, 1.68773141e-06,-4.43425694e-06,
 -8.17115689e-05, 8.11505449e-04, 2.22167785e-04, 7.92819924e-05,
  4.05920639e-02,-1.03347308e-03, 3.04355019e-02,-3.62271543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005693451240455366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.87500014e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.87500014e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786875, -0.08073181,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38720994e-05, 9.00259960e-06,-3.21247815e-05,-2.80905126e-05,
 -7.86368869e-06,-1.96858807e-05, 3.40659507e-05, 4.81370098e-06,
  1.56682506e-05,-7.71414931e-05, 4.03078068e-05, 3.49523016e-05,
 -2.48416086e-04,-6.40196319e-05,-2.31494943e-04,-1.62429725e-04,
  8.74730713e-07,-1.25506872e-05,-4.90501738e+00, 2.51458792e-04,
  1.18410490e-02,-6.45113013e-04]


--- Step 533 ---
qpos:
[ 0.01872389, 0.03014433,-0.00950371,-0.0255907 , 0.00790904, 0.00470169,
 -0.00782657, 0.02711182, 0.01230888, 0.02799293,-0.00833069, 0.0264613 ,
  0.93969628, 0.0070703 , 0.85184638, 0.04662674, 0.05848143,-0.07752279,
  0.17146335, 0.9996034 , 0.02659538,-0.00407443,-0.00831387]

qacc:
[-1.5653055 ,-0.71551971, 2.56075594,-3.10600422,-3.95523276,-0.92321858,
  0.78786677, 6.31863892,-1.38628364,-0.33862   ,-1.888695  , 9.33844946,
 -1.37123932, 2.05958484, 0.41131284,-7.13670728, 2.26958083, 0.21483367,
 -0.03214473,-2.25881448,20.28056097,-4.38938394]

qfrc_actuator:
[ 1.08015665e-04, 9.11333640e-04, 1.56775969e-04,-2.00046188e-05,
  2.45227020e-05,-9.57824536e-06, 2.49272611e-05, 1.74819618e-05,
 -9.06405790e-05, 7.57717431e-04, 2.16762836e-04, 9.69658951e-05,
  4.05192684e-02,-1.01627690e-03, 3.03072908e-02,-3.69208365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005666621967442831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95923256e-13,  4.89808139e-14,  1.00000000e+00,  9.59648053e-27,
        1.00000000e+00, -4.89808139e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95923256e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278674 , -0.08073399,  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:
[-9.44275290e-06, 4.82929367e-06, 1.48803555e-05, 2.35008734e-07,
 -2.32763997e-05,-2.49868059e-05, 2.35368840e-05, 2.23462439e-05,
 -8.49982726e-06,-8.70912550e-05,-1.51695328e-05, 1.64510437e-05,
 -2.42110368e-04,-4.59336422e-05,-2.58298391e-04,-1.09445130e-04,
 -2.32044261e-07, 9.68818447e-08,-4.90501981e+00, 2.54244068e-04,
  1.18380552e-02,-6.39081889e-04]


--- Step 534 ---
qpos:
[ 0.01872385, 0.03014422,-0.00950274,-0.0255902 , 0.00790926, 0.00470049,
 -0.00782522, 0.02711175, 0.01230811, 0.02799192,-0.00833069, 0.02646188,
  0.9405826 , 0.007072  , 0.85274421, 0.04661665, 0.05850108,-0.07746746,
  0.17146304, 0.99961061, 0.02633323,-0.00398531,-0.00832496]

qacc:
[-6.96190162,-1.43830162, 5.08801731,-5.92076481,-2.47580521, 0.48760458,
 -0.9860015 ,-0.62560908,-3.85329951, 1.55130961,-4.56837761, 2.2545536 ,
 -1.01212201, 1.14265699,-0.30353258,-3.57030209, 2.23913865, 0.21193199,
 -0.16282699,-2.36690643,20.0450194 ,-4.1155293 ]

qfrc_actuator:
[ 6.63995843e-05, 9.15955936e-04, 1.84968090e-04,-1.92917073e-05,
  1.07657105e-05, 1.39252553e-05, 2.02125965e-05, 1.25974898e-05,
 -1.13522357e-04, 7.97321646e-04, 1.95456300e-04, 8.92700679e-05,
  4.04383894e-02,-1.02458191e-03, 3.02353918e-02,-3.72918323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005615285486280375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96571660e-13, -1.48285830e-13,  1.00000000e+00, -4.39773747e-26,
        1.00000000e+00,  1.48285830e-13, -1.00000000e+00,  0.00000000e+00,
       -2.96571660e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786538, -0.0807358 ,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18905403e-05, 1.03966026e-05, 3.10242222e-05, 1.43732915e-06,
 -1.44290882e-05, 1.53736052e-05,-6.20481291e-06,-4.70542967e-06,
 -2.31641962e-05,-1.15002849e-05,-4.05923568e-05,-1.16332185e-05,
 -2.42489119e-04,-6.67951898e-05,-2.06750851e-04,-7.72797518e-05,
  2.85012740e-06, 1.27311902e-05,-4.90502330e+00, 2.55996251e-04,
  1.18349461e-02,-6.32937022e-04]


--- Step 535 ---
qpos:
[ 0.018724  , 0.03014407,-0.00950167,-0.02559002, 0.00790931, 0.00469973,
 -0.00782437, 0.02711162, 0.01230707, 0.02799117,-0.00833083, 0.02646196,
  0.94146751, 0.00707331, 0.85364023, 0.04660862, 0.05852958,-0.0774113 ,
  0.17146164, 0.99961796, 0.02606652,-0.00385626,-0.0083428 ]

qacc:
[  1.63920765, -0.96898163,  4.7177063 ,-10.28069649, -1.4920026 ,
   1.7935054 , -5.27712383,  4.53521258, -2.29933236, -0.30455803,
   3.72983277,-12.43683202, -0.48573099, -0.06925221, -8.89271852,
  27.27560427,  2.21390995,  0.2102526 , -0.27451195, -2.45631676,
  19.84932559, -3.88962079]

qfrc_actuator:
[ 7.74392964e-05, 9.01045493e-04, 1.83442188e-04,-3.68135495e-05,
  2.59045401e-06, 4.61579239e-05,-8.05203631e-07, 9.75240818e-06,
 -1.26672150e-04, 8.39195367e-04, 2.00819815e-04, 6.67812626e-05,
  4.03686884e-02,-1.04796532e-03, 3.02079831e-02,-3.60480518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005544923064039059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00111671e-13, -5.00558354e-14,  1.00000000e+00, -5.01117331e-27,
        1.00000000e+00,  5.00558354e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00111671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786282, -0.08073733,  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:
[ 9.82043489e-06,-2.65047211e-06, 4.48265155e-06,-1.59766321e-05,
 -8.57950653e-06, 3.93690320e-05,-1.87702683e-05,-2.49212923e-06,
 -1.38343477e-05, 2.65840203e-05,-2.40362485e-06,-2.46107957e-05,
 -2.35412320e-04,-8.60227473e-05,-1.37373172e-04, 9.20629096e-05,
  9.94491202e-06, 2.54351035e-05,-4.90502783e+00, 2.56843635e-04,
  1.18316826e-02,-6.26670319e-04]


--- Step 536 ---
qpos:
[ 0.01872428, 0.03014387,-0.00950057,-0.02559038, 0.00790962, 0.00469915,
 -0.00782373, 0.02711181, 0.01230622, 0.02799085,-0.00833073, 0.02646138,
  0.942351  , 0.00707458, 0.85453441, 0.04660506, 0.05856686,-0.07735429,
  0.17145875, 0.99962543, 0.02579511,-0.00368761,-0.00836703]

qacc:
[  1.12356432, -1.28035888,  6.75723647,-16.21474906,  2.1593565 ,
   1.50999659, -6.39923406, 12.21695942,  1.65792283, -1.47021742,
   8.83229599,-20.96573422, -0.68630277,  0.58430918,-16.18727682,
  52.74845622,  2.19327263,  0.20957857, -0.36960547, -2.53175357,
  19.68948246, -3.70213484]

qfrc_actuator:
[ 8.38884634e-05, 8.92173853e-04, 1.82037536e-04,-6.49634402e-05,
  1.55155780e-05, 4.77951959e-05,-1.34636066e-05, 2.58925223e-05,
 -1.16231136e-04, 8.82211178e-04, 2.21926533e-04, 3.58063147e-05,
  4.03110645e-02,-1.04453439e-03, 3.01540527e-02,-3.36843267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005460184139585017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01665346e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01665346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785988, -0.08073862,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73426091e-06,-1.01167346e-05,-1.96453038e-06,-2.84223124e-05,
  1.26959038e-05, 1.96837509e-05,-6.92469526e-06, 1.71297189e-05,
  1.00430539e-05, 5.63509013e-05, 2.54600684e-05,-3.03956823e-05,
 -2.21978349e-04,-6.16712369e-05,-1.15728814e-04, 2.21804140e-04,
  2.09176640e-05, 3.82739689e-05,-4.90503339e+00, 2.56883254e-04,
  1.18282338e-02,-6.20275264e-04]


--- Step 537 ---
qpos:
[ 0.01872395, 0.03014367,-0.0094998 ,-0.02559107, 0.00791007, 0.00469874,
 -0.00782354, 0.02711256, 0.01230585, 0.02799085,-0.00833068, 0.02646115,
  0.94323312, 0.0070756 , 0.85542725, 0.04660296, 0.05861149,-0.07730448,
  0.17145678, 0.99963204, 0.02555583,-0.00348257,-0.00839984]

qacc:
[ -5.2787273 ,  0.27388741,  0.36993362, -5.333486  ,  1.32520199,
   2.61084675,-11.34355285, 21.56749468,  4.05300444,  1.28372838,
  -5.45295379, 11.42665872, -0.63256515,  0.3409564 , -6.37429514,
  19.5257922 ,  1.83678067, -1.79662738,  0.22835497, 15.90289645,
  18.20806295, -4.81763809]

qfrc_actuator:
[ 5.20616503e-05, 8.86965318e-04, 1.62986367e-04,-8.13786600e-05,
  2.30015217e-05, 4.88965827e-05,-3.89384610e-05, 5.30581152e-05,
 -9.19914737e-05, 8.90148688e-04, 2.16658212e-04, 5.33573055e-05,
  4.02394356e-02,-1.06071180e-03, 3.00896039e-02,-3.29887013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005444862902636571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03902843e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03902843e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442114, -0.05188841,  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:
[-3.16332309e-05,-1.24916097e-05,-2.23761480e-05,-1.74713297e-05,
  7.85318612e-06, 1.14298776e-05,-2.16707552e-05, 2.81017970e-05,
  2.45531230e-05, 4.34187400e-05, 8.45870971e-06, 2.02564776e-05,
 -2.21794320e-04,-7.42886813e-05,-1.02350142e-04, 6.48794233e-05,
  3.56679661e-05, 5.13003394e-05,-4.90503998e+00, 2.56188709e-04,
  1.18245753e-02,-6.13746512e-04]


--- Step 538 ---
qpos:
[ 0.01872427, 0.03014372,-0.00949941,-0.02559197, 0.00791027, 0.00469866,
 -0.00782398, 0.02711293, 0.01230612, 0.02799073,-0.00833052, 0.02646221,
  0.94411378, 0.00707649, 0.85631859, 0.04660205, 0.05866335,-0.07726171,
  0.171455  , 0.9996378 , 0.02534787,-0.00324193,-0.00844088]

qacc:
[  5.60209676,  0.94239481, -1.94953293, -1.43946636, -2.30285416,
   1.46171776, -2.94793414, -2.8603233 ,  5.4486147 ,  2.20652566,
 -13.59855848, 35.98787726, -0.81632875,  0.73155505, -5.76649807,
  17.04637452,  1.80967589, -1.76370776,  0.04744569, 15.49956255,
  17.81898414, -4.63015183]

qfrc_actuator:
[ 8.67250629e-05, 9.19428357e-04, 1.51444868e-04,-9.07650177e-05,
  9.46674322e-06, 6.73753382e-05,-7.17852531e-05, 3.32191109e-05,
 -5.98322581e-05, 8.59206837e-04, 2.13503368e-04, 1.17025099e-04,
  4.01594497e-02,-1.07067544e-03, 3.00188638e-02,-3.23942341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005485023400678413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01204949e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01204949e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442267, -0.05189015,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37387442e-05, 2.00983574e-05,-1.74852480e-05,-1.10339261e-05,
 -1.33079048e-05, 2.16120683e-05,-3.21820333e-05,-1.95536150e-05,
  3.28934958e-05,-4.03925539e-06, 7.55518789e-06, 6.62146624e-05,
 -2.32972757e-04,-7.02283066e-05,-1.21379201e-04, 4.74038527e-05,
  5.29474795e-05, 5.49776910e-05,-4.90504060e+00, 2.53637103e-04,
  1.18208607e-02,-6.07959273e-04]


--- Step 539 ---
qpos:
[ 0.01872466, 0.03014435,-0.00949937,-0.02559302, 0.0079103 , 0.00469869,
 -0.00782419, 0.02711268, 0.01230677, 0.02799084,-0.00833022, 0.02646364,
  0.94499283, 0.00707784, 0.85720856, 0.04659853, 0.05872237,-0.07722589,
  0.17145278, 0.99964272, 0.02517053,-0.00296635,-0.00848987]

qacc:
[  0.5614045 ,  1.41001767, -3.30198096,  0.84976298, -1.43360866,
  -1.81073391,  9.24392425,-20.35869495,  3.26906809,  0.62184902,
  -3.30141825,  9.13295575, -1.69016355,  2.79508286,  5.98357362,
 -23.58637438,  1.78670745, -1.73495282, -0.10994471, 15.15872768,
  17.49651468, -4.46732183]

qfrc_actuator:
[ 8.92486352e-05, 9.74234198e-04, 1.44593918e-04,-9.59024755e-05,
  1.42246617e-06, 7.82872400e-05,-5.54251988e-05, 3.64348794e-06,
 -4.10267752e-05, 8.94022509e-04, 2.29238838e-04, 1.36268184e-04,
  4.00851591e-02,-1.04141920e-03, 2.99284355e-02,-3.38162819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005489404535483494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01124176e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01124176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442317, -0.05189084,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51463983e-06, 6.19671495e-05,-5.24007846e-06,-5.09722372e-06,
 -8.41281978e-06, 1.55142959e-05, 1.61897403e-05,-3.01426391e-05,
  1.97659928e-05, 3.69676047e-05, 1.81189292e-05, 2.06162788e-05,
 -2.33482893e-04,-3.26754872e-05,-1.50987433e-04,-1.57486490e-04,
  7.29953615e-05, 5.55919526e-05,-4.90504215e+00, 2.49968939e-04,
  1.18179040e-02,-6.02899697e-04]


--- Step 540 ---
qpos:
[ 0.01872405, 0.03014543,-0.00949971,-0.02559377, 0.00791024, 0.00469872,
 -0.00782393, 0.02711277, 0.01230695, 0.02799168,-0.0083302 , 0.02646456,
  0.94587028, 0.00707958, 0.85809714, 0.04659192, 0.05878845,-0.07719691,
  0.17144957, 0.99964681, 0.02502324,-0.00265634,-0.00854655]

qacc:
[ -8.65278708,  2.30911776, -8.65018414, 14.25202142, -0.83610856,
  -0.62269415,  0.82459385,  4.18539511, -4.01652282,  0.72902468,
   0.94683531, -9.79020245, -1.61227236,  2.58313197,  7.43606963,
 -28.69031951,  1.7675556 , -1.71003259, -0.24621049, 14.87163545,
  17.23209596, -4.32504979]

qfrc_actuator:
[ 3.73082034e-05, 9.88770702e-04, 1.22919798e-04,-8.07214483e-05,
 -3.31918730e-06, 8.47674496e-05,-2.79184172e-05, 2.18715819e-05,
 -6.57390963e-05, 9.50232543e-04, 2.20714493e-04, 1.11521786e-04,
  4.00037009e-02,-1.02469246e-03, 2.98688432e-02,-3.53498721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005464951193541456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01576664e-13, -1.01576664e-13,  1.00000000e+00, -1.03178187e-26,
        1.00000000e+00,  1.01576664e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01576664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442284, -0.05189069,  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:
[-5.18178003e-05, 4.78664491e-05,-9.70363193e-06, 1.75541608e-05,
 -4.97472110e-06, 1.72075947e-05, 3.16656519e-05, 1.88678027e-05,
 -2.41202029e-05, 8.15069287e-05, 2.04870034e-06,-2.21388401e-05,
 -2.33478580e-04,-3.82784844e-05,-1.56290864e-04,-1.83784369e-04,
  9.56940916e-05, 5.33429503e-05,-4.90504459e+00, 2.45254143e-04,
  1.18156170e-02,-5.98549925e-04]


--- Step 541 ---
qpos:
[ 0.0187235 , 0.03014657,-0.00949986,-0.02559431, 0.00791046, 0.00469905,
 -0.00782372, 0.02711307, 0.01230683, 0.02799276,-0.00833039, 0.02646559,
  0.94674615, 0.00708133, 0.85898365, 0.04658809, 0.05886154,-0.07717468,
  0.17144491, 0.99965005, 0.02490551,-0.00231235,-0.0086107 ]

qacc:
[ 6.19110734e-01,-4.56548285e-03,-6.85543165e-01, 3.76769257e+00,
  2.53011128e+00, 9.91881956e-01,-3.87508542e+00, 7.47874383e+00,
 -2.54229429e+00, 1.13780747e+00,-4.01299362e+00, 5.91222506e+00,
 -9.17489783e-01, 9.81338138e-01,-1.14508848e+01, 3.57360755e+01,
  1.75188447e+00,-1.68860114e+00,-3.63700278e-01, 1.46307448e+01,
  1.70182423e+01,-4.19991934e+00]

qfrc_actuator:
[ 4.24996894e-05, 9.79041570e-04, 1.28030522e-04,-7.15015276e-05,
  1.16719539e-05, 1.06394001e-04,-2.95556179e-05, 3.25739191e-05,
 -8.03579017e-05, 9.29926744e-04, 1.98010221e-04, 1.14361107e-04,
  3.99126722e-02,-1.03333299e-03, 2.98171508e-02,-3.37396361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005417622293880792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.02464048e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.02464048e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442185, -0.05188988,  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:
[ 3.69472503e-06, 1.57352440e-05, 1.44046815e-05, 1.12776754e-05,
  1.48537062e-05, 3.85926580e-05, 6.46692919e-06, 1.29019610e-05,
 -1.52943041e-05, 2.47073017e-05,-6.39248901e-06, 5.96930994e-06,
 -2.44355270e-04,-6.46298040e-05,-1.53557627e-04, 1.28505040e-04,
  1.20962032e-04, 4.83848214e-05,-4.90504790e+00, 2.39546915e-04,
  1.18139287e-02,-5.94894949e-04]


--- Step 542 ---
qpos:
[ 0.01872337, 0.03014743,-0.00949974,-0.02559505, 0.00791121, 0.00469973,
 -0.00782383, 0.02711351, 0.01230654, 0.02799366,-0.00833035, 0.02646631,
  0.94762053, 0.00708272, 0.85986836, 0.04658778, 0.05894159,-0.07715913,
  0.17143839, 0.99965244, 0.02481694,-0.00193472,-0.00868211]

qacc:
[ 3.53799633e+00,-1.55514119e+00, 5.78585528e+00,-9.30331831e+00,
  4.58329650e+00, 1.64216833e+00,-5.78242926e+00, 8.45233314e+00,
 -1.47509368e+00,-1.51441896e+00, 6.30971474e+00,-1.16910001e+01,
 -5.10916081e-01,-3.29252041e-02,-1.32703773e+01, 4.26010053e+01,
  1.73936164e+00,-1.67031667e+00,-4.64639903e-01, 1.44295949e+01,
  1.68484520e+01,-4.08909025e+00]

qfrc_actuator:
[ 6.35421548e-05, 9.37199332e-04, 1.31051659e-04,-8.36226674e-05,
  3.81563463e-05, 1.19056223e-04,-4.83415671e-05, 3.87453326e-05,
 -8.89048148e-05, 8.99415034e-04, 2.02350274e-04, 9.78430238e-05,
  3.98319345e-02,-1.05697068e-03, 2.97596589e-02,-3.18873044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005352501312700098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03442035, -0.05188855,  0.06199038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11512278e-05,-2.96207573e-05, 8.42532802e-06,-1.07305019e-05,
  2.69191930e-05, 3.61222690e-05,-9.57873973e-06, 8.29760795e-06,
 -8.98356225e-06,-1.78046434e-05, 8.85078313e-06,-1.55679233e-05,
 -2.45758937e-04,-8.71429974e-05,-1.21823796e-04, 1.70810436e-04,
  1.48746080e-04, 4.08348946e-05,-4.90505208e+00, 2.32889255e-04,
  1.18127823e-02,-5.91922165e-04]


--- Step 543 ---
qpos:
[ 0.01872349, 0.03014786,-0.00949922,-0.02559557, 0.00791193, 0.00470052,
 -0.00782403, 0.02711335, 0.01230615, 0.02799453,-0.0083297 , 0.0264661 ,
  0.94849331, 0.00708387, 0.86075177, 0.04658829, 0.059011  ,-0.07713878,
  0.17143644, 0.99965522, 0.02470887,-0.0016085 ,-0.00873669]

qacc:
[  2.19353963, -1.25093016,  2.73251969,  0.66563826, -0.2960217 ,
  -0.84311878,  5.78348399,-16.20443021, -0.83804267, -3.67632911,
  17.01236503,-34.21326601, -0.85050127,  0.65248237, -4.35448903,
  12.56118295, -2.65906676,  1.20230923,  1.14173042, -9.51253476,
 -25.57080963,  9.07381424]

qfrc_actuator:
[ 7.59746671e-05, 9.11923123e-04, 1.50402016e-04,-7.27336663e-05,
  3.56816223e-05, 1.08417902e-04,-5.93741706e-05, 6.68380094e-06,
 -9.38125616e-05, 9.16361325e-04, 2.40299030e-04, 5.23142168e-05,
  3.97467692e-02,-1.07149899e-03, 2.96987372e-02,-3.15058485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.97258505,  4.87471226, -3.45093503,  4.87471226, 18.28891364,
       17.39776539, -3.45093503, 17.39776539, 30.5482724 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005447756291493966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01897273e-13, -1.01897273e-13,  1.00000000e+00, -1.03830543e-26,
        1.00000000e+00,  1.01897273e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01897273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09605436, -0.09255493,  0.06199021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30360384e-05,-4.05821162e-05, 1.38886032e-05, 9.70196174e-06,
 -1.69705603e-06, 7.92342568e-06,-4.47246293e-06,-3.06868783e-05,
 -5.17417836e-06, 8.11218026e-06, 3.48098650e-05,-4.62919459e-05,
 -2.55499502e-04,-8.26487972e-05,-1.07275431e-04, 2.98409525e-05,
  1.79015886e-04, 3.07807870e-05,-4.90505712e+00, 2.25313681e-04,
  1.18121314e-02,-5.89620998e-04]


--- Step 544 ---
qpos:
[ 0.0187241 , 0.03014818,-0.00949886,-0.02559561, 0.00791226, 0.00470132,
 -0.00782432, 0.02711281, 0.01230674, 0.02799568,-0.00832906, 0.02646603,
  0.94936441, 0.00708516, 0.86163345, 0.04658799, 0.05907007,-0.07711378,
  0.17143777, 0.99965842, 0.02458123,-0.00133153,-0.00877654]

qacc:
[ 4.22449496e+00, 1.31561734e+00,-6.94596199e+00, 1.56214284e+01,
 -3.34422935e+00,-5.21918712e-01, 3.43344917e+00,-9.69619844e+00,
  8.32848426e+00, 6.84912434e-01,-2.55021366e+00, 4.94532250e+00,
 -1.31656714e+00, 1.76738501e+00,-2.14650510e-02,-3.42715846e+00,
 -2.58358967e+00, 1.15957029e+00, 8.19723471e-01,-9.55650996e+00,
 -2.45187769e+01, 7.98541031e+00]

qfrc_actuator:
[ 1.00986955e-04, 9.14590569e-04, 1.43806680e-04,-4.83685193e-05,
  1.61781876e-05, 1.01647680e-04,-6.58585936e-05,-1.21236953e-05,
 -4.32829675e-05, 9.43954293e-04, 2.44689868e-04, 6.11506664e-05,
  3.96643355e-02,-1.06278458e-03, 2.95931709e-02,-3.19940498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.16491727, -4.20122234,  4.51175529, -4.20122234, 18.96336485,
       11.91756211,  4.51175529, 11.91756211, 17.26222308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005679348607639384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77421093e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77421093e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09604323, -0.09255787,  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:
[ 2.53752964e-05,-1.67582950e-05,-1.29413829e-05, 2.32955667e-05,
 -1.95474392e-05,-4.60507097e-06,-6.46690483e-06,-1.92208055e-05,
  5.03845215e-05, 3.72944611e-05, 8.73484931e-06, 9.48484691e-06,
 -2.57871995e-04,-6.07410892e-05,-1.62534518e-04,-6.34799430e-05,
  1.32600735e-04, 3.59821117e-05,-4.90504563e+00, 2.40604591e-04,
  1.18111427e-02,-5.86393752e-04]


--- Step 545 ---
qpos:
[ 0.01872432, 0.0301486 ,-0.00949924,-0.02559569, 0.00791236, 0.00470187,
 -0.00782463, 0.02711312, 0.01230724, 0.0279968 ,-0.00832878, 0.02646614,
  0.95023402, 0.00708595, 0.86251285, 0.04658714, 0.05911909,-0.0770843 ,
  0.17144124, 0.99966208, 0.02443404,-0.00110196,-0.00880337]

qacc:
[-3.40606642e+00, 2.07936014e+00,-7.02933580e+00, 7.36574761e+00,
 -2.07348358e+00, 1.48453922e+00,-9.32132963e+00, 2.41326685e+01,
 -7.56702113e-01, 1.34011170e+00,-5.56670395e+00, 9.15911676e+00,
 -5.77978394e-01,-1.11338142e-02,-1.68690578e+00, 1.05624071e+00,
 -2.51639038e+00, 1.12324872e+00, 5.35110847e-01,-9.56460819e+00,
 -2.36235819e+01, 7.10848573e+00]

qfrc_actuator:
[ 7.99484270e-05, 9.16131861e-04, 1.04307818e-04,-5.17738660e-05,
  4.57014922e-06, 7.95117396e-05,-6.95869698e-05, 3.02843597e-05,
 -4.92923194e-05, 9.06620974e-04, 2.11566120e-04, 6.63896483e-05,
  3.95836070e-02,-1.09364969e-03, 2.94768810e-02,-3.22809161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29447352, -4.13625744,  4.74465712, -4.13625744, 23.85940322,
       15.31260729,  4.74465712, 15.31260729, 19.64357005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005834684188327222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51399415e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.51399415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09603539, -0.09256059,  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:
[-2.03066304e-05,-9.51387773e-06,-4.37573044e-05,-4.11951229e-06,
 -1.21641051e-05,-2.69019796e-05,-6.14525940e-06, 4.16137367e-05,
 -4.51466490e-06,-1.42968782e-05,-2.40382531e-05, 7.31818267e-06,
 -2.53604598e-04,-9.65411691e-05,-2.06774517e-04,-5.51158661e-05,
  9.48241030e-05, 3.82503428e-05,-4.90503616e+00, 2.52222144e-04,
  1.18110689e-02,-5.82846337e-04]


--- Step 546 ---
qpos:
[ 1.87235920e-02, 3.01490254e-02,-9.49955040e-03,-2.55955130e-02,
  7.91231829e-03, 4.70187495e-03,-7.82481167e-03, 2.71139666e-02,
  1.23066319e-02, 2.79977370e-02,-8.32878050e-03, 2.64656337e-02,
  9.51102028e-01, 7.08642936e-03, 8.63389847e-01, 4.65865606e-02,
  5.91582674e-02,-7.70504385e-02, 1.71445846e-01, 9.99666188e-01,
  2.42673286e-02,-9.18262774e-04,-8.81853486e-03]

qacc:
[ -8.08863461,  0.39344374, -2.47895607,  6.90123467, -1.21636287,
   0.03204902, -3.4251217 , 12.88744508, -9.45775852, -0.71245738,
   4.82682445,-14.93450306, -0.75705992,  0.40048145, -4.3149666 ,
  10.03461107, -2.45729059,  1.09265533,  0.28587493, -9.55075529,
 -22.86518936,  6.40065552]

qfrc_actuator:
[ 3.19693819e-05, 9.34580906e-04, 1.16698300e-04,-3.60057686e-05,
 -2.29239710e-06, 3.06527324e-05,-7.16849422e-05, 5.50993559e-05,
 -1.06303383e-04, 8.83793280e-04, 1.91801985e-04, 3.38813090e-05,
  3.94986187e-02,-1.11219768e-03, 2.93755718e-02,-3.20912880e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37130697, -3.98185875,  4.97376652, -3.98185875, 30.765197  ,
       19.52906798,  4.97376652, 19.52906798, 22.0057341 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005926702873347706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36627876e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.36627876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09603023, -0.09256319,  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:
[-4.85731919e-05, 3.89687723e-06, 4.89408002e-06, 1.37675311e-05,
 -7.21911464e-06,-6.34102208e-05,-6.97506318e-06, 2.42586591e-05,
 -5.71439838e-05,-3.55183996e-05,-2.54407972e-05,-3.38134045e-05,
 -2.63581365e-04,-8.95137200e-05,-2.08535964e-04,-1.20778346e-05,
  6.44959214e-05, 3.78286153e-05,-4.90502853e+00, 2.60950641e-04,
  1.18118256e-02,-5.78958325e-04]


--- Step 547 ---
qpos:
[ 1.87222971e-02, 3.01493738e-02,-9.49969276e-03,-2.55951439e-02,
  7.91219495e-03, 4.70136837e-03,-7.82497833e-03, 2.71147586e-02,
  1.23053441e-02, 2.79985761e-02,-8.32909260e-03, 2.64650787e-02,
  9.51968150e-01, 7.08757015e-03, 8.64265212e-01, 4.65843670e-02,
  5.91878260e-02,-7.70123122e-02, 1.71450734e-01, 9.99670767e-01,
  2.40811729e-02,-7.79111664e-04,-8.82314638e-03]

qacc:
[ -4.88129149, -0.1773328 , -0.29036428,  3.32200672, -0.71252883,
  -0.83245086,  2.21901927, -2.7859912 , -5.793793  ,  0.65241096,
  -2.29990345,  2.03054729, -1.99462752,  3.36734156,  2.60608233,
 -12.26474405, -2.40583696,  1.06711612,  0.0692001 , -9.52480222,
 -22.22534883,  5.82801452]

qfrc_actuator:
[ 4.03789194e-06, 9.27726971e-04, 1.24221823e-04,-2.67748884e-05,
 -6.30951677e-06, 1.66767473e-06,-7.29427873e-05, 5.15770120e-05,
 -1.39600962e-04, 8.87580452e-04, 1.80109143e-04, 3.27010190e-05,
  3.94164639e-02,-1.07006507e-03, 2.93152985e-02,-3.28644128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40468921, -3.73767543,  5.20094474, -3.73767543, 40.32170511,
       24.37457104,  5.20094474, 24.37457104, 23.92155198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005966680829510573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30352282e-14, -9.30352282e-14,  1.00000000e+00,  8.65555368e-27,
        1.00000000e+00,  9.30352282e-14, -1.00000000e+00,  0.00000000e+00,
        9.30352282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602724, -0.09256573,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93476017e-05,-3.10129556e-06, 9.40845425e-06, 9.83666132e-06,
 -4.24514149e-06,-6.48479660e-05,-1.43753320e-05,-6.01011846e-06,
 -3.49811060e-05,-2.28339125e-05,-2.33413856e-05,-4.23944277e-06,
 -2.65198117e-04,-2.98675411e-05,-1.63334546e-04,-1.06133406e-04,
  4.06979092e-05, 3.49133299e-05,-4.90502256e+00, 2.67372152e-04,
  1.18133460e-02,-5.74715311e-04]


--- Step 548 ---
qpos:
[ 1.87217112e-02, 3.01493504e-02,-9.49958409e-03,-2.55946339e-02,
  7.91167907e-03, 4.70076467e-03,-7.82532433e-03, 2.71151180e-02,
  1.23036667e-02, 2.79988528e-02,-8.32938338e-03, 2.64648955e-02,
  9.52832523e-01, 7.08894916e-03, 8.65139235e-01, 4.65801229e-02,
  5.92079389e-02,-7.69700019e-02, 1.71455149e-01, 9.99675811e-01,
  2.38756438e-02,-6.83412653e-04,-8.81809336e-03]

qacc:
[  6.09605188, -0.91480481,  1.934419  ,  0.39582772, -3.45746195,
  -0.51131208,  3.47573578,-10.62006534, -3.30872629, -0.03112588,
  -2.52576815,  9.32714398, -1.54669937,  2.25045045,  4.3274671 ,
 -17.75597016, -2.36143645,  1.04600096, -0.11806528, -9.4936567 ,
 -21.68781585,  5.36347137]

qfrc_actuator:
[ 4.13967411e-05, 8.88014654e-04, 1.28690296e-04,-2.14974267e-05,
 -2.63738515e-05, 2.02888070e-05,-7.36428105e-05, 3.14255422e-05,
 -1.58656980e-04, 8.36319825e-04, 1.73405531e-04, 4.99959392e-05,
  3.93254408e-02,-1.06339365e-03, 2.92690129e-02,-3.38424253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964372347311286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86142474e-13, -9.30712370e-14,  1.00000000e+00, -1.73245103e-26,
        1.00000000e+00,  9.30712370e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86142474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.096026  , -0.09256823,  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:
[ 3.65006272e-05,-3.91001229e-05, 5.32630460e-06, 5.66193735e-06,
 -2.02067811e-05,-2.08521888e-05,-1.60675899e-05,-2.35449106e-05,
 -2.00868927e-05,-6.90744444e-05,-1.44467695e-05, 1.54275230e-05,
 -2.61550436e-04,-5.51392431e-05,-1.42276244e-04,-1.26784479e-04,
  2.27210045e-05, 2.96605016e-05,-4.90501814e+00, 2.71919291e-04,
  1.18155793e-02,-5.70107175e-04]


--- Step 549 ---
qpos:
[ 1.87226116e-02, 3.01489406e-02,-9.49938961e-03,-2.55937053e-02,
  7.91058163e-03, 4.70016342e-03,-7.82576956e-03, 2.71152140e-02,
  1.23024626e-02, 2.79988710e-02,-8.32988340e-03, 2.64652433e-02,
  9.53695240e-01, 7.09016728e-03, 8.66011003e-01, 4.65761122e-02,
  5.92187579e-02,-7.69235767e-02, 1.71458448e-01, 9.99681314e-01,
  2.36508140e-02,-6.30247742e-04,-8.80409941e-03]

qacc:
[ 12.75936837,  0.08707332, -2.85699908, 10.28539566, -5.11940309,
  -0.25161638,  2.03109922, -6.45090111,  4.03096744,  1.32870072,
  -7.48906121, 17.2197027 , -0.95329813,  0.86818527, -3.9851396 ,
   9.23069778, -2.32344175,  1.0287375 , -0.27912327, -9.4621031 ,
 -21.23836148,  4.9853967 ]

qfrc_actuator:
[ 1.16878891e-04, 8.64419738e-04, 1.31177295e-04,-8.66829448e-07,
 -5.57232101e-05, 3.17612461e-05,-7.38168129e-05, 1.94505851e-05,
 -1.33680706e-04, 8.41295431e-04, 1.69486878e-04, 7.79757902e-05,
  3.92344782e-02,-1.07783796e-03, 2.91619170e-02,-3.36898486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005928162110257901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36397322e-14, -1.87279464e-13,  1.00000000e+00, -1.75367989e-26,
        1.00000000e+00,  1.87279464e-13, -1.00000000e+00,  0.00000000e+00,
       -9.36397322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602615, -0.09257072,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65317322e-05,-4.41037655e-05,-4.73958243e-06, 1.92483707e-05,
 -2.99292667e-05,-4.49809320e-06,-7.26387929e-06,-1.38805653e-05,
  2.43633727e-05,-3.59928715e-05,-1.94329240e-05, 2.48210553e-05,
 -2.64584958e-04,-8.01550593e-05,-1.96699061e-04,-1.23998471e-05,
  1.00179126e-05, 2.21919278e-05,-4.90501514e+00, 2.74914099e-04,
  1.18184875e-02,-5.65126814e-04]


--- Step 550 ---
qpos:
[ 1.87233762e-02, 3.01484440e-02,-9.49956202e-03,-2.55925438e-02,
  7.90983069e-03, 4.69958470e-03,-7.82626996e-03, 2.71155049e-02,
  1.23022559e-02, 2.79991271e-02,-8.33042488e-03, 2.64661923e-02,
  9.54556369e-01, 7.09119087e-03, 8.66880346e-01, 4.65719588e-02,
  5.92204122e-02,-7.68730922e-02, 1.71460078e-01, 9.99687262e-01,
  2.34067487e-02,-6.18853920e-04,-8.78175370e-03]

qacc:
[ -1.1753462 ,  1.39281968, -6.10862079, 10.77855033,  3.04620014,
   0.57946696, -2.8564421 ,  6.31371375,  8.49518594,  1.65129378,
  -7.99894103, 18.32638419, -0.88525845,  0.7454916 , -3.10246712,
   5.76844577, -2.29120318,  1.01481578, -0.41705881, -9.43339577,
 -20.86466058,  4.67653067]

qfrc_actuator:
[ 1.07658296e-04, 8.68411068e-04, 1.14787592e-04, 1.08889537e-05,
 -3.70396500e-05, 3.88837315e-05,-7.36835917e-05, 3.01378632e-05,
 -8.29919658e-05, 8.97686467e-04, 1.85213874e-04, 1.12058560e-04,
  3.91595838e-02,-1.08689527e-03, 2.90450945e-02,-3.37611858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005865216364060177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46446777e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.46446777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602739, -0.0925732 ,  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:
[-7.00516789e-06,-2.07914463e-05,-2.54199150e-05, 1.00734326e-05,
  1.78322976e-05, 2.52824278e-06,-2.15761465e-06, 9.97641800e-06,
  5.13903162e-05, 3.33221935e-05, 6.76006254e-06, 3.23500431e-05,
 -2.56220428e-04,-7.98220256e-05,-2.15119605e-04,-3.45860599e-05,
  2.16703854e-06, 1.26007528e-05,-4.90501347e+00, 2.76596695e-04,
  1.18220425e-02,-5.59769205e-04]


--- Step 551 ---
qpos:
[ 1.87236803e-02, 3.01479057e-02,-9.49995998e-03,-2.55916116e-02,
  7.90999886e-03, 4.69931862e-03,-7.82659376e-03, 2.71151769e-02,
  1.23023145e-02, 2.79992450e-02,-8.33034061e-03, 2.64671980e-02,
  9.55416154e-01, 7.09121891e-03, 8.67747300e-01, 4.65673490e-02,
  5.92130101e-02,-7.68185925e-02, 1.71459570e-01, 9.99693637e-01,
  2.31435019e-02,-6.48601231e-04,-8.75153792e-03]

qacc:
[-3.95636072e+00, 1.10732880e-01, 5.04530841e-01,-4.09150399e+00,
  8.08538663e+00,-1.37058751e+00, 8.07255854e+00,-1.92684402e+01,
  2.28189858e+00,-1.81921614e+00, 5.97475399e+00,-5.88410175e+00,
 -2.75956052e-03,-1.42032609e+00,-2.18408049e+00, 2.43254261e+00,
 -2.26409876e+00, 1.00378737e+00,-5.34749193e-01,-9.40968845e+00,
 -2.05561186e+01, 4.42310354e+00]

qfrc_actuator:
[ 8.41490122e-05, 8.71056633e-04, 1.05242859e-04,-4.14568220e-07,
  9.76822596e-06, 7.88804572e-05,-5.56177647e-05, 8.11589711e-07,
 -7.08471574e-05, 8.78018138e-04, 2.12644174e-04, 1.14015249e-04,
  3.90837323e-02,-1.14588026e-03, 2.89385098e-02,-3.39640452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781626383113553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60130378e-14,  9.60130378e-14,  1.00000000e+00,  9.21850342e-27,
        1.00000000e+00, -9.60130378e-14, -1.00000000e+00,  0.00000000e+00,
       -9.60130378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602949, -0.09257565,  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:
[-2.37185712e-05,-1.37869973e-05,-1.66163380e-05,-1.28779480e-05,
  4.73152083e-05, 4.14248606e-05, 1.86788088e-05,-2.90974020e-05,
  1.36629147e-05, 1.76058957e-06, 3.62643992e-05, 4.24451163e-06,
 -2.52202599e-04,-1.27742101e-04,-2.14855986e-04,-5.11219909e-05,
 -1.15500434e-06, 9.56283348e-07,-4.90501308e+00, 2.77146396e-04,
  1.18262241e-02,-5.54030734e-04]


--- Step 552 ---
qpos:
[ 1.87240447e-02, 3.01474887e-02,-9.50057347e-03,-2.55908440e-02,
  7.91038185e-03, 4.69949163e-03,-7.82706040e-03, 2.71145053e-02,
  1.23018295e-02, 2.79992775e-02,-8.32985178e-03, 2.64675376e-02,
  9.56274285e-01, 7.09089947e-03, 8.68611910e-01, 4.65634303e-02,
  5.91966418e-02,-7.67601118e-02, 1.71456522e-01, 9.99700416e-01,
  2.28611135e-02,-7.18974063e-04,-8.71384776e-03]

qacc:
[  0.50846059,  0.42252703, -0.58161291, -2.00870683,  1.87743435,
   0.26876002,  1.32768466, -7.36057407, -4.61881045, -2.6059545 ,
  11.95551419,-24.08356962, -0.75582162,  0.35118434, -5.51890558,
  14.36132191, -2.24155001,  0.99526142, -0.63482247, -9.39234553,
 -20.30367459,  4.21412971]

qfrc_actuator:
[ 8.79507204e-05, 8.90636964e-04, 9.98105361e-05,-7.43202219e-06,
  1.94815829e-05, 1.02797343e-04,-6.25073394e-05,-1.62815461e-05,
 -9.92481302e-05, 8.66252767e-04, 2.28693191e-04, 7.92477420e-05,
  3.89966902e-02,-1.16293251e-03, 2.88488034e-02,-3.35320038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005682540844675205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76872015e-14, -1.95374403e-13,  1.00000000e+00, -1.90855787e-26,
        1.00000000e+00,  1.95374403e-13, -1.00000000e+00,  0.00000000e+00,
       -9.76872015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09603223, -0.09257809,  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:
[ 3.10876347e-06, 7.90045320e-06,-1.07623073e-05,-8.43245987e-06,
  1.10729305e-05, 4.97241315e-05, 2.96696437e-06,-1.52378207e-05,
 -2.80005032e-05,-3.11055499e-06, 2.10211480e-05,-3.33579261e-05,
 -2.71515947e-04,-9.36344328e-05,-1.99416947e-04, 1.15356097e-05,
 -1.94415294e-07,-1.26919499e-05,-4.90501389e+00, 2.76697298e-04,
  1.18310180e-02,-5.47908699e-04]


--- Step 553 ---
qpos:
[ 1.87247963e-02, 3.01470614e-02,-9.50066785e-03,-2.55902013e-02,
  7.91053394e-03, 4.69990041e-03,-7.82784717e-03, 2.71143636e-02,
  1.23016972e-02, 2.79992651e-02,-8.32912488e-03, 2.64667740e-02,
  9.57130686e-01, 7.09088946e-03, 8.69474481e-01, 4.65599440e-02,
  5.91713814e-02,-7.66976755e-02, 1.71450596e-01, 9.99707569e-01,
  2.25596082e-02,-8.29555236e-04,-8.66900998e-03]

qacc:
[  3.33796514, -1.72829855,  6.65559224, -9.62038677, -2.04497193,
   2.30119501, -9.98285539, 19.48295559,  3.01220453, -3.0018156 ,
  15.26445666,-34.69318737, -1.43288337,  2.09316867, -4.22101764,
  10.63218435, -2.22302898,  0.98889923, -0.71964587, -9.38216799,
 -20.0996037 ,  4.04084267]

qfrc_actuator:
[ 1.07802447e-04, 9.02479185e-04, 1.32431123e-04,-1.18507109e-05,
  7.27488845e-06, 9.90621896e-05,-8.41213550e-05, 9.44254323e-06,
 -8.02633173e-05, 8.59231833e-04, 2.37884342e-04, 2.31457827e-05,
  3.89296388e-02,-1.13732233e-03, 2.87693060e-02,-3.32612508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005572285734950916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09603545, -0.0925805 ,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99476657e-05, 1.36967508e-05, 3.26448919e-05,-4.61661303e-06,
 -1.18741415e-05, 2.40353608e-05,-1.15000529e-05, 2.76627668e-05,
  1.81634711e-05,-5.86662062e-06, 9.97736211e-06,-5.61579616e-05,
 -2.55441198e-04,-4.92844801e-05,-1.76031597e-04, 6.89180846e-07,
  4.86366113e-06,-2.83108223e-05,-4.90501585e+00, 2.75349800e-04,
  1.18364141e-02,-5.41400960e-04]


--- Step 554 ---
qpos:
[ 1.87264697e-02, 3.01465758e-02,-9.50030876e-03,-2.55899516e-02,
  7.91019379e-03, 4.70035555e-03,-7.82850114e-03, 2.71141792e-02,
  1.23017934e-02, 2.79991013e-02,-8.32853746e-03, 2.64657299e-02,
  9.57985692e-01, 7.09076613e-03, 8.70334995e-01, 4.65538095e-02,
  5.91544942e-02,-7.66426740e-02, 1.71449209e-01, 9.99713719e-01,
  2.22947808e-02,-9.02103174e-04,-8.63762993e-03]

qacc:
[  7.92120792, -2.16973247,  9.25125668,-16.6943825 , -4.3269351 ,
  -0.38935525,  1.67208309, -2.67334349,  1.94582586, -0.39172851,
   2.28453825, -6.79934151, -0.96719808,  1.04915019,  5.030129  ,
 -21.86636219,  2.09330714, -1.85870276,  1.13484643, 18.17453406,
  19.01782153, -7.17546219]

qfrc_actuator:
[ 1.54685739e-04, 8.92008967e-04, 1.51729753e-04,-3.24367459e-05,
 -1.77240645e-05, 9.65161193e-05,-7.88303543e-05, 6.86314390e-06,
 -6.90310528e-05, 8.37298575e-04, 2.25212788e-04, 8.20456211e-06,
  3.88746484e-02,-1.13989052e-03, 2.86480588e-02,-3.46851855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20339517,  5.28765933, -3.24388201,  5.28765933, 19.66412784,
       21.94154058, -3.24388201, 21.94154058, 41.96899685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005725520063761397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69539022e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69539022e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344113 , -0.05192954,  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:
[ 4.74696352e-05, 3.75314487e-06, 2.59913984e-05,-1.89613330e-05,
 -2.53287050e-05, 9.69517330e-06, 9.80179115e-06,-1.40727573e-06,
  1.17655822e-05,-2.55599736e-05,-1.46051087e-05,-1.59410054e-05,
 -2.23448338e-04,-6.59828100e-05,-2.09625300e-04,-1.66696833e-04,
  1.38827038e-05,-4.58808454e-05,-4.90501893e+00, 2.73179135e-04,
  1.18424057e-02,-5.34505678e-04]


--- Step 555 ---
qpos:
[ 1.87286923e-02, 3.01462601e-02,-9.50008725e-03,-2.55895932e-02,
  7.91024651e-03, 4.70090721e-03,-7.82937482e-03, 2.71139837e-02,
  1.23016792e-02, 2.79986078e-02,-8.32835957e-03, 2.64655931e-02,
  9.58839209e-01, 7.09090594e-03, 8.71192873e-01, 4.65473254e-02,
  5.91457191e-02,-7.65949223e-02, 1.71451115e-01, 9.99718955e-01,
  2.20648856e-02,-9.37502093e-04,-8.61815417e-03]

qacc:
[  4.70453331,  0.82387027, -3.08444643,  5.07323239,  3.44753179,
   0.71198046, -2.31805669,  2.41776791, -1.79868376,  2.58056938,
 -13.65798054, 30.25198662, -1.22573114,  1.78164412, -2.75205131,
   4.17784105,  2.02803704, -1.81245133,  0.82331194, 17.30543945,
  18.58694328, -6.38426243]

qfrc_actuator:
[ 1.81593356e-04, 9.03708753e-04, 1.45140587e-04,-2.68998248e-05,
  3.21322893e-06, 9.47786046e-05,-9.32264705e-05, 5.41489626e-06,
 -8.02199419e-05, 8.06542376e-04, 1.99705948e-04, 5.30837429e-05,
  3.88056234e-02,-1.12356146e-03, 2.85337915e-02,-3.47890130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35466089, -6.16349188,  1.54695924, -6.16349188,  8.19624015,
        7.33733544,  1.54695924,  7.33733544, 35.58853227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005906768690362718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.39788811e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.39788811e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344129 , -0.05193817,  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:
[ 2.82932695e-05, 1.83788468e-05,-3.27161324e-06, 6.22503220e-06,
  2.02205210e-05, 5.63119861e-06,-1.12310762e-05,-7.19097195e-07,
 -1.08514942e-05,-4.87437456e-05,-3.31401084e-05, 4.29691577e-05,
 -2.22348890e-04,-4.26557350e-05,-2.35337289e-04,-4.80203953e-05,
  5.47174704e-06,-2.69502027e-05,-4.90501551e+00, 2.79621313e-04,
  1.18343984e-02,-5.28167473e-04]


--- Step 556 ---
qpos:
[ 1.87294971e-02, 3.01462917e-02,-9.50035383e-03,-2.55884792e-02,
  7.91054954e-03, 4.70157821e-03,-7.83069197e-03, 2.71134400e-02,
  1.23017766e-02, 2.79976336e-02,-8.32784287e-03, 2.64656174e-02,
  9.59691250e-01, 7.09127030e-03, 8.72048710e-01, 4.65418790e-02,
  5.91448311e-02,-7.65542547e-02, 1.71455222e-01, 9.99723348e-01,
  2.18684628e-02,-9.36538892e-04,-8.60933427e-03]

qacc:
[-12.18237801,  3.40383829,-14.61018951, 28.14876983,  2.18566265,
   0.67627847, -0.71990209, -4.67637013,  1.82042843, -1.25443187,
   2.86422146, -0.25688735, -1.13644066,  1.59015274, -6.07829601,
  17.06848254,  1.97175465, -1.77100458,  0.55009857, 16.57913294,
  18.20223081, -5.74691566]

qfrc_actuator:
[ 1.07756182e-04, 9.28505501e-04, 1.23428395e-04, 1.17190750e-05,
  1.55187949e-05, 9.34575215e-05,-1.19135478e-04,-1.31217795e-05,
 -6.90088089e-05, 7.88483756e-04, 2.20081675e-04, 6.17689223e-05,
  3.87335622e-02,-1.11397785e-03, 2.84824218e-02,-3.41131715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.44820526, -6.31163322,  1.32008982, -6.31163322,  8.13689929,
        8.07400922,  1.32008982,  8.07400922, 45.05177916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006018806519235559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03441334, -0.05194424,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.30056004e-05, 3.46756742e-05,-1.81070286e-05, 3.94116049e-05,
  1.28826638e-05,-5.25139663e-07,-2.61506039e-05,-1.86976379e-05,
  1.08739240e-05,-5.03086799e-05, 7.71620968e-06, 6.28732764e-06,
 -2.19538669e-04,-4.49184532e-05,-1.69205167e-04, 3.36871177e-05,
  7.78455316e-07,-1.22608360e-05,-4.90501272e+00, 2.84018282e-04,
  1.18283309e-02,-5.22670905e-04]


--- Step 557 ---
qpos:
[ 1.87294105e-02, 3.01468410e-02,-9.50126471e-03,-2.55869225e-02,
  7.91030785e-03, 4.70245666e-03,-7.83234638e-03, 2.71119693e-02,
  1.23020074e-02, 2.79963248e-02,-8.32713260e-03, 2.64657365e-02,
  9.60541602e-01, 7.09240921e-03, 8.72903619e-01, 4.65314577e-02,
  5.91516376e-02,-7.65205244e-02, 1.71460578e-01, 9.99726952e-01,
  2.17042946e-02,-8.99904165e-04,-8.61016538e-03]

qacc:
[ -7.67480028,  3.41213286,-13.01006552, 21.27982404, -4.80664054,
  -0.68238129,  6.76137   ,-22.43734615,  1.14847629, -0.79003442,
   1.77097545, -0.1877782 , -2.16173145,  3.81801932, 13.84636421,
 -50.01879299,  1.92364564, -1.7343544 ,  0.31237341, 15.97341678,
  17.86377839, -5.23271368]

qfrc_actuator:
[ 6.39826236e-05, 9.60915173e-04, 9.30479449e-05, 3.39914152e-05,
 -1.28745163e-05, 1.10077498e-04,-1.33887937e-04,-5.93227101e-05,
 -6.24479432e-05, 7.78326804e-04, 2.31897143e-04, 6.68736615e-05,
  3.86490802e-02,-1.07300288e-03, 2.84262260e-02,-3.67100537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.49410443, -6.41469695,  1.01245017, -6.41469695,  7.75568092,
        7.99311522,  1.01245017,  7.99311522, 57.13700335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006073814664348809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13942132e-14, -9.13942132e-14,  1.00000000e+00, -8.35290220e-27,
        1.00000000e+00,  9.13942132e-14, -1.00000000e+00,  0.00000000e+00,
       -9.13942132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03441282, -0.05194823,  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:
[-4.58901419e-05, 4.97190552e-05,-2.40829374e-05, 2.38988796e-05,
 -2.80255464e-05, 1.01200389e-05,-1.87205582e-05,-4.74900242e-05,
  6.85922078e-06,-3.63933014e-05, 2.59638847e-06, 3.33869110e-06,
 -2.29745853e-04,-1.38270326e-05,-1.37531206e-04,-2.81228266e-04,
 -4.87887844e-07,-1.34411270e-06,-4.90501065e+00, 2.86704562e-04,
  1.18237626e-02,-5.17971416e-04]


--- Step 558 ---
qpos:
[ 1.87284545e-02, 3.01475640e-02,-9.50214124e-03,-2.55851138e-02,
  7.90972792e-03, 4.70340768e-03,-7.83388089e-03, 2.71099417e-02,
  1.23023151e-02, 2.79947128e-02,-8.32656487e-03, 2.64659354e-02,
  9.61390208e-01, 7.09465388e-03, 8.73757178e-01, 4.65149856e-02,
  5.91659756e-02,-7.64936034e-02, 1.71466362e-01, 9.99729808e-01,
  2.15713674e-02,-8.28196460e-04,-8.61983729e-03]

qacc:
[ -7.45984758,  0.66707836, -3.0811515 ,  7.22560242, -2.97338956,
  -1.37974189,  7.41948412,-17.31153286,  0.65648668,  0.16026556,
  -1.49170991,  3.32414727, -2.53701398,  4.74276408, 16.50982478,
 -60.16023803,  1.88285985, -1.70229998,  0.10682754, 15.46932884,
  17.56991728, -4.81708895]

qfrc_actuator:
[ 2.05353333e-05, 9.62078025e-04, 9.33232258e-05, 4.64664926e-05,
 -2.94870042e-05, 1.19573628e-04,-1.24122656e-04,-8.58987426e-05,
 -5.86837799e-05, 7.55204181e-04, 2.20833535e-04, 6.98319136e-05,
  3.85678695e-02,-1.01383293e-03, 2.83458045e-02,-3.97943854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006082346350182871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.12660148e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.12660148e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344115 , -0.05195056,  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:
[-4.47685389e-05, 2.49860269e-05, 8.40735972e-06, 1.42351859e-05,
 -1.74026833e-05, 9.23418951e-06, 7.92026993e-06,-2.77081326e-05,
  3.94907328e-06,-4.27526765e-05,-1.81391644e-05, 1.55429447e-06,
 -2.26135104e-04, 7.89125749e-06,-1.85810690e-04,-3.44248877e-04,
  1.44143592e-06, 6.16941364e-06,-4.90500935e+00, 2.87930688e-04,
  1.18203683e-02,-5.14032856e-04]


--- Step 559 ---
qpos:
[ 1.87256057e-02, 3.01484124e-02,-9.50295381e-03,-2.55835108e-02,
  7.90895342e-03, 4.70403113e-03,-7.83485823e-03, 2.71079779e-02,
  1.23023205e-02, 2.79933171e-02,-8.32633620e-03, 2.64654241e-02,
  9.62237490e-01, 7.09699740e-03, 8.74608267e-01, 4.65005213e-02,
  5.91877079e-02,-7.64733805e-02, 1.71471866e-01, 9.99731943e-01,
  2.14688391e-02,-7.21928253e-04,-8.63769533e-03]

qacc:
[-16.23675286, -0.40508169,  2.6054812 , -6.4135428 , -1.68842131,
  -1.85592858,  5.72608879, -5.27982974, -2.59071945, -0.22327278,
   4.21837177,-16.13623553, -0.83840691,  1.00772262, -9.66870357,
  28.65229883,  1.84856967, -1.67453618, -0.0699677 , 15.05081271,
  17.31800758, -4.48040572]

qfrc_actuator:
[-7.56395004e-05, 9.62382342e-04, 9.38184000e-05, 3.53243040e-05,
 -3.90195789e-05, 8.93421048e-05,-9.99689963e-05,-8.29466517e-05,
 -7.43471680e-05, 7.95415321e-04, 2.14053807e-04, 3.59742557e-05,
  3.85046649e-02,-1.01539755e-03, 2.82828738e-02,-3.85248439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006053484593640662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17011522e-14, -9.17011522e-14,  1.00000000e+00, -8.40910132e-27,
        1.00000000e+00,  9.17011522e-14, -1.00000000e+00,  0.00000000e+00,
       -9.17011522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03440954, -0.05195156,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.74735539e-05, 1.65895369e-05, 7.18410988e-06,-9.50599901e-06,
 -1.00230859e-05,-2.46371382e-05, 2.60900280e-05, 3.08918435e-06,
 -1.55662529e-05, 1.26768813e-05,-1.77794154e-05,-3.62853827e-05,
 -2.01775482e-04,-4.77477637e-05,-1.95388185e-04, 8.19364810e-05,
  6.38404547e-06, 1.05691854e-05,-4.90500886e+00, 2.87883755e-04,
  1.18179071e-02,-5.10825868e-04]


--- Step 560 ---
qpos:
[ 1.87230042e-02, 3.01493969e-02,-9.50367426e-03,-2.55834383e-02,
  7.90841553e-03, 4.70427777e-03,-7.83520463e-03, 2.71064114e-02,
  1.23024824e-02, 2.79924647e-02,-8.32700685e-03, 2.64651978e-02,
  9.63083404e-01, 7.09914450e-03, 8.75456949e-01, 4.64899180e-02,
  5.92167202e-02,-7.64597604e-02, 1.71476484e-01, 9.99733375e-01,
  2.13960127e-02,-5.81532693e-04,-8.66320918e-03]

qacc:
[  2.12123716, -3.23449524, 18.23066682,-44.92092122,  2.10812212,
  -1.44753699,  2.75357724,  3.40092757,  1.29758007,  3.81582374,
 -13.77158926, 19.74690951, -0.51100031,  0.14960922,-15.21429536,
  48.1073483 ,  1.8200018 , -1.65070983, -0.22134976, 14.70435773,
  17.10494609, -4.20698004]

qfrc_actuator:
[-6.00586919e-05, 9.62150342e-04, 9.44021564e-05,-4.28893186e-05,
 -2.65599508e-05, 7.11503467e-05,-6.76675329e-05,-6.26753934e-05,
 -6.58133293e-05, 8.37723045e-04, 1.74592679e-04, 5.17955451e-05,
  3.84203342e-02,-1.03508568e-03, 2.81986322e-02,-3.64746246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000599500165745448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.25957229e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.25957229e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03440707, -0.05195151,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27437138e-05, 1.00717063e-05, 4.56880030e-06,-7.74389682e-05,
  1.21650005e-05,-2.64576409e-05, 3.05416384e-05, 2.01839257e-05,
  8.07952316e-06, 4.42127308e-05,-4.02725117e-05, 1.50475800e-05,
 -2.19461714e-04,-7.10746901e-05,-1.70344520e-04, 1.83263175e-04,
  1.41978230e-05, 1.20804296e-05,-4.90500921e+00, 2.86703078e-04,
  1.18162006e-02,-5.08326591e-04]


--- Step 561 ---
qpos:
[ 1.87216432e-02, 3.01500558e-02,-9.50390548e-03,-2.55842710e-02,
  7.90803088e-03, 4.70441741e-03,-7.83525140e-03, 2.71054334e-02,
  1.23034345e-02, 2.79919697e-02,-8.32841647e-03, 2.64651755e-02,
  9.63927785e-01, 7.10116977e-03, 8.76304669e-01, 4.64753713e-02,
  5.92529183e-02,-7.64526622e-02, 1.71479700e-01, 9.99734111e-01,
  2.13523132e-02,-4.07370503e-04,-8.69594810e-03]

qacc:
[ 10.66078874, -3.68382099, 16.28534529,-32.43422195,  1.35964919,
   0.23013878, -3.51535507, 13.30632331,  6.70608542,  2.94452928,
 -10.69679096, 15.16765299, -1.18773709,  1.37520683, 10.58261453,
 -38.89829154,  1.79645227, -1.6304546 , -0.35044884, 14.41864429,
  16.92748342, -3.98428852]

qfrc_actuator:
[ 3.43989169e-06, 9.26030386e-04, 1.12737956e-04,-8.89282851e-05,
 -1.90109861e-05, 7.81153509e-05,-4.85266618e-05,-3.23718275e-05,
 -2.53464392e-05, 8.45370108e-04, 1.33971211e-04, 6.12077676e-05,
  3.83287051e-02,-1.04763954e-03, 2.81336420e-02,-3.85982451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913511913220038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38717162e-14, -9.38717162e-14,  1.00000000e+00, -8.81189911e-27,
        1.00000000e+00,  9.38717162e-14, -1.00000000e+00,  0.00000000e+00,
       -9.38717162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0344042 , -0.05195065,  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:
[ 6.38741518e-05,-3.28745331e-05, 1.82983239e-05,-4.69584681e-05,
  7.88337569e-06,-6.53650469e-07, 1.81400179e-05, 3.06225563e-05,
  4.07168996e-05, 2.47396323e-05,-3.59102404e-05, 1.02099033e-05,
 -2.42163909e-04,-7.24731286e-05,-1.29123301e-04,-2.25453411e-04,
  2.47738590e-05, 1.08769395e-05,-4.90501041e+00, 2.84492042e-04,
  1.18151159e-02,-5.06515632e-04]


--- Step 562 ---
qpos:
[ 1.87220882e-02, 3.01504920e-02,-9.50398745e-03,-2.55846026e-02,
  7.90808454e-03, 4.70478856e-03,-7.83547896e-03, 2.71048157e-02,
  1.23041756e-02, 2.79912340e-02,-8.32947459e-03, 2.64645772e-02,
  9.64770608e-01, 7.10307601e-03, 8.77150755e-01, 4.64610012e-02,
  5.92962255e-02,-7.64520176e-02, 1.71481076e-01, 9.99734150e-01,
  2.13372687e-02,-1.99736706e-04,-8.73556108e-03]

qacc:
[ 15.50145784,  0.29096372, -3.62771412, 12.2735696 ,  3.84648175,
   1.54546315, -6.60037722, 12.96749064, -1.78412462, -2.48266647,
  10.82827108,-21.18692211, -0.95600886,  0.93905066, -2.89112448,
   6.74547009,  1.77729103, -1.61341188, -0.46013231, 14.18421422,
  16.78241525, -3.80233188]

qfrc_actuator:
[ 9.45970732e-05, 9.22042888e-04, 1.23538387e-04,-6.24174600e-05,
  3.33294795e-06, 1.00055333e-04,-5.49558419e-05,-1.41516302e-05,
 -3.74265871e-05, 8.14436638e-04, 1.46110832e-04, 3.12364276e-05,
  3.82487385e-02,-1.05590886e-03, 2.80854850e-02,-3.83703606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005814613692182169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54683392e-14, -9.54683392e-14,  1.00000000e+00, -9.11420379e-27,
        1.00000000e+00,  9.54683392e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54683392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03440103, -0.05194915,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.30068396e-05,-2.05945467e-05, 4.63541819e-06, 2.48204835e-05,
  2.25657369e-05, 2.66342573e-05,-3.26956005e-06, 1.94174665e-05,
 -1.08789921e-05,-2.40274843e-05, 1.32018125e-05,-2.99521788e-05,
 -2.45080741e-04,-7.33614050e-05,-1.43299884e-04,-8.79196830e-06,
  3.80307033e-05, 7.09131167e-06,-4.90501246e+00, 2.81327020e-04,
  1.18145542e-02,-5.05377234e-04]


--- Step 563 ---
qpos:
[ 1.87236232e-02, 3.01509664e-02,-9.50402894e-03,-2.55849858e-02,
  7.90806068e-03, 4.70537139e-03,-7.83580570e-03, 2.71047633e-02,
  1.23044217e-02, 2.79903722e-02,-8.32988909e-03, 2.64642801e-02,
  9.65611611e-01, 7.10552321e-03, 8.77994572e-01, 4.64522953e-02,
  5.93465806e-02,-7.64577700e-02, 1.71480240e-01, 9.99733482e-01,
  2.13504947e-02, 4.11330421e-05,-8.78176107e-03]

qacc:
[  9.34998151, -0.1873841 ,  0.92733543, -1.87917027, -0.68838574,
   1.72222397, -8.11917991, 17.90309045, -4.19684193, -1.33752587,
   3.26964106,  0.99133031, -1.41386644,  2.17860889,-20.38419233,
  66.68333286,  1.7619606 , -1.59924244, -0.55298635, 13.99317616,
  16.66669154, -3.65312444]

qfrc_actuator:
[ 1.48029700e-04, 9.37362089e-04, 1.29961875e-04,-6.44317379e-05,
 -1.29777752e-06, 1.12931956e-04,-5.86138530e-05, 1.45640598e-05,
 -6.25971298e-05, 8.31820446e-04, 1.89112220e-04, 4.93437569e-05,
  3.81598494e-02,-1.02605628e-03, 2.80208942e-02,-3.53367872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703018181173747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73364444e-14, -1.94672889e-13,  1.00000000e+00, -1.89487668e-26,
        1.00000000e+00,  1.94672889e-13, -1.00000000e+00,  0.00000000e+00,
       -9.73364444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03439766, -0.05194719,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.61336502e-05, 5.83992060e-06, 3.59206998e-06,-2.25629971e-06,
 -3.98080833e-06, 2.79258646e-05, 2.11162602e-06, 3.01219625e-05,
 -2.55008888e-05, 5.42982391e-06, 3.86513640e-05, 1.69574618e-05,
 -2.55604295e-04,-3.62498765e-05,-1.40297103e-04, 2.82453909e-04,
  5.39096819e-05, 8.23090554e-07,-4.90501538e+00, 2.77264071e-04,
  1.18144415e-02,-5.04898620e-04]


--- Step 564 ---
qpos:
[ 1.87254433e-02, 3.01511615e-02,-9.50355805e-03,-2.55857274e-02,
  7.90763690e-03, 4.70596330e-03,-7.83609760e-03, 2.71054176e-02,
  1.23050526e-02, 2.79900359e-02,-8.33006354e-03, 2.64641449e-02,
  9.66450899e-01, 7.10832561e-03, 8.78836905e-01, 4.64452163e-02,
  5.94039356e-02,-7.64698729e-02, 1.71476879e-01, 9.99732090e-01,
  2.13916805e-02, 3.15056582e-04,-8.83431240e-03]

qacc:
[  2.46599671, -2.54469283, 10.03717835,-16.83437938, -3.516704  ,
   1.37645772, -7.86229432, 20.01798157,  3.27840825,  0.35068272,
  -0.93774354,  2.98286459, -1.42513488,  2.09868169, -7.0120832 ,
  21.58970731,  1.74997144, -1.58763238, -0.6313194 , 13.83894855,
  16.57747353, -3.5302857 ]

qfrc_actuator:
[ 1.61068704e-04, 9.10835657e-04, 1.51560908e-04,-8.32086426e-05,
 -2.17727872e-05, 1.02545160e-04,-6.06184492e-05, 4.92278770e-05,
 -4.19955919e-05, 8.95929051e-04, 2.14692677e-04, 6.01463357e-05,
  3.80763382e-02,-1.00944817e-03, 2.79465590e-02,-3.45809637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005582664925232461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98869723e-13, -9.94348613e-14,  1.00000000e+00, -1.97745833e-26,
        1.00000000e+00,  9.94348613e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98869723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03439415, -0.05194488,  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:
[ 1.46756003e-05,-2.26166566e-05, 2.31614738e-05,-1.84492789e-05,
 -2.05797339e-05, 6.93795337e-06, 5.06350660e-06, 3.65195487e-05,
  1.98498350e-05, 7.58842955e-05, 3.20663669e-05, 1.27072795e-05,
 -2.47644650e-04,-4.53856834e-05,-1.15267552e-04, 7.15164293e-05,
  7.23710811e-05,-7.85477525e-06,-4.90501918e+00, 2.72343963e-04,
  1.18147224e-02,-5.05069455e-04]


--- Step 565 ---
qpos:
[ 1.87280956e-02, 3.01510935e-02,-9.50281510e-03,-2.55863281e-02,
  7.90731585e-03, 4.70671465e-03,-7.83641422e-03, 2.71057765e-02,
  1.23059255e-02, 2.79901098e-02,-8.33012905e-03, 2.64634731e-02,
  9.67288890e-01, 7.11040571e-03, 8.79677483e-01, 4.64374901e-02,
  5.94510334e-02,-7.64770713e-02, 1.71477130e-01, 9.99731206e-01,
  2.14123185e-02, 5.39605294e-04,-8.87336060e-03]

qacc:
[  7.1513018 , -0.83162315,  1.84220194,  0.38074017,  0.89990809,
  -0.33015243,  2.72713869, -7.91443431,  2.05822853, -0.87124287,
   6.15218614,-15.90948379, -0.26347971, -0.68658598, -0.64294478,
  -1.53287076, -2.56428911,  1.22612334,  0.9030262 ,-10.06065283,
 -24.62721724,  7.27687167]

qfrc_actuator:
[ 2.03498259e-04, 8.95009393e-04, 1.64024546e-04,-7.62104233e-05,
 -1.58957053e-05, 1.13823494e-04,-6.17253543e-05, 3.38351556e-05,
 -3.01179556e-05, 8.98708193e-04, 2.12214062e-04, 3.10794898e-05,
  3.80067613e-02,-1.05407530e-03, 2.78397593e-02,-3.49965460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.16024307,  5.03069856, -3.55537152,  5.03069856, 21.63076206,
       21.89012236, -3.55537152, 21.89012236, 37.13382947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005673737033529136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95677561e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.95677561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09600678, -0.0926158 ,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.28482638e-05,-2.44910759e-05, 9.99825481e-06, 6.47117555e-06,
  5.29292010e-06, 1.77422960e-05, 2.20934644e-06,-1.42107483e-05,
  1.24833322e-05, 5.24059230e-05, 1.75918128e-05,-2.44573291e-05,
 -2.31040937e-04,-1.06485091e-04,-1.61946611e-04,-5.46889836e-05,
  9.33910313e-05,-1.88908218e-05,-4.90502388e+00, 2.66595929e-04,
  1.18153552e-02,-5.05881424e-04]


--- Step 566 ---
qpos:
[ 1.87305465e-02, 3.01510560e-02,-9.50231438e-03,-2.55868423e-02,
  7.90741251e-03, 4.70754516e-03,-7.83641667e-03, 2.71055896e-02,
  1.23059007e-02, 2.79901857e-02,-8.32977576e-03, 2.64631807e-02,
  9.68125398e-01, 7.11225436e-03, 8.80515742e-01, 4.64332900e-02,
  5.94881410e-02,-7.64795295e-02, 1.71479816e-01, 9.99730849e-01,
  2.14125091e-02, 7.16686616e-04,-8.90053469e-03]

qacc:
[ -1.73481091,  0.89882663, -3.50391899,  5.35526822,  3.68291976,
  -1.90424058,  9.23313196,-19.22505861, -7.6376189 , -0.3715485 ,
  -0.24808554,  6.11826341, -0.58661202,  0.206502  ,-14.06565874,
  44.2909473 , -2.49756131,  1.18505432,  0.60875896,-10.01919155,
 -23.69105016,  6.44046962]

qfrc_actuator:
[ 1.91890515e-04, 9.03451296e-04, 1.53289683e-04,-7.18558221e-05,
  5.44996857e-06, 1.20194300e-04,-4.44953898e-05, 6.88058279e-06,
 -7.67436119e-05, 8.82347376e-04, 2.28440371e-04, 4.97354149e-05,
  3.79349175e-02,-1.06349760e-03, 2.77614909e-02,-3.30807916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30230203, -3.89678712,  4.95318696, -3.89678712, 24.81416658,
       14.56371341,  4.95318696, 14.56371341, 17.75991332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005844061606344458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09599824, -0.09261809,  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:
[-1.03685824e-05,-2.90953618e-06,-1.43487804e-05, 3.77550992e-06,
  2.15027893e-05, 1.61172586e-05, 2.06692002e-05,-2.63963661e-05,
 -4.62408204e-05, 1.55373872e-05, 2.83738481e-05, 2.10355730e-05,
 -2.37582423e-04,-7.84824229e-05,-1.66518362e-04, 1.65950089e-04,
  6.24603160e-05,-8.78483254e-06,-4.90501649e+00, 2.75574577e-04,
  1.18118002e-02,-5.05911706e-04]


--- Step 567 ---
qpos:
[ 1.87318054e-02, 3.01512732e-02,-9.50236801e-03,-2.55869623e-02,
  7.90776453e-03, 4.70822356e-03,-7.83637294e-03, 2.71051299e-02,
  1.23049728e-02, 2.79898290e-02,-8.32871481e-03, 2.64634960e-02,
  9.68960317e-01, 7.11426790e-03, 8.81352553e-01, 4.64309216e-02,
  5.95154935e-02,-7.64773875e-02, 1.71483904e-01, 9.99731030e-01,
  2.13923813e-02, 8.47912053e-04,-8.91713746e-03]

qacc:
[-10.24664812,  2.71825961,-10.82750788, 18.29938189,  2.25034764,
  -0.89635079,  4.04881505, -8.72527947, -7.6668111 , -1.28387992,
   1.20855169,  8.46670526, -1.15385279,  1.5043704 , -7.60353306,
  23.6769569 , -2.43876589,  1.15003671,  0.35066602, -9.96192824,
 -22.8992073 ,  5.77029774]

qfrc_actuator:
[ 1.30808380e-04, 9.26265807e-04, 1.29041188e-04,-5.13366162e-05,
  1.79680793e-05, 8.81318106e-05,-5.20975632e-05,-8.88996570e-06,
 -1.21923045e-04, 8.36994024e-04, 2.55536196e-04, 7.85708136e-05,
  3.78617770e-02,-1.05199893e-03, 2.77164324e-02,-3.21132215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.38923052, -3.74888032,  5.1737958 , -3.74888032, 31.84408074,
       18.44432806,  5.1737958 , 18.44432806, 19.75380485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005948167254880288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33247988e-14,  9.33247988e-14,  1.00000000e+00,  8.70951807e-27,
        1.00000000e+00, -9.33247988e-14, -1.00000000e+00,  0.00000000e+00,
       -9.33247988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09599252, -0.09262038,  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:
[-6.13852170e-05, 1.83709562e-05,-2.64923518e-05, 1.99717913e-05,
  1.31350919e-05,-1.99334981e-05,-2.65060278e-06,-1.48807443e-05,
 -4.65320531e-05,-2.99246733e-05, 3.45254265e-05, 3.08940000e-05,
 -2.36139804e-04,-5.40970090e-05,-1.09728587e-04, 8.30975522e-05,
  3.86493753e-05,-1.78639818e-06,-4.90501067e+00, 2.82009517e-04,
  1.18094364e-02,-5.05575419e-04]


--- Step 568 ---
qpos:
[ 1.87319777e-02, 3.01513003e-02,-9.50229085e-03,-2.55864806e-02,
  7.90860905e-03, 4.70875869e-03,-7.83665770e-03, 2.71041651e-02,
  1.23041988e-02, 2.79894161e-02,-8.32740020e-03, 2.64637924e-02,
  9.69793733e-01, 7.11613975e-03, 8.82188286e-01, 4.64289767e-02,
  5.95332959e-02,-7.64707640e-02, 1.71488497e-01, 9.99731751e-01,
  2.13520755e-02, 9.34637553e-04,-8.92421148e-03]

qacc:
[ -9.31425735,  0.64102589, -5.15264691, 15.45002422,  4.32444344,
  -0.31933866,  2.98142515,-11.07503636,  1.32105635, -0.82459778,
   2.90715955, -3.59170617, -0.9099939 ,  0.85702822, -2.81927212,
   7.68054903, -2.38753081,  1.12038945,  0.12602082, -9.89772227,
 -22.23225715,  5.23292438]

qfrc_actuator:
[ 7.66181403e-05, 9.04209543e-04, 1.32598781e-04,-2.14609839e-05,
  4.29375530e-05, 6.87142292e-05,-7.44566964e-05,-3.57572897e-05,
 -1.12612423e-04, 8.45689510e-04, 2.70944706e-04, 7.76287807e-05,
  3.77825957e-02,-1.06375671e-03, 2.76753277e-02,-3.18892485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.43061888, -3.51142107,  5.38727957, -3.51142107, 41.4964653 ,
       22.85586824,  5.38727957, 22.85586824, 21.32804091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005997738374235451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09598907, -0.09262268,  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:
[-5.59732719e-05,-1.64322706e-05, 4.77949218e-06, 3.01367207e-05,
  2.53365310e-05,-3.17693119e-05,-2.73260282e-05,-2.81040050e-05,
  7.93242276e-06, 3.97714460e-07, 1.45405798e-05,-4.29086336e-07,
 -2.35360928e-04,-7.27943198e-05,-9.24377189e-05, 1.06002055e-05,
  2.10812981e-05, 2.37604905e-06,-4.90500631e+00, 2.86435661e-04,
  1.18081164e-02,-5.04860511e-04]


--- Step 569 ---
qpos:
[ 1.87318430e-02, 3.01509049e-02,-9.50175361e-03,-2.55856373e-02,
  7.90940124e-03, 4.70938559e-03,-7.83735940e-03, 2.71032073e-02,
  1.23042311e-02, 2.79894071e-02,-8.32640875e-03, 2.64644011e-02,
  9.70625722e-01, 7.11808024e-03, 8.83022119e-01, 4.64297093e-02,
  5.95417250e-02,-7.64597587e-02, 1.71492816e-01, 9.99733011e-01,
  2.12917318e-02, 9.77999273e-04,-8.92259181e-03]

qacc:
[ -2.61062589, -1.09464814,  1.57775641,  4.23947216, -0.4751921 ,
   1.301883  , -4.49346461,  5.21028206,  6.8535782 ,  2.06657439,
  -7.9350562 , 13.58253757, -0.87953149,  1.000859  ,-10.85028723,
  34.01380552, -2.34331552,  1.09546214, -0.06831974, -9.83261393,
 -21.67292314,  4.80167621]

qfrc_actuator:
[ 6.24397631e-05, 8.73326305e-04, 1.52376626e-04,-4.08931730e-06,
  3.95332911e-05, 9.24408565e-05,-8.75611788e-05,-3.34361700e-05,
 -7.13036170e-05, 8.86610989e-04, 2.61759147e-04, 9.47089072e-05,
  3.77264682e-02,-1.05372248e-03, 2.75886820e-02,-3.05069418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.43492354, -3.18536935,  5.59121302, -3.18536935, 54.34566791,
       27.29522489,  5.59121302, 27.29522489, 21.98528311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006002894941262021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09598745, -0.09262503,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58171410e-05,-3.78176015e-05, 1.80151279e-05, 1.74213480e-05,
 -2.69303467e-06,-8.93062973e-07,-2.40068567e-05,-5.32227127e-07,
  4.15411826e-05, 4.41282934e-05,-7.33960434e-06, 1.75887817e-05,
 -2.15920693e-04,-5.43605359e-05,-1.39243028e-04, 1.24346759e-04,
  9.08267688e-06, 3.92063489e-06,-4.90500333e+00, 2.89246074e-04,
  1.18077265e-02,-5.03758981e-04]


--- Step 570 ---
qpos:
[ 1.87308491e-02, 3.01506740e-02,-9.50169955e-03,-2.55856383e-02,
  7.90945698e-03, 4.70980147e-03,-7.83814614e-03, 2.71026457e-02,
  1.23044138e-02, 2.79899623e-02,-8.32618085e-03, 2.64648739e-02,
  9.71456432e-01, 7.12004701e-03, 8.83853537e-01, 4.64321859e-02,
  5.95409321e-02,-7.64444547e-02, 1.71496193e-01, 9.99734802e-01,
  2.12114821e-02, 9.78944766e-04,-8.91294782e-03]

qacc:
[ -7.38886409, -0.15688   ,  4.45630981,-18.42703111, -6.47738154,
   0.78692617, -4.86101937, 11.98408465,  1.24971811,  2.59771618,
  -7.61101463,  6.06966765, -0.7568149 ,  0.81147577, -8.7983012 ,
  25.70549299, -2.3055059 ,  1.07465567, -0.23559552, -9.77064352,
 -21.20609097,  4.45528442]

qfrc_actuator:
[ 1.86654213e-05, 8.90713391e-04, 1.28247131e-04,-4.74784427e-05,
  1.70000332e-06, 7.08657376e-05,-9.48930208e-05,-1.39119116e-05,
 -6.47675457e-05, 9.10925063e-04, 2.20539861e-04, 8.67735570e-05,
  3.76735687e-02,-1.04851932e-03, 2.74535212e-02,-2.96965539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005972345366527937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29469879e-14, -1.85893976e-13,  1.00000000e+00, -1.72782851e-26,
        1.00000000e+00,  1.85893976e-13, -1.00000000e+00,  0.00000000e+00,
       -9.29469879e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959873 , -0.09262741,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42494252e-05, 7.07578879e-07,-2.91213406e-05,-4.40472247e-05,
 -3.79091423e-05,-2.70696514e-05,-1.04885123e-05, 1.86474003e-05,
  7.77081229e-06, 4.82305167e-05,-3.24138637e-05,-5.96119536e-06,
 -1.97017624e-04,-5.12867720e-05,-1.93481425e-04, 6.81898600e-05,
  2.13711584e-06, 3.02051230e-06,-4.90500165e+00, 2.90729540e-04,
  1.18081800e-02,-5.02265637e-04]


--- Step 571 ---
qpos:
[ 1.87289931e-02, 3.01508748e-02,-9.50267078e-03,-2.55861558e-02,
  7.90940407e-03, 4.70961949e-03,-7.83852799e-03, 2.71019932e-02,
  1.23039849e-02, 2.79906835e-02,-8.32602018e-03, 2.64649060e-02,
  9.72285786e-01, 7.12187259e-03, 8.84683180e-01, 4.64338392e-02,
  5.95310453e-02,-7.64249210e-02, 1.71498054e-01, 9.99737111e-01,
  2.11114455e-02, 9.38259896e-04,-8.89581653e-03]

qacc:
[ -7.43445134,  2.38716726, -5.48106034, -2.15618321, -0.93285566,
  -2.1070111 ,  6.75254483, -8.53419002, -5.21726074, -0.49012618,
   3.94453487,-11.60732302, -0.83640386,  0.78783406, -0.08335859,
  -3.39740539, -2.27347268,  1.05743111, -0.37895348, -9.71443632,
 -20.81868647,  4.17679532]

qfrc_actuator:
[-2.44387052e-05, 9.18891909e-04, 7.85324509e-05,-7.30049390e-05,
 -2.82777077e-06, 2.23756683e-05,-8.11737775e-05,-1.99629876e-05,
 -9.65145458e-05, 9.07200293e-04, 2.13927892e-04, 6.41520576e-05,
  3.75906894e-02,-1.06395253e-03, 2.73745789e-02,-3.01183221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913540059549333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38712694e-14,  9.38712694e-14,  1.00000000e+00,  8.81181523e-27,
        1.00000000e+00, -9.38712694e-14, -1.00000000e+00,  0.00000000e+00,
       -9.38712694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09598831, -0.09262982,  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:
[-4.43898414e-05, 2.06692887e-05,-5.46742131e-05,-2.73590564e-05,
 -5.61492043e-06,-6.50129078e-05, 7.48809519e-06,-7.20744623e-06,
 -3.14985791e-05, 1.62745136e-05,-8.58271493e-07,-2.17952786e-05,
 -2.15559697e-04,-6.67573673e-05,-1.65684081e-04,-6.44997437e-05,
 -1.50070585e-07,-1.88623140e-07,-4.90500121e+00, 2.91098053e-04,
  1.18094112e-02,-5.00377196e-04]


--- Step 572 ---
qpos:
[ 1.87276685e-02, 3.01512569e-02,-9.50397369e-03,-2.55863007e-02,
  7.90929682e-03, 4.70911412e-03,-7.83911999e-03, 2.71016265e-02,
  1.23031792e-02, 2.79909844e-02,-8.32569102e-03, 2.64650718e-02,
  9.73113577e-01, 7.12389660e-03, 8.85511875e-01, 4.64317967e-02,
  5.95121721e-02,-7.64012140e-02, 1.71497910e-01, 9.99739920e-01,
  2.09917252e-02, 8.56591885e-04,-8.87162919e-03]

qacc:
[  4.54527833,  1.92534441, -8.10082619, 14.95244888, -0.47892788,
   0.74926895, -4.49663885, 10.01481626, -3.19849245, -0.7447136 ,
   1.2953968 ,  1.04823892, -1.48827587,  2.14244315,  9.88356448,
 -36.35254583, -2.24660583,  1.04331129, -0.50134341, -9.66561991,
 -20.49948783,  3.95269603]

qfrc_actuator:
[ 4.21640153e-06, 9.35459584e-04, 6.74599417e-05,-5.22987339e-05,
 -5.45807930e-06, 1.14657709e-05,-9.07850542e-05,-5.52552128e-06,
 -1.15024209e-04, 8.51319531e-04, 2.09936780e-04, 6.85834530e-05,
  3.75058525e-02,-1.05610534e-03, 2.73400485e-02,-3.19707941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005832818186937705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51703781e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.51703781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09599022, -0.09263225,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73723781e-05, 1.56579751e-05,-1.44700526e-05, 1.91718430e-05,
 -2.81257263e-06,-4.60170637e-05,-2.23594284e-05, 1.17731931e-05,
 -1.94246684e-05,-4.79316422e-05,-1.49877546e-06, 4.67414245e-06,
 -2.32178941e-04,-5.05787248e-05,-1.25477658e-04,-2.11896066e-04,
  1.92128038e-06,-5.60209421e-06,-4.90500195e+00, 2.90506951e-04,
  1.18113706e-02,-4.98091633e-04]


--- Step 573 ---
qpos:
[ 1.87260079e-02, 3.01517141e-02,-9.50510799e-03,-2.55862181e-02,
  7.90915876e-03, 4.70835763e-03,-7.83986999e-03, 2.71014226e-02,
  1.23025020e-02, 2.79912063e-02,-8.32577891e-03, 2.64649414e-02,
  9.73939777e-01, 7.12606753e-03, 8.86339139e-01, 4.64258701e-02,
  5.94844016e-02,-7.63733796e-02, 1.71495344e-01, 9.99743207e-01,
  2.08524063e-02, 7.34468963e-04,-8.84073235e-03]

qacc:
[ -2.87793461,  0.10212709, -1.16873726,  4.76581235, -0.27164535,
   0.44552714, -2.75680442,  6.0118184 ,  1.08306129,  0.4494912 ,
  -0.50715908, -3.89004584, -1.44924234,  2.0168045 ,  9.73779824,
 -36.88540707, -2.22433337,  1.0318782 , -0.60546803, -9.62512215,
 -20.23891297,  3.77221479]

qfrc_actuator:
[-1.38847782e-05, 9.45138626e-04, 7.92892400e-05,-4.00406270e-05,
 -6.96076051e-06, 5.31600383e-06,-9.61889314e-05, 3.11216103e-06,
 -1.07829052e-04, 8.53428122e-04, 1.89556727e-04, 5.33430741e-05,
  3.74199086e-02,-1.05232569e-03, 2.72629196e-02,-3.39395638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735543667098053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67844627e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67844627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09599281, -0.09263468,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72980184e-05, 1.62825437e-05, 1.39556856e-05, 1.28026981e-05,
 -1.59826141e-06,-3.59718187e-05,-1.72422057e-05, 6.12454419e-06,
  6.60977183e-06,-2.48288301e-05,-3.03116864e-05,-1.72564605e-05,
 -2.39603907e-04,-5.54758142e-05,-1.69132419e-04,-2.27274375e-04,
  8.12568291e-06,-1.31408455e-05,-4.90500385e+00, 2.89069675e-04,
  1.18140215e-02,-4.95407716e-04]


--- Step 574 ---
qpos:
[ 1.87244881e-02, 3.01521965e-02,-9.50578402e-03,-2.55860032e-02,
  7.90865870e-03, 4.70735610e-03,-7.84040208e-03, 2.71009514e-02,
  1.23015715e-02, 2.79913532e-02,-8.32615304e-03, 2.64646199e-02,
  9.74764559e-01, 7.12797858e-03, 8.87164340e-01, 4.64189151e-02,
  5.94478065e-02,-7.63414540e-02, 1.71490003e-01, 9.99746943e-01,
  2.06935559e-02, 5.72317055e-04,-8.80340465e-03]

qacc:
[  1.22179888, -0.97754527,  2.97183088, -1.43075655, -3.17356196,
  -1.47730561,  5.9371455 ,-10.74442292, -2.1662621 ,  0.31136225,
  -0.43963342, -2.36457458, -0.77449967,  0.55208767,  0.10464927,
  -4.69095523, -2.20613033,  1.02276834, -0.69376661, -9.593384  ,
 -20.02880607,  3.62676192]

qfrc_actuator:
[-6.12703278e-06, 9.50718151e-04, 1.04492007e-04,-3.28552744e-05,
 -2.55412866e-05, 2.07941649e-06,-8.12838266e-05,-9.47405172e-06,
 -1.21070775e-04, 8.54651834e-04, 1.77614074e-04, 4.44286722e-05,
  3.73493364e-02,-1.06876706e-03, 2.71816121e-02,-3.43637096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005626228690749635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97329879e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97329879e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09599592, -0.0926371 ,  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:
[ 7.25788226e-06, 1.81107363e-05, 3.07375126e-05, 8.61699050e-06,
 -1.86380617e-05,-2.66152531e-05, 5.58099824e-06,-1.46012450e-05,
 -1.30539413e-05,-1.96681257e-05,-2.14042277e-05,-1.13634838e-05,
 -2.30345871e-04,-7.80431506e-05,-1.92898988e-04,-7.87599249e-05,
  1.82963103e-05,-2.27469831e-05,-4.90500685e+00, 2.86868616e-04,
  1.18173367e-02,-4.92324672e-04]


--- Step 575 ---
qpos:
[ 1.87241071e-02, 3.01527547e-02,-9.50614443e-03,-2.55857007e-02,
  7.90862975e-03, 4.70608869e-03,-7.84052352e-03, 2.71013579e-02,
  1.23004896e-02, 2.79912579e-02,-8.32664292e-03, 2.64645489e-02,
  9.75587886e-01, 7.12970328e-03, 8.87987575e-01, 4.64136811e-02,
  5.94194453e-02,-7.63166778e-02, 1.71488056e-01, 9.99749794e-01,
  2.05695143e-02, 4.47722375e-04,-8.77751899e-03]

qacc:
[ 9.77655424,-0.62051686, 1.95442585,-0.96110588, 4.16240459, 0.29983812,
 -5.29906848,20.04509243,-1.28936084, 0.52178357,-3.37820458, 8.07273653,
 -0.7233915 , 0.49919662,-8.07509888,24.11750794, 2.05846249,-1.78733399,
  0.84864574,17.24707538,18.8089451 ,-6.10209748]

qfrc_actuator:
[ 5.23089172e-05, 9.53857730e-04, 1.19609118e-04,-2.87093150e-05,
 -7.67123162e-07, 6.85108816e-07,-5.45060486e-05, 3.65810546e-05,
 -1.28491612e-04, 8.37619773e-04, 1.70769885e-04, 5.70759865e-05,
  3.72773775e-02,-1.07924037e-03, 2.71298607e-02,-3.33415223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.04515164,  5.17378361, -3.12663102,  5.17378361, 20.04716121,
       23.1697847 , -3.12663102, 23.1697847 , 44.38528562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005535324325422891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00285273e-13, -1.00285273e-13,  1.00000000e+00, -1.00571360e-26,
        1.00000000e+00,  1.00285273e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00285273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437704, -0.05196987,  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:
[ 5.86513251e-05, 1.99814300e-05, 2.29444024e-05, 6.15254911e-06,
  2.42355798e-05,-1.57134238e-05, 2.14820094e-05, 4.48287478e-05,
 -7.80930705e-06,-3.29466578e-05,-1.39335243e-05, 1.08442842e-05,
 -2.31045646e-04,-7.42760359e-05,-1.55457590e-04, 7.16162825e-05,
  3.23129352e-05,-3.43801206e-05,-4.90501092e+00, 2.83963088e-04,
  1.18212962e-02,-4.88841951e-04]


--- Step 576 ---
qpos:
[ 1.87233954e-02, 3.01535712e-02,-9.50635838e-03,-2.55857080e-02,
  7.90924262e-03, 4.70463184e-03,-7.84004719e-03, 2.71022896e-02,
  1.23003605e-02, 2.79914471e-02,-8.32777526e-03, 2.64652891e-02,
  9.76409564e-01, 7.13140201e-03, 8.88809153e-01, 4.64109202e-02,
  5.93990898e-02,-7.62989026e-02, 1.71488440e-01, 9.99751828e-01,
  2.04788400e-02, 3.59896997e-04,-8.76184268e-03]

qacc:
[ -2.83588918, -0.70054575,  4.30689901,-10.09477983,  5.66869619,
  -0.85105231,  0.43451239,  7.85971834,  8.09587673,  3.82582166,
 -16.54764809, 31.43295984, -0.98231602,  1.00501182, -9.86682304,
  31.10825818,  2.00142331, -1.75024191,  0.58271349, 16.52884666,
  18.4216749 , -5.47767865]

qfrc_actuator:
[ 3.35817756e-05, 9.73225429e-04, 1.28634172e-04,-4.41480128e-05,
  3.15789274e-05, 5.15006584e-07,-2.08845526e-05, 6.35248641e-05,
 -7.91626328e-05, 8.80841823e-04, 1.49176139e-04, 1.00047711e-04,
  3.71833379e-02,-1.08610242e-03, 2.70799313e-02,-3.20074941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.16425266, -6.05558129,  1.15236541, -6.05558129,  7.57518819,
        7.41434506,  1.15236541,  7.41434506, 45.12599924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005678550757559492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77558423e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.77558423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437823, -0.05197682,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70134302e-05, 3.55482567e-05, 1.61856314e-05,-1.36730589e-05,
  3.30265856e-05,-2.54360131e-06, 3.45871053e-05, 2.78873583e-05,
  4.90876821e-05, 2.23877929e-05,-2.97341217e-05, 4.12903407e-05,
 -2.51877519e-04,-7.05434895e-05,-1.20904354e-04, 1.15707569e-04,
  1.90023907e-05,-2.04866582e-05,-4.90500694e+00, 2.89563040e-04,
  1.18177112e-02,-4.85914634e-04]


--- Step 577 ---
qpos:
[ 1.87221210e-02, 3.01542517e-02,-9.50653553e-03,-2.55861866e-02,
  7.90954840e-03, 4.70341734e-03,-7.83952282e-03, 2.71021379e-02,
  1.23004791e-02, 2.79919680e-02,-8.32922343e-03, 2.64661635e-02,
  9.77229737e-01, 7.13272171e-03, 8.89629068e-01, 4.64120497e-02,
  5.93865430e-02,-7.62879960e-02, 1.71490223e-01, 9.99753099e-01,
  2.04203315e-02, 3.08142563e-04,-8.75539095e-03]

qacc:
[ -4.82479756, -1.24441147,  6.17735006,-14.30120145, -2.70488114,
  -2.03906464, 12.31823045,-31.33253223,  2.09583101,  1.59335033,
  -5.61876975,  8.20968147, -0.48721976, -0.10205001,-14.21123294,
  46.17907173,  1.9521807 , -1.71715739,  0.34956568, 15.93036476,
  18.07759518, -4.97804963]

qfrc_actuator:
[ 5.07587415e-06, 9.31106527e-04, 1.16294281e-04,-7.09750856e-05,
  1.48510465e-05, 1.88619852e-05,-1.90134852e-05, 7.99285181e-06,
 -6.78379223e-05, 9.06528690e-04, 1.37058303e-04, 1.07295344e-04,
  3.71080743e-02,-1.10863620e-03, 2.70258120e-02,-2.99681881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23499059, -6.17334387,  0.87460453, -6.17334387,  7.24609711,
        7.13683505,  0.87460453,  7.13683505, 56.60991474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005763406266251769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437841, -0.05198163,  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:
[-2.89918067e-05,-1.95139794e-05,-3.48324622e-06,-2.50118701e-05,
 -1.57927401e-05, 2.53209455e-05, 6.57873820e-06,-5.39028065e-05,
  1.27716702e-05, 3.38551546e-05,-9.71971750e-06, 7.98018005e-06,
 -2.44350704e-04,-9.04978193e-05,-1.06136507e-04, 1.92712449e-04,
  9.40588594e-06,-1.04625411e-05,-4.90500384e+00, 2.93326405e-04,
  1.18153600e-02,-4.83781439e-04]


--- Step 578 ---
qpos:
[ 1.87208595e-02, 3.01543190e-02,-9.50664343e-03,-2.55862318e-02,
  7.90930669e-03, 4.70242661e-03,-7.83898878e-03, 2.71013274e-02,
  1.23003887e-02, 2.79922833e-02,-8.32969841e-03, 2.64660614e-02,
  9.78048386e-01, 7.13400308e-03, 8.90447965e-01, 4.64145228e-02,
  5.93816362e-02,-7.62838416e-02, 1.71492592e-01, 9.99753644e-01,
  2.03929899e-02, 2.91847946e-04,-8.75737705e-03]

qacc:
[  0.1243535 , -0.11107779, -2.60579087, 10.43973489, -4.82034152,
  -1.07829889,  7.07189246,-18.67251928, -1.74856413, -4.99857542,
  21.55711185,-39.8671068 , -0.97278887,  1.03251493, -5.5053529 ,
  17.22428188,  1.91000885, -1.68806117,  0.14660864, 15.43301452,
  17.77592924, -4.57829276]

qfrc_actuator:
[ 6.57244629e-06, 8.70139351e-04, 1.08939124e-04,-5.10917608e-05,
 -1.28763693e-05, 3.02105567e-05,-1.81294259e-05,-2.46156841e-05,
 -7.89917920e-05, 8.86028181e-04, 1.83814261e-04, 5.79557409e-05,
  3.70441228e-02,-1.10470429e-03, 2.69852165e-02,-2.93050440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800246229116235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57048184e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.57048184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437776, -0.05198471,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44108994e-07,-7.36969916e-05,-1.26821335e-05, 1.84416720e-05,
 -2.81654136e-05, 2.45900326e-05, 5.06877929e-06,-3.23423054e-05,
 -1.07669865e-05,-3.23328944e-06, 5.28366753e-05,-4.80701660e-05,
 -2.32537632e-04,-6.62986895e-05,-7.74213248e-05, 6.12283368e-05,
  3.26200782e-06,-3.92050441e-06,-4.90500166e+00, 2.95533945e-04,
  1.18139639e-02,-4.82406439e-04]


--- Step 579 ---
qpos:
[ 1.87199701e-02, 3.01539894e-02,-9.50663777e-03,-2.55857236e-02,
  7.90838947e-03, 4.70168560e-03,-7.83875218e-03, 2.71001504e-02,
  1.23001657e-02, 2.79921168e-02,-8.32943936e-03, 2.64657669e-02,
  9.78865436e-01, 7.13560136e-03, 8.91265831e-01, 4.64183991e-02,
  5.93842261e-02,-7.62863384e-02, 1.71494844e-01, 9.99753492e-01,
  2.03959870e-02, 3.10484684e-04,-8.76717249e-03]

qacc:
[  3.2012016 ,  0.29175218, -4.14249608, 13.82905702, -5.95644083,
   0.41860275,  0.55376445, -6.62631213, -1.09997846, -3.08252695,
  10.88252929,-15.03429278, -1.33924304,  1.9350332 , -5.67256169,
  17.86188087,  1.87416973, -1.66279009, -0.02904413, 15.02099525,
  17.51469369, -4.25851643]

qfrc_actuator:
[ 2.57197822e-05, 8.69405258e-04, 1.22280268e-04,-2.16512017e-05,
 -4.68402690e-05, 3.72817395e-05,-3.55710330e-05,-4.34612759e-05,
 -8.55225592e-05, 8.38219773e-04, 2.11473913e-04, 4.67313473e-05,
  3.69710370e-02,-1.08508207e-03, 2.69474112e-02,-2.85700590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005798040499799678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437641, -0.05198641,  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:
[ 1.91400643e-05,-4.37711667e-05,-2.80176723e-06, 2.62060610e-05,
 -3.47546097e-05, 2.05048700e-05,-1.28486050e-05,-1.82418557e-05,
 -6.84740117e-06,-4.07719761e-05, 3.18388341e-05,-1.04692717e-05,
 -2.29031310e-04,-4.34610443e-05,-7.82795658e-05, 6.42614694e-05,
  3.58783213e-07,-5.56917680e-07,-4.90500041e+00, 2.96395839e-04,
  1.18133203e-02,-4.81760542e-04]


--- Step 580 ---
qpos:
[ 1.87196616e-02, 3.01535256e-02,-9.50685240e-03,-2.55852230e-02,
  7.90707214e-03, 4.70109787e-03,-7.83870609e-03, 2.70987620e-02,
  1.22998661e-02, 2.79914456e-02,-8.32901880e-03, 2.64650384e-02,
  9.79681090e-01, 7.13710877e-03, 8.92082206e-01, 4.64235092e-02,
  5.93941918e-02,-7.62953996e-02, 1.71496376e-01, 9.99752657e-01,
  2.04286396e-02, 3.63601283e-04,-8.78427540e-03]

qacc:
[  4.97964851,  0.41271181, -1.71294822,  2.04806238, -3.52860574,
   0.30667447,  0.10522193, -3.58605945, -0.63956633, -2.010461  ,
   8.03516786,-15.43460581, -0.81391419,  0.76158183, -5.88645939,
  17.50910098,  1.84395347, -1.64110121, -0.18032376, 14.68097729,
  17.29126173, -4.00284619]

qfrc_actuator:
[ 5.50934225e-05, 8.69334764e-04, 1.12461929e-04,-2.22747960e-05,
 -6.64464164e-05, 4.16710174e-05,-4.59521754e-05,-5.40779712e-05,
 -8.92722342e-05, 7.92137904e-04, 2.09773039e-04, 2.24773238e-05,
  3.69031839e-02,-1.09189083e-03, 2.68687116e-02,-2.79754665e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005764509622301212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.62981327e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.62981327e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437451, -0.05198701,  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:
[ 2.99161784e-05,-2.39832759e-05,-1.82941277e-05,-2.08525560e-06,
 -2.05854066e-05, 1.24346061e-05,-8.34933374e-06,-1.05323566e-05,
 -3.96593708e-06,-6.27531444e-05,-6.56395012e-06,-2.51026746e-05,
 -2.16532532e-04,-6.48372681e-05,-1.19285089e-04, 5.02680709e-05,
  5.25918125e-07,-1.35423536e-07,-4.90500009e+00, 2.96068783e-04,
  1.18132822e-02,-4.81820206e-04]


--- Step 581 ---
qpos:
[ 1.87200529e-02, 3.01525071e-02,-9.50645282e-03,-2.55847376e-02,
  7.90587491e-03, 4.70035706e-03,-7.83840175e-03, 2.70976109e-02,
  1.22995234e-02, 2.79906820e-02,-8.32850729e-03, 2.64639771e-02,
  9.80495353e-01, 7.13878218e-03, 8.92897290e-01, 4.64282430e-02,
  5.94114324e-02,-7.63109517e-02, 1.71496667e-01, 9.99751147e-01,
  2.04903861e-02, 4.50817052e-04,-8.80828529e-03]

qacc:
[  6.03054777, -2.49280186,  7.86641831, -8.6767024 ,  1.06747597,
  -0.43763595,  0.26108538,  3.55052387, -0.36306304, -1.06098094,
   5.01220889,-10.85146762, -1.13668454,  1.543099  , -0.68988147,
  -0.16488306,  1.81870016, -1.62271343, -0.31005858, 14.40176422,
  17.10272576, -3.79861455]

qfrc_actuator:
[ 9.02449907e-05, 8.34053326e-04, 1.42294214e-04,-2.28445678e-05,
 -5.96904749e-05, 2.66950704e-05,-3.43323514e-05,-4.20131216e-05,
 -9.13562509e-05, 8.18317876e-04, 2.26240017e-04, 8.47667067e-06,
  3.68438354e-02,-1.07877189e-03, 2.68081602e-02,-2.81791324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005706260304418204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72811408e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.72811408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03437218, -0.05198674,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60175252e-05,-5.25306339e-05, 2.25596148e-05,-2.27091890e-06,
  6.17603887e-06,-1.01817102e-05, 1.28058661e-05, 1.21090314e-05,
 -2.22276935e-06,-1.13249697e-05, 1.83175366e-06,-1.74032478e-05,
 -2.05724243e-04,-4.58972400e-05,-1.19177050e-04,-3.50740224e-05,
  3.62819927e-06,-2.47364104e-06,-4.90500071e+00, 2.94668981e-04,
  1.18137430e-02,-4.82566394e-04]


--- Step 582 ---
qpos:
[ 1.87212074e-02, 3.01512780e-02,-9.50555093e-03,-2.55839544e-02,
  7.90476775e-03, 4.69949965e-03,-7.83792900e-03, 2.70962697e-02,
  1.22991581e-02, 2.79901114e-02,-8.32854242e-03, 2.64631083e-02,
  9.81308146e-01, 7.14066685e-03, 8.93710443e-01, 4.64334107e-02,
  5.94358641e-02,-7.63329331e-02, 1.71495275e-01, 9.99748958e-01,
  2.05807684e-02, 5.71815925e-04,-8.83888295e-03]

qacc:
[ 6.56595489,-1.08178893, 2.17585048, 2.34954788, 0.7995469 ,-1.017908  ,
  4.20596706,-7.67753958,-0.21203684, 2.17972002,-8.21373782,12.27617913,
 -1.15821479, 1.58033732,-4.08526943,10.34203608, 1.79780977,-1.60733379,
 -0.42089322,14.17397824,16.94612419,-3.63571165]

qfrc_actuator:
[ 1.28512199e-04, 8.49129885e-04, 1.77417859e-04,-5.61888472e-06,
 -5.52300798e-05, 1.80976787e-05,-2.76371507e-05,-5.22088124e-05,
 -9.24437355e-05, 8.34386794e-04, 2.00355766e-04, 1.84531501e-05,
  3.67630106e-02,-1.07166949e-03, 2.67106013e-02,-2.79629568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562891437044924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86178641e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.86178641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03436951, -0.05198579,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93005291e-05,-9.69345709e-06, 2.69785408e-05, 1.57116506e-05,
  4.63133759e-06,-1.10988248e-05, 6.59574376e-06,-9.94996228e-06,
 -1.15809457e-06, 9.39066555e-06,-2.85950838e-05, 9.21879797e-06,
 -2.16582727e-04,-4.58409672e-05,-1.66074244e-04, 2.06755974e-06,
  9.55992650e-06,-7.43247642e-06,-4.90500225e+00, 2.92281988e-04,
  1.18146256e-02,-4.83983750e-04]


--- Step 583 ---
qpos:
[ 1.87224672e-02, 3.01503008e-02,-9.50466935e-03,-2.55836857e-02,
  7.90406781e-03, 4.69837951e-03,-7.83731634e-03, 2.70951832e-02,
  1.22991272e-02, 2.79897179e-02,-8.32888465e-03, 2.64616605e-02,
  9.82119399e-01, 7.14272118e-03, 8.94521695e-01, 4.64348227e-02,
  5.94674189e-02,-7.63612932e-02, 1.71491822e-01, 9.99746081e-01,
  2.06994159e-02, 7.26340499e-04,-8.87581442e-03]

qacc:
[  0.897659  , -0.67191676,  5.04217669,-14.08384377,  3.59139319,
  -0.22067029, -0.80511173,  5.19841822,  2.83658759, -0.10515557,
   3.1499516 ,-12.80084639, -1.40454382,  1.95716107,  8.65140675,
 -34.10131095,  1.78074477, -1.59467363, -0.51525039, 13.9897775 ,
  16.81857808, -3.50606601]

qfrc_actuator:
[ 1.32800166e-04, 8.76546468e-04, 1.80077266e-04,-3.12806831e-05,
 -3.44123885e-05,-4.40046448e-06,-2.39101765e-05,-3.99229872e-05,
 -7.51839571e-05, 8.44140567e-04, 1.85167248e-04,-1.08342252e-05,
  3.66746830e-02,-1.06828868e-03, 2.65856163e-02,-2.99868418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005537228157055929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0343666 , -0.05198432,  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:
[ 5.43107194e-06, 2.82829926e-05, 4.52299186e-06,-2.48403339e-05,
  2.09455842e-05,-2.77383917e-05, 1.90979942e-06, 1.18484447e-05,
  1.72278312e-05, 9.51487351e-06,-1.64431258e-05,-2.96916816e-05,
 -2.31082735e-04,-5.17950810e-05,-2.08373068e-04,-2.25303254e-04,
  1.82402411e-05,-1.49075903e-05,-4.90500471e+00, 2.88970136e-04,
  1.18158749e-02,-4.86059930e-04]


--- Step 584 ---
qpos:
[ 1.87241138e-02, 3.01495253e-02,-9.50401825e-03,-2.55840507e-02,
  7.90362286e-03, 4.69699407e-03,-7.83667507e-03, 2.70949515e-02,
  1.22993036e-02, 2.79892235e-02,-8.32901815e-03, 2.64595278e-02,
  9.82929227e-01, 7.14479552e-03, 8.95331247e-01, 4.64316700e-02,
  5.94890008e-02,-7.63848715e-02, 1.71490794e-01, 9.99743739e-01,
  2.07973476e-02, 8.33408506e-04,-8.90126391e-03]

qacc:
[  3.30753222, -0.40125642,  4.475644  ,-15.1986844 ,  2.24924568,
   1.32456452, -8.84765153, 23.79709069,  1.77437119, -2.13033653,
  10.28769066,-22.39332462, -1.24235104,  1.59971478, 11.3817135 ,
 -43.25452635, -2.49321342,  1.19544143,  0.60652439,-10.15432646,
 -23.69555139,  6.22554783]

qfrc_actuator:
[ 1.52558533e-04, 8.75483527e-04, 1.63579836e-04,-6.42291957e-05,
 -2.18861216e-05,-1.72936574e-05,-2.20029975e-05, 3.23544791e-06,
 -6.50163347e-05, 8.32291297e-04, 1.94127924e-04,-4.52327273e-05,
  3.66085419e-02,-1.06718371e-03, 2.65134775e-02,-3.22494444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10462125,  4.95528797, -3.56532211,  4.95528797, 23.23353925,
       23.80674698, -3.56532211, 23.80674698, 39.19259575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000560690673291675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90049485e-14,  9.90049485e-14,  1.00000000e+00,  9.80197983e-27,
        1.00000000e+00, -9.90049485e-14, -1.00000000e+00,  0.00000000e+00,
       -9.90049485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959797 , -0.09266139,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99295025e-05, 1.46455825e-05,-1.09594150e-05,-3.20657067e-05,
  1.31112687e-05,-2.74591783e-05,-3.16985756e-06, 4.22691074e-05,
  1.06763710e-05,-1.11700822e-05, 7.88456033e-06,-3.51333996e-05,
 -2.20004778e-04,-5.79983912e-05,-1.99303417e-04,-2.67040459e-04,
  2.96092200e-05,-2.48226151e-05,-4.90500809e+00, 2.84778127e-04,
  1.18174514e-02,-4.88785068e-04]


--- Step 585 ---
qpos:
[ 1.87259843e-02, 3.01493696e-02,-9.50408004e-03,-2.55844827e-02,
  7.90264142e-03, 4.69575954e-03,-7.83615102e-03, 2.70945042e-02,
  1.22999454e-02, 2.79886483e-02,-8.32938381e-03, 2.64580637e-02,
  9.83737719e-01, 7.14659739e-03, 8.96138955e-01, 4.64270031e-02,
  5.95008329e-02,-7.64038115e-02, 1.71491187e-01, 9.99741938e-01,
  2.08747258e-02, 8.94592691e-04,-8.91645259e-03]

qacc:
[  1.88850839,  2.67031944, -8.05529217,  7.58559807, -4.72597655,
   0.09264789,  0.8849088 , -4.55559175,  3.96057859,  1.91109407,
  -9.80512593, 21.82172602, -0.74377301,  0.51785049,  1.89256525,
 -10.48368031, -2.43743892,  1.1595926 ,  0.35496211,-10.07984004,
 -22.92103559,  5.60006495]

qfrc_actuator:
[ 1.63522818e-04, 9.28292832e-04, 1.35806599e-04,-6.57193922e-05,
 -4.98506435e-05, 1.11890463e-05,-2.11323661e-05,-6.79485084e-06,
 -4.13580858e-05, 8.25440127e-04, 1.81679855e-04,-1.13499346e-05,
  3.65397803e-02,-1.08511511e-03, 2.64624453e-02,-3.28569014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20531126, -3.44291909,  5.16257649, -3.44291909, 34.44426515,
       18.83254098,  5.16257649, 18.83254098, 18.76472126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005727818284236436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69150006e-14, -9.69150006e-14,  1.00000000e+00, -9.39251734e-27,
        1.00000000e+00,  9.69150006e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69150006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09597346, -0.09266326,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15538622e-05, 5.73856137e-05,-2.72078291e-05,-1.86682059e-06,
 -2.76031289e-05, 1.43318801e-05,-3.72063170e-06,-1.04924394e-05,
  2.39665939e-05,-1.29459940e-05,-1.49880653e-05, 3.29989154e-05,
 -2.17266487e-04,-7.57539526e-05,-1.79167481e-04,-1.02792539e-04,
  1.41368315e-05,-1.40644329e-05,-4.90500441e+00, 2.89110399e-04,
  1.18136000e-02,-4.90857993e-04]


--- Step 586 ---
qpos:
[ 1.87276272e-02, 3.01497548e-02,-9.50451734e-03,-2.55849431e-02,
  7.90167746e-03, 4.69482213e-03,-7.83597830e-03, 2.70935921e-02,
  1.23008655e-02, 2.79885678e-02,-8.33022604e-03, 2.64579953e-02,
  9.84544907e-01, 7.14791545e-03, 8.96944908e-01, 4.64218446e-02,
  5.95031104e-02,-7.64182357e-02, 1.71492119e-01, 9.99740679e-01,
  2.09317210e-02, 9.11217200e-04,-8.92235229e-03]

qacc:
[ -1.97256156,  1.70975172, -4.93171741,  4.63365129,  0.13723571,
   0.41743499,  1.0436753 , -8.74562599,  2.349868  ,  4.8543915 ,
 -22.26091159, 46.82224406, -0.483223  , -0.0990572 , -1.08944456,
   0.08508617, -2.38865444,  1.1289229 ,  0.13493712,-10.00001791,
 -22.26825045,  5.10167269]

qfrc_actuator:
[ 1.51466203e-04, 9.59668783e-04, 1.19595095e-04,-6.64005793e-05,
 -4.81622594e-05, 2.86819399e-05,-3.85019092e-05,-3.02574603e-05,
 -2.76990773e-05, 8.92618398e-04, 1.74496583e-04, 6.24220933e-05,
  3.64694898e-02,-1.11418385e-03, 2.64028482e-02,-3.30160972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26047396, -3.21323117,  5.37295818, -3.21323117, 44.53522414,
       22.88974086,  5.37295818, 22.88974086, 19.94940032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005793949323721348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959695 , -0.09266519,  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:
[-1.16980666e-05, 5.77715112e-05,-7.77388628e-06, 7.98641009e-07,
  9.09518810e-07, 2.43192797e-05,-1.52199382e-05,-2.31776268e-05,
  1.43543528e-05, 5.82956673e-05,-1.05477871e-05, 7.33453479e-05,
 -2.20456210e-04,-8.99812148e-05,-1.60240543e-04,-4.62364885e-05,
  4.56596905e-06,-6.31014218e-06,-4.90500199e+00, 2.91641965e-04,
  1.18109646e-02,-4.92543122e-04]


--- Step 587 ---
qpos:
[ 1.87298027e-02, 3.01502355e-02,-9.50499492e-03,-2.55850286e-02,
  7.90074117e-03, 4.69384661e-03,-7.83565858e-03, 2.70931053e-02,
  1.23015977e-02, 2.79890868e-02,-8.33121197e-03, 2.64580829e-02,
  9.85350550e-01, 7.14947590e-03, 8.97748668e-01, 4.64181777e-02,
  5.94960022e-02,-7.64282486e-02, 1.71492827e-01, 9.99739955e-01,
  2.09685011e-02, 8.84391707e-04,-8.91973570e-03]

qacc:
[  4.56542663,  1.00220344, -4.98417417, 11.47423122,  0.24906626,
   0.413819  , -3.34506787, 10.49954962, -1.61572504,  1.51843296,
  -4.91721213,  7.39881073, -1.17008192,  1.58426321, -7.66969314,
  22.32145017, -2.34644809,  1.10283397, -0.05625832, -9.92057405,
 -21.72066411,  4.70496252]

qfrc_actuator:
[ 1.79216848e-04, 9.42510520e-04, 1.10268431e-04,-4.88554385e-05,
 -4.67741268e-05, 2.16217260e-05,-3.10292879e-05,-8.18601735e-06,
 -3.77913307e-05, 9.32660871e-04, 1.70809441e-04, 7.03699706e-05,
  3.63983271e-02,-1.09635676e-03, 2.63115414e-02,-3.22003994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815201458386071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.54586898e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.54586898e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09596739, -0.0926672 ,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74294409e-05, 1.35584415e-05, 1.67566984e-06, 1.97664715e-05,
  1.42404793e-06, 2.43655105e-06, 9.83051896e-06, 2.21396394e-05,
 -9.65457843e-06, 7.36269879e-05, 9.60462351e-06, 1.15103392e-05,
 -2.26052199e-04,-4.67202081e-05,-1.77580905e-04, 5.66925286e-05,
  2.95966717e-07,-1.31683111e-06,-4.90500080e+00, 2.92715982e-04,
  1.18093988e-02,-4.93834096e-04]


--- Step 588 ---
qpos:
[ 1.87319493e-02, 3.01506977e-02,-9.50550272e-03,-2.55848887e-02,
  7.89948375e-03, 4.69297740e-03,-7.83531802e-03, 2.70932220e-02,
  1.23022036e-02, 2.79898302e-02,-8.33205775e-03, 2.64579487e-02,
  9.86154702e-01, 7.15123460e-03, 8.98550340e-01, 4.64148073e-02,
  5.94796527e-02,-7.64339385e-02, 1.71492648e-01, 9.99739757e-01,
  2.09852242e-02, 8.15041315e-04,-8.90921635e-03]

qacc:
[ -0.24845339,  0.52502576, -2.85566699,  6.81285479, -2.82594223,
   1.33028535, -7.07779757, 17.40058741, -1.07567257, -0.54976499,
   3.33078437, -7.56324872, -1.16191364,  1.5583399 , -3.90312007,
   9.36592286, -2.31030738,  1.08076519, -0.2215216 , -9.84528674,
 -21.26374981,  4.38967109]

qfrc_actuator:
[ 1.76924898e-04, 9.31965998e-04, 1.04887631e-04,-3.85190796e-05,
 -6.33359746e-05, 3.55513085e-05,-2.67618095e-05, 2.27490352e-05,
 -4.40267999e-05, 9.20613717e-04, 1.69077759e-04, 5.72574452e-05,
  3.63267098e-02,-1.08643013e-03, 2.62119629e-02,-3.20603145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800128615156136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09596676, -0.09266928,  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:
[-1.48971243e-06,-1.77938303e-06,-1.69345907e-06, 1.13583658e-05,
 -1.65218462e-05, 1.83048229e-05, 6.75638321e-06, 3.18129879e-05,
 -6.49325269e-06, 3.15942937e-05, 1.50647175e-05,-9.39958085e-06,
 -2.20114423e-04,-4.77014447e-05,-1.81264593e-04,-7.09920013e-06,
  8.69356267e-07, 1.11009060e-06,-4.90500078e+00, 2.92581728e-04,
  1.18087898e-02,-4.94727117e-04]


--- Step 589 ---
qpos:
[ 1.87333627e-02, 3.01508581e-02,-9.50566789e-03,-2.55842696e-02,
  7.89803756e-03, 4.69233719e-03,-7.83523706e-03, 2.70933667e-02,
  1.23023858e-02, 2.79902494e-02,-8.33292789e-03, 2.64580872e-02,
  9.86957476e-01, 7.15259595e-03, 8.99349988e-01, 4.64118902e-02,
  5.94541844e-02,-7.64353795e-02, 1.71491014e-01, 9.99740068e-01,
  2.09820335e-02, 7.03932466e-04,-8.89128040e-03]

qacc:
[ -6.27298129, -0.3573695 , -1.30180237,  9.23589121, -1.67269684,
   1.08931181, -3.55758467,  4.28328053, -3.6057464 ,  0.20806674,
  -2.50286624,  7.48722781, -0.54971458,  0.05349253, -4.3407184 ,
  10.89335944, -2.2796826 ,  1.06220569, -0.36373329, -9.77656957,
 -20.88489048,  4.1396403 ]

qfrc_actuator:
[ 1.39203179e-04, 9.07712794e-04, 1.19633023e-04,-1.47558650e-05,
 -7.25774281e-05, 4.41929570e-05,-4.21026770e-05, 2.31486618e-05,
 -6.56873129e-05, 8.59695525e-04, 1.50540335e-04, 6.73293645e-05,
  3.62442189e-02,-1.11680184e-03, 2.61287942e-02,-3.17870351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005756075625620999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09596732, -0.09267142,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77671368e-05,-2.51300966e-05, 1.45603815e-05, 2.38490618e-05,
 -9.70619739e-06, 2.16583462e-05,-9.62019089e-06, 2.03858306e-06,
 -2.18387429e-05,-4.05584906e-05,-1.04784957e-05, 1.17650995e-05,
 -2.27779294e-04,-8.67862546e-05,-1.73687893e-04, 2.17973987e-06,
  5.93972457e-06, 1.12478872e-06,-4.90500191e+00, 2.91419491e-04,
  1.18090516e-02,-4.95220113e-04]


--- Step 590 ---
qpos:
[ 1.87339683e-02, 3.01505210e-02,-9.50526144e-03,-2.55830159e-02,
  7.89683668e-03, 4.69188719e-03,-7.83529648e-03, 2.70928216e-02,
  1.23023070e-02, 2.79902847e-02,-8.33421159e-03, 2.64583815e-02,
  9.87758502e-01, 7.15428817e-03, 9.00147809e-01, 4.64082536e-02,
  5.94197001e-02,-7.64326338e-02, 1.71487438e-01, 9.99740867e-01,
  2.09590555e-02, 5.51695218e-04,-8.86631202e-03]

qacc:
[ -6.9036354 , -0.93434726, -0.27373367, 10.67456386,  2.14990714,
  -0.78085326,  6.05460641,-17.90287232, -2.23111199,  0.97361241,
  -4.85811028,  8.49050928, -1.53936632,  2.21517923, -0.41045657,
  -2.21389456, -2.25402556,  1.0466986 , -0.48563756, -9.71587897,
 -20.57321658,  3.94198443]

qfrc_actuator:
[ 9.86920083e-05, 8.75525191e-04, 1.46093394e-04, 1.67196209e-05,
 -5.96779342e-05, 4.94966293e-05,-5.11838191e-05,-1.21915639e-05,
 -7.85023059e-05, 8.23171442e-04, 1.22027917e-04, 7.31534960e-05,
  3.61499215e-02,-1.09982574e-03, 2.60448892e-02,-3.21466981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005689313346585179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75709156e-14, -1.95141831e-13,  1.00000000e+00, -1.90401671e-26,
        1.00000000e+00,  1.95141831e-13, -1.00000000e+00,  0.00000000e+00,
       -9.75709156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959688 , -0.0926736 ,  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:
[-4.16226829e-05,-4.22346952e-05, 2.38873171e-05, 3.13676701e-05,
  1.26315158e-05, 1.55339496e-05,-5.71503398e-06,-3.47039394e-05,
 -1.34694109e-05,-6.08773161e-05,-3.77678905e-05, 3.95408099e-06,
 -2.52837356e-04,-4.87161373e-05,-1.70060619e-04,-5.96649138e-05,
  1.52472391e-05,-1.15218137e-06,-4.90500415e+00, 2.89358765e-04,
  1.18101190e-02,-4.95312129e-04]


--- Step 591 ---
qpos:
[ 1.87337385e-02, 3.01496490e-02,-9.50445708e-03,-2.55813776e-02,
  7.89579960e-03, 4.69167956e-03,-7.83554847e-03, 2.70925448e-02,
  1.23024193e-02, 2.79900661e-02,-8.33534326e-03, 2.64586874e-02,
  9.88557947e-01, 7.15589266e-03, 9.00943754e-01, 4.64041461e-02,
  5.93762845e-02,-7.64257527e-02, 1.71481503e-01, 9.99742129e-01,
  2.09163977e-02, 3.58842301e-04,-8.83461356e-03]

qacc:
[ -7.14512771, -1.01295766,  0.98996472,  5.38984063,  1.43093   ,
   1.40845995, -5.69527179, 10.47547914,  1.63773304, -0.73968004,
   2.09606498, -1.94526496, -1.03144166,  1.05971356, -1.28504298,
   0.62339891, -2.23281212,  1.03384043, -0.58977906, -9.66400477,
 -20.31941562,  3.78642441]

qfrc_actuator:
[ 5.68751465e-05, 8.38893426e-04, 1.61464061e-04, 3.47225628e-05,
 -5.16050711e-05, 7.04973372e-05,-5.65245149e-05, 2.74158419e-06,
 -6.82504735e-05, 8.36978520e-04, 1.41187350e-04, 7.64367411e-05,
  3.60699263e-02,-1.10826811e-03, 2.59659233e-02,-3.23436319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005605165680855895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98071402e-13, -9.90357010e-14,  1.00000000e+00, -1.96161401e-26,
        1.00000000e+00,  9.90357010e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98071402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.095971  , -0.09267581,  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:
[-4.30465265e-05,-5.39842032e-05, 1.06724925e-05, 1.76306510e-05,
  8.43893640e-06, 2.70423630e-05,-4.02993475e-06, 1.47275308e-05,
  9.83567523e-06,-2.78598576e-05, 2.08367893e-06,-5.52769168e-07,
 -2.45172788e-04,-7.25245230e-05,-1.71354029e-04,-4.65854765e-05,
  2.85999638e-05,-5.62812501e-06,-4.90500747e+00, 2.86491552e-04,
  1.18119430e-02,-4.95002895e-04]


--- Step 592 ---
qpos:
[ 1.87336979e-02, 3.01485159e-02,-9.50352892e-03,-2.55798976e-02,
  7.89452264e-03, 4.69150771e-03,-7.83582638e-03, 2.70931546e-02,
  1.23023088e-02, 2.79895326e-02,-8.33595197e-03, 2.64590115e-02,
  9.89355999e-01, 7.15706059e-03, 9.01737549e-01, 4.64001385e-02,
  5.93409754e-02,-7.64259739e-02, 1.71478446e-01, 9.99742537e-01,
  2.09078485e-02, 2.03211796e-04,-8.81369034e-03]

qacc:
[ 1.63140747e+00,-1.02035370e+00, 3.79839901e+00,-6.53407791e+00,
 -2.11117853e+00, 1.94896963e+00,-1.06162204e+01, 2.59659689e+01,
 -1.87712036e+00,-1.83706295e+00, 5.87567627e+00,-6.17237193e+00,
 -5.40518815e-01,-7.08044399e-05,-3.45843952e+00, 7.53380867e+00,
  2.02661740e+00,-1.77558236e+00, 7.19772136e-01, 1.68963428e+01,
  1.86445392e+01,-5.77316145e+00]

qfrc_actuator:
[ 6.78834934e-05, 8.35336692e-04, 1.70125966e-04, 2.68856379e-05,
 -6.41974355e-05, 6.52827606e-05,-5.95125896e-05, 4.71563685e-05,
 -8.00116003e-05, 8.27749840e-04, 1.70797094e-04, 7.82773567e-05,
  3.60038862e-02,-1.13167533e-03, 2.58686879e-02,-3.22650115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11560359,  5.2515176 , -3.13403416,  5.2515176 , 20.42827905,
       23.98291248, -3.13403416, 23.98291248, 46.3023662 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005620110590773275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87723468e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.87723468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03435639, -0.05200585,  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:
[ 9.73540277e-06,-3.07807925e-05,-5.64091901e-07,-9.43729942e-06,
 -1.23435505e-05, 9.72046349e-06, 2.61682001e-06, 4.57221378e-05,
 -1.14841411e-05,-2.43771297e-05, 2.41072295e-05, 7.09989468e-07,
 -2.31884912e-04,-9.03518791e-05,-1.88362114e-04,-1.83816566e-05,
  4.58595516e-05,-1.22334263e-05,-4.90501183e+00, 2.82882110e-04,
  1.18144869e-02,-4.94292522e-04]


--- Step 593 ---
qpos:
[ 1.87341336e-02, 3.01476288e-02,-9.50299750e-03,-2.55788978e-02,
  7.89379484e-03, 4.69113120e-03,-7.83570680e-03, 2.70939482e-02,
  1.23020581e-02, 2.79887974e-02,-8.33624201e-03, 2.64596997e-02,
  9.90152631e-01, 7.15816793e-03, 9.02529410e-01, 4.63961533e-02,
  5.93135572e-02,-7.64331612e-02, 1.71477265e-01, 9.99742144e-01,
  2.09321175e-02, 8.40325838e-05,-8.80250011e-03]

qacc:
[ 4.06896204, 0.43665728, 0.92418535,-8.75859439, 4.84720191,-1.01242102,
  2.42446598, 0.29131805,-1.18136782,-0.40514686,-0.47574041, 6.41327186,
 -0.90527276, 0.92664578,-2.8695963 , 6.02387777, 1.97272019,-1.74152951,
  0.46876756,16.25360334,18.26391193,-5.24649394]

qfrc_actuator:
[ 9.21438302e-05, 8.69317744e-04, 1.57124940e-04, 3.93383866e-06,
 -3.55928766e-05, 4.44486525e-05,-4.34260875e-05, 5.52768072e-05,
 -8.68904331e-05, 8.22615078e-04, 1.88492642e-04, 9.69938645e-05,
  3.59462590e-02,-1.12817227e-03, 2.57925377e-02,-3.22024073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21043548, -6.14406081,  0.90555264, -6.14406081,  7.19692922,
        6.693236  ,  0.90555264,  6.693236  , 51.62320005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005733964016803456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68111259e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.68111259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03435717, -0.05201164,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45361056e-05, 1.62786199e-05,-1.97555099e-05,-2.44761827e-05,
  2.82551499e-05,-1.28946068e-05, 2.00031511e-05, 9.51753106e-06,
 -7.22748754e-06,-1.37351350e-05, 1.56669367e-05, 1.85220792e-05,
 -2.19565114e-04,-6.38104408e-05,-1.70629890e-04,-2.03006294e-05,
  2.96933278e-05,-2.79935437e-06,-4.90500803e+00, 2.87680185e-04,
  1.18136298e-02,-4.94144711e-04]


--- Step 594 ---
qpos:
[ 1.87341673e-02, 3.01472022e-02,-9.50310191e-03,-2.55775018e-02,
  7.89341527e-03, 4.69067846e-03,-7.83511226e-03, 2.70944659e-02,
  1.23024157e-02, 2.79881942e-02,-8.33616866e-03, 2.64605602e-02,
  9.90947946e-01, 7.15899612e-03, 9.03319924e-01, 4.63927463e-02,
  5.92938439e-02,-7.64471946e-02, 1.71477082e-01, 9.99740994e-01,
  2.09881325e-02, 6.26507720e-07,-8.80021492e-03]

qacc:
[ -3.47484039,  3.20899809,-12.21369941, 19.7234974 ,  3.07962437,
  -2.00242278,  8.14814384,-13.61558191,  5.19269048, -0.49655745,
   1.27853283,  1.04478994, -0.63662754,  0.32572531, -3.70765943,
  10.15658857,  1.92624774, -1.71149983,  0.2494176 , 15.71975739,
  17.9285092 , -4.82778062]

qfrc_actuator:
[ 7.07347391e-05, 9.07666313e-04, 1.31597163e-04, 2.55562610e-05,
 -1.84685144e-05, 4.99742291e-05,-1.63078856e-05, 4.19686559e-05,
 -5.53280935e-05, 8.55454549e-04, 2.16787420e-04, 1.07729994e-04,
  3.58830806e-02,-1.14422964e-03, 2.57663771e-02,-3.17939857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26088678, -6.23304187,  0.58982392, -6.23304187,  6.78206731,
        5.50764387,  0.58982392,  5.50764387, 64.46363743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005794444011946037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91601303e-13, -9.58006517e-14,  1.00000000e+00, -1.83555297e-26,
        1.00000000e+00,  9.58006517e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91601303e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03435701, -0.05201551,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06844368e-05, 4.23541428e-05,-2.54451344e-05, 2.11567008e-05,
  1.79216414e-05, 2.87499876e-06, 2.72478187e-05,-1.29857636e-05,
  3.13416281e-05, 2.92138300e-05, 2.80386515e-05, 1.10510877e-05,
 -2.11477904e-04,-7.56345761e-05,-1.13667060e-04, 1.62313368e-05,
  1.72462826e-05, 2.96990574e-06,-4.90500522e+00, 2.90718459e-04,
  1.18136869e-02,-4.94774080e-04]


--- Step 595 ---
qpos:
[ 1.87335998e-02, 3.01469421e-02,-9.50315538e-03,-2.55758680e-02,
  7.89289901e-03, 4.69039920e-03,-7.83429086e-03, 2.70948048e-02,
  1.23031489e-02, 2.79877223e-02,-8.33571226e-03, 2.64608501e-02,
  9.91741883e-01, 7.15965359e-03, 9.04109510e-01, 4.63864475e-02,
  5.92816765e-02,-7.64679695e-02, 1.71477134e-01, 9.99739113e-01,
  2.10750057e-02,-4.75960866e-05,-8.80617833e-03]

qacc:
[ -5.15872325,  0.57763874, -2.7243237 ,  6.61192164, -1.19851631,
  -0.77056345,  3.83907598, -7.42819642,  3.20989223, -2.07797531,
  10.05912009,-20.63113417, -0.99159402,  1.01112795,  7.43914188,
 -27.86135871,  1.88646946, -1.68539651,  0.05894576, 15.27797009,
  17.63640298, -4.49564925]

qfrc_actuator:
[ 4.03643153e-05, 9.12817136e-04, 1.34456393e-04, 3.77335920e-05,
 -2.60036453e-05, 7.12690326e-05,-5.59756084e-07, 3.39422757e-05,
 -3.68986968e-05, 8.57567665e-04, 2.33516914e-04, 7.82188222e-05,
  3.58112875e-02,-1.15402784e-03, 2.57116435e-02,-3.33140374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005811243852272413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03435606, -0.05201783,  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:
[-3.09571688e-05, 2.44915427e-05, 9.20877250e-06, 1.35212556e-05,
 -7.02537062e-06, 2.79890468e-05, 1.92452386e-05,-7.21533126e-06,
  1.93557829e-05, 2.47461794e-05, 2.66033159e-05,-2.70759786e-05,
 -2.17069299e-04,-7.02322028e-05,-1.14616095e-04,-1.67873256e-04,
  8.25841385e-06, 5.41957890e-06,-4.90500338e+00, 2.92246470e-04,
  1.18144639e-02,-4.96149150e-04]


--- Step 596 ---
qpos:
[ 1.87326725e-02, 3.01466844e-02,-9.50304942e-03,-2.55747780e-02,
  7.89264158e-03, 4.69030533e-03,-7.83332847e-03, 2.70957395e-02,
  1.23037532e-02, 2.79872097e-02,-8.33495282e-03, 2.64608123e-02,
  9.92534285e-01, 7.16076137e-03, 9.04897524e-01, 4.63803480e-02,
  5.92769198e-02,-7.64953964e-02, 1.71476764e-01, 9.99736518e-01,
  2.11920054e-02,-6.11422756e-05,-8.81987128e-03]

qacc:
[ -3.08184084, -1.55670873,  7.85473218,-17.52005057,  2.27864277,
   1.0733455 , -5.99521066, 15.95497221, -1.08859763, -1.57331311,
   6.91878587,-13.04829206, -1.44704422,  2.22627972, -2.81538518,
   6.7391817 ,  1.8526622 , -1.66301321, -0.10558445, 14.91397278,
  17.38486192, -4.23302908]

qfrc_actuator:
[ 2.27298164e-05, 8.98159110e-04, 1.36162749e-04, 8.73854506e-06,
 -1.24835656e-05, 8.40535365e-05, 8.42445195e-06, 6.46034530e-05,
 -4.41123201e-05, 8.41192854e-04, 2.43142220e-04, 6.07385000e-05,
  3.57450302e-02,-1.12456206e-03, 2.56557540e-02,-3.31183651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005792734553059786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91657846e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91657846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03435448, -0.05201891,  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:
[-1.85285663e-05, 1.51557099e-06, 8.36847480e-06,-2.73661065e-05,
  1.33297186e-05, 3.20996584e-05, 1.68796917e-05, 3.23844117e-05,
 -6.63807886e-06, 1.81857562e-06, 1.70763759e-05,-1.60275697e-05,
 -2.14101849e-04,-3.10166212e-05,-1.37673012e-04,-6.89455212e-06,
  2.51814666e-06, 4.81800142e-06,-4.90500252e+00, 2.92450559e-04,
  1.18158232e-02,-4.98244510e-04]


--- Step 597 ---
qpos:
[ 1.87318853e-02, 3.01465440e-02,-9.50293966e-03,-2.55743929e-02,
  7.89254809e-03, 4.69048987e-03,-7.83254631e-03, 2.70966993e-02,
  1.23039217e-02, 2.79870699e-02,-8.33481801e-03, 2.64609222e-02,
  9.93325231e-01, 7.16221554e-03, 9.05683755e-01, 4.63774459e-02,
  5.92794597e-02,-7.65293998e-02, 1.71475405e-01, 9.99733217e-01,
  2.13385318e-02,-4.04431038e-05,-8.84088497e-03]

qacc:
[  1.19958661, -1.31003268,  7.85968669,-20.12966435,  1.43175966,
   0.92044159, -2.85836236,  3.37939752, -3.73957423,  2.54982958,
  -8.98715336, 12.25224683, -1.11961751,  1.59974422,-12.22700429,
  39.13817218,  1.82414152, -1.64408609, -0.24707379, 14.61573642,
  17.1707879 , -4.02628571]

qfrc_actuator:
[ 3.04885517e-05, 9.07218596e-04, 1.37048532e-04,-2.65208555e-05,
 -4.42384611e-06, 9.16505424e-05,-4.40721279e-06, 6.45160815e-05,
 -6.63575251e-05, 8.67102709e-04, 2.12926545e-04, 6.82146632e-05,
  3.56768322e-02,-1.10759589e-03, 2.56045883e-02,-3.13800215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746101649737739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66066294e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.66066294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03435239, -0.05201902,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.22055404e-06, 1.04658235e-05, 1.28369856e-06,-3.54390392e-05,
  8.44771032e-06, 3.04165822e-05,-3.01424519e-06, 2.49793535e-06,
 -2.24401829e-05, 2.97767035e-05,-2.82932063e-05, 7.83295780e-06,
 -2.05291864e-04,-3.53754021e-05,-1.23816379e-04, 1.53805945e-04,
 -1.45114723e-07, 1.37191102e-06,-4.90500261e+00, 2.91469021e-04,
  1.18176679e-02,-5.01039689e-04]


--- Step 598 ---
qpos:
[ 1.87315420e-02, 3.01461903e-02,-9.50268237e-03,-2.55744004e-02,
  7.89220714e-03, 4.69092321e-03,-7.83220790e-03, 2.70980185e-02,
  1.23038218e-02, 2.79875344e-02,-8.33520355e-03, 2.64610834e-02,
  9.94114936e-01, 7.16332220e-03, 9.06468890e-01, 4.63761818e-02,
  5.92892006e-02,-7.65699164e-02, 1.71472574e-01, 9.99729206e-01,
  2.15140971e-02, 1.41397668e-05,-8.86889911e-03]

qacc:
[ 3.81598747e+00,-1.51075873e+00, 6.61838039e+00,-1.34710843e+01,
 -2.19493184e+00, 2.31341530e+00,-9.28152007e+00, 1.60200969e+01,
 -2.31277413e+00, 2.36307248e+00,-7.47572315e+00, 8.74193807e+00,
 -4.75648429e-01, 2.04685306e-02,-6.55528849e+00, 2.06243720e+01,
  1.80027769e+00,-1.62832718e+00,-3.68274849e-01, 1.43731572e+01,
  1.69909900e+01,-3.86452734e+00]

qfrc_actuator:
[ 5.31272480e-05, 8.77134846e-04, 1.37533812e-04,-4.74076746e-05,
 -1.74016138e-05, 9.59678894e-05,-3.00635600e-05, 8.18173753e-05,
 -7.95105136e-05, 9.17986087e-04, 1.95117989e-04, 7.25678194e-05,
  3.56075180e-02,-1.13371096e-03, 2.55723098e-02,-3.05221188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005677478116201812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77743112e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.77743112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03434991, -0.05201835,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28544656e-05,-2.54755934e-05, 1.57882237e-06,-2.10853821e-05,
 -1.27270584e-05, 2.07958316e-05,-1.96720227e-05, 1.85444140e-05,
 -1.38003963e-05, 6.20219611e-05,-1.48707066e-05, 4.80341462e-06,
 -2.01500486e-04,-7.75969040e-05,-8.04467221e-05, 7.65363671e-05,
  1.32620599e-07,-4.76124553e-06,-4.90500364e+00, 2.89403602e-04,
  1.18199304e-02,-5.04518245e-04]


--- Step 599 ---
qpos:
[ 1.87314728e-02, 3.01457107e-02,-9.50247876e-03,-2.55739645e-02,
  7.89136864e-03, 4.69132244e-03,-7.83208307e-03, 2.70999009e-02,
  1.23039094e-02, 2.79884622e-02,-8.33552003e-03, 2.64612720e-02,
  9.94903444e-01, 7.16385169e-03, 9.07252956e-01, 4.63772293e-02,
  5.93060636e-02,-7.66168948e-02, 1.71467856e-01, 9.99724477e-01,
  2.17183079e-02, 1.02307616e-04,-8.90366466e-03]

qacc:
[ 2.35241674, 0.8925663 ,-5.29919566,13.1506995 ,-4.38291301, 1.7199774 ,
 -8.56107543,18.65862828, 1.59238889, 0.47260938,-0.91743584, 0.94516442,
 -0.20479872,-0.61424538,-8.57878345,27.69919192, 1.78050199,-1.61544527,
 -0.47173374,14.17776775,16.8423496 ,-3.73904962]

qfrc_actuator:
[ 6.65814204e-05, 8.77106630e-04, 1.37633548e-04,-2.41958199e-05,
 -4.26560568e-05, 8.04830511e-05,-4.53264921e-05, 1.09207425e-04,
 -6.94487059e-05, 9.47967826e-04, 2.02651909e-04, 7.50844412e-05,
  3.55428929e-02,-1.16736679e-03, 2.55407145e-02,-2.93020427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005592069073609846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92676423e-14, -1.98535285e-13,  1.00000000e+00, -1.97081296e-26,
        1.00000000e+00,  1.98535285e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92676423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03434713, -0.05201708,  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:
[ 1.41130458e-05,-1.48316770e-05,-5.69629179e-06, 2.17645094e-05,
 -2.56088540e-05,-7.15163284e-06,-1.27600891e-05, 2.79573185e-05,
  9.68007761e-06, 6.17811331e-05, 1.86792071e-05, 4.75347676e-06,
 -2.03663807e-04,-9.26259819e-05,-7.07708104e-05, 1.13465318e-04,
  3.24450298e-06,-1.34634865e-05,-4.90500560e+00, 2.86328222e-04,
  1.18225648e-02,-5.08667041e-04]


--- Step 600 ---
qpos:
[ 1.87312210e-02, 3.01452274e-02,-9.50207695e-03,-2.55729424e-02,
  7.89023376e-03, 4.69181055e-03,-7.83215185e-03, 2.71013892e-02,
  1.23041168e-02, 2.79899534e-02,-8.33579655e-03, 2.64614778e-02,
  9.95690557e-01, 7.16429506e-03, 9.08035912e-01, 4.63758064e-02,
  5.93129178e-02,-7.66591679e-02, 1.71465523e-01, 9.99720259e-01,
  2.19020084e-02, 1.42940296e-04,-8.92661050e-03]

qacc:
[ -1.56119117,  0.65195428, -4.79552535, 14.60964601, -2.61510705,
  -0.14785376,  2.37093974, -8.95917014,  1.0128474 ,  0.66672708,
  -1.37325453,  1.19801386, -1.04788684,  1.16274284,  5.90168381,
 -22.85964805, -2.50218872,  1.17632176,  0.59656521,-10.04686981,
 -23.7240191 ,  6.42564599]

qfrc_actuator:
[ 5.67644527e-05, 8.95109767e-04, 1.55396785e-04, 7.04348754e-06,
 -5.71747865e-05, 8.88055596e-05,-5.44060270e-05, 8.90452995e-05,
 -6.35591733e-05, 9.83060385e-04, 2.07257423e-04, 7.65025849e-05,
  3.54704704e-02,-1.16967315e-03, 2.54456564e-02,-3.07183729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19179207,  5.02661304, -3.61544608,  5.02661304, 23.08796896,
       23.49102742, -3.61544608, 23.49102742, 38.85174663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005711601021708423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09595222, -0.09269657,  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:
[-9.41027008e-06, 9.48393617e-06, 1.47532082e-05, 3.08301270e-05,
 -1.52496540e-05, 2.85642649e-06,-1.11704572e-05,-2.03703348e-05,
  6.19674878e-06, 7.36765002e-05, 1.98246327e-05, 4.80237272e-06,
 -2.15913973e-04,-6.47986763e-05,-1.25919309e-04,-1.46939081e-04,
  9.10826888e-06,-2.46484906e-05,-4.90500848e+00, 2.82295567e-04,
  1.18255405e-02,-5.13475653e-04]


--- Step 601 ---
qpos:
[ 1.87311982e-02, 3.01447787e-02,-9.50173281e-03,-2.55718867e-02,
  7.88927830e-03, 4.69259545e-03,-7.83272846e-03, 2.71026192e-02,
  1.23043934e-02, 2.79920165e-02,-8.33574690e-03, 2.64616777e-02,
  9.96476046e-01, 7.16531630e-03, 9.08817166e-01, 4.63727206e-02,
  5.93099854e-02,-7.66968840e-02, 1.71464562e-01, 9.99716558e-01,
  2.20653813e-02, 1.37600418e-04,-8.93891947e-03]

qacc:
[  1.96309517,  0.2722128 , -1.05162454,  1.70402547,  1.55705081,
   1.2770042 , -2.89903684, -0.97119663,  0.58968108, -0.16931478,
   1.72354588, -2.76719582, -1.72126412,  2.75821544,  2.64805315,
 -12.59469419, -2.44665048,  1.13926841,  0.34271241, -9.96219283,
 -22.95412979,  5.82124088]

qfrc_actuator:
[ 6.88373043e-05, 8.88354533e-04, 1.48022443e-04, 7.27382524e-06,
 -4.75016199e-05, 1.11303111e-04,-7.74627014e-05, 7.65892629e-05,
 -6.01803050e-05, 1.02093398e-03, 2.27859997e-04, 7.72607337e-05,
  3.53934304e-02,-1.13567738e-03, 2.53604951e-02,-3.15476567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28508285, -3.49544732,  5.2234198 , -3.49544732, 34.46110504,
       18.85504232,  5.2234198 , 18.85504232, 18.90264179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005823434684666257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53237294e-14, -9.53237294e-14,  1.00000000e+00, -9.08661340e-27,
        1.00000000e+00,  9.53237294e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53237294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594628, -0.09269855,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18009454e-05, 2.92308753e-06,-2.53262154e-06, 1.74552140e-06,
  9.24208248e-06, 2.08889215e-05,-2.45549660e-05,-1.31202141e-05,
  3.58982265e-06, 8.33264676e-05, 3.84147968e-05, 4.69151040e-06,
 -2.22885571e-04,-2.52985542e-05,-1.69099125e-04,-1.09523812e-04,
  1.48513284e-06,-1.07896025e-05,-4.90500690e+00, 2.84813669e-04,
  1.18203309e-02,-5.17666302e-04]


--- Step 602 ---
qpos:
[ 1.87313203e-02, 3.01443237e-02,-9.50145064e-03,-2.55708305e-02,
  7.88810134e-03, 4.69332402e-03,-7.83342554e-03, 2.71030183e-02,
  1.23047089e-02, 2.79942245e-02,-8.33549461e-03, 2.64616036e-02,
  9.97259902e-01, 7.16681143e-03, 9.09596436e-01, 4.63725452e-02,
  5.92974600e-02,-7.67301702e-02, 1.71464085e-01, 9.99713368e-01,
  2.22086149e-02, 8.76006195e-05,-8.94152806e-03]

qacc:
[  1.24109775,  0.16357585, -0.60191638,  0.71999207, -1.95195764,
  -1.44458953,  8.55751835,-22.71110524,  0.33552897, -0.93958146,
   4.7837955 , -9.95534042, -1.36811558,  2.04918762,-11.63358008,
  36.6828056 , -2.39826985,  1.10745383,  0.12106945, -9.87351946,
 -22.30665671,  5.34244355]

qfrc_actuator:
[ 7.59526471e-05, 8.84460056e-04, 1.43494798e-04, 6.96967776e-06,
 -5.91758143e-05, 8.88043529e-05,-9.07613703e-05, 3.32732915e-05,
 -5.83050962e-05, 9.89231901e-04, 2.22253344e-04, 5.98866386e-05,
  3.53083648e-02,-1.11603513e-03, 2.53133199e-02,-2.98925905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33302818, -3.25998814,  5.4295233 , -3.25998814, 44.64395992,
       23.0026056 ,  5.4295233 , 23.0026056 , 20.14422619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005880862194916625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594261, -0.09270059,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46118678e-06,-2.69420981e-06,-4.17704571e-06,-2.35238333e-07,
 -1.14027153e-05,-1.64732632e-05,-1.24677169e-05,-4.35293689e-05,
  2.01444813e-06, 2.29572462e-05, 1.64745160e-05,-1.23879835e-05,
 -2.26596484e-04,-3.34041973e-05,-1.44661063e-04, 1.35956976e-04,
 -4.91357401e-07,-4.77488766e-08,-4.90500641e+00, 2.85596715e-04,
  1.18165030e-02,-5.21474204e-04]


--- Step 603 ---
qpos:
[ 1.87311822e-02, 3.01439289e-02,-9.50097912e-03,-2.55698123e-02,
  7.88679403e-03, 4.69357961e-03,-7.83409028e-03, 2.71029391e-02,
  1.23047004e-02, 2.79960775e-02,-8.33502362e-03, 2.64613867e-02,
  9.98042278e-01, 7.16853592e-03, 9.10374541e-01, 4.63728709e-02,
  5.92755081e-02,-7.67591354e-02, 1.71463323e-01, 9.99710683e-01,
  2.23318928e-02,-5.96197145e-06,-8.93517564e-03]

qacc:
[ -2.22813286, -0.52373086,  2.15003036, -3.16165541, -1.13774663,
  -1.69798336,  7.17038035,-15.15549335, -2.74848375, -1.36889416,
   4.81193143, -7.38004708, -1.2166694 ,  1.66137767, -3.15034299,
   8.73005008, -2.35659246,  1.08025616, -0.07125219, -9.78616678,
 -21.76488633,  4.96432561]

qfrc_actuator:
[ 6.23334344e-05, 9.00061809e-04, 1.58455144e-04, 6.36434273e-06,
 -6.55766416e-05, 3.95422058e-05,-9.83894576e-05, 7.62260947e-06,
 -7.50821783e-05, 9.33735227e-04, 2.18666854e-04, 4.96562455e-05,
  3.52398465e-02,-1.10513217e-03, 2.52730455e-02,-2.96264171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893831295088886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41851717e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.41851717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594078, -0.0927027 ,  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:
[-1.34015759e-05, 1.32354411e-05, 1.38805553e-05,-8.72087158e-07,
 -6.72831468e-06,-6.29380810e-05,-1.40734774e-05,-2.76356649e-05,
 -1.67028939e-05,-3.98676679e-05, 2.72783455e-06,-8.92298670e-06,
 -2.13185973e-04,-4.50195667e-05,-9.92084734e-05, 1.38785081e-05,
  2.62815066e-06, 7.84197902e-06,-4.90500698e+00, 2.84956763e-04,
  1.18138815e-02,-5.24893923e-04]


--- Step 604 ---
qpos:
[ 1.87312265e-02, 3.01437269e-02,-9.50067109e-03,-2.55688023e-02,
  7.88645505e-03, 4.69322452e-03,-7.83452255e-03, 2.71032482e-02,
  1.23048359e-02, 2.79973158e-02,-8.33444251e-03, 2.64614365e-02,
  9.98823409e-01, 7.17029511e-03, 9.11151103e-01, 4.63745158e-02,
  5.92442720e-02,-7.67838722e-02, 1.71461612e-01, 9.99708487e-01,
  2.24353877e-02,-1.42175588e-04,-8.92044380e-03]

qacc:
[  1.55734491,  0.69198652, -2.06813606,  2.05173653,  8.53657248,
  -0.67433114, -0.43473403,  7.26289626,  1.24017154, -0.57372489,
  -0.26329623,  5.15942012, -0.80710987,  0.89449064, -6.21754858,
  18.56574924, -2.32107409,  1.05709718, -0.23728662, -9.70361464,
 -21.31416053,  4.66699107]

qfrc_actuator:
[ 7.21259877e-05, 9.09544666e-04, 1.49376507e-04, 5.61670057e-06,
 -1.55581188e-05, 1.01664694e-05,-8.49671808e-05, 2.80561007e-05,
 -6.71980165e-05, 8.82156358e-04, 2.16195340e-04, 6.14430160e-05,
  3.51919530e-02,-1.09941780e-03, 2.52049547e-02,-2.89384435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005870921510068017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.45527055e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.45527055e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594042, -0.09270487,  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:
[ 9.40663294e-06, 1.97156862e-05,-4.66820399e-06, 2.80413328e-07,
  4.98070625e-05,-6.86661945e-05,-2.26290272e-06, 1.67129332e-05,
  7.38682382e-06,-7.37700067e-05,-1.07055442e-05, 9.99500060e-06,
 -1.86825913e-04,-4.95877123e-05,-1.22493990e-04, 5.44469979e-05,
  1.04297869e-05, 1.30923620e-05,-4.90500859e+00, 2.83117429e-04,
  1.18123310e-02,-5.27922458e-04]


--- Step 605 ---
qpos:
[ 1.87313881e-02, 3.01433436e-02,-9.50032809e-03,-2.55674290e-02,
  7.88671775e-03, 4.69259509e-03,-7.83433402e-03, 2.71030378e-02,
  1.23054095e-02, 2.79978884e-02,-8.33411136e-03, 2.64616595e-02,
  9.99603501e-01, 7.17152186e-03, 9.11925809e-01, 4.63769998e-02,
  5.92038713e-02,-7.68044592e-02, 1.71458381e-01, 9.99706762e-01,
  2.25192563e-02,-3.20287737e-04,-8.89778752e-03]

qacc:
[  1.00991362,  0.40900863, -3.33907208,  9.69869097,  5.31702304,
  -3.17741044, 12.97768877,-22.73645988,  3.73741368,  0.16795211,
  -2.61918086,  6.51932007, -0.17164344, -0.56605713, -5.28863412,
  14.4990085 , -2.29114143,  1.03745304, -0.38001673, -9.62805493,
 -20.94176874,  4.43456018]

qfrc_actuator:
[ 7.78742791e-05, 8.79694242e-04, 1.43904208e-04, 2.25216204e-05,
  1.40075931e-05, 2.85547307e-05,-4.13751249e-05, 4.45438742e-06,
 -4.48554155e-05, 8.33329925e-04, 1.96661287e-04, 6.83351707e-05,
  3.51351634e-02,-1.13221895e-03, 2.51095983e-02,-2.85401545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005819488390170768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9077674e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9077674e-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([ 0.09594122, -0.09270708,  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:
[ 6.02962004e-06,-1.97731771e-05,-1.96951745e-06, 1.75900886e-05,
  3.09566097e-05,-1.97269076e-05, 2.97141337e-05,-2.62983651e-05,
  2.25381361e-05,-9.19109106e-05,-3.57666349e-05, 3.55045858e-06,
 -1.81076877e-04,-8.29322234e-05,-1.54183862e-04, 2.51380370e-05,
  2.26052443e-05, 1.58726682e-05,-4.90501124e+00, 2.80237482e-04,
  1.18117477e-02,-5.30558435e-04]


--- Step 606 ---
qpos:
[ 1.87312726e-02, 3.01428891e-02,-9.50007302e-03,-2.55658691e-02,
  7.88698794e-03, 4.69208163e-03,-7.83380397e-03, 2.71025143e-02,
  1.23059017e-02, 2.79981610e-02,-8.33416464e-03, 2.64615804e-02,
  1.00038256e+00, 7.17183762e-03, 9.12698726e-01, 4.63782580e-02,
  5.91544057e-02,-7.68209628e-02, 1.71453140e-01, 9.99705484e-01,
  2.25836380e-02,-5.39682788e-04,-8.86756020e-03]

qacc:
[ -2.37760193,  0.54061596, -2.84174493,  6.25066039,  0.07448767,
  -1.4461423 ,  6.70054541,-12.75115711, -0.70013554,  0.05746944,
   0.49752274, -4.89266118,  0.04635194, -1.23267138,  1.03080425,
  -7.52340762, -2.26622889,  1.02085745, -0.5022626 , -9.5607814 ,
 -20.63677559,  4.2543559 ]

qfrc_actuator:
[ 6.34356581e-05, 8.79798716e-04, 1.40462647e-04, 3.18973082e-05,
  1.35283037e-05, 5.77566977e-05,-1.56677891e-05,-9.31089677e-06,
 -4.96948184e-05, 8.39709720e-04, 1.84958365e-04, 5.45247426e-05,
  3.50677367e-02,-1.18757612e-03, 2.50139437e-02,-2.92037833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005745802853070747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93223306e-13, -1.93223306e-13,  1.00000000e+00, -3.73352461e-26,
        1.00000000e+00,  1.93223306e-13, -1.00000000e+00,  0.00000000e+00,
       -1.93223306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594294, -0.09270933,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42698421e-05,-1.05977357e-05,-7.16236403e-06, 8.80026232e-06,
  3.93479186e-07, 2.32133920e-05, 2.43867804e-05,-1.40941718e-05,
 -4.20674322e-06,-5.22688023e-05,-3.49823771e-05,-1.89209809e-05,
 -1.96219047e-04,-1.10462513e-04,-1.70489577e-04,-8.63510894e-05,
  3.89281315e-05, 1.63160474e-05,-4.90501489e+00, 2.76428033e-04,
  1.18120524e-02,-5.32801530e-04]


--- Step 607 ---
qpos:
[ 1.87309849e-02, 3.01426366e-02,-9.50025112e-03,-2.55645657e-02,
  7.88690591e-03, 4.69124794e-03,-7.83249177e-03, 2.71018552e-02,
  1.23063318e-02, 2.79988740e-02,-8.33529733e-03, 2.64609430e-02,
  1.00116020e+00, 7.17189887e-03, 9.13470067e-01, 4.63763072e-02,
  5.90959569e-02,-7.68334388e-02, 1.71445474e-01, 9.99704624e-01,
  2.26286529e-02,-7.99862832e-04,-8.83003344e-03]

qacc:
[ -1.49508658,  0.9524982 , -1.92233206, -1.97464414, -3.06843704,
  -2.88265546, 10.24695944,-13.61948559, -0.57016563,  2.45088351,
  -5.53485436, -2.72853616, -0.94683106,  0.8342765 ,  7.4353033 ,
 -29.25245972, -2.24579948,  1.00690024, -0.6066249 , -9.50246619,
 -20.3898225 ,  4.11625345]

qfrc_actuator:
[ 5.49848623e-05, 8.97838634e-04, 1.20595808e-04, 1.90341787e-05,
 -4.62447222e-06, 2.21557807e-05, 1.70923167e-05,-1.71727709e-05,
 -5.27465536e-05, 8.96866482e-04, 1.42683329e-04, 2.86987195e-05,
  3.49833125e-02,-1.20261751e-03, 2.49341483e-02,-3.08423223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005655181326559566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81598078e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.81598078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594536, -0.09271158,  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:
[-8.86958086e-06, 1.10166807e-05,-2.26337281e-05,-1.33957102e-05,
 -1.81338884e-05,-1.81726112e-05, 4.00721774e-05,-6.29646818e-06,
 -3.19037733e-06, 1.98817577e-05,-5.80370979e-05,-2.96446494e-05,
 -2.28960618e-04,-7.87483406e-05,-1.74206195e-04,-1.92070233e-04,
  5.92360163e-05, 1.45257479e-05,-4.90501953e+00, 2.71765072e-04,
  1.18131851e-02,-5.34652057e-04]


--- Step 608 ---
qpos:
[ 0.01873094, 0.03014247,-0.00950038,-0.02556345, 0.00788626, 0.00468998,
 -0.00783066, 0.02710114, 0.01230638, 0.02799994,-0.00833672, 0.02645961,
  1.00193612, 0.00717242, 0.91423977, 0.0463723 , 0.05904559,-0.07685316,
  0.17144094, 0.99970283, 0.02270864,-0.00102297,-0.00880452]

qacc:
[  2.10591004, -0.39993478,  2.36223907, -5.66795677, -4.91791236,
  -2.12008608,  6.97017632, -8.43950162, -3.293092  , -0.1412038 ,
   4.12023694,-15.9385916 , -1.70935915,  2.58486163,  3.92596289,
 -16.94474628,  2.02092422, -1.81049129,  0.78222683, 17.32267591,
  18.54850814, -6.44274708]

qfrc_actuator:
[ 6.78855191e-05, 9.08642268e-04, 1.26759477e-04, 1.09488246e-05,
 -3.30246280e-05,-1.64317848e-05, 3.57542118e-05,-2.15448513e-05,
 -7.24649821e-05, 9.30611040e-04, 1.36171654e-04,-3.95965691e-06,
  3.48994146e-02,-1.17600888e-03, 2.48745653e-02,-3.17983882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20365959,  5.31003829, -3.20762928,  5.31003829, 19.74299462,
       22.41355879, -3.20762928, 22.41355879, 43.30796466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005725837214379803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69485320e-14, -9.69485320e-14,  1.00000000e+00, -9.39901785e-27,
        1.00000000e+00,  9.69485320e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69485320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03433667, -0.05204217,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26481938e-05, 1.17220323e-05, 5.19070365e-06,-8.65914464e-06,
 -2.89232007e-05,-4.07320949e-05, 1.96224704e-05,-3.88570200e-06,
 -1.98005483e-05, 3.15928734e-05,-1.05720772e-05,-3.43888563e-05,
 -2.41180025e-04,-3.82542844e-05,-1.68368412e-04,-1.30368450e-04,
  8.34167461e-05, 1.05802764e-05,-4.90502515e+00, 2.66298622e-04,
  1.18151008e-02,-5.36110673e-04]


--- Step 609 ---
qpos:
[ 0.01873106, 0.03014255,-0.00950054,-0.0255621 , 0.00788563, 0.0046887 ,
 -0.00782906, 0.02710072, 0.01230619, 0.02800099,-0.00833757, 0.02645823,
  1.00271057, 0.00717292, 0.91500748, 0.04636844, 0.05900308,-0.07687998,
  0.17143847, 0.99970017, 0.02282222,-0.0012098 ,-0.00878988]

qacc:
[ 1.32330687, 0.84910514,-3.51925103, 7.27608082, 0.07388397, 1.23321946,
 -5.65480517,11.12783956,-1.99889059,-1.71381112, 6.30876807,-8.08838509,
 -0.97611549, 1.05511667,-3.30691045, 7.46603869, 1.96341193,-1.77599695,
  0.51848883,16.63872505,18.15706282,-5.8693672 ]

qfrc_actuator:
[ 7.54955123e-05, 9.32888824e-04, 1.30480307e-04, 2.35123110e-05,
 -3.17175506e-05,-3.30896174e-06, 2.81587845e-05,-6.09691901e-06,
 -8.40834316e-05, 9.32468120e-04, 1.68515123e-04,-4.85295245e-06,
  3.48318871e-02,-1.17827601e-03, 2.48005435e-02,-3.16335469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30218987, -6.191668  ,  1.17509341, -6.191668  ,  7.73418016,
        7.54527972,  1.17509341,  7.54527972, 46.05891612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005843927254209347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49894631e-14, -9.49894631e-14,  1.00000000e+00, -9.02299810e-27,
        1.00000000e+00,  9.49894631e-14, -1.00000000e+00,  0.00000000e+00,
       -9.49894631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03433728, -0.05204846,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.98328629e-06, 3.15121643e-05, 6.48197699e-06, 1.30739525e-05,
  4.70261694e-07,-5.75182647e-06,-1.37305762e-05, 1.43072894e-05,
 -1.21848214e-05, 1.58408350e-05, 3.63854132e-05,-5.69874944e-07,
 -2.22729245e-04,-6.21519909e-05,-1.73635980e-04,-1.41560650e-05,
  6.08168691e-05, 1.92563562e-05,-4.90502072e+00, 2.72433850e-04,
  1.18160483e-02,-5.38092712e-04]


--- Step 610 ---
qpos:
[ 0.01873195, 0.03014288,-0.00950066,-0.02556062, 0.00788536, 0.00468756,
 -0.00782791, 0.02710014, 0.01230586, 0.02800204,-0.0083386 , 0.02645759,
  1.00348353, 0.00717343, 0.91577364, 0.0463591 , 0.05896822,-0.07691378,
  0.17143716, 0.99969667, 0.02296827,-0.00136106,-0.00878522]

qacc:
[  6.68679743,  0.50832796, -1.92292014,  4.03927413,  3.19612102,
   1.09817204, -2.98483414,  0.83568949, -1.17961787,  1.99764639,
 -10.25687657, 23.35894548, -1.34945316,  1.70779436, 14.35059204,
 -53.31514165,  1.91375358, -1.74565775,  0.28814878, 16.07242635,
  17.81080448, -5.41609145]

qfrc_actuator:
[ 1.15428866e-04, 9.47262245e-04, 1.32790132e-04, 3.03774871e-05,
 -1.29323487e-05, 5.07910517e-06, 5.34492166e-06,-1.45901879e-05,
 -9.08360554e-05, 9.15413893e-04, 1.52412852e-04, 3.06988724e-05,
  3.47529177e-02,-1.17983273e-03, 2.46913191e-02,-3.45380134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35412454, -6.29182731,  0.88758537, -6.29182731,  7.38128729,
        7.28124966,  0.88758537,  7.28124966, 57.96872643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005906126394593925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03433694, -0.05205269,  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:
[ 4.01758577e-05, 3.38916137e-05, 1.00662572e-05, 8.69001516e-06,
  1.87965167e-05, 2.97719266e-06,-2.52010145e-05,-8.93620592e-06,
 -7.10381562e-06,-7.34403098e-07,-8.36723449e-06, 3.74816436e-05,
 -2.28259231e-04,-6.20435283e-05,-1.97063590e-04,-3.15009930e-04,
  4.21257363e-05, 2.41088901e-05,-4.90501726e+00, 2.76521719e-04,
  1.18179212e-02,-5.40877213e-04]


--- Step 611 ---
qpos:
[ 0.01873297, 0.03014291,-0.00950018,-0.02555973, 0.00788497, 0.00468676,
 -0.00782743, 0.02709911, 0.01230545, 0.02800316,-0.00833983, 0.02645772,
  1.00425492, 0.00717424, 0.91653723, 0.04634835, 0.05894085,-0.07695447,
  0.1714362 , 0.99969237, 0.02314584,-0.00147735,-0.00878983]

qacc:
[  1.11776067, -3.29489963, 13.65623836,-24.58034411, -1.06390289,
   1.3747776 , -2.35102422, -4.66026413, -0.67637666,  2.2650013 ,
 -11.21317445, 24.85668797, -1.37383891,  1.92724733,  0.57118201,
  -7.27408804,  1.8711574 , -1.71939215,  0.08825629, 15.60546505,
  17.50804285, -5.0592852 ]

qfrc_actuator:
[ 1.20811348e-04, 9.02348272e-04, 1.51960114e-04,-1.68109462e-06,
 -1.95252267e-05, 2.82373143e-05,-2.62881170e-05,-3.71108299e-05,
 -9.46732824e-05, 9.22516071e-04, 1.43261854e-04, 6.95937150e-05,
  3.46777900e-02,-1.16322333e-03, 2.45823096e-02,-3.51453429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005922608861240602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37275321e-14, -9.37275321e-14,  1.00000000e+00, -8.78485028e-27,
        1.00000000e+00,  9.37275321e-14, -1.00000000e+00,  0.00000000e+00,
       -9.37275321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03433582, -0.05205525,  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:
[ 6.56323695e-06,-2.35135759e-05, 2.77019488e-05,-3.00956467e-05,
 -6.05627106e-06, 1.92702033e-05,-3.44308705e-05,-2.34384605e-05,
 -4.04495622e-06, 6.54117466e-06,-9.03536153e-06, 3.93049072e-05,
 -2.28679074e-04,-4.46607461e-05,-2.41435918e-04,-1.05130018e-04,
  2.70437043e-05, 2.55201464e-05,-4.90501477e+00, 2.78860193e-04,
  1.18205315e-02,-5.44430178e-04]


--- Step 612 ---
qpos:
[ 0.01873336, 0.03014231,-0.00949923,-0.02555952, 0.00788416, 0.00468618,
 -0.00782736, 0.02709816, 0.01230569, 0.02800441,-0.00834093, 0.02645828,
  1.00502495, 0.00717491, 0.91729736, 0.04634389, 0.05892082,-0.07700194,
  0.17143491, 0.99968728, 0.02335415,-0.00155921,-0.00880315]

qacc:
[-5.39775152e+00,-3.53422344e+00, 1.42890924e+01,-2.63961118e+01,
 -3.71840444e+00, 1.64350229e+00,-5.75161591e+00, 7.62540567e+00,
  5.50942115e+00, 6.84629189e-01,-4.00900980e+00, 1.11620827e+01,
 -3.79681816e-01,-2.92490003e-02,-2.41056326e+01, 7.69433017e+01,
  1.83484321e+00,-1.69699670e+00,-8.43100223e-02, 1.52223317e+01,
  1.72461684e+01,-4.78005678e+00]

qfrc_actuator:
[ 8.80510018e-05, 8.40060193e-04, 1.62908129e-04,-3.86714009e-05,
 -4.10079687e-05, 4.22554508e-05,-4.50616571e-05,-3.21864969e-05,
 -6.12601888e-05, 9.44048367e-04, 1.56145142e-04, 9.24151686e-05,
  3.46156800e-02,-1.17150345e-03, 2.44735762e-02,-3.17302233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005902155255434471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40523399e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.40523399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03433407, -0.05205647,  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:
[-3.25778870e-05,-7.10133700e-05, 8.45299377e-06,-3.76282553e-05,
 -2.16457639e-05, 1.67013495e-05,-1.98384851e-05, 4.10593347e-06,
  3.32977174e-05, 2.49793316e-05, 1.44824393e-05, 2.35541462e-05,
 -2.11983206e-04,-6.62424438e-05,-2.34880958e-04, 3.03882063e-04,
  1.53257360e-05, 2.37860354e-05,-4.90501322e+00, 2.79672400e-04,
  1.18237496e-02,-5.48724301e-04]


--- Step 613 ---
qpos:
[ 0.018733  , 0.03014124,-0.0094982 ,-0.02555941, 0.0078831 , 0.00468574,
 -0.00782754, 0.02709762, 0.01230633, 0.02800641,-0.00834241, 0.02645873,
  1.00579368, 0.00717546, 0.91805493, 0.04634082, 0.058908  ,-0.07705612,
  0.17143268, 0.99968141, 0.0235926 ,-0.00160708,-0.00882476]

qacc:
[-6.34158361,-1.05152744, 3.2543637 ,-4.67202134,-2.21981398, 1.72661522,
 -7.59921947,14.96689529, 3.37097626, 1.78697699,-4.44652647, 2.44144606,
 -0.6457952 , 0.45731163,-7.96697652,22.44355117, 1.80407561,-1.67820334,
 -0.23263015,14.90996494,17.02213563,-4.56330537]

qfrc_actuator:
[ 5.08662481e-05, 8.21056485e-04, 1.68817640e-04,-4.27860316e-05,
 -5.33219748e-05, 5.07630714e-05,-5.61000592e-05,-1.11464999e-05,
 -4.16955682e-05, 1.00964084e-03, 1.46481629e-04, 8.78723112e-05,
  3.45560923e-02,-1.17666887e-03, 2.43385514e-02,-3.11212327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000585229800450851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48535963e-14, -9.48535963e-14,  1.00000000e+00, -8.99720473e-27,
        1.00000000e+00,  9.48535963e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48535963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03433182, -0.05205663,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81568665e-05,-5.85812156e-05,-9.02148036e-06,-7.59525868e-06,
 -1.29226989e-05, 1.39400695e-05,-9.88086339e-06, 2.11533862e-05,
  2.05515864e-05, 8.35406694e-05,-1.90900367e-06,-2.51581621e-06,
 -2.03247319e-04,-6.40936799e-05,-2.10533453e-04, 4.73589936e-05,
  6.77284477e-06, 1.91335642e-05,-4.90501261e+00, 2.79124295e-04,
  1.18274884e-02,-5.53737711e-04]


--- Step 614 ---
qpos:
[ 0.01873186, 0.03014009,-0.00949732,-0.02555869, 0.00788225, 0.00468558,
 -0.00782737, 0.02709727, 0.01230719, 0.02800901,-0.00834372, 0.02645944,
  1.00656098, 0.00717625, 0.91881089, 0.04633405, 0.0589023 ,-0.07711695,
  0.17142902, 0.99967477, 0.02386065,-0.00162135,-0.00885431]

qacc:
[ -6.76646389,  1.61709012, -8.43060879, 19.18445997,  1.81160677,
  -0.20316302,  0.41256583,  2.25795884,  1.95601496,  0.89930778,
  -3.18454935,  7.12516492, -1.39816836,  1.9940264 ,  8.92315168,
 -34.41333939,  1.77818056, -1.66271604, -0.35962181, 14.65740686,
  16.83276615, -4.3969572 ]

qfrc_actuator:
[ 1.13880926e-05, 8.45871338e-04, 1.71895601e-04,-9.73983807e-06,
 -4.23833558e-05, 9.14594680e-05,-2.69984528e-05, 1.44850035e-06,
 -3.04506539e-05, 1.04774911e-03, 1.59252852e-04, 1.02794038e-04,
  3.44874097e-02,-1.16215570e-03, 2.42517059e-02,-3.30597414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779462554646037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6048985e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.6048985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03432919, -0.05205595,  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:
[-4.06076530e-05,-1.01172901e-05,-1.03928073e-05, 3.00795454e-05,
  1.05757515e-05, 4.73718761e-05, 3.15049930e-05, 1.32653144e-05,
  1.18820537e-05, 8.42757475e-05, 2.96983177e-05, 1.83838852e-05,
 -2.06911100e-04,-4.18890348e-05,-1.82191811e-04,-2.19135793e-04,
  1.22480276e-06, 1.17348273e-05,-4.90501289e+00, 2.77338137e-04,
  1.18316906e-02,-5.59452965e-04]


--- Step 615 ---
qpos:
[ 0.01873095, 0.03013902,-0.00949651,-0.0255576 , 0.00788222, 0.0046857 ,
 -0.00782715, 0.02709745, 0.01230819, 0.0280116 ,-0.00834431, 0.02646036,
  1.00732699, 0.00717693, 0.91956484, 0.04632364, 0.05890362,-0.07718439,
  0.17142348, 0.99966733, 0.02415792,-0.00160233,-0.00889156]

qacc:
[  1.92268824,  1.00920458, -5.01649151, 11.38263683,  7.27768112,
   1.26988875, -6.22125769, 14.94981372,  1.12108496, -1.62795931,
   4.87796973, -2.3510938 , -0.98812927,  1.07087083,  8.08797139,
 -32.43866265,  1.75655152, -1.65023364, -0.46797868, 14.45548561,
  16.67493183, -4.27135404]

qfrc_actuator:
[ 2.41358869e-05, 8.61260346e-04, 1.73489341e-04, 9.43634503e-06,
 -9.64577186e-08, 9.80226153e-05,-2.75656587e-05, 2.67772139e-05,
 -2.41886521e-05, 1.01595236e-03, 1.85098879e-04, 1.11302373e-04,
  3.44186538e-02,-1.17165896e-03, 2.41511677e-02,-3.48836579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005689099628056193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75745810e-14, -9.75745810e-14,  1.00000000e+00, -9.52079885e-27,
        1.00000000e+00,  9.75745810e-14, -1.00000000e+00,  0.00000000e+00,
       -9.75745810e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03432627, -0.05205463,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15625321e-05, 8.89189113e-06,-7.30787768e-07, 1.89701096e-05,
  4.26021608e-05, 4.01384019e-05, 1.35578458e-05, 2.87073558e-05,
  6.64504242e-06, 2.21797397e-05, 4.75322369e-05, 1.35004828e-05,
 -2.04408767e-04,-6.22788417e-05,-2.15529332e-04,-2.19561995e-04,
 -1.44601611e-06, 1.71812987e-06,-4.90501406e+00, 2.74402739e-04,
  1.18363206e-02,-5.65856244e-04]


--- Step 616 ---
qpos:
[ 0.01872984, 0.03013823,-0.00949632,-0.02555698, 0.00788236, 0.00468585,
 -0.00782683, 0.0270983 , 0.01230891, 0.02801457,-0.0083452 , 0.02646105,
  1.00809173, 0.00717726, 0.92031622, 0.0463147 , 0.05889493,-0.07724732,
  0.17141992, 0.99966032, 0.0244356 ,-0.00163101,-0.00891551]

qacc:
[ -1.61271433,  1.15812405, -1.63064182, -5.55726421,  1.43125685,
   1.13192639, -6.81958578, 18.30063068, -2.37807254,  0.9191857 ,
  -1.57090131, -2.16612999, -0.42171585, -0.09276004, -8.21787142,
  23.24929514, -2.5042729 ,  1.12640451,  0.49412716, -9.56970075,
 -23.76873512,  7.24065307]

qfrc_actuator:
[ 1.42638538e-05, 8.70885716e-04, 1.38653160e-04,-1.52162390e-05,
  7.03705461e-06, 8.39984864e-05,-2.80250564e-05, 5.93455797e-05,
 -3.86598539e-05, 1.03135088e-03, 1.64895264e-04, 9.81578349e-05,
  3.43498944e-02,-1.19532538e-03, 2.40691365e-02,-3.39618101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13927872,  5.0014156 , -3.56041925,  5.0014156 , 20.47075552,
       20.13180658, -3.56041925, 20.13180658, 34.4189628 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005648560229972593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96549736e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96549736e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592873, -0.09273596,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.53033711e-06, 1.52928889e-05,-3.24322391e-05,-2.39298864e-05,
  8.35648971e-06, 1.24600991e-05, 1.04889662e-05, 3.53133451e-05,
 -1.42632086e-05, 3.81150674e-05,-9.32515742e-06,-1.02932659e-05,
 -2.07911563e-04,-7.97042931e-05,-2.10440615e-04, 5.11627510e-05,
 -1.33980051e-06,-1.08232118e-05,-4.90501610e+00, 2.70381250e-04,
  1.18413584e-02,-5.72936699e-04]


--- Step 617 ---
qpos:
[ 0.01872863, 0.03013775,-0.00949661,-0.02555632, 0.00788224, 0.00468585,
 -0.00782581, 0.02709917, 0.01230979, 0.02801767,-0.00834621, 0.02646126,
  1.00885507, 0.00717761, 0.92106593, 0.04631063, 0.05887642,-0.07730589,
  0.17141738, 0.99965374, 0.02469381,-0.00170586,-0.00892744]

qacc:
[ -0.96118349,  1.85705626, -6.17524675,  7.33167128, -2.26338364,
  -2.0837895 ,  7.05924769, -7.68608221,  1.40846132, -0.53541986,
   4.19697093,-12.54744466, -0.71084216,  0.64043178,-17.16989035,
  56.57302008, -2.45328247,  1.08961706,  0.25433562, -9.52233889,
 -23.01674919,  6.59254663]

qfrc_actuator:
[ 8.89243876e-06, 8.94555237e-04, 1.18042069e-04,-1.22292996e-05,
 -6.58724538e-06, 7.55021995e-05, 7.00872277e-06, 6.03894172e-05,
 -2.97111991e-05, 1.02141773e-03, 1.53320562e-04, 7.23773716e-05,
  3.42865022e-02,-1.19168770e-03, 2.40675683e-02,-3.12513921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22214658, -3.63382851,  5.05078196, -3.63382851, 31.50573066,
       18.19049194,  5.05078196, 18.19049194, 19.3094524 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748007526169135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.93149195e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.93149195e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592288, -0.09273856,  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:
[-5.63936406e-06, 2.45232734e-05,-2.22678719e-05, 2.05414679e-06,
 -1.33843623e-05, 2.14316110e-06, 4.01135355e-05, 2.62466493e-06,
  8.55292855e-06, 8.91228583e-06,-5.23073203e-06,-2.46755092e-05,
 -2.07841775e-04,-5.70012216e-05,-9.62841866e-05, 2.46035796e-04,
 -7.86010092e-07, 6.66234603e-06,-4.90501739e+00, 2.71214965e-04,
  1.18338983e-02,-5.79430385e-04]


--- Step 618 ---
qpos:
[ 0.01872806, 0.03013758,-0.00949695,-0.02555532, 0.00788195, 0.00468557,
 -0.0078245 , 0.0270994 , 0.01231078, 0.02802015,-0.00834646, 0.02646119,
  1.00961703, 0.00717824, 0.92181535, 0.04630763, 0.05884828,-0.07736023,
  0.17141501, 0.99964759, 0.02493268,-0.00182561,-0.00892834]

qacc:
[  5.43473862,  1.22007013, -5.21434466, 10.99750976, -1.41222207,
  -2.49031532, 11.05649172,-22.39925282,  0.89379462, -3.5207973 ,
  12.530107  ,-18.06283091, -1.19511456,  1.68125105, -3.54977367,
  12.03286217, -2.40890878,  1.05792946,  0.04492993, -9.46330933,
 -22.38696605,  6.08247443]

qfrc_actuator:
[ 4.17252231e-05, 9.26518395e-04, 1.23842668e-04, 7.03070256e-06,
 -1.45561421e-05, 3.49880505e-05, 9.45255853e-06, 2.51487959e-05,
 -2.47955216e-05, 9.60889112e-04, 1.82351608e-04, 5.71190515e-05,
  3.42317141e-02,-1.17190865e-03, 2.40770090e-02,-3.07032600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26245612, -3.41926539,  5.24661613, -3.41926539, 40.68675665,
       22.43461622,  5.24661613, 22.43461622, 20.88329074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005796324586189172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57695698e-14, -9.57695698e-14,  1.00000000e+00, -9.17181051e-27,
        1.00000000e+00,  9.57695698e-14, -1.00000000e+00,  0.00000000e+00,
       -9.57695698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09591927, -0.09274106,  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:
[ 3.26794925e-05, 4.11864909e-05, 8.20309709e-06, 1.95802619e-05,
 -8.35024683e-06,-3.09358020e-05, 7.90471089e-06,-3.37134244e-05,
  5.17975993e-06,-5.77776583e-05, 2.93496533e-05,-1.55429062e-05,
 -1.92143217e-04,-3.73295417e-05,-1.62661170e-05, 5.41384456e-05,
  5.23791260e-06, 2.09510301e-05,-4.90501946e+00, 2.70205480e-04,
  1.18280726e-02,-5.85565945e-04]


--- Step 619 ---
qpos:
[ 0.01872684, 0.03013775,-0.00949722,-0.02555445, 0.00788088, 0.00468519,
 -0.0078235 , 0.02709957, 0.01231147, 0.02802218,-0.00834637, 0.0264613 ,
  1.01037766, 0.00717933, 0.92256382, 0.04630573, 0.05881065,-0.07741044,
  0.1714121 , 0.99964186, 0.02515235,-0.00198917,-0.008919  ]

qacc:
[-5.46011284e+00, 1.40244089e-02, 1.18386816e+00,-3.86192152e+00,
 -6.89965973e+00, 6.32306411e-01,-2.18651972e+00, 1.73514697e+00,
 -2.48073644e+00,-1.15269173e+00, 2.53677736e+00, 2.27463801e-01,
 -1.28557662e+00, 2.00643928e+00,-4.64278512e+00, 1.44370252e+01,
 -2.37075896e+00, 1.03070515e+00,-1.36854233e-01,-9.39917981e+00,
 -2.18622857e+01, 5.68309565e+00]

qfrc_actuator:
[ 8.01727832e-06, 9.45576749e-04, 1.27481505e-04, 2.27028346e-07,
 -5.46310320e-05, 2.87081190e-05,-7.53165739e-06, 2.20486223e-05,
 -4.00536598e-05, 9.41703838e-04, 1.99409809e-04, 6.59094929e-05,
  3.41768110e-02,-1.14270536e-03, 2.40184285e-02,-3.01912459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26795767, -3.12272816,  5.43469063, -3.12272816, 52.86164675,
       26.77234732,  5.43469063, 26.77234732, 21.65112641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005802916895196186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56607724e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56607724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09591747, -0.09274351,  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:
[-3.27416225e-05, 4.46429333e-05, 1.38358864e-05,-4.37756575e-06,
 -4.03219075e-05,-2.34001759e-05,-2.35796852e-05,-4.81099558e-06,
 -1.51192611e-05,-4.61801645e-05, 8.17543252e-06, 7.02261522e-06,
 -1.77860942e-04,-2.07446365e-05,-7.40115225e-05, 4.89229579e-05,
  1.62229644e-05, 3.23204651e-05,-4.90502235e+00, 2.67662280e-04,
  1.18236628e-02,-5.91336278e-04]


--- Step 620 ---
qpos:
[ 0.01872592, 0.03013814,-0.00949712,-0.02555367, 0.00787934, 0.00468499,
 -0.00782344, 0.02710006, 0.01231232, 0.02802402,-0.0083462 , 0.02646183,
  1.01113714, 0.00718049, 0.92331047, 0.04630493, 0.05876367,-0.07745663,
  0.17140802, 0.99963653, 0.02535295,-0.00219568,-0.00890004]

qacc:
[  2.53902278, -0.97897871,  4.2943149 , -6.68624854, -4.18632668,
   3.50578674,-13.47522851, 20.26384416,  1.33785791,  0.39017559,
  -3.57845183, 11.06201075, -0.75559687,  0.8509195 , -5.96757015,
  17.06922062, -2.33835097,  1.00736285, -0.29389265, -9.33449145,
 -21.42785555,  5.37259861]

qfrc_actuator:
[ 2.41646732e-05, 9.56739153e-04, 1.47490805e-04,-4.12270775e-06,
 -7.77781133e-05, 4.29073337e-05,-5.34379481e-05, 3.79066597e-05,
 -3.15570627e-05, 9.47400978e-04, 2.09413512e-04, 8.87922059e-05,
  3.41165578e-02,-1.14365671e-03, 2.39084546e-02,-2.97055280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005775892949148598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.6108345e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.6108345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09591713, -0.09274592,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52079300e-05, 3.87838799e-05, 3.07839582e-05,-2.04505837e-06,
 -2.43000056e-05,-3.97559293e-06,-5.38167090e-05, 1.39456542e-05,
  8.04284372e-06,-1.82152352e-05, 1.69082961e-06, 2.13190702e-05,
 -1.71611645e-04,-4.40239852e-05,-1.49474187e-04, 3.92813108e-05,
  3.17954493e-05, 4.09946512e-05,-4.90502607e+00, 2.63803145e-04,
  1.18204988e-02,-5.96737151e-04]


--- Step 621 ---
qpos:
[ 0.01872521, 0.03013882,-0.00949704,-0.02555328, 0.00787822, 0.00468472,
 -0.00782389, 0.02710073, 0.01231326, 0.02802566,-0.00834586, 0.02646194,
  1.01189538, 0.00718148, 0.92405584, 0.0463049 , 0.05870745,-0.07749887,
  0.17140222, 0.99963158, 0.02553461,-0.00244442,-0.00887192]

qacc:
[  1.71289312, -0.3247761 ,  3.33867023,-10.15711844,  3.71736028,
   1.72340341, -7.06172338, 11.1692237 ,  0.82002738, -1.61375942,
   7.14956485,-14.60306414, -0.67655939,  0.5028737 , -4.20743946,
  12.07170728, -2.31117018,  0.98738258, -0.42900006, -9.27232909,
 -21.07088879,  5.13357867]

qfrc_actuator:
[ 3.40433304e-05, 9.63151817e-04, 1.41472784e-04,-2.47383144e-05,
 -5.52610810e-05, 3.36505868e-05,-8.04433342e-05, 4.70380733e-05,
 -2.68924476e-05, 9.32440117e-04, 2.15291928e-04, 6.65428317e-05,
  3.40371494e-02,-1.16247719e-03, 2.38742735e-02,-2.92399277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005722201909138663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70101232e-14, -9.70101232e-14,  1.00000000e+00, -9.41096401e-27,
        1.00000000e+00,  9.70101232e-14, -1.00000000e+00,  0.00000000e+00,
       -9.70101232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09591792, -0.09274829,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03327658e-05, 3.43617241e-05, 5.70558030e-06,-1.79331653e-05,
  2.18266528e-05,-2.20017930e-05,-3.39710637e-05, 7.37059898e-06,
  4.89940519e-06,-2.39486071e-05, 3.03744826e-06,-2.25624304e-05,
 -1.93242901e-04,-6.46150455e-05,-1.05281718e-04, 2.79837140e-05,
  5.16846302e-05, 4.71528247e-05,-4.90503064e+00, 2.58778913e-04,
  1.18184489e-02,-6.01766306e-04]


--- Step 622 ---
qpos:
[ 0.01872358, 0.03013956,-0.0094969 ,-0.02555346, 0.00787773, 0.00468441,
 -0.00782444, 0.02710183, 0.01231391, 0.02802712,-0.00834545, 0.02646179,
  1.0126522 , 0.00718261, 0.92479999, 0.04630603, 0.05864207,-0.07753722,
  0.17139423, 0.99962698, 0.02569745,-0.00273478,-0.00883501]

qacc:
[ -7.80387386, -1.25379295,  7.00700301,-17.03198012,  5.48047242,
   1.06565881, -5.68551634, 13.16248979, -2.51594427, -0.97497054,
   4.24206701, -8.77952388, -1.05778152,  1.31970256, -5.21551794,
  15.81367147, -2.28870396,  0.97030571, -0.54483249, -9.21473346,
 -20.78044497,  4.95214202]

qfrc_actuator:
[-1.31205050e-05, 9.48797196e-04, 1.37849111e-04,-5.47851635e-05,
 -2.38057875e-05, 4.59909173e-05,-7.84078265e-05, 6.98876858e-05,
 -4.22811471e-05, 9.22929920e-04, 2.18581443e-04, 5.34030266e-05,
  3.39622748e-02,-1.15631183e-03, 2.38323264e-02,-2.86100986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00056477658772984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96577381e-13, -9.82886905e-14,  1.00000000e+00, -1.93213334e-26,
        1.00000000e+00,  9.82886905e-14, -1.00000000e+00,  0.00000000e+00,
       -1.96577381e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09591961, -0.09275062,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68525106e-05, 5.25008256e-06, 3.54599177e-06,-2.87303578e-05,
  3.20689700e-05,-6.64359714e-06,-6.43246174e-06, 2.08739531e-05,
 -1.52469173e-05,-2.33008309e-05,-2.08664102e-06,-1.45047970e-05,
 -2.05750898e-04,-4.89361626e-05,-9.64639835e-05, 4.88884517e-05,
  7.56986659e-05, 5.09370323e-05,-4.90503608e+00, 2.52691422e-04,
  1.18174118e-02,-6.06422811e-04]


--- Step 623 ---
qpos:
[ 0.01872243, 0.03014039,-0.00949686,-0.02555331, 0.00787761, 0.00468417,
 -0.00782534, 0.02710353, 0.01231403, 0.02802856,-0.0083451 , 0.02646182,
  1.01340772, 0.00718378, 0.92554285, 0.04630396, 0.05858447,-0.07758286,
  0.17138846, 0.99962136, 0.02589533,-0.00298929,-0.0088112 ]

qacc:
[  4.12474643,  1.05797609, -5.03674086, 10.97505236,  3.33946465,
   2.31856657,-10.70931185, 21.78754019, -4.55345532,  0.52741155,
  -2.63553292,  5.77610332, -1.12906797,  1.41361761,  7.85779448,
 -30.05001366,  1.94481605, -1.82054116,  0.5518714 , 17.34984784,
  17.91024493, -7.06594255]

qfrc_actuator:
[ 1.30359827e-05, 9.57607696e-04, 1.35584027e-04,-3.68934820e-05,
 -5.10882391e-06, 5.35509178e-05,-9.46592247e-05, 1.00660848e-04,
 -6.93488341e-05, 9.34504390e-04, 2.20348616e-04, 6.34902198e-05,
  3.39008326e-02,-1.15315119e-03, 2.37325023e-02,-3.03739682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15256246,  5.2611498 , -3.18972218,  5.2611498 , 17.82390875,
       19.25079923, -3.18972218, 19.25079923, 37.90496375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005664514716313407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79980705e-14, -9.79980705e-14,  1.00000000e+00, -9.60362181e-27,
        1.00000000e+00,  9.79980705e-14, -1.00000000e+00,  0.00000000e+00,
       -9.79980705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03431298, -0.05207421,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47914488e-05, 1.12094808e-05,-1.74432579e-06, 1.76803774e-05,
  1.96054034e-05, 3.43729059e-06,-1.76873570e-05, 3.06702841e-05,
 -2.75174430e-05,-2.56859545e-06,-3.82507440e-06, 8.73110143e-06,
 -1.96034704e-04,-5.17986773e-05,-1.48560904e-04,-1.88315837e-04,
  1.03706633e-04, 5.24584924e-05,-4.90504238e+00, 2.45606531e-04,
  1.18173100e-02,-6.10706590e-04]


--- Step 624 ---
qpos:
[ 0.01872126, 0.03014129,-0.00949685,-0.02555259, 0.00787807, 0.00468385,
 -0.00782634, 0.02710525, 0.01231381, 0.0280302 ,-0.00834484, 0.02646194,
  1.01416182, 0.0071853 , 0.92628417, 0.04630007, 0.05853444,-0.07763567,
  0.17138396, 0.99961475, 0.02612698,-0.00320859,-0.00879939]

qacc:
[ -0.19691623,  1.36506378, -7.07734049, 16.72977931,  5.01502232,
   0.2264196 , -1.03769537,  1.53977264, -2.78121938,  0.70966314,
  -2.5609233 ,  4.21420693, -1.39172364,  2.04978456,  3.34349108,
 -14.77040579,  1.89341765, -1.79243693,  0.3193894 , 16.71739504,
  17.58352248, -6.503602  ]

qfrc_actuator:
[ 1.11469446e-05, 9.62507859e-04, 1.34259408e-04,-8.67190795e-06,
  2.36787479e-05, 4.03830722e-05,-1.03844415e-04, 1.00323813e-04,
 -8.53146075e-05, 9.58633237e-04, 2.21306733e-04, 6.94271020e-05,
  3.38315134e-02,-1.13399542e-03, 2.36725629e-02,-3.12273004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22175129, -6.09842136,  1.23265809, -6.09842136,  7.90169521,
        8.31131195,  1.23265809,  8.31131195, 47.34092516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005747533555322815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65825614e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65825614e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03431266, -0.05207982,  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:
[-1.16596773e-06, 1.15464262e-05, 1.37694458e-06, 2.89823306e-05,
  2.93453737e-05,-1.35627654e-05,-9.58380332e-06,-2.06927738e-07,
 -1.67692835e-05, 2.22109239e-05, 2.38724555e-07, 5.86149427e-06,
 -1.99951351e-04,-3.35803472e-05,-1.57346024e-04,-1.16783181e-04,
  7.86608862e-05, 5.72884129e-05,-4.90503822e+00, 2.51842820e-04,
  1.18211522e-02,-6.15503802e-04]


--- Step 625 ---
qpos:
[ 0.01872043, 0.0301422 ,-0.00949707,-0.02555221, 0.00787887, 0.00468351,
 -0.0078272 , 0.02710693, 0.01231376, 0.02803173,-0.0083439 , 0.02646211,
  1.0149144 , 0.00718739, 0.92702393, 0.04629704, 0.05849462,-0.07768745,
  0.1713837 , 0.99960824, 0.02635421,-0.00338287,-0.00879635]

qacc:
[ 2.83564987,-0.06951376, 1.68810235,-7.18150033, 3.01002784,-0.55868657,
  2.10120324,-3.03960183, 1.34120275,-1.91411794, 6.41028938,-6.49639424,
 -1.48786358, 2.33407795,-4.79346362,13.72018824, 2.5499921 , 0.2553084 ,
  1.05696617,-2.42296479,22.3736617 ,-4.96242329]

qfrc_actuator:
[ 2.82473379e-05, 9.47292318e-04, 1.15736575e-04,-2.78648016e-05,
  4.04263090e-05, 5.04099544e-05,-9.11327313e-05, 9.94255364e-05,
 -7.68614135e-05, 9.54591051e-04, 2.57338803e-04, 7.28836946e-05,
  3.37575254e-02,-1.10556951e-03, 2.36366246e-02,-3.06475876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005834159366211872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90297000e-13, -1.42722750e-13,  1.00000000e+00, -2.71597111e-26,
        1.00000000e+00,  1.42722750e-13, -1.00000000e+00,  0.00000000e+00,
       -1.90297000e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0277289 , -0.08092008,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70661849e-05,-7.26462463e-06,-1.49767392e-05,-1.80898562e-05,
  1.75771893e-05, 4.83701067e-07, 8.73302135e-06,-1.81723210e-06,
  7.97414149e-06, 8.60992771e-06, 4.08303685e-05, 4.52692732e-06,
 -2.02721846e-04,-2.16428529e-05,-1.28741496e-04, 2.95470861e-05,
  5.73810933e-05, 5.84307168e-05,-4.90503496e+00, 2.55905441e-04,
  1.18258415e-02,-6.21111436e-04]


--- Step 626 ---
qpos:
[ 0.01872014, 0.03014295,-0.0094977 ,-0.02555203, 0.00787917, 0.00468329,
 -0.00782768, 0.0271082 , 0.01231415, 0.02803319,-0.00834274, 0.02646166,
  1.01566577, 0.00718948, 0.92776204, 0.04629469, 0.0584647 ,-0.07773828,
  0.17138651, 0.99960185, 0.02657689,-0.0035132 ,-0.00880146]

qacc:
[  4.76240494,  0.53861297, -1.42943156, -1.14149111, -4.34820873,
  -1.69853607,  8.04494733,-15.79446946,  3.81212845, -2.02943407,
   9.69588299,-20.74709047, -0.78996591,  0.83900083, -4.46017449,
  12.17440152,  2.47666473,  0.2393583 ,  0.76969419, -2.47798505,
  21.83583193, -4.65104574]

qfrc_actuator:
[ 5.63963733e-05, 9.20036947e-04, 8.70887568e-05,-3.93284477e-05,
  1.44452337e-05, 7.43360521e-05,-6.55024654e-05, 8.04884971e-05,
 -5.41070367e-05, 9.33856909e-04, 2.60425035e-04, 3.93511408e-05,
  3.37020987e-02,-1.10743896e-03, 2.35618848e-02,-3.02928320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005960810065431948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86253716e-13, -9.31268580e-14,  1.00000000e+00, -1.73452233e-26,
        1.00000000e+00,  9.31268580e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86253716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773142, -0.08092206,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86424966e-05,-3.52081425e-05,-3.26274450e-05,-1.26480510e-05,
 -2.54816568e-05, 2.59477062e-05, 2.67526023e-05,-1.86513022e-05,
  2.29953539e-05,-7.35561759e-06, 1.00208005e-05,-3.16689575e-05,
 -1.82357793e-04,-5.05751312e-05,-1.38962812e-04, 1.86860460e-05,
  3.55582064e-05, 4.56583169e-05,-4.90502632e+00, 2.57464465e-04,
  1.18299464e-02,-6.26595730e-04]


--- Step 627 ---
qpos:
[ 0.01871951, 0.03014328,-0.00949804,-0.02555166, 0.00787916, 0.00468313,
 -0.00782781, 0.02710924, 0.01231481, 0.02803486,-0.00834253, 0.02646155,
  1.01641593, 0.00719156, 0.92849833, 0.04629376, 0.05844443,-0.07778821,
  0.1713914 , 0.99959561, 0.02679497,-0.00360054,-0.00881427]

qacc:
[ -2.98156877, -0.9924193 ,  1.94303805,  1.16157455, -2.747844  ,
  -1.37049765,  5.94479602,-10.44660441,  2.26781104,  3.64174768,
 -13.99420954, 21.19280862, -0.71443486,  0.69683563, -6.9277245 ,
  20.42471121,  2.41356461,  0.22567667,  0.51957441, -2.51156501,
  21.36594174, -4.40398805]

qfrc_actuator:
[ 3.75591750e-05, 9.03483223e-04, 1.05909753e-04,-2.84095192e-05,
 -9.67501717e-07, 7.09437958e-05,-5.01570679e-05, 6.88621235e-05,
 -4.08781604e-05, 9.38634091e-04, 2.08416845e-04, 5.52891792e-05,
  3.36418589e-02,-1.10940090e-03, 2.34852326e-02,-2.95421071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006028735224759552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84155214e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.84155214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773238, -0.08092372,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80146219e-05,-4.35310833e-05, 7.09073033e-06, 8.03459307e-06,
 -1.61281449e-05, 1.58464068e-05, 2.33613637e-05,-9.95197153e-06,
  1.39076120e-05, 1.32060010e-06,-5.34192651e-05, 1.53474925e-05,
 -1.81730766e-04,-5.17195102e-05,-1.45853799e-04, 5.65612319e-05,
  1.91899877e-05, 3.33426073e-05,-4.90501937e+00, 2.57689618e-04,
  1.18334243e-02,-6.31956723e-04]


--- Step 628 ---
qpos:
[ 0.01871832, 0.03014332,-0.00949817,-0.02555152, 0.00787897, 0.00468313,
 -0.00782837, 0.02711087, 0.01231493, 0.02803643,-0.00834289, 0.02646234,
  1.01716482, 0.00719366, 0.92923329, 0.04629327, 0.05843361,-0.07783728,
  0.1713975 , 0.99958952, 0.02700838,-0.0036457 ,-0.00883438]

qacc:
[ -4.83997371, -1.40701304,  5.44087593, -9.51253097, -1.64198962,
   2.61518559,-11.47869821, 22.14653282, -4.57533032,  3.29380078,
 -15.73246124, 32.24819368, -0.88072667,  0.98009912, -3.27565785,
   8.74968239,  2.35968896,  0.2138936 ,  0.30323018, -2.5295947 ,
  20.95935314, -4.20940885]

qfrc_actuator:
[ 8.96616227e-06, 8.93671310e-04, 1.17157404e-04,-3.98733974e-05,
 -1.00229321e-05, 6.89419650e-05,-7.66140389e-05, 9.71084163e-05,
 -6.88719320e-05, 9.22946165e-04, 1.77699586e-04, 1.00199752e-04,
  3.35734483e-02,-1.11139993e-03, 2.34394625e-02,-2.92739418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006048614888114756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17749803e-14, -4.58874902e-14,  1.00000000e+00, -4.21132351e-27,
        1.00000000e+00,  4.58874902e-14, -1.00000000e+00,  0.00000000e+00,
       -9.17749803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773205, -0.08092514,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91346067e-05,-3.23586243e-05, 3.40894659e-06,-1.29257775e-05,
 -9.50877344e-06, 1.12581667e-05,-2.06488757e-05, 2.95389915e-05,
 -2.75782544e-05,-2.53821849e-05,-3.65147741e-05, 4.34130938e-05,
 -1.89754135e-04,-5.18671590e-05,-1.13337809e-04, 9.66111641e-06,
  7.86166436e-06, 2.14933322e-05,-4.90501398e+00, 2.56758005e-04,
  1.18363359e-02,-6.37189965e-04]


--- Step 629 ---
qpos:
[ 0.01871748, 0.03014323,-0.00949851,-0.0255515 , 0.00787832, 0.00468329,
 -0.00782895, 0.02711245, 0.01231438, 0.02803739,-0.0083428 , 0.02646296,
  1.01791224, 0.0071961 , 0.92996719, 0.04629302, 0.05843204,-0.07788554,
  0.17140407, 0.99958361, 0.02721711,-0.0036494 ,-0.00886151]

qacc:
[  3.04622102,  0.13755237, -0.19674125, -1.62171411, -3.98158205,
   0.19400606, -0.16450028, -0.75843196, -5.77752827, -2.36033368,
   7.96896421,-11.09727133, -1.32987252,  1.90752652, -2.12801244,
   5.42728135,  2.31403735,  0.20369467,  0.11712383, -2.53648649,
  20.61077973, -4.05770954]

qfrc_actuator:
[ 2.81333629e-05, 8.87940681e-04, 1.06085203e-04,-4.66722219e-05,
 -3.30198673e-05, 8.53988125e-05,-7.42548121e-05, 9.53015427e-05,
 -1.03149491e-04, 8.77467920e-04, 1.95255984e-04, 9.07870470e-05,
  3.34948591e-02,-1.09570047e-03, 2.34069169e-02,-2.91138396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006029672913663853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84126575e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.84126575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0277307 , -0.08092635,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83071842e-05,-2.36811518e-05,-1.77795192e-05,-8.31666532e-06,
 -2.32636331e-05, 1.97526899e-05, 3.16684191e-06,-1.46600040e-06,
 -3.50911316e-05,-6.54178573e-05, 9.30327223e-06,-1.09222676e-05,
 -2.04427100e-04,-3.62099035e-05,-9.24129026e-05,-4.51662803e-08,
  1.23559292e-06, 1.01047687e-05,-4.90501003e+00, 2.54800838e-04,
  1.18387311e-02,-6.42292560e-04]


--- Step 630 ---
qpos:
[ 0.01871756, 0.03014348,-0.00949924,-0.02555127, 0.0078774 , 0.00468334,
 -0.00782879, 0.02711329, 0.01231376, 0.02803815,-0.00834208, 0.02646305,
  1.01865813, 0.00719882, 0.93070028, 0.0462935 , 0.05843957,-0.07793301,
  0.17141047, 0.99957786, 0.02742117,-0.00361222,-0.00889543]

qacc:
[  7.9183975 ,  1.94552249, -7.23117966, 11.36021423, -2.35537281,
  -3.73667604, 16.25933063,-30.22981757, -0.51177851, -3.12118367,
  12.99235424,-23.03098471, -1.29747731,  1.77057667, -3.36834282,
  10.2591574 ,  2.27566043,  0.19481475, -0.04220968, -2.53554564,
  20.31480112, -3.94111439]

qfrc_actuator:
[ 7.52617799e-05, 9.37872207e-04, 9.97033489e-05,-3.29257774e-05,
 -4.62877920e-05, 7.73587144e-05,-3.70856048e-05, 5.81083758e-05,
 -1.05332401e-04, 9.03418228e-04, 2.40996309e-04, 6.72366190e-05,
  3.34102263e-02,-1.08746412e-03, 2.33929806e-02,-2.86630291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005979826531063992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28307049e-14, -4.64153525e-14,  1.00000000e+00, -4.30876989e-27,
        1.00000000e+00,  4.64153525e-14, -1.00000000e+00,  0.00000000e+00,
       -9.28307049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772853, -0.08092741,  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:
[ 4.76554018e-05, 3.26773474e-05,-1.37451595e-05, 1.19558052e-05,
 -1.39222265e-05, 3.58644240e-06, 4.15911164e-05,-3.62672687e-05,
 -3.23195361e-06,-9.22926914e-06, 3.29825102e-05,-2.62468821e-05,
 -2.15378665e-04,-4.40532776e-05,-6.66819724e-05, 3.08566839e-05,
 -9.59762774e-07,-8.38234324e-07,-4.90500741e+00, 2.51914048e-04,
  1.18406503e-02,-6.47262746e-04]


--- Step 631 ---
qpos:
[ 0.01871787, 0.03014395,-0.00949951,-0.02555058, 0.00787599, 0.00468318,
 -0.00782811, 0.02711371, 0.01231346, 0.02803927,-0.00834107, 0.02646281,
  1.01940278, 0.00720105, 0.93143261, 0.04629251, 0.05845608,-0.07797974,
  0.17141616, 0.99957229, 0.02762055,-0.00353468,-0.00893598]

qacc:
[  1.89628555, -0.02205511, -1.4504648 ,  8.57442641, -4.35145789,
  -2.6342604 , 10.79875068,-18.86486991,  2.75125994, -1.03053218,
   5.72913166,-12.15572231, -0.5607846 ,  0.06077222,  3.41154385,
 -13.48796597,  2.24368476,  0.18703167, -0.17803241, -2.52924581,
  20.06616419, -3.85332519]

qfrc_actuator:
[ 8.51972998e-05, 9.67531826e-04, 1.31900302e-04,-7.14650016e-06,
 -7.14717009e-05, 5.48269592e-05,-1.52903532e-05, 3.59030588e-05,
 -8.86043137e-05, 9.54304818e-04, 2.67771599e-04, 5.33870716e-05,
  3.33433288e-02,-1.11927756e-03, 2.33476203e-02,-2.94641275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005905832895604646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69968861e-14,  1.17492215e-13,  1.00000000e+00,  5.52176827e-27,
        1.00000000e+00, -1.17492215e-13, -1.00000000e+00,  0.00000000e+00,
       -4.69968861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772573, -0.08092833,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13357813e-05, 4.56208479e-05, 3.76697616e-05, 2.69341564e-05,
 -2.55784804e-05,-1.34995541e-05, 2.64002160e-05,-2.13201293e-05,
  1.66329839e-05, 5.13743493e-05, 2.80050701e-05,-1.36181510e-05,
 -2.05518479e-04,-8.84069646e-05,-8.41011576e-05,-8.95956572e-05,
  1.06010120e-06,-1.13562060e-05,-4.90500605e+00, 2.48166429e-04,
  1.18421264e-02,-6.52099575e-04]


--- Step 632 ---
qpos:
[ 0.01871829, 0.03014418,-0.00949888,-0.02554956, 0.00787463, 0.00468288,
 -0.00782746, 0.02711457, 0.01231268, 0.02804093,-0.0083401 , 0.02646172,
  1.02014623, 0.00720285, 0.93216364, 0.04629025, 0.05848145,-0.07802575,
  0.17142067, 0.99956688, 0.02781527,-0.00341717,-0.00898301]

qacc:
[  1.0402242 , -2.16212842,  5.84132082, -1.36253153,  0.47668655,
   0.8726358 , -5.29472366, 13.31244669, -4.15583116, -0.92927326,
   8.01018769,-23.239684  , -0.54584155,  0.09326179,  1.89830753,
  -9.37155999,  2.21732278,  0.18015994, -0.29333941, -2.51943474,
  19.85994677, -3.78923893]

qfrc_actuator:
[ 9.09049314e-05, 9.31747523e-04, 1.68807817e-04, 7.76639003e-06,
 -6.79653352e-05, 4.14970514e-05,-2.05617991e-05, 5.81746823e-05,
 -1.14147681e-04, 9.84182080e-04, 2.65507741e-04, 9.86546644e-06,
  3.32871014e-02,-1.13896583e-03, 2.32781032e-02,-3.01093936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813427075652827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77439129e-14, -1.19359782e-13,  1.00000000e+00, -5.69870306e-27,
        1.00000000e+00,  1.19359782e-13, -1.00000000e+00,  0.00000000e+00,
       -4.77439129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772244, -0.08092915,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04993132e-06,-1.35284554e-06, 5.18963887e-05, 1.86913740e-05,
  2.77456197e-06,-1.63514389e-05,-5.55210090e-06, 2.21906034e-05,
 -2.50334972e-05, 6.37606907e-05, 1.13011933e-05,-4.06209930e-05,
 -1.99554992e-04,-8.26800006e-05,-1.28942245e-04,-8.28048221e-05,
  7.12688797e-06,-2.14723751e-05,-4.90500589e+00, 2.43605849e-04,
  1.18431857e-02,-6.56802678e-04]


--- Step 633 ---
qpos:
[ 0.01871947, 0.03014403,-0.00949818,-0.02554863, 0.00787366, 0.00468254,
 -0.00782717, 0.02711536, 0.01231091, 0.02804277,-0.00833877, 0.02646082,
  1.02088833, 0.00720444, 0.93289258, 0.04629026, 0.05851561,-0.07807106,
  0.17142363, 0.99956161, 0.02800536,-0.00326005,-0.00903646]

qacc:
[ 6.48378815,-0.89007928, 2.85707146,-4.37343734, 3.48462697, 0.76700716,
 -2.51413076, 1.81608762,-8.41878991,-0.3333319 , 0.72689207, 1.96823808,
 -0.58329238, 0.25882184,-9.91143679,30.23711534, 2.19587381, 0.17404521,
 -0.39083561,-2.50748828,19.6916346 ,-3.74471775]

qfrc_actuator:
[ 1.29595460e-04, 8.74825917e-04, 1.54653139e-04,-1.64714163e-06,
 -4.75970072e-05, 3.37027295e-05,-4.17080125e-05, 5.31666462e-05,
 -1.64373939e-04, 9.83359968e-04, 2.81535783e-04, 2.02119759e-05,
  3.32160146e-02,-1.15124357e-03, 2.31941686e-02,-2.88822725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005707448732817366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72608846e-14,  1.45891327e-13,  1.00000000e+00,  1.41895195e-26,
        1.00000000e+00, -1.45891327e-13, -1.00000000e+00,  0.00000000e+00,
       -9.72608846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771879, -0.08092988,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88619473e-05,-4.61766750e-05,-7.40880524e-06,-7.31650524e-06,
  2.04407709e-05,-1.71317593e-05,-2.44459978e-05,-5.47182865e-06,
 -5.09312347e-05, 3.53465951e-05, 2.91570285e-05, 1.26768475e-05,
 -2.10076312e-04,-7.25071169e-05,-1.60781060e-04, 9.96143749e-05,
  1.71119209e-05,-3.12109306e-05,-4.90500690e+00, 2.38263992e-04,
  1.18438489e-02,-6.61372086e-04]


--- Step 634 ---
qpos:
[ 0.01872144, 0.03014374,-0.00949827,-0.0255478 , 0.00787295, 0.00468205,
 -0.00782681, 0.02711573, 0.01230889, 0.02804426,-0.00833699, 0.02646046,
  1.02162901, 0.00720591, 0.93361914, 0.04629276, 0.05855849,-0.0781157 ,
  0.17142469, 0.99955648, 0.02819084,-0.00306357,-0.00909625]

qacc:
[  6.83648387,  1.78058566, -6.29047149,  6.14677207,  2.21809787,
  -1.26655741,  6.03702754,-13.43493991, -2.05520836, -0.62090196,
  -0.73954222,  9.60425392, -0.69319731,  0.48630095,-11.00509658,
  33.49110112,  2.17872008,  0.16855923, -0.47293715, -2.49442616,
  19.55714539, -3.71640246]

qfrc_actuator:
[ 1.69638723e-04, 8.58704926e-04, 1.10336891e-04,-7.60603229e-06,
 -3.52290007e-05, 2.91910978e-05,-3.65468022e-05, 3.21383241e-05,
 -1.75454957e-04, 9.28762567e-04, 2.90407575e-04, 4.44131751e-05,
  3.31413936e-02,-1.15911577e-03, 2.30803989e-02,-2.76270147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000559195650354255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48904461e-13, -2.48174101e-14,  1.00000000e+00, -3.69542308e-27,
        1.00000000e+00,  2.48174101e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48904461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771491, -0.08093053,  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:
[ 4.11599384e-05,-4.37810865e-05,-5.50301667e-05,-8.33985104e-06,
  1.29441478e-05,-1.93615414e-05,-1.57990393e-06,-2.27173273e-05,
 -1.25577083e-05,-2.83689419e-05, 2.01681999e-05, 2.69682167e-05,
 -2.17473329e-04,-6.85115993e-05,-1.82519240e-04, 1.09062898e-04,
  3.09197439e-05,-4.05959212e-05,-4.90500903e+00, 2.32159964e-04,
  1.18441324e-02,-6.65808093e-04]


--- Step 635 ---
qpos:
[ 0.0187225 , 0.03014338,-0.00949897,-0.02554706, 0.00787274, 0.00468142,
 -0.00782644, 0.02711653, 0.01230745, 0.02804537,-0.00833553, 0.02645976,
  1.02236823, 0.00720754, 0.93434451, 0.04629324, 0.05859094,-0.07815592,
  0.17142853, 0.99955177, 0.02835879,-0.00291444,-0.00914002]

qacc:
[ -7.85629824,  1.45546455, -4.86441766,  4.14266227,  4.39196293,
   0.68757017, -4.58486314, 12.28496015,  4.86873428, -0.31897245,
   1.81318828, -6.86557551, -1.30446416,  1.72669753,  4.43598438,
 -17.84162382, -2.6054659 ,  1.10426534,  0.69531455, -8.52362486,
 -23.51576573,  8.70722003]

qfrc_actuator:
[ 1.21383943e-04, 8.66993819e-04, 8.42469131e-05,-1.14634598e-05,
 -9.92182051e-06, 2.67665673e-05,-3.36342549e-05, 5.51381179e-05,
 -1.45646019e-04, 8.77870087e-04, 2.59242029e-04, 2.32489309e-05,
  3.30753584e-02,-1.14660136e-03, 2.30287155e-02,-2.86740536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21881605,  6.09712937, -1.22420854,  6.09712937,  7.76294594,
        7.69048685, -1.22420854,  7.69048685, 44.52102656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005744013987796087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66417410e-14, -9.66417410e-14,  1.00000000e+00, -9.33962611e-27,
        1.00000000e+00,  9.66417410e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66417410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09590006, -0.09280321,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70670405e-05,-2.78977422e-05,-4.21994553e-05,-7.80131994e-06,
  2.56692925e-05,-1.45342490e-05,-2.06730127e-06, 2.16722317e-05,
  2.94351250e-05,-6.15194965e-05,-3.36472909e-05,-2.11636439e-05,
 -2.12590547e-04,-4.89214672e-05,-1.28275886e-04,-1.23183375e-04,
  4.84827686e-05,-4.96505890e-05,-4.90501227e+00, 2.25303041e-04,
  1.18440488e-02,-6.70111161e-04]


--- Step 636 ---
qpos:
[ 0.01872298, 0.03014273,-0.00949966,-0.02554639, 0.00787248, 0.00468094,
 -0.00782645, 0.02711759, 0.01230637, 0.02804629,-0.00833456, 0.02645914,
  1.02310613, 0.00720903, 0.93506844, 0.04629274, 0.05861324,-0.07819189,
  0.17143407, 0.99954752, 0.02850902,-0.00281126,-0.0091694 ]

qacc:
[ -5.02423707, -0.53552367,  1.65615386, -2.63913972, -0.36666937,
   1.77050376, -7.12545854, 12.09532665,  3.12789144,  1.29497197,
  -5.3265281 ,  7.69733624, -0.84178752,  0.75023239,  0.88242216,
  -6.05674617, -2.53787764,  1.06232903,  0.42511661, -8.63438486,
 -22.8388826 ,  7.87052001]

qfrc_actuator:
[ 9.25542931e-05, 8.54396922e-04, 8.69977331e-05,-1.40128391e-05,
 -1.27043291e-05, 4.33984058e-05,-4.97915445e-05, 6.83539161e-05,
 -1.27526314e-04, 8.82629996e-04, 2.40151903e-04, 2.87858440e-05,
  3.30092048e-02,-1.15760449e-03, 2.29716564e-02,-2.91145758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32159279, -5.51400386,  3.09164953, -5.51400386, 14.2183591 ,
       14.08400255,  3.09164953, 14.08400255, 31.44062508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867166824931325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89226429e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89226429e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589495, -0.09280764,  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:
[-3.02073968e-05,-3.72468012e-05,-8.46664922e-06,-5.35324711e-06,
 -2.05890488e-06, 9.03154531e-06,-1.86640876e-05, 1.29409157e-05,
  1.89689795e-05,-3.75492331e-05,-3.67055529e-05, 1.31878443e-06,
 -2.05198220e-04,-6.74806075e-05,-1.38662049e-04,-6.94392374e-05,
  2.75793800e-05,-3.37393982e-05,-4.90500881e+00, 2.32959132e-04,
  1.18368417e-02,-6.73686145e-04]


--- Step 637 ---
qpos:
[ 0.01872345, 0.03014193,-0.00950066,-0.02554575, 0.00787151, 0.00468069,
 -0.00782698, 0.02711845, 0.01230518, 0.02804732,-0.00833374, 0.02645854,
  1.02384281, 0.00721007, 0.93579049, 0.0462927 , 0.05862562,-0.07822376,
  0.17144037, 0.99954375, 0.02864141,-0.00275283,-0.00918569]

qacc:
[ -0.05087435,  0.58740355, -2.26757209,  2.342504  , -6.36416403,
   1.35870079, -3.56384988,  0.81899054, -1.01971837,  0.57185926,
  -1.86519569,  2.16988971, -0.40823495, -0.14845322, -4.15692901,
  10.53429565, -2.47937907,  1.02682023,  0.18977955, -8.69991599,
 -22.25998421,  7.20365727]

qfrc_actuator:
[ 9.31703944e-05, 8.47271010e-04, 7.11670445e-05,-1.57700999e-05,
 -4.97538593e-05, 5.34827761e-05,-7.70118734e-05, 5.79510813e-05,
 -1.34198175e-04, 9.20730745e-04, 2.46356382e-04, 3.23039585e-05,
  3.29483458e-02,-1.18245743e-03, 2.28901343e-02,-2.88384407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37669802, -5.40569299,  3.38241938, -5.40569299, 18.56347823,
       19.47658909,  3.38241938, 19.47658909, 37.5036664 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005933158855356974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35608713e-14, -9.35608713e-14,  1.00000000e+00,  8.75363665e-27,
        1.00000000e+00,  9.35608713e-14, -1.00000000e+00,  0.00000000e+00,
        9.35608713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589198, -0.09281158,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74077237e-07,-2.99137258e-05,-2.47364477e-05,-3.74646201e-06,
 -3.71046761e-05, 1.18485851e-05,-2.72023748e-05,-1.04109331e-05,
 -6.12317599e-06, 9.53727215e-06,-6.04986752e-06, 6.60752938e-07,
 -1.99709113e-04,-8.33946127e-05,-1.60864508e-04, 4.12532469e-06,
  1.29657682e-05,-2.07077765e-05,-4.90500624e+00, 2.37943213e-04,
  1.18311740e-02,-6.76963142e-04]


--- Step 638 ---
qpos:
[ 0.01872358, 0.03014117,-0.00950191,-0.0255462 , 0.00786975, 0.00468021,
 -0.00782734, 0.02711851, 0.01230426, 0.02804858,-0.00833293, 0.02645761,
  1.02457808, 0.00721138, 0.93651065, 0.04629229, 0.05862829,-0.07825163,
  0.17144662, 0.99954047, 0.0287559 ,-0.00273813,-0.00918994]

qacc:
[-2.93767554e+00,-1.48529946e+00, 1.00127628e+01,-2.85683678e+01,
 -6.86360235e+00,-2.39918172e+00, 1.15791705e+01,-2.57404423e+01,
  2.33060430e+00,-3.26682876e-01, 2.95904840e+00,-8.69728048e+00,
 -1.21659980e+00, 1.66218056e+00,-1.57482571e+00, 1.68564659e+00,
 -2.42919665e+00, 9.96846610e-01,-1.38965303e-02,-8.73420733e+00,
 -2.17680117e+01, 6.67293831e+00]

qfrc_actuator:
[ 7.56020436e-05, 8.61165495e-04, 6.22531583e-05,-7.03195975e-05,
 -8.89138985e-05, 2.39947735e-05,-7.50700935e-05, 1.59753357e-05,
 -1.19899682e-04, 9.43113794e-04, 2.49837274e-04, 1.68992739e-05,
  3.28853746e-02,-1.16201984e-03, 2.27993516e-02,-2.90304118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.39275883, -5.19918155,  3.71966083, -5.19918155, 25.51539638,
       26.72879841,  3.71966083, 26.72879841, 43.75312101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00059523927151231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.865171e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.865171e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589074, -0.09281514,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75821674e-05,-8.06436274e-06,-1.82490155e-05,-5.67564828e-05,
 -4.02088506e-05,-2.89268255e-05, 6.87277970e-07,-4.26104677e-05,
  1.41263605e-05, 2.64434804e-05, 4.70735090e-06,-1.51952074e-05,
 -2.02258440e-04,-4.00222449e-05,-1.70407182e-04,-4.10456991e-05,
  3.99838113e-06,-1.03618249e-05,-4.90500458e+00, 2.40729827e-04,
  1.18268686e-02,-6.79925863e-04]


--- Step 639 ---
qpos:
[ 0.01872384, 0.03014027,-0.0095029 ,-0.02554801, 0.00786823, 0.00467941,
 -0.00782732, 0.02711771, 0.01230421, 0.02804994,-0.00833237, 0.02645722,
  1.02531203, 0.00721289, 0.93722851, 0.04629298, 0.05862141,-0.07827562,
  0.17145211, 0.99953767, 0.02885248,-0.00276632,-0.00918297]

qacc:
[  1.1523042 , -3.69209297, 18.5680511 ,-42.20569406,  2.07515906,
  -3.24125001, 14.5273577 ,-29.61555475,  7.3873757 ,  1.93335574,
  -9.00917552, 18.76825133, -0.97512201,  1.24433955, -6.65355752,
  18.50305405, -2.38651351,  0.97161794, -0.18925064, -8.74757189,
 -21.35264217,  6.25144467]

qfrc_actuator:
[ 8.29666040e-05, 8.52018946e-04, 7.53048592e-05,-1.37716742e-04,
 -7.57338619e-05, 6.62527515e-06,-5.61033485e-05,-2.64975010e-05,
 -7.56117530e-05, 9.38152121e-04, 2.33859974e-04, 4.37280841e-05,
  3.28265248e-02,-1.15044003e-03, 2.26977545e-02,-2.84316402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005933847052686236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35500203e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.35500203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589088, -0.09281842,  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:
[ 6.85616675e-06,-1.98187305e-05, 7.19991511e-06,-6.94728503e-05,
  1.20289920e-05,-3.52221921e-05, 1.16131515e-05,-4.45145198e-05,
  4.47166932e-05, 1.00960259e-05,-1.04845525e-05, 2.78258757e-05,
 -1.89957473e-04,-4.06315563e-05,-1.90672332e-04, 3.42891653e-05,
  1.85184746e-07,-2.53701128e-06,-4.90500385e+00, 2.41668302e-04,
  1.18237837e-02,-6.82562768e-04]


--- Step 640 ---
qpos:
[ 0.01872419, 0.03013918,-0.00950434,-0.02554917, 0.00786757, 0.00467849,
 -0.0078272 , 0.0271171 , 0.01230469, 0.02805139,-0.00833229, 0.02645753,
  1.02604471, 0.00721454, 0.9379444 , 0.04629363, 0.05860513,-0.07829581,
  0.17145624, 0.99953536, 0.02893115,-0.00283668,-0.00916543]

qacc:
[  0.73030167,  2.32996834,-11.40798573, 23.42161195,  7.56421111,
  -0.10317086, -0.65970291,  3.74489769,  4.51548601,  2.86063546,
 -12.9604747 , 25.60667261, -0.97172464,  1.21145139, -2.73686395,
   5.48738842, -2.35052632,  0.95044477, -0.33954833, -8.74758964,
 -21.00449652,  5.9176761 ]

qfrc_actuator:
[ 8.72002258e-05, 8.29224606e-04, 4.78733361e-05,-1.05612383e-04,
 -3.18524344e-05, 1.44673021e-05,-4.49576319e-05,-1.56466990e-05,
 -4.95390372e-05, 9.34564048e-04, 2.06442851e-04, 7.74056932e-05,
  3.27648639e-02,-1.14421428e-03, 2.26110774e-02,-2.84367796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885224227119568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43229163e-14, -9.43229163e-14,  1.00000000e+00, -8.89681254e-27,
        1.00000000e+00,  9.43229163e-14, -1.00000000e+00,  0.00000000e+00,
       -9.43229163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589213, -0.09282148,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43333868e-06,-3.53144598e-05,-3.30160251e-05, 3.01599675e-05,
  4.42123718e-05,-1.13284502e-05, 3.77067307e-06, 8.87992110e-06,
  2.73923548e-05, 1.04468074e-06,-2.56837629e-05, 3.42837173e-05,
 -1.85645734e-04,-4.32711025e-05,-1.75062155e-04,-2.41427767e-05,
  1.15129656e-06, 2.90389879e-06,-4.90500405e+00, 2.41014645e-04,
  1.18218068e-02,-6.84865771e-04]


--- Step 641 ---
qpos:
[ 0.01872528, 0.0301379 ,-0.00950587,-0.02554962, 0.00786744, 0.00467753,
 -0.00782701, 0.02711695, 0.01230513, 0.02805303,-0.00833256, 0.02645752,
  1.02677603, 0.00721609, 0.93865878, 0.04629314, 0.05857957,-0.07831227,
  0.1714585 , 0.99953353, 0.02899194,-0.00294862,-0.00913783]

qacc:
[  6.32777615,  1.444747  , -8.50494245, 21.06648141,  4.67537672,
   0.70798375, -4.6104507 , 12.7046756 , -0.31469285,  0.59631469,
  -0.44310536, -4.52920679, -0.92740912,  0.92891021,  1.30669443,
  -7.63580972, -2.32047711,  0.93273175, -0.46786301, -8.7398059 ,
 -20.71520462,  5.65445987]

qfrc_actuator:
[ 1.25054149e-04, 8.33860659e-04, 5.00174859e-05,-6.85198016e-05,
 -5.77426694e-06, 1.96147259e-05,-3.83833592e-05, 8.75389423e-06,
 -5.21590318e-05, 9.49531919e-04, 1.90246015e-04, 6.15720509e-05,
  3.26802564e-02,-1.15897200e-03, 2.25547095e-02,-2.89747977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813094281865855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54932925e-14, -9.54932925e-14,  1.00000000e+00, -9.11896890e-27,
        1.00000000e+00,  9.54932925e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54932925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589424, -0.09282436,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79760759e-05,-2.05793083e-05,-8.14046254e-06, 3.50336816e-05,
  2.73301629e-05, 2.07313113e-08, 5.01485731e-06, 2.42197366e-05,
 -1.81155913e-06, 1.16727788e-05,-1.79775080e-05,-1.60154826e-05,
 -2.06554237e-04,-6.38537277e-05,-1.45105963e-04,-7.89193419e-05,
  6.61306800e-06, 6.07354888e-06,-4.90500517e+00, 2.38955211e-04,
  1.18208499e-02,-6.86829278e-04]


--- Step 642 ---
qpos:
[ 0.01872716, 0.03013644,-0.00950675,-0.02555071, 0.00786762, 0.00467667,
 -0.00782705, 0.02711676, 0.01230554, 0.0280546 ,-0.00833263, 0.02645697,
  1.0275059 , 0.00721756, 0.93937203, 0.04629087, 0.05854482,-0.07832505,
  0.17145845, 0.99953216, 0.02903487,-0.00310165,-0.00910058]

qacc:
[  6.80085477, -3.36637112, 14.31337232,-26.20725119,  2.75196882,
   0.70077896, -2.10315029,  1.57308857, -0.28600475, -1.73793142,
   8.32648395,-17.89345875, -1.07122305,  1.13383346,  3.7541675 ,
 -15.4012158 , -2.29566914,  0.9179685 , -0.57701742, -8.7282498 ,
 -20.47738594,  5.44807637]

qfrc_actuator:
[ 1.64641865e-04, 8.37259893e-04, 8.74692408e-05,-9.97684043e-05,
  9.60637554e-06, 2.31128516e-05,-5.23116142e-05, 5.41636368e-06,
 -5.38876796e-05, 9.39988624e-04, 1.98599336e-04, 3.45094695e-05,
  3.25979116e-02,-1.16839296e-03, 2.25165548e-02,-2.98213566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723030116592531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93992169e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93992169e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.095897  , -0.09282709,  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:
[ 4.06918895e-05,-8.21493440e-06, 3.34421018e-05,-3.17236289e-05,
  1.61561342e-05, 5.62607563e-06,-1.24600374e-05,-2.69086061e-06,
 -1.77141662e-06,-7.47115606e-06, 7.98054446e-06,-2.74989658e-05,
 -2.21119072e-04,-6.76363330e-05,-1.21149330e-04,-1.09413095e-04,
  1.63584334e-05, 7.06285520e-06,-4.90500722e+00, 2.35624280e-04,
  1.18208444e-02,-6.88449462e-04]


--- Step 643 ---
qpos:
[ 0.01872846, 0.030135  ,-0.00950754,-0.02555215, 0.00786799, 0.00467606,
 -0.00782731, 0.02711582, 0.01230662, 0.02805591,-0.00833254, 0.02645648,
  1.02823439, 0.00721889, 0.94008385, 0.04628528, 0.05850885,-0.07832867,
  0.17145882, 0.99953192, 0.02903866,-0.00325846,-0.00905987]

qacc:
[ -4.91836984, -0.97784241,  5.04418455,-11.38341479,  1.5987563 ,
  -0.62747132,  5.87696065,-18.69606969,  5.68092926, -0.73716789,
   1.89594134, -1.0872587 , -1.03080713,  1.05482536,  8.01519949,
 -30.94027292, -0.30572295,  2.29153333,  0.10362655,-19.55455765,
  -2.01073343,  1.84877808]

qfrc_actuator:
[ 1.33911684e-04, 8.39993877e-04, 9.21561015e-05,-1.17699443e-04,
  1.85732708e-05, 4.32458715e-05,-6.05062076e-05,-3.19848158e-05,
 -1.95630689e-05, 9.15928432e-04, 2.03528828e-04, 3.65662000e-05,
  3.25329599e-02,-1.17458462e-03, 2.24307660e-02,-3.15522698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.11316008,   5.02047625,   3.48791404,   5.02047625,
        17.84353794, -16.88461434,   3.48791404, -16.88461434,
        30.41674218,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005617173188248959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12671780e-07,  3.12671817e-07,  1.00000000e+00, -9.77636535e-14,
        1.00000000e+00, -3.12671817e-07, -1.00000000e+00,  0.00000000e+00,
        3.12671780e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06492152, -0.1107993 ,  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:
[-2.95414024e-05, 3.76285493e-06, 6.03769357e-06,-1.77379001e-05,
  9.42861475e-06, 2.06278672e-05,-8.64984367e-06,-3.76417888e-05,
  3.42756299e-05,-2.78219609e-05, 3.40200017e-06, 1.47557090e-06,
 -2.12966592e-04,-6.86638412e-05,-1.62703692e-04,-1.96812799e-04,
  3.02319278e-05, 5.94376681e-06,-4.90501018e+00, 2.31117093e-04,
  1.18217380e-02,-6.89723730e-04]


--- Step 644 ---
qpos:
[ 0.01872904, 0.03013353,-0.00950795,-0.02555381, 0.00786846, 0.0046758 ,
 -0.00782777, 0.02711476, 0.01230775, 0.02805705,-0.00833266, 0.02645568,
  1.02896164, 0.00721981, 0.94079377, 0.04627795, 0.05847202,-0.07832309,
  0.17145899, 0.99953283, 0.02900267,-0.00341758,-0.00901589]

qacc:
[ -6.18826191, -1.50910898,  6.22838984,-10.50896796,  0.90837612,
   0.80528353, -1.74041736, -0.08055524,  0.49558375, -0.22162119,
   1.7509117 , -6.50103204, -0.58870755,  0.16895431,  2.46569638,
 -12.63966519, -0.2154154 ,  2.30024181, -0.04850013,-19.8854118 ,
  -1.29256831,  1.74274859]

qfrc_actuator:
[ 9.75437791e-05, 8.42194872e-04, 1.12972131e-04,-1.27667584e-04,
  2.36972198e-05, 7.31720054e-05,-6.51936763e-05,-3.58457924e-05,
 -1.75506071e-05, 9.01126414e-04, 1.88591693e-04, 2.02157591e-05,
  3.24731632e-02,-1.19649731e-03, 2.23484186e-02,-3.23709702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005598613321719653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91516078e-14, -9.91516078e-14,  1.00000000e+00, -9.83104133e-27,
        1.00000000e+00,  9.91516078e-14, -1.00000000e+00,  0.00000000e+00,
       -9.91516078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06367231, -0.11152784,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72214255e-05, 4.84264139e-06, 2.17521213e-05,-9.93442080e-06,
  5.40101736e-06, 3.80920854e-05,-2.78240904e-06,-4.00519892e-06,
  3.01240136e-06,-2.96262087e-05,-2.02296416e-05,-1.73995307e-05,
 -2.03917949e-04,-8.23814216e-05,-1.86224998e-04,-1.15365063e-04,
  3.16932349e-05,-1.48351955e-06,-4.90500845e+00, 2.29775321e-04,
  1.18249742e-02,-6.90016046e-04]


--- Step 645 ---
qpos:
[ 0.01872918, 0.03013191,-0.00950805,-0.02555555, 0.00786864, 0.00467587,
 -0.0078283 , 0.02711367, 0.01230856, 0.02805801,-0.00833297, 0.02645469,
  1.02968748, 0.00722077, 0.94150144, 0.04627294, 0.05843434,-0.07830846,
  0.17145843, 0.99953488, 0.02892706,-0.00357913,-0.00896844]

qacc:
[ -3.7680202 , -1.25018895,  4.57794196, -6.5456958 , -2.53364192,
   0.54007267, -1.12156701,  0.2399494 , -2.80480032, -0.1258828 ,
   0.89832799, -3.75425797, -0.84268556,  0.85361097,-10.26424938,
  31.21354681, -0.2135537 ,  2.2630672 , -0.18288824,-19.79429971,
  -1.33958986,  1.83782811]

qfrc_actuator:
[ 7.59244430e-05, 8.26376010e-04, 1.25406280e-04,-1.32857102e-04,
  8.76790867e-06, 9.10205414e-05,-6.76999940e-05,-3.76759383e-05,
 -3.45847326e-05, 8.91885515e-04, 1.79811698e-04, 1.09057456e-05,
  3.24058452e-02,-1.19201946e-03, 2.22788817e-02,-3.10472066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005555179132497173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99268429e-14, -9.99268429e-14,  1.00000000e+00, -9.98537393e-27,
        1.00000000e+00,  9.99268429e-14, -1.00000000e+00,  0.00000000e+00,
       -9.99268429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06367323, -0.11153137,  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:
[-2.26974716e-05,-8.99659415e-06, 1.57963051e-05,-4.41372209e-06,
 -1.47622456e-05, 3.84225445e-05, 4.89145204e-06,-3.68231565e-07,
 -1.69511840e-05,-3.07659447e-05,-1.80025306e-05,-1.16185990e-05,
 -2.09277168e-04,-5.66669178e-05,-1.73279602e-04, 1.00829843e-04,
  3.25581370e-05,-9.42849791e-06,-4.90500726e+00, 2.28784063e-04,
  1.18288570e-02,-6.89373241e-04]


--- Step 646 ---
qpos:
[ 0.01872941, 0.03013   ,-0.00950791,-0.02555698, 0.00786796, 0.00467606,
 -0.00782875, 0.02711188, 0.01230915, 0.02805875,-0.00833398, 0.02645433,
  1.03041194, 0.00722201, 0.94220738, 0.0462691 , 0.05840141,-0.07828881,
  0.17145969, 0.99953753, 0.0288312 ,-0.00372018,-0.00892404]

qacc:
[  0.73536888, -0.37921495, -0.57365082,  5.99847904, -7.65426872,
  -1.47913096,  8.47507541,-20.70720031, -1.80953675,  2.97047632,
 -13.6478077 , 25.77489478, -1.11871503,  1.51091741, -6.02651593,
  17.56845397,  1.18841042,  1.25353418,  0.45501957,-10.22879504,
  10.11802169, -1.78064578]

qfrc_actuator:
[ 8.09138730e-05, 7.99862827e-04, 1.32715069e-04,-1.17465442e-04,
 -3.55960639e-05, 8.37613713e-05,-6.89469412e-05,-7.38148576e-05,
 -4.49300992e-05, 8.68317805e-04, 1.39269105e-04, 4.13331945e-05,
  3.23500519e-02,-1.17198759e-03, 2.22118048e-02,-3.04242997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.01223096,  4.36755654, -4.13175157,  4.36755654, 31.86049797,
       27.3234646 , -4.13175157, 27.3234646 , 34.8950848 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005495630867464839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31310042e-15,  7.70853298e-07,  1.00000000e+00, -4.86647428e-21,
        1.00000000e+00, -7.70853298e-07, -1.00000000e+00,  0.00000000e+00,
        6.31310042e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04454616, -0.09528219,  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:
[ 4.32990703e-06,-2.84153213e-05, 7.26817072e-06, 1.54756809e-05,
 -4.47702721e-05, 1.52229618e-05, 7.28813142e-06,-3.43261548e-05,
 -1.08497309e-05,-4.50210317e-05,-4.95210356e-05, 2.82615954e-05,
 -1.94325758e-04,-3.74833313e-05,-1.40604612e-04, 4.45037651e-05,
  3.34434415e-05,-1.77096191e-05,-4.90500679e+00, 2.27963626e-04,
  1.18333403e-02,-6.87803817e-04]


--- Step 647 ---
qpos:
[ 0.01872969, 0.03012822,-0.00950812,-0.02555822, 0.00786674, 0.00467645,
 -0.00782923, 0.02710967, 0.01230927, 0.02805891,-0.0083353 , 0.02645401,
  1.03113505, 0.00722349, 0.94291197, 0.0462656 , 0.05837804,-0.07826833,
  0.1714625 , 0.99954031, 0.02873255,-0.00381942,-0.00888979]

qacc:
[  0.48228097,  1.52050828, -5.94509165,  9.55882965, -4.63677802,
  -0.48550029,  3.89798409,-11.24753131, -4.03185139,  0.21061314,
  -2.03369285,  3.69496755, -1.12211685,  1.50074241, -2.9360903 ,
   7.58035789,  2.39074574,  0.20806841,  0.38911525, -1.60268801,
  20.7281619 , -5.6703385 ]

qfrc_actuator:
[ 8.37672509e-05, 8.20400390e-04, 1.19152209e-04,-1.07854380e-04,
 -6.14177533e-05, 9.70003774e-05,-6.95705302e-05,-9.43686168e-05,
 -6.90018438e-05, 8.18505771e-04, 1.15767873e-04, 4.16047247e-05,
  3.22852446e-02,-1.16063120e-03, 2.21622155e-02,-3.02197738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005568118832310898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98473119e-14,  9.96946238e-14,  1.00000000e+00,  4.96950901e-27,
        1.00000000e+00, -9.96946238e-14, -1.00000000e+00,  0.00000000e+00,
       -4.98473119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770352, -0.08097475,  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:
[ 2.97490917e-06, 6.88323795e-06,-1.79774833e-05, 8.95422482e-06,
 -2.70875651e-05, 2.17727786e-05, 2.23964889e-06,-2.03108406e-05,
 -2.44037237e-05,-8.40223692e-05,-3.79176381e-05,-2.81928737e-06,
 -1.89797058e-04,-3.89861069e-05,-1.16314179e-04, 3.27100330e-06,
  2.54439225e-05,-1.89487100e-05,-4.90500508e+00, 2.30788901e-04,
  1.18355891e-02,-6.85644319e-04]


--- Step 648 ---
qpos:
[ 0.01873   , 0.03012687,-0.00950871,-0.02555869, 0.00786557, 0.00467707,
 -0.0078295 , 0.02710791, 0.01230945, 0.02805872,-0.00833618, 0.02645362,
  1.03185681, 0.00722514, 0.94361548, 0.04626129, 0.05836404,-0.07824706,
  0.17146613, 0.99954323, 0.02863071,-0.00387745,-0.00886483]

qacc:
[  0.25546597,  3.22539388,-13.94871777, 27.67728529,  0.39425441,
   0.61103096, -3.63047067, 10.78774486,  0.48433491, -1.85813413,
   6.28940275, -8.08665073, -1.152492  ,  1.50446756,  0.93487149,
  -5.39371936,  2.34159138,  0.19820677,  0.20328633, -1.79860275,
  20.4512439 , -5.22895184]

qfrc_actuator:
[ 8.53318631e-05, 8.68864854e-04, 1.11309362e-04,-6.61948831e-05,
 -5.83569711e-05, 1.22418295e-04,-5.19776500e-05,-7.00622459e-05,
 -6.54571489e-05, 8.42161919e-04, 1.55644048e-04, 4.18686377e-05,
  3.22150750e-02,-1.15454918e-03, 2.21178208e-02,-3.06176831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005595819088831805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92011185e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.92011185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770288, -0.08097794,  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:
[ 1.66016599e-06, 4.90538390e-05,-8.29986836e-06, 4.15136309e-05,
  2.29933658e-06, 3.71724247e-05, 2.16705039e-05, 2.49278906e-05,
  2.80009053e-06,-3.12806643e-05, 1.77676990e-05,-4.69929137e-06,
 -1.92587423e-04,-4.36560801e-05,-1.05952834e-04,-5.64770268e-05,
  1.25267263e-05,-1.34513828e-05,-4.90500280e+00, 2.36144209e-04,
  1.18350371e-02,-6.83304363e-04]


--- Step 649 ---
qpos:
[ 0.01873068, 0.03012549,-0.00950869,-0.02555831, 0.0078648 , 0.00467775,
 -0.00782953, 0.02710716, 0.01230967, 0.02805862,-0.00833624, 0.02645315,
  1.03257734, 0.00722684, 0.94431753, 0.04625621, 0.05835924,-0.07822502,
  0.17146994, 0.99954632, 0.02852536,-0.00389477,-0.00884847]

qacc:
[  3.11986587, -0.02789347, -3.48126483, 16.99915034,  3.44336766,
   1.47691369, -9.41155591, 26.47893939,  0.36776185, -2.32788473,
   8.79968411,-11.51770929, -0.93893117,  1.09590629,  0.24781336,
  -3.83656601,  2.29994848,  0.1905229 ,  0.04277639, -1.95208544,
  20.20802413, -4.87306267]

qfrc_actuator:
[ 1.03878552e-04, 8.62720089e-04, 1.42570752e-04,-2.37275149e-05,
 -3.83270782e-05, 1.19541672e-04,-4.14387127e-05,-1.95329247e-05,
 -6.34337296e-05, 8.92142610e-04, 2.15160429e-04, 4.22313872e-05,
  3.21577141e-02,-1.15166487e-03, 2.20446131e-02,-3.10118509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005589563276387349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96560719e-14,  9.93121439e-14,  1.00000000e+00,  4.93145096e-27,
        1.00000000e+00, -9.93121439e-14, -1.00000000e+00,  0.00000000e+00,
       -4.96560719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770147, -0.08098053,  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:
[ 1.86157535e-05, 2.14051698e-05, 4.18300171e-05, 4.50940543e-05,
  2.01062991e-05, 2.34407911e-05, 2.17489897e-05, 5.33603534e-05,
  2.09258836e-06, 3.59765812e-05, 5.50941696e-05,-4.51255402e-07,
 -1.82484907e-04,-4.84687291e-05,-1.37488471e-04,-5.82906896e-05,
  4.18531173e-06,-8.09152117e-06,-4.90500169e+00, 2.40066200e-04,
  1.18342643e-02,-6.80880469e-04]


--- Step 650 ---
qpos:
[ 0.01873157, 0.03012412,-0.0095079 ,-0.02555848, 0.00786392, 0.00467866,
 -0.00782998, 0.0271067 , 0.01230956, 0.02805841,-0.00833546, 0.02645236,
  1.03329673, 0.00722829, 0.94501784, 0.04625133, 0.0583635 ,-0.07820225,
  0.17147336, 0.99954959, 0.02841626,-0.00387182,-0.00884016]

qacc:
[  1.88648583, -3.2671775 , 13.92435755,-24.52623993, -0.88715302,
   2.11962353, -8.35979067, 13.9669029 , -2.71498962, -3.15350459,
  12.34451832,-19.03041105, -0.54437981,  0.25112799, -3.16598493,
   7.3993805 ,  2.26493743,  0.18460738, -0.09519863, -2.0730157 ,
  19.99752726, -4.58566219]

qfrc_actuator:
[ 1.14519621e-04, 8.59596583e-04, 1.78701954e-04,-5.21563048e-05,
 -4.39849036e-05, 1.17500110e-04,-7.07595327e-05,-7.27384103e-06,
 -8.00833722e-05, 8.68857843e-04, 2.50404263e-04, 2.49320315e-05,
  3.20974252e-02,-1.16839481e-03, 2.19701675e-02,-3.08683379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000555610505721657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99550950e-14,  9.99101901e-14,  1.00000000e+00,  4.99102304e-27,
        1.00000000e+00, -9.99101901e-14, -1.00000000e+00,  0.00000000e+00,
       -4.99550950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769944, -0.08098265,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11917504e-05, 1.94689218e-05, 4.72775496e-05,-2.51857142e-05,
 -5.08134423e-06, 1.78301439e-05,-1.99605141e-05, 1.50540020e-05,
 -1.65783635e-05, 8.20143952e-06, 4.94487064e-05,-1.38587273e-05,
 -1.80911910e-04,-6.65607057e-05,-1.51606283e-04,-8.25993887e-06,
  1.86753509e-07,-2.75933150e-06,-4.90500173e+00, 2.42752145e-04,
  1.18332441e-02,-6.78361069e-04]


--- Step 651 ---
qpos:
[ 0.01873189, 0.03012287,-0.00950641,-0.02555901, 0.00786333, 0.00467953,
 -0.00783065, 0.02710607, 0.01230926, 0.02805814,-0.00833452, 0.02645176,
  1.03401509, 0.00722924, 0.94571672, 0.04624752, 0.0583767 ,-0.07817875,
  0.17147592, 0.99955304, 0.0283032 ,-0.00380896,-0.00883944]

qacc:
[ -4.85891012, -2.48549296, 10.61455915,-17.92058024,  2.49554851,
   0.16460135,  0.06084219, -2.70991168, -1.68775573, -0.14223926,
  -0.34489844,  3.26633866, -0.21734385, -0.44607075, -5.35444871,
  15.6588605 ,  2.2357573 ,  0.18012987, -0.21328739, -2.16907863,
  19.81814867, -4.35318364]

qfrc_actuator:
[ 8.49116935e-05, 8.76026932e-04, 2.17357304e-04,-6.88193772e-05,
 -2.92168717e-05, 9.80227244e-05,-8.79082285e-05,-1.76638596e-05,
 -8.98381025e-05, 8.55045644e-04, 2.52979789e-04, 3.28070339e-05,
  3.20460668e-02,-1.19661727e-03, 2.19323379e-02,-3.02313611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005501232583793453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51360128e-13, -1.00906752e-13,  1.00000000e+00, -1.52732589e-26,
        1.00000000e+00,  1.00906752e-13, -1.00000000e+00,  0.00000000e+00,
       -1.51360128e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769692, -0.08098439,  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:
[-2.92722516e-05, 3.60452401e-05, 4.76335593e-05,-1.46832417e-05,
  1.46300268e-05,-1.30130830e-05,-1.54073246e-05,-1.00233698e-05,
 -1.02397646e-05, 3.88901578e-07, 9.87644480e-06, 9.66888307e-06,
 -1.75219708e-04,-8.13773324e-05,-1.14748875e-04, 4.23231079e-05,
  3.44725158e-07, 2.62623581e-06,-4.90500287e+00, 2.44350744e-04,
  1.18319572e-02,-6.75737210e-04]


--- Step 652 ---
qpos:
[ 0.0187322 , 0.03012182,-0.00950503,-0.02555933, 0.00786326, 0.00467978,
 -0.00783072, 0.02710568, 0.01230953, 0.02805804,-0.00833335, 0.02645157,
  1.0347322 , 0.00722992, 0.94641418, 0.04624381, 0.05839875,-0.07815455,
  0.17147723, 0.99955668, 0.02818603,-0.00370651,-0.00884594]

qacc:
[-0.11410883, 0.95558005,-3.88787934, 7.3600721 , 4.66448136,-1.98118715,
  4.85080577,-1.12391212, 4.89761301, 0.4441324 ,-3.04220469, 9.76267676,
 -0.63282191, 0.34321226,-2.36121114, 5.29623229, 2.21169022, 0.17682384,
 -0.31394618,-2.24624865,19.66794601,-4.16480422]

qfrc_actuator:
[ 8.51111879e-05, 8.68549234e-04, 2.04032330e-04,-6.06445600e-05,
 -2.53700077e-06, 5.05098634e-05,-6.22993769e-05,-5.78708891e-06,
 -5.99449693e-05, 8.82395845e-04, 2.71800415e-04, 5.54163878e-05,
  3.19734696e-02,-1.21362872e-03, 2.18632544e-02,-3.01954295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005429877353682888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02232790e-13, -1.02232790e-13,  1.00000000e+00, -1.04515434e-26,
        1.00000000e+00,  1.02232790e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02232790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769404, -0.08098585,  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:
[-6.39815643e-07, 2.19051458e-05,-5.22718190e-07, 1.10819083e-05,
  2.70921384e-05,-5.84191642e-05, 2.06747706e-05, 1.05912962e-05,
  2.95920352e-05, 3.00173988e-05, 2.04454461e-05, 2.31561130e-05,
 -1.95869437e-04,-7.21995078e-05,-1.24926291e-04,-1.05801727e-05,
  4.51212650e-06, 8.12535759e-06,-4.90500511e+00, 2.44973793e-04,
  1.18303894e-02,-6.73001912e-04]


--- Step 653 ---
qpos:
[ 0.01873321, 0.0301211 ,-0.00950411,-0.02556024, 0.00786317, 0.00467983,
 -0.00783061, 0.02710541, 0.01231016, 0.02805802,-0.00833193, 0.02645166,
  1.03544767, 0.00723133, 0.94711055, 0.04623745, 0.05842956,-0.07812965,
  0.17147695, 0.99956049, 0.02806462,-0.00356471,-0.00885938]

qacc:
[  5.8908615 ,  0.53250996,  1.20757053,-10.81688489, -0.20900001,
  -0.54286101,  1.01345612,  0.96745689,  3.04273524, -0.04179198,
  -0.87682029,  5.23995367, -1.946883  ,  3.11547629,  6.55858306,
 -24.9180384 ,  2.19209963,  0.17447419, -0.39941431, -2.30916628,
  19.54483078, -4.01188721]

qfrc_actuator:
[ 1.20619170e-04, 8.82126457e-04, 1.77797063e-04,-9.12349082e-05,
 -4.57155438e-06, 5.77703916e-05,-4.72635553e-05, 1.34879188e-06,
 -4.24619470e-05, 8.80998126e-04, 2.82495872e-04, 6.88089256e-05,
  3.18935108e-02,-1.17069334e-03, 2.18020982e-02,-3.15798389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005346215586452124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.19163045e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.19163045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769088, -0.08098707,  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:
[ 3.54985297e-05, 2.62144551e-05,-2.13954567e-05,-2.94548166e-05,
 -1.28628815e-06,-2.06815021e-05, 5.87904033e-06, 5.55320758e-06,
  1.83608103e-05, 2.06055259e-05, 2.02025619e-05, 1.58338646e-05,
 -2.13566830e-04,-1.50267687e-05,-1.27591372e-04,-1.56864658e-04,
  1.25749236e-05, 1.37831144e-05,-4.90500842e+00, 2.44705049e-04,
  1.18285300e-02,-6.70149676e-04]


--- Step 654 ---
qpos:
[ 0.01873393, 0.03012069,-0.00950327,-0.02556118, 0.0078634 , 0.0046802 ,
 -0.00783082, 0.02710485, 0.01231064, 0.02805823,-0.00833097, 0.02645194,
  1.03616182, 0.0072329 , 0.94780579, 0.04622872, 0.05846908,-0.07810406,
  0.17147478, 0.99956447, 0.02793886,-0.00338378,-0.00887952]

qacc:
[ -2.33593988,  0.54557598, -1.23123417,  0.54583543,  2.80905088,
   0.74176654, -0.79726323, -3.95943235, -1.20666943,  1.99421319,
  -7.49627885, 11.41179551, -1.20920984,  1.59770966,  5.6081001 ,
 -21.80244496,  2.17642532,  0.17290723, -0.47170953, -2.36143195,
  19.4466918 , -3.88753682]

qfrc_actuator:
[ 1.05605120e-04, 9.08103645e-04, 1.79719574e-04,-9.11218670e-05,
  1.20114683e-05, 9.77404999e-05,-5.61509164e-05,-1.20889588e-05,
 -5.01893694e-05, 8.80115859e-04, 2.52683871e-04, 7.66410400e-05,
  3.18358448e-02,-1.16368105e-03, 2.17616979e-02,-3.27241820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005253760925999634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28299175e-14,  7.92448762e-14,  1.00000000e+00,  4.18650027e-27,
        1.00000000e+00, -7.92448762e-14, -1.00000000e+00,  0.00000000e+00,
       -5.28299175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768753, -0.0809881 ,  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:
[-1.39667986e-05, 3.49823614e-05, 3.67968896e-06,-7.85346270e-08,
  1.65387808e-05, 2.98544010e-05,-1.22443881e-05,-1.40122438e-05,
 -7.18155691e-06, 1.54843497e-05,-2.25361416e-05, 9.71834715e-06,
 -1.88999200e-04,-4.31553012e-05,-1.25536049e-04,-1.41597966e-04,
  2.44470071e-05, 1.96337190e-05,-4.90501279e+00, 2.43606951e-04,
  1.18263704e-02,-6.67176107e-04]


--- Step 655 ---
qpos:
[ 0.01873448, 0.03012062,-0.00950275,-0.02556211, 0.00786383, 0.00468091,
 -0.0078312 , 0.02710412, 0.01231035, 0.02805869,-0.00833041, 0.02645231,
  1.03687491, 0.0072335 , 0.94849932, 0.0462213 , 0.05851726,-0.07807778,
  0.17147047, 0.99956858, 0.02780866,-0.00316388,-0.00890616]

qacc:
[-1.60533568, 1.37384225,-4.28573185, 4.80377842, 1.72104094, 0.55135388,
 -0.60601996,-2.31830666,-6.7094236 , 1.62328122,-5.62219134, 7.46785273,
  0.18512747,-1.48003213,-6.53719052,19.09100237, 2.16417674, 0.17198256,
 -0.53263528,-2.40583508,19.37147244,-3.78624338]

qfrc_actuator:
[ 9.64679860e-05, 9.23681483e-04, 1.62833566e-04,-9.06565139e-05,
  2.16763551e-05, 1.21378603e-04,-6.12003855e-05,-1.97528300e-05,
 -9.04423592e-05, 8.97124859e-04, 2.34693494e-04, 8.11113312e-05,
  3.17596294e-02,-1.23121060e-03, 2.17071635e-02,-3.19414263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005155448155521325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07674735e-13,  1.61512102e-13,  1.00000000e+00,  1.73907727e-26,
        1.00000000e+00, -1.61512102e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07674735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768407, -0.08098899,  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:
[-9.53146479e-06, 3.58964819e-05,-9.21349481e-06, 2.09047620e-06,
  1.01463996e-05, 3.71992020e-05,-8.76820222e-07,-7.08064857e-06,
 -4.04561285e-05, 2.14091033e-05,-1.72447879e-05, 4.54039738e-06,
 -1.99386528e-04,-1.17859832e-04,-1.36550073e-04, 5.23262538e-05,
  4.00659020e-05, 2.57036047e-05,-4.90501822e+00, 2.41725710e-04,
  1.18239034e-02,-6.64077628e-04]


--- Step 656 ---
qpos:
[ 0.01873525, 0.03012074,-0.00950263,-0.02556334, 0.00786437, 0.00468167,
 -0.00783126, 0.02710331, 0.01230957, 0.02805894,-0.00832963, 0.02645309,
  1.03758666, 0.00723364, 0.94919097, 0.04621618, 0.05855532,-0.07804733,
  0.17146769, 0.99957313, 0.02765925,-0.00298992,-0.00892076]

qacc:
[  1.96540516,  0.75522842, -1.05729327, -3.68343769,  1.00187856,
  -1.0148415 ,  4.07136437, -6.07851133, -4.08027655, -0.03382325,
  -2.00623143,  8.93783686, -0.38998692, -0.24763527, -9.74781137,
  30.06240359, -2.53031355,  1.04419336,  0.38056662, -9.38162287,
 -22.88455746,  6.69299486]

qfrc_actuator:
[ 1.08632100e-04, 9.15090298e-04, 1.34925796e-04,-1.07769462e-04,
  2.71861528e-05, 1.17322710e-04,-4.62273495e-05,-2.39573839e-05,
 -1.14003606e-04, 8.71487150e-04, 2.41663216e-04, 1.01350310e-04,
  3.16882863e-02,-1.25363292e-03, 2.16282648e-02,-3.07398529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005095913738036861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08932674e-13, -5.44663372e-14,  1.00000000e+00,  5.93316378e-27,
        1.00000000e+00,  5.44663372e-14, -1.00000000e+00,  0.00000000e+00,
        1.08932674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09590709, -0.09284396,  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:
[ 1.18989888e-05, 9.66158910e-06,-2.15598639e-05,-1.58528022e-05,
  5.81146167e-06, 1.62454636e-05, 2.23014412e-05,-2.77809217e-06,
 -2.47382298e-05,-1.70722776e-05, 9.41369194e-06, 2.06466529e-05,
 -2.17397512e-04,-9.06602271e-05,-1.42405894e-04, 1.04041266e-04,
  5.93891864e-05, 3.20136741e-05,-4.90502472e+00, 2.39095159e-04,
  1.18211226e-02,-6.60851257e-04]


--- Step 657 ---
qpos:
[ 0.01873617, 0.03012073,-0.00950273,-0.02556439, 0.00786532, 0.00468189,
 -0.00783059, 0.02710319, 0.0123092 , 0.02805882,-0.00832865, 0.02645413,
  1.03829711, 0.00723369, 0.94988103, 0.04621182, 0.05858347,-0.07801279,
  0.17146559, 0.99957813, 0.02749071,-0.0028608 ,-0.00892421]

qacc:
[  1.19637639,  0.81147761, -3.90896261,  7.46504619,  3.61593309,
  -1.30625271,  0.67377112, 10.62412902,  3.52737788, -0.50046398,
  -0.03397967,  4.50704525, -0.77269903,  0.67329067, -4.57980977,
  12.73505223, -2.47725436,  1.02067641,  0.17115545, -9.3519824 ,
 -22.338866  ,  6.21616911]

qfrc_actuator:
[ 1.15482188e-04, 8.92021657e-04, 1.18377838e-04,-9.96099261e-05,
  4.79608373e-05, 6.12942706e-05,-1.96652042e-05, 9.40067376e-06,
 -9.20357643e-05, 8.38374793e-04, 2.45398636e-04, 1.12934431e-04,
  3.16412328e-02,-1.24911846e-03, 2.15561285e-02,-3.03672972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005211641427072394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06513758e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06513758e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09590275, -0.09284512,  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:
[ 7.20148518e-06,-2.27988858e-05,-1.77576593e-05, 7.52011968e-06,
  2.09447262e-05,-4.24794599e-05, 3.25618802e-05, 3.47718085e-05,
  2.12365415e-05,-3.98611183e-05, 2.06910510e-06, 1.15768717e-05,
 -1.97423018e-04,-6.23357951e-05,-1.32396097e-04, 2.33191140e-05,
  3.66118775e-05, 2.97237630e-05,-4.90501901e+00, 2.45407593e-04,
  1.18225217e-02,-6.57027991e-04]


--- Step 658 ---
qpos:
[ 0.01873681, 0.0301206 ,-0.00950276,-0.02556536, 0.00786685, 0.00468175,
 -0.00782962, 0.02710417, 0.01230876, 0.02805871,-0.00832773, 0.02645457,
  1.03900629, 0.0072335 , 0.95056968, 0.04621015, 0.05860189,-0.07797425,
  0.17146344, 0.99958357, 0.02730312,-0.00277556,-0.00891728]

qacc:
[-2.30872414e+00,-1.75735815e-01, 6.23065699e-02, 1.33970067e+00,
  5.17640240e+00, 9.39323510e-01,-8.72081508e+00, 2.75752067e+01,
 -6.74310466e-01,-1.04591778e+00, 6.22790976e+00,-1.63528740e+01,
 -5.24019122e-01, 1.67070202e-01,-1.02047080e+01, 3.27355686e+01,
 -2.43088392e+00, 1.00092693e+00,-1.29766429e-02,-9.31587698e+00,
 -2.18704711e+01, 5.82567357e+00]

qfrc_actuator:
[ 1.01389812e-04, 8.96018580e-04, 1.26376623e-04,-9.44013563e-05,
  7.75548092e-05, 4.56638485e-05,-4.42915733e-06, 6.45502050e-05,
 -9.67089846e-05, 8.54281418e-04, 2.47133290e-04, 8.38083882e-05,
  3.15768435e-02,-1.26412260e-03, 2.15253706e-02,-2.88881615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005280762089803354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10239167e-13, -1.05119584e-13,  1.00000000e+00, -2.21002537e-26,
        1.00000000e+00,  1.05119584e-13, -1.00000000e+00,  0.00000000e+00,
       -2.10239167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959001 , -0.09284635,  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:
[-1.38897011e-05,-1.20938980e-05, 1.36567498e-06, 3.76665391e-06,
  3.01716108e-05,-3.11773953e-05, 1.16639792e-05, 5.51298959e-05,
 -4.06372925e-06,-5.46372895e-06,-5.85742287e-06,-3.05425458e-05,
 -1.96522681e-04,-7.14156871e-05,-9.62878544e-05, 1.30556079e-04,
  1.95905493e-05, 2.50637250e-05,-4.90501473e+00, 2.49817067e-04,
  1.18247313e-02,-6.52848451e-04]


--- Step 659 ---
qpos:
[ 0.01873694, 0.03012075,-0.00950287,-0.02556664, 0.00786873, 0.00468176,
 -0.00782894, 0.02710544, 0.01230826, 0.02805843,-0.00832701, 0.02645436,
  1.03971418, 0.00723314, 0.95125717, 0.04620956, 0.05861075,-0.07793177,
  0.1714606 , 0.99958946, 0.02709656,-0.00273337,-0.00890056]

qacc:
[ -4.45883001, -0.06041844,  2.10525131, -7.68563972,  3.00222806,
   1.56899145, -6.47866223, 11.66032673, -0.44838258, -1.04439023,
   6.2260514 ,-17.33720814, -0.70529663,  0.51132188, -4.92338051,
  14.83596354, -2.3907284 ,  0.98452311, -0.17386413, -9.27851212,
 -21.47106072,  5.50489475]

qfrc_actuator:
[ 7.50855571e-05, 9.34042384e-04, 1.31146071e-04,-1.08691690e-04,
  9.43455705e-05, 7.20719944e-05,-1.36031399e-05, 7.88343869e-05,
 -9.92877939e-05, 8.28364651e-04, 2.30089649e-04, 4.87549777e-05,
  3.15127479e-02,-1.27290614e-03, 2.14715489e-02,-2.83652208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005311441525273491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04512402e-13, -2.09024804e-13,  1.00000000e+00, -2.18456844e-26,
        1.00000000e+00,  2.09024804e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04512402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589884, -0.09284767,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67128432e-05, 3.17046397e-05, 2.57410883e-06,-1.46845541e-05,
  1.76345587e-05, 1.37477772e-05,-1.22829726e-05, 1.44193264e-05,
 -2.69778231e-06,-3.15013371e-05,-1.99611964e-05,-3.60873451e-05,
 -1.97027153e-04,-6.72382724e-05,-9.20876491e-05, 4.52494034e-05,
  7.86307528e-06, 1.81454081e-05,-4.90501179e+00, 2.52593887e-04,
  1.18277132e-02,-6.48307161e-04]


--- Step 660 ---
qpos:
[ 0.0187364 , 0.03012108,-0.00950344,-0.02556839, 0.0078701 , 0.00468209,
 -0.00782869, 0.02710581, 0.01230774, 0.02805753,-0.00832601, 0.02645375,
  1.04042074, 0.00723292, 0.95194401, 0.04620489, 0.05861019,-0.0778854 ,
  0.1714565 , 0.99959577, 0.02687112,-0.00273356,-0.00887456]

qacc:
[ -5.68828973,  0.56876265,  0.28049713, -7.73792392, -4.44576714,
  -0.17523094,  4.98274463,-19.84397997, -0.20984752, -2.38723052,
   8.9717592 ,-15.71962643, -1.33109063,  1.77631704, 11.44746114,
 -41.20466543, -2.35625882,  0.97107164, -0.31371717, -9.24345343,
 -21.13287487,  5.2404599 ]

qfrc_actuator:
[ 4.18113282e-05, 9.21120909e-04, 9.85911078e-05,-1.34314483e-04,
  6.79585014e-05, 8.78162536e-05,-3.69638442e-05, 3.34744785e-05,
 -1.00605087e-04, 7.77519488e-04, 2.37443825e-04, 2.82105305e-05,
  3.14542021e-02,-1.26017703e-03, 2.14145687e-02,-3.05409021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000531077390655485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0958987 , -0.09284907,  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:
[-3.40412848e-05, 4.69917677e-06,-2.61946583e-05,-2.44584415e-05,
 -2.58812198e-05, 2.15076731e-05,-2.15465608e-05,-4.49202555e-05,
 -1.40531397e-06,-7.41310710e-05,-2.86526485e-06,-2.32878904e-05,
 -1.90946668e-04,-4.49304606e-05,-1.03493880e-04,-2.28986327e-04,
  1.06354263e-06, 9.05803603e-06,-4.90501011e+00, 2.53943580e-04,
  1.18314377e-02,-6.43400314e-04]


--- Step 661 ---
qpos:
[ 0.01873582, 0.03012109,-0.00950419,-0.02557039, 0.00787011, 0.00468249,
 -0.00782864, 0.02710531, 0.0123072 , 0.02805651,-0.00832516, 0.0264532 ,
  1.04112589, 0.00723316, 0.95262928, 0.0462    , 0.05860032,-0.0778352 ,
  0.17145066, 0.9996025 , 0.02662686,-0.00277553,-0.0088397 ]

qacc:
[ -0.4292888 , -0.41853096,  1.94550161, -5.74023923,-11.98495709,
  -1.14334056,  7.94913808,-22.89597953, -0.10585415,  0.37648067,
  -1.86369186,  3.35984193, -1.37081056,  2.0274127 , -1.50922238,
   2.16625305, -2.32693466,  0.96021399, -0.43476419, -9.21307971,
 -20.84883131,  5.02160936]

qfrc_actuator:
[ 4.02100858e-05, 8.77630443e-04, 7.95632364e-05,-1.48708704e-04,
 -1.37923438e-06, 7.91879211e-05,-5.08176032e-05,-1.11144516e-05,
 -1.01170002e-04, 8.01003591e-04, 2.41294972e-04, 3.41151346e-05,
  3.13883843e-02,-1.23478981e-03, 2.13556897e-02,-3.05605474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005284883082725816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05037615e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05037615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589945, -0.09285055,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58969764e-06,-4.73313160e-05,-2.21210059e-05,-1.55696242e-05,
 -7.00630063e-05,-3.00162040e-06,-1.36257504e-05,-4.52880555e-05,
 -6.32861467e-07,-1.95401551e-05,-1.26206265e-05, 2.17653069e-06,
 -1.90312543e-04,-2.58934759e-05,-1.42024977e-04,-3.03153643e-05,
 -1.09578900e-06,-2.12914414e-06,-4.90500963e+00, 2.54022455e-04,
  1.18358825e-02,-6.38125217e-04]


--- Step 662 ---
qpos:
[ 0.01873487, 0.03012107,-0.00950506,-0.0255719 , 0.00786929, 0.00468284,
 -0.00782875, 0.02710464, 0.01230701, 0.02805594,-0.00832517, 0.0264534 ,
  1.04182977, 0.00723367, 0.9533127 , 0.04620065, 0.05858124,-0.07778118,
  0.17144267, 0.99960962, 0.02636384,-0.0028588 ,-0.00879631]

qacc:
[-3.09018861e+00, 1.28309649e+00,-6.70424312e+00, 1.54127935e+01,
 -7.31670680e+00, 3.44761565e-02, 5.43429015e-01,-3.27748746e+00,
  2.87702953e+00, 4.52246147e+00,-1.83957853e+01, 3.22676537e+01,
 -7.70465499e-01, 9.61001301e-01,-1.94705078e+01, 6.42749212e+01,
 -2.30223035e+00, 9.51628393e-01,-5.39156043e-01,-9.18891536e+00,
 -2.06125660e+01, 4.83968706e+00]

qfrc_actuator:
[ 2.17607218e-05, 9.04976786e-04, 8.63087722e-05,-1.20890365e-04,
 -4.21698805e-05, 7.38099136e-05,-5.90333157e-05,-1.93900204e-05,
 -8.35347742e-05, 8.51081574e-04, 2.07844415e-04, 7.33389319e-05,
  3.13342360e-02,-1.21991850e-03, 2.13277323e-02,-2.75334011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005239023551779909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05957056e-13, -2.11914112e-13,  1.00000000e+00, -2.24537955e-26,
        1.00000000e+00,  2.11914112e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05957056e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09590091, -0.09285208,  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:
[-1.85386785e-05,-4.34232704e-06,-6.27923718e-06, 2.47296998e-05,
 -4.27803771e-05,-1.18503442e-05,-1.20823603e-05,-9.75401894e-06,
  1.76077921e-05, 3.66636321e-05,-3.89633662e-05, 3.79936055e-05,
 -1.73869586e-04,-3.23464260e-05,-1.03771837e-04, 2.81164731e-04,
  1.16098262e-06,-1.53642732e-05,-4.90501030e+00, 2.52949379e-04,
  1.18410306e-02,-6.32479890e-04]


--- Step 663 ---
qpos:
[ 0.01873268, 0.03012114,-0.00950592,-0.02557308, 0.00786903, 0.00468298,
 -0.00782887, 0.02710354, 0.01230703, 0.02805594,-0.00832573, 0.02645438,
  1.04253253, 0.00723409, 0.95399536, 0.04620214, 0.05855303,-0.07772339,
  0.17143216, 0.99961711, 0.0260821 ,-0.00298298,-0.00874467]

qacc:
[-10.70867644,  0.81625266, -4.04749641,  9.48958323,  4.85776701,
  -1.12600963,  5.39491663,-12.59283965,  1.78697266,  3.90446407,
 -16.10400864, 30.0052035 , -0.67313378,  0.58103676, -3.6124102 ,
  11.10806326, -2.28165064,  0.9450292 , -0.62891159, -9.1718736 ,
 -20.41842188,  4.68772798]

qfrc_actuator:
[-4.19728476e-05, 9.21413177e-04, 9.07660380e-05,-1.03892462e-04,
 -1.25600295e-05, 5.27168466e-05,-6.38271487e-05,-4.17357485e-05,
 -7.30809537e-05, 8.98838556e-04, 1.88293868e-04, 1.14101874e-04,
  3.12764760e-02,-1.22912349e-03, 2.12917802e-02,-2.71732573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005177677151853299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07212462e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07212462e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09590292, -0.09285365,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.42748855e-05, 1.37808524e-05, 3.65805881e-06, 1.70826041e-05,
  2.83908336e-05,-3.06586786e-05,-9.06705545e-06,-2.34587197e-05,
  1.09814565e-05, 6.18651111e-05,-1.54562297e-05, 4.17254587e-05,
 -1.67987787e-04,-5.45988239e-05,-5.96929408e-05, 3.66710365e-05,
  7.66172423e-06,-3.06104940e-05,-4.90501208e+00, 2.50814698e-04,
  1.18468696e-02,-6.26462769e-04]


--- Step 664 ---
qpos:
[ 0.01873043, 0.03012103,-0.0095066 ,-0.02557403, 0.00786912, 0.00468298,
 -0.00782934, 0.02710186, 0.01230717, 0.02805677,-0.00832669, 0.02645579,
  1.04323411, 0.00723445, 0.95467645, 0.04620419, 0.05853403,-0.07766878,
  0.17142587, 0.99962404, 0.02581784,-0.00306593,-0.00870708]

qacc:
[ -0.48598959, -0.26544479, -0.39796114,  4.31453836,  3.12758324,
  -0.43349194,  3.75829817,-13.304227  ,  1.04054796,  3.10529325,
 -11.33038718, 18.91355373, -0.72137953,  0.66386525, -3.95064094,
  10.55034985,  2.30055928, -0.79360949,  1.05592167,  8.54584058,
  20.49948702, -7.58676883]

qfrc_actuator:
[-4.30816210e-05, 8.95686091e-04, 9.37894027e-05,-9.34116267e-05,
  4.98162100e-06, 4.01327540e-05,-8.43981238e-05,-7.21997846e-05,
 -6.69438131e-05, 9.62653064e-04, 1.77122208e-04, 1.37704103e-04,
  3.12112553e-02,-1.23475460e-03, 2.11924162e-02,-2.69681622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.7783084 ,  5.42734925, -1.98311069,  5.42734925, 10.22920238,
       12.18114362, -1.98311069, 12.18114362, 39.11548976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005211749756839358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41460644e-13,  3.85653270e-07,  1.00000000e+00,  5.45547599e-20,
        1.00000000e+00, -3.85653270e-07, -1.00000000e+00, -1.20370622e-35,
       -1.41460644e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03094502, -0.06671559,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97708335e-06,-1.65393635e-05, 6.92788252e-06, 1.15375870e-05,
  1.83391318e-05,-3.25981750e-05,-2.88313629e-05,-3.25469182e-05,
  6.47942847e-06, 9.70135112e-05, 1.15143516e-06, 2.65292735e-05,
 -1.77113333e-04,-5.42831877e-05,-1.33389320e-04, 1.24266199e-05,
  1.82768896e-05,-4.78438306e-05,-4.90501493e+00, 2.47686983e-04,
  1.18533905e-02,-6.20072495e-04]


--- Step 665 ---
qpos:
[ 0.01872887, 0.03012062,-0.0095069 ,-0.02557451, 0.00786838, 0.00468312,
 -0.00783021, 0.02709978, 0.01230704, 0.02805833,-0.0083278 , 0.02645781,
  1.04393435, 0.00723507, 0.95535525, 0.04620787, 0.05852306,-0.0776217 ,
  0.17142327, 0.99962997, 0.02559001,-0.00311177,-0.00868328]

qacc:
[ 5.96244789e+00,-4.88362666e-01,-8.56425522e-01, 8.75292765e+00,
 -7.27585207e+00, 5.38125906e-01,-1.38509032e-02,-6.10293832e+00,
 -2.33347576e+00, 2.63393448e+00,-1.05711333e+01, 2.08493181e+01,
 -1.02418671e+00, 1.34587344e+00,-8.26107673e+00, 2.41897933e+01,
  2.00834821e+00,-1.88534559e+00, 9.21806642e-01, 1.80378300e+01,
  1.85299087e+01,-7.43440335e+00]

qfrc_actuator:
[-7.30670895e-06, 8.80405796e-04, 1.13520446e-04,-6.91316571e-05,
 -3.80009603e-05, 6.81720626e-05,-9.63440115e-05,-8.94482911e-05,
 -8.11467796e-05, 1.00011315e-03, 1.71043533e-04, 1.68791788e-04,
  3.11416037e-02,-1.22048646e-03, 2.10764091e-02,-2.61464866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005452046254324772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01817095e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01817095e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426711, -0.05218103,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56828748e-05,-2.25837970e-05, 1.75814032e-05, 2.40406824e-05,
 -4.24702600e-05, 2.47558208e-06,-2.33482572e-05,-2.02723981e-05,
 -1.39782635e-05, 9.30662054e-05, 1.50189237e-05, 3.57981575e-05,
 -1.87820434e-04,-3.59449506e-05,-1.82952703e-04, 6.41089118e-05,
  7.53187794e-06,-3.04382098e-05,-4.90501400e+00, 2.55099514e-04,
  1.18467356e-02,-6.13745120e-04]


--- Step 666 ---
qpos:
[ 0.01872775, 0.03012001,-0.00950697,-0.02557468, 0.00786714, 0.00468332,
 -0.007831  , 0.02709784, 0.0123064 , 0.02806005,-0.00832865, 0.0264592 ,
  1.04463332, 0.00723588, 0.95603232, 0.04621011, 0.0585199 ,-0.077582  ,
  0.17142326, 0.99963496, 0.02539705,-0.00312128,-0.00867191]

qacc:
[  3.79388262, -0.32905268, -0.4627529 ,  5.31953141, -4.47850097,
   0.12359103, -0.83447   ,  2.85082778, -4.36960827, -1.79171427,
   9.39878439,-20.92187151, -1.09890595,  1.42508813,  1.89229582,
 -10.17332079,  1.95258311, -1.84326096,  0.64702475, 17.26358043,
  18.14582898, -6.73020625]

qfrc_actuator:
[ 1.43654940e-05, 8.71575563e-04, 1.25247559e-04,-5.46621166e-05,
 -6.30009445e-05, 8.48598924e-05,-8.51655692e-05,-8.09855091e-05,
 -1.07206761e-04, 9.68271492e-04, 1.67927164e-04, 1.33010151e-04,
  3.10800022e-02,-1.21234186e-03, 2.09878165e-02,-2.69207711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11267362, -6.00354546,  1.14987855, -6.00354546,  7.45975382,
        7.03314035,  1.14987855,  7.03314035, 42.8328801 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005616588371026715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97668576e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.97668576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426869, -0.05218878,  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:
[ 2.27042085e-05,-1.67618035e-05, 1.00693581e-05, 1.45805162e-05,
 -2.62042956e-05, 1.23756793e-05, 8.12761597e-06, 7.37453703e-06,
 -2.64355897e-05, 2.47848424e-05, 1.91870042e-05,-3.05819721e-05,
 -1.82336894e-04,-4.05077130e-05,-1.69933095e-04,-9.83637462e-05,
  1.82458813e-06,-1.50819500e-05,-4.90501154e+00, 2.60234672e-04,
  1.18396188e-02,-6.08281460e-04]


--- Step 667 ---
qpos:
[ 0.01872725, 0.03011909,-0.00950738,-0.02557429, 0.00786595, 0.00468364,
 -0.00783168, 0.027096  , 0.0123058 , 0.02806179,-0.00832936, 0.02645914,
  1.04533113, 0.00723675, 0.95670796, 0.04620995, 0.05852436,-0.07754952,
  0.17142487, 0.99963907, 0.02523765,-0.00309517,-0.00867184]

qacc:
[  5.26032307,  1.75536968, -9.3003845 , 20.0699844 ,  0.48168093,
   0.0760992 , -0.51029517,  2.13573908,  0.32063752, -3.37663329,
  18.1738149 ,-43.46430956, -0.99855263,  1.22585698,  5.23604162,
 -21.17665779,  1.90442058, -1.8055128 ,  0.40537737, 16.61557879,
  17.80377268, -6.16110187]

qfrc_actuator:
[ 4.53035460e-05, 8.31136580e-04, 9.66622992e-05,-2.83323460e-05,
 -5.94446644e-05, 9.47490204e-05,-7.81948488e-05,-7.52070872e-05,
 -1.04525489e-04, 9.48377752e-04, 1.66245424e-04, 5.81083146e-05,
  3.10285986e-02,-1.20788124e-03, 2.09316843e-02,-2.80956723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19822138, -6.13300343,  0.89678155, -6.13300343,  7.21040697,
        6.92224068,  0.89678155,  6.92224068, 53.53876471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005719314001919606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94118215e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94118215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426922, -0.05219421,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15948877e-05,-4.70734924e-05,-3.02940474e-05, 2.62456110e-05,
  2.81526482e-06, 1.88016240e-05, 1.07956052e-05, 6.74026613e-06,
  1.91959714e-06,-3.44785464e-06, 4.73016586e-06,-7.37750611e-05,
 -1.70170143e-04,-4.37848570e-05,-1.50958898e-04,-1.46125216e-04,
 -3.72401372e-07,-3.71344174e-06,-4.90500965e+00, 2.63389835e-04,
  1.18343229e-02,-6.03657123e-04]


--- Step 668 ---
qpos:
[ 0.01872747, 0.03011812,-0.00950823,-0.02557395, 0.0078655 , 0.00468415,
 -0.00783258, 0.02709426, 0.01230523, 0.028063  ,-0.00833014, 0.02645896,
  1.04602775, 0.00723771, 0.95738222, 0.04620826, 0.05853627,-0.07752412,
  0.17142726, 0.99964237, 0.02511073,-0.00303406,-0.00868219]

qacc:
[  6.16111667,  0.99895636, -3.41552432,  3.09979361,  6.51328208,
   1.05570726, -3.82229534,  5.72225323,  0.3229707 , -0.72419841,
   2.09093336, -3.67237016, -0.98547204,  1.20166522,  2.60504853,
 -11.92914114,  1.8632    , -1.77210858,  0.19449159, 16.07445525,
  17.50359701, -5.70051229]

qfrc_actuator:
[ 8.14518920e-05, 8.42934236e-04, 7.98912818e-05,-3.07916863e-05,
 -2.13621415e-05, 1.00485204e-04,-9.15566072e-05,-7.10708600e-05,
 -1.02697357e-04, 8.82480962e-04, 1.47676712e-04, 4.95640530e-05,
  3.09673720e-02,-1.20559432e-03, 2.08844096e-02,-2.87855724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24133165, -6.21511099,  0.57150342, -6.21511099,  6.75181308,
        5.5514956 ,  0.57150342,  5.5514956 , 66.61395588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005771007413477303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61897070e-14, -9.61897070e-14,  1.00000000e+00, -9.25245974e-27,
        1.00000000e+00,  9.61897070e-14, -1.00000000e+00,  0.00000000e+00,
       -9.61897070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426889, -0.05219777,  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:
[ 3.70560897e-05,-1.96084011e-05,-2.93022336e-05,-5.01086921e-06,
  3.81683758e-05, 1.87704805e-05,-7.90685513e-06, 5.45146805e-06,
  1.89090062e-06,-7.00650737e-05,-2.12636131e-05,-9.96650647e-06,
 -1.73439671e-04,-4.39137174e-05,-1.39742145e-04,-9.80886207e-05,
  6.87730207e-07, 4.06504314e-06,-4.90500841e+00, 2.64847979e-04,
  1.18304714e-02,-5.99832706e-04]


--- Step 669 ---
qpos:
[ 0.01872777, 0.03011708,-0.00950848,-0.02557372, 0.00786516, 0.00468479,
 -0.00783361, 0.02709259, 0.01230469, 0.02806359,-0.00833108, 0.02645905,
  1.04672309, 0.007239  , 0.95805523, 0.04620532, 0.05855549,-0.0775057 ,
  0.17142969, 0.99964487, 0.02501538,-0.00293848,-0.00870222]

qacc:
[ 7.68323173e-01,-1.98497355e+00, 7.35530497e+00,-9.99722502e+00,
  1.00554381e+00, 6.62249021e-01,-2.40914410e+00, 3.67903059e+00,
  2.31846291e-01, 1.46080201e-01,-2.84560380e+00, 8.13716182e+00,
 -1.26583967e+00, 1.81615873e+00, 2.08013712e+00,-9.70415814e+00,
  1.82822830e+00,-1.74288508e+00, 1.15883555e-02, 1.56236733e+01,
  1.72437357e+01,-5.32712140e+00]

qfrc_actuator:
[ 8.48698032e-05, 8.68181504e-04, 1.23683109e-04,-3.23651002e-05,
 -1.65305560e-05, 1.03605629e-04,-9.90810848e-05,-6.79511135e-05,
 -1.01395941e-04, 8.42769516e-04, 1.36893934e-04, 6.23341261e-05,
  3.09056219e-02,-1.18690229e-03, 2.08424984e-02,-2.93612074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781031445958595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426783, -0.05219983,  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:
[ 4.49624455e-06, 8.07251288e-06, 3.59785651e-05,-3.52257774e-06,
  5.92293515e-06, 1.22264881e-05,-4.42550150e-06, 3.75982343e-06,
  1.33675982e-06,-8.37473254e-05,-2.82249643e-05, 8.83703790e-06,
 -1.75626482e-04,-2.84423720e-05,-1.24235563e-04,-8.26202973e-05,
  4.80430290e-06, 8.56687468e-06,-4.90500787e+00, 2.64821804e-04,
  1.18277850e-02,-5.96776127e-04]


--- Step 670 ---
qpos:
[ 0.01872915, 0.0301163 ,-0.00950835,-0.02557353, 0.0078642 , 0.00468541,
 -0.00783442, 0.0270913 , 0.01230417, 0.02806395,-0.00833175, 0.02645886,
  1.04741711, 0.00724059, 0.95872667, 0.04620038, 0.05858191,-0.07749415,
  0.17143154, 0.9996466 , 0.02495084,-0.00280888,-0.00873136]

qacc:
[  9.2112957 , -0.81637785,  3.59857969, -5.22195293, -5.52566889,
   0.1410394 , -2.15466781,  8.49841725,  0.17710993, -1.59681254,
   6.42064221,-11.42616425, -1.26923558,  1.76545222,  3.80358764,
 -16.4495024 ,  1.7988264 , -1.71758352, -0.14622836, 15.24921862,
  17.02182879, -5.02384673]

qfrc_actuator:
[ 1.40004486e-04, 9.01544319e-04, 1.49697077e-04,-3.33427760e-05,
 -4.90722468e-05, 1.05149716e-04,-8.53518141e-05,-4.76971511e-05,
 -1.00414771e-04, 8.72343669e-04, 1.66397159e-04, 5.20505139e-05,
  3.08329575e-02,-1.17641119e-03, 2.07559097e-02,-3.03973526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005757461395529129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64160199e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64160199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426618, -0.05220068,  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:
[ 5.52707373e-05, 4.51975313e-05, 3.20045515e-05, 5.46226116e-07,
 -3.23690778e-05, 7.62300262e-06, 1.58479979e-05, 2.07023513e-05,
  9.92882962e-07,-2.27211997e-05, 9.03658953e-06,-1.46767192e-05,
 -1.84005582e-04,-3.40709769e-05,-1.60915544e-04,-1.26004340e-04,
  1.18198943e-05, 1.00371784e-05,-4.90500807e+00, 2.63470593e-04,
  1.18260563e-02,-5.94461253e-04]


--- Step 671 ---
qpos:
[ 0.01873118, 0.03011644,-0.00950845,-0.02557409, 0.0078632 , 0.00468588,
 -0.00783498, 0.02709064, 0.01230332, 0.028064  ,-0.00833206, 0.02645855,
  1.04810983, 0.00724211, 0.95939608, 0.04619424, 0.05861542,-0.07748938,
  0.17143226, 0.99964757, 0.02491649,-0.00264564,-0.00876913]

qacc:
[  5.55364937,  0.27614202,  3.88991556,-17.09029113, -0.31831027,
   0.40257414, -4.33276438, 14.72609202, -2.78486615, -1.67178483,
   5.88211576, -8.3148136 , -0.8981154 ,  0.90026063,  0.71777065,
  -6.71879862,  1.77435542, -1.69589843, -0.28179626, 14.93927752,
  16.83513286, -4.77700497]

qfrc_actuator:
[ 1.71890790e-04, 9.74971631e-04, 1.47277498e-04,-6.94787132e-05,
 -5.00819974e-05, 8.80848385e-05,-7.69334309e-05,-1.75113277e-05,
 -1.17381898e-04, 8.54573520e-04, 1.84211165e-04, 4.61206905e-05,
  3.07537938e-02,-1.18867378e-03, 2.06585666e-02,-3.09873255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005707220797143281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72647690e-14, -9.72647690e-14,  1.00000000e+00, -9.46043528e-27,
        1.00000000e+00,  9.72647690e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72647690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03426407, -0.05220058,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35137738e-05, 1.05375780e-04, 1.08793608e-05,-3.30844586e-05,
 -1.92848775e-06,-8.66280294e-06, 1.26676277e-05, 3.14683842e-05,
 -1.69452506e-05,-2.92443883e-05, 1.37293293e-05,-6.87550250e-06,
 -1.97273663e-04,-5.96698294e-05,-1.91685693e-04,-8.81233788e-05,
  2.16127714e-05, 8.66607725e-06,-4.90500902e+00, 2.60913118e-04,
  1.18251308e-02,-5.92866791e-04]


--- Step 672 ---
qpos:
[ 0.01873254, 0.03011696,-0.00950836,-0.02557539, 0.00786254, 0.00468623,
 -0.00783538, 0.02708964, 0.01230262, 0.02806366,-0.00833208, 0.02645819,
  1.04880121, 0.00724353, 0.96006399, 0.04618921, 0.05865596,-0.07749133,
  0.1714314 , 0.99964779, 0.02491181,-0.00244909,-0.00881513]

qacc:
[ -5.7200629 , -1.49582462,  9.18106724,-22.45870469,  3.00061295,
  -1.27412654,  5.69201607,-11.47311271,  1.27496738, -1.4160377 ,
   4.51178204, -5.56731556, -0.77112483,  0.65067796, -5.53349265,
  16.26301499,  1.75422959, -1.67750859, -0.39779511, 14.68392684,
  16.68078105, -4.57563736]

qfrc_actuator:
[ 1.36563929e-04, 9.65168926e-04, 1.45996521e-04,-1.08240494e-04,
 -3.25126110e-05, 7.77534039e-05,-7.17984932e-05,-3.50069823e-05,
 -1.09272330e-04, 8.26322905e-04, 1.94802812e-04, 4.27576641e-05,
  3.06867540e-02,-1.19660369e-03, 2.06400810e-02,-3.02443207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005636212221999531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84901722e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.84901722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0342616 , -0.05219974,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43127396e-05, 4.99554270e-05, 2.06752096e-05,-3.45187194e-05,
  1.75097351e-05,-1.12199534e-05, 5.99734231e-06,-1.68143491e-05,
  7.60168433e-06,-4.20691397e-05, 6.00742031e-06,-4.27323321e-06,
 -1.99103644e-04,-6.36131867e-05,-1.20890362e-04, 4.37656048e-05,
  3.40907042e-05, 4.59942271e-06,-4.90501075e+00, 2.57237445e-04,
  1.18248935e-02,-5.91975401e-04]


--- Step 673 ---
qpos:
[ 0.01873484, 0.03011761,-0.00950876,-0.02557602, 0.00786244, 0.0046867 ,
 -0.0078361 , 0.0270888 , 0.01230236, 0.02806314,-0.00833205, 0.02645778,
  1.04949119, 0.00724515, 0.96073094, 0.04618561, 0.05870344,-0.07749992,
  0.17142854, 0.99964723, 0.02493639,-0.00221947,-0.00886906]

qacc:
[  8.09298225,  2.8749213 ,-12.80911494, 24.94582625,  4.91898919,
   1.34852445, -5.23599713,  8.26240997,  3.8131623 , -0.50261575,
   1.64874299, -2.45162066, -1.09420149,  1.36397773, -5.68106685,
  17.99183168,  1.73792103, -1.66209616, -0.49669632, 14.47485023,
  16.55594292, -4.41096612]

qfrc_actuator:
[ 1.86234202e-04, 9.41095966e-04, 1.09580419e-04,-7.72811338e-05,
 -4.15848032e-06, 8.92306711e-05,-8.64077358e-05,-2.71599011e-05,
 -8.64618636e-05, 8.27496244e-04, 2.00998726e-04, 4.09150411e-05,
  3.06217117e-02,-1.18411663e-03, 2.06263285e-02,-2.94300303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005549439327283273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00060395e-13, -1.00030198e-13,  1.00000000e+00, -2.00120809e-26,
        1.00000000e+00,  1.00030198e-13, -1.00000000e+00,  0.00000000e+00,
       -2.00060395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03425886, -0.05219832,  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:
[ 4.86868502e-05, 6.62057109e-06,-2.47507556e-05, 3.31439659e-05,
  2.88482818e-05, 5.72139446e-06,-1.67679371e-05, 7.24813563e-06,
  2.30176147e-05,-2.12803939e-05,-1.89795535e-06,-3.51959410e-06,
 -1.97821681e-04,-4.50811615e-05,-7.19611702e-05, 6.66403975e-05,
  4.91859157e-05,-2.05258742e-06,-4.90501327e+00, 2.52508371e-04,
  1.18252587e-02,-5.91772978e-04]


--- Step 674 ---
qpos:
[ 0.01873738, 0.03011816,-0.00950953,-0.02557522, 0.00786199, 0.00468707,
 -0.00783697, 0.02708876, 0.01230204, 0.02806282,-0.00833216, 0.02645801,
  1.05017979, 0.00724691, 0.96139707, 0.04618067, 0.05875783,-0.07751511,
  0.17142336, 0.9996459 , 0.02498987,-0.00195698,-0.00893065]

qacc:
[  1.98770539,  3.86242332,-20.01454282, 45.49538383, -3.07267382,
   1.92513113,-10.43649652, 24.65455569, -0.59810067,  1.95932538,
  -9.31673744, 20.44390815, -1.20450506,  1.52661125,  2.93469311,
 -11.81908832,  1.72495949, -1.64935767, -0.58074336, 14.30508554,
  16.45791772, -4.27595747]

qfrc_actuator:
[ 1.96794304e-04, 9.26312488e-04, 8.81808472e-05,-5.59098212e-06,
 -2.29477329e-05, 7.81089563e-05,-9.46902672e-05, 1.33020309e-05,
 -9.06943899e-05, 8.64018245e-04, 2.04669382e-04, 7.55082368e-05,
  3.05525977e-02,-1.17738629e-03, 2.05728159e-02,-3.01783439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005451118400543742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01834426e-13, -1.01834426e-13,  1.00000000e+00, -1.03702503e-26,
        1.00000000e+00,  1.01834426e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01834426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03425593, -0.05219647,  0.06199021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19793465e-05,-1.47819734e-05,-2.19396790e-05, 7.17610918e-05,
 -1.79670425e-05,-1.10719082e-05,-8.91148047e-06, 4.02692557e-05,
 -3.56601625e-06, 2.41054371e-05,-1.07527662e-06, 3.35480642e-05,
 -1.96161690e-04,-4.70384021e-05,-8.92502196e-05,-8.26496913e-05,
  6.68509588e-05,-1.12085274e-05,-4.90501658e+00, 2.46773024e-04,
  1.18261623e-02,-5.92248081e-04]


--- Step 675 ---
qpos:
[ 0.01873899, 0.03011856,-0.00950963,-0.02557467, 0.00786098, 0.00468719,
 -0.00783728, 0.02708918, 0.01230166, 0.02806268,-0.00833198, 0.02645862,
  1.05086695, 0.00724904, 0.96206219, 0.04617581, 0.05880177,-0.0775256 ,
  0.17142198, 0.99964503, 0.02502393,-0.00174504,-0.00897608]

qacc:
[ -7.92829528, -2.5827561 ,  9.98709916,-15.28181604, -4.96048394,
  -0.90984486,  0.83700113,  6.38950971, -0.40402912,  0.23037056,
  -2.0505364 ,  8.02687952, -1.32815205,  1.86993195, -1.62348692,
   3.77680208, -2.61099353,  1.17429072,  0.94917232, -9.47260555,
 -25.14878419,  8.73019091]

qfrc_actuator:
[ 1.48717483e-04, 9.35035689e-04, 1.29131853e-04,-1.70163871e-05,
 -5.15850456e-05, 7.13436442e-05,-6.37267001e-05, 3.71115769e-05,
 -9.30625183e-05, 8.85949810e-04, 2.24753428e-04, 9.57900058e-05,
  3.04864145e-02,-1.15639021e-03, 2.05434013e-02,-3.00669295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13094135,  5.02030186, -3.51923444,  5.02030186, 19.04876154,
       18.42768873, -3.51923444, 18.42768873, 32.41863592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000563854366910449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.84494481e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.84494481e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09586083, -0.0928888 ,  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:
[-4.77360799e-05,-1.01812816e-06, 3.76764317e-05,-1.14221888e-05,
 -2.91531000e-05,-1.30815466e-05, 2.89787689e-05, 2.38123686e-05,
 -2.46682173e-06, 3.66374358e-05, 2.60961531e-05, 2.19310349e-05,
 -1.93273496e-04,-3.25306825e-05,-8.95227459e-05,-7.17041792e-06,
  8.70553484e-05,-2.28102643e-05,-4.90502071e+00, 2.40065101e-04,
  1.18275566e-02,-5.93391466e-04]


--- Step 676 ---
qpos:
[ 0.01874036, 0.03011909,-0.00950899,-0.02557568, 0.00786031, 0.00468733,
 -0.00783731, 0.02708986, 0.01230195, 0.02806256,-0.00833173, 0.02645951,
  1.05155299, 0.00725106, 0.96272626, 0.04617107, 0.05883553,-0.07753156,
  0.17142319, 0.99964466, 0.02503856,-0.00158162,-0.00900726]

qacc:
[ -2.07728971, -5.10066072, 25.04530451,-53.38148938,  3.12510477,
  -0.23200634, -0.25293301,  4.35621724,  5.65917285,  0.37158462,
  -2.51462297,  7.24360069, -0.69525315,  0.5969054 , -1.87913368,
   4.41266375, -2.54311153,  1.13258523,  0.64893868, -9.48729639,
 -24.15863208,  7.74976652]

qfrc_actuator:
[ 1.37535556e-04, 9.57956653e-04, 1.71091144e-04,-9.49534515e-05,
 -3.25163566e-05, 8.51429475e-05,-4.53495192e-05, 5.09547899e-05,
 -5.88002605e-05, 8.63538385e-04, 2.18804149e-04, 1.07487087e-04,
  3.04380209e-02,-1.16261774e-03, 2.05018622e-02,-2.99811304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28386984, -4.09114078,  4.76965274, -4.09114078, 21.10113994,
       12.7094238 ,  4.76965274, 12.7094238 , 17.18530121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005821981494251172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86042568e-13, -9.53475226e-14,  1.00000000e+00, -2.72734502e-26,
        1.00000000e+00,  9.53475226e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86042568e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09585127, -0.09289185,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25757350e-05, 2.96078822e-05, 4.59896646e-05,-7.68997909e-05,
  1.82334609e-05, 1.34787583e-05, 2.00707797e-05, 1.47494534e-05,
  3.42005689e-05, 4.40610929e-06, 5.58960015e-06, 1.45954698e-05,
 -1.70234893e-04,-5.61627556e-05,-9.30309039e-05,-5.48005980e-06,
  5.63872032e-05,-1.21780216e-05,-4.90501391e+00, 2.50451364e-04,
  1.18234829e-02,-5.93713507e-04]


--- Step 677 ---
qpos:
[ 0.01874193, 0.03011996,-0.00950853,-0.02557689, 0.00786023, 0.0046879 ,
 -0.00783783, 0.02709036, 0.01230231, 0.02806266,-0.00833162, 0.02646051,
  1.05223805, 0.00725291, 0.96338921, 0.0461661 , 0.05885937,-0.07753313,
  0.17142595, 0.99964479, 0.02503381,-0.00146501,-0.00902571]

qacc:
[  1.70006482,  0.52727359, -0.41341979, -2.95463311,  5.06333898,
   1.52277019, -3.86425253,  1.17831776,  0.53520469,  0.94893145,
  -3.44059392,  5.55611996, -0.55629686,  0.38892107, -0.90619372,
   0.86726947, -2.48310609,  1.09705022,  0.38510276, -9.47401982,
 -23.32185703,  6.96443272]

qfrc_actuator:
[ 1.48178862e-04, 9.71413949e-04, 1.60063776e-04,-1.04866029e-04,
 -3.27075293e-06, 1.11104730e-04,-6.99880914e-05, 4.10766172e-05,
 -5.65104563e-05, 8.85646529e-04, 2.15092419e-04, 1.13983117e-04,
  3.04003256e-02,-1.16709368e-03, 2.04530894e-02,-3.00889359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37982271, -3.98458137,  4.98249426, -3.98458137, 26.75694718,
       16.2959165 ,  4.98249426, 16.2959165 , 19.41193109,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936900807934492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35019011e-14,  9.35019011e-14,  1.00000000e+00, -8.74260551e-27,
        1.00000000e+00, -9.35019011e-14, -1.00000000e+00,  0.00000000e+00,
        9.35019011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09584474, -0.09289471,  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:
[ 1.02863398e-05, 3.61864726e-05,-1.92112145e-06,-8.55141397e-06,
  2.97670601e-05, 3.82772367e-05,-1.88754573e-05,-8.32158076e-06,
  3.29404854e-06, 2.63647541e-05,-1.61258193e-06, 7.15868814e-06,
 -1.51480753e-04,-5.40249630e-05,-1.01042440e-04,-2.50645769e-05,
  3.33027129e-05,-4.69819719e-06,-4.90500859e+00, 2.57753591e-04,
  1.18207456e-02,-5.93707668e-04]


--- Step 678 ---
qpos:
[ 0.01874361, 0.03012139,-0.00950922,-0.02557714, 0.00786085, 0.00468863,
 -0.00783855, 0.02709075, 0.012302  , 0.02806307,-0.00833188, 0.0264616 ,
  1.05292187, 0.00725529, 0.96405047, 0.04616436, 0.05887348,-0.07753044,
  0.17142932, 0.99964543, 0.02500974,-0.00139376,-0.00903265]

qacc:
[  0.94403171,  5.94923722,-24.17572614, 42.2472974 ,  6.11703825,
   0.58731717, -1.33431214, -0.29560461, -5.67584338,  1.60557565,
  -5.45349649,  7.1376498 , -1.1050132 ,  1.6923427 ,-12.21911736,
  39.29999215, -2.43068659,  1.06696967,  0.15509057, -9.44422522,
 -22.61764043,  6.335147  ]

qfrc_actuator:
[ 1.53818554e-04, 9.96693661e-04, 1.00111466e-04,-5.69530762e-05,
  3.17154108e-05, 1.08450269e-04,-8.42758305e-05, 3.50594502e-05,
 -9.08221688e-05, 8.98730021e-04, 1.95154586e-04, 1.17406773e-04,
  3.03424476e-02,-1.13491406e-03, 2.03946934e-02,-2.83570780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.4285718 , -3.79331626,  5.19011437, -3.79331626, 34.60371738,
       20.59246295,  5.19011437, 20.59246295, 21.47905411,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000599528624145626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25913276e-14, -9.25913276e-14,  1.00000000e+00, -8.57315394e-27,
        1.00000000e+00,  9.25913276e-14, -1.00000000e+00,  0.00000000e+00,
       -9.25913276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09584066, -0.09289743,  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:
[ 5.94952632e-06, 4.47164315e-05,-5.30259207e-05, 4.92282526e-05,
  3.58465809e-05, 1.44896272e-05,-8.99673180e-06,-5.19436819e-06,
 -3.42054632e-05, 2.77955074e-05,-1.44472365e-05, 4.63422882e-06,
 -1.60304742e-04,-1.25188962e-05,-1.15985524e-04, 1.56898683e-04,
  1.68150406e-05,-9.02947468e-08,-4.90500466e+00, 2.62610290e-04,
  1.18191832e-02,-5.93357333e-04]


--- Step 679 ---
qpos:
[ 0.01874534, 0.03012306,-0.0095105 ,-0.02557715, 0.00786187, 0.00468917,
 -0.00783905, 0.02709178, 0.01230197, 0.02806352,-0.00833229, 0.02646273,
  1.05360452, 0.00725758, 0.96471012, 0.04616438, 0.05887805,-0.07752358,
  0.17143252, 0.99964658, 0.02496646,-0.00136667,-0.00902907]

qacc:
[  0.44804871,  2.45657605, -9.31996398, 14.20007315,  3.66234574,
   0.384666  , -4.42549156, 15.14324739,  2.38443973,  0.56553502,
  -2.13493101,  3.18825285, -0.60359294,  0.44952812, -7.6205132 ,
  23.30412203, -2.38536089,  1.04166582, -0.04416886, -9.40598247,
 -22.02749387,  5.83072419]

qfrc_actuator:
[ 1.56460551e-04, 9.93191020e-04, 6.51044154e-05,-4.64375383e-05,
  5.20437139e-05, 8.87103642e-05,-7.46764463e-05, 6.68624315e-05,
 -7.53817652e-05, 8.88484856e-04, 1.83519853e-04, 1.18981325e-04,
  3.02671937e-02,-1.15238403e-03, 2.03146395e-02,-2.75079692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.43879286, -3.51739968,  5.39313943, -3.51739968, 45.2482518 ,
       25.31148696,  5.39313943, 25.31148696, 22.94691716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006007530186883658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84805234e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84805234e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09583857, -0.09290008,  0.06198921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82725209e-06, 1.26116228e-05,-3.06093503e-05, 1.15523992e-05,
  2.13526628e-05,-1.37246756e-05, 1.13021928e-05, 3.20091498e-05,
  1.44480438e-05, 2.48566866e-06,-7.51530487e-06, 2.35463299e-06,
 -1.73004587e-04,-5.56454852e-05,-1.22938112e-04, 7.71529381e-05,
  6.17360544e-06, 1.87162948e-06,-4.90500203e+00, 2.65489680e-04,
  1.18186692e-02,-5.92651045e-04]


--- Step 680 ---
qpos:
[ 0.01874675, 0.03012459,-0.00951174,-0.02557772, 0.00786245, 0.00468953,
 -0.00783939, 0.02709318, 0.01230247, 0.02806411,-0.00833287, 0.02646387,
  1.05428602, 0.00725971, 0.96536801, 0.04616412, 0.05887324,-0.07751263,
  0.17143486, 0.99964823, 0.02490405,-0.00138274,-0.00901574]

qacc:
[ -2.79606066, -1.45661327,  7.31478847,-17.01688929, -3.98556557,
   0.13117493, -2.38842525,  8.79007468,  4.50529358,  0.6430875 ,
  -2.07051712,  2.30164444, -0.67158553,  0.50558402, -1.75203283,
   2.44098039, -2.34654142,  1.02051846, -0.21589362, -9.36492455,
 -21.53526067,  5.42627116]

qfrc_actuator:
[ 1.39565630e-04, 9.72533896e-04, 6.27248238e-05,-7.57717342e-05,
  2.80748553e-05, 7.67685608e-05,-6.88585950e-05, 8.51557374e-05,
 -4.85217269e-05, 8.99877514e-04, 1.76787808e-04, 1.19443371e-04,
  3.02028536e-02,-1.16372654e-03, 2.02109915e-02,-2.77191505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005982584786167755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85575811e-13, -9.27879056e-14,  1.00000000e+00, -1.72191908e-26,
        1.00000000e+00,  9.27879056e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85575811e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09583805, -0.09290268,  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:
[-1.68113413e-05,-1.94818464e-05,-3.15138569e-06,-2.96295742e-05,
 -2.33686175e-05,-1.59189598e-05, 5.47878246e-06, 1.87158894e-05,
  2.72862956e-05, 1.13218365e-05,-7.06649975e-06, 3.51111722e-07,
 -1.79735939e-04,-6.13983896e-05,-1.58476292e-04,-3.41935636e-05,
  8.07961722e-07, 1.36742227e-06,-4.90500063e+00, 2.66734889e-04,
  1.18191058e-02,-5.91580997e-04]


--- Step 681 ---
qpos:
[ 0.01874761, 0.03012592,-0.00951299,-0.02557828, 0.00786308, 0.00468979,
 -0.00783962, 0.02709374, 0.01230295, 0.02806495,-0.00833415, 0.02646502,
  1.05496634, 0.0072617 , 0.96602427, 0.04616255, 0.05885917,-0.07749768,
  0.17143574, 0.99965038, 0.0248226 ,-0.00144113,-0.00899328]

qacc:
[ -4.78540883, -0.2184467 ,  0.36603023, -0.0418186 ,  0.4742433 ,
  -2.17170169, 11.09029881,-25.67435144, -0.24983874,  2.35695257,
  -7.9855362 ,  9.233429  , -0.7558413 ,  0.65684461,  1.61081257,
  -9.00125756, -2.31361131,  1.00297253, -0.36323925, -9.32492851,
 -21.12698059,  5.10192465]

qfrc_actuator:
[ 1.11307754e-04, 9.59606592e-04, 6.17652545e-05,-7.50535126e-05,
  3.14885831e-05, 6.95673075e-05,-6.53188767e-05, 4.20874869e-05,
 -5.06765238e-05, 9.06402226e-04, 1.37576820e-04, 1.19265374e-04,
  3.01451046e-02,-1.17128844e-03, 2.01358656e-02,-2.83757990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005928116357270669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36404549e-14, -1.87280910e-13,  1.00000000e+00,  1.75370696e-26,
        1.00000000e+00,  1.87280910e-13, -1.00000000e+00,  0.00000000e+00,
        9.36404549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09583879, -0.09290524,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87567136e-05,-2.57907869e-05,-6.39937404e-06,-8.00850906e-07,
  2.74305877e-06,-1.41897485e-05, 1.57147684e-06,-4.31988191e-05,
 -1.34845735e-06, 1.14054771e-05,-3.77337305e-05, 6.59307144e-08,
 -1.79126904e-04,-6.00426247e-05,-1.57399466e-04,-8.92131729e-05,
  2.85769542e-07,-1.46156510e-06,-4.90500041e+00, 2.66596997e-04,
  1.18204186e-02,-5.90141934e-04]


--- Step 682 ---
qpos:
[ 0.01874846, 0.03012706,-0.00951425,-0.02557848, 0.00786374, 0.00468979,
 -0.00783975, 0.02709415, 0.01230305, 0.0280658 ,-0.00833577, 0.02646513,
  1.05564559, 0.00726306, 0.96667895, 0.04616143, 0.05883596,-0.07747877,
  0.17143466, 0.999653  , 0.0247222 ,-0.00154116,-0.00896221]

qacc:
[-5.19590723e-03, 5.36319917e-01,-3.81015450e+00, 1.02047775e+01,
  3.23902756e-01,-9.40241203e-01, 3.49092304e+00,-6.08871001e+00,
 -3.19504183e+00,-1.19132115e+00, 8.67499289e+00,-2.61803789e+01,
 -1.83534545e-01,-5.98572016e-01,-3.70029609e+00, 9.51382673e+00,
 -2.28596391e+00, 9.88538701e-01,-4.89181125e-01,-9.28860749e+00,
 -2.07906853e+01, 4.84183677e+00]

qfrc_actuator:
[ 1.12099777e-04, 9.51437287e-04, 6.16902770e-05,-5.66519453e-05,
  3.32534893e-05, 4.74450228e-05,-6.31727901e-05, 3.42750347e-05,
 -6.98961570e-05, 8.92074254e-04, 1.14990068e-04, 6.54290840e-05,
  3.00807006e-02,-1.21204101e-03, 2.00885553e-02,-2.80455644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005850653956942925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.48802504e-14, -9.48802504e-14,  1.00000000e+00,  9.00226191e-27,
        1.00000000e+00,  9.48802504e-14, -1.00000000e+00,  0.00000000e+00,
        9.48802504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09584051, -0.09290776,  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:
[-5.75679408e-08,-2.39923377e-05,-6.21697625e-06, 1.70624464e-05,
  1.83964471e-06,-3.15911286e-05,-2.08794729e-06,-9.20834461e-06,
 -1.92521342e-05,-1.57585143e-05,-2.48729935e-05,-5.46532841e-05,
 -1.85211245e-04,-9.27677660e-05,-1.35526174e-04, 6.47950621e-06,
  4.28121153e-06,-6.50591071e-06,-4.90500131e+00, 2.65259201e-04,
  1.18225509e-02,-5.88330344e-04]


--- Step 683 ---
qpos:
[ 0.01874931, 0.0301282 ,-0.00951559,-0.02557883, 0.00786373, 0.00468946,
 -0.00783955, 0.02709481, 0.01230257, 0.02806631,-0.00833725, 0.02646461,
  1.05632367, 0.00726373, 0.96733235, 0.0461557 , 0.05880369,-0.07745595,
  0.1714312 , 0.99965607, 0.0246029 ,-0.00168228,-0.00892291]

qacc:
[ 1.79744313e-02,-9.10946468e-02, 9.71104726e-01,-3.42005656e+00,
 -5.91183493e+00,-8.63752963e-01, 1.43039711e+00, 2.45593421e+00,
 -4.89512779e+00,-2.14888766e+00, 9.71002056e+00,-2.06863420e+01,
 -5.12481431e-01,-1.56732407e-01, 1.20799420e+01,-4.49446593e+01,
 -2.26302510e+00, 9.76790024e-01,-5.96456134e-01,-9.25766666e+00,
 -2.05161677e+01, 4.63336166e+00]

qfrc_actuator:
[ 1.12235129e-04, 9.63955830e-04, 6.21646863e-05,-6.34986141e-05,
 -1.48009993e-06, 3.43279998e-05,-4.41408752e-05, 4.72664705e-05,
 -9.89967642e-05, 8.65377699e-04, 1.20038437e-04, 3.37073809e-05,
  3.00070117e-02,-1.25441644e-03, 1.99940803e-02,-3.05084969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005755727625810225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64450628e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64450628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09584298, -0.09291024,  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:
[ 1.22599031e-07,-1.47962862e-06,-4.65501434e-06,-7.75611817e-06,
 -3.46918665e-05,-3.16077538e-05, 1.19310086e-05, 1.13854628e-05,
 -2.96666630e-05,-4.30073500e-05,-3.15183320e-06,-3.43190067e-05,
 -2.05056637e-04,-1.02970156e-04,-1.62467748e-04,-2.64811083e-04,
  1.25511686e-05,-1.36825889e-05,-4.90500330e+00, 2.62854527e-04,
  1.18254604e-02,-5.86143881e-04]


--- Step 684 ---
qpos:
[ 0.01874947, 0.03012892,-0.00951619,-0.02557891, 0.00786331, 0.00468924,
 -0.00783927, 0.02709488, 0.01230141, 0.02806626,-0.00833828, 0.02646406,
  1.05700017, 0.00726476, 0.96798422, 0.04614339, 0.05876245,-0.07742927,
  0.17142499, 0.99965955, 0.02446476,-0.00186402,-0.00887572]

qacc:
[ -5.9255236 , -2.056973  ,  5.41183705, -1.68361556, -3.66412861,
  -1.25808247,  7.17301768,-17.45851644, -5.85565959, -2.01531605,
   6.20033787, -6.86794989, -1.81691418,  2.59701867, 17.80065812,
 -65.20387602, -2.24426449,  0.96735653, -0.68754104, -9.23316115,
 -20.29475127,  4.46640494]

qfrc_actuator:
[ 7.64682697e-05, 9.35496092e-04, 9.85311097e-05,-4.96256777e-05,
 -2.19120681e-05, 6.22996551e-05,-3.30018364e-05, 1.91490249e-05,
 -1.33674521e-04, 8.31602984e-04, 1.41321780e-04, 3.30164125e-05,
  2.99331253e-02,-1.22642609e-03, 1.98979642e-02,-3.38884639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005647994298148135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96569431e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.96569431e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09584602, -0.09291267,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57654848e-05,-3.06083088e-05, 3.52213108e-05, 1.34985308e-05,
 -2.14298635e-05, 1.32450532e-05, 6.47496317e-06,-2.88372817e-05,
 -3.55616609e-05,-5.99585799e-05, 1.08369509e-05,-3.30652432e-06,
 -2.20225725e-04,-3.88751060e-05,-2.06788841e-04,-3.75096657e-04,
  2.49171730e-05,-2.29303804e-05,-4.90500634e+00, 2.59478813e-04,
  1.18291159e-02,-5.83580939e-04]


--- Step 685 ---
qpos:
[ 0.01874851, 0.03012899,-0.0095162 ,-0.02557845, 0.00786229, 0.00468927,
 -0.00783978, 0.02709466, 0.01230018, 0.02806576,-0.00833906, 0.02646317,
  1.05767517, 0.00726632, 0.96863366, 0.04612972, 0.05872932,-0.07740996,
  0.1714223 , 0.99966205, 0.02436309,-0.0020089 ,-0.00884269]

qacc:
[ -9.57273774, -1.35523869,  1.29343218,  7.73897013, -5.19195196,
   1.94965983, -5.19962054,  1.14933583, -0.51806904, -2.0294889 ,
   7.88052853,-14.08002295, -1.52239984,  2.26968935,  0.6305465 ,
  -7.1281907 ,  2.0275763 , -1.84651702,  0.88090985, 18.05888789,
  18.41412245, -7.57261348]

qfrc_actuator:
[ 1.98557217e-05, 8.82883725e-04, 1.20150653e-04,-2.36760675e-05,
 -5.15034950e-05, 6.13492663e-05,-7.97360447e-05, 2.59813542e-06,
 -1.35848757e-04, 8.11702377e-04, 1.54241145e-04, 1.50792014e-05,
  2.98751766e-02,-1.19251249e-03, 1.98115840e-02,-3.44074669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.05514014,  5.15669516, -3.1738332 ,  5.15669516, 17.81157813,
       19.10130846, -3.1738332 , 19.10130846, 37.09004928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005547357778803302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423847, -0.05223064,  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:
[-5.76691534e-05,-6.19076481e-05, 2.01029204e-05, 2.61219666e-05,
 -3.01948790e-05, 6.55511731e-06,-4.41985308e-05,-1.63198803e-05,
 -3.24023893e-06,-5.13338079e-05, 1.76861003e-06,-2.01911681e-05,
 -1.99196086e-04,-2.25502765e-05,-2.28529664e-04,-1.00528194e-04,
  4.12516748e-05,-3.42061016e-05,-4.90501040e+00, 2.55200262e-04,
  1.18334945e-02,-5.80640352e-04]


--- Step 686 ---
qpos:
[ 0.01874688, 0.03012881,-0.00951606,-0.02557769, 0.00786128, 0.0046893 ,
 -0.00784051, 0.02709458, 0.01229963, 0.02806538,-0.00833994, 0.02646236,
  1.05834907, 0.00726741, 0.9692805 , 0.04611775, 0.05870406,-0.0773979 ,
  0.17142205, 0.99966363, 0.02429626,-0.00211765,-0.00882232]

qacc:
[-5.75561242e+00,-1.44956574e-01,-1.13974656e+00, 6.00356044e+00,
 -2.33362429e-02, 9.17643820e-01,-3.89314684e+00, 6.74734107e+00,
  5.71943017e+00, 6.42541807e-01,-2.46155125e+00, 4.13164225e+00,
 -1.98729878e-01,-4.70275331e-01,-8.99877022e+00, 2.58771092e+01,
  1.96892432e+00,-1.80956484e+00, 6.09401275e-01, 1.72581452e+01,
  1.80603760e+01,-6.80366933e+00]

qfrc_actuator:
[-1.30562013e-05, 8.87185117e-04, 1.32772769e-04,-8.62448967e-06,
 -5.07484200e-05, 6.06126275e-05,-8.93455089e-05, 1.06860911e-05,
 -1.01119652e-04, 8.53484495e-04, 1.62149069e-04, 2.26401123e-05,
  2.98161877e-02,-1.22636744e-03, 1.97205297e-02,-3.34133703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1802398 , -5.97756532,  1.56973784, -5.97756532,  8.31689761,
        8.13639789,  1.56973784,  8.13639789, 37.16366177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005697739565644483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74266208e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.74266208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423918, -0.05223875,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46163475e-05,-2.50667635e-05, 3.21740729e-06, 1.36066808e-05,
 -9.82817422e-08,-6.90550235e-06,-1.42566983e-05, 6.52477454e-06,
  3.46143545e-05, 1.26000440e-05,-3.16084079e-06, 5.03402836e-06,
 -1.83727212e-04,-8.22071338e-05,-2.09917959e-04, 6.39144249e-05,
  2.60427780e-05,-1.99358197e-05,-4.90500688e+00, 2.62220584e-04,
  1.18293393e-02,-5.78219299e-04]


--- Step 687 ---
qpos:
[ 0.0187459 , 0.03012885,-0.00951597,-0.02557715, 0.00786063, 0.0046893 ,
 -0.00784082, 0.02709456, 0.01229949, 0.02806532,-0.00834061, 0.02646195,
  1.05902163, 0.00726846, 0.96992516, 0.04610989, 0.05868648,-0.07739295,
  0.17142329, 0.99966436, 0.02426295,-0.00219091,-0.00881339]

qacc:
[ 5.58155690e+00,-4.59042657e-02, 1.48552512e+00,-5.32481004e+00,
  3.19440572e+00,-1.12655359e+00, 3.74139323e+00,-3.48256793e+00,
  3.58433153e+00, 5.90069239e-01,-3.17589907e+00, 9.40096281e+00,
 -6.20954213e-01, 4.28317554e-01,-1.56225961e+01, 5.00596683e+01,
  1.91830412e+00,-1.77641836e+00, 3.71170117e-01, 1.65931976e+01,
  1.77418213e+01,-6.18917365e+00]

qfrc_actuator:
[ 2.15105276e-05, 9.25489981e-04, 1.40199990e-04,-1.78196158e-05,
 -3.21356744e-05, 7.79171921e-05,-5.91760364e-05, 1.54839204e-05,
 -8.04632303e-05, 8.96385885e-04, 1.85067936e-04, 4.51978420e-05,
  2.97459416e-02,-1.22908172e-03, 1.96640548e-02,-3.11815009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25553746, -6.10940546,  1.34421495, -6.10940546,  8.21773504,
        8.91811288,  1.34421495,  8.91811288, 46.78801889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005788033544398274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59067545e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59067545e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423899, -0.05224444,  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:
[ 3.35487457e-05, 2.55311229e-05, 3.11896533e-06,-9.89188797e-06,
  1.86078458e-05, 1.07854505e-05, 2.72213144e-05, 4.13736138e-06,
  2.16741322e-05, 4.95463970e-05, 2.53210829e-05, 2.30893692e-05,
 -1.99025272e-04,-6.04273940e-05,-1.47975785e-04, 1.99337000e-04,
  1.45722822e-05,-9.75201505e-06,-4.90500401e+00, 2.67002258e-04,
  1.18267948e-02,-5.76640897e-04]


--- Step 688 ---
qpos:
[ 0.01874568, 0.03012905,-0.0095163 ,-0.02557739, 0.00785985, 0.00468933,
 -0.00784103, 0.02709426, 0.01229961, 0.02806549,-0.00834096, 0.02646181,
  1.0596927 , 0.00726978, 0.97056861, 0.04610362, 0.05867639,-0.07739498,
  0.17142517, 0.99966428, 0.02426204,-0.00222928,-0.00881493]

qacc:
[ 6.55954659e+00,-1.86607541e-01, 4.18756997e+00,-1.69023033e+01,
 -1.02520623e+00,-7.86135776e-01, 4.00128847e+00,-8.86565383e+00,
  2.12821925e+00, 1.99394159e-02,-7.89812003e-01, 4.91688365e+00,
 -1.19064682e+00, 1.54003759e+00,-6.50177527e+00, 2.03554480e+01,
  1.87494703e+00,-1.74715295e+00, 1.63654483e-01, 1.60424180e+01,
  1.74594855e+01,-5.69836824e+00]

qfrc_actuator:
[ 6.00047700e-05, 9.12818543e-04, 1.09139215e-04,-5.89257930e-05,
 -3.86762414e-05, 7.05577249e-05,-5.89626615e-05, 5.88215160e-07,
 -6.82677431e-05, 9.04213077e-04, 1.98950778e-04, 5.86622837e-05,
  2.96743290e-02,-1.21334969e-03, 1.96230570e-02,-3.03682014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28961382, -6.20239365,  1.04381753, -6.20239365,  7.7801318 ,
        8.85670053,  1.04381753,  8.85670053, 58.91638192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005828862663555812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52349617e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52349617e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423805, -0.05224819,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94808099e-05, 1.83688979e-06,-2.57490154e-05,-4.01005167e-05,
 -6.00925722e-06, 4.48204115e-06, 5.94009093e-06,-1.34111557e-05,
  1.28457754e-05, 4.17719825e-05, 2.80435301e-05, 1.69148181e-05,
 -2.03135732e-04,-4.15133279e-05,-9.18424975e-05, 7.23203979e-05,
  6.55999315e-06,-3.22703994e-06,-4.90500186e+00, 2.69890935e-04,
  1.18255074e-02,-5.75863822e-04]


--- Step 689 ---
qpos:
[ 0.0187449 , 0.0301287 ,-0.00951643,-0.02557806, 0.00785901, 0.00468936,
 -0.00784121, 0.0270938 , 0.01229987, 0.02806585,-0.00834112, 0.02646219,
  1.06036251, 0.00727098, 0.9712113 , 0.0460963 , 0.05867366,-0.0774039 ,
  0.171427  , 0.99966343, 0.02429263,-0.00223325,-0.00882618]

qacc:
[-4.87491567e+00,-2.22493418e+00, 8.76262045e+00,-1.63795935e+01,
 -6.33882914e-01,-4.52610784e-01, 2.30216238e+00,-5.24152744e+00,
  1.24423791e+00, 7.48816957e-01,-4.50663767e+00, 1.30592378e+01,
 -8.82238323e-01, 8.26251247e-01, 2.11547175e+00,-8.88180139e+00,
  1.83807790e+00,-1.72166956e+00,-1.60397590e-02, 1.55875538e+01,
  1.72127741e+01,-5.30668714e+00]

qfrc_actuator:
[ 2.94691978e-05, 8.51784340e-04, 1.08648565e-04,-8.30340082e-05,
 -4.22224384e-05, 6.61133298e-05,-5.88072635e-05,-8.06817631e-06,
 -6.11456649e-05, 9.08697918e-04, 2.07238522e-04, 8.43825681e-05,
  2.96126084e-02,-1.22235903e-03, 1.95860112e-02,-3.09298143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005829431335041962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52256713e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.52256713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423648, -0.05225039,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93818767e-05,-6.70302162e-05,-4.66917028e-06,-2.57020968e-05,
 -3.71509069e-06,-1.28583524e-06, 1.35183753e-06,-8.51847746e-06,
  7.51188144e-06, 3.43647718e-05, 2.09578091e-05, 2.88101097e-05,
 -1.90841372e-04,-6.34405760e-05,-7.99983601e-05,-6.59038659e-05,
  1.78060793e-06,-2.66041758e-08,-4.90500048e+00, 2.71146211e-04,
  1.18252219e-02,-5.75854777e-04]


--- Step 690 ---
qpos:
[ 0.01874444, 0.03012791,-0.00951604,-0.02557872, 0.00785848, 0.00468941,
 -0.00784169, 0.0270936 , 0.01229952, 0.02806639,-0.00834111, 0.02646254,
  1.06103112, 0.00727202, 0.97185318, 0.04608405, 0.05867816,-0.07741962,
  0.17142814, 0.99966183, 0.02435395,-0.00220325,-0.00884653]

qacc:
[  2.85114577, -1.96358487,  6.04143846, -6.06995978,  2.70791092,
   1.44810882, -6.22390608, 11.27307841, -5.15894532, -0.27886053,
   1.49509675, -2.50094181, -1.03147794,  1.08409423, 13.77718271,
 -49.75731003,  1.80695544, -1.69976798, -0.17087329, 15.21328444,
  17.00013311, -4.99451628]

qfrc_actuator:
[ 4.73088883e-05, 8.51139061e-04, 1.43781048e-04,-7.92094548e-05,
 -2.62172788e-05, 6.34434773e-05,-7.64172372e-05, 4.77596662e-06,
 -9.25690527e-05, 9.11128408e-04, 2.12148092e-04, 8.15959650e-05,
  2.95568577e-02,-1.22816742e-03, 1.95140588e-02,-3.35390456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797664042576228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91494888e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91494888e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423442, -0.05225134,  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:
[ 1.69626680e-05,-4.01846540e-05, 1.98332876e-05, 2.96614322e-07,
  1.58994321e-05,-3.47371797e-06,-1.80008332e-05, 1.26715659e-05,
 -3.11919653e-05, 2.72024591e-05, 1.55829628e-05,-2.96743425e-08,
 -1.82919935e-04,-6.19639551e-05,-1.25856016e-04,-2.77087222e-04,
  5.39754526e-08, 1.08740847e-07,-4.90499989e+00, 2.70962118e-04,
  1.18257546e-02,-5.76586940e-04]


--- Step 691 ---
qpos:
[ 0.01874524, 0.03012715,-0.00951569,-0.02557968, 0.00785849, 0.00468931,
 -0.00784229, 0.02709322, 0.0122988 , 0.02806707,-0.00834153, 0.02646256,
  1.06169857, 0.00727296, 0.97249368, 0.04607004, 0.05868978,-0.07744206,
  0.17142807, 0.99965948, 0.0244454 ,-0.00213966,-0.00887547]

qacc:
[ 10.72998955, -0.5325121 ,  3.2362394 , -8.61328455,  4.75843848,
  -0.26466022,  1.38682499, -4.1725702 , -3.20137642,  0.71474758,
  -0.86851512, -4.32712596, -0.8165471 ,  0.77764083,  3.32421655,
 -14.47793867,  1.78089359, -1.68119486, -0.30371489, 14.90680004,
  16.81948575, -4.74619667]

qfrc_actuator:
[ 1.11254663e-04, 8.69081406e-04, 1.46643559e-04,-9.44230776e-05,
  1.16641047e-06, 4.40471907e-05,-8.66027769e-05,-5.34891412e-06,
 -1.10921367e-04, 8.94512953e-04, 1.79487984e-04, 6.20525587e-05,
  2.95047274e-02,-1.23197949e-03, 1.94691265e-02,-3.43159337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574034372615953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.67035318e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.67035318e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03423196, -0.05225131,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44275203e-05,-3.86782655e-07,-2.97811794e-06,-1.62404042e-05,
  2.78345210e-05,-2.45044336e-05,-1.26769343e-05,-1.06492250e-05,
 -1.92569111e-05, 1.78157384e-06,-2.51290158e-05,-1.78398383e-05,
 -1.75434291e-04,-5.72787625e-05,-1.41975671e-04,-1.11169188e-04,
  1.23727425e-06,-2.62139627e-06,-4.90500011e+00, 2.69482816e-04,
  1.18269734e-02,-5.78038729e-04]


--- Step 692 ---
qpos:
[ 0.01874645, 0.03012663,-0.00951597,-0.02558116, 0.00785848, 0.00468891,
 -0.00784235, 0.02709201, 0.01229821, 0.02806755,-0.00834221, 0.02646237,
  1.06236477, 0.00727413, 0.97313242, 0.04606041, 0.05870844,-0.07747117,
  0.17142633, 0.99965638, 0.02456647,-0.00204278,-0.00891264]

qacc:
[ 3.54409661e+00, 1.04794276e+00,-1.12381902e+00,-6.82680317e+00,
 -1.24644379e-01,-3.64672178e+00, 1.59414967e+01,-3.10396664e+01,
  1.10409101e+00, 2.57785707e-02, 4.08404822e-01,-3.40857739e+00,
 -7.88790299e-01, 9.37298956e-01,-1.57516742e+01, 5.14892029e+01,
  1.75927082e+00,-1.66567462e+00,-4.17253655e-01, 1.46574168e+01,
  1.66685161e+01,-4.54922500e+00]

qfrc_actuator:
[ 1.30800375e-04, 8.80139401e-04, 1.12738961e-04,-1.20727659e-04,
 -4.83684698e-07, 3.25420609e-05,-5.69007564e-05,-4.66704316e-05,
 -1.03667946e-04, 8.66440393e-04, 1.60323573e-04, 5.05208846e-05,
  2.94494834e-02,-1.21682193e-03, 1.94458134e-02,-3.18750631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005663243774548243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80200631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.80200631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0342292 , -0.05225051,  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:
[ 2.14262358e-05, 9.57699901e-06,-3.49095595e-05,-2.67401877e-05,
 -8.66664000e-07,-2.82619319e-05, 2.27183160e-05,-4.30162574e-05,
  6.69245734e-06,-3.30600210e-05,-2.25117204e-05,-1.26719329e-05,
 -1.72861077e-04,-3.56899843e-05,-1.07524952e-04, 2.18193743e-04,
  5.21868478e-06,-8.06522617e-06,-4.90500115e+00, 2.66814553e-04,
  1.18287840e-02,-5.80192814e-04]


--- Step 693 ---
qpos:
[ 0.01874754, 0.03012628,-0.00951665,-0.02558328, 0.0078581 , 0.00468834,
 -0.00784241, 0.02709102, 0.01229806, 0.02806716,-0.00834223, 0.02646207,
  1.06302976, 0.00727546, 0.9737698 , 0.04605372, 0.05873406,-0.07750688,
  0.17142253, 0.99965253, 0.02471675,-0.00191287,-0.00895771]

qacc:
[-1.03641198e+00,-2.66569007e-02, 3.15125307e+00,-1.39266173e+01,
 -3.20354242e+00, 2.84359870e-01,-2.26066713e+00, 6.27294595e+00,
  3.75317477e+00,-3.20114492e+00, 1.01756273e+01,-1.24366035e+01,
 -8.01058064e-01, 9.36637920e-01,-1.08672866e+01, 3.52126769e+01,
  1.74153212e+00,-1.65292876e+00,-5.13956757e-01, 1.44562363e+01,
  1.65448481e+01,-4.39361398e+00]

qfrc_actuator:
[ 1.24040720e-04, 8.86828815e-04, 9.28889983e-05,-1.53368021e-04,
 -1.92127765e-05, 2.59849267e-05,-5.71372331e-05,-3.49717475e-05,
 -8.14055397e-05, 7.96256910e-04, 1.84749842e-04, 4.38004333e-05,
  2.93924220e-02,-1.20833269e-03, 1.93876217e-02,-3.03982472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005571250366328273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96385866e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.96385866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03422622, -0.05224913,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12717488e-06, 3.71875105e-06,-2.30861429e-05,-3.39549090e-05,
 -1.87627103e-05,-1.94942103e-05,-4.75643008e-06, 1.04402339e-05,
  2.24494994e-05,-9.38728723e-05, 1.43877625e-05,-9.16229985e-06,
 -1.66883610e-04,-3.78173077e-05,-9.01568863e-05, 1.44503309e-04,
  1.19122427e-05,-1.61092149e-05,-4.90500300e+00, 2.63034731e-04,
  1.18311198e-02,-5.83035330e-04]


--- Step 694 ---
qpos:
[ 0.0187482 , 0.03012568,-0.00951688,-0.02558545, 0.00785785, 0.00468788,
 -0.00784288, 0.02709017, 0.01229817, 0.02806611,-0.00834204, 0.02646238,
  1.06369375, 0.00727659, 0.97440612, 0.04604978, 0.05874959,-0.07753808,
  0.17142099, 0.99964916, 0.0248477 ,-0.00183129,-0.00898852]

qacc:
[-3.70365237e+00,-1.61866924e+00, 5.47176461e+00,-6.63425073e+00,
  1.06949865e+00, 1.55891380e+00,-5.94336307e+00, 8.93708134e+00,
  2.30209138e+00,-2.26248674e-01,-3.05366836e+00, 1.38171188e+01,
 -3.63928852e-01, 2.62538975e-02,-9.85765090e+00, 3.22552275e+01,
 -2.52332592e+00, 1.12904509e+00, 5.65164023e-01,-9.43599356e+00,
 -2.40698153e+01, 7.74774032e+00]

qfrc_actuator:
[ 1.01866442e-04, 8.73138013e-04, 1.16993863e-04,-1.53956550e-04,
 -1.23295504e-05, 4.01265658e-05,-7.49997362e-05,-2.76919798e-05,
 -6.82487734e-05, 7.72584132e-04, 1.99029114e-04, 7.54583880e-05,
  2.93449620e-02,-1.22162913e-03, 1.93564639e-02,-2.89704708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.09691154,  4.97602716, -3.52299362,  4.97602716, 19.52567323,
       18.96735846, -3.52299362, 18.96735846, 32.88722143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005597634795331541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91689406e-14,  9.91689406e-14,  1.00000000e+00,  9.83447877e-27,
        1.00000000e+00, -9.91689406e-14, -1.00000000e+00,  0.00000000e+00,
       -9.91689406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09582718, -0.09294279,  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:
[-2.23469697e-05,-1.78131246e-05, 2.08708198e-05,-1.88216293e-06,
  6.34296221e-06, 2.72225901e-06,-2.21035436e-05, 6.48738540e-06,
  1.37812337e-05,-7.35652062e-05,-3.65188656e-06, 2.79552785e-05,
 -1.54222418e-04,-5.87105377e-05,-6.45361212e-05, 1.37437012e-04,
  2.12536338e-05,-2.66705074e-05,-4.90500567e+00, 2.58198771e-04,
  1.18339341e-02,-5.86555250e-04]


--- Step 695 ---
qpos:
[ 0.01874859, 0.03012497,-0.00951661,-0.02558728, 0.00785803, 0.00468771,
 -0.0078431 , 0.027089  , 0.01229776, 0.02806498,-0.00834221, 0.02646304,
  1.06435658, 0.00727786, 0.97504183, 0.04604456, 0.05875524,-0.07756491,
  0.17142073, 0.99964628, 0.02495936,-0.0017964 ,-0.00900656]

qacc:
[ -2.30823583, -0.88122068,  1.5461397 ,  3.45105256,  3.77655068,
  -0.98497286,  5.38376044,-11.49508765, -4.54768005,  1.60609557,
  -7.30220435, 13.82572244, -1.03948755,  1.32507763,  3.03421071,
 -11.75489714, -2.46940599,  1.0932559 ,  0.31853301, -9.42874725,
 -23.26566383,  6.98389733]

qfrc_actuator:
[ 8.85583689e-05, 8.83060190e-04, 1.49040084e-04,-1.35669714e-04,
  9.57917466e-06, 8.42337748e-05,-4.97826769e-05,-4.08215494e-05,
 -9.60668408e-05, 7.94700331e-04, 1.89634906e-04, 9.39588116e-05,
  2.92873109e-02,-1.21217628e-03, 1.93095928e-02,-2.97122631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19405798, -3.78028133,  4.90671248, -3.78028133, 27.68628752,
       16.55827082,  4.90671248, 16.55827082, 18.95105613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005714319459631662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.7143941e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.7143941e-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([ 0.09582044, -0.09294566,  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:
[-1.39637426e-05, 4.21058344e-06, 3.08874015e-05, 1.82171096e-05,
  2.20905572e-05, 4.13679318e-05, 2.32938740e-05,-1.36477437e-05,
 -2.74434212e-05,-1.85380758e-05,-2.40638050e-05, 1.57662157e-05,
 -1.61520606e-04,-3.76425131e-05,-7.03366226e-05,-7.68891649e-05,
  8.21418349e-06,-1.45430269e-05,-4.90500341e+00, 2.62944654e-04,
  1.18288248e-02,-5.89411136e-04]


--- Step 696 ---
qpos:
[ 0.01874951, 0.03012447,-0.00951605,-0.02558925, 0.00785813, 0.0046879 ,
 -0.00784308, 0.02708768, 0.01229735, 0.02806397,-0.00834234, 0.02646386,
  1.06501831, 0.007279  , 0.97567653, 0.04603816, 0.05875121,-0.07758749,
  0.17142088, 0.99964389, 0.02505179,-0.00180683,-0.00901301]

qacc:
[  4.52145329, -0.82894721,  3.89781276, -6.84376545, -0.73623172,
  -0.50284559,  3.18247987, -6.61074142,  0.11956911,  0.4008225 ,
  -1.90033199,  4.60205917, -0.75045766,  0.67316207,  2.11348203,
  -9.4215931 , -2.42216799,  1.06269369,  0.10276813, -9.40264361,
 -22.59032134,  6.3762709 ]

qfrc_actuator:
[ 1.16086144e-04, 9.07111228e-04, 1.67851354e-04,-1.41916851e-04,
  4.64289492e-06, 1.10600886e-04,-3.47122096e-05,-4.80407756e-05,
 -9.45184303e-05, 8.26220115e-04, 2.02030542e-04, 1.04591299e-04,
  2.92235947e-02,-1.22485301e-03, 1.92586183e-02,-3.03062975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24648814, -3.5982881 ,  5.10597071, -3.5982881 , 35.58451969,
       20.67514596,  5.10597071, 20.67514596, 20.81671109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777188044957249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60868000e-14, -2.88260400e-13,  1.00000000e+00, -2.76980194e-26,
        1.00000000e+00,  2.88260400e-13, -1.00000000e+00,  0.00000000e+00,
       -9.60868000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0958161 , -0.09294836,  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:
[ 2.71226048e-05, 3.35850218e-05, 2.41245626e-05,-4.63792950e-06,
 -4.29442191e-06, 5.37465412e-05, 2.60188986e-05,-4.90348652e-06,
  7.33398829e-07, 1.68884707e-05, 6.16222873e-06, 9.31474238e-06,
 -1.67566261e-04,-5.66992242e-05,-1.01979482e-04,-7.50244260e-05,
  1.33318505e-06,-5.45584501e-06,-4.90500223e+00, 2.65442241e-04,
  1.18251500e-02,-5.91921775e-04]


--- Step 697 ---
qpos:
[ 0.01875143, 0.03012439,-0.00951572,-0.02558989, 0.00785782, 0.00468822,
 -0.00784303, 0.02708597, 0.01229697, 0.02806327,-0.00834214, 0.02646441,
  1.06567907, 0.00727945, 0.97630977, 0.04603439, 0.05873764,-0.07760592,
  0.17142068, 0.99964199, 0.02512508,-0.00186142,-0.00900882]

qacc:
[  8.66950929,  3.9156331 ,-18.7817765 , 41.84220979, -3.55883185,
  -0.71689059,  4.40384217,-11.09504551,  0.18490085, -1.07411923,
   5.57028596,-11.02358339,  0.07330046, -1.00785567,-10.10609797,
  32.14244887, -2.38126189,  1.03671224, -0.084784  , -9.36601234,
 -22.02570971,  5.89366511]

qfrc_actuator:
[ 1.67426327e-04, 9.39375778e-04, 1.60988445e-04,-7.37854773e-05,
 -1.60591974e-05, 9.06161128e-05,-4.35717267e-05,-6.94977123e-05,
 -9.34364816e-05, 8.63220208e-04, 2.27254431e-04, 9.27914866e-05,
  2.91669284e-02,-1.26834296e-03, 1.92212158e-02,-2.88548547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26217898, -3.33560077,  5.29987293, -3.33560077, 46.19811789,
       25.1346306 ,  5.29987293, 25.1346306 , 22.08125505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795992485121415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57750573e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.57750573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09581371, -0.09295095,  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:
[ 5.21429450e-05, 5.58514678e-05, 2.88593007e-06, 7.03165760e-05,
 -2.08062221e-05, 1.52293732e-05, 5.27838084e-06,-1.83461634e-05,
  1.10553770e-06, 4.81516490e-05, 2.98048596e-05,-1.06809611e-05,
 -1.68833194e-04,-9.27947231e-05,-1.00993840e-04, 1.25966887e-04,
 -4.81477189e-08, 8.40403375e-07,-4.90500210e+00, 2.66109335e-04,
  1.18227339e-02,-5.94076320e-04]


--- Step 698 ---
qpos:
[ 0.01875327, 0.03012477,-0.00951577,-0.0255897 , 0.00785726, 0.00468852,
 -0.007843  , 0.02708439, 0.01229592, 0.02806264,-0.00834151, 0.02646449,
  1.06633866, 0.00727946, 0.97694171, 0.04603201, 0.0587147 ,-0.07762029,
  0.1714195 , 0.99964056, 0.02517931,-0.00195922,-0.00899473]

qacc:
[ -0.77899836,  3.40179064,-14.70241113, 29.24049991, -2.16091984,
   0.31289558, -1.69600717,  3.9575177 , -5.72421941, -2.04908744,
   9.44226699,-18.29462909, -0.36672291, -0.20521886, -6.16391   ,
  18.79136564, -2.34622608,  1.01471985, -0.24695815, -9.32474103,
 -21.55610325,  5.51120179]

qfrc_actuator:
[ 1.61347144e-04, 9.58516033e-04, 1.39122278e-04,-3.34485202e-05,
 -2.81140131e-05, 7.84194885e-05,-4.89363514e-05,-6.37116475e-05,
 -1.28152336e-04, 8.50009342e-04, 2.42110609e-04, 6.79020082e-05,
  2.90985414e-02,-1.29420818e-03, 1.91600791e-02,-2.81621095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779154519328505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88162314e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88162314e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09581287, -0.09295346,  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:
[-4.54311800e-06, 5.39909662e-05,-7.54833238e-06, 4.41956633e-05,
 -1.26402401e-05,-3.39196394e-06,-2.20323826e-06, 6.26812176e-06,
 -3.46692989e-05, 1.94357931e-05, 2.81083194e-05,-2.20028054e-05,
 -1.89098344e-04,-8.34352989e-05,-1.00678777e-04, 6.16908145e-05,
  3.57648707e-06, 4.54595433e-06,-4.90500300e+00, 2.65247760e-04,
  1.18214401e-02,-5.95867545e-04]


--- Step 699 ---
qpos:
[ 0.01875434, 0.03012524,-0.00951585,-0.02559004, 0.00785622, 0.00468865,
 -0.0078427 , 0.02708324, 0.0122948 , 0.02806203,-0.00834065, 0.0264643 ,
  1.06699684, 0.00727974, 0.9775724 , 0.04602916, 0.05868249,-0.07763068,
  0.17141678, 0.9996396 , 0.02521459,-0.00209943,-0.00897132]

qacc:
[ -6.65784933, -0.89505796,  5.59421754,-14.76827913, -4.25739129,
  -0.07316928, -1.81952734,  8.83096343, -0.53330951, -1.22044791,
   5.56590285,-10.78436974, -1.25201321,  1.64211152, -0.28812201,
  -1.4493393 , -2.31655222,  0.99618624, -0.38657124, -9.28294248,
 -21.16795264,  5.20904212]

qfrc_actuator:
[ 1.21512185e-04, 9.34059027e-04, 1.26255540e-04,-6.30742966e-05,
 -5.27301509e-05, 7.09988317e-05,-3.43970408e-05,-4.19330289e-05,
 -1.30403119e-04, 8.42289152e-04, 2.50517016e-04, 5.32161787e-05,
  2.90338272e-02,-1.27395927e-03, 1.90900660e-02,-2.84555098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005733903321066824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93624301e-13,  9.68121507e-14,  1.00000000e+00,  1.87451850e-26,
        1.00000000e+00, -9.68121507e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93624301e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09581328, -0.09295591,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99512769e-05, 6.04616837e-06,-1.12242160e-06,-2.67160481e-05,
 -2.49767163e-05,-9.51594769e-06, 1.37843797e-05, 2.16823445e-05,
 -3.26282305e-06, 8.01148673e-06, 1.51220866e-05,-1.33075109e-05,
 -1.95202861e-04,-3.99764100e-05,-1.17212174e-04,-4.06065955e-05,
  1.18391004e-05, 5.81992678e-06,-4.90500492e+00, 2.63074368e-04,
  1.18211631e-02,-5.97290759e-04]


--- Step 700 ---
qpos:
[ 0.01875526, 0.03012547,-0.00951593,-0.02559035, 0.00785524, 0.00468844,
 -0.00784186, 0.02708271, 0.01229435, 0.0280615 ,-0.00833996, 0.02646395,
  1.06765368, 0.00728046, 0.97820161, 0.04602628, 0.05864111,-0.07763714,
  0.17141203, 0.99963908, 0.02523098,-0.00228141,-0.00893906]

qacc:
[ -1.20535767, -0.23125888,  0.22568804,  0.54194712,  0.53402997,
  -0.7030591 , -0.77723825, 10.89561523,  5.70712792,  0.28465334,
  -0.25776016, -2.09970073, -1.30416164,  1.89178103, -2.01482313,
   4.14320464, -2.29172546,  0.98064311, -0.50630677, -9.24344128,
 -20.84966161,  4.97136354]

qfrc_actuator:
[ 1.15404325e-04, 9.01396819e-04, 1.18583079e-04,-6.26434231e-05,
 -4.90399318e-05, 4.88347205e-05,-8.19877193e-06,-1.09062751e-05,
 -9.57627350e-05, 8.37888378e-04, 2.37316328e-04, 4.46502648e-05,
  2.89820322e-02,-1.24432302e-03, 1.90254211e-02,-2.84396893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005666409254925509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9593061e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9593061e-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([ 0.09581465, -0.0929583 ,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.27021770e-06,-3.06893976e-05,-7.48952677e-06, 1.31997169e-07,
  2.97562619e-06,-2.37235272e-05, 2.66791629e-05, 3.15205393e-05,
  3.45463061e-05, 2.64032041e-06,-1.01472775e-05,-7.95856322e-06,
 -1.76230953e-04,-2.25050384e-05,-1.30852421e-04,-1.74996337e-05,
  2.44680951e-05, 4.78723701e-06,-4.90500783e+00, 2.59743614e-04,
  1.18218222e-02,-5.98343012e-04]


--- Step 701 ---
qpos:
[ 0.0187561 , 0.03012541,-0.00951607,-0.02559064, 0.007855  , 0.00468822,
 -0.00784108, 0.02708255, 0.01229397, 0.02806112,-0.00834004, 0.02646353,
  1.06830931, 0.00728127, 0.97882969, 0.04602072, 0.05859064,-0.07763974,
  0.17140484, 0.99963897, 0.02522858,-0.00250463,-0.00889832]

qacc:
[ -0.68935388, -0.20742817,  0.11842167,  0.46542111,  6.52052093,
   0.91306831, -4.89860584, 11.54045306,  0.60621856,  2.19890572,
  -7.2413795 ,  7.13150825, -1.10036303,  1.35273122,  6.54892958,
 -25.15009044, -2.27124836,  0.96768114, -0.60865387, -9.20812871,
 -20.59134978,  4.78554227]

qfrc_actuator:
[ 1.11455568e-04, 8.81852469e-04, 1.14016132e-04,-6.22822448e-05,
 -1.09624469e-05, 5.35806507e-05,-1.08948407e-05, 7.55099519e-06,
 -9.29542036e-05, 8.35419223e-04, 1.93726850e-04, 3.97406033e-05,
  2.89167296e-02,-1.24484950e-03, 1.89640616e-02,-2.98388056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005581909378705313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.94483204e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.94483204e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09581677, -0.09296064,  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:
[-4.17160898e-06,-3.82586870e-05,-1.18247969e-05,-1.20881558e-06,
  3.81513795e-05,-1.65867893e-06,-3.22614605e-06, 1.89768466e-05,
  3.82278047e-06,-3.40699992e-06,-4.45721071e-05,-5.30358546e-06,
 -1.74740555e-04,-4.44744838e-05,-1.30305618e-04,-1.59241718e-04,
  4.12663309e-05, 1.54443716e-06,-4.90501172e+00, 2.55364008e-04,
  1.18233561e-02,-5.99022523e-04]


--- Step 702 ---
qpos:
[ 0.01875654, 0.03012523,-0.00951635,-0.02559059, 0.00785487, 0.00468831,
 -0.00784105, 0.02708262, 0.01229364, 0.0280608 ,-0.0083406 , 0.02646236,
  1.06896377, 0.00728208, 0.9794568 , 0.04601076, 0.05854813,-0.0776497 ,
  0.17140067, 0.99963788, 0.02526202,-0.00269139,-0.00887123]

qacc:
[ -3.42337771,  0.96166346, -5.06648524, 11.21041855,  0.96597685,
   2.97774955,-10.96076621, 15.84119969,  0.29880075, -0.13144405,
   3.74668757,-16.03049065, -1.10052257,  1.31084886, 11.9178374 ,
 -43.57161051,  1.98851389, -1.84365658,  0.75205293, 17.74973212,
  18.21176487, -7.33420289]

qfrc_actuator:
[ 9.10458102e-05, 8.88075040e-04, 1.11358193e-04,-4.42070591e-05,
 -6.21704506e-06, 7.42825918e-05,-4.82908827e-05, 1.84627479e-05,
 -9.11639757e-05, 8.33993484e-04, 1.68063264e-04, 1.49889770e-06,
  2.88593370e-02,-1.24554431e-03, 1.89153481e-02,-3.20600591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.16660788,  5.26414405, -3.21182818,  5.26414405, 18.16359874,
       19.66290984, -3.21182818, 19.66290984, 38.39385786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005681378107673246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77071939e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.77071939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03421332, -0.05227639,  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:
[-2.05437601e-05,-1.76649371e-05,-1.20555725e-05, 1.60056182e-05,
  5.82838489e-06, 1.99340397e-05,-3.74870544e-05, 1.10958996e-05,
  1.90186477e-06,-1.27495861e-05,-3.20350746e-05,-4.00314398e-05,
 -1.71375619e-04,-4.88527121e-05,-1.33734742e-04,-2.49408370e-04,
  6.20946304e-05,-3.83542427e-06,-4.90501656e+00, 2.50010132e-04,
  1.18257188e-02,-5.99328262e-04]


--- Step 703 ---
qpos:
[ 0.01875673, 0.03012484,-0.00951664,-0.02559033, 0.0078548 , 0.0046887 ,
 -0.00784179, 0.02708282, 0.01229332, 0.02806034,-0.00834119, 0.02646142,
  1.06961719, 0.00728283, 0.98008173, 0.04600387, 0.05851335,-0.07766691,
  0.17139846, 0.99963587, 0.02532986,-0.00284241,-0.00885649]

qacc:
[ -2.12508842,  0.19228345, -1.99482502,  5.90879526,  0.48295566,
   2.82572937,-10.06731859, 13.40573482,  0.20741438,  0.39151875,
  -2.63688385,  6.83365766, -0.4315331 ,  0.22806693,-12.4724819 ,
  38.98890971,  1.93267692, -1.8094948 ,  0.49363062, 17.02667576,
  17.85944803, -6.67106863]

qfrc_actuator:
[ 7.88624115e-05, 8.74199571e-04, 1.09966098e-04,-3.35830903e-05,
 -3.38653534e-06, 8.64737572e-05,-8.80445485e-05, 2.48462314e-05,
 -8.99771636e-05, 8.33234724e-04, 1.70930919e-04, 1.49782986e-05,
  2.88173809e-02,-1.24628972e-03, 1.88529447e-02,-3.03087345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26461479, -6.10123381,  1.42138825, -6.10123381,  8.18950621,
        8.26249452,  1.42138825,  8.26249452, 41.73093512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005798911295838705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91453700e-13, -9.57268501e-14,  1.00000000e+00, -1.83272597e-26,
        1.00000000e+00,  9.57268501e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91453700e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03421357, -0.0522832 ,  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:
[-1.27875919e-05,-2.55569623e-05,-5.96582743e-06, 9.76394804e-06,
  3.00415413e-06, 1.60685511e-05,-3.98711645e-05, 6.15592789e-06,
  1.23930207e-06,-1.62007766e-05,-5.08431965e-06, 1.10499457e-05,
 -1.55243690e-04,-4.89450157e-05,-1.59214925e-04, 1.42354105e-04,
  4.30451868e-05, 5.74155892e-06,-4.90501284e+00, 2.56437033e-04,
  1.18253433e-02,-6.00162200e-04]


--- Step 704 ---
qpos:
[ 0.01875678, 0.03012427,-0.00951695,-0.02558994, 0.00785477, 0.00468904,
 -0.00784261, 0.0270831 , 0.01229268, 0.02805987,-0.00834155, 0.02646097,
  1.07026954, 0.00728358, 0.98070445, 0.04600076, 0.05848611,-0.07769123,
  0.17139733, 0.999633  , 0.02543089,-0.00295833,-0.00885305]

qacc:
[ -1.26525343,  0.07070387, -1.11380307,  3.39780218,  0.30404391,
   0.29300329, -1.47414998,  2.92375536, -2.78819009,  0.31991132,
  -3.19553343, 11.14419634, -0.46802744,  0.31926015,-14.67741952,
  46.6726789 ,  1.88455171, -1.77926448,  0.26778552, 16.42852672,
  17.54550242, -6.14443611]

qfrc_actuator:
[ 7.16236806e-05, 8.66155151e-04, 1.09249605e-04,-2.74449314e-05,
 -1.69534036e-06, 7.56973778e-05,-9.33861323e-05, 2.85140853e-05,
 -1.06907039e-04, 8.50792628e-04, 1.90658349e-04, 4.10524591e-05,
  2.87634145e-02,-1.24699800e-03, 1.87611688e-02,-2.83611142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31673414, -6.20896145,  1.16186395, -6.20896145,  7.93707221,
        8.6590316 ,  1.16186395,  8.6590316 , 52.59030462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000586134771203034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47071458e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.47071458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03421297, -0.05228783,  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:
[-7.61899911e-06,-2.31379026e-05,-6.38414813e-06, 5.02911333e-06,
  1.78353054e-06,-9.76796633e-06,-6.71681700e-06, 3.09688105e-06,
 -1.69016408e-05, 7.94649977e-06, 1.61509631e-05, 2.54233273e-05,
 -1.57207023e-04,-4.54987369e-05,-1.53142958e-04, 1.81343272e-04,
  2.77545663e-05, 1.14210042e-05,-4.90500991e+00, 2.60661394e-04,
  1.18261834e-02,-6.01824398e-04]


--- Step 705 ---
qpos:
[ 0.01875674, 0.03012357,-0.00951727,-0.02558984, 0.00785441, 0.00468919,
 -0.00784318, 0.02708376, 0.01229219, 0.02805963,-0.0083418 , 0.02646115,
  1.07092077, 0.00728412, 0.98132556, 0.04600058, 0.05846624,-0.07772257,
  0.17139649, 0.9996293 , 0.02556411,-0.00303972,-0.00886008]

qacc:
[ -0.74721437, -0.71289987,  3.49112489, -8.26262656, -2.84183025,
  -0.16953721, -1.34121513,  7.62814377,  1.24703177,  1.31224375,
  -6.92724525, 17.6108    , -0.40462448,  0.05004669,-11.1854954 ,
  35.72711723,  1.84335029, -1.75293907,  0.07167253, 15.93544627,
  17.26952839, -5.72736632]

qfrc_actuator:
[ 6.73506591e-05, 8.61665867e-04, 1.08954851e-04,-4.17432511e-05,
 -1.84401465e-05, 6.91347823e-05,-7.84627973e-05, 4.83121661e-05,
 -9.88590214e-05, 8.79280093e-04, 2.02498289e-04, 7.43433679e-05,
  2.86969567e-02,-1.26547606e-03, 1.87051076e-02,-2.68477576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33122189, -6.27669388,  0.82914684, -6.27669388,  7.37217523,
        7.88008249,  0.82914684,  7.88008249, 65.98394336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005878698970634283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.44276132e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.44276132e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03421168, -0.0522907 ,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50103303e-06,-1.85103599e-05,-5.67610187e-06,-1.54104824e-05,
 -1.66973873e-05,-1.32821532e-05, 1.21904791e-05, 1.92077430e-05,
  7.55120111e-06, 3.73713034e-05, 1.63611440e-05, 3.46885139e-05,
 -1.69841898e-04,-6.30901786e-05,-1.10449786e-04, 1.40825178e-04,
  1.59406299e-05, 1.35922482e-05,-4.90500778e+00, 2.63001711e-04,
  1.18279934e-02,-6.04278218e-04]


--- Step 706 ---
qpos:
[ 0.01875665, 0.03012242,-0.00951713,-0.02559059, 0.00785385, 0.00468938,
 -0.00784364, 0.02708463, 0.01229248, 0.02805954,-0.0083422 , 0.02646279,
  1.07157091, 0.00728421, 0.98194583, 0.04600141, 0.05845361,-0.07776083,
  0.17139525, 0.99962478, 0.02572872,-0.00308706,-0.00887694]

qacc:
[ -0.41393236, -3.64322354, 15.71166972,-30.85856321, -1.73964315,
   0.2187024 , -1.5962288 ,  5.0956912 ,  6.72099257,  3.61939571,
 -18.80115837, 44.24250664, -0.36318453, -0.18147337, -4.34182096,
  13.38490462,  1.80830139, -1.73035761, -0.09772999, 15.53072331,
  17.0299719 , -5.39832894]

qfrc_actuator:
[ 6.48556813e-05, 8.23821795e-04, 1.26666270e-04,-8.56999475e-05,
 -2.81487493e-05, 8.30002727e-05,-6.94362360e-05, 5.97003911e-05,
 -5.84148920e-05, 8.78576942e-04, 1.91884254e-04, 1.47121009e-04,
  2.86336975e-02,-1.29440417e-03, 1.86811521e-02,-2.63115631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005859607846466913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47352667e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.47352667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03420983, -0.05229217,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62921986e-06,-4.99996254e-05, 1.26680711e-05,-4.52434420e-05,
 -1.01890530e-05, 9.77315341e-06, 8.45310267e-06, 1.16148013e-05,
  4.06756365e-05, 2.50735978e-05, 3.25522201e-07, 7.56206368e-05,
 -1.77585929e-04,-8.05130471e-05,-6.56963125e-05, 4.57613416e-05,
  7.37520903e-06, 1.25567915e-05,-4.90500647e+00, 2.63696827e-04,
  1.18306011e-02,-6.07494250e-04]


--- Step 707 ---
qpos:
[ 0.01875618, 0.03012117,-0.00951691,-0.02559188, 0.00785318, 0.00468967,
 -0.00784402, 0.02708562, 0.01229326, 0.02805936,-0.00834226, 0.0264646 ,
  1.07221982, 0.00728424, 0.98256529, 0.04600284, 0.05844809,-0.07780593,
  0.17139304, 0.99961946, 0.02592405,-0.00310076,-0.00890312]

qacc:
[ -3.20587707, -1.44560783,  7.25440067,-16.65148548, -0.98612165,
   0.14011769, -0.83030234,  2.74734726,  4.12663365, -0.73762875,
   1.72483265,  0.71614472, -0.79122288,  0.73281163, -2.93400087,
   8.67746738,  1.77868092, -1.71128464, -0.2434118 , 15.20034777,
  16.82464614, -5.14011761]

qfrc_actuator:
[ 4.56732574e-05, 8.37353843e-04, 1.36961318e-04,-1.11262664e-04,
 -3.36321919e-05, 9.12183487e-05,-6.38943481e-05, 6.60569294e-05,
 -3.47400658e-05, 8.60344068e-04, 2.03518390e-04, 1.53748385e-04,
  2.85777224e-02,-1.29377927e-03, 1.86498211e-02,-2.59993191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005811490618233828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.55196435e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.55196435e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03420752, -0.05229252,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92714578e-05,-1.37067434e-05,-2.29215354e-08,-2.81421051e-05,
 -5.77041871e-06, 1.59201495e-05, 9.00539490e-06, 7.29297056e-06,
  2.48735380e-05,-8.84423993e-07, 1.94707618e-05, 9.18063456e-06,
 -1.78472067e-04,-5.67074494e-05,-6.58811924e-05, 2.31704516e-05,
  1.87486360e-06, 8.54608020e-06,-4.90500598e+00, 2.62924701e-04,
  1.18338873e-02,-6.11448933e-04]


--- Step 708 ---
qpos:
[ 0.01875549, 0.03011981,-0.00951637,-0.02559244, 0.00785245, 0.00469007,
 -0.00784431, 0.02708634, 0.01229363, 0.02805913,-0.00834155, 0.02646541,
  1.07286745, 0.00728453, 0.98318385, 0.0460056 , 0.05844958,-0.07785781,
  0.17138936, 0.99961333, 0.02614955,-0.00308119,-0.00893822]

qacc:
[ -1.92949809,  0.43251215, -4.80891311, 16.88637245, -0.53283869,
  -0.65771502,  3.75238369, -8.81462751, -3.47915643, -4.29599693,
  19.49126117,-38.13815972, -1.06994573,  1.39279686, -5.27995712,
  16.71528746,  1.75382685, -1.69544901, -0.36821131, 14.93261172,
  16.65106864, -4.93897922]

qfrc_actuator:
[ 3.45746839e-05, 8.46030190e-04, 1.60759496e-04,-7.25028746e-05,
 -3.65871369e-05, 9.59758524e-05,-6.04704757e-05, 5.16468090e-05,
 -5.66412701e-05, 8.67287664e-04, 2.45825183e-04, 1.03642407e-04,
  2.85208422e-02,-1.27562189e-03, 1.86194165e-02,-2.52887064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005740675321858763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6697946e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.6697946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03420486, -0.05229199,  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:
[-1.16598186e-05,-1.57622064e-07, 2.00070149e-05, 3.76302036e-05,
 -3.11404491e-06, 1.58226177e-05, 8.07300518e-06,-1.32761384e-05,
 -2.11731321e-05, 1.08788229e-05, 4.48385741e-05,-4.92958837e-05,
 -1.74411443e-04,-3.42451111e-05,-6.78370581e-05, 6.16641144e-05,
 -7.06664266e-07, 1.73575235e-06,-4.90500630e+00, 2.60816769e-04,
  1.18377704e-02,-6.16123453e-04]


--- Step 709 ---
qpos:
[ 0.01875432, 0.03011812,-0.00951491,-0.02559186, 0.00785204, 0.0046905 ,
 -0.00784477, 0.02708656, 0.01229407, 0.0280588 ,-0.00834027, 0.02646563,
  1.07351373, 0.00728533, 0.98380148, 0.04600917, 0.05846064,-0.07790884,
  0.17138688, 0.99960737, 0.02636975,-0.00302059,-0.00897917]

qacc:
[ -4.01866931, -0.62391164, -3.20875116, 21.75945875,  2.76762939,
  -0.51870473,  3.97261188,-12.25644598,  0.69577451, -2.90487685,
  12.62204816,-23.54892399, -1.34058916,  1.97746234, -3.69301944,
  11.20959375,  2.38977302,  0.21394309,  0.29963028, -2.85065297,
  20.40254199, -3.45221647]

qfrc_actuator:
[ 1.05756659e-05, 8.34098747e-04, 2.10132126e-04,-1.39505291e-05,
 -2.02790614e-05, 8.08450036e-05,-7.61031733e-05, 2.51300826e-05,
 -5.19293367e-05, 8.53821048e-04, 2.70458100e-04, 7.38618171e-05,
  2.84581435e-02,-1.24725238e-03, 1.85789547e-02,-2.48813518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.18273277,  -2.01849531,  -5.84395938,  -2.01849531,
        43.50380101, -12.89064419,  -5.84395938, -12.89064419,
        10.63514304,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005700731155342253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.8687747e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.8687747e-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([ 0.02761055, -0.08112897,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43373605e-05,-6.23393451e-06, 5.31181407e-05, 5.99743026e-05,
  1.62253274e-05,-5.19806211e-06,-1.18321226e-05,-2.58194354e-05,
  4.09487864e-06,-2.41642216e-07, 3.06909485e-05,-2.87242389e-05,
 -1.72567775e-04,-1.83003469e-05,-7.43175560e-05, 3.32758778e-05,
 -4.84627765e-07,-7.74303999e-06,-4.90500744e+00, 2.57468890e-04,
  1.18421967e-02,-6.21502862e-04]


--- Step 710 ---
qpos:
[ 0.01875288, 0.03011662,-0.00951299,-0.02559131, 0.00785182, 0.00469077,
 -0.00784508, 0.02708681, 0.01229457, 0.02805867,-0.00833939, 0.02646586,
  1.07415862, 0.00728679, 0.98441817, 0.04601318, 0.05848106,-0.07795904,
  0.17138487, 0.99960155, 0.02658471,-0.00291935,-0.00902597]

qacc:
[-2.3835652 ,-1.0957861 , 4.41913813,-5.83354971, 1.75618009,-0.59550162,
  1.69089233,-1.33397285, 0.43372369, 1.39691523,-4.63711266, 5.33393886,
 -1.50562927, 2.33275353,-2.59420469, 7.34002522, 2.34243881, 0.20555911,
  0.11958554,-2.80668011,20.21572889,-3.45267877]

qfrc_actuator:
[-3.07437192e-06, 8.63316379e-04, 2.38623688e-04,-1.52433299e-05,
 -1.05174706e-05, 7.15792257e-05,-6.74451752e-05, 2.71806351e-05,
 -4.93283206e-05, 8.63689740e-04, 2.48887617e-04, 7.40091648e-05,
  2.83920052e-02,-1.21310227e-03, 1.85378181e-02,-2.46560660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005702974646954184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86685937e-14,  1.21671484e-13,  1.00000000e+00,  5.92158004e-27,
        1.00000000e+00, -1.21671484e-13, -1.00000000e+00,  0.00000000e+00,
       -4.86685937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760837, -0.08112926,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43623417e-05, 3.93081099e-05, 3.58247002e-05, 1.44643992e-06,
  1.02224365e-05,-1.57282140e-05, 5.23273329e-06, 9.14800153e-07,
  2.72133205e-06, 1.48418099e-05,-1.88452650e-05, 6.37233804e-07,
 -1.71372775e-04,-8.59473733e-06,-8.10205551e-05, 1.26805000e-05,
  3.96180984e-06,-1.90730212e-05,-4.90500678e+00, 2.52909928e-04,
  1.18432546e-02,-6.26709013e-04]


--- Step 711 ---
qpos:
[ 0.01875163, 0.03011553,-0.00951105,-0.02559146, 0.00785138, 0.00469098,
 -0.00784505, 0.0270874 , 0.01229441, 0.02805862,-0.00833899, 0.02646577,
  1.07480231, 0.00728864, 0.98503431, 0.0460124 , 0.05849129,-0.07800484,
  0.17138504, 0.99959617, 0.02678119,-0.00286574,-0.00905792]

qacc:
[  1.64019884, -0.97500871,  7.2142964 ,-19.73101524, -1.97888356,
  -0.28270825, -0.54776062,  5.99397065, -5.65482775,  0.79944134,
  -1.33318101, -3.5297033 , -1.50596652,  2.21774996, 13.75835209,
 -49.02742849, -2.54903335,  1.10170033,  0.54246665, -9.00694606,
 -23.6931346 ,  8.08366288]

qfrc_actuator:
[ 7.23327433e-06, 8.81325427e-04, 2.36918560e-04,-5.17263103e-05,
 -2.24459820e-05, 8.37612967e-05,-4.44697613e-05, 4.60475379e-05,
 -8.35041317e-05, 8.51783620e-04, 2.18075416e-04, 5.62445922e-05,
  2.83345062e-02,-1.19358439e-03, 1.84803349e-02,-2.72024235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24902893,  6.16557612, -1.01785741,  6.16557612,  7.26472619,
        6.15249121, -1.01785741,  6.15249121, 43.51716953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005780233294019749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.60361778e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.60361778e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578917, -0.09299219,  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:
[ 9.90395408e-06, 4.74804807e-05, 1.08713396e-05,-3.35337321e-05,
 -1.16437391e-05, 4.50363219e-06, 2.04021220e-05, 1.83908429e-05,
 -3.40895061e-05,-7.47569076e-06,-3.00544900e-05,-1.77704210e-05,
 -1.59904616e-04,-2.08057753e-05,-1.02539273e-04,-2.66445810e-04,
  1.24596654e-05,-2.99555609e-05,-4.90500731e+00, 2.47633415e-04,
  1.18439556e-02,-6.31766167e-04]


--- Step 712 ---
qpos:
[ 0.01875085, 0.03011467,-0.00950937,-0.02559167, 0.0078508 , 0.00469117,
 -0.00784502, 0.02708788, 0.01229418, 0.02805797,-0.0083384 , 0.02646551,
  1.07544499, 0.00729043, 0.98564863, 0.04600967, 0.05849155,-0.07804639,
  0.17138637, 0.99959124, 0.02695914,-0.00285829,-0.00907649]

qacc:
[  4.09005835,  0.89171442, -2.56201958,  1.98101276, -1.22568805,
  -0.28747179,  1.44298834, -3.31698292, -0.5247123 , -1.67160451,
   5.54967941, -8.39848225, -0.74159444,  0.74479655,  3.30965817,
 -15.33490603, -2.49148349,  1.06374284,  0.29250543, -9.03841539,
 -22.9718596 ,  7.33579376]

qfrc_actuator:
[ 3.15561027e-05, 8.74572813e-04, 2.17356605e-04,-5.53777743e-05,
 -2.92904146e-05, 7.32703998e-05,-4.86419331e-05, 3.91730016e-05,
 -8.57947448e-05, 7.91358502e-04, 2.17472008e-04, 4.58145055e-05,
  2.82822251e-02,-1.20060431e-03, 1.83864139e-02,-2.81658801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33026297, -4.63758023,  4.30872126, -4.63758023, 22.99629585,
       17.93805168,  4.30872126, 17.93805168, 25.63741905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000587755055785788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44460633e-14, -9.44460633e-14,  1.00000000e+00, -8.92005888e-27,
        1.00000000e+00,  9.44460633e-14, -1.00000000e+00,  0.00000000e+00,
       -9.44460633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578393, -0.09299579,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46304656e-05, 2.06320411e-05,-9.58564386e-06,-1.89724838e-06,
 -7.17535297e-06,-2.98320707e-06,-9.61962432e-08,-5.61904987e-06,
 -3.29128740e-06,-7.15902793e-05,-6.46694712e-06,-1.21353890e-05,
 -1.51833393e-04,-4.68431478e-05,-1.79975001e-04,-1.26478301e-04,
  3.00719177e-06,-1.49433045e-05,-4.90500647e+00, 2.51549396e-04,
  1.18371849e-02,-6.36198812e-04]


--- Step 713 ---
qpos:
[ 0.01875072, 0.03011401,-0.00950796,-0.02559122, 0.00785048, 0.00469122,
 -0.00784524, 0.02708831, 0.01229393, 0.02805678,-0.00833811, 0.0264655 ,
  1.07608664, 0.00729217, 0.98626069, 0.04600775, 0.05848205,-0.0780838 ,
  0.171388  , 0.99958676, 0.02711857,-0.00289574,-0.00908284]

qacc:
[  5.49980166,  2.40651036,-10.93047277, 22.5097359 ,  2.34736552,
   0.43160362, -1.59650142,  1.2351498 , -0.22143707,  0.60230676,
  -4.25568825,  9.45878295, -0.57368645,  0.46235619, -5.80498125,
  15.52662224, -2.44162274,  1.0314205 ,  0.07492   , -9.04285459,
 -22.36386944,  6.74259559]

qfrc_actuator:
[ 6.39251138e-05, 8.88486924e-04, 2.05095819e-04,-2.19529482e-05,
 -1.53281091e-05, 4.91605992e-05,-6.89213113e-05, 3.49194123e-05,
 -8.70405235e-05, 7.55718105e-04, 1.99007523e-04, 5.75171065e-05,
  2.82277743e-02,-1.20550083e-03, 1.82973916e-02,-2.76560903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36785238, -4.44898478,  4.55588392, -4.44898478, 30.23037869,
       23.30261662,  4.55588392, 23.30261662, 29.12369701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005922565890990744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578087, -0.0929991 ,  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:
[ 3.30955182e-05, 2.34134791e-05,-9.25514201e-06, 3.39373301e-05,
  1.37575861e-05,-2.60495585e-05,-2.11053101e-05,-4.49540476e-06,
 -1.36803439e-06,-7.75148428e-05,-3.44677734e-05, 8.17553498e-06,
 -1.56000596e-04,-4.81421102e-05,-1.89988594e-04, 1.98681990e-05,
 -5.47105400e-07,-2.93199093e-06,-4.90500648e+00, 2.53214961e-04,
  1.18319771e-02,-6.40304759e-04]


--- Step 714 ---
qpos:
[ 0.01875029, 0.03011373,-0.00950676,-0.02559109, 0.00785034, 0.00469106,
 -0.00784567, 0.0270887 , 0.01229401, 0.02805499,-0.00833831, 0.02646599,
  1.07672711, 0.00729416, 0.98687129, 0.04600463, 0.05846295,-0.07811721,
  0.17138918, 0.99958274, 0.02725951,-0.00297706,-0.00907788]

qacc:
[ -2.58767312,  0.39529433,  0.64860766, -6.12515983,  1.49038545,
   0.20921859, -0.94778721,  0.60871605,  2.82053899,  1.65873954,
  -9.20691066, 19.23685891, -1.07851321,  1.43684012,  1.57893993,
  -8.45050802, -2.39886536,  1.00397592, -0.11337882, -9.03010378,
 -21.85413997,  6.27336292]

qfrc_actuator:
[ 4.75083209e-05, 9.14719479e-04, 1.97347013e-04,-3.79737193e-05,
 -6.98553348e-06, 3.47581666e-05,-8.08442943e-05, 3.22250604e-05,
 -6.99187777e-05, 7.17387478e-04, 1.70230712e-04, 8.21454122e-05,
  2.81720610e-02,-1.19135041e-03, 1.82433698e-02,-2.82351386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36987599, -4.16716851,  4.81767857, -4.16716851, 40.56975487,
       29.58201889,  4.81767857, 29.58201889, 31.95756433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005924989234725869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.36898769e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.36898769e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577956, -0.09300218,  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:
[-1.54446507e-05, 3.88847202e-05,-2.88987211e-06,-1.46817053e-05,
  8.72549889e-06,-3.35171409e-05,-2.00584718e-05,-4.62957791e-06,
  1.70521559e-05,-8.84084474e-05,-4.87408614e-05, 2.02750055e-05,
 -1.59718717e-04,-3.04774831e-05,-1.42041953e-04,-8.18569030e-05,
  1.21415958e-06, 6.31038325e-06,-4.90500737e+00, 2.53019713e-04,
  1.18281406e-02,-6.44072361e-04]


--- Step 715 ---
qpos:
[ 0.01874967, 0.03011376,-0.00950566,-0.02559116, 0.00784995, 0.00469064,
 -0.00784594, 0.02708868, 0.01229429, 0.02805266,-0.00833835, 0.02646672,
  1.07736655, 0.00729627, 0.98748003, 0.04600215, 0.0584344 ,-0.07814668,
  0.17138926, 0.99957915, 0.02738202,-0.00310138,-0.00906234]

qacc:
[ -1.66556088,  0.32035307,  0.2846076 , -3.6932335 , -2.1345947 ,
  -1.64096145,  7.0381198 ,-14.03940905,  1.75599139, -0.69464569,
   0.4309616 ,  3.81843773, -0.75753114,  0.88592473, -4.60157883,
  12.25443557, -2.36256852,  0.98073353, -0.27554797, -9.00727781,
 -21.42940124,  5.90358912]

qfrc_actuator:
[ 3.80109732e-05, 9.30352250e-04, 1.92337063e-04,-4.74462123e-05,
 -1.97766962e-05, 2.63056427e-05,-6.99463557e-05, 1.27310648e-05,
 -5.98764023e-05, 7.13214730e-04, 1.88854002e-04, 9.64197532e-05,
  2.81262901e-02,-1.18380126e-03, 1.81677507e-02,-2.78527491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893179792050424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.4195584e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.4195584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577965, -0.09300509,  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:
[-9.93351042e-06, 3.61431315e-05, 2.14717643e-06,-8.19518404e-06,
 -1.25538891e-05,-3.15242625e-05, 1.34943303e-06,-2.17143707e-05,
  1.05072385e-05,-6.27383630e-05,-4.91904042e-06, 9.19643971e-06,
 -1.47438255e-04,-3.43316647e-05,-1.56108805e-04, 1.40548222e-05,
  7.85533709e-06, 1.29734063e-05,-4.90500915e+00, 2.51244585e-04,
  1.18255247e-02,-6.47493729e-04]


--- Step 716 ---
qpos:
[ 0.01874928, 0.03011378,-0.00950425,-0.02559063, 0.00784941, 0.00469002,
 -0.00784611, 0.02708843, 0.01229401, 0.02805041,-0.00833818, 0.02646754,
  1.07800509, 0.00729817, 0.98808657, 0.04600148, 0.05839652,-0.07817232,
  0.17138768, 0.99957599, 0.02748616,-0.00326799,-0.00903679]

qacc:
[  2.03241252,  0.32273179, -3.67406061, 13.41119391, -1.31572191,
  -1.00255464,  4.22219437, -8.36268926, -4.86511977, -0.28755024,
   0.84008243,  0.18301792, -0.27125596, -0.07739493, -8.73308109,
  25.82897001, -2.3320848 ,  0.96110004, -0.41464053, -8.97948755,
 -21.07807883,  5.6137151 ]

qfrc_actuator:
[ 5.04309560e-05, 9.21776116e-04, 2.06708345e-04,-1.74828555e-05,
 -2.71498720e-05, 2.15626291e-05,-6.34034598e-05, 1.28077101e-06,
 -8.95923546e-05, 7.65225381e-04, 2.17696035e-04, 1.04548457e-04,
  2.80811900e-02,-1.19794667e-03, 1.80686095e-02,-2.69070827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005834292001088426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90292674e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90292674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578084, -0.09300786,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21421422e-05, 1.17119240e-05, 2.18049065e-05, 3.14236422e-05,
 -7.74009704e-06,-2.30092391e-05,-5.45416403e-07,-1.31750408e-05,
 -2.94369798e-05, 1.63926590e-05, 1.56207609e-05, 5.45215126e-06,
 -1.40461870e-04,-5.40378470e-05,-1.73990360e-04, 7.42411084e-05,
  1.90530897e-05, 1.72102566e-05,-4.90501181e+00, 2.48090483e-04,
  1.18240120e-02,-6.50563643e-04]


--- Step 717 ---
qpos:
[ 0.01874938, 0.03011388,-0.00950294,-0.02559008, 0.00784879, 0.00468942,
 -0.00784631, 0.02708837, 0.01229336, 0.02804866,-0.00833821, 0.02646876,
  1.07864272, 0.00729967, 0.98869133, 0.04600283, 0.05836854,-0.078197  ,
  0.17138912, 0.99957294, 0.02758718,-0.00339052,-0.00902171]

qacc:
[ 4.25516994, 0.41664878,-1.46130348, 2.02630647,-0.74420396, 0.5195129 ,
 -2.64060765, 6.02769312,-3.03418518, 2.04474685,-8.01499489,14.95608798,
 -0.15577202,-0.40619266,-8.75024312,26.7769588 , 2.47317775, 0.23954489,
  0.75447515,-1.7776535 ,21.86674853,-5.83571416]

qfrc_actuator:
[ 7.56497265e-05, 9.16631193e-04, 1.96827239e-04,-1.78229047e-05,
 -3.12682459e-05, 3.68283265e-05,-5.94668435e-05, 1.24077544e-05,
 -1.06963825e-04, 8.15040858e-04, 2.17061578e-04, 1.26802893e-04,
  2.80258646e-02,-1.22481849e-03, 1.80087117e-02,-2.58152753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36814565,  6.3248855 , -0.74101446,  6.3248855 ,  6.99907532,
        5.38526318, -0.74101446,  5.38526318, 52.33374365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005922917092706231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68613273e-14,  1.17153318e-13,  1.00000000e+00,  5.48995998e-27,
        1.00000000e+00, -1.17153318e-13, -1.00000000e+00,  0.00000000e+00,
       -4.68613273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760643, -0.08114449,  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:
[ 2.55729162e-05, 7.24017186e-06,-3.70748501e-06, 1.52292027e-06,
 -4.34579939e-06, 1.74364972e-06,-1.32926164e-06, 9.86831083e-06,
 -1.82371502e-05, 6.25094090e-05, 4.88786040e-06, 2.36075414e-05,
 -1.51281455e-04,-6.93805295e-05,-1.34767008e-04, 9.02436521e-05,
  3.45705472e-05, 1.91431754e-05,-4.90501538e+00, 2.43699256e-04,
  1.18235115e-02,-6.53278756e-04]


--- Step 718 ---
qpos:
[ 0.01875014, 0.03011442,-0.00950215,-0.02559024, 0.00784778, 0.00468905,
 -0.00784659, 0.02708841, 0.01229217, 0.02804722,-0.00833843, 0.02646992,
  1.07927926, 0.00730092, 0.98929528, 0.04600429, 0.0583502 ,-0.07822078,
  0.17139259, 0.99957002, 0.02768473,-0.00346995,-0.00901618]

qacc:
[  5.51868507,  0.57092731,  1.80377193,-13.63285745, -3.43466647,
   0.7251113 , -2.58270417,  4.36419689, -4.68177099,  0.82068687,
  -2.0848361 ,  1.11233415, -0.5664604 ,  0.28952845, -1.5286115 ,
   3.67662993,  2.41149982,  0.22413255,  0.50826337, -1.94840428,
  21.39467176, -5.35788146]

qfrc_actuator:
[ 1.08192705e-04, 9.48964314e-04, 1.72678023e-04,-5.37692052e-05,
 -5.11920715e-05, 6.39732666e-05,-5.69998855e-05, 1.89925568e-05,
 -1.34669724e-04, 8.09815868e-04, 1.99051556e-04, 1.21670739e-04,
  2.79644390e-02,-1.24130472e-03, 1.79937041e-02,-2.57102908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.42511125,  -6.26932844,  -1.40626298,  -6.26932844,
         9.3537317 , -13.05622332,  -1.40626298, -13.05622332,
        64.63168676,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005991141058614424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63276951e-14, -6.94915426e-14,  1.00000000e+00, -3.21938300e-27,
        1.00000000e+00,  6.94915426e-14, -1.00000000e+00,  0.00000000e+00,
       -4.63276951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760764, -0.08114787,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32890841e-05, 3.56697137e-05,-2.30766724e-05,-3.57403988e-05,
 -2.00470776e-05, 2.82912034e-05, 3.01465027e-06, 6.80771209e-06,
 -2.82256997e-05, 3.18043305e-05,-3.66088237e-06,-1.82295142e-06,
 -1.66634688e-04,-6.51445617e-05,-7.20507091e-05,-2.96873439e-06,
  1.84792331e-05, 1.39684926e-05,-4.90500971e+00, 2.46759281e-04,
  1.18260195e-02,-6.55712478e-04]


--- Step 719 ---
qpos:
[ 0.01875059, 0.03011548,-0.00950174,-0.0255912 , 0.00784722, 0.00468901,
 -0.00784717, 0.02708854, 0.01229135, 0.02804595,-0.00833876, 0.02647033,
  1.07991463, 0.00730225, 0.98989853, 0.04600286, 0.05834129,-0.07824371,
  0.17139724, 0.99956726, 0.02777854,-0.00350712,-0.00901945]

qacc:
[ -2.63706813,  0.11202412,  3.96621384,-17.51967502,  4.02196083,
   1.45927168, -4.93970788,  6.64000181,  3.11266039, -1.00434578,
   7.07827357,-20.00755719, -1.08753052,  1.31830116,  7.81283097,
 -28.63317543,  2.35879418,  0.21135847,  0.29514083, -2.07697026,
  20.98698171, -4.9776532 ]

qfrc_actuator:
[ 9.15241322e-05, 9.85638063e-04, 1.58190272e-04,-9.25954373e-05,
 -2.70022067e-05, 8.02693198e-05,-7.31210227e-05, 2.28606649e-05,
 -1.14982878e-04, 8.07081061e-04, 1.88449852e-04, 8.26580907e-05,
  2.79100524e-02,-1.23379268e-03, 1.79416983e-02,-2.72516105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006011920596043774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61675685e-14,  2.30837843e-14,  1.00000000e+00,  1.06572219e-27,
        1.00000000e+00, -2.30837843e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61675685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760753, -0.08115063,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56860768e-05, 5.03045217e-05,-1.12166786e-05,-3.87975816e-05,
  2.36296169e-05, 3.30407171e-05,-9.66202953e-06, 5.31947166e-06,
  1.88654007e-05, 1.42547880e-05,-4.52923767e-06,-3.78097832e-05,
 -1.66893657e-04,-4.41267579e-05,-9.45778375e-05,-1.65644236e-04,
  7.57135576e-06, 8.86359862e-06,-4.90500557e+00, 2.48258103e-04,
  1.18279901e-02,-6.58054180e-04]


--- Step 720 ---
qpos:
[ 0.01875014, 0.03011671,-0.00950115,-0.02559226, 0.00784765, 0.00468904,
 -0.00784787, 0.02708908, 0.0122918 , 0.02804515,-0.00833909, 0.02647023,
  1.0805489 , 0.00730362, 0.99050021, 0.04600129, 0.05834164,-0.07826584,
  0.17140234, 0.99956467, 0.0278684 ,-0.00350272,-0.00903094]

qacc:
[ -7.65213621, -0.48168835,  2.53534941, -4.83941712,  8.65322142,
   1.22912801, -6.00610154, 13.25671816, 10.8621319 , -0.46231439,
   4.7031966 ,-13.96071884, -0.8010183 ,  0.87214554, -1.84260776,
   3.22497153,  2.31410294,  0.20074331,  0.11166658, -2.17338459,
  20.63808564, -4.67585734]

qfrc_actuator:
[ 4.60212481e-05, 9.89151864e-04, 1.67313329e-04,-9.72774588e-05,
  2.29631027e-05, 7.21156916e-05,-8.23740266e-05, 4.28329743e-05,
 -4.98027626e-05, 8.59099965e-04, 2.00041296e-04, 5.95366564e-05,
  2.78599360e-02,-1.22985604e-03, 1.78728384e-02,-2.72656629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005994338928695664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38908940e-13, -2.31514901e-14,  1.00000000e+00, -3.21594895e-27,
        1.00000000e+00,  2.31514901e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38908940e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760637, -0.0811529 ,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59439990e-05, 2.76179209e-05, 1.67739701e-05,-3.67245541e-06,
  5.06485387e-05, 8.57148968e-06,-3.42783400e-06, 2.11575794e-05,
  6.57360880e-05, 5.74872834e-05, 1.26860636e-05,-2.34014068e-05,
 -1.58584059e-04,-4.28589205e-05,-1.39675791e-04,-2.48129743e-05,
  1.46557000e-06, 3.91402981e-06,-4.90500283e+00, 2.48434950e-04,
  1.18294610e-02,-6.60293258e-04]


--- Step 721 ---
qpos:
[ 0.01875019, 0.03011797,-0.00950013,-0.02559268, 0.00784833, 0.00468905,
 -0.00784864, 0.02709021, 0.01229303, 0.02804466,-0.0083393 , 0.02647089,
  1.08118207, 0.0073048 , 0.99110014, 0.04600101, 0.0583511 ,-0.07828721,
  0.17140726, 0.99956226, 0.02795418,-0.00345738,-0.00905018]

qacc:
[ 4.23251556, 0.15600303,-3.248097  ,13.72501216, 2.20449995, 1.40413815,
 -7.52473371,17.8586752 , 6.63141703, 1.63517964,-8.54318471,21.53362182,
 -0.50854297, 0.24055887,-6.44397993,18.84307012, 2.27651304, 0.19189439,
 -0.04553671,-2.24539579,20.34234186,-4.43716311]

qfrc_actuator:
[ 7.26902377e-05, 9.90658560e-04, 1.90193689e-04,-6.40907101e-05,
  3.44270018e-05, 6.71695319e-05,-8.75817876e-05, 7.21074440e-05,
 -1.16406564e-05, 8.72592571e-04, 2.07127495e-04, 9.92744333e-05,
  2.77964404e-02,-1.24582417e-03, 1.78046205e-02,-2.65569018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946195804757831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66778702e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.66778702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760436, -0.08115478,  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:
[ 2.53348642e-05, 2.01935161e-05, 3.05064997e-05, 3.48782999e-05,
  1.29055261e-05, 6.92992165e-08,-3.12275271e-06, 2.99331262e-05,
  4.01084863e-05, 4.73147769e-05, 1.97250856e-05, 4.21849593e-05,
 -1.67072465e-04,-6.04375806e-05,-1.40885416e-04, 5.02567451e-05,
 -1.39400750e-07,-8.25027361e-07,-4.90500142e+00, 2.47465900e-04,
  1.18304645e-02,-6.62421882e-04]


--- Step 722 ---
qpos:
[ 0.0187509 , 0.03011935,-0.00949914,-0.02559234, 0.00784915, 0.00468889,
 -0.00784937, 0.02709169, 0.01229471, 0.02804395,-0.00833916, 0.02647208,
  1.08181397, 0.00730614, 0.99169894, 0.04599881, 0.05836954,-0.07830783,
  0.17141146, 0.99956002, 0.02803575,-0.00337158,-0.00907681]

qacc:
[  5.68972575,  1.80761291, -9.46060985, 22.67405544,  1.17178902,
   0.39534273, -3.26980925,  9.52662583,  3.84117306, -0.18671407,
  -1.94914552, 10.57761547, -1.14433594,  1.42005844,  4.1943043 ,
 -16.88693486,  2.24518153,  0.18449075, -0.17965407, -2.29898811,
  20.09433626, -4.24931182]

qfrc_actuator:
[ 1.06129874e-04, 9.91045615e-04, 1.85505258e-04,-2.66453213e-05,
  4.08823722e-05, 4.64501983e-05,-9.03527250e-05, 8.88674447e-05,
  1.02977318e-05, 8.27449334e-04, 2.11389999e-04, 1.22386582e-04,
  2.77302821e-02,-1.23801645e-03, 1.77475129e-02,-2.75584106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000587415074581682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45007264e-14, -4.72503632e-14,  1.00000000e+00, -4.46519364e-27,
        1.00000000e+00,  4.72503632e-14, -1.00000000e+00,  0.00000000e+00,
       -9.45007264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276017 , -0.08115636,  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:
[ 3.41773717e-05, 1.94250206e-05, 4.41933437e-06, 4.00394016e-05,
  6.82103512e-06,-2.00324332e-05,-2.09972980e-06, 1.72360984e-05,
  2.31274915e-05,-1.27653861e-05, 1.79316414e-05, 2.66419326e-05,
 -1.78533479e-04,-4.25732893e-05,-1.21487026e-04,-1.16633593e-04,
  2.52068231e-06,-5.31940623e-06,-4.90500126e+00, 2.45479525e-04,
  1.18310274e-02,-6.64434296e-04]


--- Step 723 ---
qpos:
[ 0.01875132, 0.0301202 ,-0.00949787,-0.02559183, 0.00785038, 0.00468819,
 -0.00784962, 0.02709234, 0.01229629, 0.02804337,-0.00833931, 0.02647319,
  1.08244446, 0.00730813, 0.99229663, 0.04599404, 0.05839686,-0.07832775,
  0.17141448, 0.99955796, 0.02811304,-0.00324575,-0.00911053]

qacc:
[ -2.49892997, -1.14748064,  2.4021175 ,  0.34139783,  3.68691141,
  -3.80388294, 16.05010093,-30.85432213, -0.81530195,  0.8106841 ,
  -2.33316335,  1.39329568, -1.70987777,  2.62774901,  6.31994507,
 -24.12684344,  2.21934623,  0.17827042, -0.29361414, -2.33878172,
  19.88902896, -4.10249902]

qfrc_actuator:
[ 9.00055807e-05, 9.19645067e-04, 1.82315076e-04,-2.25281814e-05,
  6.21030393e-05,-1.31026265e-06,-7.39884035e-05, 4.48577018e-05,
  4.76716633e-06, 8.36276880e-04, 1.95929642e-04, 1.17713569e-04,
  2.76679073e-02,-1.19844818e-03, 1.76970783e-02,-2.88491857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005783858082402671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59759912e-14, -9.59759912e-14,  1.00000000e+00, -9.21139088e-27,
        1.00000000e+00,  9.59759912e-14, -1.00000000e+00,  0.00000000e+00,
       -9.59759912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02759854, -0.08115769,  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:
[-1.51287906e-05,-5.79638638e-05, 2.72073803e-06, 5.87379776e-06,
  2.14068887e-05,-5.86440664e-05, 1.25710895e-05,-4.46070042e-05,
 -4.86012508e-06, 6.56947121e-06,-1.49619987e-05,-4.08313526e-06,
 -1.77376582e-04,-9.53712135e-06,-1.26591912e-04,-1.52840114e-04,
  9.26369445e-06,-9.54935078e-06,-4.90500230e+00, 2.42568610e-04,
  1.18311718e-02,-6.66326282e-04]


--- Step 724 ---
qpos:
[ 0.01875154, 0.03012077,-0.00949722,-0.02559159, 0.00785151, 0.0046874 ,
 -0.00785008, 0.02709211, 0.0122978 , 0.02804297,-0.00833994, 0.0264739 ,
  1.08307381, 0.00731026, 0.99289271, 0.04598612, 0.0584241 ,-0.07834501,
  0.17141992, 0.99955616, 0.02818088,-0.00312092,-0.00914265]

qacc:
[-1.69926854e+00, 8.21126695e-01,-2.33199546e+00,-1.09855901e+00,
 -8.89150644e-01,-1.32481065e+00, 8.27995762e+00,-2.31606921e+01,
 -6.86680978e-01, 7.84294110e-01,-7.39668018e-01,-5.59330816e+00,
 -1.09353375e+00, 1.39215797e+00, 7.21499631e+00,-2.85176226e+01,
 -1.83955867e-02, 6.62075848e-01, 6.05583596e-01,-4.71280378e+00,
 -5.24208148e-01, 8.36687711e-01]

qfrc_actuator:
[ 8.03396569e-05, 8.94533387e-04, 1.44217265e-04,-3.81115987e-05,
  5.63408856e-05, 6.13632854e-06,-8.21213973e-05, 9.38557404e-07,
  8.71734563e-07, 8.41732604e-04, 1.69131538e-04, 9.67574244e-05,
  2.76131870e-02,-1.19364967e-03, 1.76027537e-02,-3.04767065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1682675 ,  5.97406944, -1.53558405,  5.97406944,  9.48186731,
       12.89130043, -1.53558405, 12.89130043, 56.32086177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005683370316090049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.66942121e-07,  9.76729443e-14,  1.00000000e+00, -7.49094951e-20,
        1.00000000e+00, -9.76729443e-14, -1.00000000e+00,  1.20370622e-35,
        7.66942121e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06115956, -0.08700495,  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:
[-1.01314733e-05,-5.67643934e-05,-4.95567133e-05,-1.78618881e-05,
 -5.17290939e-06,-2.46281944e-05,-2.02331342e-05,-4.68656764e-05,
 -4.03674393e-06, 5.88747759e-06,-2.74173680e-05,-2.12721211e-05,
 -1.61509508e-04,-3.67720092e-05,-1.76975787e-04,-1.89199358e-04,
  1.99515015e-05,-1.35048502e-05,-4.90500449e+00, 2.38798947e-04,
  1.18309153e-02,-6.68094755e-04]


--- Step 725 ---
qpos:
[ 0.01875199, 0.03012125,-0.00949688,-0.02559158, 0.00785222, 0.0046867 ,
 -0.00785079, 0.02709168, 0.0122989 , 0.02804187,-0.00833999, 0.02647474,
  1.08370234, 0.00731162, 0.99348685, 0.04597821, 0.0584415 ,-0.0783582 ,
  0.17142576, 0.99955482, 0.02823069,-0.00304063,-0.00916219]

qacc:
[  1.93639627,  0.25926945, -0.1115973 , -3.3825911 , -3.72851514,
   0.39503094, -0.37356167, -2.8012909 , -3.40023532, -2.30335037,
   6.34259306, -4.56813057,  0.11702115, -1.07381452, -2.93009172,
   6.0257975 , -2.46007758,  1.01835832,  0.09688098, -8.80146193,
 -22.15995365,  6.94258974]

qfrc_actuator:
[ 9.23217618e-05, 9.14911730e-04, 1.39224851e-04,-4.73975703e-05,
  3.47392527e-05, 2.87293349e-05,-8.66833319e-05,-7.03691584e-06,
 -1.97734490e-05, 7.74045230e-04, 1.89107074e-04, 1.01894691e-04,
  2.75630856e-02,-1.24497356e-03, 1.75407651e-02,-3.03374659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746626514914338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65978058e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65978058e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577641, -0.09303833,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16672742e-05,-2.23964820e-05,-2.34521654e-05,-1.37815424e-05,
 -2.17544685e-05, 2.66582967e-06,-1.37474847e-05,-1.06395090e-05,
 -2.07613571e-05,-7.09464180e-05, 1.70908885e-05, 4.02810535e-06,
 -1.54784673e-04,-9.47713199e-05,-1.68952825e-04,-2.03612992e-05,
  1.96142794e-05,-1.18441735e-05,-4.90500442e+00, 2.38778537e-04,
  1.18293041e-02,-6.69551462e-04]


--- Step 726 ---
qpos:
[ 0.01875258, 0.03012127,-0.00949594,-0.0255917 , 0.007853  , 0.00468587,
 -0.00785124, 0.02709149, 0.01229906, 0.02804025,-0.00833982, 0.02647598,
  1.08432969, 0.00731251, 0.99407945, 0.04597431, 0.05844925,-0.07836742,
  0.17143123, 0.99955396, 0.0282624 ,-0.00300391,-0.00917012]

qacc:
[  1.22912146, -2.57054908,  8.81696768,-11.65525873,  0.71969133,
  -0.38177568,  0.09862938,  3.80501871, -8.04182802, -0.4405247 ,
  -1.11137425,  8.12094453, -0.17904445, -0.51989802,-14.4405036 ,
  47.17493773, -2.41399997,  0.99233626, -0.08947213, -8.82956296,
 -21.69390692,  6.44724183]

qfrc_actuator:
[ 9.91955513e-05, 8.91494192e-04, 1.71784181e-04,-5.28306616e-05,
  3.95017182e-05, 2.47593638e-05,-7.12376348e-05, 6.22487228e-06,
 -6.78656511e-05, 7.52044587e-04, 2.00757269e-04, 1.22318104e-04,
  2.74891389e-02,-1.27584140e-03, 1.75302191e-02,-2.80920518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005763544168810725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63142636e-14, -9.63142636e-14,  1.00000000e+00, -9.27643737e-27,
        1.00000000e+00,  9.63142636e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63142636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577521, -0.09304151,  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:
[ 7.20564112e-06,-4.13938469e-05, 2.45579773e-05,-7.47415814e-06,
  4.14615484e-06,-5.74771655e-06, 1.39533601e-05, 1.26983301e-05,
 -4.87302990e-05,-5.79366495e-05,-7.46860751e-07, 1.80545933e-05,
 -1.87666844e-04,-8.56920602e-05,-9.40577748e-05, 2.00902373e-04,
  8.05506085e-06,-5.48901425e-06,-4.90500195e+00, 2.42547435e-04,
  1.18267726e-02,-6.70539159e-04]


--- Step 727 ---
qpos:
[ 0.0187529 , 0.03012126,-0.00949532,-0.02559188, 0.00785384, 0.00468506,
 -0.00785128, 0.02709178, 0.01229933, 0.02803851,-0.00833992, 0.02647675,
  1.08495569, 0.00731333, 0.99467132, 0.04597202, 0.05844749,-0.07837276,
  0.17143571, 0.99955358, 0.02827602,-0.00300995,-0.00916721]

qacc:
[ -2.30010895,  0.78019797, -2.60222572,  2.20296697,  0.45843934,
  -0.14865506, -1.48916544,  9.13179342,  0.93743385, -0.38976689,
   3.16791694,-10.87054355, -0.84728027,  0.7602632 , -5.86401997,
  19.07434492, -2.37472478,  0.97056056, -0.25013446, -8.84040699,
 -21.30075885,  6.05152468]

qfrc_actuator:
[ 8.52475071e-05, 8.95463732e-04, 1.55071670e-04,-5.59648193e-05,
  4.19957245e-05, 4.05298391e-05,-4.41938662e-05, 3.18638564e-05,
 -6.07114643e-05, 7.57559170e-04, 1.89799913e-04, 9.83278866e-05,
  2.74222495e-02,-1.27668228e-03, 1.75079673e-02,-2.72858955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005745749401265821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0957753 , -0.09304445,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37541732e-05,-1.44363166e-05,-2.25076513e-05,-4.20459419e-06,
  2.60873750e-06, 1.60197321e-05, 2.80296529e-05, 2.61256964e-05,
  5.69877282e-06,-2.62270452e-05,-2.23759321e-05,-2.61449709e-05,
 -1.95915493e-04,-6.21520791e-05,-4.99873283e-05, 7.81816484e-05,
  1.66014075e-06,-1.55024373e-06,-4.90500052e+00, 2.44515160e-04,
  1.18253084e-02,-6.71193978e-04]


--- Step 728 ---
qpos:
[ 0.01875271, 0.03012168,-0.00949572,-0.02559176, 0.0078547 , 0.00468444,
 -0.00785132, 0.02709203, 0.01230002, 0.02803632,-0.00833976, 0.02647723,
  1.08558046, 0.00731407, 0.99526237, 0.04597005, 0.05843638,-0.07837429,
  0.17143863, 0.99955369, 0.02827154,-0.00305808,-0.00915407]

qacc:
[ -4.4532397 ,  4.02017734,-14.76628251, 21.21829852,  0.20143178,
   0.19421885, -0.14438295, -0.65876684,  3.66191074, -1.93933776,
   7.24811643,-12.295911  , -0.7991595 ,  0.71299352, -2.13575712,
   5.86623927, -2.3415442 ,  0.95242658, -0.38803425, -8.84065783,
 -20.97150274,  5.73580221]

qfrc_actuator:
[ 5.91574795e-05, 9.33372740e-04, 1.09492334e-04,-3.99893235e-05,
  4.31264078e-05, 5.03173943e-05,-4.59480103e-05, 2.90912532e-05,
 -3.88402058e-05, 7.26127712e-04, 2.01177473e-04, 8.39120278e-05,
  2.73703049e-02,-1.27748093e-03, 1.74626972e-02,-2.71576653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005700319107911495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.73825328e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.73825328e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577643, -0.09304721,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64953836e-05, 2.49955260e-05,-5.14849004e-05, 1.44963808e-05,
  1.20819271e-06, 2.56859032e-05, 5.92066770e-06,-6.06629977e-07,
  2.20258554e-05,-5.17750833e-05, 2.31911827e-06,-1.68206413e-05,
 -1.79966348e-04,-5.90464203e-05,-6.96213152e-05, 8.47752004e-06,
  6.45874570e-08, 8.74963423e-08,-4.90500012e+00, 2.44925859e-04,
  1.18248305e-02,-6.71508542e-04]


--- Step 729 ---
qpos:
[ 0.01875221, 0.03012235,-0.00949641,-0.02559148, 0.00785557, 0.0046841 ,
 -0.00785165, 0.02709157, 0.01230063, 0.02803397,-0.00833985, 0.02647753,
  1.08620387, 0.00731508, 0.99585211, 0.04597028, 0.058416  ,-0.07837207,
  0.17143953, 0.99955425, 0.02824899,-0.00314773,-0.0091312 ]

qacc:
[ -2.68485672,  1.46759923, -5.38826271,  8.38420457,  0.04611738,
  -0.30428452,  4.62750127,-16.73796485, -0.7554818 ,  0.15666107,
  -0.10182271, -2.45329368, -1.04731974,  1.31412558, -8.49858853,
  27.09462168, -2.3137864 ,  0.93741101, -0.50593372, -8.83517323,
 -20.69814465,  5.48439228]

qfrc_actuator:
[ 4.38893693e-05, 9.55700998e-04, 1.00667670e-04,-3.06318673e-05,
  4.34461699e-05, 5.63145139e-05,-6.47346637e-05,-8.15539479e-06,
 -4.40054442e-05, 7.26168441e-04, 1.90024923e-04, 7.52430079e-05,
  2.73060614e-02,-1.26044705e-03, 1.74089749e-02,-2.60096786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005633293242784526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97082413e-13, -9.85412064e-14,  1.00000000e+00, -1.94207387e-26,
        1.00000000e+00,  9.85412064e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97082413e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577836, -0.09304983,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60309977e-05, 2.62736845e-05,-9.50077380e-06, 8.92949554e-06,
  3.62849012e-07, 2.15805929e-05,-1.27654744e-05,-3.59519923e-05,
 -4.54309934e-06,-2.90678944e-05,-2.21213977e-05,-1.11322436e-05,
 -1.82747367e-04,-3.66049390e-05,-9.39967659e-05, 1.04236134e-04,
  2.99025501e-06,-4.82314336e-07,-4.90500073e+00, 2.43959087e-04,
  1.18252757e-02,-6.71477654e-04]


--- Step 730 ---
qpos:
[ 0.01875152, 0.03012259,-0.00949603,-0.02559178, 0.00785609, 0.00468392,
 -0.00785218, 0.02709067, 0.01230152, 0.02803208,-0.00834065, 0.02647733,
  1.08682607, 0.007316  , 0.99644055, 0.04597317, 0.05838646,-0.07836615,
  0.171438  , 0.99955527, 0.02820838,-0.00327845,-0.00909897]

qacc:
[ -1.49643848, -4.74138598, 18.53803221,-30.01960027, -3.06870163,
  -0.1307508 ,  2.61244647, -9.93603476,  2.33609494,  1.53098064,
  -2.49351485, -5.34670317, -0.61414343,  0.43369052, -9.96909163,
  32.16647634, -2.29083034,  0.92506389, -0.60637723, -8.82746426,
 -20.47366063,  5.28476707]

qfrc_actuator:
[ 3.51170681e-05, 9.15412047e-04, 1.49072696e-04,-6.07305848e-05,
  2.55338690e-05, 5.98850685e-05,-7.57011717e-05,-2.98893024e-05,
 -2.95425320e-05, 7.80481987e-04, 1.65774190e-04, 5.22753072e-05,
  2.72451459e-02,-1.26854516e-03, 1.73609077e-02,-2.46248442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005549797311410337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00023745e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00023745e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578092, -0.09305232,  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:
[-9.23181381e-06,-2.71979951e-05, 5.29708471e-05,-2.91284978e-05,
 -1.78924442e-05, 1.14784593e-05,-9.31607543e-06,-2.19479485e-05,
  1.43133772e-05, 3.30976821e-05,-3.33363643e-05,-2.51903737e-05,
 -1.75857728e-04,-5.74421925e-05,-8.73083818e-05, 1.30489533e-04,
  1.02274592e-05,-3.18546248e-06,-4.90500232e+00, 2.41745964e-04,
  1.18265953e-02,-6.71097656e-04]


--- Step 731 ---
qpos:
[ 0.01875074, 0.03012246,-0.00949503,-0.02559207, 0.00785605, 0.00468349,
 -0.00785269, 0.0270899 , 0.01230257, 0.02803048,-0.0083412 , 0.02647681,
  1.08744713, 0.00731681, 0.9970278 , 0.04597769, 0.05836653,-0.07835933,
  0.1714383 , 0.99955639, 0.02816524,-0.00336617,-0.00907775]

qacc:
[ -0.83286468, -2.19407292,  7.05504354, -7.57063625, -4.95119933,
  -0.09728038, -0.64793716,  3.01419238,  1.41963482, -0.94544697,
   5.29531671,-11.45177321, -0.61195042,  0.42902511, -6.62119336,
  20.70099242,  2.40090213,  0.22660042,  0.45707935, -1.4850302 ,
  21.32551383, -6.10425647]

qfrc_actuator:
[ 3.02344239e-05, 8.91402255e-04, 1.77327409e-04,-6.05650085e-05,
 -2.96576877e-06, 2.65000849e-05,-8.19528566e-05,-2.45579367e-05,
 -2.13857635e-05, 8.13557153e-04, 1.87470252e-04, 3.88734622e-05,
  2.71915881e-02,-1.27372317e-03, 1.73056281e-02,-2.38215653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.99204217,  5.94080872, -0.78189583,  5.94080872,  6.65708457,
        5.05296173, -0.78189583,  5.05296173, 44.38421396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005471262139754018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07297492e-14,  1.26824373e-13,  1.00000000e+00,  6.43376863e-27,
        1.00000000e+00, -1.26824373e-13, -1.00000000e+00,  0.00000000e+00,
       -5.07297492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758583, -0.08117761,  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:
[-5.16318108e-06,-2.95390257e-05, 2.81480834e-05, 2.66367462e-07,
 -2.90028251e-05,-2.98224799e-05,-5.77644444e-06, 5.07811916e-06,
  8.58380170e-06, 4.37041210e-05, 2.35874608e-05,-1.36211659e-05,
 -1.69191348e-04,-5.75769243e-05,-8.84971274e-05, 7.46459082e-05,
  2.16209239e-05,-7.96452567e-06,-4.90500488e+00, 2.38381205e-04,
  1.18287522e-02,-6.70365948e-04]


--- Step 732 ---
qpos:
[ 0.01875025, 0.03012249,-0.00949448,-0.02559201, 0.00785567, 0.0046827 ,
 -0.00785291, 0.0270892 , 0.01230337, 0.02802921,-0.00834154, 0.02647648,
  1.08806693, 0.00731783, 0.9976143 , 0.04598076, 0.05835601,-0.07835164,
  0.17143966, 0.99955764, 0.02811908,-0.00341165,-0.00906649]

qacc:
[  2.48736579,  2.17946308, -8.93805989, 15.62123604, -2.98748824,
  -1.12998842,  3.06159402, -2.09952309, -2.17125195,  0.19909686,
  -0.87653646,  3.51541459, -1.18788419,  1.53634491,  3.38570351,
 -13.22834235,  2.3529827 ,  0.21381199,  0.26444301, -1.71584165,
  20.95383238, -5.56729742]

qfrc_actuator:
[ 4.54308028e-05, 9.12781958e-04, 1.58008077e-04,-4.26026501e-05,
 -1.97104837e-05, 6.78540792e-06,-6.77587563e-05,-2.11294514e-05,
 -3.47651012e-05, 8.33860431e-04, 2.00564268e-04, 4.89850846e-05,
  2.71318313e-02,-1.25932844e-03, 1.72620351e-02,-2.46100815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.03257231,  -5.81957221,  -1.58887003,  -5.81957221,
        10.19170214, -15.23369185,  -1.58887003, -15.23369185,
        61.82918761,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005520163134422607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02803539e-14, -2.51401770e-14,  1.00000000e+00, -1.26405700e-27,
        1.00000000e+00,  2.51401770e-14, -1.00000000e+00,  0.00000000e+00,
       -5.02803539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275867 , -0.08118145,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50339364e-05, 1.06813438e-05,-2.19525341e-05, 1.76758253e-05,
 -1.75793309e-05,-3.73541562e-05, 7.51191327e-06, 2.05445854e-06,
 -1.31183562e-05, 4.91032279e-05, 2.45827251e-05, 1.25413774e-05,
 -1.71712062e-04,-3.64133503e-05,-8.37014288e-05,-8.78362738e-05,
  9.65587788e-06,-5.30681030e-06,-4.90500222e+00, 2.42491594e-04,
  1.18288080e-02,-6.69348231e-04]


--- Step 733 ---
qpos:
[ 0.01874994, 0.03012261,-0.00949444,-0.02559172, 0.00785543, 0.00468209,
 -0.00785322, 0.02708885, 0.01230434, 0.02802817,-0.00834192, 0.02647595,
  1.08868553, 0.00731902, 0.99819931, 0.0459839 , 0.05835474,-0.07834315,
  0.17144141, 0.99955904, 0.02806954,-0.00341556,-0.00906435]

qacc:
[ 1.57899907, 2.00385983,-7.95233456,12.68105472, 1.28433716, 1.16032023,
 -5.26712945,11.27072873, 1.51237326, 0.03733929, 1.12944623,-4.55838114,
 -0.95887568, 1.15395842,-2.38293712, 5.31192702, 2.31204753, 0.203603  ,
  0.09723584,-1.89556576,20.6335499 ,-5.13749693]

qfrc_actuator:
[ 5.45701099e-05, 9.07741725e-04, 1.28707537e-04,-3.20609216e-05,
 -1.16463052e-05, 4.87468736e-05,-5.93234140e-05,-1.07968276e-06,
 -2.52060522e-05, 8.28606948e-04, 1.90670387e-04, 3.73201486e-05,
  2.70737325e-02,-1.25123378e-03, 1.71881767e-02,-2.45541425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005531989650471025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01728625e-14, -7.52592938e-14,  1.00000000e+00, -3.77597420e-27,
        1.00000000e+00,  7.52592938e-14, -1.00000000e+00,  0.00000000e+00,
       -5.01728625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758651, -0.08118455,  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:
[ 9.58063047e-06,-2.84553349e-06,-2.91937384e-05, 1.05817699e-05,
  7.55116691e-06, 2.27392056e-05, 1.72977226e-06, 1.87534682e-05,
  9.18532154e-06, 2.78694743e-05, 3.73180605e-06,-8.46097163e-06,
 -1.66914311e-04,-3.85011510e-05,-1.31098698e-04,-1.21063410e-05,
  2.55098393e-06,-2.80380305e-06,-4.90500084e+00, 2.45031482e-04,
  1.18285666e-02,-6.68252154e-04]


--- Step 734 ---
qpos:
[ 0.0187494 , 0.03012271,-0.00949473,-0.02559096, 0.00785529, 0.00468193,
 -0.00785357, 0.0270887 , 0.01230543, 0.02802703,-0.00834196, 0.02647531,
  1.08930297, 0.00732053, 0.99878235, 0.04598943, 0.05836257,-0.07833387,
  0.17144297, 0.9995606 , 0.02801633,-0.00337846,-0.00907067]

qacc:
[ -2.00481635,  1.90711774, -8.82571443, 17.54794544,  0.85359906,
   1.1662106 , -4.17431335,  7.49892941,  0.9245373 , -1.3297663 ,
   5.01948495, -7.49114497, -0.8921707 ,  1.18512328,-10.05627048,
  31.09247247,  2.27737728,  0.19548635, -0.04714987, -2.03595041,
  20.36037158, -4.79335768]

qfrc_actuator:
[ 4.23116116e-05, 9.04617551e-04, 1.11413641e-04,-8.23748523e-06,
 -6.80080806e-06, 9.18143792e-05,-5.40959757e-05, 1.08833893e-05,
 -1.99677102e-05, 8.07974346e-04, 2.02664594e-04, 3.06463995e-05,
  2.70273202e-02,-1.22919521e-03, 1.71069043e-02,-2.32909917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005513854779655991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03378793e-14, -1.51013638e-13,  1.00000000e+00, -7.60170627e-27,
        1.00000000e+00,  1.51013638e-13, -1.00000000e+00,  0.00000000e+00,
       -5.03378793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758547, -0.08118707,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19800305e-05,-1.02930134e-05,-2.11136699e-05, 2.28962801e-05,
  5.06717854e-06, 5.69735584e-05, 1.07976850e-05, 1.33648821e-05,
  5.51398152e-06,-4.59011401e-06, 1.79362923e-05,-5.51083413e-06,
 -1.53360672e-04,-2.36876505e-05,-1.48898032e-04, 1.07426765e-04,
 -2.64163442e-09,-3.28872856e-07,-4.90500069e+00, 2.46244762e-04,
  1.18280133e-02,-6.67064028e-04]


--- Step 735 ---
qpos:
[ 0.01874907, 0.03012291,-0.00949531,-0.02558994, 0.00785486, 0.00468168,
 -0.00785389, 0.02708841, 0.01230622, 0.02802557,-0.00834176, 0.02647532,
  1.08991936, 0.00732204, 0.99936442, 0.04599525, 0.0583794 ,-0.07832384,
  0.17144384, 0.99956233, 0.02795922,-0.00330083,-0.00908491]

qacc:
[ 1.72153038, 1.45692388,-6.08537455,10.93037955,-2.50738633,-0.48681367,
  2.16789369,-4.56743656,-2.45840663, 0.26175661,-4.26819431,15.34870382,
 -0.72920199, 0.73308961,-2.23569502, 5.88697382, 2.24828814, 0.18906868,
 -0.17126171,-2.14614427,20.12999676,-4.5177623 ]

qfrc_actuator:
[ 5.30638580e-05, 9.20470524e-04, 1.01362817e-04, 5.46801801e-06,
 -2.16492833e-05, 4.64424932e-05,-6.85365950e-05, 2.44268561e-07,
 -3.50746392e-05, 7.78366634e-04, 2.09675399e-04, 6.24737391e-05,
  2.69719816e-02,-1.23452835e-03, 1.70851907e-02,-2.31020710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005471876171146972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07240565e-14, -1.01448113e-13,  1.00000000e+00, -5.14585982e-27,
        1.00000000e+00,  1.01448113e-13, -1.00000000e+00,  0.00000000e+00,
       -5.07240565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758376, -0.08118914,  0.06199017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03992689e-05, 6.71263936e-06,-1.39832072e-05, 1.29795547e-05,
 -1.46855789e-05,-1.06964495e-05,-8.73267581e-07,-7.56258376e-06,
 -1.49510398e-05,-2.86569252e-05, 8.09739376e-06, 3.21480579e-05,
 -1.50930005e-04,-4.46743159e-05,-8.25908928e-05, 4.74235608e-06,
  1.75415663e-06, 2.20865647e-06,-4.90500172e+00, 2.46311875e-04,
  1.18271397e-02,-6.65773405e-04]


--- Step 736 ---
qpos:
[ 0.01874852, 0.03012284,-0.00949558,-0.02558875, 0.00785461, 0.00468116,
 -0.00785429, 0.02708873, 0.01230648, 0.02802359,-0.00834162, 0.02647576,
  1.09053478, 0.00732324, 0.99994638, 0.04599581, 0.05840513,-0.07831307,
  0.17144361, 0.99956422, 0.02789805,-0.00318306,-0.00910663]

qacc:
[ -1.81355384, -0.89244306,  1.96960647,  0.5639174 ,  1.50299582,
   1.08100191, -6.91486419, 17.61157731, -4.52378336,  0.34539997,
  -4.02327937, 11.8902605 , -0.80334053,  0.65956968, 15.77877549,
 -55.31581509,  2.22414742,  0.18403249, -0.27750562, -2.23326891,
  19.93829656, -4.29707879]

qfrc_actuator:
[ 4.17758843e-05, 8.94332303e-04, 1.13486228e-04, 1.31277419e-05,
 -1.24647301e-05, 1.93693095e-05,-7.70926733e-05, 2.95637541e-05,
 -6.20344645e-05, 7.25868832e-04, 1.95907794e-04, 8.11771477e-05,
  2.69166451e-02,-1.25608462e-03, 1.70619112e-02,-2.58541310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005411284327266341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02584059e-13, -1.02584059e-13,  1.00000000e+00, -1.05234892e-26,
        1.00000000e+00,  1.02584059e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02584059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758152, -0.08119084,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09827918e-05,-2.47150359e-05, 1.22387274e-05, 7.71428551e-06,
  8.76382235e-06,-3.35508507e-05,-1.11268867e-05, 2.86862360e-05,
 -2.74145519e-05,-6.54248065e-05,-1.75612357e-05, 1.83847526e-05,
 -1.53773328e-04,-6.52837444e-05,-6.89196781e-05,-2.87443698e-04,
  7.63536550e-06, 4.87369802e-06,-4.90500390e+00, 2.45365730e-04,
  1.18259406e-02,-6.64372269e-04]


--- Step 737 ---
qpos:
[ 0.01874681, 0.03012238,-0.00949559,-0.02558781, 0.00785447, 0.00468091,
 -0.00785475, 0.02708932, 0.01230676, 0.02802151,-0.00834148, 0.02647567,
  1.09114921, 0.00732418, 1.00052785, 0.04599038, 0.05842106,-0.07829824,
  0.17144354, 0.99956658, 0.02781861,-0.00310958,-0.00911633]

qacc:
[-9.97936982e+00,-1.72929372e+00, 6.47103159e+00,-1.08439474e+01,
  9.73888465e-01, 1.09895149e+00,-4.56198174e+00, 9.24607782e+00,
  1.60269254e-01,-1.18668811e+00, 6.26425630e+00,-1.52870166e+01,
 -8.85804914e-01, 8.20490928e-01, 1.74680433e+01,-6.20009474e+01,
 -2.44790992e+00, 1.01345972e+00, 4.14210080e-02,-8.90925596e+00,
 -2.20515074e+01, 6.65896721e+00]

qfrc_actuator:
[-1.79072932e-05, 8.61090427e-04, 1.20681025e-04,-6.01516630e-07,
 -6.95471413e-06, 7.45098693e-05,-6.42685730e-05, 4.66709888e-05,
 -6.02430255e-05, 7.48731804e-04, 2.05371705e-04, 5.64618267e-05,
  2.68666662e-02,-1.26930773e-03, 1.70269994e-02,-2.88962862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.916948  ,  5.76731058, -1.32227166,  5.76731058,  8.30065938,
       10.39695872, -1.32227166, 10.39695872, 51.26503489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005380423358184727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09517379e-13, -5.15862299e-14,  1.00000000e+00, -1.59668347e-26,
        1.00000000e+00,  5.15862299e-14, -1.00000000e+00,  0.00000000e+00,
       -3.09517379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578321, -0.0930708 ,  0.06199033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00124083e-05,-4.42032518e-05, 3.86690078e-06,-1.42150723e-05,
  5.74661791e-06, 3.53356319e-05, 5.52550838e-06, 1.58437352e-05,
  9.58216956e-07,-1.65024353e-05,-5.55558980e-06,-2.77645670e-05,
 -1.55406977e-04,-6.19006532e-05,-1.08862158e-04,-3.31444277e-04,
  1.74994153e-05, 7.71277871e-06,-4.90500721e+00, 2.43503615e-04,
  1.18244125e-02,-6.62854425e-04]


--- Step 738 ---
qpos:
[ 0.01874439, 0.03012203,-0.00949626,-0.02558739, 0.00785405, 0.004681  ,
 -0.00785538, 0.02708976, 0.01230706, 0.02802016,-0.0083414 , 0.02647552,
  1.09176256, 0.00732498, 1.00110703, 0.0459874 , 0.05842737,-0.07827945,
  0.17144295, 0.9995694 , 0.02772088,-0.00307951,-0.0091149 ]

qacc:
[ -6.05020152,  0.92767736, -0.87791863, -7.15288101, -2.45493915,
   0.62599463, -0.96413304, -1.54422007,  0.14098742,  1.01901482,
  -1.99511946,  0.59233814, -0.4441638 ,  0.17602836,-10.79336092,
  32.89956904, -2.40578692,  0.99182955, -0.12898677, -8.93986482,
 -21.62468752,  6.19964266]

qfrc_actuator:
[-5.23325674e-05, 8.77072355e-04, 8.93400239e-05,-2.68221444e-05,
 -2.14111628e-05, 8.97757737e-05,-7.41074047e-05, 3.87810509e-05,
 -5.92911976e-05, 8.52103372e-04, 2.28754309e-04, 5.97369047e-05,
  2.68092866e-02,-1.27745844e-03, 1.69478654e-02,-2.74684242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005413644779123095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.07617992e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.07617992e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578157, -0.09307337,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61879000e-05,-8.54664164e-06,-4.04783766e-05,-2.82543906e-05,
 -1.42816862e-05, 3.68612643e-05,-1.30421335e-06,-5.87611193e-06,
  9.69108454e-07, 9.18809534e-05, 1.83519857e-05, 1.83985551e-06,
 -1.63588464e-04,-5.61544568e-05,-1.74484369e-04, 1.08421664e-04,
  6.68621570e-06, 6.58843192e-06,-4.90500459e+00, 2.46948110e-04,
  1.18250810e-02,-6.60837939e-04]


--- Step 739 ---
qpos:
[ 0.01874192, 0.03012177,-0.00949679,-0.02558734, 0.0078538 , 0.00468102,
 -0.00785595, 0.02709014, 0.01230702, 0.02801962,-0.00834143, 0.02647541,
  1.09237468, 0.00732622, 1.0016841 , 0.04598481, 0.0584242 ,-0.07825676,
  0.17144126, 0.99957268, 0.02760481,-0.00309211,-0.00910304]

qacc:
[ -0.42628793, -0.995764  ,  5.27931439,-11.92800335,  1.54533422,
  -0.37780879,  1.48724818, -2.60972985, -2.87694603,  1.43279561,
  -3.70403581,  3.84995131, -1.15179804,  1.63871005, -4.1800042 ,
  10.3131315 , -2.369673  ,  0.97389394, -0.27688613, -8.95566976,
 -21.26362176,  5.82895178]

qfrc_actuator:
[-5.38467875e-05, 9.04483782e-04, 1.06699220e-04,-4.24123598e-05,
 -1.19975848e-05, 6.31938056e-05,-7.96562878e-05, 3.39573407e-05,
 -7.66027438e-05, 8.96472451e-04, 2.25035872e-04, 6.17930606e-05,
  2.67581628e-02,-1.24708624e-03, 1.68370516e-02,-2.73246623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005413732999284965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05075320e-13, -1.02537660e-13,  1.00000000e+00, -2.10279433e-26,
        1.00000000e+00,  1.02537660e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05075320e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578116, -0.09307577,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56732120e-06, 1.30769229e-05, 9.64597307e-06,-1.79035090e-05,
  9.02087139e-06,-6.49187400e-06, 1.70734684e-06,-3.40273149e-06,
 -1.72561140e-05, 9.96686711e-05, 1.76004138e-05, 6.66759973e-06,
 -1.60425591e-04,-1.83989287e-05,-1.81800187e-04,-2.62632059e-06,
  9.51677298e-07, 3.20515510e-06,-4.90500316e+00, 2.48708304e-04,
  1.18266174e-02,-6.58478966e-04]


--- Step 740 ---
qpos:
[ 0.01874049, 0.03012168,-0.00949665,-0.02558717, 0.00785402, 0.0046809 ,
 -0.00785651, 0.02709048, 0.01230678, 0.02801936,-0.00834154, 0.02647505,
  1.09298575, 0.00732775, 1.00226006, 0.04597858, 0.05841168,-0.07823024,
  0.17143794, 0.99957641, 0.02747041,-0.00314676,-0.00908135]

qacc:
[  8.89397454, -1.48173359,  5.11117196, -4.40993898,  4.0462993 ,
  -0.31345598,  1.00675161, -1.66885776, -1.77007038,  0.06065552,
   1.41669946, -5.93695111, -1.20185517,  1.68367198,  9.47139551,
 -35.26094037, -2.33899382,  0.95915118, -0.40468107, -8.96273779,
 -20.96054416,  5.52945133]

qfrc_actuator:
[-4.80760489e-07, 9.38731895e-04, 1.52757983e-04,-3.38139963e-05,
  1.13960074e-05, 4.72711019e-05,-8.27929856e-05, 3.09481448e-05,
 -8.67730972e-05, 8.69573981e-04, 2.05129131e-04, 4.52988724e-05,
  2.67161703e-02,-1.22962228e-03, 1.67871834e-02,-2.91831088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005387169092500588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03043269e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03043269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578175, -0.09307804,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32974830e-05, 4.28086623e-05, 4.93399535e-05, 9.14556258e-06,
  2.36477623e-05,-1.93381017e-05,-4.37996213e-06,-3.29455543e-06,
 -1.06446558e-05, 3.27725019e-05, 3.08746658e-06,-1.14819843e-05,
 -1.41038023e-04,-2.20557756e-05,-1.36964657e-04,-2.10057772e-04,
 -3.54649476e-08,-2.35552450e-06,-4.90500287e+00, 2.49003127e-04,
  1.18289792e-02,-6.55770788e-04]


--- Step 741 ---
qpos:
[ 0.01873971, 0.0301214 ,-0.00949578,-0.02558652, 0.00785382, 0.00468083,
 -0.0078575 , 0.02709112, 0.01230675, 0.02801909,-0.00834141, 0.02647416,
  1.09359589, 0.00732899, 1.00283471, 0.0459714 , 0.05839907,-0.07820103,
  0.17143688, 0.99958039, 0.02732646,-0.00320209,-0.00905823]

qacc:
[  5.61217845, -1.25184453,  2.03454713,  5.42465911, -3.63184373,
   1.88601624, -7.91283976, 13.88667307,  1.92079088, -1.73537553,
   8.36473081,-17.74834458, -0.45119104,  0.13686082,  0.94776891,
  -6.10455557, -0.02169361,  0.67024931,  0.56262262, -4.77317595,
  -0.36363844,  0.736585  ]

qfrc_actuator:
[ 3.14909169e-05, 9.05960565e-04, 1.79925590e-04,-1.10324649e-05,
 -1.04347299e-05, 5.56094581e-05,-1.02204911e-04, 4.67878691e-05,
 -7.49006236e-05, 8.53367014e-04, 2.11023340e-04, 1.79497656e-05,
  2.66583815e-02,-1.25543700e-03, 1.67525645e-02,-2.95413300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.88489077,  5.87125022, -0.40045   ,  5.87125022,  6.102415  ,
        3.18926007, -0.40045   ,  3.18926007, 52.64464613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005341540745293902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60082140e-07,  2.07846964e-13,  1.00000000e+00,  9.56266759e-20,
        1.00000000e+00, -2.07846964e-13, -1.00000000e+00, -1.20370622e-35,
       -4.60082140e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06115296, -0.0870506 ,  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:
[ 3.35376051e-05, 1.77304031e-06, 4.24004924e-05, 2.64970659e-05,
 -2.11651300e-05,-3.50294547e-06,-2.40535913e-05, 1.47951487e-05,
  1.15709483e-05, 2.27229048e-06, 1.26520914e-05,-2.60592774e-05,
 -1.46441819e-04,-6.16627547e-05,-1.27306596e-04,-6.65499036e-05,
  3.47075036e-06,-1.00292227e-05,-4.90500368e+00, 2.47995240e-04,
  1.18321337e-02,-6.52708512e-04]


--- Step 742 ---
qpos:
[ 0.01873897, 0.03012089,-0.00949418,-0.02558594, 0.00785302, 0.00468089,
 -0.00785849, 0.02709191, 0.01230757, 0.02801876,-0.00834062, 0.02647292,
  1.09420503, 0.00732998, 1.00340779, 0.04596348, 0.05839578,-0.07817094,
  0.17143644, 0.99958449, 0.02717924,-0.00321553,-0.00904458]

qacc:
[  0.41488176, -2.51390474,  8.80303371,-11.02157096, -5.32445821,
   0.5075748 , -2.17785565,  4.63724357,  7.1078079 , -2.66199013,
  10.81751761,-17.78868809, -0.52504376,  0.24990464, -0.04858056,
  -3.09987579,  2.32933915,  0.22330078,  0.15540772, -1.83585639,
  20.78903004, -5.29952759]

qfrc_actuator:
[ 3.28428847e-05, 8.86517140e-04, 2.13202488e-04,-1.56699303e-05,
 -4.09603919e-05, 7.83586550e-05,-9.54558788e-05, 5.58475491e-05,
 -3.23985535e-05, 8.61509210e-04, 2.49876235e-04, 2.20883231e-06,
  2.66017927e-02,-1.27124446e-03, 1.66792228e-02,-2.98993355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005379288227220086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15971155e-14, -2.57985578e-14,  1.00000000e+00, -1.33113117e-27,
        1.00000000e+00,  2.57985578e-14, -1.00000000e+00,  0.00000000e+00,
       -5.15971155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275777 , -0.0812082 ,  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:
[ 2.32702717e-06,-8.54786762e-06, 3.97730112e-05,-2.58261462e-06,
 -3.11280196e-05, 1.64608939e-05, 3.58643813e-06, 8.36702136e-06,
  4.28420178e-05, 1.09238301e-05, 3.99821230e-05,-1.57111249e-05,
 -1.57063812e-04,-6.19415740e-05,-1.45148687e-04,-5.71862080e-05,
  3.52554336e-06,-1.09223516e-05,-4.90500410e+00, 2.48756419e-04,
  1.18334195e-02,-6.49376262e-04]


--- Step 743 ---
qpos:
[ 0.0187386 , 0.03012076,-0.0094927 ,-0.02558544, 0.0078522 , 0.00468088,
 -0.00785905, 0.0270928 , 0.01230854, 0.0280184 ,-0.00833909, 0.02647185,
  1.09481306, 0.00733105, 1.00397921, 0.04595548, 0.05840165,-0.07813998,
  0.17143603, 0.99958871, 0.0270284 ,-0.00318768,-0.00903959]

qacc:
[ 3.13462420e+00, 6.48095938e-01,-1.24405049e+00,-2.49871221e-01,
 -1.15071652e-01,-1.09377899e+00, 3.38498020e+00,-2.39376604e+00,
  1.37646018e+00,-1.79211670e+00, 5.64384575e+00,-4.05034824e+00,
 -8.27650195e-01, 9.21491337e-01,-2.14823810e+00, 4.08311553e+00,
  2.29317755e+00, 2.15236552e-01, 5.91444354e-03,-2.01819974e+00,
  2.05056207e+01,-4.88081132e+00]

qfrc_actuator:
[ 5.16737655e-05, 9.28456347e-04, 2.14335873e-04,-1.86420408e-05,
 -4.08395253e-05, 7.41593212e-05,-7.32499070e-05, 6.08775995e-05,
 -2.54735046e-05, 8.66557990e-04, 2.90223099e-04, 1.12174960e-05,
  2.65512904e-02,-1.26322050e-03, 1.66093451e-02,-2.99005323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005382454623010929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15667619e-14,  1.80483667e-13,  1.00000000e+00,  9.30695828e-27,
        1.00000000e+00, -1.80483667e-13, -1.00000000e+00,  0.00000000e+00,
       -5.15667619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275773 , -0.08121116,  0.06199033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88940998e-05, 4.52648962e-05, 4.16375365e-06,-2.01598908e-06,
 -7.58504671e-07, 6.10210758e-06, 2.63479474e-05, 6.02401491e-06,
  8.18437674e-06, 1.87658133e-05, 4.69807065e-05, 1.05545281e-05,
 -1.57348635e-04,-4.05644845e-05,-1.47964771e-04,-2.30657707e-05,
 -1.39267894e-07,-3.31501299e-06,-4.90500482e+00, 2.51680317e-04,
  1.18316387e-02,-6.45862384e-04]


--- Step 744 ---
qpos:
[ 0.01873812, 0.03012088,-0.00949172,-0.02558494, 0.00785174, 0.00468049,
 -0.00785886, 0.02709342, 0.01230889, 0.02801815,-0.00833741, 0.0264716 ,
  1.09541981, 0.00733254, 1.00454925, 0.04595004, 0.05841659,-0.07810818,
  0.17143512, 0.99959307, 0.02687362,-0.00311903,-0.00904259]

qacc:
[ -1.01390476,  1.76967932, -5.86648722,  6.61199161,  3.13320148,
  -3.1946403 , 11.77821682,-17.38970644, -5.22369301,  1.46672904,
  -8.50453679, 22.53345386, -1.08151474,  1.49049042, -9.70958448,
  31.21325841,  2.26264728,  0.20912191, -0.12323035, -2.16298289,
  20.26504125, -4.54294663]

qfrc_actuator:
[ 4.51473393e-05, 9.17936040e-04, 1.78983814e-04,-2.05762864e-05,
 -2.26789701e-05, 3.61724586e-05,-4.22090021e-05, 4.57310490e-05,
 -5.73071142e-05, 8.69755054e-04, 2.95622180e-04, 5.24630944e-05,
  2.64885084e-02,-1.24113193e-03, 1.65895436e-02,-2.84485281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005359342538360512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17891428e-14, -5.17891428e-14,  1.00000000e+00, -2.68211531e-27,
        1.00000000e+00,  5.17891428e-14, -1.00000000e+00,  0.00000000e+00,
       -5.17891428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757616, -0.08121357,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.96130562e-06, 1.55588654e-05,-2.55776739e-05, 1.03666846e-07,
  1.81398151e-05,-2.88693100e-05, 3.57597638e-05,-1.38568465e-05,
 -3.15890701e-05, 2.38514286e-05, 1.54166342e-05, 4.38804099e-05,
 -1.64736506e-04,-2.18679771e-05,-9.51988620e-05, 1.23842990e-04,
  5.86229646e-07, 4.25089886e-06,-4.90500666e+00, 2.53392075e-04,
  1.18296749e-02,-6.42249153e-04]


--- Step 745 ---
qpos:
[ 0.01873825, 0.03012083,-0.00949126,-0.02558475, 0.00785184, 0.00467975,
 -0.00785824, 0.02709387, 0.01230887, 0.02801815,-0.00833627, 0.02647188,
  1.09602516, 0.00733465, 1.00511814, 0.04594927, 0.05844046,-0.07807557,
  0.17143327, 0.99959757, 0.02671467,-0.00301   ,-0.00905307]

qacc:
[  5.26645861,  0.5448987 , -0.92759709, -3.63649497,  5.00008076,
  -1.97652058,  7.09556906,-10.42391558, -3.29611389,  2.92440263,
 -12.13400697, 21.86220859, -1.20565836,  1.77486166,-15.73191183,
  52.79680756,  2.23713664,  0.20459168, -0.23431953, -2.27895895,
  20.06341937, -4.26966616]

qfrc_actuator:
[ 7.70002381e-05, 8.75927326e-04, 1.39938489e-04,-3.96955446e-05,
  5.94384026e-06, 1.37727064e-05,-2.41161406e-05, 3.65597042e-05,
 -7.61820118e-05, 8.71709241e-04, 2.62601968e-04, 7.68112352e-05,
  2.64184138e-02,-1.21097503e-03, 1.65731929e-02,-2.59732316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005315396390286053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04434641e-13,  1.30543301e-13,  1.00000000e+00,  1.36332427e-26,
        1.00000000e+00, -1.30543301e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04434641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757442, -0.08121554,  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:
[ 3.16841638e-05,-3.86037428e-05,-3.89915892e-05,-1.93392418e-05,
  2.91273817e-05,-3.17337602e-05, 1.60547677e-05,-9.44256049e-06,
 -1.97949539e-05, 2.03373282e-05,-2.46906051e-05, 2.67564518e-05,
 -1.70825951e-04,-1.19412697e-05,-5.33873856e-05, 2.40622560e-04,
  5.49787956e-06, 1.18711195e-05,-4.90500961e+00, 2.54056474e-04,
  1.18274955e-02,-6.38526007e-04]


--- Step 746 ---
qpos:
[ 0.01873876, 0.03012045,-0.00949121,-0.02558478, 0.00785229, 0.00467923,
 -0.00785817, 0.02709385, 0.0123093 , 0.02801817,-0.0083354 , 0.02647177,
  1.09662924, 0.00733713, 1.0056863 , 0.0459498 , 0.05845469,-0.07803892,
  0.17143107, 0.9996025 , 0.02653686,-0.00294462,-0.00905304]

qacc:
[  3.26103254,  0.25043883, -0.61746732, -2.21909461,  2.98831229,
   0.83863187, -0.63704492, -6.65299932,  3.93729855, -0.06485722,
   1.87063631, -8.14908167, -1.1593178 ,  1.58279385, -4.90832552,
  15.82371898, -2.4133178 ,  1.00977019, -0.08854238, -9.22454994,
 -21.76143877,  5.86938997]

qfrc_actuator:
[ 9.56905025e-05, 8.50839437e-04, 1.16633021e-04,-5.10501456e-05,
  2.27367759e-05, 3.63343865e-05,-4.92629887e-05, 1.32268757e-05,
 -5.17600130e-05, 8.54972085e-04, 2.42655839e-04, 5.54889188e-05,
  2.63546398e-02,-1.19409010e-03, 1.65269873e-02,-2.54006479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.82356818,  5.65010516, -1.41076504,  5.65010516,  9.17941606,
       13.44014977, -1.41076504, 13.44014977, 59.65128391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005266967436193815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.26974506e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.26974506e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0957838 , -0.09308952,  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:
[ 1.96021975e-05,-5.55491025e-05,-3.67563908e-05,-1.47356824e-05,
  1.76093726e-05, 7.75624746e-06,-3.00519691e-05,-2.43229547e-05,
  2.38494427e-05,-9.33905980e-06,-1.78737244e-05,-2.07867224e-05,
 -1.64803544e-04,-2.48848438e-05,-5.27801557e-05, 6.18184493e-05,
  1.44393941e-05, 1.96170908e-05,-4.90501365e+00, 2.53795807e-04,
  1.18250756e-02,-6.34684690e-04]


--- Step 747 ---
qpos:
[ 0.01873846, 0.03012019,-0.00949168,-0.02558465, 0.00785224, 0.00467903,
 -0.00785853, 0.02709388, 0.01230968, 0.0280179 ,-0.00833468, 0.02647213,
  1.09723229, 0.0073395 , 1.00625365, 0.04595167, 0.05845941,-0.07799829,
  0.17142791, 0.99960786, 0.02634019,-0.00292212,-0.00904315]

qacc:
[ -7.00127942,  1.98527618, -7.51761223, 11.05141727, -4.34706587,
   1.72783773, -5.71339156,  6.9071391 , -0.46948769,  1.03413474,
  -6.19320571, 14.72990457, -0.56731159,  0.4074791 , -5.22174612,
  16.59719256, -2.37609624,  0.99335233, -0.23928012, -9.21784214,
 -21.38391469,  5.51966448]

qfrc_actuator:
[ 5.32135891e-05, 8.89389599e-04, 1.02869836e-04,-3.99688758e-05,
 -3.07582559e-06, 6.77041202e-05,-6.40546685e-05, 1.72638108e-05,
 -5.53114538e-05, 8.27166064e-04, 2.30493295e-04, 7.84767180e-05,
  2.63053493e-02,-1.20293207e-03, 1.64948269e-02,-2.47119452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000528565534788944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05022268e-13, -1.05022268e-13,  1.00000000e+00, -1.10296768e-26,
        1.00000000e+00,  1.05022268e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05022268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578282, -0.09309132,  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:
[-4.19217876e-05,-7.16383607e-07,-3.02702010e-05, 7.14420974e-06,
 -2.53072301e-05, 2.84813082e-05,-1.77280068e-05, 2.85643878e-06,
 -2.85247448e-06,-3.76121956e-05,-1.70231105e-05, 2.15619375e-05,
 -1.50312307e-04,-5.18743072e-05,-5.91253497e-05, 6.33567819e-05,
  4.76857561e-06, 1.28418933e-05,-4.90501138e+00, 2.56610894e-04,
  1.18278289e-02,-6.30389792e-04]


--- Step 748 ---
qpos:
[ 0.01873799, 0.0301204 ,-0.0094926 ,-0.02558375, 0.00785188, 0.00467881,
 -0.00785841, 0.02709428, 0.01230967, 0.02801759,-0.00833446, 0.02647241,
  1.09783436, 0.00734151, 1.00681952, 0.04595577, 0.05845475,-0.07795374,
  0.17142327, 0.99961363, 0.02612471,-0.00294184,-0.00902397]

qacc:
[ -1.4139111 ,  3.45199551,-14.63070866, 28.26625982, -2.69984589,
  -0.57581729,  0.42545498,  5.32487766, -3.33864746,  1.19640949,
  -4.01886905,  3.5008288 , -0.23401264, -0.27665775, -8.9072985 ,
  28.00826447, -2.34423791,  0.97994944, -0.37012206, -9.2077269 ,
 -21.06556014,  5.23355566]

qfrc_actuator:
[ 4.60894894e-05, 9.48061809e-04, 9.51219282e-05, 2.03534694e-06,
 -1.82492664e-05, 6.86593202e-05,-3.70227568e-05, 3.74010540e-05,
 -7.53140323e-05, 8.28509201e-04, 2.05250058e-04, 7.40934802e-05,
  2.62487949e-02,-1.22687367e-03, 1.64178699e-02,-2.36041272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005275714989897984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.05220148e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.05220148e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578288, -0.0930931 ,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.34387043e-06, 5.23267726e-05,-1.13664713e-05, 4.10685476e-05,
 -1.58821067e-05, 1.33450849e-05, 3.08379230e-05, 2.08022056e-05,
 -2.00996229e-05,-2.22815985e-05,-3.43688643e-05,-6.16607365e-06,
 -1.55608937e-04,-6.95492624e-05,-1.05940651e-04, 1.04687946e-04,
 -4.67099568e-08, 3.90686526e-06,-4.90501036e+00, 2.58002609e-04,
  1.18313158e-02,-6.25731767e-04]


--- Step 749 ---
qpos:
[ 0.0187371 , 0.03012083,-0.00949352,-0.02558269, 0.00785135, 0.0046787 ,
 -0.00785827, 0.02709459, 0.01230977, 0.02801745,-0.00833442, 0.02647258,
  1.09843546, 0.00734297, 1.00738421, 0.04596046, 0.05845943,-0.07790823,
  0.17141925, 0.99961949, 0.02590572,-0.0029196 ,-0.00901394]

qacc:
[-3.66464385, 0.60841043,-2.39758486, 4.88077432,-1.57893932,-0.13453498,
  1.11312713,-2.9148878 , 0.88267234, 0.49864218,-0.9894924 ,-0.71393105,
 -0.19866378,-0.45717366,-3.54614033, 9.84761652, 2.33332946, 0.24309216,
  0.15381091,-1.9544255 ,20.83488755,-5.11876541]

qfrc_actuator:
[ 2.43457595e-05, 9.47391291e-04, 9.11073698e-05, 8.66399383e-06,
 -2.70257276e-05, 6.93391355e-05,-3.88841683e-05, 3.13443744e-05,
 -6.93250194e-05, 8.64975652e-04, 2.08075242e-04, 7.13984255e-05,
  2.61932405e-02,-1.25957620e-03, 1.63620553e-02,-2.33242365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.82777474,  5.78897122, -0.67139451,  5.78897122,  6.32472111,
        4.28482536, -0.67139451,  4.28482536, 42.77286476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005272091574733684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275713 , -0.08122617,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19698063e-05, 2.80004084e-05, 6.82069199e-06, 9.27546707e-06,
 -9.22526569e-06, 1.54043923e-05, 5.41433573e-06,-4.01291878e-06,
  5.39246272e-06, 1.66440371e-05,-6.22261276e-06,-4.95866956e-06,
 -1.62278866e-04,-8.32307940e-05,-9.89716647e-05, 1.88069125e-05,
 -2.79615640e-07,-7.12725988e-06,-4.90501053e+00, 2.58133632e-04,
  1.18355152e-02,-6.20706632e-04]


--- Step 750 ---
qpos:
[ 0.01873596, 0.0301213 ,-0.00949466,-0.02558188, 0.00785071, 0.00467883,
 -0.00785819, 0.02709481, 0.01230993, 0.02801714,-0.008334  , 0.02647342,
  1.09903571, 0.0073437 , 1.00794852, 0.04596264, 0.05847174,-0.07787002,
  0.17141708, 0.99962443, 0.02572059,-0.00286092,-0.00901479]

qacc:
[ -2.18400279,  0.17868955,  0.48221342, -4.32001769, -0.89704345,
   0.33422939, -0.38527538, -1.11846729,  0.62074752,  0.0529326 ,
  -3.31660296, 14.28679065, -0.19116165, -0.55490016,  7.02202112,
 -25.37874957,  1.90851396, -1.82715468,  0.46432252, 16.75515954,
  18.22591737, -5.96116077]

qfrc_actuator:
[ 1.19122438e-05, 9.28940774e-04, 7.13163326e-05,-5.62483094e-06,
 -3.19698323e-05, 8.74729311e-05,-4.00802691e-05, 2.76447201e-05,
 -6.58322889e-05, 8.51299503e-04, 2.27612081e-04, 1.05281908e-04,
  2.61542981e-02,-1.29720720e-03, 1.63509082e-02,-2.45988067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005397134535517212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05706013e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.05706013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03417306, -0.05238479,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30652789e-05,-9.98898894e-07,-1.28417959e-05,-1.26735592e-05,
 -5.20095094e-06, 2.76927949e-05, 2.51316807e-06,-2.93066556e-06,
  3.65683425e-06,-5.86022326e-06, 2.20375470e-05, 3.42845652e-05,
 -1.52799902e-04,-9.27195185e-05,-6.14333545e-05,-1.40709816e-04,
 -1.52205693e-07, 4.07819307e-06,-4.90501309e+00, 2.60839827e-04,
  1.18326076e-02,-6.15473798e-04]


--- Step 751 ---
qpos:
[ 0.01873502, 0.03012162,-0.00949566,-0.02558089, 0.00785002, 0.00467911,
 -0.0078578 , 0.02709463, 0.01231014, 0.02801674,-0.00833329, 0.02647396,
  1.09963491, 0.00734423, 1.00851219, 0.04596029, 0.05849153,-0.07783898,
  0.17141593, 0.99962851, 0.02556823,-0.00276652,-0.00902572]

qacc:
[  1.76045585, -0.22280701, -0.23798533,  3.1247152 , -0.47167038,
  -1.48777117,  7.32372329,-14.97748373,  0.35570101, -1.50221975,
   6.42143403,-11.88566492, -0.89427057,  0.84569291, 12.80355978,
 -46.01897329,  1.86963124, -1.79283845,  0.25301856, 16.2129753 ,
  17.87006049, -5.55077252]

qfrc_actuator:
[ 2.28151289e-05, 9.17646243e-04, 7.77755007e-05, 3.37183942e-06,
 -3.46208874e-05, 9.81603448e-05,-2.30357939e-05, 7.63220792e-06,
 -6.38456701e-05, 8.43321163e-04, 2.38931660e-04, 8.93755448e-05,
  2.61040434e-02,-1.30188093e-03, 1.62972960e-02,-2.69549744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005483954191393414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01224681e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01224681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03417424, -0.052389  ,  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:
[ 1.05223089e-05,-1.50547370e-05, 4.24033889e-06, 8.26322232e-06,
 -2.78917401e-06, 2.65590766e-05, 2.29702587e-05,-1.87965956e-05,
  2.08916587e-06,-5.22781921e-06, 1.40065143e-05,-1.47299839e-05,
 -1.60776194e-04,-5.97166574e-05,-1.06981973e-04,-2.53530043e-04,
  3.84423246e-06, 1.17954082e-05,-4.90501222e+00, 2.61838489e-04,
  1.18282516e-02,-6.11018379e-04]


--- Step 752 ---
qpos:
[ 0.01873421, 0.03012191,-0.00949633,-0.02558018, 0.00784896, 0.00467961,
 -0.00785753, 0.02709458, 0.01231071, 0.02801599,-0.00833228, 0.02647364,
  1.10023294, 0.00734495, 1.00907452, 0.0459571 , 0.05851867,-0.07781499,
  0.17141505, 0.99963175, 0.02544772,-0.00263702,-0.0090461 ]

qacc:
[  1.19269674, -1.56417911,  6.6616317 ,-11.93056875, -3.27441016,
   0.86768605, -3.21274642,  5.44262914,  3.14296258, -3.09899344,
  13.98003917,-28.99895873, -1.031284  ,  1.29141403,  0.67268816,
  -5.01444728,  1.8363204 , -1.76252723,  0.06825999, 15.75869649,
  17.56444316, -5.21507768]

qfrc_actuator:
[ 2.96105717e-05, 9.28588437e-04, 9.97265622e-05,-9.48075154e-06,
 -5.36551178e-05, 1.04366336e-04,-3.08993254e-05, 1.36947510e-05,
 -4.50080324e-05, 8.03244319e-04, 2.45275635e-04, 4.42866240e-05,
  2.60523762e-02,-1.28702616e-03, 1.62555231e-02,-2.72669750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005526106690460497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00452551e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00452551e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03417448, -0.05239166,  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:
[ 7.09615340e-06, 3.75789222e-06, 1.96562205e-05,-1.31904559e-05,
 -1.91043696e-05, 2.49819826e-05,-2.05819595e-07, 7.62870453e-06,
  1.88967118e-05,-4.07317772e-05, 6.47499878e-06,-4.51169134e-05,
 -1.59950165e-04,-3.42642799e-05,-1.27136271e-04,-6.08806152e-05,
  1.09515117e-05, 1.61561957e-05,-4.90501213e+00, 2.61397077e-04,
  1.18250375e-02,-6.07335071e-04]


--- Step 753 ---
qpos:
[ 0.01873384, 0.03012221,-0.00949732,-0.02557924, 0.00784836, 0.00468024,
 -0.00785734, 0.02709495, 0.01231151, 0.02801478,-0.0083314 , 0.02647318,
  1.10082985, 0.00734584, 1.00963519, 0.04595584, 0.05855304,-0.07779794,
  0.1714138 , 0.99963417, 0.02535829,-0.00247295,-0.00907538]

qacc:
[ 3.70058459, 1.39527261,-5.89036205,10.28631977, 4.13113914, 1.26250484,
 -6.06115511,13.48517534, 1.89165351,-0.51886641, 1.56958333,-3.50819972,
 -0.77738502, 0.88893883,-8.25388362,25.41565006, 1.80808404,-1.73604247,
 -0.09234505,15.37912378,17.30497315,-4.93971435]

qfrc_actuator:
[ 5.16790725e-05, 9.17309784e-04, 7.74550501e-05, 4.41056414e-07,
 -2.89225894e-05, 1.07762016e-04,-3.56592559e-05, 3.50296413e-05,
 -3.41551573e-05, 7.61953497e-04, 2.30735006e-04, 3.56239500e-05,
  2.59999098e-02,-1.27852229e-03, 1.61996354e-02,-2.61936553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005531787171712405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00349398e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00349398e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03417395, -0.05239307,  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:
[ 2.22760176e-05,-5.68142033e-06,-1.95274564e-05, 1.05050196e-05,
  2.41980139e-05, 1.76223436e-05, 6.30924323e-07, 2.25460035e-05,
  1.13933110e-05,-6.46399164e-05,-2.37205310e-05,-1.10627786e-05,
 -1.54082120e-04,-3.48635416e-05,-1.27186665e-04, 8.62412202e-05,
  2.09986291e-05, 1.74177061e-05,-4.90501283e+00, 2.59661886e-04,
  1.18227709e-02,-6.04398094e-04]


--- Step 754 ---
qpos:
[ 0.01873374, 0.03012229,-0.00949848,-0.02557783, 0.00784807, 0.00468098,
 -0.00785716, 0.02709523, 0.01231174, 0.02801377,-0.00833133, 0.02647328,
  1.10142555, 0.00734714, 1.01019422, 0.04595553, 0.05859454,-0.07778775,
  0.17141162, 0.99963579, 0.02529931,-0.00227475,-0.00911315]

qacc:
[ 2.29583783e+00, 1.14180948e+00,-6.53621928e+00, 1.52543258e+01,
  2.64407352e+00, 5.56238444e-03, 5.72348175e-01,-2.22140457e+00,
 -4.84761399e+00, 3.65607020e+00,-1.49494050e+01, 2.55868883e+01,
 -1.09769504e+00, 1.52414273e+00,-5.19191354e+00, 1.48682461e+01,
  1.78441966e+00,-1.71313372e+00,-2.31272984e-01, 1.50630287e+01,
  1.70874773e+01,-4.71312343e+00]

qfrc_actuator:
[ 6.48088663e-05, 8.92655110e-04, 6.46844797e-05, 2.36378083e-05,
 -1.41282104e-05, 1.09467061e-04,-3.85469713e-05, 2.96730440e-05,
 -6.35997479e-05, 8.08951527e-04, 2.03992717e-04, 6.62021801e-05,
  2.59416762e-02,-1.25612273e-03, 1.61193804e-02,-2.57337208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005508069133694782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01563016e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.01563016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0341728 , -0.05239349,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37772200e-05,-3.14075528e-05,-1.59801159e-05, 2.24810624e-05,
  1.54872450e-05, 1.26384750e-05, 1.59874745e-06,-4.14448961e-06,
 -2.91344665e-05, 5.51817618e-06,-4.33937370e-05, 2.67735514e-05,
 -1.56220279e-04,-1.99247006e-05,-1.34353998e-04, 3.32814559e-05,
  3.38543101e-05, 1.57800275e-05,-4.90501433e+00, 2.56742578e-04,
  1.18213053e-02,-6.02186275e-04]


--- Step 755 ---
qpos:
[ 0.01873448, 0.03012252,-0.00949965,-0.02557655, 0.00784796, 0.00468193,
 -0.00785709, 0.02709578, 0.01231196, 0.02801288,-0.00833162, 0.02647371,
  1.10202025, 0.00734864, 1.0107523 , 0.04595332, 0.05862601,-0.07777315,
  0.17141124, 0.99963788, 0.02522097,-0.00212397,-0.00913759]

qacc:
[  7.26715702, -0.03430589,  0.98326948, -3.43546788,  1.5744202 ,
   1.11503983, -4.72610633,  9.43870242, -0.09962063,  1.89330609,
  -7.98808545, 14.47695737, -1.00126967,  1.3118984 ,  4.41095524,
 -17.27106098, -2.508365  ,  1.10198443,  0.44801322, -9.45213082,
 -23.61989362,  7.28505903]

qfrc_actuator:
[ 1.08072502e-04, 9.31228439e-04, 7.53374178e-05, 1.89500773e-05,
 -5.31551135e-06, 1.27882054e-04,-4.03364546e-05, 4.41559945e-05,
 -6.32663154e-05, 8.19677057e-04, 1.88399632e-04, 8.41822898e-05,
  2.59013335e-02,-1.24344395e-03, 1.60778194e-02,-2.67048759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11129838,  4.94641092, -3.58900919,  4.94641092, 19.74873768,
       18.79526496, -3.58900919, 18.79526496, 32.01513394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005614935050909792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88633897e-14, -9.88633897e-14,  1.00000000e+00, -9.77396983e-27,
        1.00000000e+00,  9.88633897e-14, -1.00000000e+00,  0.00000000e+00,
       -9.88633897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09576157, -0.09310865,  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:
[ 4.36545761e-05, 1.86854761e-05, 2.98497119e-06,-6.14879646e-06,
  9.25734835e-06, 2.56110178e-05, 8.62723322e-07, 1.49959004e-05,
 -5.21874965e-07, 6.02101697e-06,-1.88595315e-05, 1.72393194e-05,
 -1.36280630e-04,-2.67113797e-05,-1.04858377e-04,-1.13699790e-04,
  4.94199764e-05, 1.13972569e-05,-4.90501665e+00, 2.52721008e-04,
  1.18205299e-02,-6.00682226e-04]


--- Step 756 ---
qpos:
[ 0.01873609, 0.03012263,-0.00950031,-0.02557569, 0.00784865, 0.00468327,
 -0.00785745, 0.02709719, 0.01231252, 0.0280114 ,-0.0083315 , 0.02647406,
  1.10261419, 0.00734971, 1.01130896, 0.04595226, 0.05864766,-0.07775426,
  0.17141172, 0.99964045, 0.0251233 ,-0.00201913,-0.00915004]

qacc:
[  7.37771392, -2.48620882, 10.36088379,-18.24930324,  6.98642429,
   3.49933285,-15.36488967, 30.65707423,  2.97993737, -2.14562986,
   6.90930516, -8.78650385, -0.07692799, -0.4760882 , -5.58432244,
  16.45038568, -2.45512596,  1.07262349,  0.21651009, -9.44397547,
 -22.89328456,  6.5990983 ]

qfrc_actuator:
[ 1.50976941e-04, 9.18679904e-04, 9.99653773e-05,-2.04243607e-06,
  3.54142349e-05, 1.56178668e-04,-5.91313606e-05, 8.79678431e-05,
 -4.53952821e-05, 7.55388076e-04, 1.97134842e-04, 7.68351242e-05,
  2.58610990e-02,-1.27206633e-03, 1.60328430e-02,-2.60246853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18927091, -3.6851575 ,  4.97259375, -3.6851575 , 32.87633729,
       19.77761461,  4.97259375, 19.77761461, 20.8463349 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005708576197425291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.91725026e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.91725026e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0957562 , -0.09311115,  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:
[ 4.41835365e-05,-1.73120505e-06, 2.86477176e-05,-2.02116756e-05,
  4.10011090e-05, 4.34059756e-05,-1.28930407e-05, 4.52271697e-05,
  1.78548292e-05,-6.40437254e-05, 8.26562473e-06,-7.40445879e-06,
 -1.26292061e-04,-6.48816136e-05,-1.13050509e-04, 4.65731655e-05,
  2.83548660e-05, 1.27656733e-05,-4.90501157e+00, 2.59303203e-04,
  1.18203290e-02,-5.98534977e-04]


--- Step 757 ---
qpos:
[ 0.01873819, 0.03012227,-0.00950018,-0.02557506, 0.00784947, 0.00468458,
 -0.00785756, 0.02709877, 0.01231261, 0.0280095 ,-0.00833073, 0.02647392,
  1.10320707, 0.00735083, 1.0118642 , 0.04595362, 0.05865968,-0.07773118,
  0.17141227, 0.99964348, 0.02500636,-0.00195896,-0.00915155]

qacc:
[ 4.34420670e+00,-3.29811493e+00, 1.17941751e+01,-1.66402255e+01,
  1.22447716e+00,-3.94813637e-01, 5.88055339e-01, 2.09398092e+00,
 -4.06060066e+00,-3.36167922e+00, 1.32090017e+01,-2.21958484e+01,
 -6.17417594e-01, 5.70859037e-01,-9.39251009e+00, 2.99185936e+01,
 -2.40865065e+00, 1.04794350e+00, 1.45265878e-02,-9.42259086e+00,
 -2.22816310e+01, 6.04669171e+00]

qfrc_actuator:
[ 1.75563802e-04, 8.75669268e-04, 1.32442461e-04,-1.47336879e-05,
  4.13477035e-05, 1.36875064e-04,-5.22481972e-05, 9.54233662e-05,
 -7.06127551e-05, 7.53268438e-04, 2.37584465e-04, 5.45951947e-05,
  2.57996394e-02,-1.27165838e-03, 1.59858945e-02,-2.47315682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22630471, -3.44939105,  5.1834903 , -3.44939105, 42.65381659,
       24.24095081,  5.1834903 , 24.24095081, 22.35762046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005752993095887449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64909054e-14, -1.92981811e-13,  1.00000000e+00, -1.86209896e-26,
        1.00000000e+00,  1.92981811e-13, -1.00000000e+00,  0.00000000e+00,
       -9.64909054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575296, -0.09311356,  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:
[ 2.58737202e-05,-3.89154708e-05, 3.49494955e-05,-1.21706874e-05,
  7.11245993e-06, 4.21074951e-06, 1.58098371e-05, 9.74266496e-06,
 -2.47204871e-05,-3.64837284e-05, 2.79973670e-05,-2.48409228e-05,
 -1.50385814e-04,-4.22031915e-05,-9.92785926e-05, 1.16111515e-04,
  1.34867071e-05, 1.15547430e-05,-4.90500795e+00, 2.63705022e-04,
  1.18210554e-02,-5.96035665e-04]


--- Step 758 ---
qpos:
[ 0.01873989, 0.03012188,-0.00949954,-0.02557428, 0.00785001, 0.00468543,
 -0.00785706, 0.02710012, 0.01231239, 0.02800794,-0.00833008, 0.02647348,
  1.10379864, 0.00735255, 1.01241824, 0.04595387, 0.05866222,-0.07770399,
  0.17141216, 0.99964699, 0.02487022,-0.00194242,-0.00914299]

qacc:
[ -3.50826823, -1.15400964,  3.44013494, -1.66474626, -2.4321119 ,
  -2.81906536, 10.18834082,-14.97738212, -2.59619695,  0.17729372,
   1.32834199, -6.72380031, -1.48500811,  2.23011107,  1.72315872,
  -8.30080874, -2.36848571,  1.02736727, -0.16066513, -9.39486481,
 -21.76908796,  5.60118615]

qfrc_actuator:
[ 1.53666931e-04, 9.03551783e-04, 1.69161064e-04,-4.71083709e-06,
  2.67430728e-05, 8.92860489e-05,-3.04733236e-05, 8.14037927e-05,
 -8.54901797e-05, 8.06263360e-04, 2.43394771e-04, 4.15899010e-05,
  2.57361521e-02,-1.23637661e-03, 1.59058582e-02,-2.53959357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005757281665501046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64190298e-14, -9.64190298e-14,  1.00000000e+00, -9.29662930e-27,
        1.00000000e+00,  9.64190298e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64190298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575143, -0.09311591,  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:
[-2.11564111e-05, 1.28311268e-05, 3.25627445e-05, 9.32651649e-06,
 -1.44020767e-05,-4.15984172e-05, 2.49111518e-05,-1.31090193e-05,
 -1.56207413e-05, 3.73632742e-05, 8.77454544e-07,-1.40796414e-05,
 -1.60535063e-04,-8.09980864e-06,-1.19128346e-04,-7.41733677e-05,
  4.18216417e-06, 7.92834239e-06,-4.90500569e+00, 2.66316804e-04,
  1.18226352e-02,-5.93174786e-04]


--- Step 759 ---
qpos:
[ 0.01874027, 0.03012181,-0.0094986 ,-0.02557376, 0.00785038, 0.00468611,
 -0.00785659, 0.02710061, 0.01231269, 0.02800664,-0.00832993, 0.02647292,
  1.10438931, 0.00735384, 1.01297093, 0.04595199, 0.05865543,-0.07767276,
  0.17141081, 0.99965095, 0.02471494,-0.00196864,-0.00912504]

qacc:
[-1.12327737e+01,-9.42281507e-01, 5.12570272e+00,-1.04397914e+01,
 -1.57644415e+00,-1.87500793e+00, 9.98150975e+00,-2.46554726e+01,
  4.34616741e+00, 1.49932260e+00,-4.36960363e+00, 2.97644733e+00,
 -4.12953603e-01,-8.29261948e-03, 4.47332388e+00,-1.85228828e+01,
 -2.33410685e+00, 1.01036964e+00,-3.11879257e-01,-9.36562159e+00,
 -2.13418405e+01, 5.24130294e+00]

qfrc_actuator:
[ 8.68396511e-05, 9.38207819e-04, 1.90629628e-04,-1.68518577e-05,
  1.79306893e-05, 7.84200313e-05,-3.57345889e-05, 3.70911156e-05,
 -5.86425801e-05, 8.02976416e-04, 2.11193419e-04, 3.41489799e-05,
  2.56821590e-02,-1.26951806e-03, 1.58326299e-02,-2.64989839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005729279100697704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68902898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.68902898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575127, -0.09311823,  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:
[-6.74406392e-05, 4.89478250e-05, 2.84462133e-05,-1.02852020e-05,
 -9.23665245e-06,-2.95890675e-05,-1.12576995e-05,-4.54939723e-05,
  2.63985208e-05, 1.72284804e-05,-2.48504704e-05,-6.07977966e-06,
 -1.49629894e-04,-7.09077069e-05,-1.42908311e-04,-1.31244065e-04,
 -4.23350362e-08, 2.01502220e-06,-4.90500471e+00, 2.67426491e-04,
  1.18250120e-02,-5.89945747e-04]


--- Step 760 ---
qpos:
[ 0.0187402 , 0.03012188,-0.00949759,-0.02557335, 0.00784994, 0.00468693,
 -0.00785636, 0.02710053, 0.01231365, 0.02800498,-0.00832935, 0.02647229,
  1.10497902, 0.00735454, 1.01352205, 0.04595103, 0.05863942,-0.07763754,
  0.1714077 , 0.99965536, 0.02454059,-0.00203689,-0.00909828]

qacc:
[ -3.94260409, -0.22909673,  1.53339432, -3.61691116, -7.03692485,
  -0.30823407,  3.78216485,-13.29702978,  5.68098168, -1.83141182,
   6.12512828, -7.74242972, -0.10969905, -0.62612598, -5.1408546 ,
  14.59772174, -2.30497008,  0.99648163, -0.44185806, -9.33818681,
 -20.98795592,  4.95005837]

qfrc_actuator:
[ 6.51279736e-05, 9.23329230e-04, 1.85198750e-04,-2.41856015e-05,
 -2.29000196e-05, 1.07240749e-04,-3.90505364e-05, 1.08236632e-05,
 -2.52070457e-05, 7.65863541e-04, 2.27620795e-04, 2.99782050e-05,
  2.56232221e-02,-1.30742168e-03, 1.57901729e-02,-2.58977615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005675698565018733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78049673e-14, -1.95609935e-13,  1.00000000e+00, -1.91316232e-26,
        1.00000000e+00,  1.95609935e-13, -1.00000000e+00,  0.00000000e+00,
       -9.78049673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575219, -0.09312052,  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:
[-2.36616068e-05, 1.78927241e-05, 7.81699767e-06,-4.45458861e-06,
 -4.11011823e-05, 7.96495885e-06,-1.24028272e-05,-2.88136363e-05,
  3.42132062e-05,-3.28156036e-05, 1.67289499e-05,-4.40785374e-06,
 -1.63457610e-04,-8.69729109e-05,-1.27830042e-04, 3.32985049e-05,
  4.45419946e-07,-6.08623861e-06,-4.90500495e+00, 2.67246352e-04,
  1.18281437e-02,-5.86343965e-04]


--- Step 761 ---
qpos:
[ 0.01874021, 0.03012197,-0.00949656,-0.02557336, 0.00784937, 0.00468774,
 -0.00785619, 0.02710084, 0.01231466, 0.02800322,-0.00832839, 0.02647193,
  1.1055675 , 0.00735535, 1.01407105, 0.04595121, 0.05863128,-0.07760961,
  0.17140715, 0.99965884, 0.02440105,-0.00206868,-0.00908377]

qacc:
[  0.72348046, -0.87246445,  4.94728504,-12.26658282, -1.24186447,
   0.9566699 , -5.04155716, 11.78534958,  0.42979408, -0.66206016,
   0.99350082,  3.19076871, -0.83727822,  0.89924633, -6.48950956,
  18.29419619,  1.97005765, -1.8231306 ,  0.64269204, 17.23558899,
  18.23253856, -6.61206275]

qfrc_actuator:
[ 7.01593213e-05, 9.14299678e-04, 1.81496838e-04,-4.64375150e-05,
 -2.89926702e-05, 1.06363999e-04,-4.09950139e-05, 3.09365274e-05,
 -2.36810403e-05, 7.79976251e-04, 2.54739115e-04, 4.55219478e-05,
  2.55666822e-02,-1.29457878e-03, 1.56757075e-02,-2.53612728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23645346,  5.34320546, -3.21613233,  5.34320546, 18.94044068,
       21.10610101, -3.21613233, 21.10610101, 41.30162569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005765159911761547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62872706e-14, -9.62872706e-14,  1.00000000e+00, -9.27123847e-27,
        1.00000000e+00,  9.62872706e-14, -1.00000000e+00,  0.00000000e+00,
       -9.62872706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03416893, -0.05241641,  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:
[ 4.34657801e-06, 2.37663567e-06, 7.89743768e-07,-2.13044568e-05,
 -7.25622078e-06,-2.66234746e-07,-2.83437456e-06, 1.94638008e-05,
  2.51306302e-06,-9.01744970e-07, 2.22613699e-05, 1.46330826e-05,
 -1.72078588e-04,-4.33977672e-05,-1.74586316e-04, 3.79339651e-05,
  5.36771120e-06,-1.63010801e-05,-4.90500635e+00, 2.65932607e-04,
  1.18319988e-02,-5.82366219e-04]


--- Step 762 ---
qpos:
[ 0.01874062, 0.03012215,-0.00949584,-0.02557431, 0.00784941, 0.00468825,
 -0.00785588, 0.02710107, 0.01231499, 0.02800209,-0.00832802, 0.02647208,
  1.10615481, 0.00735651, 1.01461856, 0.0459496 , 0.05863083,-0.07758883,
  0.1714082 , 0.99966146, 0.024295  ,-0.00206471,-0.00908036]

qacc:
[  3.46052869, -0.97730043,  7.59294328,-23.40524056,  5.47476381,
  -0.97392002,  3.20076252, -4.58015977, -5.81498093,  3.54763116,
 -13.53502062, 22.72075146, -1.20568194,  1.65507551,  3.29755767,
 -14.50410397,  1.92024221, -1.7867387 ,  0.39774855, 16.57257109,
  17.88813518, -6.02484738]

qfrc_actuator:
[ 9.08763820e-05, 9.08821308e-04, 1.61100639e-04,-9.50374565e-05,
  3.17187906e-06, 7.00112702e-05,-4.21928305e-05, 2.48978013e-05,
 -5.87035507e-05, 8.42476498e-04, 2.34889327e-04, 7.25801471e-05,
  2.55222907e-02,-1.26951053e-03, 1.56033561e-02,-2.62895396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31284927, -6.22247461,  1.0643663 , -6.22247461,  7.58989843,
        7.46585641,  1.0643663 ,  7.46585641, 49.95957312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856694765115078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89564775e-13, -9.47823874e-14,  1.00000000e+00, -1.79674019e-26,
        1.00000000e+00,  9.47823874e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89564775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03416908, -0.05242184,  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:
[ 2.08440568e-05,-4.91245125e-06,-2.05584875e-05,-4.88884077e-05,
  3.19575459e-05,-3.62878278e-05,-9.40425181e-07,-5.77200384e-06,
 -3.49552833e-05, 6.72790994e-05,-1.67766612e-05, 2.80772880e-05,
 -1.55278254e-04,-2.31141452e-05,-1.51370556e-04,-1.13800120e-04,
  9.65862176e-07,-6.32142694e-06,-4.90500445e+00, 2.69280960e-04,
  1.18278634e-02,-5.79022490e-04]


--- Step 763 ---
qpos:
[ 0.01874093, 0.03012217,-0.00949528,-0.02557582, 0.00784984, 0.00468851,
 -0.00785529, 0.02710086, 0.0123149 , 0.02800135,-0.00832756, 0.02647254,
  1.10674109, 0.00735813, 1.01516505, 0.04594638, 0.05863789,-0.07757507,
  0.17140998, 0.99966327, 0.02422132,-0.00202561,-0.00908713]

qacc:
[ -0.8544137 , -0.9032223 ,  5.22556458,-14.3866613 ,  3.39923095,
  -1.99426905,  8.49672834,-16.33885303, -3.60374398,  0.90708489,
  -3.76427881,  8.62887728, -1.20705057,  1.79835641,  3.45481456,
 -14.01560885,  1.87767053, -1.75463014,  0.18450633, 16.02125165,
  17.58607749, -5.55222745]

qfrc_actuator:
[ 8.51455166e-05, 8.87659230e-04, 1.48758159e-04,-1.23252895e-04,
  2.20796593e-05, 6.59377871e-05,-2.53647110e-05, 3.47986565e-06,
 -7.94415585e-05, 8.62292642e-04, 2.40938576e-04, 8.84532559e-05,
  2.54905537e-02,-1.23738618e-03, 1.55829219e-02,-2.70068557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34695333, -6.30282313,  0.74715271, -6.30282313,  7.13783867,
        6.67174243,  0.74715271,  6.67174243, 62.62836947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005897538572520733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41259655e-14,  9.41259655e-14,  1.00000000e+00,  8.85969738e-27,
        1.00000000e+00, -9.41259655e-14, -1.00000000e+00,  0.00000000e+00,
       -9.41259655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03416838, -0.05242536,  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:
[-5.12338535e-06,-3.02550880e-05,-1.75901806e-05,-3.00899034e-05,
  1.98035924e-05,-2.48187683e-05, 9.00545755e-06,-2.31215416e-05,
 -2.17437387e-05, 5.52019116e-05, 1.88621242e-05, 1.87251166e-05,
 -1.28328771e-04,-7.53769555e-06,-1.07568930e-04,-9.86125430e-05,
 -9.85309515e-08, 6.68074901e-08,-4.90500326e+00, 2.70912271e-04,
  1.18250621e-02,-5.76475496e-04]


--- Step 764 ---
qpos:
[ 0.01874049, 0.03012216,-0.00949527,-0.02557695, 0.00785015, 0.00468849,
 -0.00785447, 0.02710006, 0.01231524, 0.0280005 ,-0.00832621, 0.02647284,
  1.10732649, 0.00735984, 1.01571091, 0.04593825, 0.05865231,-0.07756822,
  0.17141176, 0.99966429, 0.0241791 ,-0.0019519 ,-0.00910334]

qacc:
[-6.53991266e+00, 2.29888136e+00,-9.77446031e+00, 1.70744785e+01,
 -1.05541249e+00,-2.27667309e+00, 1.00723595e+01,-2.04999032e+01,
  3.78887949e+00,-2.94239882e+00, 1.08982927e+01,-1.48074115e+01,
 -1.01281327e+00, 1.29699781e+00, 1.40270144e+01,-5.02341492e+01,
  1.84158558e+00,-1.72663934e+00,-4.67346936e-05, 1.55640111e+01,
  1.73246745e+01,-5.17152615e+00]

qfrc_actuator:
[ 4.61353986e-05, 8.92810462e-04, 1.23474129e-04,-1.03744529e-04,
  1.52685099e-05, 4.57761327e-05,-1.56676707e-05,-2.67760695e-05,
 -5.60885634e-05, 8.38736029e-04, 2.79835165e-04, 7.98585686e-05,
  2.54451356e-02,-1.23679330e-03, 1.55403907e-02,-2.95450787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005897143082685685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.4132278e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.4132278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03416699, -0.05242734,  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:
[-3.91683382e-05,-1.66947084e-05,-3.47436073e-05, 1.70207188e-05,
 -6.25641495e-06,-3.31803017e-05, 4.86920703e-06,-3.14601667e-05,
  2.27310077e-05, 1.20237556e-05, 5.32734935e-05,-5.21150584e-06,
 -1.22298834e-04,-2.95691138e-05,-1.09816673e-04,-2.74687978e-04,
  1.96274266e-06, 3.18442185e-06,-4.90500282e+00, 2.71052312e-04,
  1.18233261e-02,-5.74692534e-04]


--- Step 765 ---
qpos:
[ 0.01873958, 0.03012196,-0.00949555,-0.02557749, 0.00785072, 0.00468812,
 -0.00785379, 0.02709962, 0.01231587, 0.02799987,-0.00832502, 0.02647307,
  1.10791095, 0.00736141, 1.01625582, 0.04592803, 0.05867398,-0.07756818,
  0.17141291, 0.99966454, 0.02416757,-0.00184404,-0.00912839]

qacc:
[ -3.98706593,  1.74205227, -9.07811865, 19.89557283,  2.29967239,
   0.72438751, -4.85378959, 11.8215493 ,  2.35177063,  0.58131109,
  -1.36875498,  0.22101048, -0.69184215,  0.59843845,  4.94364133,
 -19.21689317,  1.81125743, -1.70250857, -0.15898622, 15.18599541,
  17.10146931, -4.86460808]

qfrc_actuator:
[ 2.33638415e-05, 8.78161423e-04, 1.08632329e-04,-7.40578055e-05,
  2.88836156e-05, 1.61054023e-05,-2.80802574e-05,-8.74803917e-06,
 -4.24809497e-05, 8.42759136e-04, 2.66595292e-04, 7.46692878e-05,
  2.53808795e-02,-1.25493165e-03, 1.55218844e-02,-3.04733694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005863641442955675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46700984e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.46700984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03416504, -0.05242811,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39179446e-05,-3.04411094e-05,-2.19754401e-05, 2.81055964e-05,
  1.34268385e-05,-4.85772067e-05,-1.97627376e-05, 1.61625774e-05,
  1.42755161e-05, 2.15511685e-05,-4.38193038e-06,-2.93481076e-06,
 -1.43315299e-04,-5.16174122e-05,-1.06933752e-04,-1.23906590e-04,
  6.98321230e-06, 3.28055724e-06,-4.90500316e+00, 2.69869347e-04,
  1.18224583e-02,-5.73647104e-04]


--- Step 766 ---
qpos:
[ 0.0187384 , 0.03012126,-0.00949529,-0.02557803, 0.00785145, 0.00468753,
 -0.00785336, 0.02709974, 0.01231596, 0.02799969,-0.00832465, 0.02647291,
  1.10849437, 0.00736306, 1.01679932, 0.04591709, 0.0587028 ,-0.07757486,
  0.17141288, 0.99966404, 0.0241861 ,-0.00170241,-0.0091618 ]

qacc:
[-2.25940254,-2.11645015, 6.63483424,-7.19510767, 1.39140101, 1.51466125,
 -8.12917687,18.19366479,-4.55656013, 2.08601363,-4.87251526,-1.01908923,
 -0.81914398, 0.92482494, 0.15129077,-3.40932216, 1.78600698,-1.6819356 ,
 -0.29528674,14.87474079,16.91364556,-4.61697444]

qfrc_actuator:
[ 1.03433602e-05, 8.51822941e-04, 1.35508951e-04,-7.41384949e-05,
  3.66677830e-05, 1.64236675e-05,-3.57023903e-05, 1.97703196e-05,
 -7.02380640e-05, 8.63053696e-04, 2.22770289e-04, 5.37539874e-05,
  2.53319885e-02,-1.24860239e-03, 1.54592604e-02,-3.07994503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803991832793037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56430554e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56430554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03416264, -0.05242791,  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:
[-1.37273833e-05,-4.66897232e-05, 1.88641060e-05,-1.59353731e-06,
  8.14891344e-06,-3.02245564e-05,-1.95344180e-05, 2.60671336e-05,
 -2.73312452e-05, 3.13308005e-05,-4.00214415e-05,-2.02026961e-05,
 -1.44671776e-04,-3.72741512e-05,-1.32411599e-04,-5.47780518e-05,
  1.48336524e-05, 5.47001644e-07,-4.90500430e+00, 2.67488134e-04,
  1.18223138e-02,-5.73317742e-04]


--- Step 767 ---
qpos:
[ 0.01873742, 0.03012034,-0.00949483,-0.02557824, 0.00785192, 0.00468691,
 -0.00785336, 0.02709951, 0.01231504, 0.02799926,-0.00832427, 0.02647253,
  1.10907685, 0.00736452, 1.01734104, 0.04590814, 0.05873867,-0.0775882 ,
  0.1714112 , 0.99966278, 0.02423418,-0.00152733,-0.00920318]

qacc:
[ 1.70353240e+00,-2.11035082e-01,-1.09446320e+00, 6.72156731e+00,
 -2.27730332e+00, 4.41579206e-01,-1.02132791e-01,-5.41412577e+00,
 -8.70666969e+00,-7.98714051e-01, 3.31037941e+00,-6.91277793e+00,
 -3.38795345e-01, 1.83696617e-02,-8.60785186e+00, 2.63411735e+01,
  1.76521682e+00,-1.66460376e+00,-4.11731727e-01, 1.46198212e+01,
  1.67582827e+01,-4.41703438e+00]

qfrc_actuator:
[ 2.09138433e-05, 8.54343244e-04, 1.51219134e-04,-5.62145825e-05,
  2.31989371e-05, 1.69745194e-05,-5.80613847e-05, 9.97723130e-07,
 -1.22116973e-04, 8.21767853e-04, 2.14571120e-04, 4.15072892e-05,
  2.52817062e-02,-1.26326653e-03, 1.53968704e-02,-2.97043543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000572411424152125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0341599 , -0.05242696,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01555024e-05,-1.97378680e-05, 8.34354567e-06, 1.65495602e-05,
 -1.32481092e-05,-1.92501690e-05,-3.01052504e-05,-2.02366983e-05,
 -5.26675909e-05,-3.29049901e-05,-7.35648377e-06,-1.26809080e-05,
 -1.43630092e-04,-5.52803431e-05,-1.34602985e-04, 8.82918927e-05,
  2.54155457e-05,-4.87032854e-06,-4.90500625e+00, 2.64000541e-04,
  1.18227866e-02,-5.73687075e-04]


--- Step 768 ---
qpos:
[ 0.01873658, 0.03011941,-0.00949453,-0.02557823, 0.00785257, 0.00468602,
 -0.00785327, 0.02709904, 0.01231418, 0.02799816,-0.0083238 , 0.02647275,
  1.10965838, 0.00736579, 1.0178814 , 0.04590243, 0.05876447,-0.077597  ,
  0.17141179, 0.99966202, 0.02426263,-0.0014003 ,-0.00923099]

qacc:
[ 1.14580981e+00, 9.07067385e-01,-4.19267592e+00, 8.24703652e+00,
  1.59172683e+00,-1.08590603e+00, 4.28245778e+00,-8.12801929e+00,
  6.48546917e-01, 1.06149066e-01,-4.20571217e+00, 1.49312288e+01,
 -3.11054024e-01,-1.19099073e-02,-1.18454993e+01, 3.85206883e+01,
 -2.51946541e+00, 1.13600446e+00, 5.67925047e-01,-9.58783914e+00,
 -2.39438029e+01, 7.37891499e+00]

qfrc_actuator:
[ 2.75292001e-05, 8.56356053e-04, 1.42575274e-04,-4.55788240e-05,
  3.28360241e-05,-1.84703108e-07,-5.34642497e-05,-9.95427109e-06,
 -1.16754709e-04, 7.61810290e-04, 2.09488764e-04, 6.99452267e-05,
  2.52359442e-02,-1.27252681e-03, 1.53666588e-02,-2.79582348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31267623,  5.13927735, -3.66574815,  5.13927735, 20.77221865,
       20.27187791, -3.66574815, 20.27187791, 34.73328746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000585648750288506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47857418e-14, -9.47857418e-14,  1.00000000e+00, -8.98433685e-27,
        1.00000000e+00,  9.47857418e-14, -1.00000000e+00,  0.00000000e+00,
       -9.47857418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09572976, -0.09314283,  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:
[ 6.90588252e-06,-6.55777776e-06,-1.11139020e-05, 1.04028791e-05,
  9.25592875e-06,-3.49916994e-05,-3.77925194e-06,-1.32099805e-05,
  3.80543320e-06,-8.04308112e-05,-1.32217252e-05, 2.65294412e-05,
 -1.42363892e-04,-5.38697350e-05,-8.64983879e-05, 1.61306917e-04,
  3.86557832e-05,-1.28622439e-05,-4.90500902e+00, 2.59473559e-04,
  1.18237989e-02,-5.74741075e-04]


--- Step 769 ---
qpos:
[ 0.01873548, 0.03011878,-0.00949504,-0.02557843, 0.00785299, 0.0046848 ,
 -0.00785283, 0.02709843, 0.01231443, 0.0279969 ,-0.00832358, 0.02647292,
  1.11023902, 0.00736668, 1.01842118, 0.04589644, 0.05878041,-0.07760139,
  0.17141363, 0.99966177, 0.02427152,-0.00131969,-0.00924667]

qacc:
[ -2.25070445,  2.21582283, -6.38272628,  3.6805451 , -2.04812468,
  -1.67427012,  5.97310443, -8.75812347,  9.40203803,  0.33763912,
  -1.33451511,  1.00609783, -0.35940287, -0.06608893,  0.06227681,
  -1.41041983, -2.46253032,  1.10154867,  0.31428445, -9.56237346,
 -23.14056785,  6.64639028]

qfrc_actuator:
[ 1.40031207e-05, 8.75704228e-04, 1.01871209e-04,-5.70844977e-05,
  2.04969157e-05,-9.95246491e-06,-3.30415253e-05,-1.62031814e-05,
 -5.99828982e-05, 7.79940989e-04, 2.06203832e-04, 6.88084391e-05,
  2.51876035e-02,-1.29624305e-03, 1.53398047e-02,-2.81499331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.39454933, -3.85687668,  5.10046698, -3.85687668, 29.03896406,
       17.12327818,  5.10046698, 17.12327818, 19.34284846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005954537012650141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32249663e-14, -1.86449933e-13,  1.00000000e+00, -1.73817887e-26,
        1.00000000e+00,  1.86449933e-13, -1.00000000e+00,  0.00000000e+00,
       -9.32249663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09572387, -0.0931456 ,  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:
[-1.33244220e-05, 1.38667351e-05,-4.30592428e-05,-1.19670799e-05,
 -1.20875748e-05,-3.06462934e-05, 1.22822591e-05,-8.13382701e-06,
  5.68518700e-05,-2.84084001e-05,-2.06037382e-05,-4.52414295e-06,
 -1.43026285e-04,-6.81411200e-05,-5.50462892e-05,-2.27290532e-05,
  2.02495081e-05,-5.66384095e-06,-4.90500489e+00, 2.65354006e-04,
  1.18210840e-02,-5.75129108e-04]


--- Step 770 ---
qpos:
[ 0.01873456, 0.03011835,-0.00949606,-0.02557878, 0.00785326, 0.00468378,
 -0.00785265, 0.02709773, 0.01231467, 0.02799596,-0.00832361, 0.02647198,
  1.1108187 , 0.00736682, 1.01896029, 0.04589186, 0.05878671,-0.07760149,
  0.17141586, 0.99966203, 0.02426093,-0.00128411,-0.00925134]

qacc:
[ 1.62180412e+00, 1.37567749e+00,-3.91184853e+00, 2.08684815e+00,
 -1.34287016e+00, 7.62315972e-01,-1.96532095e+00, 6.15893792e-01,
 -1.06864260e-01,-1.14762886e+00, 9.42157804e+00,-2.85311787e+01,
 -4.26026475e-03,-8.81684524e-01,-5.32175179e+00, 1.71141319e+01,
 -2.41292795e+00, 1.07237669e+00, 9.35045702e-02,-9.52392256e+00,
 -2.24661243e+01, 6.06040179e+00]

qfrc_actuator:
[ 2.42367894e-05, 8.87378018e-04, 7.81354085e-05,-6.37752379e-05,
  1.30674389e-05, 2.03648060e-05,-3.89238672e-05,-1.96243540e-05,
 -6.21877073e-05, 8.26927530e-04, 2.04287371e-04, 1.48306317e-05,
  2.51217672e-02,-1.34609819e-03, 1.53309199e-02,-2.73515560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.43179984, -3.64328025,  5.30043   , -3.64328025, 37.62140094,
       21.43834706,  5.30043   , 21.43834706, 21.1675678 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005999153029466048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25316473e-14, -9.25316473e-14,  1.00000000e+00, -8.56210575e-27,
        1.00000000e+00,  9.25316473e-14, -1.00000000e+00,  0.00000000e+00,
       -9.25316473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09572031, -0.09314827,  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:
[ 9.85497211e-06, 1.00504067e-05,-2.65736707e-05,-7.81607071e-06,
 -7.78384580e-06, 1.54041933e-05,-1.09704899e-05,-4.46421011e-06,
 -5.49523454e-07, 2.67138650e-05,-1.04691913e-05,-5.59965535e-05,
 -1.64278183e-04,-9.76505571e-05,-4.55892569e-05, 6.94889709e-05,
  8.10929880e-06,-1.31956628e-06,-4.90500208e+00, 2.69020813e-04,
  1.18195425e-02,-5.75162818e-04]


--- Step 771 ---
qpos:
[ 0.01873447, 0.03011769,-0.00949689,-0.02557954, 0.00785378, 0.00468315,
 -0.00785265, 0.02709662, 0.01231489, 0.02799529,-0.00832401, 0.02647075,
  1.11139717, 0.00736671, 1.01949845, 0.04588897, 0.05878352,-0.0775974 ,
  0.17141769, 0.99966279, 0.02423097,-0.00129241,-0.00924592]

qacc:
[  7.03879725, -1.69622725,  7.28992333,-14.50049859,  2.21733567,
   0.21011654,  1.75024247, -8.87580051, -0.25202256,  0.7978951 ,
  -1.15709856, -3.28513355, -0.57394295,  0.23368628, -6.47190877,
  20.65869799, -2.37015495,  1.04782624, -0.09753217, -9.47960188,
 -21.90229396,  5.59164845]

qfrc_actuator:
[ 6.61323634e-05, 8.58923189e-04, 8.23528367e-05,-8.53162250e-05,
  2.63469472e-05, 5.66071449e-05,-4.23751053e-05,-3.90934042e-05,
 -6.36000011e-05, 8.37545822e-04, 1.85550100e-04, 1.24248557e-06,
  2.50561218e-02,-1.35786969e-03, 1.52849143e-02,-2.65077083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.43275219, -3.3466895 ,  5.49362995, -3.3466895 , 49.1190391 ,
       26.00425395,  5.49362995, 26.00425395, 22.27440233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006000293846505633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09571862, -0.09315089,  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:
[ 4.21901201e-05,-2.86234801e-05, 2.76801715e-06,-2.21785303e-05,
  1.30643048e-05, 4.24330301e-05,-1.76320049e-06,-1.92716079e-05,
 -1.41953615e-06, 2.10315949e-05,-1.64324610e-05,-1.38910446e-05,
 -1.82739745e-04,-7.14209155e-05,-6.81785657e-05, 8.03707608e-05,
  1.55542844e-06, 3.91417538e-07,-4.90500051e+00, 2.70890418e-04,
  1.18190471e-02,-5.74832364e-04]


--- Step 772 ---
qpos:
[ 0.01873454, 0.03011666,-0.00949788,-0.02558017, 0.00785445, 0.00468291,
 -0.00785272, 0.02709492, 0.01231577, 0.0279947 ,-0.00832431, 0.02646972,
  1.11197436, 0.0073667 , 1.02003561, 0.0458871 , 0.058771  ,-0.07758921,
  0.17141847, 0.99966406, 0.02418174,-0.00134365,-0.00923114]

qacc:
[  1.36211588,  0.25891247, -2.18339114,  5.02233817,  1.35484833,
  -0.51095719,  5.00713608,-15.20591117,  5.71712099,  0.23104289,
  -1.46605129,  4.4761195 , -0.93324513,  1.00762002, -4.50087757,
  13.79911108, -2.33363018,  1.02729433, -0.26202349, -9.43433995,
 -21.43327988,  5.21675403]

qfrc_actuator:
[ 7.30625445e-05, 8.24511907e-04, 6.73535128e-05,-7.99358856e-05,
  3.39548441e-05, 7.83651014e-05,-4.43265688e-05,-6.78340109e-05,
 -2.90103383e-05, 8.44026633e-04, 1.92437928e-04, 1.14989336e-05,
  2.50013014e-02,-1.34698322e-03, 1.52379891e-02,-2.59999152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005966523963141374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.30376742e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.30376742e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09571843, -0.09315346,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.15366864e-06,-5.07444736e-05,-2.13198096e-05, 3.82203627e-06,
  7.99485443e-06, 4.43267174e-05, 5.93917063e-06,-2.73548750e-05,
  3.45538152e-05, 1.42840455e-05, 8.74307380e-06, 1.03240288e-05,
 -1.76572648e-04,-4.70429229e-05,-7.74528767e-05, 4.46685316e-05,
  7.36685742e-08,-3.55879913e-07,-4.90500013e+00, 2.71266560e-04,
  1.18194999e-02,-5.74131149e-04]


--- Step 773 ---
qpos:
[ 0.018734  , 0.03011539,-0.00949912,-0.0255804 , 0.00785487, 0.00468274,
 -0.00785243, 0.02709326, 0.01231672, 0.02799427,-0.0083243 , 0.02646878,
  1.1125503 , 0.00736702, 1.02057238, 0.04588573, 0.05874927,-0.07757697,
  0.17141764, 0.9996658 , 0.02411333,-0.00143703,-0.00920757]

qacc:
[ -5.205722  ,  1.21801723, -6.47415315, 13.9992078 , -2.2654654 ,
  -0.86894418,  3.1264304 , -3.31472559,  0.54499358, -0.47401244,
   1.57546747, -0.43492313, -1.1775809 ,  1.56793537, -1.96570583,
   6.24709294, -2.30275289,  1.01024307, -0.40306715, -9.39149324,
 -21.04548878,  4.9170737 ]

qfrc_actuator:
[ 4.15938341e-05, 8.22247604e-04, 5.88529744e-05,-5.87832949e-05,
  2.04042450e-05, 7.35288418e-05,-2.76812246e-05,-6.63015842e-05,
 -2.67647525e-05, 8.65856000e-04, 2.14394353e-04, 1.79578667e-05,
  2.49530253e-02,-1.32274631e-03, 1.52438069e-02,-2.56939678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005905167008199291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88008743e-13, -9.40043713e-14,  1.00000000e+00, -1.76736437e-26,
        1.00000000e+00,  9.40043713e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88008743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09571942, -0.093156  ,  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:
[-3.12436757e-05,-3.48266235e-05,-2.14497491e-05, 1.83224074e-05,
 -1.33070231e-05, 2.00221727e-05, 2.55937895e-05, 3.10927226e-06,
  3.26111837e-06, 3.21077259e-05, 2.63534645e-05, 7.57756412e-06,
 -1.61000518e-04,-2.66320778e-05,-3.27332225e-05, 2.13519803e-05,
  3.27660337e-06,-3.42451293e-06,-4.90500090e+00, 2.70370201e-04,
  1.18208261e-02,-5.73054823e-04]


--- Step 774 ---
qpos:
[ 0.01873377, 0.03011406,-0.00950027,-0.02558076, 0.00785477, 0.00468245,
 -0.00785183, 0.027092  , 0.01231699, 0.02799399,-0.00832427, 0.02646795,
  1.11312498, 0.00736788, 1.02110883, 0.04588369, 0.05871843,-0.07756074,
  0.17141472, 0.99966799, 0.02402582,-0.0015719 ,-0.00917567]

qacc:
[  2.71746098, -0.65720539,  2.78572068, -5.25178701, -4.47769291,
  -0.15989874, -1.3662858 ,  7.9871288 , -5.70560985,  0.39486231,
  -1.58123335,  3.33985819, -1.42043978,  2.08284033,  1.62200585,
  -6.0902318 , -2.27693719,  0.99619925, -0.52356239, -9.35328995,
 -20.72730208,  4.67773639]

qfrc_actuator:
[ 5.87979350e-05, 8.39287813e-04, 7.21491986e-05,-6.39966693e-05,
 -5.48974295e-06, 5.29016262e-05,-1.80303983e-05,-4.69785565e-05,
 -6.13389266e-05, 8.61270001e-04, 2.09614727e-04, 2.21459610e-05,
  2.48980678e-02,-1.29078430e-03, 1.52279954e-02,-2.60403873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005822451302691101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53398291e-14, -9.53398291e-14,  1.00000000e+00, -9.08968302e-27,
        1.00000000e+00,  9.53398291e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53398291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09572133, -0.09315852,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62868515e-05,-6.02843586e-06, 4.12715257e-06,-7.08225031e-06,
 -2.62663330e-05,-4.00884076e-06, 1.70494656e-05, 2.11311392e-05,
 -3.44701941e-05, 1.91586684e-05, 5.36854074e-06, 6.62641341e-06,
 -1.53449482e-04,-1.09151736e-05,-3.88206980e-05,-3.99991637e-05,
  1.08746004e-05,-8.70898906e-06,-4.90500276e+00, 2.68361375e-04,
  1.18229694e-02,-5.71600553e-04]


--- Step 775 ---
qpos:
[ 0.01873445, 0.0301126 ,-0.00950124,-0.02558083, 0.00785437, 0.00468187,
 -0.007851  , 0.027091  , 0.01231685, 0.02799387,-0.00832455, 0.02646686,
  1.11369853, 0.00736889, 1.0216444 , 0.04587869, 0.0586795 ,-0.07754121,
  0.17141038, 0.99967055, 0.02392267,-0.00174378,-0.00913593]

qacc:
[  7.704727  , -0.03672689, -1.36252482,  6.23588479, -2.71079805,
  -0.47931288,  0.04052276,  4.41345492, -3.56311576,  0.52084841,
  -0.40478265, -3.88345622, -1.11332396,  1.3771869 ,  7.78838731,
 -28.88465384, -2.02384305,  0.8273872 , -0.35312033, -7.64661951,
 -18.47965329,  4.37579018]

qfrc_actuator:
[ 1.04525586e-04, 8.32329366e-04, 8.05216528e-05,-4.91454224e-05,
 -2.06820103e-05, 2.29644654e-05,-1.26588212e-05,-3.51241581e-05,
 -8.17925231e-05, 8.58546732e-04, 1.88977645e-04, 7.17084471e-06,
  2.48338210e-02,-1.29003368e-03, 1.51512823e-02,-2.76563739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723437167476687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23086691e-07, -3.23086885e-07,  1.00000000e+00,  1.04385073e-13,
        1.00000000e+00,  3.23086885e-07, -1.00000000e+00,  1.26217745e-29,
        3.23086691e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09134416, -0.09026513,  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:
[ 4.62057647e-05,-9.71167996e-06, 7.41990750e-06, 1.46037023e-05,
 -1.59416952e-05,-2.77542160e-05, 7.37495660e-06, 1.26870182e-05,
 -2.14597079e-05, 9.38394022e-06,-1.57825412e-05,-1.38354681e-05,
 -1.54976001e-04,-3.66867213e-05,-1.09355705e-04,-1.71156084e-04,
  2.26539394e-05,-1.61297519e-05,-4.90500568e+00, 2.65355157e-04,
  1.18258875e-02,-5.69766506e-04]


--- Step 776 ---
qpos:
[ 0.01873566, 0.0301109 ,-0.00950205,-0.02558071, 0.00785413, 0.004681  ,
 -0.00785009, 0.02709052, 0.01231681, 0.02799436,-0.00832556, 0.02646522,
  1.11427109, 0.00736966, 1.0221782 , 0.04587514, 0.05864861,-0.07752902,
  0.1714093 , 0.99967216, 0.02385516,-0.00187882,-0.00910925]

qacc:
[ 4.67150144,-0.43325125, 0.25339401, 2.97856365, 1.46657597, 0.42935771,
 -4.22601142,13.07804498, 0.81731213, 1.73532596,-2.70935817,-6.00388312,
 -0.37903111, 0.03013765,-7.01595057,20.74738318, 2.01187548,-1.83487583,
  0.81390611,17.64643836,18.42383384,-6.9990954 ]

qfrc_actuator:
[ 1.31154602e-04, 8.11062275e-04, 8.58409912e-05,-4.03795809e-05,
 -1.16972537e-05, 5.40565402e-06,-9.90944934e-06,-1.00221701e-05,
 -7.60060303e-05, 9.10123827e-04, 1.59138303e-04,-1.89678642e-05,
  2.47800115e-02,-1.30782336e-03, 1.50860202e-02,-2.68128972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.3505418 ,  5.41410585, -3.3191624 ,  5.41410585, 19.11527364,
       20.82140043, -3.3191624 , 20.82140043, 40.31370853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005901835925904153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03414834, -0.05245629,  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:
[ 2.79769121e-05,-2.44616822e-05, 4.75877245e-06, 8.89469129e-06,
  8.52119819e-06,-3.10040884e-05,-1.63640566e-06, 2.44170279e-05,
  5.16051331e-06, 5.29738759e-05,-3.03157371e-05,-2.65477137e-05,
 -1.52732097e-04,-6.07967080e-05,-1.41689757e-04, 5.91668354e-05,
  3.68042379e-05,-2.43244011e-05,-4.90500909e+00, 2.61749087e-04,
  1.18292536e-02,-5.67619220e-04]


--- Step 777 ---
qpos:
[ 0.01873684, 0.03010885,-0.00950268,-0.02558082, 0.00785434, 0.00468014,
 -0.00784954, 0.02709033, 0.01231684, 0.02799521,-0.0083269 , 0.02646328,
  1.11484261, 0.00737023, 1.02271009, 0.04587492, 0.05862554,-0.07752401,
  0.17141039, 0.9996729 , 0.0238218 ,-0.00197779,-0.0090943 ]

qacc:
[-2.82306380e-01,-1.40800629e+00, 5.28988234e+00,-9.19995866e+00,
  3.98411148e+00, 1.62551060e+00,-7.06593598e+00, 1.28250392e+01,
  5.77337226e-01, 7.71229357e-01,-8.01197596e-01,-4.08513005e+00,
 -3.27649551e-01,-3.17741836e-02,-1.28466810e+01, 4.08923650e+01,
  1.95413370e+00,-1.79678896e+00, 5.41854061e-01, 1.69030047e+01,
  1.80462726e+01,-6.33136691e+00]

qfrc_actuator:
[ 1.28566755e-04, 7.81375667e-04, 8.92461973e-05,-5.30359569e-05,
  1.14421636e-05, 1.31424933e-05,-2.64274124e-05, 4.92967431e-06,
 -7.25778977e-05, 9.22751605e-04, 1.42078755e-04,-3.36681340e-05,
  2.47271674e-02,-1.31865967e-03, 1.50170913e-02,-2.50586419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.44412319, -6.2754573 ,  1.46470455, -6.2754573 ,  8.3423123 ,
        8.13270133,  1.46470455,  8.13270133, 41.28829689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006013915949383275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23045013e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.23045013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03414854, -0.05246284,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77543960e-06,-4.19250546e-05,-7.26478984e-07,-1.33619081e-05,
  2.33698080e-05,-8.86765578e-06,-2.22788229e-05, 1.40424072e-05,
  3.60052278e-06, 3.48506408e-05,-1.07600992e-05,-1.39911432e-05,
 -1.55950366e-04,-5.88691149e-05,-1.31481832e-04, 1.59628125e-04,
  2.25785504e-05,-1.24967864e-05,-4.90500573e+00, 2.67600425e-04,
  1.18264204e-02,-5.66027128e-04]


--- Step 778 ---
qpos:
[ 0.01873695, 0.03010692,-0.00950349,-0.02558077, 0.00785483, 0.0046793 ,
 -0.00784921, 0.02708996, 0.01231657, 0.02799566,-0.00832758, 0.02646191,
  1.11541286, 0.00737102, 1.02324091, 0.04587372, 0.05861009,-0.07752605,
  0.1714127 , 0.99967282, 0.02382135,-0.00204136,-0.00909003]

qacc:
[-9.22371863, 1.01513986,-3.99364397, 6.8490969 , 2.41746912, 0.29129357,
 -0.23339203,-2.51272845,-2.55635431,-1.21087344, 1.15593663, 7.82971478,
 -1.15053209, 1.4243167 , 1.44677174,-7.1589815 , 1.90459286,-1.76317165,
  0.30495519,16.2865295 ,17.71221819,-5.79814232]

qfrc_actuator:
[ 7.33037681e-05, 8.17857166e-04, 9.14402604e-05,-4.26995027e-05,
  2.49670663e-05, 1.81298929e-05,-3.63398857e-05,-3.95568909e-06,
 -8.83271876e-05, 8.76509855e-04, 1.68076072e-04,-6.03030339e-06,
  2.46589650e-02,-1.30752450e-03, 1.49566883e-02,-2.56228615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.49016717, -6.38021967,  1.18956578, -6.38021967,  8.08531502,
        8.55555355,  1.18956578,  8.55555355, 52.37776074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006069094523216689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14652936e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.14652936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03414783, -0.05246719,  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:
[-5.53215835e-05, 1.23930675e-05,-6.98607304e-06, 8.26221554e-06,
  1.41862658e-05,-3.93811323e-06,-1.39992270e-05,-9.76279488e-06,
 -1.56295298e-05,-2.95849718e-05, 3.13966047e-05, 2.84919671e-05,
 -1.72268632e-04,-3.74258512e-05,-1.07146925e-04,-6.53323454e-05,
  1.20345209e-05,-4.56593753e-06,-4.90500313e+00, 2.71406160e-04,
  1.18249348e-02,-5.65254319e-04]


--- Step 779 ---
qpos:
[ 0.01873605, 0.03010547,-0.00950419,-0.02558066, 0.00785548, 0.00467882,
 -0.00784916, 0.02708911, 0.01231611, 0.02799586,-0.00832795, 0.02646088,
  1.11598191, 0.00737193, 1.0237711 , 0.04586876, 0.05860209,-0.07753504,
  0.17141541, 0.99967196, 0.02385278,-0.00207014,-0.00909561]

qacc:
[ -8.65525431,  0.45553879, -0.94111498,  1.40492893,  1.37687998,
   0.22970677,  1.90340096,-10.13874263, -1.57786017, -0.48735031,
  -0.1633872 ,  5.76623951, -1.20927051,  1.48022244, 10.53376105,
 -37.95807537,  1.86238878, -1.73389879,  0.09995325, 15.77682525,
  17.42045938, -5.37274879]

qfrc_actuator:
[ 2.29947174e-05, 8.75942369e-04, 1.10941545e-04,-3.66115647e-05,
  3.27200912e-05, 5.69425064e-05,-4.22848585e-05,-2.67859445e-05,
 -9.74853538e-05, 8.66589945e-04, 1.83555365e-04, 1.07646792e-05,
  2.46029095e-02,-1.30128805e-03, 1.49226985e-02,-2.75484746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.49749595, -6.44319487,  0.83826818, -6.44319487,  7.5063326 ,
        7.75423822,  0.83826818,  7.75423822, 66.09902845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006077880815629766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13330697e-14, -9.13330697e-14,  1.00000000e+00, -8.34172963e-27,
        1.00000000e+00,  9.13330697e-14, -1.00000000e+00,  0.00000000e+00,
       -9.13330697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03414638, -0.0524698 ,  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:
[-5.19100715e-05, 6.39855615e-05, 2.15202979e-05, 6.54599753e-06,
  8.15578004e-06, 3.33325284e-05,-8.81432620e-06,-2.36720376e-05,
 -9.62902795e-06,-1.87688438e-05, 1.42272879e-05, 1.71721986e-05,
 -1.64635462e-04,-4.11879372e-05,-9.73608191e-05,-2.11503210e-04,
  4.89731771e-06,-1.37207200e-07,-4.90500133e+00, 2.73468193e-04,
  1.18245099e-02,-5.65263347e-04]


--- Step 780 ---
qpos:
[ 0.0187349 , 0.03010384,-0.00950413,-0.0255801 , 0.00785622, 0.00467859,
 -0.00784893, 0.02708831, 0.01231554, 0.02799605,-0.00832876, 0.02646008,
  1.11654993, 0.00737262, 1.0242997 , 0.0458616 , 0.05860139,-0.07755085,
  0.17141781, 0.99967035, 0.02391525,-0.00206462,-0.00911037]

qacc:
[ -2.13103379, -1.42715296,  2.85999587,  3.8735844 ,  0.77521151,
  -0.02297758,  0.33300834,  0.20658038, -0.92064511,  1.70698283,
  -7.075559  , 11.80280542, -0.67475305,  0.48338716,  4.36473263,
 -18.56998016,  1.82668331, -1.70872565, -0.07653453, 15.35686452,
  17.16873516, -5.03387078]

qfrc_actuator:
[ 1.15270981e-05, 8.40082886e-04, 1.40610960e-04,-1.52850299e-05,
  3.70171712e-05, 8.02133145e-05,-2.79542843e-05,-2.20982111e-05,
 -1.02683970e-04, 8.60700498e-04, 1.57295285e-04, 2.10483797e-05,
  2.45488545e-02,-1.31573283e-03, 1.48353194e-02,-2.86614825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006049322338875368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17642475e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.17642475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03414433, -0.052471  ,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29539082e-05, 4.69079660e-06, 4.57894619e-05, 2.49449409e-05,
  4.54183381e-06, 3.90971649e-05, 1.93178345e-05, 5.35302060e-06,
 -5.48887459e-06,-1.27159015e-05,-2.77863662e-05, 1.03088350e-05,
 -1.59397936e-04,-6.08252807e-05,-1.63630082e-04,-1.37379277e-04,
  9.46774821e-07, 1.09588541e-06,-4.90500035e+00, 2.74012384e-04,
  1.18249396e-02,-5.66024049e-04]


--- Step 781 ---
qpos:
[ 0.01873396, 0.03010211,-0.00950338,-0.02557894, 0.00785666, 0.00467831,
 -0.00784841, 0.02708796, 0.01231423, 0.02799609,-0.00833012, 0.02645978,
  1.11711684, 0.00737317, 1.02482635, 0.04585248, 0.05860788,-0.07757342,
  0.1714193 , 0.99966799, 0.02400806,-0.00202526,-0.00913379]

qacc:
[ 1.87377601e+00,-8.32608439e-01, 2.33875668e-01, 9.06722038e+00,
 -2.61845052e+00,-4.03360089e-03,-1.94718028e+00, 9.11541560e+00,
 -6.38112786e+00, 2.38572604e+00,-1.09094980e+01, 2.05873662e+01,
 -7.40073278e-01, 6.07639546e-01, 3.07616426e+00,-1.48237107e+01,
  1.79669528e+00,-1.68734698e+00,-2.27806466e-01, 1.50123641e+01,
  1.69542563e+01,-4.76447945e+00]

qfrc_actuator:
[ 2.30108191e-05, 8.37070789e-04, 1.75680014e-04, 1.47663792e-05,
  2.14949823e-05, 5.86038287e-05,-1.95500956e-05,-1.24980103e-06,
 -1.41017703e-04, 8.39339467e-04, 1.24375184e-04, 4.51514518e-05,
  2.44907033e-02,-1.32454583e-03, 1.47373190e-02,-2.96424736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005991162989644888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85310102e-13, -1.85310102e-13,  1.00000000e+00, -3.43398339e-26,
        1.00000000e+00,  1.85310102e-13, -1.00000000e+00,  0.00000000e+00,
       -1.85310102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03414179, -0.0524711 ,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11099456e-05, 1.01918760e-05, 4.25590495e-05, 3.23252048e-05,
 -1.53804717e-05, 4.48255953e-06, 1.90464551e-05, 2.32980544e-05,
 -3.84988687e-05,-3.37693189e-05,-3.86039233e-05, 2.28006066e-05,
 -1.65803620e-04,-5.80814508e-05,-1.92354870e-04,-1.27616270e-04,
  7.77634391e-09,-6.30489363e-07,-4.90500020e+00, 2.73206817e-04,
  1.18260762e-02,-5.67512147e-04]


--- Step 782 ---
qpos:
[ 0.01873317, 0.03010081,-0.00950299,-0.02557708, 0.00785656, 0.00467801,
 -0.00784803, 0.02708788, 0.01231281, 0.02799608,-0.00833136, 0.02645937,
  1.11768263, 0.00737384, 1.02535092, 0.04584449, 0.05862146,-0.07760266,
  0.17141936, 0.99966489, 0.02413064,-0.00195241,-0.00916544]

qacc:
[  1.22279154,  2.99716279,-12.78093891, 25.06708813, -4.70453559,
   0.96236421, -4.63642988,  9.70236752, -0.89149121, -0.6230336 ,
   2.62250733, -4.77217211, -0.77119067,  0.83836162, -6.43121745,
  18.1404502 ,  1.77171481, -1.66943434, -0.35695992, 14.73138728,
  16.77403394, -4.55097117]

qfrc_actuator:
[ 3.01460968e-05, 8.71532024e-04, 1.60508876e-04, 4.97290483e-05,
 -5.56710246e-06, 4.57866089e-05,-3.26495985e-05, 1.11373877e-05,
 -1.45291335e-04, 8.62107213e-04, 1.41005116e-04, 4.16774922e-05,
  2.44461145e-02,-1.31220914e-03, 1.46703159e-02,-2.89402160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005909994684789449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39275823e-14, -9.39275823e-14,  1.00000000e+00, -8.82239072e-27,
        1.00000000e+00,  9.39275823e-14, -1.00000000e+00,  0.00000000e+00,
       -9.39275823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03413889, -0.05247033,  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:
[ 7.46405484e-06, 5.03926563e-05,-6.69667123e-06, 3.75003030e-05,
 -2.74993552e-05,-5.37825604e-06,-9.02291448e-06, 1.36926204e-05,
 -5.41558657e-06,-3.11577715e-06, 5.70480146e-06,-5.80814275e-06,
 -1.55591814e-04,-3.76425704e-05,-1.71979014e-04, 3.79167488e-05,
  1.94242932e-06,-5.13615116e-06,-4.90500088e+00, 2.71175719e-04,
  1.18278147e-02,-5.69708135e-04]


--- Step 783 ---
qpos:
[ 0.01873213, 0.03009984,-0.00950302,-0.0255748 , 0.00785649, 0.00467785,
 -0.00784817, 0.02708831, 0.01231204, 0.02799609,-0.00833216, 0.02645854,
  1.11824723, 0.00737492, 1.02587403, 0.04583725, 0.05864204,-0.07763852,
  0.17141755, 0.99966105, 0.02428255,-0.00184637,-0.00920499]

qacc:
[ -2.18641682,  2.49779043,-10.06141162, 17.83032   ,  0.1674238 ,
   2.67941092,-11.38737526, 20.76513934,  5.53988424, -2.11081896,
   9.29039567,-17.19809548, -1.1147321 ,  1.53566807, -4.29349383,
  12.132056  ,  1.75110749, -1.65465884, -0.46683497, 14.5039811 ,
  16.62508052, -4.3824762 ]

qfrc_actuator:
[ 1.69044998e-05, 8.74711370e-04, 1.33706926e-04, 6.95463996e-05,
 -3.69286409e-06, 5.59836437e-05,-5.83261927e-05, 3.61850364e-05,
 -1.11719460e-04, 8.75798485e-04, 1.69163539e-04, 2.20741555e-05,
  2.43937275e-02,-1.28739842e-03, 1.46273202e-02,-2.84936321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005811398168553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55211631e-14, -9.55211631e-14,  1.00000000e+00, -9.12429260e-27,
        1.00000000e+00,  9.55211631e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55211631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03413572, -0.05246889,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30044551e-05, 3.16241264e-05,-1.59146180e-05, 2.24711551e-05,
  1.09065397e-06, 5.90962687e-06,-2.74247226e-05, 2.47726009e-05,
  3.34105404e-05, 1.28877821e-05, 2.80308372e-05,-1.96488452e-05,
 -1.52050739e-04,-1.84716651e-05,-1.20400746e-04, 2.41386556e-05,
  6.64368945e-06,-1.22855267e-05,-4.90500238e+00, 2.68009992e-04,
  1.18300806e-02,-5.72596391e-04]


--- Step 784 ---
qpos:
[ 0.01873128, 0.03009915,-0.00950307,-0.02557267, 0.00785678, 0.00467803,
 -0.00784901, 0.02708867, 0.01231167, 0.02799642,-0.00833302, 0.02645748,
  1.11881074, 0.00737629, 1.02639652, 0.0458268 , 0.05866956,-0.07768096,
  0.17141351, 0.99965645, 0.02446341,-0.00170739,-0.00925218]

qacc:
[  1.66034925,  0.10560794,  0.79166581, -3.54499153,  3.20625334,
   2.24210826, -7.08412478,  6.86108996,  3.47175782,  0.13801035,
   1.10313251, -5.24768403, -1.23645089,  1.66991618,  8.84518137,
 -32.05647123,  1.73431267, -1.6427045 , -0.55999518, 14.3218559 ,
  16.50452676, -4.25030514]

qfrc_actuator:
[ 2.72815289e-05, 8.94565316e-04, 1.35646109e-04, 6.25174692e-05,
  1.52014285e-05, 7.98320642e-05,-9.11138543e-05, 3.29915857e-05,
 -9.16571364e-05, 9.01754472e-04, 1.68352002e-04, 1.08924586e-05,
  2.43420342e-02,-1.27319303e-03, 1.45934202e-02,-3.01539354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005700071033197945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.7386771e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.7386771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03413236, -0.05246695,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00114591e-05, 3.52422295e-05, 7.29623799e-06,-5.79009582e-06,
  1.89274249e-05, 2.25566825e-05,-3.40851082e-05,-3.40731154e-06,
  2.10457284e-05, 3.81311378e-05, 4.63221996e-06,-1.00398539e-05,
 -1.44157947e-04,-2.42245455e-05,-9.19885416e-05,-1.81347855e-04,
  1.40301652e-05,-2.19786511e-05,-4.90500472e+00, 2.63775189e-04,
  1.18328224e-02,-5.76164466e-04]


--- Step 785 ---
qpos:
[ 0.0187309 , 0.03009858,-0.009503  ,-0.02557097, 0.0078573 , 0.00467849,
 -0.00785022, 0.02708829, 0.01231155, 0.02799704,-0.0083339 , 0.02645664,
  1.11937332, 0.00737754, 1.02691726, 0.04581945, 0.05868687,-0.07771879,
  0.17141228, 0.99965234, 0.02462465,-0.00161735,-0.00928497]

qacc:
[  4.08292213, -1.06276669,  5.81785796,-13.54905374,  1.95486635,
  -0.10495738,  4.05254118,-16.54295861,  2.0719721 ,  0.88739037,
  -3.56516792,  7.23688434, -0.32029018,  0.057066  ,-11.93038977,
  38.02822989, -2.55247967,  1.15063537,  0.70478239, -9.57204798,
 -24.37180192,  7.81899117]

qfrc_actuator:
[ 5.14839497e-05, 8.88828542e-04, 1.36835780e-04, 3.97842903e-05,
  2.62002092e-05, 9.38627188e-05,-1.10040468e-04,-4.53677242e-06,
 -7.97197248e-05, 9.16999827e-04, 1.68251624e-04, 2.24996894e-05,
  2.42961173e-02,-1.28314147e-03, 1.45436536e-02,-2.84262319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24038133,  5.09529734, -3.60281891,  5.09529734, 20.46215787,
       20.11318972, -3.60281891, 20.11318972, 34.68551962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005769868292631181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62086973e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.62086973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0957013 , -0.09319088,  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:
[ 2.45082121e-05, 1.52561038e-05, 9.17090413e-06,-2.10880117e-05,
  1.15460670e-05, 1.94666474e-05,-1.85772820e-05,-3.78075401e-05,
  1.25683218e-05, 3.71017533e-05, 8.00667012e-06, 1.32087911e-05,
 -1.35374067e-04,-4.77815249e-05,-1.20039773e-04, 1.49110365e-04,
  2.40418757e-05,-3.41440754e-05,-4.90500789e+00, 2.58517528e-04,
  1.18360049e-02,-5.80402517e-04]


--- Step 786 ---
qpos:
[ 0.01873048, 0.030098  ,-0.00950255,-0.02556991, 0.00785795, 0.00467898,
 -0.00785158, 0.02708747, 0.01231158, 0.02799742,-0.00833454, 0.026456  ,
  1.11993486, 0.00737875, 1.02743735, 0.04581206, 0.05869421,-0.07775217,
  0.17141279, 0.99964872, 0.02476636,-0.00157447,-0.00930488]

qacc:
[ -0.42964643, -2.37829129, 11.13146204,-22.681452  ,  1.12214564,
  -0.44757407,  3.45211069,-10.66945734,  1.24475879, -0.60857211,
   0.8910819 ,  2.25318962, -0.72222376,  0.67082537, -0.78570868,
   1.47513651, -2.49274479,  1.11142439,  0.43412586, -9.54224908,
 -23.50871337,  7.03444936]

qfrc_actuator:
[ 4.81170678e-05, 8.85546733e-04, 1.55207789e-04, 7.97223969e-06,
  3.24580681e-05, 8.41748715e-05,-1.20683552e-04,-2.64530874e-05,
 -7.26560339e-05, 8.72473599e-04, 1.68558339e-04, 2.96662847e-05,
  2.42377123e-02,-1.28954450e-03, 1.45270957e-02,-2.84439508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34825513, -3.91832804,  4.99470205, -3.91832804, 26.05092776,
       15.45668465,  4.99470205, 15.45668465, 18.47397558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000589909754072318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41010906e-14, -1.88202181e-13,  1.00000000e+00, -1.77100305e-26,
        1.00000000e+00,  1.88202181e-13, -1.00000000e+00,  0.00000000e+00,
       -9.41010906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0956941 , -0.09319368,  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:
[-2.64543632e-06, 6.26632949e-06, 2.19243066e-05,-3.12558495e-05,
  6.59510406e-06,-4.25728425e-06,-1.02090925e-05,-2.24586242e-05,
  7.44535055e-06,-2.15647787e-05, 9.41823324e-06, 9.29258376e-06,
 -1.47884142e-04,-4.77850633e-05,-5.94837143e-05,-9.84376595e-06,
  9.83847989e-06,-1.97109797e-05,-4.90500544e+00, 2.63554004e-04,
  1.18299653e-02,-5.83949174e-04]


--- Step 787 ---
qpos:
[ 0.01873001, 0.03009756,-0.00950196,-0.02556889, 0.00785866, 0.00467931,
 -0.00785274, 0.02708709, 0.01231135, 0.02799726,-0.00833523, 0.02645516,
  1.12049539, 0.00737988, 1.02795728, 0.0458026 , 0.05869179,-0.07778125,
  0.17141409, 0.9996456 , 0.02488863,-0.00157729,-0.00931313]

qacc:
[ -0.3145249 , -0.30821628,  1.57930429, -2.7416947 ,  0.62653573,
   0.14903516, -2.6697086 ,  9.99950296, -2.20573569, -0.96083379,
   3.21823482, -6.09517271, -0.8441776 ,  0.84731319,  6.07394753,
 -21.4466162 , -2.44048737,  1.07788856,  0.19763817, -9.49601548,
 -22.78297916,  6.41049135]

qfrc_actuator:
[ 4.62981134e-05, 9.01567773e-04, 1.65823799e-04, 6.59185043e-06,
  3.58777233e-05, 7.81531191e-05,-1.08686008e-04,-3.51435341e-06,
 -8.62676610e-05, 8.10243649e-04, 1.51095650e-04, 1.63546838e-05,
  2.41878354e-02,-1.29383823e-03, 1.45251018e-02,-2.94899280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40699667, -3.74594603,  5.19783557, -3.74594603, 33.52272929,
       19.54160915,  5.19783557, 19.54160915, 20.49013037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005969444398546131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85984315e-13, -1.85984315e-13,  1.00000000e+00, -3.45901653e-26,
        1.00000000e+00,  1.85984315e-13, -1.00000000e+00,  0.00000000e+00,
       -1.85984315e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09568948, -0.09319636,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89226959e-06, 2.27288452e-05, 1.35287724e-05,-9.64118302e-07,
  3.60694238e-06,-1.14713640e-05, 9.09538966e-06, 2.19694664e-05,
 -1.34010636e-05,-7.19475465e-05,-2.04314450e-05,-1.37273018e-05,
 -1.46042564e-04,-4.88479568e-05,-3.89225171e-05,-1.14695052e-04,
  1.97755345e-06,-8.48617242e-06,-4.90500405e+00, 2.66262522e-04,
  1.18254620e-02,-5.87148248e-04]


--- Step 788 ---
qpos:
[ 0.01873022, 0.03009715,-0.00950117,-0.02556823, 0.00785976, 0.00467961,
 -0.00785353, 0.02708696, 0.01231095, 0.02799697,-0.00833628, 0.02645414,
  1.12105489, 0.00738096, 1.02847569, 0.04579802, 0.05867978,-0.07780612,
  0.17141537, 0.99964298, 0.0249916 ,-0.00162456,-0.00931069]

qacc:
[ 5.76433038e+00,-1.26678920e+00, 6.06353633e+00,-1.25820480e+01,
  3.35815799e+00,-5.96449549e-01, 1.03208513e+00, 2.65293190e+00,
 -1.38673706e+00, 4.75782418e-01,-1.16237260e+00,-1.33830630e+00,
 -3.49181850e-01, 1.04180037e-01,-1.69816113e+01, 5.61837021e+01,
 -2.39528483e+00, 1.04933242e+00,-7.63162210e-03,-9.44152779e+00,
 -2.21754898e+01, 5.91514322e+00]

qfrc_actuator:
[ 8.09192186e-05, 8.93514799e-04, 1.71870312e-04,-1.23671631e-05,
  5.53537876e-05, 9.22555245e-05,-8.33833201e-05, 1.01399405e-05,
 -9.41853398e-05, 8.26550415e-04, 1.40924221e-04, 8.81873086e-06,
  2.41377852e-02,-1.29682158e-03, 1.44838937e-02,-2.68718075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.42548507, -3.48929445,  5.39552431, -3.48929445, 43.67954795,
       24.09226378,  5.39552431, 24.09226378, 22.00599171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005991588821680077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26484658e-14, -1.85296932e-13,  1.00000000e+00, -1.71674764e-26,
        1.00000000e+00,  1.85296932e-13, -1.00000000e+00,  0.00000000e+00,
       -9.26484658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09568694, -0.09319896,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45739587e-05, 7.41697601e-06, 1.23700793e-05,-1.75390600e-05,
  1.95732835e-05, 1.05116344e-05, 2.48240726e-05, 1.39075473e-05,
 -8.33588940e-06,-2.87251743e-05,-2.80126761e-05,-1.15890264e-05,
 -1.45395971e-04,-4.73660815e-05,-8.19305150e-05, 2.48156308e-04,
 -2.52672902e-07,-1.84262501e-07,-4.90500370e+00, 2.67085901e-04,
  1.18222956e-02,-5.89989021e-04]


--- Step 789 ---
qpos:
[ 0.01873085, 0.03009697,-0.00950066,-0.0255678 , 0.00786108, 0.00468014,
 -0.00785412, 0.02708732, 0.01231081, 0.02799702,-0.00833747, 0.02645331,
  1.12161344, 0.00738196, 1.02899261, 0.04579469, 0.05865835,-0.0778269 ,
  0.1714159 , 0.99964085, 0.02507538,-0.00171525,-0.00929833]

qacc:
[  3.53379547,  0.62415513, -0.8575418 , -2.71768671,  1.979707  ,
   0.76099944, -4.36755442, 12.40221049,  2.13909632,  1.19799604,
  -4.4085699 ,  7.58587563, -0.51107374,  0.36149233, -5.94986356,
  17.69644068, -2.35659439,  1.02511387, -0.18485079, -9.38446364,
 -21.66951687,  5.52288319]

qfrc_actuator:
[ 1.01205689e-04, 9.06580813e-04, 1.57310455e-04,-2.37905265e-05,
  6.63728832e-05, 1.18359831e-04,-6.81174557e-05, 3.59902634e-05,
 -8.09281700e-05, 8.89783922e-04, 1.53213797e-04, 2.25680240e-05,
  2.40929940e-02,-1.29901249e-03, 1.43820043e-02,-2.63770353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005974747077255038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.29096253e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.29096253e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09568607, -0.09320153,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12971718e-05, 1.90328129e-05,-1.21188681e-05,-1.10231861e-05,
  1.15774340e-05, 3.77114217e-05, 2.09810821e-05, 2.74309331e-05,
  1.30020271e-05, 4.09079708e-05, 2.52253908e-06, 1.13290352e-05,
 -1.39036099e-04,-4.62596485e-05,-1.17885967e-04, 5.14472908e-05,
  2.61352391e-06, 5.42439900e-06,-4.90500439e+00, 2.66343983e-04,
  1.18203112e-02,-5.92464502e-04]


--- Step 790 ---
qpos:
[ 0.01873136, 0.03009728,-0.00950048,-0.02556754, 0.00786183, 0.00468077,
 -0.00785447, 0.02708834, 0.01231151, 0.02799735,-0.00833856, 0.02645332,
  1.12217099, 0.00738295, 1.02950804, 0.04578968, 0.05862762,-0.07784365,
  0.17141508, 0.99963919, 0.0251401 ,-0.00184852,-0.00927663]

qacc:
[ -0.92902118,  1.19289292, -2.60494149, -0.18763588, -4.98930951,
   0.84602677, -5.62107749, 16.66385155,  7.23586258,  1.86583624,
  -9.75113425, 24.20780091, -0.76984802,  0.78047752,  2.91935471,
 -13.2669998 , -2.32382696,  1.00465482, -0.33716712, -9.32870626,
 -21.25058833,  5.21334357]

qfrc_actuator:
[ 9.51281314e-05, 9.49861148e-04, 1.48541984e-04,-3.06837345e-05,
  3.68159685e-05, 1.15924662e-04,-5.88374754e-05, 6.88150329e-05,
 -3.75625924e-05, 9.09746016e-04, 1.61141204e-04, 6.65457589e-05,
  2.40407375e-02,-1.30068424e-03, 1.42863644e-02,-2.73170394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005926824505610995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36608654e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.36608654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09568653, -0.09320405,  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:
[-5.44938352e-06, 5.09534283e-05,-6.71780479e-06,-6.71498746e-06,
 -2.92167244e-05, 2.41537253e-05, 2.06026435e-05, 3.56995175e-05,
  4.37594990e-05, 4.38625607e-05, 1.70946747e-05, 4.60423925e-05,
 -1.43626175e-04,-4.35017889e-05,-1.49077411e-04,-1.07393464e-04,
  1.01771280e-05, 8.52286535e-06,-4.90500608e+00, 2.64266541e-04,
  1.18193888e-02,-5.94570295e-04]


--- Step 791 ---
qpos:
[ 0.01873077, 0.03009795,-0.00950012,-0.02556738, 0.00786222, 0.00468125,
 -0.00785481, 0.02708945, 0.01231274, 0.02799779,-0.00833947, 0.02645388,
  1.12272752, 0.00738371, 1.03002236, 0.04578247, 0.05858771,-0.07785646,
  0.17141239, 0.99963798, 0.02518586,-0.00202367,-0.00924609]

qacc:
[ -9.5305992 , -0.1880511 ,  1.86211789, -4.2720732 , -3.16160564,
  -0.04099417, -0.49729227,  2.09676007,  4.39133192,  0.70765812,
  -4.60460993, 13.5793271 , -0.68651957,  0.49632762,  5.07587417,
 -20.05078828, -2.29639231,  0.98744358, -0.46757394, -9.27685418,
 -20.90628684,  4.97026917]

qfrc_actuator:
[ 3.80810982e-05, 9.75418345e-04, 1.61154512e-04,-3.48226170e-05,
  1.91214087e-05, 7.86490599e-05,-7.10225436e-05, 6.99487615e-05,
 -1.23352116e-05, 9.03673218e-04, 1.66285005e-04, 9.24129806e-05,
  2.39787136e-02,-1.31982279e-03, 1.42477855e-02,-2.83835749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005854564193718131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09568802, -0.09320654,  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:
[-5.71887228e-05, 5.23575776e-05, 2.20698096e-05,-2.32209450e-06,
 -1.85187544e-05,-1.80141467e-05,-3.42722903e-06, 3.57476383e-06,
  2.65237682e-05, 2.39780805e-05, 1.79108271e-05, 2.92344566e-05,
 -1.56185719e-04,-6.10123792e-05,-1.23252451e-04,-1.32717821e-04,
  2.21428338e-05, 9.25551203e-06,-4.90500876e+00, 2.61017226e-04,
  1.18194364e-02,-5.96303779e-04]


--- Step 792 ---
qpos:
[ 0.01872915, 0.03009864,-0.00949947,-0.02556689, 0.0078624 , 0.0046815 ,
 -0.0078552 , 0.02709024, 0.0123139 , 0.02799817,-0.00834014, 0.02645408,
  1.12328324, 0.0073839 , 1.03053537, 0.04577496, 0.05853871,-0.07786538,
  0.17140739, 0.9996372 , 0.02521277,-0.00224012,-0.00920706]

qacc:
[ -8.77492451, -0.1128644 , -0.93998644,  6.16068791, -1.89180604,
  -0.83712372,  3.92078263, -9.30070914, -0.42693483, -1.46666264,
   6.65297037,-13.28036983, -0.13049251, -0.50531893, -1.02510583,
   0.75626087, -2.27372506,  0.97303246, -0.57884019, -9.23058809,
 -20.62601703,  4.78068349]

qfrc_actuator:
[-1.29952708e-05, 9.54753227e-04, 1.68476504e-04,-1.95529859e-05,
  8.56327501e-06, 5.61805048e-05,-7.82037684e-05, 5.23790328e-05,
 -1.57486087e-05, 8.82033111e-04, 1.69615865e-04, 7.18803680e-05,
  2.39428228e-02,-1.34922641e-03, 1.42061833e-02,-2.84488048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005763686362515175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63118875e-14, -9.63118875e-14,  1.00000000e+00, -9.27597967e-27,
        1.00000000e+00,  9.63118875e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63118875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09569032, -0.093209  ,  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:
[-5.27279987e-05, 1.30243171e-05, 2.07638441e-05, 1.82294533e-05,
 -1.10907138e-05,-3.31193056e-05,-1.12041068e-05,-1.83927442e-05,
 -2.62826163e-06,-3.27238520e-06, 1.15058400e-05,-1.83174524e-05,
 -1.40986826e-04,-7.84069994e-05,-1.18717061e-04,-3.10150503e-05,
  3.82953881e-05, 7.73472617e-06,-4.90501241e+00, 2.56711026e-04,
  1.18203841e-02,-5.97663518e-04]


--- Step 793 ---
qpos:
[ 0.01872727, 0.03009907,-0.00949879,-0.02556685, 0.00786245, 0.00468143,
 -0.00785535, 0.0270908 , 0.01231468, 0.02799868,-0.00834055, 0.026454  ,
  1.12383796, 0.007384  , 1.03104717, 0.04577093, 0.05848068,-0.07787045,
  0.17139969, 0.99963682, 0.0252209 ,-0.00249742,-0.00915984]

qacc:
[ -2.18665207, -1.35576082,  6.25995362,-14.00233882, -1.11372853,
  -1.54446704,  5.85007703, -9.89007882, -3.35624563, -1.14145993,
   5.47312846,-10.73903817, -0.38995261,  0.14961415,-12.32654665,
  40.59036357, -2.25529855,  0.96103283, -0.67348148, -9.19093545,
 -20.40076985,  4.6342222 ]

qfrc_actuator:
[-2.46265656e-05, 9.06564598e-04, 1.54677260e-04,-4.62914809e-05,
  2.28646663e-06, 4.27374722e-05,-6.45760193e-05, 4.17171670e-05,
 -3.59865957e-05, 9.04438470e-04, 1.89500521e-04, 5.97017293e-05,
  2.39013269e-02,-1.34885754e-03, 1.42001050e-02,-2.65032654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005659015965590597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80932932e-14, -9.80932932e-14,  1.00000000e+00, -9.62229417e-27,
        1.00000000e+00,  9.80932932e-14, -1.00000000e+00,  0.00000000e+00,
       -9.80932932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09569322, -0.09321142,  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:
[-1.31678600e-05,-3.58836489e-05,-7.93432428e-06,-2.51090810e-05,
 -6.60233515e-06,-3.50762912e-05, 4.77038341e-06,-1.28277700e-05,
 -2.03153794e-05, 2.21636182e-05, 1.99963933e-05,-1.22766878e-05,
 -1.41694922e-04,-4.92116843e-05,-6.91612436e-05, 1.76445566e-04,
  5.84817781e-05, 4.04647021e-06,-4.90501702e+00, 2.51427003e-04,
  1.18221790e-02,-5.98648824e-04]


--- Step 794 ---
qpos:
[ 0.01872562, 0.03009914,-0.00949874,-0.02556743, 0.00786277, 0.00468136,
 -0.00785576, 0.02709123, 0.01231521, 0.02799965,-0.00834092, 0.02645444,
  1.12439164, 0.00738411, 1.03155845, 0.04577112, 0.05843068,-0.07788294,
  0.17139536, 0.99963542, 0.02526546,-0.0027181 ,-0.00912689]

qacc:
[ 1.86912858e+00, 1.22619484e-02, 1.81159456e+00,-1.10260417e+01,
  2.35906988e+00, 4.00742107e-01,-8.61631175e-01,-1.12855750e+00,
 -2.12799903e+00, 1.58003169e+00,-6.90828814e+00, 1.54281035e+01,
 -5.07930152e-01, 3.80266447e-01,-1.34716866e+01, 4.60644181e+01,
  2.00727989e+00,-1.85533673e+00, 8.41819857e-01, 1.80315931e+01,
  1.82910144e+01,-7.64728453e+00]

qfrc_actuator:
[-1.29496888e-05, 8.59884776e-04, 1.10604803e-04,-7.98268678e-05,
  1.63299591e-05, 5.26423724e-05,-7.42337506e-05, 3.52300856e-05,
 -4.82027722e-05, 9.53111264e-04, 2.01434019e-04, 8.80957172e-05,
  2.38511867e-02,-1.34861899e-03, 1.42153783e-02,-2.42756675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20682018,  5.2856158 , -3.25374897,  5.2856158 , 18.13679855,
       19.37988538, -3.25374897, 19.37988538, 37.68885186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005729628066548503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68843886e-14, -9.68843886e-14,  1.00000000e+00, -9.38658476e-27,
        1.00000000e+00,  9.68843886e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68843886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03411474, -0.05249699,  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:
[ 1.12799436e-05,-6.94814285e-05,-5.33400997e-05,-3.58368129e-05,
  1.38439609e-05,-9.27363159e-06,-1.67579522e-05,-8.07532040e-06,
 -1.28035758e-05, 6.46533553e-05, 1.85505567e-05, 2.97977157e-05,
 -1.42641727e-04,-4.34240172e-05,-3.71229164e-06, 2.22169156e-04,
  8.25977596e-05,-1.74513652e-06,-4.90502256e+00, 2.45217602e-04,
  1.18247816e-02,-5.99259457e-04]


--- Step 795 ---
qpos:
[ 0.01872412, 0.03009884,-0.00949929,-0.02556736, 0.00786325, 0.00468163,
 -0.00785645, 0.02709118, 0.01231593, 0.02800081,-0.00834103, 0.02645523,
  1.12494436, 0.0073842 , 1.03206937, 0.04577332, 0.05838847,-0.07790271,
  0.17139331, 0.99963307, 0.02534488,-0.0029029 ,-0.00910679]

qacc:
[  1.29796224,  2.53976989,-12.45357455, 24.75167863,  1.44028388,
   0.29659864,  1.58411367, -9.49773816,  1.65940796,  0.23803421,
  -2.00591438,  7.63077975, -0.57884135,  0.49216399, -6.59725981,
  22.39750732,  1.94770362, -1.81994172,  0.5694956 , 17.25717852,
  17.92592106, -6.92511453]

qfrc_actuator:
[-5.41325294e-06, 8.49819932e-04, 8.45131531e-05,-4.60972155e-05,
  2.44671115e-05, 9.41236254e-05,-7.97177090e-05, 1.34991660e-05,
 -3.78409823e-05, 9.46140173e-04, 2.08719792e-04, 1.04647759e-04,
  2.38065520e-02,-1.34852471e-03, 1.41901875e-02,-2.33201277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.3155051 , -6.11027473,  1.59691809, -6.11027473,  8.45813655,
        8.19833333,  1.59691809,  8.19833333, 37.68472132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005859875691592575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47309365e-14, -1.89461873e-13,  1.00000000e+00, -1.79479007e-26,
        1.00000000e+00,  1.89461873e-13, -1.00000000e+00,  0.00000000e+00,
       -9.47309365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03411502, -0.05250451,  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:
[ 7.84440646e-06,-6.14614596e-05,-4.82500406e-05, 2.82124218e-05,
  8.52835814e-06, 3.24990029e-05,-9.73896598e-06,-2.28657868e-05,
  1.00095031e-05, 3.42577192e-05, 2.39498132e-05, 2.05427990e-05,
 -1.35276540e-04,-4.29830093e-05,-1.22773478e-05, 1.05155548e-04,
  6.02001818e-05, 9.26034567e-06,-4.90501829e+00, 2.52927510e-04,
  1.18245208e-02,-6.00362743e-04]


--- Step 796 ---
qpos:
[ 0.01872272, 0.03009822,-0.00949969,-0.02556661, 0.00786349, 0.00468208,
 -0.0078572 , 0.02709122, 0.01231642, 0.02800146,-0.00834066, 0.02645594,
  1.12549599, 0.00738457, 1.03257951, 0.04577609, 0.05835385,-0.07792964,
  0.17139258, 0.99962983, 0.02545788,-0.0030525 ,-0.0090984 ]

qacc:
[ 0.88544428, 0.57066011,-5.53818509,17.42044978,-2.21289922, 0.60224964,
 -2.17250388, 3.68962951,-1.89851371,-2.15583939, 7.05328328,-8.7967863 ,
 -0.97281844, 1.26595818,-2.78138227, 8.24608643, 1.89630059,-1.78854349,
  0.33139456,16.61684799,17.59906526,-6.35220805]

qfrc_actuator:
[-3.82149203e-07, 8.61873867e-04, 1.04952878e-04,-8.51690447e-06,
  1.13037950e-05, 1.00943096e-04,-8.25581622e-05, 1.85134464e-05,
 -4.97811728e-05, 8.70372826e-04, 2.12975216e-04, 9.62947251e-05,
  2.37546002e-02,-1.33073557e-03, 1.41300705e-02,-2.31227686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37541603, -6.22832882,  1.36156149, -6.22832882,  8.34669666,
        9.01742893,  1.36156149,  9.01742893, 47.62475576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005931623623931792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35850869e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.35850869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03411444, -0.05250968,  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:
[ 5.24054967e-06,-3.10472176e-05, 2.79057074e-06, 3.38306845e-05,
 -1.29082617e-05, 2.20028233e-05, 1.88665742e-06, 5.62569211e-06,
 -1.16327061e-05,-5.08193263e-05, 1.49788284e-05,-5.66086126e-06,
 -1.38724707e-04,-2.32527746e-05,-6.42225144e-05, 2.16925633e-05,
  4.17115111e-05, 1.61864816e-05,-4.90501480e+00, 2.58246451e-04,
  1.18255420e-02,-6.02309744e-04]


--- Step 797 ---
qpos:
[ 0.01872208, 0.03009722,-0.00949923,-0.02556614, 0.00786391, 0.00468235,
 -0.00785781, 0.02709136, 0.01231643, 0.02800175,-0.00834049, 0.02645659,
  1.12604648, 0.00738568, 1.03308845, 0.04577946, 0.05832664,-0.07796361,
  0.17139235, 0.99962573, 0.0256034 ,-0.00316749,-0.00910082]

qacc:
[  6.55895535, -3.54544935, 13.08015985,-19.11830446,  1.64172002,
  -0.44066142,  0.8194381 ,  0.71344079, -4.18883226, -0.05329758,
  -0.17292373, -0.54981382, -1.35839467,  2.13766612, -3.47564511,
   9.87405355,  1.85223786, -1.76115089,  0.12460085, 16.08920933,
  17.31049652, -5.89905726]

qfrc_actuator:
[ 3.86406530e-05, 8.51787995e-04, 1.52790576e-04,-2.21886206e-05,
  2.12157163e-05, 6.92391855e-05,-8.39243268e-05, 2.14503513e-05,
 -7.47606158e-05, 8.42707087e-04, 1.97341821e-04, 9.10432703e-05,
  2.37089543e-02,-1.28487766e-03, 1.40650259e-02,-2.28412834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.39530405, -6.30826335,  1.05153576, -6.30826335,  7.88853413,
        8.95802976,  1.05153576,  8.95802976, 60.13537949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005955440871934364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32108175e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.32108175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03411313, -0.05251296,  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:
[ 3.91653895e-05,-2.53908160e-05, 4.29510067e-05,-1.42449820e-05,
  9.55245201e-06,-1.87812350e-05, 3.60980944e-06, 4.05568637e-06,
 -2.53362099e-05,-5.32647775e-05,-2.44943735e-05,-7.02445642e-06,
 -1.30664988e-04, 8.99302324e-06,-1.00195042e-04, 1.92735274e-05,
  2.68206185e-05, 1.94655471e-05,-4.90501211e+00, 2.61537442e-04,
  1.18275764e-02,-6.05060708e-04]


--- Step 798 ---
qpos:
[ 0.01872156, 0.03009584,-0.00949817,-0.02556548, 0.00786479, 0.0046823 ,
 -0.00785808, 0.02709188, 0.01231613, 0.028002  ,-0.00834067, 0.02645713,
  1.12659597, 0.0073871 , 1.03359671, 0.04578399, 0.05830668,-0.07800453,
  0.17139191, 0.99962081, 0.02578056,-0.00324837,-0.00911335]

qacc:
[ 1.12526296,-1.76762819, 4.74984284,-2.04457942, 4.06764211,-0.61870879,
 -0.05209757, 6.39291286,-2.56565391, 0.70448286,-2.15671417, 0.99491124,
 -0.88997465, 1.18195616,-4.44139482,14.25481948, 1.81469551,-1.73761919,
 -0.05402891,15.65623723,17.05891002,-5.54208412]

qfrc_actuator:
[ 4.41011002e-05, 8.28619033e-04, 1.80786069e-04,-1.26535023e-05,
  4.46364378e-05, 5.02194071e-05,-6.68284132e-05, 4.08544106e-05,
 -8.94547462e-05, 8.61714148e-04, 1.88018343e-04, 8.76812366e-05,
  2.36564855e-02,-1.27600405e-03, 1.40663255e-02,-2.21569160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000594045568676968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34459479e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.34459479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03411124, -0.05251472,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59441182e-06,-2.90607732e-05, 2.75528193e-05, 9.65529686e-06,
  2.36853218e-05,-2.86024745e-05, 1.38046763e-05, 1.88031108e-05,
 -1.54535012e-05,-1.61623501e-05,-2.35918559e-05,-6.63027072e-06,
 -1.25833118e-04,-1.84356943e-05,-4.88959555e-05, 5.52125503e-05,
  1.52752509e-05, 1.94326771e-05,-4.90501026e+00, 2.63073306e-04,
  1.18304368e-02,-6.08583770e-04]


--- Step 799 ---
qpos:
[ 0.01872078, 0.03009431,-0.00949742,-0.02556398, 0.00786525, 0.00468215,
 -0.00785822, 0.02709261, 0.01231635, 0.02800226,-0.00834105, 0.02645795,
  1.12714471, 0.0073881 , 1.03410461, 0.04578823, 0.05829386,-0.07805232,
  0.17139064, 0.99961506, 0.02598865,-0.00329558,-0.00913543]

qacc:
[ -2.36481736,  2.40211067,-12.3543504 , 27.36844916, -3.65520432,
  -0.03968817, -0.91086977,  4.42936448,  4.38298898,  1.16263534,
  -5.33798002, 10.58827136, -0.24846111, -0.19449861,  0.31993565,
  -1.89608874,  1.7829018 , -1.71771735, -0.20762755, 15.30282162,
  16.84224164, -5.26245096]

qfrc_actuator:
[ 2.97522651e-05, 8.15497573e-04, 1.61295219e-04, 2.81908001e-05,
  2.25555274e-05, 5.67777902e-05,-5.66722865e-05, 5.20582912e-05,
 -6.24674184e-05, 8.73041546e-04, 1.82700395e-04, 1.03260242e-04,
  2.36106021e-02,-1.30693323e-03, 1.40541702e-02,-2.23039667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005894504058259753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88348844e-13, -1.88348844e-13,  1.00000000e+00, -3.54752870e-26,
        1.00000000e+00,  1.88348844e-13, -1.00000000e+00,  0.00000000e+00,
       -1.88348844e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03410888, -0.05251528,  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:
[-1.41651438e-05,-2.32279086e-05,-2.17628565e-05, 4.07404423e-05,
 -2.14191233e-05,-5.76670633e-06, 6.60044901e-06, 1.08203170e-05,
  2.65302733e-05,-2.88262263e-06,-1.17934957e-05, 1.39402621e-05,
 -1.22129174e-04,-6.38291073e-05,-3.70119716e-05,-1.98645596e-05,
  6.87182339e-06, 1.63456125e-05,-4.90500922e+00, 2.63057872e-04,
  1.18339944e-02,-6.12853438e-04]


--- Step 800 ---
qpos:
[ 0.01872017, 0.03009297,-0.00949703,-0.02556274, 0.00786544, 0.004682  ,
 -0.00785826, 0.02709347, 0.01231689, 0.02800288,-0.00834168, 0.02645891,
  1.12769272, 0.00738872, 1.03461129, 0.04579239, 0.05828806,-0.07810692,
  0.171388  , 0.9996085 , 0.02622711,-0.0033095 ,-0.00916663]

qacc:
[ 1.51801164e+00, 7.28808492e-01,-1.15499437e+00,-2.81324178e+00,
 -2.35528989e+00,-1.03736488e-02,-4.79202606e-01, 2.42228910e+00,
  2.72637996e+00, 1.42895319e+00,-5.01169440e+00, 7.54552798e+00,
 -2.00461587e-01,-2.43544065e-01,-1.50164474e+00, 2.67215187e+00,
  1.75615045e+00,-1.70117174e+00,-3.39180355e-01, 1.50163411e+01,
  1.66580532e+01,-5.04510552e+00]

qfrc_actuator:
[ 3.93749597e-05, 8.43832554e-04, 1.49489664e-04, 1.60933092e-05,
  9.37133766e-06, 6.08223891e-05,-5.06037446e-05, 5.83597477e-05,
 -4.66714890e-05, 9.15231694e-04, 1.79784876e-04, 1.12107292e-04,
  2.35740093e-02,-1.32564430e-03, 1.39753548e-02,-2.24074817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824274843962557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76549894e-14, -1.90619958e-13,  1.00000000e+00, -9.08399207e-27,
        1.00000000e+00,  1.90619958e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76549894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03410616, -0.05251489,  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:
[ 9.20477991e-06, 1.26366348e-05,-1.78664903e-05,-1.30524045e-05,
 -1.37956270e-05, 2.64459947e-06, 6.06719668e-06, 6.49316614e-06,
  1.65737507e-05, 3.87425140e-05,-4.48251940e-06, 8.58411752e-06,
 -1.21419547e-04,-6.11902681e-05,-1.07180729e-04,-1.83225541e-05,
  1.44712209e-06, 1.04005313e-05,-4.90500901e+00, 2.61642222e-04,
  1.18381618e-02,-6.17849378e-04]


--- Step 801 ---
qpos:
[ 0.01871934, 0.03009184,-0.00949647,-0.02556307, 0.00786514, 0.00468156,
 -0.00785809, 0.02709442, 0.01231727, 0.02800372,-0.0083423 , 0.02645963,
  1.12823974, 0.00738943, 1.03511695, 0.04579371, 0.0582919 ,-0.07816065,
  0.17138698, 0.99960211, 0.02646029,-0.00328197,-0.0092039 ]

qacc:
[ -1.92771319, -3.41194409, 19.18288023,-46.77733311, -4.42619017,
  -0.7635321 ,  1.77410726, -0.23669332, -1.35936077, -0.2131077 ,
   2.26083736, -6.7528904 , -0.95134655,  1.12836106,  7.13710651,
 -27.00005414,  2.40876288,  0.21502979,  0.40228099, -2.83438677,
  20.62015461, -3.56519462]

qfrc_actuator:
[ 2.75317697e-05, 8.61250010e-04, 1.60216053e-04,-6.25197797e-05,
 -1.62090641e-05, 2.78083349e-05,-4.69994806e-05, 6.17264215e-05,
 -5.53554777e-05, 9.22335709e-04, 1.78432685e-04, 9.91947033e-05,
  2.35217135e-02,-1.31913421e-03, 1.39098899e-02,-2.39058742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.31348943,  -2.12267844,  -5.94595535,  -2.12267844,
        47.12777753, -14.57051129,  -5.94595535, -14.57051129,
        11.51509429,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005857461495027139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84309942e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.84309942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750096, -0.08134651,  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:
[-1.15656954e-05, 2.02809988e-05, 1.06927495e-05,-7.89453084e-05,
 -2.59720503e-05,-3.00043941e-05, 5.12343443e-06, 3.81539984e-06,
 -8.18293445e-06, 2.82014303e-05, 6.39341242e-06,-1.12430599e-05,
 -1.37052478e-04,-3.47163587e-05,-1.22208244e-04,-1.65886502e-04,
 -1.12846577e-06, 1.74462986e-06,-4.90500960e+00, 2.58937079e-04,
  1.18428821e-02,-6.23555454e-04]


--- Step 802 ---
qpos:
[ 0.01871803, 0.03009048,-0.00949593,-0.02556393, 0.00786452, 0.00468093,
 -0.00785759, 0.02709504, 0.01231789, 0.02800465,-0.00834314, 0.02646022,
  1.12878568, 0.00739027, 1.03562175, 0.04578884, 0.05830516,-0.07821357,
  0.17138678, 0.99959587, 0.0266883 ,-0.00321344,-0.00924719]

qacc:
[ -4.11201606, -1.36865636,  6.68834163,-15.65868081, -2.66411076,
  -1.87185783,  7.71052674,-13.86395181,  2.0194804 ,  0.45335086,
  -0.94563766, -0.91521233, -1.28602206,  1.63196806, 17.53858197,
 -62.93887701,  2.35711052,  0.20582109,  0.20453456, -2.79068075,
  20.38354971, -3.54465842]

qfrc_actuator:
[ 3.14099095e-06, 8.18774536e-04, 1.48584097e-04,-9.08587829e-05,
 -3.11309468e-05, 2.61014222e-05,-2.72777140e-05, 4.55551375e-05,
 -4.28702052e-05, 9.08367700e-04, 1.60115719e-04, 9.13110024e-05,
  2.34600449e-02,-1.31556464e-03, 1.38471371e-02,-2.71009900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005866456703878392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.4624667e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.4624667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749907, -0.0813469 ,  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:
[-2.47148036e-05,-3.22722050e-05,-8.84878790e-06,-2.86354057e-05,
 -1.56708172e-05,-1.72609493e-05, 1.42890931e-05,-1.72059994e-05,
  1.22574310e-05, 2.61465551e-06,-1.20965851e-05,-6.67442480e-06,
 -1.49647868e-04,-3.49536921e-05,-1.43164117e-04,-3.45766158e-04,
 -2.49802394e-08,-1.04495777e-05,-4.90500785e+00, 2.54820204e-04,
  1.18443747e-02,-6.29091513e-04]


--- Step 803 ---
qpos:
[ 0.01871678, 0.03008924,-0.0094957 ,-0.02556445, 0.00786408, 0.00468037,
 -0.00785696, 0.02709509, 0.01231865, 0.02800563,-0.00834444, 0.02646038,
  1.12933052, 0.00739121, 1.03612476, 0.04578478, 0.05832768,-0.07826569,
  0.17138671, 0.99958978, 0.0269112 ,-0.00310433,-0.00929649]

qacc:
[  0.52178174,  1.74506502, -7.4168546 , 13.6621386 ,  1.50229232,
  -1.45698635,  7.71449479,-17.76546173,  1.21997862,  0.4765099 ,
   0.18519932, -6.81702983, -0.76323842,  0.79965626, -5.01851197,
  13.83232999,  2.31379572,  0.19761673,  0.03433797, -2.74929992,
  20.17468406, -3.53214051]

qfrc_actuator:
[ 7.07175733e-06, 8.47223757e-04, 1.41386862e-04,-7.16966444e-05,
 -2.19033718e-05, 4.32018788e-05,-1.58451783e-05, 1.80517921e-05,
 -3.57693657e-05, 8.99569589e-04, 1.31840226e-04, 6.86673001e-05,
  2.34034482e-02,-1.31384301e-03, 1.38073364e-02,-2.64761405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005841199186931989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75169134e-14, -2.37584567e-14,  1.00000000e+00, -1.12892853e-27,
        1.00000000e+00,  2.37584567e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75169134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749655, -0.08134729,  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:
[ 3.20474503e-06, 7.38956741e-06,-1.59293431e-05, 1.69216612e-05,
  8.77634363e-06, 9.67265706e-06, 9.03249992e-06,-2.80839216e-05,
  7.46430469e-06,-1.01394758e-05,-2.94584387e-05,-2.30819938e-05,
 -1.52514908e-04,-3.94645464e-05,-1.49804444e-04, 2.35540359e-05,
  5.23586005e-06,-2.21649435e-05,-4.90500732e+00, 2.49959775e-04,
  1.18454910e-02,-6.34479731e-04]


--- Step 804 ---
qpos:
[ 0.01871593, 0.03008871,-0.00949563,-0.02556449, 0.0078634 , 0.00467986,
 -0.00785645, 0.02709449, 0.01231915, 0.02800638,-0.00834599, 0.02646064,
  1.12987441, 0.00739211, 1.03662651, 0.04578166, 0.05835931,-0.07831705,
  0.1713862 , 0.99958383, 0.02712908,-0.00295502,-0.00935178]

qacc:
[  3.42243205,  2.36843988, -9.14868517, 17.33245018, -2.03783506,
  -0.90374698,  6.10036409,-17.26977113, -2.26246684,  0.59749955,
  -2.95930171,  5.15861348, -0.5706991 ,  0.4795689 , -4.69567999,
  13.82422745,  2.27777294,  0.19026808, -0.11152654, -2.71064346,
  19.99397867, -3.52713152]

qfrc_actuator:
[ 2.76454554e-05, 9.35730027e-04, 1.54923423e-04,-4.24396842e-05,
 -3.40444759e-05, 3.58917199e-05,-2.70764213e-05,-1.58850275e-05,
 -4.96539982e-05, 8.76115937e-04, 1.15669997e-04, 7.30215837e-05,
  2.33659126e-02,-1.31323864e-03, 1.37760964e-02,-2.59122424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000578873678253114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58951034e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58951034e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749353, -0.0813477 ,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06734018e-05, 9.01214633e-05, 1.37004954e-05, 2.93552805e-05,
 -1.18875088e-05,-1.22292047e-06,-9.09376236e-06,-3.37569934e-05,
 -1.36652351e-05,-3.62134752e-05,-2.26878620e-05, 2.45145174e-06,
 -1.35226714e-04,-4.27402044e-05,-1.00938683e-04, 3.77036197e-05,
  1.45270804e-05,-3.34338919e-05,-4.90500798e+00, 2.44368354e-04,
  1.18462414e-02,-6.39721990e-04]


--- Step 805 ---
qpos:
[ 0.01871533, 0.03008875,-0.00949566,-0.02556415, 0.00786259, 0.00467948,
 -0.00785614, 0.02709383, 0.01231948, 0.02800716,-0.00834787, 0.02646127,
  1.13041735, 0.00739301, 1.03712683, 0.04577893, 0.05838057,-0.07836394,
  0.17138845, 0.99957831, 0.02732883,-0.00285358,-0.00939141]

qacc:
[  2.16182195,  1.79343046, -6.85394998, 12.9278419 , -1.24224361,
   0.60902747, -1.67118218,  0.85063722, -1.46327901,  1.73239311,
  -7.66251741, 14.52802496, -0.62766045,  0.58641594, -3.20289432,
   8.24817866, -2.59254651,  1.11797885,  0.69150866, -8.81520614,
 -23.79771848,  8.50078067]

qfrc_actuator:
[ 4.00887605e-05, 9.53111938e-04, 1.45354345e-04,-2.51655793e-05,
 -4.09208621e-05, 4.94278315e-05,-3.39395008e-05,-1.78611672e-05,
 -5.80252711e-05, 8.97385611e-04, 1.06737654e-04, 9.32257132e-05,
  2.33185365e-02,-1.31321683e-03, 1.37020766e-02,-2.57446882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35507653,  6.25267756, -1.13623108,  6.25267756,  7.60723439,
        6.8906224 , -1.13623108,  6.8906224 , 44.27415901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005907266441634584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39709623e-14, -9.39709623e-14,  1.00000000e+00, -8.83054176e-27,
        1.00000000e+00,  9.39709623e-14, -1.00000000e+00,  0.00000000e+00,
       -9.39709623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09566069, -0.09325347,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30770046e-05, 7.18914026e-05, 1.17523633e-05, 2.21786129e-05,
 -7.21286953e-06, 9.53686965e-06,-9.40195281e-06,-2.99832480e-06,
 -8.78314684e-06,-3.57539075e-06,-1.91125774e-05, 1.79167942e-05,
 -1.35319320e-04,-4.03692960e-05,-1.21912480e-04, 4.61005854e-06,
  2.77456244e-05,-4.42880640e-05,-4.90500978e+00, 2.38052677e-04,
  1.18466346e-02,-6.44820085e-04]


--- Step 806 ---
qpos:
[ 0.01871558, 0.03008891,-0.00949556,-0.02556392, 0.00786204, 0.00467941,
 -0.00785635, 0.02709384, 0.0123197 , 0.02800783,-0.00834895, 0.02646138,
  1.13095929, 0.00739394, 1.03762501, 0.04577881, 0.05839173,-0.07840653,
  0.17139237, 0.99957324, 0.02751035,-0.00279849,-0.009417  ]

qacc:
[  7.24097459, -0.42021058,  2.11011158, -4.07285722,  2.34215394,
   3.23119465,-13.74902826, 25.92894073, -0.85288162, -3.43759302,
  14.22985667,-24.35001501, -0.50215076,  0.39923163,-11.051125  ,
  34.13805417, -2.52674189,  1.07578846,  0.41729031, -8.88040059,
 -23.06011745,  7.68077581]

qfrc_actuator:
[ 8.31461441e-05, 9.27680644e-04, 1.39689334e-04,-3.29056489e-05,
 -2.68841636e-05, 7.53796492e-05,-5.58107474e-05, 1.67594044e-05,
 -6.30770736e-05, 9.09815354e-04, 1.55588762e-04, 6.93710904e-05,
  2.32652907e-02,-1.31356434e-03, 1.36024496e-02,-2.43927841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.44951398, -5.246343  ,  3.75128188, -5.246343  , 17.36432231,
       15.26486948,  3.75128188, 15.26486948, 27.79814725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006020374504915882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22054786e-14, -9.22054786e-14,  1.00000000e+00, -8.50185028e-27,
        1.00000000e+00,  9.22054786e-14, -1.00000000e+00,  0.00000000e+00,
       -9.22054786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565532, -0.09325761,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34619785e-05, 1.81510261e-05, 1.13969479e-05,-3.82479422e-06,
  1.38355497e-05, 2.92235711e-05,-2.11603667e-05, 3.46475519e-05,
 -5.31002685e-06, 7.24046681e-06, 4.63905524e-05,-2.43189799e-05,
 -1.41046822e-04,-4.00348760e-05,-1.59907899e-04, 1.18721107e-04,
  1.24080770e-05,-2.75874690e-05,-4.90500777e+00, 2.43928397e-04,
  1.18390313e-02,-6.49229445e-04]


--- Step 807 ---
qpos:
[ 0.01871634, 0.03008894,-0.00949513,-0.02556342, 0.00786202, 0.0046796 ,
 -0.00785685, 0.0270946 , 0.01231987, 0.02800809,-0.00834871, 0.02646121,
  1.13150039, 0.00739457, 1.03812166, 0.0457802 , 0.058393  ,-0.07844495,
  0.17139701, 0.99956864, 0.0276736 ,-0.00278847,-0.00942982]

qacc:
[  4.42761053, -0.56668093,  0.6521485 ,  3.52639122,  4.53848887,
   2.68125603,-12.26254967, 25.5654845 , -0.48300011, -4.83080764,
  17.61273733,-24.31275522, -0.22372146, -0.19047401, -6.83452102,
  20.6241519 , -2.46982026,  1.03996388,  0.17885044, -8.90958212,
 -22.4345122 ,  7.02900181]

qfrc_actuator:
[ 1.08374990e-04, 9.12290483e-04, 1.53928106e-04,-1.98314087e-05,
 -6.52409990e-07, 9.07883232e-05,-6.85398101e-05, 5.48800142e-05,
 -6.61363666e-05, 8.81562104e-04, 2.20357182e-04, 5.53222940e-05,
  2.32245392e-02,-1.33191592e-03, 1.35461576e-02,-2.35968715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.49603406, -5.10231391,  4.02055359, -5.10231391, 22.73884305,
       20.61305946,  4.02055359, 20.61305946, 32.6551929 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006076128099857386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13594156e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.13594156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0956522 , -0.09326135,  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:
[ 2.65007659e-05,-3.04309833e-06, 1.92534327e-05, 1.41682496e-05,
  2.66345546e-05, 2.88742096e-05,-8.09730071e-06, 3.93151207e-05,
 -3.21235566e-06,-1.56770291e-05, 7.11414658e-05,-1.26057279e-05,
 -1.31920257e-04,-5.92070668e-05,-1.18812025e-04, 6.51755115e-05,
  3.27466172e-06,-1.39263945e-05,-4.90500661e+00, 2.47287345e-04,
  1.18330558e-02,-6.53326484e-04]


--- Step 808 ---
qpos:
[ 0.01871637, 0.03008896,-0.00949479,-0.02556309, 0.00786265, 0.00467977,
 -0.00785709, 0.02709546, 0.01231999, 0.02800828,-0.00834806, 0.02646124,
  1.13204054, 0.00739501, 1.03861794, 0.04578164, 0.05838459,-0.07847934,
  0.17140154, 0.99956451, 0.02781858,-0.00282244,-0.00943089]

qacc:
[ -6.32694642, -0.10039099,  1.08466868, -3.96736576,  5.81311034,
  -0.5418746 ,  1.46634029, -0.09934801, -0.3115311 , -0.8208942 ,
   1.99350528,  0.76557732, -0.55945455,  0.35773888, -0.66332793,
   1.61113368, -2.4210435 ,  1.00963203, -0.02721884, -8.91481363,
 -21.90689908,  6.51207358]

qfrc_actuator:
[ 6.96404716e-05, 9.03113228e-04, 1.44339997e-04,-3.01000375e-05,
  3.25401925e-05, 8.20535130e-05,-5.80519251e-05, 5.92449492e-05,
 -6.79998187e-05, 8.82514076e-04, 2.40577293e-04, 6.48834945e-05,
  2.31753282e-02,-1.34299644e-03, 1.35638212e-02,-2.34890107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.50353272, -4.86065469,  4.32087652, -4.86065469, 30.8950947 ,
       27.43863645,  4.32087652, 27.43863645, 37.36989425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006085119016480262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82448860e-13,  1.82448860e-13,  1.00000000e+00,  3.32875863e-26,
        1.00000000e+00, -1.82448860e-13, -1.00000000e+00,  0.00000000e+00,
       -1.82448860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565092, -0.09326481,  0.06198907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79653432e-05,-6.29654737e-06,-7.36363656e-06,-9.46030757e-06,
  3.39582931e-05, 7.43068540e-06, 1.68161562e-05, 6.08516424e-06,
 -1.96448476e-06, 6.32816376e-06, 2.53030388e-05, 1.11050484e-05,
 -1.39279884e-04,-5.44472321e-05,-3.40778871e-05,-1.84337964e-06,
 -3.03576428e-07,-3.07106768e-06,-4.90500632e+00, 2.48581710e-04,
  1.18285060e-02,-6.57096858e-04]


--- Step 809 ---
qpos:
[ 0.01871628, 0.03008909,-0.00949515,-0.02556321, 0.00786367, 0.00467977,
 -0.00785709, 0.02709639, 0.01232009, 0.02800835,-0.00834762, 0.02646074,
  1.13257964, 0.00739537, 1.03911377, 0.0457799 , 0.05836666,-0.07850979,
  0.17140525, 0.99956085, 0.02794532,-0.00289949,-0.009421  ]

qacc:
[ -1.0504379 ,  1.20414404, -2.21736743, -4.40512563,  3.4704424 ,
  -0.76061332,  2.0656887 , -1.0988948 , -0.20206944, -0.65986614,
   4.3299783 ,-12.98078654, -0.91951121,  0.928607  ,  9.04101964,
 -32.40762626, -2.37962382,  0.98401613, -0.20442179, -8.90488059,
 -21.46462836,  6.10332837]

qfrc_actuator:
[ 6.45843834e-05, 8.97609241e-04, 1.03003995e-04,-5.40390302e-05,
  5.18072672e-05, 5.89945021e-05,-5.18196029e-05, 6.14588805e-05,
 -6.91449383e-05, 8.47536762e-04, 2.16698528e-04, 3.49881514e-05,
  2.31157557e-02,-1.34971155e-03, 1.35139670e-02,-2.52056272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000605646707427257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83311989e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.83311989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565109, -0.09326803,  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:
[-6.16441410e-06,-1.09695205e-05,-4.38740824e-05,-2.46475171e-05,
  2.02337925e-05,-1.51630548e-05, 1.00464487e-05, 3.22943855e-06,
 -1.20074039e-06,-2.57509642e-05,-1.90804915e-05,-2.85343589e-05,
 -1.51673155e-04,-5.12259548e-05,-7.50306859e-05,-1.78267464e-04,
  1.18335702e-06, 5.17246566e-06,-4.90500692e+00, 2.48140616e-04,
  1.18252218e-02,-6.60530645e-04]


--- Step 810 ---
qpos:
[ 0.01871647, 0.03008919,-0.009496  ,-0.02556361, 0.00786492, 0.00467956,
 -0.00785701, 0.02709804, 0.01232053, 0.02800787,-0.00834726, 0.02645993,
  1.13311779, 0.0073956 , 1.039608  , 0.04577462, 0.05833936,-0.0785364 ,
  0.17140754, 0.99955765, 0.02805385,-0.00301887,-0.00940078]

qacc:
[  2.42636193,  0.72378872, -1.43625018, -2.68530385,  1.97151023,
   0.95590727, -6.88947276, 19.46580405,  2.8228769 , -1.16000603,
   4.34831203, -9.10183497, -0.77374466,  0.71708381,  8.41364278,
 -32.74745915, -2.34478219,  0.96243621, -0.35615304, -8.88615422,
 -21.09648611,  5.78147643]

qfrc_actuator:
[ 7.94127382e-05, 8.94193510e-04, 7.87736052e-05,-6.80890450e-05,
  6.27216322e-05, 4.52660417e-05,-4.82212140e-05, 9.78788955e-05,
 -5.21061478e-05, 7.91090653e-04, 2.02320118e-04, 1.75653585e-05,
  2.30713128e-02,-1.35383084e-03, 1.33969930e-02,-2.70971827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005997978572942486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565241, -0.09327108,  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:
[ 1.46476864e-05,-1.96682702e-05,-3.27488258e-05,-1.65164995e-05,
  1.14835544e-05,-1.99890949e-05, 1.81252320e-06, 3.61777635e-05,
  1.69971242e-05,-7.60171194e-05,-2.30398304e-05,-1.97418132e-05,
 -1.43815132e-04,-5.03074828e-05,-1.79525038e-04,-2.10587288e-04,
  7.36731947e-06, 1.09630661e-05,-4.90500842e+00, 2.46202163e-04,
  1.18230773e-02,-6.63621101e-04]


--- Step 811 ---
qpos:
[ 0.01871683, 0.03008913,-0.00949684,-0.0255642 , 0.00786629, 0.00467939,
 -0.00785727, 0.02710046, 0.01232116, 0.0280066 ,-0.00834645, 0.02645996,
  1.13365497, 0.00739599, 1.04010044, 0.04576866, 0.05830279,-0.07855922,
  0.17140788, 0.99955489, 0.02814425,-0.00317996,-0.00937072]

qacc:
[  1.51517109, -0.60220206,  2.62017091, -5.6759263 ,  1.05427469,
   2.61510404,-12.46989172, 26.24860007,  1.74021719, -0.57080189,
  -2.96263154, 17.14987327, -0.81166698,  0.96996411, -0.57342457,
  -1.68778861, -2.31578108,  0.9443037 , -0.48558573, -8.86322472,
 -20.79265676,  5.52951738]

qfrc_actuator:
[ 8.80628082e-05, 8.92118218e-04, 8.26166099e-05,-7.61874526e-05,
  6.86370314e-05, 5.49964863e-05,-6.39031937e-05, 1.36386203e-04,
 -4.22540092e-05, 7.57752466e-04, 2.29098414e-04, 6.08754483e-05,
  2.30359769e-02,-1.33856626e-03, 1.33410579e-02,-2.73020449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005916298672500597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38274998e-14, -1.87655000e-13,  1.00000000e+00, -1.76071994e-26,
        1.00000000e+00,  1.87655000e-13, -1.00000000e+00,  0.00000000e+00,
       -9.38274998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565464, -0.09327398,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.07269340e-06,-2.05327256e-05,-4.81507957e-06,-1.03932309e-05,
  6.23319190e-06, 4.84258939e-07,-1.83386679e-05, 3.84135945e-05,
  1.03247245e-05,-8.14302629e-05, 7.55793420e-06, 3.88724878e-05,
 -1.31569147e-04,-2.80991717e-05,-1.64649439e-04,-5.58790703e-05,
  1.79742566e-05, 1.44291944e-05,-4.90501081e+00, 2.42937014e-04,
  1.18219745e-02,-6.66363742e-04]


--- Step 812 ---
qpos:
[ 0.0187173 , 0.03008904,-0.00949744,-0.02556456, 0.00786772, 0.00467922,
 -0.00785742, 0.02710295, 0.01232122, 0.02800499,-0.00834578, 0.02646048,
  1.13419113, 0.0073966 , 1.04059178, 0.04576361, 0.05825705,-0.07857833,
  0.17140584, 0.99955256, 0.02821655,-0.00338225,-0.00933122]

qacc:
[  0.87388454, -0.27823749, -0.02159454,  3.4952511 ,  0.53444544,
  -0.18580806,  0.36155009,  0.67480338, -4.90864338,  0.96385819,
  -6.17224986, 15.26592972, -0.83422481,  1.01507252, -4.28188031,
  12.78372383, -2.2919409 ,  0.92911296, -0.59561913, -8.83936725,
 -20.5446217 ,  5.33387189]

qfrc_actuator:
[ 9.30003189e-05, 9.08737666e-04, 1.03007104e-04,-6.29499982e-05,
  7.15659053e-05, 6.08736994e-05,-5.52443505e-05, 1.40310238e-04,
 -7.22218894e-05, 7.56479252e-04, 2.26824988e-04, 8.63568575e-05,
  2.29848375e-02,-1.32966323e-03, 1.33377979e-02,-2.66870592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005817053089560154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565755, -0.09327675,  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:
[ 5.19650305e-06, 3.71335003e-06, 1.52082092e-05, 1.19922331e-05,
  3.10532292e-06, 4.01201010e-06, 7.82863416e-06, 4.05313549e-06,
 -2.96984690e-05,-4.35404570e-05,-1.68125054e-05, 2.30105064e-05,
 -1.34594757e-04,-2.67280383e-05,-8.78852621e-05, 3.66479575e-05,
  3.28033032e-05, 1.56732548e-05,-4.90501411e+00, 2.38465742e-04,
  1.18218376e-02,-6.68755666e-04]


--- Step 813 ---
qpos:
[ 0.01871782, 0.03008886,-0.00949777,-0.02556476, 0.00786917, 0.00467872,
 -0.007857  , 0.02710514, 0.01232057, 0.02800342,-0.00834559, 0.02646128,
  1.13472659, 0.0073965 , 1.04108238, 0.04575792, 0.05822128,-0.07859648,
  0.17140719, 0.99955029, 0.02828658,-0.00354013,-0.00930364]

qacc:
[  0.48788339, -0.5380613 ,  1.05090123,  1.43654961,  0.23677386,
  -2.64351584, 10.072472  ,-16.01101933, -6.02041506,  1.99893366,
  -8.22179118, 13.78427549,  0.02218315, -0.78678787,  0.82614242,
  -4.53392121,  2.49334147,  0.24014912,  0.84634125, -1.36912556,
  22.02099737, -6.58338597]

qfrc_actuator:
[ 9.57151742e-05, 9.01017703e-04, 1.15334934e-04,-5.49948711e-05,
  7.27152218e-05, 2.89624175e-05,-3.23090300e-05, 1.23873039e-04,
 -1.07632289e-04, 7.74309432e-04, 2.07516668e-04, 1.01137011e-04,
  2.29402334e-02,-1.37794961e-03, 1.33075611e-02,-2.70133838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31018108,  6.25369364, -0.84243761,  6.25369364,  7.06744735,
        5.62143857, -0.84243761,  5.62143857, 48.03998315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005853498975981475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48341350e-14,  7.11256013e-14,  1.00000000e+00,  6.74513488e-27,
        1.00000000e+00, -7.11256013e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48341350e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748784, -0.08137262,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86744413e-06,-1.97760163e-06, 1.53909132e-05, 8.87585501e-06,
  1.23848185e-06,-2.78735939e-05, 2.48665272e-05,-1.59205197e-05,
 -3.63014245e-05,-8.96592115e-06,-2.95659149e-05, 1.27825175e-05,
 -1.28116703e-04,-8.49775895e-05,-7.28796553e-05,-4.32934288e-05,
  5.17109782e-05, 1.47754567e-05,-4.90501829e+00, 2.32871620e-04,
  1.18226088e-02,-6.70795050e-04]


--- Step 814 ---
qpos:
[ 0.01871872, 0.03008861,-0.00949794,-0.02556451, 0.00787028, 0.00467795,
 -0.00785625, 0.02710643, 0.0123195 , 0.02800215,-0.00834609, 0.02646223,
  1.13526133, 0.00739557, 1.04157242, 0.04574591, 0.05819523,-0.07861374,
  0.1714109 , 0.99954813, 0.02835381,-0.00365461,-0.00928679]

qacc:
[  3.20857718,  0.39039557, -3.4391828 , 11.02276904, -2.99843631,
  -3.11681713, 14.40444339,-30.27927878, -3.60633003,  2.61093272,
  -9.35577048, 12.79617128, -0.28506725, -0.41245838, 18.28232851,
 -65.15373052,  2.42851807,  0.22273195,  0.58946587, -1.61531681,
  21.52360626, -5.96806968]

qfrc_actuator:
[ 1.14853896e-04, 8.96511124e-04, 1.22699069e-04,-3.24887295e-05,
  5.50560989e-05, 1.02178453e-05,-1.90519555e-05, 7.78143772e-05,
 -1.28196630e-04, 8.03368905e-04, 1.78399190e-04, 1.09517731e-04,
  2.28942319e-02,-1.42420544e-03, 1.32345170e-02,-3.03780237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.38438492, -6.27640585, -1.16923069, -6.27640585,  7.95260807,
       -8.41818902, -1.16923069, -8.41818902, 51.57304704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005942364305405179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.34159341e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.34159341e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748969, -0.081377  ,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92215473e-05,-2.04355133e-06, 9.16405844e-06, 2.31281599e-05,
 -1.76339953e-05,-2.98684545e-05, 1.00073729e-05,-4.67073513e-05,
 -2.16364346e-05, 1.85243799e-05,-3.41536575e-05, 7.22494665e-06,
 -1.39542707e-04,-9.49641885e-05,-1.18348192e-04,-3.49820899e-04,
  3.12613430e-05, 1.17131909e-05,-4.90501182e+00, 2.38121489e-04,
  1.18250774e-02,-6.72488440e-04]


--- Step 815 ---
qpos:
[ 0.01871984, 0.03008863,-0.00949815,-0.02556437, 0.00787118, 0.00467689,
 -0.00785504, 0.02710715, 0.01231888, 0.02800131,-0.00834703, 0.02646289,
  1.13579493, 0.00739469, 1.04206118, 0.04572994, 0.05817867,-0.07863016,
  0.17141607, 0.99954611, 0.02841787,-0.00372658,-0.0092797 ]

qacc:
[  1.90096566,  0.2476071 ,  0.12462264, -2.18726751, -1.91846865,
  -2.83928433, 11.96170875,-22.30349318,  3.81695628,  1.22752722,
  -2.36630125, -2.15324439, -1.1022669 ,  1.2598828 , 10.17199557,
 -38.11121091,  2.37291935,  0.20845947,  0.36656586, -1.80356612,
  21.09246832, -5.47762702]

qfrc_actuator:
[ 1.25754463e-04, 9.29460469e-04, 1.27094989e-04,-3.71071595e-05,
  4.42215839e-05,-5.63091135e-07, 6.15695266e-06, 5.02020900e-05,
 -1.04350695e-04, 8.38887029e-04, 1.61535143e-04, 9.63240051e-05,
  2.28367674e-02,-1.41558644e-03, 1.31784055e-02,-3.23108525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.41614175,  -6.22791503,  -1.54270846,  -6.22791503,
         9.95045079, -14.26800784,  -1.54270846, -14.26800784,
        64.01609841,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005980397542025284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.64109207e-14, -9.28218414e-14,  1.00000000e+00, -4.30794712e-27,
        1.00000000e+00,  9.28218414e-14, -1.00000000e+00,  0.00000000e+00,
       -4.64109207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749013, -0.08138054,  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:
[ 1.14595971e-05, 3.47041144e-05, 5.90546901e-06,-3.93905484e-06,
 -1.13445361e-05,-2.74079232e-05, 1.86536864e-05,-2.94571201e-05,
  2.32143547e-05, 3.91705674e-05,-1.69759598e-05,-1.34385005e-05,
 -1.61242820e-04,-4.44024435e-05,-1.55644978e-04,-2.29358982e-04,
  1.62758686e-05, 8.49083170e-06,-4.90500691e+00, 2.41478426e-04,
  1.18270416e-02,-6.74113173e-04]


--- Step 816 ---
qpos:
[ 0.01872074, 0.03008894,-0.00949854,-0.02556531, 0.00787227, 0.00467556,
 -0.00785381, 0.02710756, 0.0123189 , 0.02800053,-0.00834751, 0.02646337,
  1.13632728, 0.00739419, 1.0425479 , 0.04571898, 0.05817142,-0.0786458 ,
  0.17142194, 0.99954425, 0.02847846,-0.0037568 ,-0.00928162]

qacc:
[ -1.91942873, -1.35465117,  9.91276406,-28.5151554 ,  1.8358202 ,
  -1.0735498 ,  4.60227471, -9.7838084 ,  5.426669  , -1.61125844,
   6.61577866,-10.52853145, -0.81668578,  1.01790274,-18.10102883,
  59.09896516,  2.32559786,  0.19674573,  0.17428267, -1.94728428,
  20.72207482, -5.08722599]

qfrc_actuator:
[ 1.13961194e-04, 9.31295129e-04, 1.12086298e-04,-9.31251677e-05,
  5.52492387e-05,-2.41838185e-05, 2.76968830e-06, 3.36863473e-05,
 -7.23137052e-05, 8.42527288e-04, 1.87570334e-04, 8.83132447e-05,
  2.27831409e-02,-1.39234091e-03, 1.31538410e-02,-2.94773572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005977121311941391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.64363599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.64363599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748941, -0.08138342,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14472053e-05, 2.22933957e-05,-7.24989991e-06,-5.44051770e-05,
  1.06961643e-05,-3.63377830e-05,-7.77334255e-06,-1.76196103e-05,
  3.27294201e-05, 2.15084882e-05, 3.15884182e-05,-7.17963504e-06,
 -1.57942663e-04,-2.30387444e-05,-1.25889042e-04, 2.49680226e-04,
  6.30893097e-06, 5.25063515e-06,-4.90500343e+00, 2.43264002e-04,
  1.18285271e-02,-6.75653941e-04]


--- Step 817 ---
qpos:
[ 0.01872114, 0.03008898,-0.00949863,-0.02556654, 0.00787384, 0.00467412,
 -0.00785269, 0.02710776, 0.01231896, 0.0279996 ,-0.00834727, 0.02646377,
  1.13685835, 0.00739448, 1.04303369, 0.04571328, 0.0581733 ,-0.07866068,
  0.17142784, 0.99954258, 0.02853535,-0.00374591,-0.00929195]

qacc:
[-4.21226123e+00,-1.78210773e+00, 7.05812743e+00,-1.22641122e+01,
  4.11810067e+00,-2.49214340e-01, 1.57372393e+00,-4.97251175e+00,
  3.62547344e-01,-2.37378727e+00, 8.57157602e+00,-1.11720801e+01,
 -1.21244796e+00, 1.88510813e+00,-1.71901693e+01, 5.83697821e+01,
  2.28563421e+00, 1.87113734e-01, 9.24476614e-03,-2.05687311e+00,
  2.04067404e+01,-4.77704770e+00]

qfrc_actuator:
[ 8.89074661e-05, 8.96606105e-04, 1.21099462e-04,-1.07958023e-04,
  7.90539622e-05,-1.99059660e-05, 2.27783492e-07, 2.37972704e-05,
 -7.12323796e-05, 8.27231874e-04, 2.20852221e-04, 8.34221219e-05,
  2.27371936e-02,-1.34291678e-03, 1.31589706e-02,-2.66983292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005940732676516097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34415909e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.34415909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748777, -0.08138578,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53773570e-05,-2.60605272e-05, 1.08449868e-05,-1.51860703e-05,
  2.40970616e-05,-1.83664440e-05,-1.16152905e-05,-1.20593110e-05,
  2.04518007e-06, 2.99384044e-06, 4.13794106e-05,-3.01577373e-06,
 -1.41661240e-04, 8.05573128e-06,-2.84291943e-05, 2.74918245e-04,
  1.00907932e-06, 2.08993635e-06,-4.90500129e+00, 2.43716085e-04,
  1.18295589e-02,-6.77099294e-04]


--- Step 818 ---
qpos:
[ 0.01872124, 0.03008831,-0.00949812,-0.0255672 , 0.00787534, 0.0046726 ,
 -0.00785169, 0.02710853, 0.01231903, 0.02799904,-0.00834738, 0.02646445,
  1.13738838, 0.00739532, 1.04351879, 0.04571292, 0.0581842 ,-0.07867486,
  0.17143322, 0.99954108, 0.02858838,-0.00369446,-0.0093102 ]

qacc:
[ -2.57171021, -1.42746014,  1.37665053,  7.88780202, -0.63321839,
   1.37070025, -7.43211775, 17.47295925,  0.0905712 ,  2.04235429,
  -7.84205458, 13.21715317, -0.83849661,  1.23598763,-17.10215111,
  58.51414342,  2.25216977,  0.17917589, -0.13177197, -2.14040164,
  20.14093608, -4.53127637]

qfrc_actuator:
[ 7.40091864e-05, 8.40428137e-04, 1.44108464e-04,-8.06927355e-05,
  7.46761555e-05,-1.67017601e-05,-1.67185121e-06, 5.34167487e-05,
 -7.06303816e-05, 8.54013963e-04, 2.04790910e-04, 9.81371155e-05,
  2.26959015e-02,-1.31385771e-03, 1.31446107e-02,-2.39745138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005878246439003643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44348826e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.44348826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748541, -0.08138773,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56464939e-05,-6.91689184e-05, 1.84407680e-05, 2.62328233e-05,
 -3.69843444e-06,-9.93539430e-06,-7.53903810e-06, 2.81950833e-05,
  6.58902097e-07, 3.69051448e-05,-1.04434528e-05, 1.62169345e-05,
 -1.19062599e-04,-1.94700564e-06,-5.33250849e-06, 2.82152738e-04,
  1.00944572e-07,-9.25661661e-07,-4.90500042e+00, 2.43009738e-04,
  1.18301593e-02,-6.78440671e-04]


--- Step 819 ---
qpos:
[ 0.01872082, 0.0300872 ,-0.00949737,-0.02556789, 0.00787642, 0.00467107,
 -0.00785073, 0.02710929, 0.0123191 , 0.02799863,-0.00834761, 0.02646532,
  1.13791757, 0.007396  , 1.04400331, 0.04571392, 0.05820399,-0.07868834,
  0.17143759, 0.99953977, 0.02863739,-0.00360291,-0.00933599]

qacc:
[-4.48512605,-1.29598724, 3.89595062,-4.38714157,-3.59842622, 0.09957483,
 -0.32789563, 0.22992092, 0.05165516, 0.92248512,-3.75433641, 6.97020851,
 -0.40360832, 0.18848957,-4.93572911,16.06669077, 2.22442209, 0.17261765,
 -0.25175948,-2.20412846,19.91947257,-4.33728939]

qfrc_actuator:
[ 4.74592883e-05, 8.25166209e-04, 1.57356388e-04,-8.21571626e-05,
  5.37416228e-05,-1.41234167e-05,-3.14711691e-06, 5.27891921e-05,
 -7.03046914e-05, 8.52344874e-04, 1.95404999e-04, 1.06515319e-04,
  2.26414501e-02,-1.33258469e-03, 1.30866136e-02,-2.34359910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005795632078906265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43671520e-13, -9.57810131e-14,  1.00000000e+00, -1.37610037e-26,
        1.00000000e+00,  9.57810131e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43671520e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748249, -0.08138935,  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:
[-2.70300733e-05,-4.89946697e-05, 2.14493240e-06,-3.27450173e-06,
 -2.10439761e-05,-3.28622935e-06,-3.47611301e-06,-7.65868884e-07,
  3.55857446e-07, 1.75269505e-05,-2.48141656e-06, 9.91395480e-06,
 -1.21471132e-04,-4.69125880e-05,-3.83641074e-05, 6.67746077e-05,
  3.37077489e-06,-3.75284849e-06,-4.90500075e+00, 2.41272863e-04,
  1.18303472e-02,-6.79671680e-04]


--- Step 820 ---
qpos:
[ 0.01872008, 0.03008604,-0.00949689,-0.02556895, 0.00787725, 0.0046695 ,
 -0.00784947, 0.02710932, 0.01231884, 0.02799816,-0.00834727, 0.02646592,
  1.13844575, 0.00739682, 1.0444872 , 0.04571263, 0.05823259,-0.07870115,
  0.17144055, 0.99953864, 0.02868231,-0.00347161,-0.00936904]

qacc:
[ -2.71329086, -0.08721268,  1.77808473, -7.74074119, -2.27257861,
  -2.36472544, 11.43276311,-24.4399342 , -2.89044799, -2.19696489,
   8.89600268,-14.48589088, -0.99886142,  1.20725211,  6.08226911,
 -22.42893985,  2.20168965,  0.16718394, -0.35344047, -2.25290584,
  19.73758752, -4.18500923]

qfrc_actuator:
[ 3.20135830e-05, 8.34466721e-04, 1.47107360e-04,-1.00499113e-04,
  4.09915175e-05,-1.19551338e-05, 1.33653340e-05, 1.66105917e-05,
 -8.78966865e-05, 8.51414198e-04, 2.25444278e-04, 9.33338750e-05,
  2.25844473e-02,-1.32625254e-03, 1.30237527e-02,-2.47227176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005697940733736945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74231812e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.74231812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747915, -0.08139071,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62475490e-05,-1.77692158e-05,-2.02099338e-05,-2.04256290e-05,
 -1.33491261e-05,-3.84841987e-07, 1.53848802e-05,-3.64541407e-05,
 -1.75771267e-05, 8.79880299e-06, 3.37027456e-05,-1.23237652e-05,
 -1.36983872e-04,-3.24134184e-05,-8.14347499e-05,-1.31793892e-04,
  1.06548845e-05,-6.36386435e-06,-4.90500224e+00, 2.38597912e-04,
  1.18301383e-02,-6.80787540e-04]


--- Step 821 ---
qpos:
[ 0.0187195 , 0.03008502,-0.00949666,-0.02557025, 0.00787826, 0.00466787,
 -0.00784827, 0.0271086 , 0.01231871, 0.02799817,-0.00834734, 0.02646635,
  1.13897301, 0.0073977 , 1.04497016, 0.04570978, 0.05826992,-0.07871331,
  0.17144175, 0.99953767, 0.02872304,-0.00330087,-0.00940911]

qacc:
[  1.40412159,  0.41315959, -0.20141419, -3.60368688,  1.63172031,
  -1.48116829,  8.33314172,-21.20382621,  1.13388609,  1.41350695,
  -3.46274994,  0.96165365, -0.80595299,  0.89451601,  3.40050331,
 -13.71950335,  2.18335025,  0.1626679 , -0.43926052, -2.29049304,
  19.59097474, -4.06638586]

qfrc_actuator:
[ 4.09837119e-05, 8.58297581e-04, 1.40925034e-04,-1.10857837e-04,
  5.09187714e-05,-2.77581880e-05, 4.84042466e-06,-2.24266708e-05,
 -8.03886799e-05, 8.86576576e-04, 2.07491278e-04, 8.53505010e-05,
  2.25419375e-02,-1.32286144e-03, 1.29846274e-02,-2.54758326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005589420672948014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48972016e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48972016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747552, -0.08139185,  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:
[ 8.49551960e-06, 8.88143972e-06,-1.30362936e-05,-1.22117721e-05,
  9.54865048e-06,-1.43649430e-05,-7.96664546e-06,-3.92297001e-05,
  6.99356028e-06, 4.65209432e-05,-1.24101043e-05,-6.68036752e-06,
 -1.28943908e-04,-3.50886050e-05,-9.86400344e-05,-9.47924578e-05,
  2.18304268e-05,-8.74169572e-06,-4.90500487e+00, 2.35050640e-04,
  1.18295453e-02,-6.81784668e-04]


--- Step 822 ---
qpos:
[ 0.01871904, 0.03008464,-0.00949679,-0.02557172, 0.00787939, 0.00466643,
 -0.00784732, 0.02710774, 0.01231902, 0.02799851,-0.00834787, 0.02646636,
  1.1394995 , 0.00739807, 1.04545261, 0.04570524, 0.05830613,-0.07871621,
  0.1714438 , 0.99953786, 0.02872401,-0.00313592,-0.00944231]

qacc:
[  0.93510947,  1.46407156, -3.28099874,  0.40575685,  0.96354366,
   0.66435673, -1.44572192, -0.62188028,  3.69266067,  0.8230061 ,
  -0.51783059, -6.32776013, -0.27073824, -0.22197109,  4.34415181,
 -16.30673838, -0.28148139,  2.31653524,  0.21164149,-19.84620806,
  -2.97701024,  3.58990278]

qfrc_actuator:
[ 4.64965983e-05, 9.26176022e-04, 1.37279434e-04,-1.16411389e-04,
  5.63585559e-05,-1.04734741e-06,-7.23099285e-07,-2.73575081e-05,
 -5.81608645e-05, 8.89639233e-04, 1.79238654e-04, 6.27320884e-05,
  2.24975008e-02,-1.35671364e-03, 1.29810956e-02,-2.62620473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.0621763 ,  4.51679628, -4.0433319 ,  4.51679628, 24.07133331,
       20.1179857 , -4.0433319 , 20.1179857 , 28.53592942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00055558317949546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48495070e-07, -1.48495127e-07,  1.00000000e+00, -2.20507943e-14,
        1.00000000e+00,  1.48495127e-07, -1.00000000e+00,  0.00000000e+00,
       -1.48495070e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06469457, -0.11124604,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76783141e-06, 6.96714972e-05,-3.82693652e-06,-5.85771094e-06,
  5.70808826e-06, 1.54011206e-05,-1.08631984e-05,-6.58338955e-06,
  2.24500053e-05, 2.62294446e-05,-2.04033431e-05,-2.11853456e-05,
 -1.27093144e-04,-7.09956436e-05,-6.55972271e-05,-9.79654429e-05,
  3.68080133e-05,-1.08766616e-05,-4.90500860e+00, 2.30676648e-04,
  1.18285779e-02,-6.82660359e-04]


--- Step 823 ---
qpos:
[ 0.0187183 , 0.03008464,-0.00949721,-0.02557287, 0.00788057, 0.00466517,
 -0.00784652, 0.02710752, 0.01231924, 0.02799917,-0.00834875, 0.02646609,
  1.14002516, 0.00739806, 1.04593336, 0.04570321, 0.05833232,-0.07871498,
  0.17144694, 0.99953854, 0.02870679,-0.00301622,-0.00946249]

qacc:
[ -2.37207987,  1.9934734 , -7.69181239, 13.35298474,  0.48991201,
   1.95680451, -9.30208009, 20.34400323, -0.70170161,  0.86975895,
  -1.31158032, -3.12915618, -0.09684162, -0.43408796,-10.08076906,
  31.62131395, -2.50455743,  1.02999451,  0.27371732, -8.86324814,
 -22.5154804 ,  7.18221591]

qfrc_actuator:
[ 3.21699321e-05, 9.31170357e-04, 1.17599974e-04,-1.01300163e-04,
  5.91064271e-05, 1.54442082e-05,-4.29214628e-06, 5.61202963e-06,
 -6.29607815e-05, 9.08894033e-04, 1.62767258e-04, 4.94117165e-05,
  2.24519255e-02,-1.37687434e-03, 1.29083790e-02,-2.49302167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005659437592643451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80859853e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80859853e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565501, -0.09331386,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41322672e-05, 4.29347602e-05,-5.95452732e-06, 1.78519321e-05,
  2.91617652e-06, 2.26230442e-05,-1.94608084e-06, 3.31283126e-05,
 -4.12991624e-06, 2.88026461e-05,-1.42978836e-05,-1.33150917e-05,
 -1.35171976e-04,-6.54909586e-05,-1.21392109e-04, 1.17570001e-04,
  3.41529143e-05,-2.09465923e-06,-4.90500906e+00, 2.33064893e-04,
  1.18249126e-02,-6.82443221e-04]


--- Step 824 ---
qpos:
[ 0.01871671, 0.03008449,-0.00949733,-0.0255738 , 0.00788212, 0.004664  ,
 -0.00784601, 0.02710771, 0.01231975, 0.02800043,-0.00835031, 0.02646634,
  1.14054981, 0.00739831, 1.04641211, 0.04570514, 0.0583487 ,-0.07870975,
  0.17145034, 0.9995397 , 0.02867136,-0.00294072,-0.00947071]

qacc:
[ -7.3237171 , -0.55724432,  0.7941374 ,  2.61568394,  3.23429287,
   1.80646146, -8.02793962, 15.66292534,  2.40196473,  3.73162221,
 -14.36934466, 24.01247503, -0.58875685,  0.68099056,-14.9323126 ,
  48.02821297, -2.45204943,  1.00264143,  0.06489651, -8.88705038,
 -21.99956596,  6.64612143]

qfrc_actuator:
[-1.14714986e-05, 8.98427312e-04, 1.23889093e-04,-9.19632592e-05,
  7.80017256e-05, 7.98424692e-06,-2.44163678e-05, 2.51040279e-05,
 -4.81303093e-05, 9.55492439e-04, 1.35701592e-04, 7.71970651e-05,
  2.24163541e-02,-1.35323539e-03, 1.28209039e-02,-2.28953346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1934885 , -4.8032334 ,  3.91001901, -4.8032334 , 30.12008047,
       29.39244167,  3.91001901, 29.39244167, 42.30041205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005713636261068245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71555568e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.71555568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565266, -0.09331669,  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:
[-4.40381453e-05,-9.19518490e-06, 1.50495762e-05, 1.13209667e-05,
  1.89847671e-05, 6.24671011e-06,-1.45387277e-05, 2.10402961e-05,
  1.47216254e-05, 5.91672135e-05,-2.33342680e-05, 2.82671099e-05,
 -1.28611309e-04,-2.22078758e-05,-1.33909020e-04, 1.93613136e-04,
  1.78228243e-05, 1.64719141e-06,-4.90500521e+00, 2.38211045e-04,
  1.18236367e-02,-6.81790846e-04]


--- Step 825 ---
qpos:
[ 0.0187153 , 0.03008453,-0.00949721,-0.02557465, 0.00788319, 0.00466279,
 -0.00784539, 0.02710778, 0.01232044, 0.02800204,-0.00835157, 0.02646689,
  1.14107366, 0.00739851, 1.04689001, 0.04570964, 0.05835545,-0.07870059,
  0.17145328, 0.99954136, 0.02861769,-0.00290851,-0.00946779]

qacc:
[  1.53251879, -0.27349003,  0.99913994, -0.15802558, -4.17808162,
  -0.6328868 ,  2.71207423, -5.02537856,  1.48525795,  0.2608039 ,
  -1.49271545,  5.85749916, -0.37275632,  0.21987942, -8.99188658,
  29.67595339, -2.40694875,  0.9797612 , -0.11610195, -8.89330941,
 -21.56096248,  6.21443479]

qfrc_actuator:
[-1.00106824e-06, 9.32190374e-04, 1.45288843e-04,-8.61199237e-05,
  5.29926382e-05, 3.91647970e-06,-1.87634263e-05, 1.87185101e-05,
 -3.96078615e-05, 9.82592721e-04, 1.55994139e-04, 9.34552450e-05,
  2.23815030e-02,-1.35705499e-03, 1.28152017e-02,-2.15284439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726449800358968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.69381609e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.69381609e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565182, -0.09331935,  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:
[ 9.18363122e-06, 3.22127634e-05, 2.17545214e-05, 6.19562452e-06,
 -2.44676719e-05,-2.63345834e-06, 5.88712198e-06,-6.21113820e-06,
  8.97716000e-06, 5.65572261e-05, 3.06212588e-05, 1.85360689e-05,
 -1.13963196e-04,-3.80100344e-05,-4.86026368e-05, 1.29628582e-04,
  6.96609501e-06, 2.97426158e-06,-4.90500255e+00, 2.41397585e-04,
  1.18233585e-02,-6.80806540e-04]


--- Step 826 ---
qpos:
[ 0.01871402, 0.03008493,-0.0094972 ,-0.02557543, 0.00788396, 0.00466178,
 -0.00784508, 0.02710778, 0.01232053, 0.02800344,-0.00835205, 0.02646801,
  1.14159657, 0.00739874, 1.04736805, 0.04571033, 0.05835273,-0.07868759,
  0.17145512, 0.99954351, 0.02854583,-0.00291882,-0.00945441]

qacc:
[  1.15766985,  0.91852602, -2.93083323,  4.20318123, -2.7233711 ,
   0.99912146, -2.84273226,  1.84943374, -5.01503866, -1.28812146,
   1.78186279,  7.03382531, -1.00076546,  1.16351808, 11.82511901,
 -40.85607516, -2.36853402,  0.96074445, -0.27220339, -8.88916628,
 -21.19062654,  5.86668754]

qfrc_actuator:
[ 5.74008992e-06, 9.52318869e-04, 1.40181964e-04,-8.23199401e-05,
  3.78429320e-05, 1.97368851e-05,-3.34450360e-05, 1.49331604e-05,
 -7.03781816e-05, 9.44736297e-04, 1.86254550e-04, 1.20567779e-04,
  2.23258002e-02,-1.35939797e-03, 1.27999480e-02,-2.35821077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570585242437624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.72880949e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.72880949e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565218, -0.09332188,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01879508e-06, 4.29065189e-05, 4.44089206e-06, 6.05389006e-06,
 -1.58459469e-05, 1.53255430e-05,-1.47077035e-05,-3.81321571e-06,
 -3.04853287e-05, 8.50884022e-07, 4.63511900e-05, 3.09542743e-05,
 -1.29251245e-04,-3.72932629e-05,-3.05596767e-05,-2.06087097e-04,
  1.15369940e-06, 2.00420051e-06,-4.90500103e+00, 2.42906266e-04,
  1.18240100e-02,-6.79482331e-04]


--- Step 827 ---
qpos:
[ 0.01871283, 0.0300855 ,-0.00949748,-0.02557542, 0.00788523, 0.004661  ,
 -0.0078453 , 0.02710808, 0.01231991, 0.02800477,-0.00835268, 0.0264695 ,
  1.14211827, 0.00739957, 1.0478454 , 0.04570764, 0.05834066,-0.07867082,
  0.17145535, 0.99954614, 0.02845578,-0.00297103,-0.0094311 ]

qacc:
[  0.76887992,  2.68582239,-12.51236183, 26.32559035,  4.39793125,
   2.37112041, -9.34960179, 15.40018389, -6.0888156 ,  1.08540189,
  -5.53403131, 12.12315727, -1.58687131,  2.32751523,  9.3407371 ,
 -33.84947645, -2.33609887,  0.94505555, -0.40625914, -8.87977487,
 -20.88035356,  5.58649671]

qfrc_actuator:
[ 1.02145611e-05, 9.46272554e-04, 1.19421142e-04,-4.42722944e-05,
  6.41368954e-05, 2.95130876e-05,-5.99377259e-05, 3.04641085e-05,
 -1.06275415e-04, 9.21587737e-04, 1.68624213e-04, 1.36042398e-04,
  2.22629527e-02,-1.32540734e-03, 1.27469493e-02,-2.53267796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005658687347312175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565351, -0.09332431,  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:
[ 4.69242115e-06, 1.91166411e-05,-1.11448667e-05, 4.01569499e-05,
  2.58497414e-05, 1.51724147e-05,-2.52615422e-05, 1.56068498e-05,
 -3.67902727e-05,-1.18297086e-05,-1.06864269e-05, 1.77140210e-05,
 -1.45470791e-04,-4.10608069e-06,-1.00231276e-04,-1.92214972e-04,
  5.40819903e-08,-1.16754697e-06,-4.90500060e+00, 2.42946778e-04,
  1.18255379e-02,-6.77812570e-04]


--- Step 828 ---
qpos:
[ 0.01871274, 0.03008612,-0.00949798,-0.02557426, 0.0078868 , 0.00465996,
 -0.00784537, 0.02710893, 0.01231887, 0.02800623,-0.00835326, 0.02647008,
  1.14263887, 0.00740081, 1.04832129, 0.04570585, 0.05831936,-0.07865031,
  0.17145349, 0.99954925, 0.02834758,-0.0030646 ,-0.0093983 ]

qacc:
[  9.40627161,  3.00499012,-15.5553806 , 35.92964946,  2.69610375,
   0.39576176, -4.22449364, 13.6629814 , -3.63215045, -1.82366962,
  10.58733535,-26.41471195, -1.02074643,  1.39546499, -4.78437341,
  13.84301003, -2.30897726,  0.93222852, -0.52095258, -8.86881906,
 -20.62281764,  5.36074969]

qfrc_actuator:
[ 6.65775077e-05, 9.42306650e-04, 1.07260657e-04, 1.35924507e-05,
  7.91047870e-05, 5.24897712e-08,-5.76865044e-05, 5.72276237e-05,
 -1.27137092e-04, 9.42718043e-04, 1.76140871e-04, 9.12560057e-05,
  2.22118547e-02,-1.30570821e-03, 1.27033295e-02,-2.47447547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005590793473813221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98580582e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98580582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565559, -0.09332665,  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:
[ 5.65036053e-05, 6.12931960e-06,-8.19789881e-06, 5.90789978e-05,
  1.57081755e-05,-2.54860854e-05, 2.82382417e-06, 2.68438543e-05,
 -2.19415827e-05, 1.30079445e-05, 4.35910455e-06,-4.53218193e-05,
 -1.35958657e-04,-1.39977733e-05,-1.18040027e-04, 3.30628348e-05,
  3.41304267e-06,-6.46527891e-06,-4.90500124e+00, 2.41674614e-04,
  1.18279014e-02,-6.75793241e-04]


--- Step 829 ---
qpos:
[ 0.01871333, 0.03008642,-0.00949844,-0.02557238, 0.00788888, 0.00465904,
 -0.00784584, 0.02711008, 0.01231827, 0.02800764,-0.00835338, 0.02646977,
  1.14315839, 0.00740257, 1.04879628, 0.04570104, 0.05828891,-0.07862612,
  0.17144915, 0.99955279, 0.02822126,-0.0031991 ,-0.00935637]

qacc:
[  5.81278311,  0.95246528, -7.00888464, 19.51668495,  4.49086741,
   1.87437207, -7.73458182, 13.50830314,  3.82385112, -3.17774964,
  14.96242476,-31.02316573, -1.37917825,  2.00698862,  7.89983948,
 -29.3125387 , -2.28655614,  0.92186075, -0.61875242, -8.85889604,
 -20.41154793,  5.17894893]

qfrc_actuator:
[ 9.97731060e-05, 9.04154901e-04, 1.00288977e-04, 4.71504577e-05,
  1.05025543e-04, 1.84545422e-05,-7.41403246e-05, 7.26180531e-05,
 -1.03474567e-04, 9.36977068e-04, 1.98601185e-04, 4.69401839e-05,
  2.21625133e-02,-1.27688038e-03, 1.26441258e-02,-2.63465974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005507124170618938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01597602e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01597602e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565823, -0.09332892,  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:
[ 3.48405046e-05,-3.38869901e-05,-4.67756452e-06, 3.46820890e-05,
  2.63570363e-05, 5.92611236e-06,-2.04311337e-05, 1.49183336e-05,
  2.30292187e-05, 4.32877481e-07, 2.41041672e-05,-4.44921610e-05,
 -1.30804457e-04,-5.12199038e-06,-1.14432510e-04,-1.74537867e-04,
  1.10381266e-05,-1.38305942e-05,-4.90500291e+00, 2.39204425e-04,
  1.18310692e-02,-6.73421450e-04]


--- Step 830 ---
qpos:
[ 0.01871362, 0.0300864 ,-0.00949892,-0.02557046, 0.00789126, 0.00465858,
 -0.00784667, 0.02711102, 0.0123183 , 0.02800873,-0.00835395, 0.02646938,
  1.14367697, 0.00740466, 1.04927031, 0.04569196, 0.05824939,-0.07859827,
  0.17144201, 0.99955676, 0.02807683,-0.00337419,-0.00930557]

qacc:
[ -2.52921441, -0.28718188,  0.21661066,  0.85275404,  2.56934252,
   1.18110552, -2.42493497, -1.05492508,  5.38796752,  0.64723437,
  -2.54912373,  1.99011979, -1.1952922 ,  1.65362637, 11.5883146 ,
 -42.33552033, -2.26828029,  0.91360609, -0.70189556, -8.85180092,
 -20.24087039,  5.03268621]

qfrc_actuator:
[ 8.35445503e-05, 8.81328437e-04, 9.62706529e-05, 4.83547983e-05,
  1.19436534e-04, 6.52948253e-05,-8.35897119e-05, 6.34581563e-05,
 -7.15528537e-05, 8.79747252e-04, 1.58597870e-04, 3.87597380e-05,
  2.21195900e-02,-1.26059879e-03, 1.25915536e-02,-2.85130337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005411856202476167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05146438e-13, -1.53859829e-13,  1.00000000e+00, -3.15637959e-26,
        1.00000000e+00,  1.53859829e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05146438e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09566131, -0.09333112,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52271994e-05,-4.12563083e-05,-1.03975894e-05, 2.61660463e-07,
  1.51622979e-05, 4.66187133e-05,-1.02129209e-05,-9.32310307e-06,
  3.26026236e-05,-5.39579589e-05,-3.85002927e-05,-8.19701378e-06,
 -1.19887183e-04,-1.41379154e-05,-1.30466478e-04,-2.42373641e-04,
  2.27864682e-05,-2.32201188e-05,-4.90500557e+00, 2.35620011e-04,
  1.18350183e-02,-6.70695043e-04]


--- Step 831 ---
qpos:
[ 0.01871371, 0.03008602,-0.00949913,-0.02556855, 0.00789345, 0.00465825,
 -0.00784698, 0.02711216, 0.01231837, 0.02800912,-0.00835453, 0.02646891,
  1.14419485, 0.00740663, 1.04974231, 0.04568339, 0.05821983,-0.07856941,
  0.17143815, 0.99956075, 0.02793071,-0.00350501,-0.00926762]

qacc:
[-1.67169965,-1.2382492 , 3.78264598,-4.18093615,-1.66018483,-0.8656251 ,
  2.45662648, 0.21490146, 0.33920112,-1.0719727 , 2.78422747,-3.535891  ,
 -0.30905385, 0.11811959,-4.48044137,11.3456756 , 2.48908586, 0.25341458,
  0.82040179,-1.06972353,21.93407074,-7.04522934]

qfrc_actuator:
[ 7.38682152e-05, 8.67832411e-04, 1.11809478e-04, 4.82793807e-05,
  1.09202016e-04, 7.55532984e-05,-5.32017906e-05, 7.54700213e-05,
 -7.05459212e-05, 8.27404552e-04, 1.52844490e-04, 3.40619845e-05,
  2.20858690e-02,-1.26961103e-03, 1.25110419e-02,-2.81532984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.99812292,  5.93898568, -0.84019498,  5.93898568,  6.7180894 ,
        5.08914087, -0.84019498,  5.08914087, 41.9711239 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005478604072565729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51985297e-13,  5.06617657e-14,  1.00000000e+00,  7.69984353e-27,
        1.00000000e+00, -5.06617657e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51985297e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0274672 , -0.08142564,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01338751e-05,-3.87066252e-05, 5.74830736e-06,-2.19901797e-06,
 -9.78655201e-06, 3.38484800e-05, 3.84496592e-05, 1.34750063e-05,
  1.94930268e-06,-9.08410576e-05,-2.19314302e-05,-8.50338305e-06,
 -1.07057843e-04,-3.87806772e-05,-1.72582785e-04, 4.57993019e-06,
  3.85552890e-05,-3.46034643e-05,-4.90500921e+00, 2.30981807e-04,
  1.18397315e-02,-6.67612331e-04]


--- Step 832 ---
qpos:
[ 0.01871369, 0.03008524,-0.00949911,-0.025567  , 0.00789516, 0.00465794,
 -0.00784682, 0.02711311, 0.01231846, 0.0280087 ,-0.00835456, 0.02646871,
  1.14471201, 0.00740827, 1.05021191, 0.04567925, 0.05819997,-0.07853959,
  0.17143659, 0.99956483, 0.02778222,-0.00359251,-0.00924107]

qacc:
[ -0.98876858, -1.91664429,  7.57242577,-13.80229287, -4.24701796,
  -1.67368274,  6.84044724,-10.96650357,  0.13128727, -2.02395231,
   4.50691097, -0.08610889,  0.13264384, -0.69402266,-17.01291423,
  54.31116928,  2.4274888 ,  0.23745888,  0.57686632, -1.40902949,
  21.47854673, -6.29206374]

qfrc_actuator:
[ 6.81424773e-05, 8.42352518e-04, 1.21060485e-04, 2.97260265e-05,
  8.45471278e-05, 6.40112465e-05,-3.51609928e-05, 6.43416258e-05,
 -6.99937196e-05, 7.96263816e-04, 1.85129198e-04, 4.92274996e-05,
  2.20417054e-02,-1.29349259e-03, 1.24298754e-02,-2.57757798e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.09014264, -6.01212909, -0.97166929, -6.01212909,  7.13539766,
       -6.46743513, -0.97166929, -6.46743513, 46.1069007 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005589492422125308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93134028e-14,  7.44850521e-14,  1.00000000e+00,  7.39736398e-27,
        1.00000000e+00, -7.44850521e-14, -1.00000000e+00,  0.00000000e+00,
       -9.93134028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746969, -0.08143087,  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:
[-6.03362919e-06,-4.60229280e-05, 1.89169720e-06,-2.00570169e-05,
 -2.49233096e-05, 1.59157210e-05, 3.02401015e-05,-8.08594885e-06,
  5.79526610e-07,-8.68398701e-05, 1.05278042e-05, 1.03496530e-05,
 -1.16001333e-04,-5.64401748e-05,-1.61251083e-04, 2.15582798e-04,
  2.12269558e-05,-2.57465549e-05,-4.90500674e+00, 2.38430083e-04,
  1.18380362e-02,-6.64137261e-04]


--- Step 833 ---
qpos:
[ 0.0187136 , 0.03008439,-0.00949934,-0.02556637, 0.00789621, 0.00465795,
 -0.00784706, 0.0271136 , 0.01231855, 0.02800752,-0.00835423, 0.02646905,
  1.14522829, 0.0074097 , 1.05068078, 0.04567543, 0.05818961,-0.07850888,
  0.17143649, 0.99956901, 0.02763082,-0.00363753,-0.00922473]

qacc:
[ -0.59709911, -1.28098599,  8.36238359,-24.01168626, -5.77135122,
   0.6337695 ,  0.33282694, -7.94594323,  0.07464632, -0.93481581,
  -0.35222417,  9.50850778, -0.44355367,  0.18445411, -2.01510831,
   5.52088768,  2.37439809,  0.22494573,  0.36406641, -1.67452679,
  21.08051656, -5.68667185]

qfrc_actuator:
[ 6.47860488e-05, 8.45366092e-04, 1.08706340e-04,-1.73198668e-05,
  5.16101932e-05, 7.49485046e-05,-6.01888010e-05, 3.96474112e-05,
 -6.97031590e-05, 7.60487787e-04, 2.04193219e-04, 7.59966344e-05,
  2.19913025e-02,-1.30827798e-03, 1.24176567e-02,-2.56020970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.14052314,  -6.00398928,  -1.28768677,  -6.00398928,
         8.48121694, -10.913757  ,  -1.28768677, -10.913757  ,
        57.02718408,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005650055086244971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91244336e-14, -2.45622168e-14,  1.00000000e+00, -1.20660499e-27,
        1.00000000e+00,  2.45622168e-14, -1.00000000e+00,  0.00000000e+00,
       -4.91244336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747078, -0.08143507,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54540696e-06,-2.31675753e-05,-2.23147322e-05,-4.93429835e-05,
 -3.36405535e-05, 2.57359421e-05,-1.82947129e-05,-2.31239674e-05,
  2.75013586e-07,-8.17025187e-05, 2.78671877e-06, 2.36148546e-05,
 -1.30689660e-04,-5.39685605e-05,-6.30959409e-05, 8.51809197e-06,
  9.25100328e-06,-1.74181619e-05,-4.90500549e+00, 2.43856022e-04,
  1.18363301e-02,-6.60610209e-04]


--- Step 834 ---
qpos:
[ 0.01871381, 0.03008386,-0.00950025,-0.025566  , 0.00789686, 0.00465833,
 -0.00784766, 0.02711378, 0.01231864, 0.02800571,-0.00835395, 0.02646937,
  1.14574357, 0.00741123, 1.05114965, 0.04566775, 0.05818857,-0.07847731,
  0.17143711, 0.99957333, 0.02747606,-0.00364077,-0.00921765]

qacc:
[ 2.59005486e+00, 1.75931193e+00,-4.65353659e+00, 1.26567411e+00,
 -3.56424268e+00, 8.17683606e-01,-9.06270808e-01,-4.16467770e+00,
  3.18582858e-02,-7.23992365e-01, 1.43242377e+00,-1.12829686e+00,
 -1.11541385e+00, 1.35677709e+00, 1.17904419e+01,-4.10087031e+01,
  2.32901252e+00, 2.15223821e-01, 1.79294276e-01,-1.88306066e+00,
  2.07363187e+01,-5.19922536e+00]

qfrc_actuator:
[ 8.06024668e-05, 8.83060370e-04, 8.37928865e-05,-2.74841624e-05,
  3.18199308e-05, 9.90643200e-05,-7.48592549e-05, 2.49133450e-05,
 -6.95683895e-05, 7.22191852e-04, 1.97523863e-04, 7.38535399e-05,
  2.19425218e-02,-1.29983592e-03, 1.24094637e-02,-2.76147987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005669347812867764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.89572637e-14,  7.34358956e-14,  1.00000000e+00,  3.59522051e-27,
        1.00000000e+00, -7.34358956e-14, -1.00000000e+00,  0.00000000e+00,
       -4.89572637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747072, -0.08143846,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57107785e-05, 1.80490541e-05,-3.41422447e-05,-1.28879136e-05,
 -2.07356025e-05, 3.37271103e-05,-1.24047510e-05,-1.47133906e-05,
  1.09939800e-07,-8.23585236e-05,-2.23766461e-05,-5.08722252e-06,
 -1.35909794e-04,-3.40584638e-05,-4.34182775e-05,-2.10518313e-04,
  2.20204938e-06,-9.39927642e-06,-4.90500544e+00, 2.47630797e-04,
  1.18345341e-02,-6.57010154e-04]


--- Step 835 ---
qpos:
[ 0.01871456, 0.03008388,-0.00950223,-0.02556506, 0.00789795, 0.004659  ,
 -0.00784842, 0.02711343, 0.01231873, 0.02800363,-0.00835414, 0.02646895,
  1.14625785, 0.00741285, 1.05161786, 0.04565969, 0.05819669,-0.07844491,
  0.17143781, 0.9995778 , 0.02731763,-0.00360284,-0.00921906]

qacc:
[ 4.52643313e+00, 4.92407250e+00,-1.88569401e+01, 2.99007045e+01,
  3.92543494e+00,-2.38960102e-01, 3.64053525e+00,-1.27212586e+01,
 -5.65117663e-03,-5.44268279e-01, 4.51003955e+00,-1.62503193e+01,
 -8.21106826e-01, 9.14610207e-01, 2.30373069e-01,-2.07570603e+00,
  2.29053159e+00, 2.07767256e-01, 1.97080685e-02,-2.04774723e+00,
  2.04417470e+01,-4.80596467e+00]

qfrc_actuator:
[ 1.07576454e-04, 9.23457478e-04, 3.40986902e-05, 1.91826860e-06,
  5.54337768e-05, 1.13166813e-04,-8.32152925e-05,-1.56612572e-06,
 -6.95262227e-05, 7.18067275e-04, 1.75685164e-04, 3.69428888e-05,
  2.18947579e-02,-1.29544927e-03, 1.23983197e-02,-2.77033441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005655211713073982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81592804e-14,  4.90796402e-14,  1.00000000e+00,  4.81762217e-27,
        1.00000000e+00, -4.90796402e-14, -1.00000000e+00,  0.00000000e+00,
       -9.81592804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746973, -0.08144122,  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:
[ 2.74425582e-05, 4.29205641e-05,-5.06022335e-05, 2.87446388e-05,
  2.30374502e-05, 2.97557224e-05,-3.42316514e-06,-2.57487395e-05,
  1.24282282e-08,-5.49585368e-05,-4.17660219e-05,-4.13106064e-05,
 -1.33435253e-04,-3.45258320e-05,-6.40585550e-05,-2.83022766e-05,
 -2.53495498e-07,-1.52893377e-06,-4.90500654e+00, 2.50031107e-04,
  1.18325919e-02,-6.53320980e-04]


--- Step 836 ---
qpos:
[ 0.01871562, 0.03008412,-0.00950443,-0.02556413, 0.00789967, 0.0046597 ,
 -0.00784921, 0.02711348, 0.01231814, 0.02800131,-0.00835414, 0.02646839,
  1.14677135, 0.00741398, 1.05208451, 0.04565398, 0.05821385,-0.07841169,
  0.17143804, 0.99958242, 0.02715524,-0.00352425,-0.00922836]

qacc:
[ 2.71799626e+00, 8.26032912e-01,-2.47475320e+00, 2.37391768e+00,
  5.44848703e+00, 9.38995917e-01,-5.01422299e+00, 1.20231809e+01,
 -5.86849725e+00,-1.13655163e+00, 4.24807428e+00,-6.94587665e+00,
  1.96492492e-02,-6.61922417e-01,-9.44972527e+00, 2.96672481e+01,
  2.25819203e+00, 2.02151652e-01,-1.17490706e-01,-2.17879614e+00,
  2.01924469e+01,-4.48796878e+00]

qfrc_actuator:
[ 1.23142747e-04, 9.29595056e-04, 2.34798808e-05, 1.09412374e-06,
  8.66481225e-05, 1.03427110e-04,-8.78255824e-05, 1.85077952e-05,
 -1.05043826e-04, 7.34344511e-04, 1.98450364e-04, 3.31555104e-05,
  2.18476387e-02,-1.32902814e-03, 1.23268814e-02,-2.64792635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005614393853807104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88729196e-14, -1.48309379e-13,  1.00000000e+00, -1.46637814e-26,
        1.00000000e+00,  1.48309379e-13, -1.00000000e+00,  0.00000000e+00,
       -9.88729196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.027468  , -0.08144348,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63835536e-05, 2.09452883e-05,-6.97306471e-06,-1.76515345e-07,
  3.18806385e-05, 5.08262461e-06, 2.24512734e-07, 2.07295258e-05,
 -3.55398703e-05,-2.47747499e-05, 4.86664340e-06,-8.38566805e-06,
 -1.31294176e-04,-7.21181570e-05,-1.11499162e-04, 1.10937156e-04,
  1.62411433e-06, 6.31173668e-06,-4.90500876e+00, 2.51262961e-04,
  1.18304624e-02,-6.49530264e-04]


--- Step 837 ---
qpos:
[ 0.01871652, 0.03008405,-0.00950593,-0.02556357, 0.00790105, 0.0046602 ,
 -0.00784995, 0.02711415, 0.01231712, 0.0279993 ,-0.00835445, 0.02646844,
  1.14728398, 0.00741473, 1.05254956, 0.04564948, 0.05823992,-0.07837769,
  0.17143733, 0.99958719, 0.02698868,-0.00340545,-0.00924505]

qacc:
[ -1.39542792, -3.08272106, 11.89179479,-18.93226339, -2.88676165,
   0.85204803, -5.98471769, 16.58305106, -3.60886999,  2.55935415,
 -11.13065014, 22.04633868, -0.20020565, -0.29128232, -6.02225107,
  17.60399622,  2.23128718,  0.19803467, -0.23495482, -2.284151  ,
  19.98415516, -4.23017078]

qfrc_actuator:
[ 1.14113345e-04, 8.97548353e-04, 5.36168679e-05,-1.75122190e-05,
  6.88138519e-05, 7.95352229e-05,-9.02561174e-05, 4.80422421e-05,
 -1.25701919e-04, 7.80680617e-04, 1.94240461e-04, 6.67008646e-05,
  2.18009237e-02,-1.34933073e-03, 1.22406739e-02,-2.59136589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005552665920696837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99860356e-14, -7.49790533e-14,  1.00000000e+00, -3.74790563e-27,
        1.00000000e+00,  7.49790533e-14, -1.00000000e+00,  0.00000000e+00,
       -4.99860356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746569, -0.08144535,  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:
[-8.54308275e-06,-2.17647986e-05, 3.36170129e-05,-1.79528666e-05,
 -1.69273600e-05,-2.01200607e-05,-6.36056489e-07, 3.01622177e-05,
 -2.17166640e-05, 3.31985746e-05,-8.98908466e-06, 3.24966236e-05,
 -1.38821104e-04,-6.70473105e-05,-1.29046977e-04, 4.75475667e-05,
  7.63354844e-06, 1.42111347e-05,-4.90501207e+00, 2.51479520e-04,
  1.18281151e-02,-6.45628361e-04]


--- Step 838 ---
qpos:
[ 0.01871696, 0.03008397,-0.00950719,-0.02556255, 0.00790256, 0.00466047,
 -0.00785069, 0.02711551, 0.0123162 , 0.02799824,-0.0083554 , 0.02646815,
  1.14779549, 0.00741577, 1.05301306, 0.04564893, 0.05827484,-0.07834291,
  0.17143528, 0.99959209, 0.02681778,-0.00324677,-0.00926872]

qacc:
[ -3.93838941,  0.26329476, -2.83599504, 10.27758233,  1.0669062 ,
   1.13959815, -7.46546011, 19.77710018,  0.84955318,  2.29129789,
  -4.8740221 , -0.89273357, -0.74605017,  0.89401802,-14.18875634,
  46.4653364 ,  2.20917542,  0.19514014, -0.33513804, -2.36998817,
  19.81283754, -4.02057135]

qfrc_actuator:
[ 9.06830280e-05, 9.14045020e-04, 7.18850157e-05, 6.81677718e-06,
  7.55087526e-05, 6.51206720e-05,-9.14487090e-05, 8.28850520e-05,
 -1.19683735e-04, 8.62363918e-04, 1.74278874e-04, 5.09323312e-05,
  2.17544869e-02,-1.32607328e-03, 1.22042498e-02,-2.37882350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005474936622801574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06957021e-14,  1.52087106e-13,  1.00000000e+00,  7.71016264e-27,
        1.00000000e+00, -1.52087106e-13, -1.00000000e+00,  0.00000000e+00,
       -5.06957021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746293, -0.08144691,  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:
[-2.36857972e-05, 1.05136464e-05, 1.73087873e-05, 2.42130620e-05,
  6.20559233e-06,-2.45214917e-05,-4.38136137e-06, 3.45453512e-05,
  5.38496947e-06, 9.98495983e-05,-1.30597666e-05,-1.40186489e-05,
 -1.41977871e-04,-2.38723983e-05,-9.39023917e-05, 1.97855024e-04,
  1.76210906e-05, 2.22356498e-05,-4.90501646e+00, 2.50794441e-04,
  1.18255267e-02,-6.41607709e-04]


--- Step 839 ---
qpos:
[ 0.01871712, 0.03008418,-0.00950776,-0.02556166, 0.00790448, 0.00466041,
 -0.00785082, 0.02711725, 0.01231502, 0.02799834,-0.0083568 , 0.02646796,
  1.14830597, 0.00741706, 1.05347656, 0.04564707, 0.05831852,-0.07830735,
  0.17143154, 0.99959713, 0.02664238,-0.00304851,-0.00929905]

qacc:
[ -2.42643355, -1.7974163 ,  7.49707244,-11.03228919,  3.6615061 ,
  -1.38959325,  2.70293405,  3.11809569, -2.29894039,  3.03171819,
  -9.0557629 , 10.91469534, -1.07546297,  1.37443038,  4.07024708,
 -14.01622036,  2.19128179,  0.19324517, -0.42027316, -2.44110555,
  19.67475885, -3.84961144]

qfrc_actuator:
[ 7.67253131e-05, 9.59477895e-04, 1.18708897e-04, 2.98123130e-06,
  9.66031185e-05, 5.64999630e-05,-5.63631926e-05, 1.02824238e-04,
 -1.33521953e-04, 9.46737978e-04, 1.63060357e-04, 5.95538336e-05,
  2.17082708e-02,-1.31271453e-03, 1.22137244e-02,-2.44873291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005385355593444663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15389841e-14,  2.57694920e-14,  1.00000000e+00,  1.32813344e-27,
        1.00000000e+00, -2.57694920e-14, -1.00000000e+00,  0.00000000e+00,
       -5.15389841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02745985, -0.08144823,  0.06199033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46446426e-05, 5.59289907e-05, 5.19786041e-05,-2.31345760e-06,
  2.12609005e-05,-2.17600011e-05, 3.06780799e-05, 1.94067957e-05,
 -1.36487301e-05, 1.36961527e-04, 7.33630964e-06, 1.21805133e-05,
 -1.32440640e-04,-2.47855928e-05,-1.65616524e-05,-7.20359901e-05,
  3.14717202e-05, 3.04358147e-05,-4.90502191e+00, 2.49291844e-04,
  1.18226790e-02,-6.37462298e-04]


--- Step 840 ---
qpos:
[ 0.01871745, 0.03008421,-0.00950696,-0.0255615 , 0.00790595, 0.00466044,
 -0.0078509 , 0.02711817, 0.01231472, 0.02799898,-0.00835811, 0.02646828,
  1.14881543, 0.00741852, 1.0539398 , 0.0456447 , 0.05837091,-0.07827102,
  0.17142584, 0.99960226, 0.02646237,-0.00281089,-0.00933577]

qacc:
[  1.55657757, -5.61069615, 22.76828487,-37.55093634, -3.9792649 ,
  -1.70613376,  9.76540006,-24.23454759,  7.47297368,  1.47796992,
  -6.34331841, 14.37941348, -0.93682351,  1.13201509,  1.21278623,
  -4.63985061,  2.17709573,  0.19216976, -0.49236929, -2.50122572,
  19.56651125, -3.70967253]

qfrc_actuator:
[ 8.62125286e-05, 9.33229252e-04, 1.82130118e-04,-3.51041346e-05,
  7.27384099e-05, 6.93069086e-05,-5.33828384e-05, 6.06062427e-05,
 -8.79352868e-05, 9.43364268e-04, 1.57154200e-04, 8.24820916e-05,
  2.16568944e-02,-1.30535910e-03, 1.22080485e-02,-2.47139348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005287407866516602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24937291e-14,  1.31234323e-13,  1.00000000e+00,  6.88897899e-27,
        1.00000000e+00, -1.31234323e-13, -1.00000000e+00,  0.00000000e+00,
       -5.24937291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02745653, -0.08144934,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.07773368e-06, 1.56541704e-05, 8.12968717e-05,-3.39381131e-05,
 -2.32701403e-05, 7.81458490e-06, 2.93306226e-06,-4.17156856e-05,
  4.52320517e-05, 7.52580814e-05, 2.37251824e-05, 2.92921391e-05,
 -1.32088168e-04,-2.89523198e-05,-3.15033697e-05,-3.11121230e-05,
  4.91020440e-05, 3.88507758e-05,-4.90502842e+00, 2.47033750e-04,
  1.18195574e-02,-6.33187268e-04]


--- Step 841 ---
qpos:
[ 0.01871754, 0.0300841 ,-0.00950589,-0.02556104, 0.00790643, 0.0046607 ,
 -0.0078516 , 0.02711894, 0.01231497, 0.02799949,-0.00835855, 0.02646855,
  1.14932395, 0.00741983, 1.0544017 , 0.0456455 , 0.05841304,-0.0782303 ,
  0.17142231, 0.99960781, 0.02626332,-0.0026198 ,-0.00935952]

qacc:
[-1.99265073e+00,-2.95035497e-01,-5.35692999e-01, 5.57005089e+00,
 -8.70819701e+00, 1.78164479e+00,-5.27379883e+00, 3.63891074e+00,
  4.70994512e+00,-2.68630772e+00, 9.49321712e+00,-1.14756119e+01,
 -3.26387345e-01, 3.37610765e-02,-1.15526882e+01, 3.75733934e+01,
 -2.56430129e+00, 1.09860102e+00, 5.43406617e-01,-9.28732231e+00,
 -2.31756625e+01, 7.12448231e+00]

qfrc_actuator:
[ 7.39144219e-05, 8.99814039e-04, 1.83523962e-04,-2.20712131e-05,
  2.25985163e-05, 7.69239113e-05,-8.70975297e-05, 5.31581014e-05,
 -6.09887487e-05, 9.05254569e-04, 1.89588443e-04, 7.80654171e-05,
  2.16024569e-02,-1.31938923e-03, 1.21507005e-02,-2.30621201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.95156835,  5.81452134, -1.26984544,  5.81452134,  8.3258392 ,
       10.87159754, -1.26984544, 10.87159754, 55.7317495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005422342812426567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565528, -0.09335827,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20309535e-05,-9.33312944e-06, 1.34544342e-05, 1.58522578e-05,
 -5.07968562e-05, 1.07948542e-05,-3.31831373e-05,-7.82460151e-06,
  2.82983104e-05, 1.01374265e-05, 5.19206506e-05, 1.98279480e-07,
 -1.36018764e-04,-5.11976447e-05,-8.44538403e-05, 1.57329407e-04,
  7.04546682e-05, 4.75115386e-05,-4.90503600e+00, 2.44065640e-04,
  1.18161499e-02,-6.28778608e-04]


--- Step 842 ---
qpos:
[ 0.01871784, 0.03008392,-0.00950536,-0.02556003, 0.00790631, 0.00466099,
 -0.0078524 , 0.02712031, 0.0123145 , 0.02799993,-0.00835822, 0.02646842,
  1.14983182, 0.00742038, 1.05486337, 0.04564253, 0.05844516,-0.0781853 ,
  0.17141999, 0.99961378, 0.02604519,-0.002474  ,-0.00937151]

qacc:
[  1.67179449,  2.54145184,-11.48934348, 21.81605585, -5.32336212,
   1.53291676, -7.89386124, 18.19844012, -6.04546707, -3.036022  ,
  12.38944253,-20.47970835, -0.14613648, -0.54856362, 11.0948895 ,
 -39.3066313 , -2.5026366 ,  1.06944637,  0.30139341, -9.31345422,
 -22.56864274,  6.49834409]

qfrc_actuator:
[ 8.43896191e-05, 8.79901584e-04, 1.48268570e-04, 3.12938895e-06,
 -7.08540876e-06, 8.12432467e-05,-8.89214096e-05, 8.39681880e-05,
 -9.85069446e-05, 9.00010684e-04, 2.26456725e-04, 5.75786247e-05,
  2.15675157e-02,-1.36375060e-03, 1.21157130e-02,-2.51112063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.05119801, -4.70204764,  3.80890344, -4.70204764, 26.94614241,
       25.79456938,  3.80890344, 25.79456938, 37.89429828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005542609108782071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00153466e-13, -2.00306932e-13,  1.00000000e+00, -2.00614335e-26,
        1.00000000e+00,  2.00306932e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00153466e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0956507 , -0.09336053,  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:
[ 1.01193328e-05,-2.16878611e-05,-3.49893133e-05, 2.55725144e-05,
 -3.11220784e-05, 3.14510080e-06,-3.94655922e-06, 2.99735917e-05,
 -3.66853470e-05, 1.11550430e-05, 4.53618846e-05,-1.82539059e-05,
 -1.24193162e-04,-8.75969629e-05,-6.15918059e-05,-2.08186473e-04,
  4.49800245e-05, 4.29170390e-05,-4.90502960e+00, 2.51910526e-04,
  1.18185257e-02,-6.23738457e-04]


--- Step 843 ---
qpos:
[ 0.0187186 , 0.03008329,-0.00950451,-0.02555908, 0.00790583, 0.00466124,
 -0.0078529 , 0.02712166, 0.01231359, 0.02800021,-0.00835737, 0.02646808,
  1.15033887, 0.00742042, 1.05532463, 0.04563705, 0.05846749,-0.07813612,
  0.17141802, 0.99962016, 0.02580798,-0.00237241,-0.00937273]

qacc:
[  4.03307071, -1.60634327,  5.12018067, -6.34915742, -3.11537205,
  -0.89624274,  3.17596151, -3.78867239, -3.78046792, -2.15980691,
   8.31243079,-12.81541189, -0.37491047, -0.10190312,  6.96052032,
 -25.20455161, -2.44896166,  1.04513835,  0.0895213 , -9.31989561,
 -22.04744319,  5.98821705]

qfrc_actuator:
[ 1.08192054e-04, 8.50315986e-04, 1.62733976e-04,-2.33219293e-07,
 -2.44833045e-05, 8.37090126e-05,-7.18805186e-05, 8.38036347e-05,
 -1.20404246e-04, 8.78978889e-04, 2.47991897e-04, 4.55769252e-05,
  2.15229770e-02,-1.39012874e-03, 1.21100671e-02,-2.63060726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005610584813094399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97880089e-13, -1.97880089e-13,  1.00000000e+00, -3.91565298e-26,
        1.00000000e+00,  1.97880089e-13, -1.00000000e+00,  0.00000000e+00,
       -1.97880089e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09564801, -0.0933627 ,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40899421e-05,-4.78439837e-05, 6.55458541e-06,-5.00721783e-06,
 -1.82823397e-05, 4.67886844e-06, 1.82458206e-05, 4.16408260e-07,
 -2.29690083e-05,-6.23964844e-06, 2.87873970e-05,-1.03093354e-05,
 -1.36388801e-04,-7.51099256e-05,-6.50359166e-05,-1.40801803e-04,
  2.55869469e-05, 3.60009547e-05,-4.90502479e+00, 2.57610324e-04,
  1.18215825e-02,-6.18348937e-04]


--- Step 844 ---
qpos:
[ 0.01871964, 0.03008256,-0.00950332,-0.02555892, 0.00790549, 0.00466152,
 -0.00785319, 0.02712266, 0.01231242, 0.02800024,-0.00835646, 0.02646798,
  1.15084492, 0.0074204 , 1.05578436, 0.04563586, 0.0584802 ,-0.07808284,
  0.17141568, 0.99962697, 0.02555172,-0.00231413,-0.00936396]

qacc:
[  2.40815539, -2.73204185, 12.84917258,-26.90096834,  1.23642152,
  -1.31133973,  6.24571652,-12.8405298 , -2.17332132,  0.06466559,
  -1.74597219,  6.16006345, -0.36490315,  0.13107933,-15.20416285,
  49.94787305, -2.40263677,  1.02508327, -0.09480922, -9.3151388 ,
 -21.60287171,  5.57126416]

qfrc_actuator:
[ 1.21888087e-04, 8.68587971e-04, 1.88638151e-04,-3.80980752e-05,
 -1.67645292e-05, 8.51081321e-05,-6.16355158e-05, 6.54154718e-05,
 -1.32910510e-04, 8.48595390e-04, 2.42494051e-04, 5.63963063e-05,
  2.14780441e-02,-1.38790822e-03, 1.20741195e-02,-2.39681419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635607295820244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85007441e-14,  9.85007441e-14,  1.00000000e+00,  9.70239660e-27,
        1.00000000e+00, -9.85007441e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85007441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09564686, -0.09336484,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43822268e-05,-7.32573114e-06, 1.66504492e-05,-3.97877320e-05,
  7.20009250e-06, 7.78966424e-06, 1.34738580e-05,-1.75499478e-05,
 -1.31813195e-05,-2.83982875e-05,-3.61022362e-06, 1.13464298e-05,
 -1.40531790e-04,-4.65099170e-05,-8.91390620e-05, 2.15873662e-04,
  1.17207625e-05, 2.68676917e-05,-4.90502146e+00, 2.61522194e-04,
  1.18252981e-02,-6.12600578e-04]


--- Step 845 ---
qpos:
[ 0.01872083, 0.03008212,-0.00950227,-0.02555957, 0.00790559, 0.00466198,
 -0.00785342, 0.02712376, 0.0123118 , 0.02799968,-0.00835545, 0.0264684 ,
  1.15135   , 0.0074206 , 1.05624265, 0.04563848, 0.05848346,-0.07802553,
  0.17141232, 0.99963417, 0.02527643,-0.00229837,-0.00934587]

qacc:
[ 1.32974304e+00,-8.92641424e-01, 7.16291274e+00,-2.12373439e+01,
  3.86784612e+00, 3.21341819e-01,-1.28386275e+00, 2.99370971e+00,
  4.68725787e+00,-1.96166143e-02,-3.27317288e+00, 1.25229927e+01,
 -5.84024659e-01, 6.49598472e-01,-1.36050961e+01, 4.46051758e+01,
 -2.36297492e+00, 1.00873982e+00,-2.54364370e-01,-9.30523514e+00,
 -2.12262582e+01, 5.22917365e+00]

qfrc_actuator:
[ 1.29521840e-04, 8.97654412e-04, 1.85740160e-04,-7.81631980e-05,
  5.67123334e-06, 1.03571280e-04,-5.55040988e-05, 7.19534778e-05,
 -1.04288706e-04, 7.94994347e-04, 2.38805515e-04, 8.05289367e-05,
  2.14435724e-02,-1.36878506e-03, 1.20094542e-02,-2.20537513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005625761802844909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86731276e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.86731276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09564694, -0.09336696,  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:
[ 8.05233529e-06, 2.67190875e-05,-3.74434739e-06,-4.05797115e-05,
  2.26432868e-05, 2.48437680e-05, 8.79035574e-06, 6.99395875e-06,
  2.82258848e-05,-6.97608771e-05,-9.61810075e-06, 2.30099944e-05,
 -1.25011848e-04,-2.41204328e-05,-8.64195743e-05, 1.90944627e-04,
  2.94544725e-06, 1.56004885e-05,-4.90501951e+00, 2.63915605e-04,
  1.18296554e-02,-6.06486566e-04]


--- Step 846 ---
qpos:
[ 0.01872142, 0.03008155,-0.00950086,-0.02556034, 0.00790561, 0.00466264,
 -0.00785359, 0.02712458, 0.01231153, 0.02799887,-0.00835459, 0.02646874,
  1.15185424, 0.00742096, 1.05670036, 0.04563965, 0.05847741,-0.07796423,
  0.17140739, 0.99964176, 0.02498214,-0.0023245 ,-0.00931899]

qacc:
[ -5.19236544, -1.40960322,  5.27821978, -7.7369711 , -0.67709331,
  -0.5229833 ,  3.44982993, -8.60256352,  2.96160666, -0.07465446,
   0.1629673 , -1.2366123 , -0.82867816,  1.02108906,  3.58307008,
 -13.6206953 , -2.32929184,  0.99562377, -0.39188972, -9.2944466 ,
 -20.90964899,  4.94727205]

qfrc_actuator:
[ 9.80244074e-05, 8.79594275e-04, 2.01423958e-04,-8.36984432e-05,
  1.07600016e-06, 1.14360462e-04,-5.17577745e-05, 5.76160244e-05,
 -8.71971914e-05, 7.98921446e-04, 2.36126619e-04, 7.67761428e-05,
  2.14100849e-02,-1.35752000e-03, 1.19648859e-02,-2.28912272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005588005621742081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93398271e-14, -9.93398271e-14,  1.00000000e+00, -9.86840125e-27,
        1.00000000e+00,  9.93398271e-14, -1.00000000e+00,  0.00000000e+00,
       -9.93398271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09564801, -0.09336907,  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:
[-3.12511786e-05,-5.62561959e-06, 1.93298797e-05,-5.31152813e-06,
 -3.94371292e-06, 2.67891099e-05, 1.01969230e-05,-1.28364404e-05,
  1.78940147e-05,-3.60688111e-05,-1.74854409e-05,-6.63054417e-06,
 -1.10063249e-04,-2.30001720e-05,-6.80706786e-05,-8.53477572e-05,
 -1.08008130e-06, 2.26347624e-06,-4.90501885e+00, 2.64994059e-04,
  1.18346419e-02,-6.00001939e-04]


--- Step 847 ---
qpos:
[ 0.01872232, 0.03008086,-0.00949923,-0.02556115, 0.00790558, 0.00466372,
 -0.00785406, 0.02712488, 0.01231112, 0.02799822,-0.00835456, 0.02646937,
  1.15235763, 0.00742147, 1.05715773, 0.04563774, 0.05847937,-0.07791042,
  0.17140595, 0.99964835, 0.02472362,-0.00231308,-0.00930458]

qacc:
[  2.64499704, -0.86564918,  3.04565388, -4.13868988, -0.50253826,
   0.33690689,  1.80809412,-10.6855376 , -1.19977649,  3.10738338,
 -12.01964255, 18.29192892, -0.95457681,  1.2001973 ,  8.89468699,
 -31.65125813,  2.0024016 , -1.87101534,  0.87448954, 17.70451503,
  18.77555603, -6.75062601]

qfrc_actuator:
[ 1.14759229e-04, 8.69059563e-04, 2.10049558e-04,-8.66452902e-05,
 -1.64447524e-06, 1.38198754e-04,-6.72441467e-05, 3.11009276e-05,
 -9.47950237e-05, 8.19495870e-04, 1.98763447e-04, 9.21949873e-05,
  2.13665592e-02,-1.35099757e-03, 1.19483278e-02,-2.44548769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17008425,  5.24211121, -3.25426025,  5.24211121, 19.94772562,
       22.19365471, -3.25426025, 22.19365471, 41.92063809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685551052215937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76354811e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76354811e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03407909, -0.05263401,  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:
[ 1.58221273e-05,-9.92271913e-06, 9.65310724e-06,-2.62136145e-06,
 -2.82307768e-06, 4.03498004e-05,-9.14844146e-06,-2.52668777e-05,
 -7.08607411e-06,-3.46780751e-06,-4.71991772e-05, 1.31374331e-05,
 -1.11934790e-04,-2.37185019e-05,-6.45423817e-05,-1.71506042e-04,
 -6.20674864e-07,-1.30960802e-05,-4.90501943e+00, 2.64911416e-04,
  1.18402486e-02,-5.93142996e-04]


--- Step 848 ---
qpos:
[ 0.01872238, 0.03008013,-0.00949783,-0.02556163, 0.00790552, 0.00466525,
 -0.00785479, 0.0271252 , 0.01231063, 0.02799729,-0.00835458, 0.02647052,
  1.15286008, 0.00742213, 1.0576139 , 0.045636  , 0.05848912,-0.07786391,
  0.17140692, 0.99965401, 0.0244994 ,-0.00226499,-0.00930145]

qacc:
[-7.21904349, 1.27590588,-6.01351595,12.17382282,-0.30137762, 1.35893267,
 -4.03559724, 4.38910625,-0.74277556, 0.8752559 ,-5.88214679,15.30610441,
 -0.76907632, 0.89552634,-2.21320862, 5.31816081, 1.94885855,-1.82734248,
  0.59909281,16.96467981,18.34650548,-6.13625637]

qfrc_actuator:
[ 7.09988922e-05, 8.63090520e-04, 1.96695032e-04,-7.03045380e-05,
 -3.23102222e-06, 1.69574368e-04,-7.61616426e-05, 3.31392142e-05,
 -9.91076975e-05, 7.96503472e-04, 1.94578273e-04, 1.18771350e-04,
  2.13117158e-02,-1.34737968e-03, 1.19006428e-02,-2.43017974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28617491, -6.2625184 ,  0.54484702, -6.2625184 ,  6.60241581,
        3.63490008,  0.54484702,  3.63490008, 48.06602828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005824742963766588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53023190e-14, -9.53023190e-14,  1.00000000e+00, -9.08253202e-27,
        1.00000000e+00,  9.53023190e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53023190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03408073, -0.05264063,  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:
[-4.33023268e-05,-9.62572763e-06,-1.43163488e-05, 1.61977548e-05,
 -1.65127074e-06, 5.09316982e-05,-2.59137485e-06, 2.95724284e-06,
 -4.52231573e-06,-3.41003198e-05,-1.02547845e-05, 2.50504860e-05,
 -1.24641330e-04,-2.71582129e-05,-1.04263588e-04,-4.31453778e-06,
 -9.05916827e-07, 9.19841545e-07,-4.90501743e+00, 2.68371211e-04,
  1.18332359e-02,-5.86940203e-04]


--- Step 849 ---
qpos:
[ 0.01872122, 0.03007949,-0.00949722,-0.02556189, 0.00790509, 0.00466687,
 -0.00785545, 0.02712521, 0.01231043, 0.02799653,-0.00835454, 0.02647123,
  1.15336178, 0.00742279, 1.05806852, 0.04563481, 0.05850648,-0.07782456,
  0.17140932, 0.99965879, 0.02430821,-0.002181  ,-0.00930864]

qacc:
[-10.44428876,  2.8016253 ,-10.71392083, 15.70848319, -3.19510196,
  -0.66849299,  3.80816455, -9.12565198,  2.52384875, -0.90927507,
   5.43247938,-13.39810561, -0.45069815,  0.3778001 , -3.92291229,
  10.46662931,  1.90281794, -1.7884968 ,  0.35813852, 16.34510127,
  17.97185221, -5.6371484 ]

qfrc_actuator:
[ 9.71921018e-06, 8.59825042e-04, 1.52749603e-04,-6.05093630e-05,
 -2.18905022e-05, 1.52006403e-04,-8.10656953e-05, 1.64738795e-05,
 -8.36916418e-05, 8.36505764e-04, 2.09862704e-04, 9.84327082e-05,
  2.12820754e-02,-1.34557236e-03, 1.18237195e-02,-2.40264598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.3524531 , -6.34719718,  0.2583572 , -6.34719718,  6.44082735,
        2.17113661,  0.2583572 ,  2.17113661, 59.69190708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904124790201554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40209653e-14, -9.40209653e-14,  1.00000000e+00, -8.83994193e-27,
        1.00000000e+00,  9.40209653e-14, -1.00000000e+00,  0.00000000e+00,
       -9.40209653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03408124, -0.05264511,  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:
[-6.25440096e-05,-1.09155261e-05,-4.71413625e-05, 9.20453568e-06,
 -1.86886494e-05, 1.04563453e-05, 5.38969851e-06,-1.45172642e-05,
  1.52681246e-05, 1.99166100e-05, 7.85243493e-06,-2.16676414e-05,
 -1.07462182e-04,-3.27405397e-05,-1.30337716e-04, 1.27782120e-05,
  2.20226979e-06, 1.10790041e-05,-4.90501611e+00, 2.70108577e-04,
  1.18278552e-02,-5.81554245e-04]


--- Step 850 ---
qpos:
[ 0.01872106, 0.03007901,-0.00949719,-0.0255624 , 0.0079041 , 0.00466834,
 -0.00785637, 0.02712577, 0.01231007, 0.0279964 ,-0.00835486, 0.02647201,
  1.15386267, 0.00742349, 1.05852201, 0.04563286, 0.05853129,-0.07779223,
  0.17141231, 0.99966275, 0.02414901,-0.00206176,-0.00932536]

qacc:
[ 8.53543841, 1.3189644 ,-3.38602181,-0.05001782,-4.97551356, 1.60977157,
 -8.29548828,18.16104111,-1.3742707 , 2.03448077,-6.28517178, 7.51290705,
 -0.6297514 , 0.65797698, 0.64027666,-4.55791741, 1.86360399,-1.75433887,
  0.14877915,15.82735056,17.64859545,-5.2306945 ]

qfrc_actuator:
[ 6.29062828e-05, 8.75819711e-04, 1.26609407e-04,-7.24151308e-05,
 -5.04499757e-05, 1.23016748e-04,-1.01530407e-04, 4.21513495e-05,
 -9.22923912e-05, 8.96222814e-04, 2.01219427e-04, 1.03966917e-04,
  2.12409452e-02,-1.34474573e-03, 1.17772602e-02,-2.43923612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005934435375536534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0340808 , -0.05264785,  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:
[ 5.13636728e-05, 5.47092488e-07,-3.38775470e-05,-1.38213845e-05,
 -2.90865461e-05,-2.27086875e-05,-1.81536855e-05, 2.60281340e-05,
 -8.14754998e-06, 7.15784093e-05,-4.30571851e-06, 6.23707924e-06,
 -1.10955715e-04,-3.08266090e-05,-1.08202102e-04,-5.33518610e-05,
  8.46351910e-06, 1.77603476e-05,-4.90501554e+00, 2.70359559e-04,
  1.18237738e-02,-5.76948579e-04]


--- Step 851 ---
qpos:
[ 0.01872119, 0.03007856,-0.0094972 ,-0.02556307, 0.00790346, 0.00466965,
 -0.00785723, 0.02712697, 0.01230892, 0.02799676,-0.0083547 , 0.02647245,
  1.15436267, 0.00742403, 1.05897465, 0.04563169, 0.05856343,-0.0777668 ,
  0.17141517, 0.9996659 , 0.02402094,-0.00190784,-0.00935097]

qacc:
[  2.51758588, -0.17209439,  1.35730966, -4.10259035,  3.12896342,
   0.96122534, -6.41772456, 17.41039962, -6.72127863, -1.38828771,
   7.27620943,-14.07776246, -0.47328739,  0.26338655, -3.55566698,
  10.69276324,  1.83051954, -1.72459773, -0.03210085, 15.39569415,
  17.37296876, -4.89874045]

qfrc_actuator:
[ 7.65316914e-05, 8.85516229e-04, 1.29018919e-04,-7.92073516e-05,
 -3.13444554e-05, 1.22876138e-04,-9.55468678e-05, 7.47609961e-05,
 -1.32719435e-04, 9.31716894e-04, 2.31895220e-04, 8.91871870e-05,
  2.11823007e-02,-1.36230345e-03, 1.17704008e-02,-2.38895319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005924956386443581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36903964e-14, -9.36903964e-14,  1.00000000e+00, -8.77789037e-27,
        1.00000000e+00,  9.36903964e-14, -1.00000000e+00,  0.00000000e+00,
       -9.36903964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0340796 , -0.05264921,  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:
[ 1.51258968e-05, 2.45059498e-06,-2.12351158e-06,-8.20999016e-06,
  1.82706369e-05,-1.55281105e-05,-4.93096547e-08, 3.15136185e-05,
 -4.06417836e-05, 7.49017417e-05, 4.51503590e-05,-1.17403474e-05,
 -1.29828917e-04,-4.96611356e-05,-6.73281705e-05, 3.23304189e-05,
  1.76907422e-05, 2.12608630e-05,-4.90501573e+00, 2.69300639e-04,
  1.18207436e-02,-5.73093357e-04]


--- Step 852 ---
qpos:
[ 0.0187208 , 0.03007829,-0.00949786,-0.02556309, 0.00790375, 0.00467066,
 -0.00785764, 0.02712784, 0.01230833, 0.02799745,-0.00835407, 0.0264724 ,
  1.15486159, 0.00742472, 1.05942665, 0.04562943, 0.05860278,-0.07774816,
  0.17141729, 0.99966827, 0.02392327,-0.00171971,-0.00938495]

qacc:
[ -4.53998649,  3.3590738 ,-14.32095008, 26.25107697,  8.1446951 ,
  -2.35178096,  9.15610094,-15.21891945,  4.76487213, -1.92651057,
   9.62584575,-19.35453974, -0.98246228,  1.14486169,  2.43170722,
  -9.6997661 ,  1.80288863, -1.69893617, -0.18763175, 15.0368009 ,
  17.1409204 , -4.62672291]

qfrc_actuator:
[ 4.89721705e-05, 8.91490296e-04, 9.49899725e-05,-4.74133791e-05,
  1.56658784e-05, 1.04615138e-04,-7.38814150e-05, 5.79661488e-05,
 -1.02784813e-04, 9.34826534e-04, 2.49941432e-04, 6.25831704e-05,
  2.11238363e-02,-1.35521226e-03, 1.17340582e-02,-2.44754176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005883660666424484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43479823e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.43479823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03407777, -0.05264947,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71159079e-05, 6.57699558e-06,-3.40622697e-05, 3.16674089e-05,
  4.75228336e-05,-2.56376886e-05, 1.95336776e-05,-1.68530917e-05,
  2.87684956e-05, 5.37848402e-05, 3.86665702e-05,-2.20611142e-05,
 -1.43834339e-04,-3.43628127e-05,-7.03011476e-05,-6.69294630e-05,
  2.97403777e-05, 2.18116810e-05,-4.90501672e+00, 2.67063412e-04,
  1.18185784e-02,-5.69964185e-04]


--- Step 853 ---
qpos:
[ 0.01872077, 0.03007801,-0.00949862,-0.02556241, 0.0079039 , 0.00467129,
 -0.00785771, 0.02712852, 0.01230879, 0.02799768,-0.00835308, 0.02647213,
  1.15535941, 0.00742553, 1.05987743, 0.04562687, 0.05864925,-0.07773623,
  0.17141812, 0.99966985, 0.0238554 ,-0.00149776,-0.00942687]

qacc:
[  3.10552558,  1.72792483, -9.16707152, 21.61895913, -1.11320129,
  -1.83275731,  6.59873915,-10.10990746,  8.99332225, -2.03400599,
   7.20016995,-10.94722872, -0.88971342,  0.98400076, -0.81464981,
   0.39798108,  1.78007975, -1.67699211, -0.320811  , 14.73943536,
  16.94840623, -4.40296642]

qfrc_actuator:
[ 6.84149871e-05, 8.95081516e-04, 9.29772903e-05,-1.09562235e-05,
  7.69804422e-06, 7.56762117e-05,-6.09947222e-05, 4.77346940e-05,
 -4.94176416e-05, 8.47452344e-04, 2.42480355e-04, 4.69472529e-05,
  2.10655292e-02,-1.35131989e-03, 1.16693865e-02,-2.46338204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005817358070026868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54233014e-14, -9.54233014e-14,  1.00000000e+00, -9.10560644e-27,
        1.00000000e+00,  9.54233014e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54233014e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03407547, -0.05264886,  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:
[ 1.86565486e-05, 1.59934863e-06,-3.74134196e-06, 3.61802969e-05,
 -6.62632437e-06,-3.99803419e-05, 9.40271247e-06,-1.09875226e-05,
  5.42320820e-05,-5.02797969e-05, 7.63105862e-06,-1.24266108e-05,
 -1.48202840e-04,-3.70999461e-05,-1.11683231e-04,-3.02263202e-05,
  4.45044285e-05, 1.95911326e-05,-4.90501851e+00, 2.63745689e-04,
  1.18171386e-02,-5.67541112e-04]


--- Step 854 ---
qpos:
[ 0.01872166, 0.03007748,-0.00949868,-0.02556201, 0.00790362, 0.00467166,
 -0.00785739, 0.0271294 , 0.01230989, 0.02799744,-0.0083521 , 0.02647171,
  1.15585616, 0.0074264 , 1.06032737, 0.04562466, 0.05870277,-0.07773093,
  0.17141721, 0.99967065, 0.02381683,-0.00124231,-0.00947638]

qacc:
[  7.94116121, -2.87629316, 10.91665426,-16.66597493, -3.86572047,
  -1.02332096,  2.31949152,  0.66999032,  5.43403247, -0.95826112,
   3.16257415, -5.53381646, -0.81154153,  0.83903241, -2.28661073,
   6.3361902 ,  1.76151681, -1.65840378, -0.43442482, 14.49416185,
  16.79155914, -4.2181132 ]

qfrc_actuator:
[ 1.15380995e-04, 8.79595007e-04, 1.27636369e-04,-2.52864453e-05,
 -1.48214004e-05, 7.60420735e-05,-3.56842108e-05, 5.91884223e-05,
 -1.82144957e-05, 8.12968034e-04, 2.37400052e-04, 3.77947518e-05,
  2.10126827e-02,-1.34937862e-03, 1.16570275e-02,-2.43617260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731833098994443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68471173e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.68471173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03407279, -0.05264757,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75103862e-05,-1.37919219e-05, 3.57902131e-05,-1.36866168e-05,
 -2.27216329e-05,-2.05459676e-05, 1.78220946e-05, 9.84941311e-06,
  3.27785006e-05,-6.15561309e-05,-1.49716702e-05,-1.12892772e-05,
 -1.46301499e-04,-4.05037188e-05,-7.19609047e-05, 1.00946260e-05,
  6.19039984e-05, 1.47352318e-05,-4.90502113e+00, 2.59419870e-04,
  1.18163189e-02,-5.65807826e-04]


--- Step 855 ---
qpos:
[ 1.87224196e-02, 3.00767887e-02,-9.49831195e-03,-2.55621269e-02,
  7.90341358e-03, 4.67183145e-03,-7.85650907e-03, 2.71303858e-02,
  1.23103260e-02, 2.79971340e-02,-8.35166372e-03, 2.64715125e-02,
  1.15635177e+00, 7.42779114e-03, 1.06077616e+00, 4.56267486e-02,
  5.87461217e-02,-7.77209875e-02, 1.71419064e-01, 9.99671938e-01,
  2.37585787e-02,-1.03555898e-03,-9.51176351e-03]

qacc:
[ -1.12583275, -2.47902875, 10.7198219 ,-20.21716145,  0.69981582,
  -1.61992207,  4.93731313, -3.81093982, -5.70819994,  1.92044729,
  -7.88687212, 12.6573506 , -0.91429288,  1.28033528,-14.59061841,
  48.74788065, -2.5409152 ,  1.16238267,  0.69094919, -9.60942839,
 -24.26742953,  7.65659055]

qfrc_actuator:
[ 1.07145124e-04, 8.70671600e-04, 1.48040775e-04,-5.16286942e-05,
 -1.02022849e-05, 7.62721123e-05,-3.10739814e-06, 6.55895848e-05,
 -5.35725051e-05, 8.28162946e-04, 2.16206100e-04, 5.03196748e-05,
  2.09738021e-02,-1.31309644e-03, 1.16387857e-02,-2.20615351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33709446,  5.16241136, -3.67536055,  5.16241136, 20.42525578,
       19.78823115, -3.67536055, 19.78823115, 34.13164359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005885731936355887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43147799e-14, -9.43147799e-14,  1.00000000e+00, -8.89527771e-27,
        1.00000000e+00,  9.43147799e-14, -1.00000000e+00,  0.00000000e+00,
       -9.43147799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09561999, -0.09339555,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.85540969e-06,-9.79688508e-06, 2.14936187e-05,-2.59627130e-05,
  3.96509207e-06,-7.18294555e-06, 3.08595453e-05, 6.32646607e-06,
 -3.44166192e-05,-2.27909305e-05,-3.61518520e-05, 9.14739392e-06,
 -1.31387612e-04,-6.86589039e-06,-5.69177139e-05, 2.19833008e-04,
  8.18840637e-05, 7.34602902e-06,-4.90502457e+00, 2.54139224e-04,
  1.18160395e-02,-5.64751000e-04]


--- Step 856 ---
qpos:
[ 1.87237631e-02, 3.00763021e-02,-9.49785610e-03,-2.55622325e-02,
  7.90326425e-03, 4.67176982e-03,-7.85573881e-03, 2.71314960e-02,
  1.23096415e-02, 2.79968225e-02,-8.35156206e-03, 2.64714442e-02,
  1.15684659e+00, 7.42901549e-03, 1.06122373e+00, 4.56326032e-02,
  5.87795589e-02,-7.77065361e-02, 1.71422597e-01, 9.99673722e-01,
  2.36806613e-02,-8.75731007e-04,-9.53462441e-03]

qacc:
[ 5.01846327e+00, 3.93992351e-02, 1.87372786e-01,-2.88884482e-01,
  5.00915955e-01, 2.63248879e-01,-1.90052242e+00, 4.35874704e+00,
 -9.52372296e+00, 1.21243756e+00,-4.85630441e+00, 7.61309925e+00,
 -1.74273436e-01,-1.50047378e-01,-1.32025169e+01, 4.35747344e+01,
 -2.47888231e+00, 1.12632843e+00, 4.19315684e-01,-9.60365959e+00,
 -2.33977069e+01, 6.82750559e+00]

qfrc_actuator:
[ 1.37485279e-04, 9.01189368e-04, 1.59873495e-04,-4.93260544e-05,
 -7.39460516e-06, 4.09538324e-05,-1.97608204e-05, 6.89693838e-05,
 -1.10064527e-04, 8.37436475e-04, 2.03642529e-04, 5.77795635e-05,
  2.09326921e-02,-1.32769601e-03, 1.15797917e-02,-2.01828932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.43562926, -4.05461735,  4.9977397 , -4.05461735, 25.3658897 ,
       15.35793521,  4.9977397 , 15.35793521, 18.89537194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006003740339561581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24609462e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.24609462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09561319, -0.09339852,  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:
[ 3.01390022e-05, 2.83830216e-05, 1.15617054e-05, 2.12233772e-06,
  2.91634746e-06,-3.27069071e-05,-1.41321062e-05, 4.25811721e-06,
 -5.75091148e-05,-1.05513459e-05,-2.14069940e-05, 5.41200200e-06,
 -1.16541948e-04,-4.65982945e-05,-6.71877206e-05, 1.91338053e-04,
  5.32753820e-05, 1.18134961e-05,-4.90501768e+00, 2.63058912e-04,
  1.18147077e-02,-5.62955891e-04]


--- Step 857 ---
qpos:
[ 1.87251151e-02, 3.00763079e-02,-9.49768941e-03,-2.55623221e-02,
  7.90280486e-03, 4.67147268e-03,-7.85544423e-03, 2.71330097e-02,
  1.23082842e-02, 2.79968321e-02,-8.35180168e-03, 2.64714231e-02,
  1.15734060e+00, 7.42985319e-03, 1.06167083e+00, 4.56356608e-02,
  5.88032975e-02,-7.76877009e-02, 1.71426861e-01, 9.99676010e-01,
  2.35831464e-02,-7.61328693e-04,-9.54625645e-03]

qacc:
[  0.05487246,  1.492092  , -4.44273755,  4.81880437, -2.73832685,
   1.85414422, -8.75654464, 16.66181275, -5.74886258,  1.48654488,
  -4.86406929,  5.96768558, -0.48829876,  0.15450213,  7.80933484,
 -28.23672787, -2.4246428 ,  1.09595266,  0.18264645, -9.58009856,
 -22.66567455,  6.16143604]

qfrc_actuator:
[ 1.37048298e-04, 9.37327037e-04, 1.48987716e-04,-4.79078335e-05,
 -2.34370313e-05, 1.99276921e-05,-4.77442169e-05, 8.82329999e-05,
 -1.43016115e-04, 8.78635754e-04, 1.96265084e-04, 6.22048346e-05,
  2.08796042e-02,-1.35460048e-03, 1.15230227e-02,-2.17646426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.48559323, -3.87095132,  5.20371554, -3.87095132, 32.76568389,
       19.54929145,  5.20371554, 19.54929145, 21.02796301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006063611511279432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15480009e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.15480009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560893, -0.09340136,  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:
[ 4.51708863e-07, 5.45066399e-05,-3.52836678e-06, 3.07353881e-06,
 -1.59705695e-05,-4.20610636e-05,-3.63437275e-05, 1.74516912e-05,
 -3.46426641e-05, 3.10969227e-05,-1.20021993e-05, 3.34060972e-06,
 -1.29803669e-04,-6.47527236e-05,-7.19549191e-05,-1.57432564e-04,
  3.15575559e-05, 1.34970724e-05,-4.90501239e+00, 2.69422021e-04,
  1.18143690e-02,-5.60811690e-04]


--- Step 858 ---
qpos:
[ 1.87250729e-02, 3.00765884e-02,-9.49758442e-03,-2.55623818e-02,
  7.90215671e-03, 4.67099663e-03,-7.85525287e-03, 2.71347093e-02,
  1.23068864e-02, 2.79970949e-02,-8.35189177e-03, 2.64717743e-02,
  1.15783371e+00, 7.43062171e-03, 1.06211704e+00, 4.56371329e-02,
  5.88175253e-02,-7.76645835e-02, 1.71431037e-01, 9.99678801e-01,
  2.34661129e-02,-6.91099100e-04,-9.54769540e-03]

qacc:
[-11.9672967 ,  0.62034692, -1.77049534,  2.13958797, -1.6607332 ,
   0.43796834, -2.68384439,  6.19130516, -0.34512747,  0.68391293,
  -3.52355107,  9.53999997, -0.69234049,  0.63868295,  3.51742093,
 -14.11348961, -2.37768571,  1.07055225, -0.02224825, -9.54728593,
 -22.05198413,  5.62558984]

qfrc_actuator:
[ 6.52297658e-05, 9.40959170e-04, 1.42563061e-04,-4.70307019e-05,
 -3.26927001e-05, 2.53247958e-05,-4.66140566e-05, 9.89436384e-05,
 -1.44087887e-04, 9.03158819e-04, 2.09891870e-04, 8.25927966e-05,
  2.08406627e-02,-1.35309363e-03, 1.14835419e-02,-2.25316142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.49596809, -3.60261977,  5.40543543, -3.60261977, 42.86388187,
       24.23852191,  5.40543543, 24.23852191, 22.65048133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006076049012707918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13606048e-14, -1.82721210e-13,  1.00000000e+00, -1.66935202e-26,
        1.00000000e+00,  1.82721210e-13, -1.00000000e+00,  0.00000000e+00,
       -9.13606048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560671, -0.09340413,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17865279e-05, 3.35083951e-05, 4.50132000e-06, 3.14809075e-06,
 -9.72347529e-06,-2.48848246e-05,-1.14334903e-05, 7.98756026e-06,
 -2.07711660e-06, 3.95627354e-05, 1.86903281e-05, 2.13720561e-05,
 -1.28356858e-04,-4.33258599e-05,-9.72240373e-05,-9.63485059e-05,
  1.59096177e-05, 1.26094727e-05,-4.90500857e+00, 2.73741682e-04,
  1.18149250e-02,-5.58305772e-04]


--- Step 859 ---
qpos:
[ 1.87248598e-02, 3.00766994e-02,-9.49738309e-03,-2.55616930e-02,
  7.90140227e-03, 4.67061776e-03,-7.85516046e-03, 2.71357967e-02,
  1.23054863e-02, 2.79975565e-02,-8.35151244e-03, 2.64723511e-02,
  1.15832604e+00, 7.43086512e-03, 1.06256226e+00, 4.56389244e-02,
  5.88224036e-02,-7.76372682e-02, 1.71434417e-01, 9.99682089e-01,
  2.33296443e-02,-6.63997273e-04,-9.53977394e-03]

qacc:
[-1.46099659e+00, 1.05122700e+00,-7.22018298e+00, 2.01215709e+01,
 -9.40106196e-01,-8.53504583e-01, 5.81745862e+00,-1.63291851e+01,
 -8.74788020e-03,-5.84613644e-01, 1.51242251e+00, 1.49793215e+00,
 -1.18019676e-01,-4.70128980e-01,-2.44463126e+00, 6.39756571e+00,
 -2.33740138e+00, 1.04948285e+00,-1.98710960e-01,-9.51118694e+00,
 -2.15397400e+01, 5.19381247e+00]

qfrc_actuator:
[ 5.84972488e-05, 9.07356208e-04, 1.38703300e-04,-1.09932034e-05,
 -3.78735757e-05, 4.66134677e-05,-4.59505619e-05, 6.90734088e-05,
 -1.44147486e-04, 9.17615560e-04, 2.35766893e-04, 9.44617448e-05,
  2.07942685e-02,-1.38796067e-03, 1.14598158e-02,-2.22780672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006050268557093869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17498962e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17498962e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560613, -0.09340684,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.81399944e-06,-1.38371481e-05, 3.72268252e-06, 3.76914319e-05,
 -5.46576279e-06, 5.36130109e-06,-5.60878961e-06,-3.11795606e-05,
 -1.07579170e-07, 4.13427330e-05, 3.70847141e-05, 1.46256546e-05,
 -1.30122280e-04,-7.41546623e-05,-8.47682529e-05, 6.22048366e-06,
  5.70521551e-06, 9.31865541e-06,-4.90500613e+00, 2.76395497e-04,
  1.18163005e-02,-5.55429410e-04]


--- Step 860 ---
qpos:
[ 1.87249115e-02, 3.00766707e-02,-9.49745255e-03,-2.55609008e-02,
  7.90059146e-03, 4.67038898e-03,-7.85510240e-03, 2.71361606e-02,
  1.23040966e-02, 2.79978022e-02,-8.35055655e-03, 2.64724214e-02,
  1.15881760e+00, 7.43066220e-03, 1.06300653e+00, 4.56416098e-02,
  5.88180692e-02,-7.76058241e-02, 1.71436397e-01, 9.99685862e-01,
  2.31738200e-02,-6.79156002e-04,-9.52316261e-03]

qacc:
[  2.26723809,  0.78129552, -3.49612074,  5.82737888, -0.50006855,
  -1.1940959 ,  7.60165208,-20.18003533,  0.11048237, -2.94006834,
  12.20772391,-21.73837316, -0.14471609, -0.37761799, -4.0999747 ,
  12.31105954, -2.30315069,  1.03216738, -0.35001647, -9.47591169,
 -21.11435781,  4.84525379]

qfrc_actuator:
[ 7.23982492e-05, 8.87251813e-04, 1.18496464e-04,-7.84787323e-06,
 -4.06165621e-05, 5.94798968e-05,-4.55300705e-05, 3.33309881e-05,
 -1.43621786e-04, 8.72727839e-04, 2.50858525e-04, 6.57116652e-05,
  2.07594014e-02,-1.40866320e-03, 1.14296062e-02,-2.17799687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005994158588646659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26087463e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.26087463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560684, -0.09340951,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36369272e-05,-2.54696945e-05,-2.13067515e-05, 3.41386073e-06,
 -2.89492079e-06, 1.33781052e-05,-2.40571781e-07,-3.63151119e-05,
  5.36814036e-07,-1.35083335e-05, 2.86928160e-05,-2.54140048e-05,
 -1.26388854e-04,-6.79922221e-05,-7.40193037e-05, 3.80045677e-05,
  4.67146938e-07, 3.75532216e-06,-4.90500498e+00, 2.77661434e-04,
  1.18184386e-02,-5.52176598e-04]


--- Step 861 ---
qpos:
[ 1.87247849e-02, 3.00763139e-02,-9.49765590e-03,-2.55604068e-02,
  7.89975406e-03, 4.67027602e-03,-7.85506777e-03, 2.71364421e-02,
  1.23034133e-02, 2.79980857e-02,-8.35000669e-03, 2.64718380e-02,
  1.15930852e+00, 7.43007726e-03, 1.06344970e+00, 4.56458592e-02,
  5.88046376e-02,-7.75703078e-02, 1.71436460e-01, 9.99690101e-01,
  2.29987109e-02,-7.35859983e-04,-9.49840243e-03]

qacc:
[ -1.52919539, -0.67091881,  3.02424829, -7.72994533, -0.23674934,
   0.04940025,  0.39469813, -1.86953364,  6.00599177, -0.17252243,
   3.42653782,-14.09435989, -0.03419757, -0.44518776, -6.37373591,
  19.89989654, -2.27430614,  1.01809699, -0.47924911, -9.44423505,
 -20.76334881,  4.56329612]

qfrc_actuator:
[ 6.28065347e-05, 8.57531731e-04, 1.06562625e-04,-2.40923069e-05,
 -4.19042039e-05, 6.72012203e-05,-4.52803833e-05, 2.99266816e-05,
 -1.07251561e-04, 8.63579053e-04, 2.23679941e-04, 3.09849003e-05,
  2.07421302e-02,-1.42073575e-03, 1.13848859e-02,-2.09646351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005914434606039964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.38570716e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.38570716e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560855, -0.09341215,  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:
[-9.20248974e-06,-4.82121519e-05,-1.97014354e-05,-1.80077039e-05,
 -1.36372042e-06, 1.36023257e-05, 1.72827942e-06,-3.54639476e-06,
  3.63829330e-05,-1.18893558e-05,-2.73298261e-05,-3.48105866e-05,
 -1.05000801e-04,-5.71274664e-05,-8.04406457e-05, 7.27877512e-05,
 -1.66798192e-07,-3.98062609e-06,-4.90500506e+00, 2.77744058e-04,
  1.18212970e-02,-5.48543196e-04]


--- Step 862 ---
qpos:
[ 1.87238552e-02, 3.00754752e-02,-9.49791195e-03,-2.55604420e-02,
  7.89890770e-03, 4.67027651e-03,-7.85501763e-03, 2.71363327e-02,
  1.23028266e-02, 2.79988410e-02,-8.35031374e-03, 2.64711641e-02,
  1.15979858e+00, 7.42938926e-03, 1.06389233e+00, 4.56489782e-02,
  5.87822049e-02,-7.75307640e-02, 1.71434166e-01, 9.99694784e-01,
  2.28043753e-02,-8.33523867e-04,-9.46593086e-03]

qacc:
[ -6.88444978, -1.56632341,  6.91238678,-15.64515376, -0.08046559,
  -0.69815436,  4.35775962,-11.23252476,  0.78854397,  2.83063002,
  -8.80741992,  8.26297602, -0.62487321,  0.53124072,  2.67189504,
 -10.39012119, -2.25027484,  1.00682767, -0.58924231, -9.41797241,
 -20.4760755 ,  4.33469503]

qfrc_actuator:
[ 2.17039132e-05, 8.22286690e-04, 9.95640041e-05,-5.16102594e-05,
 -4.23258693e-05, 7.18097022e-05,-4.51303602e-05, 1.00683014e-05,
 -1.03332549e-04, 9.11211709e-04, 1.89643836e-04, 2.85269174e-05,
  2.06928258e-02,-1.42751609e-03, 1.13581365e-02,-2.15669750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005816782586096358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54327421e-14, -9.54327421e-14,  1.00000000e+00, -9.10740826e-27,
        1.00000000e+00,  9.54327421e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54327421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09561105, -0.09341476,  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:
[-4.13848099e-05,-6.70333090e-05,-1.99995368e-05,-3.06138502e-05,
 -4.55595256e-07, 1.24226160e-05, 3.05029257e-06,-1.92850855e-05,
  4.98612288e-06, 3.38420268e-05,-4.10733262e-05,-4.59280376e-06,
 -1.22507818e-04,-4.41762727e-05,-6.08179680e-05,-6.77113348e-05,
  3.53040210e-06,-1.38146707e-05,-4.90500632e+00, 2.76793747e-04,
  1.18248443e-02,-5.44526310e-04]


--- Step 863 ---
qpos:
[ 1.87220948e-02, 3.00745117e-02,-9.49840192e-03,-2.55611853e-02,
  7.89840783e-03, 4.67037548e-03,-7.85494541e-03, 2.71356423e-02,
  1.23016028e-02, 2.79994759e-02,-8.35001317e-03, 2.64704396e-02,
  1.16028748e+00, 7.42923828e-03, 1.06433440e+00, 4.56499965e-02,
  5.87677938e-02,-7.74984372e-02, 1.71434730e-01, 9.99698551e-01,
  2.26448840e-02,-8.94366674e-04,-9.44548092e-03]

qacc:
[ -7.13172022, -0.95610889,  6.1765736 ,-17.978443  ,  3.04676713,
  -1.13346442,  6.67252592,-16.82257167, -5.40830693, -1.95084364,
   6.95612079, -8.73163496, -1.4148251 ,  2.01004187,  5.64041153,
 -20.65247657,  2.00539759, -1.80422273,  0.71445725, 17.24800082,
  18.43238101, -6.4476853 ]

qfrc_actuator:
[-1.98564983e-05, 8.37269526e-04, 9.54988607e-05,-8.55421126e-05,
 -2.44823213e-05, 7.45065280e-05,-4.50697116e-05,-1.93210111e-05,
 -1.36309615e-04, 9.03700741e-04, 2.23117039e-04, 2.73761007e-05,
  2.06349953e-02,-1.39574200e-03, 1.13261811e-02,-2.26441778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.2332988 ,  5.32986851, -3.23210699,  5.32986851, 19.58385443,
       22.01557873, -3.23210699, 22.01557873, 42.53783327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761378161942832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63504732e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63504732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03405995, -0.05267026,  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:
[-4.27847412e-05,-2.79207299e-05,-2.14165568e-05,-3.80854912e-05,
  1.78356166e-05, 9.44676213e-06, 2.33481888e-06,-2.91265838e-05,
 -3.28152019e-05, 2.71023801e-06, 3.52413061e-05,-1.21092320e-06,
 -1.37844834e-04,-6.63427104e-06,-7.47112509e-05,-1.20965614e-04,
  1.13554908e-05,-2.56932004e-05,-4.90500870e+00, 2.74920778e-04,
  1.18290578e-02,-5.40123846e-04]


--- Step 864 ---
qpos:
[ 1.87198495e-02, 3.00733068e-02,-9.49899665e-03,-2.55612879e-02,
  7.89812558e-03, 4.67076704e-03,-7.85524949e-03, 2.71346079e-02,
  1.23006824e-02, 2.79998976e-02,-8.34867844e-03, 2.64696887e-02,
  1.16077528e+00, 7.42972768e-03, 1.06477552e+00, 4.56500365e-02,
  5.87611924e-02,-7.74731795e-02, 1.71437135e-01, 9.99701467e-01,
  2.25188335e-02,-9.19117045e-04,-9.43582387e-03]

qacc:
[ -4.1590022 ,  1.3017095 , -7.78808284, 19.19157998,  1.8973881 ,
   0.72641722, -0.58247904, -4.97994119,  2.62099505, -3.23175377,
  11.21659555,-13.15974207, -1.35864162,  2.0155596 ,  1.67934111,
  -7.62090113,  1.95242032, -1.767276  ,  0.46017889, 16.54967989,
  18.07612798, -5.82244008]

qfrc_actuator:
[-4.35902286e-05, 8.28966852e-04, 9.33961198e-05,-5.19210840e-05,
 -1.37841356e-05, 9.37785850e-05,-6.28280979e-05,-3.63299314e-05,
 -1.19718845e-04, 8.99012455e-04, 2.78221420e-04, 2.70056809e-05,
  2.05880850e-02,-1.35918673e-03, 1.12857983e-02,-2.31044420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32014101, -6.19925044,  1.2302343 , -6.19925044,  7.88793802,
        7.90025634,  1.2302343 ,  7.90025634, 46.13017368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005865428075090412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46412615e-14, -1.89282523e-13,  1.00000000e+00, -1.79139368e-26,
        1.00000000e+00,  1.89282523e-13, -1.00000000e+00,  0.00000000e+00,
       -9.46412615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03406022, -0.05267625,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49840747e-05,-2.99365142e-05,-1.18024625e-05, 3.09500337e-05,
  1.12094702e-05, 2.37921833e-05,-1.65284222e-05,-1.70897379e-05,
  1.56298215e-05, 4.01481459e-06, 5.99537445e-05, 9.42193655e-07,
 -1.26952254e-04, 3.64758554e-06,-9.54669287e-05,-6.40023931e-05,
  4.23340007e-06,-1.32489684e-05,-4.90500602e+00, 2.79331991e-04,
  1.18244772e-02,-5.36316784e-04]


--- Step 865 ---
qpos:
[ 1.87180262e-02, 3.00717442e-02,-9.49904628e-03,-2.55603270e-02,
  7.89797394e-03, 4.67137951e-03,-7.85577186e-03, 2.71333759e-02,
  1.23006572e-02, 2.80002301e-02,-8.34725177e-03, 2.64693341e-02,
  1.16126221e+00, 7.43036855e-03, 1.06521545e+00, 4.56517932e-02,
  5.87622193e-02,-7.74548600e-02, 1.71440494e-01, 9.99703583e-01,
  2.24250563e-02,-9.08415673e-04,-9.43597452e-03]

qacc:
[ 3.64342393, 0.18762987,-5.84699275,23.63707228, 1.13818859, 0.49306119,
 -0.50389704,-2.72568474, 7.63267606, 0.42605017,-3.38924841,10.19449228,
 -0.59623168, 0.66035507,-6.89430283,21.68808348, 1.90706906,-1.73455717,
  0.23863051,15.9690654 ,17.76204578,-5.32016028]

qfrc_actuator:
[-2.11361592e-05, 8.24612139e-04, 1.27940483e-04, 3.41340429e-06,
 -7.38289987e-06, 1.05009632e-04,-7.31357110e-05,-4.59150641e-05,
 -7.40730447e-05, 8.78406097e-04, 2.74624397e-04, 4.48522799e-05,
  2.05477641e-02,-1.35558619e-03, 1.12563911e-02,-2.21322072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36253824, -6.29419665,  0.93004376, -6.29419665,  7.49253763,
        7.64742339,  0.93004376,  7.64742339, 58.11750822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005916202064166903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38290319e-14, -9.38290319e-14,  1.00000000e+00, -8.80388723e-27,
        1.00000000e+00,  9.38290319e-14, -1.00000000e+00,  0.00000000e+00,
       -9.38290319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03405961, -0.05268022,  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:
[ 2.17192291e-05,-2.21581629e-05, 2.80032646e-05, 5.42528752e-05,
  6.72947916e-06, 2.03848175e-05,-8.01926090e-06,-9.46838211e-06,
  4.61058310e-05,-5.96321814e-06, 4.62897120e-06, 2.01083641e-05,
 -1.11979703e-04,-2.42084728e-05,-8.62210880e-05, 8.00939740e-05,
  5.58912510e-07,-4.51661505e-06,-4.90500408e+00, 2.81984566e-04,
  1.18212610e-02,-5.33305596e-04]


--- Step 866 ---
qpos:
[ 1.87171753e-02, 3.00701689e-02,-9.49879593e-03,-2.55587386e-02,
  7.89790023e-03, 4.67222965e-03,-7.85616948e-03, 2.71320123e-02,
  1.23008352e-02, 2.80004468e-02,-8.34636054e-03, 2.64688989e-02,
  1.16174845e+00, 7.43078560e-03, 1.06565425e+00, 4.56559881e-02,
  5.87707204e-02,-7.74433643e-02, 1.71444041e-01, 9.99704936e-01,
  2.23625836e-02,-8.62818757e-04,-9.44514232e-03]

qacc:
[ 8.35240879, 0.42119125,-4.19721092,14.60426611, 0.68534191,-0.30678132,
  2.10276211,-4.75165275, 1.71756153, 1.17414886,-4.07362357, 3.62482207,
 -0.1410849 ,-0.20216535,-9.06355909,29.25330321, 1.86855422,-1.70593854,
  0.04679088,15.48746925,17.48884371,-4.9163175 ]

qfrc_actuator:
[ 2.83177038e-05, 8.40591563e-04, 1.48359901e-04, 3.55915983e-05,
 -3.55986745e-06, 1.29123359e-04,-6.12277254e-05,-5.10547783e-05,
 -6.49651801e-05, 8.48210219e-04, 2.36335093e-04, 3.77116763e-05,
  2.05114139e-02,-1.37152573e-03, 1.12176471e-02,-2.08560877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923540394301569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37127926e-14, -9.37127926e-14,  1.00000000e+00, -8.78208749e-27,
        1.00000000e+00,  9.37127926e-14, -1.00000000e+00,  0.00000000e+00,
       -9.37127926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03405827, -0.05268257,  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:
[ 5.00804691e-05, 1.17635571e-05, 2.11866546e-05, 3.32557615e-05,
  4.02210947e-06, 3.34397834e-05, 1.48048618e-05,-4.72561095e-06,
  1.04598155e-05,-3.17245796e-05,-3.82768378e-05,-6.84969956e-06,
 -1.05693518e-04,-4.71348284e-05,-7.45964130e-05, 1.19834399e-04,
  1.05020391e-07, 8.55233717e-07,-4.90500293e+00, 2.83130010e-04,
  1.18191163e-02,-5.31055530e-04]


--- Step 867 ---
qpos:
[ 1.87172685e-02, 3.00691758e-02,-9.49909151e-03,-2.55571404e-02,
  7.89752802e-03, 4.67325495e-03,-7.85612514e-03, 2.71305832e-02,
  1.23007768e-02, 2.80007945e-02,-8.34635817e-03, 2.64687204e-02,
  1.16223386e+00, 7.43107809e-03, 1.06609253e+00, 4.56579762e-02,
  5.87865659e-02,-7.74385933e-02, 1.71447113e-01, 9.99705551e-01,
  2.23306141e-02,-7.82803114e-04,-9.46269224e-03]

qacc:
[  8.07418911,  2.29968704, -7.15029989,  7.7900693 , -2.61514798,
  -1.13354167,  4.66293451, -6.64139185, -2.04422609,  3.19006176,
 -12.19974005, 17.958885  , -0.66402731,  0.58062204,  5.96137471,
 -21.84485736,  1.8361094 , -1.6811854 , -0.11846964, 15.08914322,
  17.25429635, -4.59132499]

qfrc_actuator:
[ 7.54995951e-05, 8.86322152e-04, 1.24826158e-04, 3.61340377e-05,
 -1.90359547e-05, 1.43108946e-04,-3.62461048e-05,-5.35142252e-05,
 -7.74462447e-05, 8.65580725e-04, 1.95573646e-04, 5.14024270e-05,
  2.04614853e-02,-1.38112198e-03, 1.11733399e-02,-2.20746141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895919173572323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41518186e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.41518186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03405635, -0.05268363,  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:
[ 4.86475228e-05, 5.81788865e-05,-1.73334425e-05, 2.42419538e-06,
 -1.53505126e-05, 3.55192268e-05, 3.35466819e-05,-6.04258684e-07,
 -1.21819217e-05,-8.58335441e-06,-5.22784120e-05, 1.08716044e-05,
 -1.20893381e-04,-4.49339694e-05,-7.05347839e-05,-1.25972156e-04,
  2.69172977e-06, 3.14054234e-06,-4.90500261e+00, 2.82956019e-04,
  1.18178288e-02,-5.29538463e-04]


--- Step 868 ---
qpos:
[ 1.87175825e-02, 3.00688672e-02,-9.49974791e-03,-2.55559198e-02,
  7.89662831e-03, 4.67451883e-03,-7.85610241e-03, 2.71298503e-02,
  1.23002243e-02, 2.80015960e-02,-8.34736697e-03, 2.64690190e-02,
  1.16271825e+00, 7.43157963e-03, 1.06652987e+00, 4.56578462e-02,
  5.88096475e-02,-7.74404624e-02, 1.71449145e-01, 9.99705440e-01,
  2.23284869e-02,-6.68772082e-04,-9.48811377e-03]

qacc:
[  1.8708706 ,  1.13182375, -1.13860366, -5.30836617, -4.64479834,
   1.81827235, -8.94951183, 20.84131746, -4.24771393,  4.41635047,
 -16.87663649, 26.40023695, -1.02762016,  1.27202661,  5.10894104,
 -19.67773268,  1.80901888, -1.66000891, -0.26020246, 14.76088177,
  17.05570856, -4.3295475 ]

qfrc_actuator:
[ 8.54522895e-05, 9.31561129e-04, 1.11151702e-04, 1.80617505e-05,
 -4.57462486e-05, 1.50985080e-04,-3.92926767e-05,-1.88736729e-05,
 -1.02522257e-04, 9.11290537e-04, 1.53896511e-04, 7.72868814e-05,
  2.04087727e-02,-1.36916936e-03, 1.11203539e-02,-2.31554941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005840596801687387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90087257e-13, -9.50436284e-14,  1.00000000e+00, -1.80665826e-26,
        1.00000000e+00,  9.50436284e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90087257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03405396, -0.05268367,  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:
[ 1.13942898e-05, 7.43483030e-05,-3.70008352e-06,-1.61366361e-05,
 -2.71354695e-05, 3.46024583e-05, 8.39273503e-06, 3.73131129e-05,
 -2.54336655e-05, 3.05603161e-05,-4.95163876e-05, 2.39194377e-05,
 -1.32236357e-04,-2.61721705e-05,-1.06375354e-04,-1.25752302e-04,
  8.17782358e-06, 2.55130805e-06,-4.90500313e+00, 2.81602079e-04,
  1.18172411e-02,-5.28731634e-04]


--- Step 869 ---
qpos:
[ 1.87173248e-02, 3.00687580e-02,-9.50008886e-03,-2.55552552e-02,
  7.89576047e-03, 4.67586836e-03,-7.85632240e-03, 2.71299191e-02,
  1.22993756e-02, 2.80023407e-02,-8.34815051e-03, 2.64692593e-02,
  1.16320158e+00, 7.43250604e-03, 1.06696565e+00, 4.56577703e-02,
  5.88398756e-02,-7.74488998e-02, 1.71449652e-01, 9.99704608e-01,
  2.23556601e-02,-5.21061645e-04,-9.52099607e-03]

qacc:
[ -4.89890768, -1.75403643,  8.99372994,-19.2712849 ,  0.27171545,
   2.44144602,-11.9262581 , 26.12571298, -2.51686134, -0.81970126,
   3.06849496, -4.40485762, -1.05538624,  1.43802381, -2.37563148,
   5.18119184,  1.78663057, -1.64209953, -0.38127666, 14.49164841,
  16.89021058, -4.11850512]

qfrc_actuator:
[ 5.56606323e-05, 9.22912011e-04, 1.21178712e-04,-1.07959772e-05,
 -4.33434170e-05, 1.37309422e-04,-5.88693717e-05, 1.95386837e-05,
 -1.17050501e-04, 9.02618391e-04, 1.65405721e-04, 7.46591984e-05,
  2.03597615e-02,-1.34457120e-03, 1.10515654e-02,-2.30806879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005763754433658896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92621500e-13, -9.63107500e-14,  1.00000000e+00, -1.85515211e-26,
        1.00000000e+00,  9.63107500e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92621500e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03405121, -0.05268292,  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:
[-2.94314806e-05, 3.14896299e-05, 2.43761640e-05,-2.61179346e-05,
  1.64185614e-06, 8.95289807e-06,-1.01166226e-05, 4.09116696e-05,
 -1.52611827e-05,-8.14393995e-07, 1.25527995e-05,-2.56509899e-06,
 -1.30925191e-04,-1.14717393e-05,-1.37013932e-04,-1.43864952e-05,
  1.64541654e-05,-7.50015977e-07,-4.90500450e+00, 2.79171294e-04,
  1.18172378e-02,-5.28616631e-04]


--- Step 870 ---
qpos:
[ 1.87170570e-02, 3.00684323e-02,-9.50008400e-03,-2.55548894e-02,
  7.89492801e-03, 4.67714222e-03,-7.85638443e-03, 2.71300959e-02,
  1.22980147e-02, 2.80026352e-02,-8.34831404e-03, 2.64694896e-02,
  1.16368392e+00, 7.43373027e-03, 1.06739969e+00, 4.56594139e-02,
  5.88771771e-02,-7.74638459e-02, 1.71448221e-01, 9.99703050e-01,
  2.24116918e-02,-3.39946452e-04,-9.56100819e-03]

qacc:
[ -0.07177152, -1.86823952,  7.5035525 ,-13.05990897,  0.31751398,
  -0.31987241,  0.53848187,  1.134415  , -4.33850568, -2.34000541,
   7.5365831 , -8.3838864 , -0.77355163,  0.96991986, -7.72017795,
  23.40586506,  1.76836003, -1.62714773, -0.48432794, 14.27223802,
  16.75493962, -3.948235  ]

qfrc_actuator:
[ 5.59843848e-05, 8.82141231e-04, 1.27142022e-04,-2.80428202e-05,
 -4.15737032e-05, 1.28512827e-04,-5.26291383e-05, 2.43249719e-05,
 -1.43002850e-04, 8.61645999e-04, 1.90242138e-04, 7.30214482e-05,
  2.03130126e-02,-1.33043778e-03, 1.09840365e-02,-2.21481938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005670626537088302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0340482 , -0.05268155,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.22222027e-07,-1.92488683e-05, 1.45707496e-05,-1.55630986e-05,
  1.81820221e-06,-4.17263972e-06, 8.24562017e-06, 5.61337240e-06,
 -2.63991512e-05,-3.89711076e-05, 2.61252327e-05,-1.28821380e-06,
 -1.24577234e-04,-1.80400491e-05,-1.35331935e-04, 7.41410971e-05,
  2.74382475e-05,-6.64061247e-06,-4.90500673e+00, 2.75739304e-04,
  1.18177343e-02,-5.29178592e-04]


--- Step 871 ---
qpos:
[ 1.87171397e-02, 3.00678990e-02,-9.50023674e-03,-2.55546984e-02,
  7.89377830e-03, 4.67832744e-03,-7.85636500e-03, 2.71306811e-02,
  1.22973867e-02, 2.80030204e-02,-8.34888162e-03, 2.64690097e-02,
  1.16416529e+00, 7.43516232e-03, 1.06783192e+00, 4.56634770e-02,
  5.89044758e-02,-7.74741179e-02, 1.71449094e-01, 9.99702018e-01,
  2.24475743e-02,-2.06528147e-04,-9.58845972e-03]

qacc:
[  3.00546992, -0.1997687 ,  1.04021644, -3.64569506, -2.78651189,
   0.50158753, -3.6736558 , 10.66809475,  6.23080497, -0.22519213,
   3.95476014,-15.6457053 , -0.64373389,  0.72402969, -9.956975  ,
  31.0447147 , -2.5007173 ,  1.16849298,  0.5760373 , -9.84736335,
 -23.796844  ,  6.81886333]

qfrc_actuator:
[ 7.40443708e-05, 8.57938978e-04, 1.12757952e-04,-3.83579565e-05,
 -5.79527426e-05, 1.22770732e-04,-4.89549601e-05, 4.48139113e-05,
 -1.04464686e-04, 8.72720154e-04, 1.69332123e-04, 3.64473736e-05,
  2.02623263e-02,-1.32262612e-03, 1.09066848e-02,-2.08954835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27403883,  5.09890323, -3.65578296,  5.09890323, 22.04602417,
       21.99797634, -3.65578296, 21.99797634, 36.95571601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005810203212614634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.55408085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.55408085e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09559391, -0.09344005,  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:
[ 1.80390738e-05,-3.26113946e-05,-1.71002667e-05,-1.09382376e-05,
 -1.63293910e-05,-6.17699286e-06, 4.00739748e-06, 2.07014894e-05,
  3.77499072e-05,-5.40018294e-06,-2.57891637e-05,-3.73652329e-05,
 -1.26247337e-04,-2.45737412e-05,-1.34007427e-04, 1.11421503e-04,
  4.10697428e-05,-1.50294391e-05,-4.90500982e+00, 2.71361007e-04,
  1.18186687e-02,-5.30405552e-04]


--- Step 872 ---
qpos:
[ 1.87170934e-02, 3.00674685e-02,-9.50066565e-03,-2.55553546e-02,
  7.89278632e-03, 4.67934546e-03,-7.85654458e-03, 2.71318824e-02,
  1.22979147e-02, 2.80034518e-02,-8.34974060e-03, 2.64684387e-02,
  1.16464580e+00, 7.43622166e-03, 1.06826280e+00, 4.56679467e-02,
  5.89219981e-02,-7.74798558e-02, 1.71451260e-01, 9.99701521e-01,
  2.24634122e-02,-1.19190457e-04,-9.60469914e-03]

qacc:
[ -1.11767916, -0.8353889 ,  6.74802542,-21.03161535,  1.38457251,
   1.60099297, -8.63494612, 19.74400878,  9.84178343,  0.66887069,
  -1.94462231,  0.83518722, -0.27958831, -0.16173211, -3.1970509 ,
   8.33490875, -2.44411026,  1.13356295,  0.32299258, -9.80324908,
 -23.00364305,  6.12621114]

qfrc_actuator:
[ 6.68843561e-05, 8.79260803e-04, 1.04283160e-04,-8.00238807e-05,
 -4.93773047e-05, 1.01151940e-04,-6.45597299e-05, 7.43807345e-05,
 -4.60250020e-05, 8.79156152e-04, 1.57255580e-04, 3.28736769e-05,
  2.02039860e-02,-1.35414191e-03, 1.08448119e-02,-2.07072059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.35902329, -3.72675039,  5.1525245 , -3.72675039, 30.88658634,
       17.74045035,  5.1525245 , 17.74045035, 19.19044799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005911992803407651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38958369e-14, -1.87791674e-13,  1.00000000e+00, -1.76328564e-26,
        1.00000000e+00,  1.87791674e-13, -1.00000000e+00,  0.00000000e+00,
       -9.38958369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558804, -0.09344252,  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:
[-6.64278240e-06,-8.87474057e-07,-1.76878516e-05,-4.38664458e-05,
  8.10819467e-06,-2.34084041e-05,-1.56856380e-05, 2.98403317e-05,
  5.95484201e-05,-3.50727037e-06,-1.76603137e-05,-5.42485079e-06,
 -1.36240764e-04,-6.59351595e-05,-1.13602291e-04, 7.25605551e-06,
  2.21973599e-05,-7.17103195e-06,-4.90500544e+00, 2.76992165e-04,
  1.18157983e-02,-5.30965614e-04]


--- Step 873 ---
qpos:
[ 1.87162724e-02, 3.00670682e-02,-9.50095731e-03,-2.55561795e-02,
  7.89190470e-03, 4.68016137e-03,-7.85687963e-03, 2.71334306e-02,
  1.22984505e-02, 2.80038033e-02,-8.35047406e-03, 2.64685068e-02,
  1.16512535e+00, 7.43695941e-03, 1.06869354e+00, 4.56697361e-02,
  5.89299413e-02,-7.74811779e-02, 1.71453835e-01, 9.99701558e-01,
  2.24593264e-02,-7.65764423e-05,-9.61080288e-03]

qacc:
[ -6.64297053, -0.67831365,  3.20875204, -6.38929197,  0.96963091,
   0.8795741 , -4.99134791, 11.39472671,  0.07227593,  0.85913579,
  -5.91549257, 16.83571969, -0.66592724,  0.40153173,  7.93583434,
 -27.96828982, -2.39476095,  1.10392994,  0.10258596, -9.74946742,
 -22.33697065,  5.57241079]

qfrc_actuator:
[ 2.71790217e-05, 8.92164384e-04, 1.17288185e-04,-8.64999708e-05,
 -4.39298889e-05, 8.78737734e-05,-7.37313536e-05, 9.12706279e-05,
 -4.73712668e-05, 8.82817399e-04, 1.68280727e-04, 6.65177945e-05,
  2.01517303e-02,-1.37325148e-03, 1.08561579e-02,-2.20347685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.39928785, -3.50265997,  5.35558196, -3.50265997, 40.05676755,
       22.01267903,  5.35558196, 22.01267903, 20.79602944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005960211929413317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31362037e-14, -1.86272407e-13,  1.00000000e+00, -1.73487049e-26,
        1.00000000e+00,  1.86272407e-13, -1.00000000e+00,  0.00000000e+00,
       -9.31362037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558447, -0.09344497,  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:
[-3.98947468e-05, 6.89598607e-06, 9.13743238e-06,-7.97661088e-06,
  5.66906147e-06,-2.83643961e-05,-1.49193336e-05, 1.59198559e-05,
  4.00819824e-07,-2.16238681e-06, 7.94215735e-06, 3.27770309e-05,
 -1.45474141e-04,-6.58512006e-05,-4.40015234e-05,-1.47841511e-04,
  9.47105377e-06,-2.19814661e-06,-4.90500241e+00, 2.80578227e-04,
  1.18140745e-02,-5.31156058e-04]


--- Step 874 ---
qpos:
[ 1.87146370e-02, 3.00667461e-02,-9.50112432e-03,-2.55570815e-02,
  7.89075017e-03, 4.68096044e-03,-7.85738987e-03, 2.71348012e-02,
  1.22986219e-02, 2.80040635e-02,-8.35077761e-03, 2.64689573e-02,
  1.16560383e+00, 7.43794857e-03, 1.06912415e+00, 4.56698237e-02,
  5.89284758e-02,-7.74781842e-02, 1.71456058e-01, 9.99702125e-01,
  2.24354420e-02,-7.75517515e-05,-9.60763017e-03]

qacc:
[ -6.98536031, -0.39026644,  1.88953416, -3.50402727, -2.40615269,
   0.10655724,  0.34561049, -3.13510469, -3.09023063, -0.52902564,
   0.10716315,  5.87938692, -1.12550019,  1.41811167,  5.04739688,
 -17.71427572, -2.35217831,  1.07894503, -0.08823456, -9.69250851,
 -21.77910651,  5.1296303 ]

qfrc_actuator:
[-1.36035979e-05, 9.00048565e-04, 1.25125520e-04,-8.99544564e-05,
 -5.81276379e-05, 9.74544010e-05,-7.90070303e-05, 8.28245610e-05,
 -6.61506785e-05, 8.84921531e-04, 1.92866514e-04, 8.62935318e-05,
  2.01138165e-02,-1.34931411e-03, 1.08687699e-02,-2.28223816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40311424, -3.19383948,  5.54970823, -3.19383948, 52.25905676,
       26.38994942,  5.54970823, 26.38994942, 21.5904464 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005964794570029186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558274, -0.09344741,  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:
[-4.19410382e-05, 1.32944397e-05, 1.01233616e-05,-2.99323574e-06,
 -1.40466016e-05,-8.70773925e-06,-1.24308740e-05,-9.87276450e-06,
 -1.87697128e-05, 3.93764354e-06, 2.62563099e-05, 2.05965605e-05,
 -1.35673093e-04,-2.52682175e-05,-3.25686920e-05,-9.45836586e-05,
  2.23441553e-06, 1.14409994e-07,-4.90500064e+00, 2.82511378e-04,
  1.18133687e-02,-5.30968298e-04]


--- Step 875 ---
qpos:
[ 1.87132140e-02, 3.00668275e-02,-9.50134543e-03,-2.55580477e-02,
  7.88977942e-03, 4.68178561e-03,-7.85798777e-03, 2.71357026e-02,
  1.22982225e-02, 2.80038641e-02,-8.35055816e-03, 2.64693372e-02,
  1.16608144e+00, 7.43887801e-03, 1.06955422e+00, 4.56679834e-02,
  5.89177471e-02,-7.74709584e-02, 1.71457271e-01, 9.99703210e-01,
  2.23918793e-02,-1.21172713e-04,-9.59586683e-03]

qacc:
[  1.81485032,  0.54869071, -0.91845173, -0.39472852,  1.61325158,
  -0.68953491,  4.48392226,-12.47649485, -4.8410291 , -2.20519191,
   7.29559697, -9.03240094, -0.72104194,  0.69284828,  5.09984717,
 -18.8519925 , -2.31579153,  1.05801294, -0.25261791, -9.63679299,
 -21.31461759,  4.77567721]

qfrc_actuator:
[-1.42504342e-06, 9.40366221e-04, 1.29819934e-04,-9.16200687e-05,
 -4.82681015e-05, 1.02893261e-04,-8.18632173e-05, 5.95625806e-05,
 -9.50209099e-05, 8.32876796e-04, 2.07481459e-04, 7.99967391e-05,
  2.00739007e-02,-1.35325083e-03, 1.08342135e-02,-2.38176682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005934290757126925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0955825 , -0.09344985,  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:
[ 1.09621356e-05, 4.97205904e-05, 8.59448801e-06,-7.99300778e-07,
  9.45822074e-06,-2.45246555e-06,-6.53350303e-06,-2.42605317e-05,
 -2.94208253e-05,-4.35493842e-05, 1.93754070e-05,-4.81880765e-06,
 -1.22305780e-04,-4.12171226e-05,-6.90520269e-05,-1.11017045e-04,
 -1.11699608e-08,-5.45921482e-08,-4.90500010e+00, 2.83077779e-04,
  1.18135822e-02,-5.30396723e-04]


--- Step 876 ---
qpos:
[ 1.87122922e-02, 3.00676023e-02,-9.50171013e-03,-2.55583676e-02,
  7.88893439e-03, 4.68240076e-03,-7.85824989e-03, 2.71363192e-02,
  1.22971349e-02, 2.80036109e-02,-8.35054047e-03, 2.64692922e-02,
  1.16655817e+00, 7.43976931e-03, 1.06998317e+00, 4.56643521e-02,
  5.88978784e-02,-7.74595703e-02, 1.71456909e-01, 9.99704798e-01,
  2.23287489e-02,-2.06658896e-04,-9.57606003e-03]

qacc:
[  4.28382146,  2.64100879,-10.82256204, 21.7279343 ,  1.11995859,
  -1.80483583,  7.23154121,-12.54026895, -5.86983114, -0.37038831,
   3.03121956,-10.04379693, -0.70917476,  0.6824123 ,  3.80429437,
 -15.6002268 , -2.28500834,  1.04059962, -0.39362604, -9.58526508,
 -20.93019897,  4.49285968]

qfrc_actuator:
[ 2.40763911e-05, 9.99787453e-04, 1.32757484e-04,-5.66891795e-05,
 -4.20743493e-05, 8.80582210e-05,-6.55325515e-05, 4.55262853e-05,
 -1.29593417e-04, 8.37510769e-04, 1.98096209e-04, 5.83564487e-05,
  2.00274780e-02,-1.35594881e-03, 1.07660710e-02,-2.47509634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000587601681939498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88941431e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88941431e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558342, -0.0934523 ,  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:
[ 2.58380498e-05, 8.89753557e-05, 1.42421406e-05, 3.73437014e-05,
  6.46296297e-06,-1.86174210e-05, 1.41748436e-05,-1.48425322e-05,
 -3.54517302e-05,-1.59310851e-05,-1.61615782e-05,-2.29296805e-05,
 -1.25688762e-04,-4.03753402e-05,-1.19082829e-04,-1.09930748e-04,
  2.35714215e-06,-2.56496711e-06,-4.90500072e+00, 2.82485723e-04,
  1.18146399e-02,-5.29437763e-04]


--- Step 877 ---
qpos:
[ 1.87123729e-02, 3.00688880e-02,-9.50197716e-03,-2.55582603e-02,
  7.88817024e-03, 4.68284315e-03,-7.85831063e-03, 2.71367672e-02,
  1.22959853e-02, 2.80036248e-02,-8.35083236e-03, 2.64692994e-02,
  1.16703409e+00, 7.44058848e-03, 1.07041054e+00, 4.56622587e-02,
  5.88689726e-02,-7.74440772e-02, 1.71454490e-01, 9.99706868e-01,
  2.22461475e-02,-3.33369676e-04,-9.54864596e-03]

qacc:
[  8.5959466 ,  1.26554381, -5.36079574, 12.24428906,  0.72070352,
  -1.13969487,  4.44155801, -7.55091176, -0.54276662,  1.32680451,
  -4.4373062 ,  5.63724604, -0.37775787,  0.20459773, -6.96006954,
  21.01564298, -2.25924988,  1.02623316, -0.5141322 , -9.53981841,
 -20.61446061,  4.26707374]

qfrc_actuator:
[ 7.49505686e-05, 1.01696157e-03, 1.34752043e-04,-3.59904739e-05,
 -3.80955143e-05, 7.90371437e-05,-5.58307637e-05, 3.70288398e-05,
 -1.31736374e-04, 8.75929962e-04, 1.92579041e-04, 6.33978183e-05,
  1.99931617e-02,-1.35790122e-03, 1.07151301e-02,-2.38654601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796198946167452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558526, -0.09345474,  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:
[ 5.16539660e-05, 7.14572637e-05, 2.34127948e-05, 2.57269595e-05,
  4.15605387e-06,-1.71585155e-05, 7.08264330e-06,-9.09611806e-06,
 -3.18776178e-06, 2.51826440e-05,-1.15888056e-05, 3.35509206e-06,
 -1.15964302e-04,-3.98827671e-05,-1.22146921e-04, 6.61903997e-05,
  9.05625083e-06,-7.30843292e-06,-4.90500246e+00, 2.80886187e-04,
  1.18164852e-02,-5.28089209e-04]


--- Step 878 ---
qpos:
[ 1.87137530e-02, 3.00700226e-02,-9.50160631e-03,-2.55578574e-02,
  7.88745987e-03, 4.68299912e-03,-7.85818813e-03, 2.71371259e-02,
  1.22951634e-02, 2.80036094e-02,-8.35112034e-03, 2.64697281e-02,
  1.16750941e+00, 7.44080579e-03, 1.07083712e+00, 4.56600914e-02,
  5.88311151e-02,-7.74245262e-02, 1.71449604e-01, 9.99709393e-01,
  2.21441563e-02,-5.00784291e-04,-9.51397193e-03]

qacc:
[ 11.1709531 , -1.39550317,  3.40187335,  0.84287336,  0.48380432,
  -1.07550163,  3.66079056, -5.28627356,  2.79350801,  0.81273746,
  -4.74265778, 12.06225056,  0.03940204, -0.68179602, -0.96980862,
   1.63993342, -2.23797006,  1.01450078, -0.61677182, -9.50160197,
 -20.35769694,  4.08707313]

qfrc_actuator:
[ 1.40346549e-04, 9.73187331e-04, 1.53749628e-04,-2.38704676e-05,
 -3.54510776e-05, 5.57985652e-05,-5.01062314e-05, 3.18523252e-05,
 -1.14772427e-04, 8.63310464e-04, 1.89571252e-04, 8.41410388e-05,
  1.99608083e-02,-1.39486233e-03, 1.06958943e-02,-2.38675903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005700106254423465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73861692e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.73861692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558779, -0.09345717,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69202313e-05, 2.09491673e-06, 3.75151793e-05, 1.64857256e-05,
  2.75665176e-06,-3.17754412e-05, 2.73216819e-06,-5.84581749e-06,
  1.68792758e-05,-7.89106029e-07, 8.84935657e-07, 2.14872246e-05,
 -1.08021592e-04,-7.26838596e-05,-7.10417711e-05,-1.28841231e-05,
  1.98763618e-05,-1.42030316e-05,-4.90500529e+00, 2.78387865e-04,
  1.18190756e-02,-5.26349723e-04]


--- Step 879 ---
qpos:
[ 1.87155624e-02, 3.00708582e-02,-9.50057094e-03,-2.55572943e-02,
  7.88678661e-03, 4.68306786e-03,-7.85804960e-03, 2.71370604e-02,
  1.22945514e-02, 2.80033704e-02,-8.35133271e-03, 2.64704225e-02,
  1.16798404e+00, 7.44058594e-03, 1.07126326e+00, 4.56558664e-02,
  5.88013566e-02,-7.74122004e-02, 1.71447868e-01, 9.99711021e-01,
  2.20770480e-02,-6.31062049e-04,-9.49109452e-03]

qacc:
[  3.70813006, -1.9297535 ,  5.61806565, -3.67338716,  0.32819383,
  -1.03392272,  5.30883412,-12.60939949,  1.79514217,  0.03641925,
  -1.68677674,  6.33543468, -0.31710284, -0.0888991 ,  5.5978512 ,
 -20.47778381,  2.02479533, -1.80632791,  0.78750253, 17.26672861,
  18.59813266, -6.32078052]

qfrc_actuator:
[ 1.60499793e-04, 9.46559583e-04, 1.82369737e-04,-1.69369732e-05,
 -3.36125391e-05, 5.97175175e-05,-4.68304526e-05, 1.09038886e-05,
 -1.04461915e-04, 8.38009747e-04, 1.87879415e-04, 9.61626166e-05,
  1.99243168e-02,-1.41676481e-03, 1.06743647e-02,-2.49249128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23648662,  5.33599365, -3.22814763,  5.33599365, 20.12928584,
       22.96421874, -3.22814763, 22.96421874, 44.19538418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005765199658576831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62866067e-14, -1.92573213e-13,  1.00000000e+00, -1.85422213e-26,
        1.00000000e+00,  1.92573213e-13, -1.00000000e+00,  0.00000000e+00,
       -9.62866067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03403654, -0.05270592,  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:
[ 2.20977471e-05,-1.70296997e-05, 3.42209391e-05, 8.63485031e-06,
  1.90592249e-06,-1.35431931e-05,-3.15784314e-06,-2.23309150e-05,
  1.08042385e-05,-2.46321348e-05,-1.00129522e-06, 1.24354162e-05,
 -1.14965995e-04,-6.39096079e-05,-6.13653620e-05,-1.16882896e-04,
  3.46652171e-05,-2.31885270e-05,-4.90500918e+00, 2.75068171e-04,
  1.18223798e-02,-5.24218493e-04]


--- Step 880 ---
qpos:
[ 1.87165655e-02, 3.00718441e-02,-9.49961735e-03,-2.55566583e-02,
  7.88614061e-03, 4.68302323e-03,-7.85759848e-03, 2.71367269e-02,
  1.22947573e-02, 2.80027832e-02,-8.35088556e-03, 2.64705406e-02,
  1.16845779e+00, 7.44014807e-03, 1.07168875e+00, 4.56510270e-02,
  5.87794728e-02,-7.74069520e-02, 1.71448225e-01, 9.99711815e-01,
  2.20434176e-02,-7.24984155e-04,-9.47882798e-03]

qacc:
[ -6.92201269,  0.59079036, -2.10154059,  3.3553487 ,  0.25150295,
  -1.57592154,  6.53242116,-11.58666047,  6.99496796, -3.5034739 ,
  14.23360799,-24.97918255, -0.51632352,  0.28214111,  0.92205032,
  -4.55489631,  1.96863461, -1.76933944,  0.52315394, 16.56741505,
  18.21405313, -5.71973108]

qfrc_actuator:
[ 1.18352562e-04, 9.65933388e-04, 1.80976316e-04,-1.30982831e-05,
 -3.22623768e-05, 6.20937248e-05,-2.71773813e-05,-1.38451467e-06,
 -6.26515046e-05, 8.23059193e-04, 2.22409161e-04, 6.74331389e-05,
  1.98747212e-02,-1.42955606e-03, 1.06567807e-02,-2.51750088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33345833, -6.21810554,  1.20326965, -6.21810554,  7.81676092,
        7.66522457,  1.20326965,  7.66522457, 45.94484164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005881377336897919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03403711, -0.05271215,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15148040e-05, 1.72468025e-05,-4.23062024e-07, 4.45499358e-06,
  1.40065730e-06,-6.80982064e-06, 1.56915451e-05,-1.34130413e-05,
  4.21174745e-05,-2.83875186e-05, 2.97512337e-05,-2.95788070e-05,
 -1.29995340e-04,-5.42628357e-05,-6.57320107e-05,-4.09723061e-05,
  2.08913691e-05,-1.18411948e-05,-4.90500562e+00, 2.80257535e-04,
  1.18199933e-02,-5.22651742e-04]


--- Step 881 ---
qpos:
[ 1.87163663e-02, 3.00730067e-02,-9.49924544e-03,-2.55562951e-02,
  7.88517072e-03, 4.68308189e-03,-7.85702826e-03, 2.71365790e-02,
  1.22954626e-02, 2.80022823e-02,-8.35019557e-03, 2.64702861e-02,
  1.16893049e+00, 7.43986173e-03, 1.07211295e+00, 4.56476294e-02,
  5.87652703e-02,-7.74086503e-02, 1.71449752e-01, 9.99711825e-01,
  2.20420971e-02,-7.83238485e-04,-9.47622671e-03]

qacc:
[-10.33668651,  1.31758244, -3.17370349, -0.7828408 , -2.84732192,
   0.19138239, -1.25847908,  4.1945046 ,  4.26270819, -1.34009815,
   6.50229977,-13.38667012, -0.75895247,  0.82034775, -6.21135727,
  19.09509098,  1.92034995, -1.73666944,  0.29253403, 15.98643976,
  17.87506623, -5.23979099]

qfrc_actuator:
[ 5.76414334e-05, 9.59320530e-04, 1.44302630e-04,-2.88458092e-05,
 -4.89628731e-05, 8.13579579e-05,-1.57535427e-05, 9.28931580e-06,
 -3.81382963e-05, 8.50037864e-04, 2.42552439e-04, 5.04939865e-05,
  1.98226305e-02,-1.41917221e-03, 1.05989934e-02,-2.44143904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.38382245, -6.31891775,  0.90800196, -6.31891775,  7.44780213,
        7.4043894 ,  0.90800196,  7.4043894 , 57.91204556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005941690718624104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34265243e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.34265243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03403674, -0.0527163 ,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19192344e-05, 3.06880447e-06,-3.30330811e-05,-1.49412211e-05,
 -1.66631422e-05, 1.81202162e-05, 1.14817068e-05, 1.06636784e-05,
  2.57375819e-05, 1.60132540e-05, 1.69203228e-05,-1.77035720e-05,
 -1.38413050e-04,-3.23976206e-05,-9.91434912e-05, 6.38621241e-05,
  1.07908807e-05,-4.28822450e-06,-4.90500292e+00, 2.83577433e-04,
  1.18187676e-02,-5.21881962e-04]


--- Step 882 ---
qpos:
[ 1.87161299e-02, 3.00741105e-02,-9.49951329e-03,-2.55560883e-02,
  7.88400818e-03, 4.68329939e-03,-7.85635254e-03, 2.71365535e-02,
  1.22957673e-02, 2.80023548e-02,-8.34978498e-03, 2.64698033e-02,
  1.16940228e+00, 7.43964068e-03, 1.07253561e+00, 4.56452061e-02,
  5.87585844e-02,-7.74171814e-02, 1.71451650e-01, 9.99711085e-01,
  2.20721190e-02,-8.06423560e-04,-9.48253720e-03]

qacc:
[-0.33825493, 1.38911762,-4.40456287, 2.76374424,-1.69407834, 0.1702949 ,
 -0.81348299, 2.6394197 ,-3.43324272, 1.07547451,-1.75909923,-2.18130414,
 -0.59846144, 0.58127722,-5.17273446,14.90370849, 1.87914296,-1.70820172,
  0.09261948,15.50526346,17.57956753,-4.85692917]

qfrc_actuator:
[ 5.75211218e-05, 9.37029110e-04, 1.04746031e-04,-3.82758930e-05,
 -5.84008728e-05, 9.28310621e-05,-9.19878520e-06, 1.56413850e-05,
 -5.95175100e-05, 9.01878940e-04, 2.36464075e-04, 4.06558506e-05,
  1.97850673e-02,-1.41291829e-03, 1.05171649e-02,-2.39530793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005956354817745618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31965152e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.31965152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03403559, -0.0527188 ,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92573397e-06,-2.81056910e-05,-4.35241600e-05,-1.07341439e-05,
 -9.90613170e-06, 2.44204427e-05, 1.20745445e-05, 7.73301653e-06,
 -2.06194340e-05, 6.35541047e-05,-1.31103230e-06,-8.91177426e-06,
 -1.23575740e-04,-3.31545245e-05,-1.24849495e-04, 3.59530022e-05,
  4.10060976e-06,-1.57191205e-07,-4.90500112e+00, 2.85300611e-04,
  1.18184526e-02,-5.21874415e-04]


--- Step 883 ---
qpos:
[ 1.87152037e-02, 3.00751202e-02,-9.49997402e-03,-2.55563677e-02,
  7.88274164e-03, 4.68337583e-03,-7.85543509e-03, 2.71362884e-02,
  1.22958136e-02, 2.80027415e-02,-8.34910074e-03, 2.64692007e-02,
  1.16987328e+00, 7.43921092e-03, 1.07295663e+00, 4.56459744e-02,
  5.87592754e-02,-7.74324473e-02, 1.71453228e-01, 9.99709616e-01,
  2.21326844e-02,-7.95054214e-04,-9.49715976e-03]

qacc:
[ -5.92218324, -0.57521326,  3.93856199,-11.98741667, -0.90493826,
  -1.35364782,  5.57065439,-10.00331184, -2.19839946, -0.59189232,
   3.22536158, -5.97322996, -0.14411391, -0.21965254,-12.08361652,
  38.7407365 ,  1.84422946, -1.68370402, -0.07976898, 15.10819877,
  17.32500768, -4.55194575]

qfrc_actuator:
[ 2.20605981e-05, 9.41000652e-04, 9.92556935e-05,-6.16755189e-05,
 -6.34830682e-05, 6.40273530e-05,-5.59951711e-06, 1.63678927e-06,
 -7.22264490e-05, 9.14857838e-04, 2.50567093e-04, 3.50831166e-05,
  1.97455941e-02,-1.42686932e-03, 1.04635864e-02,-2.22522351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005934178863025996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35447895e-14, -9.35447895e-14,  1.00000000e+00, -8.75062763e-27,
        1.00000000e+00,  9.35447895e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35447895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0340338 , -0.05271997,  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:
[-3.55275022e-05,-2.12307830e-05,-1.70368505e-05,-2.63200109e-05,
 -5.35600318e-06,-1.23412988e-05, 1.03884269e-05,-1.23913302e-05,
 -1.32907247e-05, 4.78534907e-05, 2.67577784e-05,-3.06706735e-06,
 -1.17844935e-04,-4.98128161e-05,-1.10081320e-04, 1.55368283e-04,
  6.08423131e-07, 8.41736843e-07,-4.90500022e+00, 2.85630911e-04,
  1.18188688e-02,-5.22601052e-04]


--- Step 884 ---
qpos:
[ 1.87135145e-02, 3.00762401e-02,-9.50005794e-03,-2.55573374e-02,
  7.88176873e-03, 4.68364750e-03,-7.85487771e-03, 2.71358565e-02,
  1.22960520e-02, 2.80029937e-02,-8.34830139e-03, 2.64686054e-02,
  1.17034325e+00, 7.43918710e-03, 1.07337624e+00, 4.56490822e-02,
  5.87672259e-02,-7.74543647e-02, 1.71453896e-01, 9.99707431e-01,
  2.22231369e-02,-7.49568047e-04,-9.51961794e-03]

qacc:
[ -6.536977  , -2.31718231, 11.40118228,-24.03807108,  2.5681753 ,
   0.91612797, -2.19666383, -0.24832919,  1.64297038, -0.48772828,
   1.44541458, -1.40003984, -0.86940271,  1.15884073, -9.08491311,
  28.9305888 ,  1.81487186, -1.66288458, -0.22775674, 14.78204652,
  17.10838211, -4.30950475]

qfrc_actuator:
[-1.61840331e-05, 9.78541342e-04, 1.31766783e-04,-9.30644517e-05,
 -4.82107455e-05, 8.23044494e-05,-2.17046090e-05,-6.51614047e-06,
 -6.19627055e-05, 8.69044208e-04, 2.40838382e-04, 3.20523048e-05,
  1.96996710e-02,-1.39943754e-03, 1.04003939e-02,-2.10764254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005882714627219454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.4363155e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.4363155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03403151, -0.05272009,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92881925e-05, 2.09831531e-05, 2.51139318e-05,-3.33988302e-05,
  1.51159003e-05, 1.29757976e-05,-1.78144393e-05,-8.56492209e-06,
  9.89136695e-06,-1.36830010e-05, 3.33516472e-06,-1.14426748e-07,
 -1.24495839e-04,-1.13646527e-05,-9.95656008e-05, 1.11410655e-04,
  1.44789302e-07,-1.06768206e-06,-4.90500021e+00, 2.84719883e-04,
  1.18198870e-02,-5.24039247e-04]


--- Step 885 ---
qpos:
[ 1.87127582e-02, 3.00776417e-02,-9.50017215e-03,-2.55579799e-02,
  7.88133110e-03, 4.68436780e-03,-7.85471221e-03, 2.71359900e-02,
  1.22967562e-02, 2.80032395e-02,-8.34787002e-03, 2.64673060e-02,
  1.17081229e+00, 7.43946855e-03, 1.07379498e+00, 4.56476048e-02,
  5.87823380e-02,-7.74828639e-02, 1.71453146e-01, 9.99704531e-01,
  2.23429406e-02,-6.70332062e-04,-9.54953419e-03]

qacc:
[  7.99824138,  1.11532406, -4.8412767 , 10.36636013,  4.68933857,
   2.84322758,-11.68034253, 21.77904925,  3.95731216, -0.43714198,
   4.5056319 ,-16.08327484, -1.20261207,  1.61149672, 12.67210274,
 -45.9705121 ,  1.79039519, -1.64542811, -0.35429672, 14.51574415,
  16.92653866, -4.11735642]

qfrc_actuator:
[ 3.30132115e-05, 1.00055172e-03, 1.33328277e-04,-7.55904530e-05,
 -2.10817212e-05, 1.28550169e-04,-3.13745722e-05, 2.43701669e-05,
 -3.82624726e-05, 8.59288393e-04, 2.16859724e-04,-5.03761481e-06,
  1.96552540e-02,-1.38321252e-03, 1.03101678e-02,-2.35928812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000580839987151402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91140942e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91140942e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03402883, -0.05271939,  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:
[ 4.80568147e-05, 3.74550878e-05, 7.82609388e-06, 1.85926794e-05,
  2.75642068e-05, 4.94448247e-05,-9.48954235e-06, 3.06577707e-05,
  2.39870206e-05,-1.67363649e-05,-2.64093708e-05,-3.75645020e-05,
 -1.17554786e-04,-1.48801137e-05,-1.27804147e-04,-2.59171433e-04,
  2.57575082e-06,-5.71446724e-06,-4.90500110e+00, 2.82679409e-04,
  1.18214154e-02,-5.26170784e-04]


--- Step 886 ---
qpos:
[ 1.87132868e-02, 3.00790499e-02,-9.50043885e-03,-2.55580188e-02,
  7.88087739e-03, 4.68521668e-03,-7.85455982e-03, 2.71365070e-02,
  1.22977392e-02, 2.80034006e-02,-8.34772184e-03, 2.64655770e-02,
  1.17128084e+00, 7.43930706e-03, 1.07421247e+00, 4.56456873e-02,
  5.88045309e-02,-7.75178871e-02, 1.71450547e-01, 9.99700911e-01,
  2.24916609e-02,-5.57649150e-04,-9.58661040e-03]

qacc:
[ 1.10196333e+01, 1.65725188e+00,-8.47487996e+00, 1.91866702e+01,
 -1.43803075e-01, 9.96159429e-01,-4.92345448e+00, 1.14843099e+01,
  2.36925793e+00,-2.09483784e-01, 2.39042178e+00,-9.30205313e+00,
  1.26091552e-03,-4.78812484e-01,-5.15308172e-01,-8.91489932e-01,
  1.77019272e+00,-1.63101801e+00,-4.62109714e-01, 1.43000423e+01,
  1.67763644e+01,-3.96571378e+00]

qfrc_actuator:
[ 9.77796164e-05, 9.77523088e-04, 1.16576402e-04,-4.72927002e-05,
 -2.27030610e-05, 1.20235035e-04,-3.70076226e-05, 4.25092714e-05,
 -2.46034352e-05, 8.53340422e-04, 2.02520763e-04,-2.63493967e-05,
  1.96383972e-02,-1.40927850e-03, 1.02889375e-02,-2.36491233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716692349165553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71036184e-14, -9.71036184e-14,  1.00000000e+00, -9.42911270e-27,
        1.00000000e+00,  9.71036184e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71036184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03402586, -0.05271805,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61745597e-05, 2.99376905e-07,-7.42381559e-06, 3.05308958e-05,
 -8.21630598e-07, 1.86695547e-05, 4.46065944e-06, 2.05228848e-05,
  1.43605139e-05,-2.23725428e-05,-2.23539745e-05,-2.36733315e-05,
 -8.83744023e-05,-5.56968809e-05,-1.13278422e-04,-3.74760446e-05,
  7.79708043e-06,-1.29698105e-05,-4.90500288e+00, 2.79591258e-04,
  1.18233889e-02,-5.28981050e-04]


--- Step 887 ---
qpos:
[ 1.87135543e-02, 3.00802147e-02,-9.50074144e-03,-2.55580386e-02,
  7.88040835e-03, 4.68575259e-03,-7.85393183e-03, 2.71365701e-02,
  1.22988786e-02, 2.80035039e-02,-8.34755341e-03, 2.64642719e-02,
  1.17174886e+00, 7.43882108e-03, 1.07462948e+00, 4.56461214e-02,
  5.88167955e-02,-7.75482887e-02, 1.71449869e-01, 9.99697804e-01,
  2.26203569e-02,-4.92239881e-04,-9.61132622e-03]

qacc:
[-2.23697522e+00,-1.77779745e-01, 9.45548538e-02, 4.62810528e-01,
 -1.14858611e-01,-2.67696885e+00, 1.08607793e+01,-1.92439233e+01,
  1.33408693e+00, 7.36958629e-01,-4.53272069e+00, 1.18835537e+01,
  1.56481215e-02,-4.36669053e-01,-7.84055672e+00, 2.63580075e+01,
 -2.48204350e+00, 1.15541010e+00, 4.79943419e-01,-9.78491351e+00,
 -2.35865889e+01, 6.71803009e+00]

qfrc_actuator:
[ 8.23991502e-05, 9.45385965e-04, 1.06723460e-04,-4.84133222e-05,
 -2.34847382e-05, 7.93239943e-05,-2.26879135e-05, 1.74506704e-05,
 -1.69685796e-05, 8.67510635e-04, 2.11780661e-04,-2.68185372e-06,
  1.96167674e-02,-1.42458773e-03, 1.03304718e-02,-2.22523474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.14139834,  4.98958509, -3.58061646,  4.98958509, 21.43734084,
       21.31487898, -3.58061646, 21.31487898, 35.84365867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005651106393173427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09557289, -0.09348154,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34571787e-05,-3.22221993e-05,-9.66559958e-06,-7.75422693e-07,
 -7.99545859e-07,-2.87040842e-05, 1.94228265e-05,-2.37081517e-05,
  8.05057012e-06,-3.96829055e-06, 1.06673221e-06, 2.14773606e-05,
 -8.57596046e-05,-4.82960396e-05,-1.80657662e-05, 1.22273309e-04,
  1.57294378e-05,-2.27386646e-05,-4.90500553e+00, 2.75514304e-04,
  1.18257624e-02,-5.32458380e-04]


--- Step 888 ---
qpos:
[ 1.87132912e-02, 3.00812600e-02,-9.50117887e-03,-2.55584256e-02,
  7.88027847e-03, 4.68611125e-03,-7.85314604e-03, 2.71363377e-02,
  1.22994117e-02, 2.80035390e-02,-8.34757914e-03, 2.64636216e-02,
  1.17221600e+00, 7.43829296e-03, 1.07504661e+00, 4.56445119e-02,
  5.88193381e-02,-7.75742058e-02, 1.71450166e-01, 9.99695215e-01,
  2.27291321e-02,-4.72591907e-04,-9.62494035e-03]

qacc:
[ -4.55538379, -0.52860896,  3.21707409, -9.27619889,  2.99158228,
  -1.2895844 ,  5.49572576,-10.72101552, -5.17179623,  1.81057142,
  -9.33367271, 21.00769262, -0.79064735,  0.79695111,  6.42537915,
 -22.06485639, -2.43051724,  1.12111467,  0.24396977, -9.74063522,
 -22.84377653,  6.07412649]

qfrc_actuator:
[ 5.54678744e-05, 9.43536426e-04, 1.00954258e-04,-6.68418332e-05,
 -6.00429100e-06, 7.25034177e-05,-1.46326464e-05, 2.66251302e-06,
 -4.84424892e-05, 8.58253533e-04, 1.99504450e-04, 2.95390378e-05,
  1.95550152e-02,-1.43338419e-03, 1.03191029e-02,-2.33829171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22145008, -3.56020076,  5.10209875, -3.56020076, 33.23581   ,
       18.85038871,  5.10209875, 18.85038871, 19.37508969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005747172400702993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.65886307e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.65886307e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556729, -0.09348395,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73376089e-05,-2.19414048e-05,-1.36511676e-05,-2.01589532e-05,
  1.74479105e-05,-1.99032895e-05, 3.68422084e-06,-1.58103136e-05,
 -3.12397993e-05,-1.03318370e-05,-1.22208181e-05, 3.25079230e-05,
 -1.20870362e-04,-4.02611053e-05,-1.36423005e-05,-1.10303281e-04,
  5.13733981e-06,-1.14797411e-05,-4.90500337e+00, 2.79007076e-04,
  1.18213994e-02,-5.35311100e-04]


--- Step 889 ---
qpos:
[ 1.87133964e-02, 3.00821886e-02,-9.50172533e-03,-2.55586873e-02,
  7.88035894e-03, 4.68655794e-03,-7.85268416e-03, 2.71362744e-02,
  1.22992189e-02, 2.80031962e-02,-8.34811564e-03, 2.64627346e-02,
  1.17268208e+00, 7.43801629e-03, 1.07546192e+00, 4.56448157e-02,
  5.88123383e-02,-7.75957556e-02, 1.71450616e-01, 9.99693143e-01,
  2.28181070e-02,-4.97437679e-04,-9.62845171e-03]

qacc:
[  3.15893693,  0.40246174, -2.1964697 ,  4.63220603,  1.83881721,
   1.36615898, -5.42224916,  8.80778575, -6.1944731 ,  0.45304419,
  -1.31955862, -1.70508123, -0.77900633,  0.91025309, -8.42632952,
  25.70019913, -2.38560888,  1.09182619,  0.03809187, -9.68644173,
 -22.22044504,  5.56266134]

qfrc_actuator:
[ 7.52380520e-05, 9.42080367e-04, 9.77486087e-05,-5.97712605e-05,
  4.33242503e-06, 8.61265956e-05,-2.79611056e-05, 1.18125174e-05,
 -8.49288488e-05, 7.99468306e-04, 1.56760239e-04, 1.32335658e-05,
  1.94958682e-02,-1.42067289e-03, 1.02067198e-02,-2.24448231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25972467, -3.32832006,  5.30155058, -3.32832006, 42.99763364,
       23.06410505,  5.30155058, 23.06410505, 20.73939857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005793051417741363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58236812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58236812e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556386, -0.09348632,  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:
[ 1.89645033e-05,-1.74484938e-05,-1.01208868e-05, 5.26700388e-06,
  1.08261309e-05, 2.56096375e-06,-1.75466617e-05, 8.11408096e-06,
 -3.74073565e-05,-6.57028713e-05,-4.52556961e-05,-1.65355906e-05,
 -1.36426925e-04,-2.48659583e-05,-1.40461906e-04, 8.37492198e-05,
  2.72362766e-07,-3.18997343e-06,-4.90500233e+00, 2.80644980e-04,
  1.18183410e-02,-5.37793505e-04]


--- Step 890 ---
qpos:
[ 1.87133926e-02, 3.00831687e-02,-9.50241744e-03,-2.55585365e-02,
  7.88090776e-03, 4.68710756e-03,-7.85240256e-03, 2.71359637e-02,
  1.22992790e-02, 2.80024286e-02,-8.34884084e-03, 2.64612987e-02,
  1.17314715e+00, 7.43835406e-03, 1.07587517e+00, 4.56469467e-02,
  5.87959509e-02,-7.76130377e-02, 1.71450504e-01, 9.99691578e-01,
  2.28874074e-02,-5.65719821e-04,-9.62265167e-03]

qacc:
[ -0.93972944,  1.32698751, -6.36597138, 13.68660111,  4.11249434,
   0.12258145,  0.79099648, -4.845394  ,  2.15608169, -1.16813281,
   5.66050491,-14.53711884, -1.00404767,  1.49978549, -8.47782948,
  25.45357688, -2.34690192,  1.06693017, -0.1404624 , -9.62858776,
 -21.69987752,  5.15717544]

qfrc_actuator:
[ 6.90844344e-05, 9.58657934e-04, 9.61092328e-05,-3.77467559e-05,
  2.81286921e-05, 9.40690028e-05,-3.59485994e-05,-5.26242060e-07,
 -7.08028184e-05, 7.82313618e-04, 1.49387413e-04,-1.38055414e-05,
  1.94649617e-02,-1.37758106e-03, 1.01031344e-02,-2.15396080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005798011550854493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57417051e-14, -9.57417051e-14,  1.00000000e+00,  9.16647410e-27,
        1.00000000e+00,  9.57417051e-14, -1.00000000e+00,  0.00000000e+00,
        9.57417051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556219, -0.09348867,  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:
[-5.60921106e-06, 4.93541795e-06,-6.31208839e-06, 2.10287946e-05,
  2.41051985e-05, 6.07997377e-06,-9.34991026e-06,-1.26805694e-05,
  1.30063963e-05,-6.39460067e-05,-2.70774355e-05,-3.17369785e-05,
 -1.14455118e-04, 6.19329657e-06,-1.61009342e-04, 7.66797569e-05,
  5.73762539e-07, 2.36463187e-06,-4.90500238e+00, 2.80764512e-04,
  1.18164308e-02,-5.39898148e-04]


--- Step 891 ---
qpos:
[ 1.87133148e-02, 3.00846520e-02,-9.50305801e-03,-2.55585411e-02,
  7.88139263e-03, 4.68774760e-03,-7.85221598e-03, 2.71351579e-02,
  1.22991626e-02, 2.80016711e-02,-8.34964880e-03, 2.64601766e-02,
  1.17361143e+00, 7.43890269e-03, 1.07628794e+00, 4.56472259e-02,
  5.87703079e-02,-7.76261363e-02, 1.71449214e-01, 9.99690508e-01,
  2.29371560e-02,-6.76561136e-04,-9.60816570e-03]

qacc:
[ -0.64210193,  0.2019297 ,  0.90117712, -4.0418019 , -0.56735568,
  -0.63324292,  4.52381976,-13.01038475, -1.5070334 ,  0.89340762,
  -4.48550697, 10.03388071, -0.86430368,  1.10559642,  4.96499746,
 -18.22483722, -2.31389989,  1.04586428, -0.29455943, -9.57136886,
 -21.26755446,  4.83657736]

qfrc_actuator:
[ 6.54591216e-05, 1.02143932e-03, 1.13242462e-04,-4.25925295e-05,
  2.41532901e-05, 9.85528428e-05,-4.07455617e-05,-2.54094154e-05,
 -8.02556180e-05, 8.25840582e-04, 1.63119644e-04, 6.37989078e-06,
  1.94297297e-02,-1.36998236e-03, 1.01061039e-02,-2.24361778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005770038726979065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62058556e-14, -9.62058556e-14,  1.00000000e+00, -9.25556664e-27,
        1.00000000e+00,  9.62058556e-14, -1.00000000e+00,  0.00000000e+00,
       -9.62058556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556192, -0.09349101,  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:
[-3.79009210e-06, 6.51082234e-05, 1.80992258e-05,-4.44409371e-06,
 -3.28732931e-06, 5.39485471e-06,-5.14146839e-06,-2.51950928e-05,
 -9.09455674e-06, 8.58821674e-07,-3.88980897e-06, 1.58965326e-05,
 -9.95403261e-05,-1.64127746e-05,-6.35484825e-05,-1.06280209e-04,
  5.62008328e-06, 5.37118497e-06,-4.90500350e+00, 2.79608205e-04,
  1.18155483e-02,-5.41620340e-04]


--- Step 892 ---
qpos:
[ 1.87138834e-02, 3.00867184e-02,-9.50354710e-03,-2.55589674e-02,
  7.88148142e-03, 4.68833873e-03,-7.85180357e-03, 2.71347463e-02,
  1.22985887e-02, 2.80014738e-02,-8.35089078e-03, 2.64596022e-02,
  1.17407509e+00, 7.43883090e-03, 1.07670012e+00, 4.56437558e-02,
  5.87355205e-02,-7.76351225e-02, 1.71446216e-01, 9.99689915e-01,
  2.29674666e-02,-8.29238841e-04,-9.58548641e-03]

qacc:
[  5.53968991, -0.53230459,  4.77272301,-12.71128062, -3.47621175,
   0.12272493, -2.18439094,  8.67079584, -3.92051283,  3.08871487,
 -12.23812853, 21.98475018, -0.22885931, -0.31414285, 10.4746095 ,
 -37.89523661, -2.28607992,  1.02812446, -0.42699508, -9.51767431,
 -20.91097591,  4.58405383]

qfrc_actuator:
[ 9.88647293e-05, 1.05821300e-03, 1.23747707e-04,-6.31575275e-05,
  3.85983305e-06, 1.00932881e-04,-2.58887280e-05,-4.21461590e-06,
 -1.03527428e-04, 8.87758968e-04, 1.53979200e-04, 3.65044249e-05,
  1.93759414e-02,-1.41902700e-03, 1.00610971e-02,-2.43843353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715973771783928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.94231651e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.94231651e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556275, -0.09349333,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33132786e-05, 7.66819926e-05, 2.60179818e-05,-1.72395014e-05,
 -2.03837396e-05, 3.23032658e-06, 1.44584150e-05, 2.07578412e-05,
 -2.35422705e-05, 6.23122129e-05,-8.87106136e-06, 3.03424727e-05,
 -1.14257889e-04,-7.54652402e-05,-9.27538418e-05,-2.10424876e-04,
  1.50968534e-05, 5.97771191e-06,-4.90500566e+00, 2.77349694e-04,
  1.18156010e-02,-5.42957282e-04]


--- Step 893 ---
qpos:
[ 1.87148483e-02, 3.00888220e-02,-9.50365740e-03,-2.55595821e-02,
  7.88132651e-03, 4.68866008e-03,-7.85141184e-03, 2.71353281e-02,
  1.22980849e-02, 2.80016284e-02,-8.35245143e-03, 2.64590663e-02,
  1.17453800e+00, 7.43824026e-03, 1.07711122e+00, 4.56395984e-02,
  5.86916815e-02,-7.76400556e-02, 1.71441056e-01, 9.99689775e-01,
  2.29784410e-02,-1.02316257e-03,-9.55500000e-03]

qacc:
[  3.41170306, -1.40435789,  5.85932823, -9.73357128, -2.13927501,
   1.75050495,-10.94574084, 28.36168871,  0.58145912,  1.433831  ,
  -4.60185713,  5.51977101, -0.17426462, -0.37178919,  0.48415527,
  -4.01138569, -2.26292538,  1.01326528, -0.54040191, -9.46938678,
 -20.61944624,  4.38619884]

qfrc_actuator:
[ 1.18292882e-04, 1.02584290e-03, 1.30155601e-04,-7.50729729e-05,
 -8.11410709e-06, 6.66485272e-05,-3.50277166e-05, 4.39355831e-05,
 -9.92338632e-05, 8.89147584e-04, 1.31499502e-04, 3.67276196e-05,
  1.93323360e-02,-1.44805283e-03, 1.00299380e-02,-2.46292228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005641643723730827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95186052e-13, -9.83953506e-14,  1.00000000e+00, -2.90449351e-26,
        1.00000000e+00,  9.83953506e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95186052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556446, -0.09349564,  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:
[ 2.04193604e-05, 1.50867446e-05, 2.48337820e-05,-8.07199637e-06,
 -1.25535460e-05,-2.86342996e-05,-5.98268193e-06, 4.91924094e-05,
  3.62170609e-06, 3.57148032e-05,-9.63250396e-06, 3.18245574e-06,
 -1.26899778e-04,-7.29288729e-05,-1.02642310e-04,-4.93555446e-05,
  2.87723202e-05, 4.29980535e-06,-4.90500885e+00, 2.74111980e-04,
  1.18165188e-02,-5.43907431e-04]


--- Step 894 ---
qpos:
[ 0.01871535, 0.03009052,-0.00950342,-0.02556027, 0.00788068, 0.00468846,
 -0.00785123, 0.02713618, 0.01229729, 0.02800183,-0.00835412, 0.02645822,
  1.17499982, 0.00743788, 1.0775218 , 0.04563697, 0.05865574,-0.07765215,
  0.17143823, 0.99968874, 0.02302364,-0.00118066,-0.00953604]

qacc:
[-3.95782263,-1.66336718, 5.48000257,-7.0748965 ,-4.28351589, 0.47126534,
 -3.81511496, 9.24777115,-2.46928346,-0.2852563 , 2.44174183,-7.74433028,
 -0.88538517, 1.0363509 ,-5.33840441,17.72271657, 1.97498632,-1.78918476,
  0.58408408,16.93843868,18.23859463,-6.20300266]

qfrc_actuator:
[ 9.38206962e-05, 9.70051833e-04, 1.33817185e-04,-8.18633331e-05,
 -3.28429188e-05, 1.06059912e-05,-5.84080326e-05, 5.42443258e-05,
 -1.14250861e-04, 8.71955157e-04, 1.18827145e-04, 1.93001929e-05,
  1.92842231e-02,-1.42941549e-03, 1.00550847e-02,-2.36902438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1823212 ,  5.30046958, -3.18215615,  5.30046958, 19.39373853,
       22.00605891, -3.18215615, 22.00605891, 42.83748217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005700237278832287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73839307e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.73839307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03401399, -0.05273582,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38789881e-05,-4.26407592e-05, 9.53302493e-06,-5.44654746e-06,
 -2.50973728e-05,-7.12047280e-05,-2.83391151e-05, 9.82963942e-06,
 -1.48992548e-05, 9.39695870e-07,-6.35428951e-06,-1.61641759e-05,
 -1.37507664e-04,-2.77929767e-05,-3.17874542e-05, 7.70155233e-05,
  4.64791431e-05, 4.26195518e-07,-4.90501304e+00, 2.69980752e-04,
  1.18182485e-02,-5.44470050e-04]


--- Step 895 ---
qpos:
[ 0.01871486, 0.03009213,-0.00950351,-0.02556104, 0.00787975, 0.00468764,
 -0.00785096, 0.0271368 , 0.01229598, 0.0280015 ,-0.00835565, 0.02645722,
  1.17546071, 0.00743744, 1.07793193, 0.04563448, 0.0586275 ,-0.07767127,
  0.1714368 , 0.99968687, 0.02310183,-0.00130243,-0.00952757]

qacc:
[-8.47482013, 0.68015407,-2.24723343, 1.56712876,-2.550613  ,-1.54543078,
  5.3224404 ,-9.08517416,-4.40204642,-1.36925484, 4.47977863,-6.79495057,
 -0.61936139, 0.50488015,-1.01708515, 2.69508153, 1.92460248,-1.7579459 ,
  0.34889463,16.32078415,17.89489132,-5.67685531]

qfrc_actuator:
[ 4.37095068e-05, 9.71651505e-04, 1.17958562e-04,-8.56147573e-05,
 -4.71310412e-05,-2.26291639e-05,-5.46306573e-05, 4.21708331e-05,
 -1.40522895e-04, 8.08271487e-04, 1.11952132e-04, 9.37151886e-06,
  1.92387887e-02,-1.43597812e-03, 1.00287910e-02,-2.36581376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25310791, -6.17119496,  1.00881677, -6.17119496,  7.4747454 ,
        7.47307471,  1.00881677,  7.47307471, 51.96785227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005785121892197126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59550244e-14, -9.59550244e-14,  1.00000000e+00, -9.20736671e-27,
        1.00000000e+00,  9.59550244e-14, -1.00000000e+00,  0.00000000e+00,
       -9.59550244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03401401, -0.05274102,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08275323e-05,-2.05812790e-05,-2.37002606e-05,-5.35515736e-06,
 -1.50254829e-05,-7.84915982e-05,-1.40821407e-05,-1.59149790e-05,
 -2.67091068e-05,-6.51571514e-05,-8.00408210e-06,-1.04172292e-05,
 -1.28659393e-04,-4.52239891e-05,-4.01657187e-05, 1.66592395e-06,
  3.03612012e-05, 7.42670764e-06,-4.90500980e+00, 2.74500928e-04,
  1.18184651e-02,-5.45600217e-04]


--- Step 896 ---
qpos:
[ 0.01871447, 0.03009414,-0.00950404,-0.02556189, 0.007879  , 0.00468644,
 -0.00785079, 0.02713795, 0.01229471, 0.02800059,-0.00835663, 0.0264561 ,
  1.17592085, 0.00743684, 1.07834122, 0.04563274, 0.05860679,-0.07769731,
  0.17143595, 0.99968419, 0.02321198,-0.00138908,-0.00952876]

qacc:
[  0.76576991,  1.56778161, -4.43864874,  3.24932371,  1.59226934,
   0.85155456, -5.99066258, 15.50818354,  0.36337902, -2.57243752,
   8.62185943,-11.37300577, -0.37072988,  0.15437117, -3.51316637,
  10.53054518,  1.88131052, -1.73057154,  0.14403402, 15.81027875,
  17.59253683, -5.25991229]

qfrc_actuator:
[ 4.99342324e-05, 1.02527058e-03, 1.08675631e-04,-8.75179312e-05,
 -3.74029922e-05,-2.41185523e-05,-5.25253955e-05, 7.03250246e-05,
 -1.37698176e-04, 7.88264928e-04, 1.43862298e-04, 3.89697714e-06,
  1.92109631e-02,-1.43969065e-03, 9.98762297e-03,-2.32746292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28353344, -6.24580722,  0.68752065, -6.24580722,  6.99495838,
        6.46296667,  0.68752065,  6.46296667, 64.99659749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005821578489146745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03401322, -0.05274438,  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:
[ 4.73269945e-06, 3.69142335e-05,-1.66514415e-05,-3.70809112e-06,
  9.27487538e-06,-4.89534242e-05,-1.63878604e-05, 2.39939986e-05,
  2.01638980e-06,-5.85241119e-05, 1.71283737e-05,-8.73926047e-06,
 -1.10581767e-04,-4.43594898e-05,-6.69596441e-05, 3.15936331e-05,
  1.78393542e-05, 1.08536061e-05,-4.90500746e+00, 2.77196063e-04,
  1.18195939e-02,-5.47513550e-04]


--- Step 897 ---
qpos:
[ 0.01871484, 0.03009649,-0.00950447,-0.02556245, 0.00787871, 0.00468516,
 -0.00785076, 0.02713938, 0.01229382, 0.028     ,-0.00835733, 0.02645482,
  1.17638014, 0.00743621, 1.0787498 , 0.04563111, 0.05859345,-0.07773018,
  0.17143497, 0.99968073, 0.02335323,-0.00144115,-0.00953897]

qacc:
[ 6.57333889, 0.74583869,-3.29708332, 8.05923354, 4.10552796, 0.86615473,
 -4.47672175, 9.79069257, 3.3035506 ,-0.6705883 , 3.63825974,-6.9675559 ,
 -0.58510529, 0.51760511,-1.29005627, 3.1146877 , 1.8443627 ,-1.70694238,
 -0.03339075,15.39002781,17.32972758,-4.93061677]

qfrc_actuator:
[ 8.92768008e-05, 1.05639886e-03, 1.21336501e-04,-7.05093447e-05,
 -1.36206824e-05,-6.54801681e-06,-5.12686663e-05, 8.64456576e-05,
 -1.17765808e-04, 8.65735050e-04, 1.80824341e-04, 1.14223304e-06,
  1.91670922e-02,-1.44158538e-03, 9.95888493e-03,-2.32196397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818648857385256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90804266e-13, -9.54021330e-14,  1.00000000e+00, -1.82031340e-26,
        1.00000000e+00,  9.54021330e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90804266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03401177, -0.05274627,  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:
[ 3.94885197e-05, 4.81106695e-05, 1.80905957e-05, 1.79392091e-05,
  2.40284682e-05,-1.21190928e-05,-1.00344069e-05, 1.39220885e-05,
  1.99666924e-05, 4.79501830e-05, 2.67035704e-05,-4.83377130e-06,
 -1.16691846e-04,-3.78949151e-05,-6.17010834e-05,-2.62777008e-06,
  8.67006284e-06, 1.10279568e-05,-4.90500603e+00, 2.78311313e-04,
  1.18214572e-02,-5.50179770e-04]


--- Step 898 ---
qpos:
[ 0.018715  , 0.03009885,-0.0095046 ,-0.02556277, 0.00787871, 0.00468377,
 -0.0078507 , 0.02714065, 0.01229353, 0.02799994,-0.00835776, 0.02645383,
  1.17683871, 0.00743528, 1.07915787, 0.04562915, 0.05858736,-0.0777698 ,
  0.17143324, 0.9996765 , 0.02352492,-0.00145909,-0.00955767]

qacc:
[-1.88240542e+00,-3.06465251e-01, 1.51913492e-01, 3.41416813e+00,
  2.53035818e+00,-5.76005061e-01, 2.54809543e+00,-5.44555171e+00,
  5.03030484e+00, 5.07892563e-01,-2.04471663e+00, 6.28347933e+00,
 -3.27449538e-01, 5.93811341e-03, 1.99705125e-01,-1.78787165e+00,
  1.81304127e+00,-1.68684796e+00,-1.86321572e-01, 1.50458175e+01,
  1.71039820e+01,-4.67175163e+00]

qfrc_actuator:
[ 7.67680711e-05, 1.03843204e-03, 1.29039726e-04,-6.02601302e-05,
  4.82896585e-07,-1.32000011e-05,-5.04465859e-05, 7.76174575e-05,
 -8.79324171e-05, 9.12264080e-04, 2.03120244e-04, 1.78465081e-05,
  1.91296066e-02,-1.46020639e-03, 9.94294804e-03,-2.33582149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005784115397074324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59717216e-14, -9.59717216e-14,  1.00000000e+00, -9.21057134e-27,
        1.00000000e+00,  9.59717216e-14, -1.00000000e+00,  0.00000000e+00,
       -9.59717216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0340098 , -0.05274699,  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:
[-1.13495774e-05, 1.33743589e-05, 2.04651942e-05, 1.32795030e-05,
  1.47820390e-05,-1.48539094e-05,-2.42506715e-06,-9.42522147e-06,
  3.04321444e-05, 7.86886717e-05, 3.53388764e-05, 1.95937775e-05,
 -1.12171280e-04,-5.44965812e-05,-5.08647926e-05,-2.33426406e-05,
  2.65632616e-06, 8.19734444e-06,-4.90500549e+00, 2.78029418e-04,
  1.18239312e-02,-5.53574557e-04]


--- Step 899 ---
qpos:
[ 0.01871465, 0.03010095,-0.00950471,-0.02556326, 0.00787888, 0.00468244,
 -0.00785071, 0.02714178, 0.01229325, 0.02800028,-0.00835838, 0.02645276,
  1.17729639, 0.00743465, 1.07956527, 0.04562441, 0.05858842,-0.0778161 ,
  0.17143024, 0.9996715 , 0.02372645,-0.00144328,-0.00958447]

qacc:
[-4.24439108e+00,-7.36875521e-01, 2.80960022e+00,-5.46619855e+00,
  1.48408673e+00, 1.74599343e-02, 6.13729801e-01,-2.81897192e+00,
  1.21722299e-01, 8.91249072e-01,-2.05130365e+00, 5.66727051e-01,
 -1.04856955e+00, 1.38656708e+00, 7.53519564e+00,-2.75506564e+01,
  1.78667999e+00,-1.67003105e+00,-3.17599324e-01, 1.47657360e+01,
  1.69125114e+01,-4.46956433e+00]

qfrc_actuator:
[ 5.15815066e-05, 9.91186336e-04, 1.15784966e-04,-7.18750966e-05,
  8.77210425e-06, 1.18623157e-06,-4.99919775e-05, 7.19172280e-05,
 -8.80215780e-05, 9.04382325e-04, 1.80994230e-04, 1.03359421e-05,
  1.90959719e-02,-1.43532226e-03, 9.88676932e-03,-2.48518436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724637788259712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69688446e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69688446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03400741, -0.05274678,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55213171e-05,-3.50595196e-05,-7.53769349e-06,-1.00795378e-05,
  8.70460442e-06, 5.22724066e-06,-3.22626794e-06,-6.60457642e-06,
  8.27990093e-07, 4.42799922e-05,-8.34695251e-07,-2.53238771e-06,
 -1.09632536e-04,-1.40140034e-05,-8.89083797e-05,-1.58725929e-04,
 -3.59882391e-07, 2.55074985e-06,-4.90500585e+00, 2.76485548e-04,
  1.18269305e-02,-5.57678435e-04]


--- Step 900 ---
qpos:
[ 0.01871401, 0.03010267,-0.00950491,-0.02556351, 0.00787881, 0.00468139,
 -0.00785082, 0.02714246, 0.01229229, 0.02800119,-0.00835961, 0.02645161,
  1.17775301, 0.00743486, 1.07997083, 0.04561938, 0.05859654,-0.07786902,
  0.17142551, 0.99966573, 0.02395739,-0.00139406,-0.00961905]

qacc:
[ -2.5649281 ,  0.21407666, -2.47927896,  6.92679835, -2.18054129,
  -0.30817923,  3.51642483,-11.33511169, -5.89084564,  2.31055174,
  -6.79680694,  6.0172088 , -1.38321057,  2.17646369, -1.70313005,
   2.29603421,  1.76467394, -1.65621611, -0.42988151, 14.53982569,
  16.75245318, -4.31306606]

qfrc_actuator:
[ 3.69039292e-05, 9.62160974e-04, 1.07865131e-04,-6.07999807e-05,
 -4.17664295e-06, 2.80626095e-05,-4.96690331e-05, 5.03706615e-05,
 -1.23478494e-04, 9.34787073e-04, 1.50332178e-04, 6.31156460e-06,
  1.90487104e-02,-1.38480555e-03, 9.78517302e-03,-2.50022781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005645883063079421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.83214682e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.83214682e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0340047 , -0.05274585,  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:
[-1.54392382e-05,-5.06999505e-05,-1.64586255e-05, 9.11478361e-06,
 -1.26991414e-05, 2.88989569e-05, 7.89681375e-07,-2.15626179e-05,
 -3.54168382e-05, 5.48824356e-05,-2.17003724e-05,-2.20201744e-06,
 -1.13184036e-04, 2.25235253e-05,-1.65820633e-04,-3.65758970e-05,
 -5.03920708e-07,-5.76958481e-06,-4.90500708e+00, 2.73778599e-04,
  1.18303978e-02,-5.62475870e-04]


--- Step 901 ---
qpos:
[ 0.0187132 , 0.03010401,-0.0095052 ,-0.02556363, 0.00787823, 0.00468052,
 -0.00785064, 0.02714287, 0.01229125, 0.02800186,-0.00836037, 0.02645149,
  1.17820885, 0.00743539, 1.08037446, 0.04561744, 0.05859466,-0.07791742,
  0.17142279, 0.99966044, 0.02416854,-0.00139237,-0.00964076]

qacc:
[ -1.46676698,  0.05325104, -1.4515941 ,  4.16727152, -4.38841218,
  -1.11347155,  5.54197574,-11.01332145, -0.59865449,  0.48862781,
  -6.53899392, 23.74754047, -0.51736457,  0.67640303,-12.1721709 ,
  38.53914569, -2.50177234,  1.13196762,  0.49891714, -9.66214187,
 -23.69731098,  7.0214094 ]

qfrc_actuator:
[ 2.85339896e-05, 9.44293020e-04, 1.03243529e-04,-5.41944521e-05,
 -2.95197191e-05, 4.44493732e-05,-3.16259822e-05, 3.74380530e-05,
 -1.26200753e-04, 8.99062530e-04, 1.68294698e-04, 5.76598088e-05,
  1.90146246e-02,-1.37284452e-03, 9.73101796e-03,-2.32953545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21167738,  5.04521578, -3.62363542,  5.04521578, 21.39334959,
       21.13756028, -3.62363542, 21.13756028, 35.64166696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000573545340398815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67859859e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67859859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09554661, -0.09351604,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.84242344e-06,-4.92902295e-05,-1.68203839e-05, 4.04087566e-06,
 -2.56930200e-05, 3.18200570e-05, 2.33763766e-05,-1.20848962e-05,
 -3.73977596e-06,-9.64224654e-06, 2.65569690e-05, 5.29110306e-05,
 -9.40888791e-05,-7.59870170e-06,-1.35764344e-04, 1.47104991e-04,
  2.12627667e-06,-1.66587495e-05,-4.90500918e+00, 2.69979754e-04,
  1.18342955e-02,-5.67954556e-04]


--- Step 902 ---
qpos:
[ 0.01871263, 0.03010534,-0.00950574,-0.02556336, 0.00787736, 0.00468002,
 -0.00785032, 0.0271431 , 0.01229053, 0.02800219,-0.00836106, 0.02645202,
  1.17866402, 0.00743607, 1.08077691, 0.04561547, 0.05858297,-0.07796143,
  0.17142109, 0.99965563, 0.02436002,-0.00143668,-0.00965082]

qacc:
[  2.13897927,  1.46635433, -6.89943283, 14.04093916, -2.63658877,
  -0.26064442,  2.35620785, -5.80973974,  2.73399761,  0.72529585,
  -6.01857347, 17.55565699, -0.56915611,  0.67916585, -1.62431346,
   3.23780381, -2.44945163,  1.09630461,  0.25698347, -9.6049121 ,
 -22.95018783,  6.394508  ]

qfrc_actuator:
[ 4.16929626e-05, 9.68761232e-04, 1.00643728e-04,-3.25110046e-05,
 -4.41954809e-05, 7.22625626e-05,-2.10447040e-05, 2.96853729e-05,
 -1.09622522e-04, 8.59751091e-04, 1.61341656e-04, 8.79010810e-05,
  1.89831305e-02,-1.36606860e-03, 9.67344665e-03,-2.33471760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28988381, -3.60224625,  5.156206  , -3.60224625, 33.15536833,
       18.76885655,  5.156206  , 18.76885655, 19.40224648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005829186101705408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0955411 , -0.09351848,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28806830e-05,-6.44072908e-06,-1.47225057e-05, 1.90683224e-05,
 -1.53952648e-05, 4.99374131e-05, 1.96234302e-05,-5.81372742e-06,
  1.64632053e-05,-3.69699826e-05,-3.84260259e-06, 3.17771176e-05,
 -8.70992383e-05,-1.60638528e-05,-1.05053771e-04,-1.47310911e-05,
 -9.30262679e-07,-2.34626039e-06,-4.90500920e+00, 2.71605208e-04,
  1.18284121e-02,-5.72844765e-04]


--- Step 903 ---
qpos:
[ 0.01871258, 0.03010682,-0.00950616,-0.02556253, 0.00787631, 0.00467995,
 -0.00785018, 0.02714325, 0.01228932, 0.02800267,-0.00836198, 0.02645218,
  1.17911855, 0.00743662, 1.08117807, 0.04561344, 0.05856167,-0.07800118,
  0.17141958, 0.9996513 , 0.02453198,-0.00152573,-0.0096502 ]

qacc:
[  4.34672416,  0.99976512, -5.64321048, 14.98004253, -1.50264641,
   0.90972326, -2.08590594,  0.67316628, -4.1449898 ,  0.04119327,
   1.73030684, -7.98876812, -0.31840058,  0.13883823, -1.68951686,
   3.20348879, -2.40399486,  1.06570528,  0.04606562, -9.53930996,
 -22.32402025,  5.89902356]

qfrc_actuator:
[ 6.74163112e-05, 1.00066981e-03, 1.17197899e-04,-2.09060989e-06,
 -5.24710437e-05, 8.89314042e-05,-3.26628582e-05, 2.50427754e-05,
 -1.35085261e-04, 8.89491414e-04, 1.57409899e-04, 6.99318789e-05,
  1.89425584e-02,-1.38012144e-03, 9.61382859e-03,-2.33702220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32556754, -3.36966338,  5.35333292, -3.36966338, 42.93621963,
       23.04462952,  5.35333292, 23.04462952, 20.83104393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005871927185492759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45365116e-14,  9.45365116e-14,  1.00000000e+00,  8.93715202e-27,
        1.00000000e+00, -9.45365116e-14, -1.00000000e+00,  0.00000000e+00,
       -9.45365116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0955378 , -0.09352087,  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:
[ 2.60925497e-05, 2.60464722e-05, 1.40605942e-05, 3.00037995e-05,
 -8.69620043e-06, 4.84070055e-05, 9.15169628e-07,-1.93623330e-06,
 -2.49933708e-05, 9.63283713e-06,-1.09405792e-05,-1.90692482e-05,
 -9.43037262e-05,-3.73111859e-05,-1.13253474e-04,-1.74520812e-05,
  1.55347462e-06, 8.87589631e-06,-4.90501014e+00, 2.71403128e-04,
  1.18240071e-02,-5.77371474e-04]


--- Step 904 ---
qpos:
[ 0.01871248, 0.03010794,-0.00950556,-0.02556203, 0.00787517, 0.0046802 ,
 -0.00785012, 0.02714301, 0.01228748, 0.0280032 ,-0.00836291, 0.02645178,
  1.17957249, 0.00743678, 1.08157863, 0.04561286, 0.05853091,-0.07803677,
  0.17141752, 0.99964744, 0.02468457,-0.00165846,-0.00963966]

qacc:
[ -0.26773578, -3.99273822, 14.9613342 ,-22.06539713, -0.81029226,
  -0.1422094 ,  2.81338278, -9.7812435 , -5.45928411, -1.02122878,
   6.1370649 ,-15.91309224, -0.0414361 , -0.42068629, -5.28529422,
  17.17426927, -2.36495132,  1.03954024, -0.13674681, -9.47123063,
 -21.80193496,  5.5089364 ]

qfrc_actuator:
[ 6.48166168e-05, 9.65878980e-04, 1.62731977e-04,-2.00085302e-05,
 -5.69168626e-05, 9.87075053e-05,-3.95803385e-05, 4.49145315e-06,
 -1.67342724e-04, 8.89303190e-04, 1.55547416e-04, 4.15582121e-05,
  1.89072118e-02,-1.40644505e-03, 9.63292041e-03,-2.24879301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005873142641971835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89033894e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89033894e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09553627, -0.09352324,  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:
[-1.83645303e-06,-1.60785258e-05, 5.36680907e-05,-1.57373061e-05,
 -4.67601682e-06, 3.69493710e-05, 3.12665973e-06,-1.84830400e-05,
 -3.29854841e-05, 2.10183586e-06,-1.87555107e-06,-2.87091188e-05,
 -9.82101101e-05,-5.64195695e-05,-3.81127603e-05, 7.19906075e-05,
  9.05618237e-06, 1.72664472e-05,-4.90501202e+00, 2.69683267e-04,
  1.18208942e-02,-5.81528156e-04]


--- Step 905 ---
qpos:
[ 0.01871167, 0.03010886,-0.00950467,-0.02556172, 0.00787468, 0.00468068,
 -0.00785011, 0.02714253, 0.01228526, 0.02800388,-0.00836394, 0.02645138,
  1.18002551, 0.00743721, 1.08197923, 0.04561092, 0.05849082,-0.07806829,
  0.17141428, 0.99964402, 0.02481792,-0.00183399,-0.00961981]

qacc:
[ -6.16180538, -1.4579877 ,  5.59004971, -9.11480556,  5.67299891,
  -0.07352726,  1.6617485 , -5.78230145, -3.18255731,  0.48267388,
  -1.41369234,  1.44619541, -1.00476794,  1.2988764 ,  4.27420884,
 -14.66162255, -2.33179378,  1.01723445, -0.29444379, -9.4046837 ,
 -21.36925971,  5.20347843]

qfrc_actuator:
[ 2.78098798e-05, 9.44763747e-04, 1.71448585e-04,-3.07583616e-05,
 -2.35700301e-05, 1.04274078e-04,-4.37019445e-05,-7.50422954e-06,
 -1.85575170e-04, 9.06699970e-04, 1.54817143e-04, 4.27858680e-05,
  1.88643691e-02,-1.38656328e-03, 9.63531353e-03,-2.32076233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005840982137347295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.50373583e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.50373583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09553615, -0.0935256 ,  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:
[-3.70716437e-05,-1.97449701e-05, 1.14400616e-05,-9.89275086e-06,
  3.32274850e-05, 2.60717149e-05, 3.25351185e-06,-1.06637410e-05,
 -1.91974918e-05, 1.69297085e-05,-1.51540519e-06, 6.96918882e-07,
 -1.11051887e-04,-1.64643880e-05,-1.37194357e-05,-7.43598413e-05,
  2.11913780e-05, 2.30329816e-05,-4.90501484e+00, 2.66665782e-04,
  1.18189291e-02,-5.85310928e-04]


--- Step 906 ---
qpos:
[ 0.01871111, 0.03010978,-0.0095046 ,-0.02556115, 0.00787494, 0.00468116,
 -0.00785004, 0.02714194, 0.01228319, 0.02800441,-0.00836485, 0.02645102,
  1.18047767, 0.00743787, 1.08237935, 0.04560817, 0.05844152,-0.07809582,
  0.17140933, 0.99964103, 0.02493217,-0.00205159,-0.0095911 ]

qacc:
[  2.13579327,  2.84528721,-11.24088731, 17.10090726,  6.58710986,
  -0.41829729,  1.94834367, -4.02775772,  1.22636255, -0.47445246,
   1.20251967, -0.54171158, -0.86810974,  1.08922097,  1.8020664 ,
  -7.16323935, -2.30397254,  0.99827342, -0.4299285 , -9.34233385,
 -21.0133534 ,  4.96607129]

qfrc_actuator:
[ 4.18678223e-05, 9.31856508e-04, 1.22891530e-04,-1.94688579e-05,
  1.39996057e-05, 8.95342090e-05,-4.61537964e-05,-1.43706167e-05,
 -1.77651407e-04, 8.81265478e-04, 1.54850170e-04, 4.36833726e-05,
  1.88224035e-02,-1.37497151e-03, 9.60634834e-03,-2.36234701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005782421377007879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59998375e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.59998375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09553716, -0.09352795,  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:
[ 1.29668065e-05,-2.20637308e-05,-5.15877974e-05, 1.06442780e-05,
  3.85233390e-05, 4.97721763e-08, 2.95935907e-06,-5.84549221e-06,
  7.36753504e-06,-1.62760094e-05, 3.37102504e-06, 1.58617846e-06,
 -1.07867597e-04,-1.80318928e-05,-5.26600593e-05,-4.95507063e-05,
  3.76757443e-05, 2.63405088e-05,-4.90501859e+00, 2.62505242e-04,
  1.18180004e-02,-5.88717705e-04]


--- Step 907 ---
qpos:
[ 0.01871141, 0.03011059,-0.00950509,-0.02556044, 0.00787496, 0.00468155,
 -0.00784997, 0.02714162, 0.01228226, 0.02800514,-0.00836615, 0.02645032,
  1.1809291 , 0.00743842, 1.08277826, 0.04560699, 0.05838309,-0.07811942,
  0.17140218, 0.99963844, 0.02502744,-0.00231069,-0.0095539 ]

qacc:
[  7.37921892,  1.67925424, -6.76964121, 10.00912696, -2.12100105,
   0.46890289, -3.01132722,  7.93296791,  9.73887598,  0.64306127,
  -0.49316346, -4.91169736, -0.31142584,  0.10348326, -6.52561947,
  20.2752857 , -2.28094794,  0.98220326, -0.54592498, -9.28588922,
 -20.7233939 ,  4.78347678]

qfrc_actuator:
[ 8.58808601e-05, 9.23737137e-04, 9.42224733e-05,-1.30827499e-05,
  4.83745300e-07, 8.05053397e-05,-4.76855124e-05,-4.30317671e-07,
 -1.18895483e-04, 9.01394604e-04, 1.37405071e-04, 2.65875391e-05,
  1.87809928e-02,-1.38617207e-03, 9.55328781e-03,-2.27919741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703398012239097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73299621e-14, -9.73299621e-14,  1.00000000e+00, -9.47312152e-27,
        1.00000000e+00,  9.73299621e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73299621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09553903, -0.09353028,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43817519e-05,-3.06852201e-05,-3.92240973e-05, 3.86000978e-06,
 -1.24209256e-05,-8.64345129e-06,-1.36576328e-06, 1.39295780e-05,
  5.89668532e-05, 1.17801161e-05,-2.03342216e-05,-1.76448766e-05,
 -1.06404304e-04,-4.02142553e-05,-8.96521570e-05, 7.20792699e-05,
  5.83054213e-05, 2.73187413e-05,-4.90502326e+00, 2.57308077e-04,
  1.18180228e-02,-5.91747593e-04]


--- Step 908 ---
qpos:
[ 0.01871155, 0.03011135,-0.0095057 ,-0.02556005, 0.00787481, 0.00468184,
 -0.00784992, 0.02714183, 0.01228239, 0.02800623,-0.00836755, 0.02645041,
  1.1813798 , 0.00743862, 1.08317531, 0.04560726, 0.05833251,-0.07815031,
  0.17139751, 0.99963486, 0.02515785,-0.00253365,-0.00952967]

qacc:
[ -1.41025391, -0.40369007,  2.66000317, -7.8654098 , -1.42137151,
   0.99024685, -5.90947303, 14.98628246,  8.9932352 ,  2.38464893,
 -11.19527108, 24.88839528, -0.08462418, -0.37704066, -7.16155005,
  21.03868971,  1.96218558, -1.82322511,  0.61665426, 17.39021805,
  18.06322924, -6.98033865]

qfrc_actuator:
[ 7.61456147e-05, 9.36360859e-04, 9.53100558e-05,-2.73624574e-05,
 -7.48772043e-06, 7.49812516e-05,-4.86337947e-05, 2.56424646e-05,
 -6.62042647e-05, 9.48564035e-04, 1.45446521e-04, 7.00738731e-05,
  1.87346093e-02,-1.41079607e-03, 9.44324640e-03,-2.21202727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18601251,  5.28441991, -3.21584469,  5.28441991, 18.2357101 ,
       19.80060233, -3.21584469, 19.80060233, 38.7232484 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005704666625187954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73083177e-14, -9.73083177e-14,  1.00000000e+00, -9.46890869e-27,
        1.00000000e+00,  9.73083177e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73083177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0339929 , -0.05276813,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.45334833e-06,-1.24815285e-05,-9.95460639e-06,-1.68795381e-05,
 -8.32799752e-06,-1.00614020e-05,-2.42416788e-06, 2.59263998e-05,
  5.44276201e-05, 4.88084343e-05, 7.36461960e-06, 4.29443822e-05,
 -1.16005106e-04,-5.86154626e-05,-1.47331259e-04, 5.87500827e-05,
  8.29381842e-05, 2.60681896e-05,-4.90502886e+00, 2.51145275e-04,
  1.18189317e-02,-5.94400458e-04]


--- Step 909 ---
qpos:
[ 0.01871123, 0.03011235,-0.00950672,-0.0255602 , 0.00787492, 0.00468188,
 -0.00784982, 0.02714271, 0.01228246, 0.02800711,-0.00836861, 0.02645106,
  1.18182969, 0.00743855, 1.08357043, 0.04560999, 0.05828957,-0.07818837,
  0.17139434, 0.99963034, 0.02532209,-0.00272118,-0.00951726]

qacc:
[ -3.983248  ,  0.38653341,  1.37186016,-10.19818749,  2.21046854,
   0.90867793, -6.55993926, 18.28398886, -0.47440985, -0.08932358,
  -2.45890697, 11.7924415 , -0.15972792, -0.23901036,-10.26675201,
  31.77922666,  1.90941141, -1.79274805,  0.37529871, 16.73362228,
  17.72446493, -6.3959964 ]

qfrc_actuator:
[ 5.25952781e-05, 9.61417574e-04, 7.85194503e-05,-5.36507162e-05,
  5.63704636e-06, 5.38588027e-05,-4.92118584e-05, 5.86449139e-05,
 -7.07793090e-05, 9.05200723e-04, 1.50893634e-04, 9.56511205e-05,
  1.86905929e-02,-1.42543474e-03, 9.36302816e-03,-2.08394623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.2623081 , -6.12972162,  1.2818017 , -6.12972162,  8.00485838,
        8.33307378,  1.2818017 ,  8.33307378, 46.11201531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005796147208957103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57725006e-14, -9.57725006e-14,  1.00000000e+00, -9.17237188e-27,
        1.00000000e+00,  9.57725006e-14, -1.00000000e+00,  0.00000000e+00,
       -9.57725006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03399275, -0.05277397,  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:
[-2.38017878e-05, 1.52739953e-05,-2.11808893e-05,-2.74966334e-05,
  1.28835998e-05,-2.61530555e-05,-2.06203439e-06, 3.29910954e-05,
 -2.96133694e-06,-1.27116691e-05, 1.79235753e-05, 2.87577231e-05,
 -1.24160234e-04,-5.49829149e-05,-1.42503934e-04, 1.12193336e-04,
  6.07048992e-05, 3.25475210e-05,-4.90502494e+00, 2.57179123e-04,
  1.18210729e-02,-5.97578043e-04]


--- Step 910 ---
qpos:
[ 0.01871062, 0.03011333,-0.00950759,-0.02556067, 0.00787484, 0.00468152,
 -0.00784965, 0.02714434, 0.01228281, 0.02800768,-0.00836969, 0.02645103,
  1.18227857, 0.00743861, 1.0839649 , 0.04561139, 0.05825408,-0.0782335 ,
  0.17139182, 0.99962491, 0.02551906,-0.00287388,-0.00951573]

qacc:
[ -2.39578537, -1.10470487,  5.24857959,-10.9976487 , -1.6482256 ,
   0.83012855, -6.89192243, 20.08033226,  2.47535209, -1.78924791,
   8.68992994,-20.41600805, -0.91759798,  1.03658039,  3.13171082,
 -12.18887943,  1.86394526, -1.76603514,  0.16485886, 16.19273917,
  17.42411614, -5.9354353 ]

qfrc_actuator:
[ 3.88723828e-05, 9.58150315e-04, 8.68559196e-05,-6.90418767e-05,
 -4.43331058e-06, 2.35672374e-05,-4.96281920e-05, 9.54455682e-05,
 -5.57650616e-05, 8.61204006e-04, 1.36623282e-04, 5.71397434e-05,
  1.86427055e-02,-1.41628341e-03, 9.34338290e-03,-2.15168247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29687055, -6.21769587,  0.9954079 , -6.21769587,  7.62171766,
        8.27549831,  0.9954079 ,  8.27549831, 57.98877677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000583755555191981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90186289e-13, -9.50931443e-14,  1.00000000e+00, -1.80854122e-26,
        1.00000000e+00,  9.50931443e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90186289e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03399183, -0.05277782,  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:
[-1.44113121e-05,-3.09296865e-07, 7.93292256e-06,-1.60040587e-05,
 -9.71463751e-06,-4.39287573e-05,-4.93522179e-06, 3.62477965e-05,
  1.49228613e-05,-4.61922484e-05,-1.36926785e-05,-3.78772166e-05,
 -1.31451140e-04,-3.23496577e-05,-7.38630593e-05,-8.00505968e-05,
  4.22178863e-05, 3.52919754e-05,-4.90502190e+00, 2.61083778e-04,
  1.18241568e-02,-6.01566189e-04]


--- Step 911 ---
qpos:
[ 0.01870986, 0.03011367,-0.00950751,-0.02556129, 0.00787498, 0.00468075,
 -0.00784915, 0.02714603, 0.0122837 , 0.02800786,-0.00837033, 0.02645051,
  1.18272656, 0.00743873, 1.08435935, 0.04560819, 0.05822589,-0.0782856 ,
  0.17138924, 0.99961862, 0.02574787,-0.00299228,-0.00952439]

qacc:
[-1.33004463e+00,-3.83883782e+00, 1.31087573e+01,-1.68571159e+01,
  1.99682323e+00,-1.32433194e+00, 3.65346718e+00,-2.72202158e+00,
  4.46667302e+00,-2.73951702e+00, 1.10623722e+01,-1.98444801e+01,
 -1.06148319e+00, 1.24077440e+00, 1.39850801e+01,-4.87534815e+01,
  1.82500961e+00,-1.74302118e+00,-1.75602749e-02, 1.57491446e+01,
  1.71611159e+01,-5.57430628e+00]

qfrc_actuator:
[ 3.10483983e-05, 9.02552614e-04, 1.27620490e-04,-7.78982934e-05,
  7.42329476e-06, 5.77446898e-06,-3.22352605e-05, 9.86704775e-05,
 -2.93216375e-05, 8.52524363e-04, 1.64011571e-04, 3.44642799e-05,
  1.86031929e-02,-1.41088818e-03, 9.33873352e-03,-2.38736330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838184355770465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90165804e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90165804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03399027, -0.05278008,  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:
[-8.24584816e-06,-5.48448459e-05, 4.11249618e-05,-8.90534006e-06,
  1.15638822e-05,-4.18201239e-05, 8.96408193e-06, 1.87425219e-06,
  2.68679152e-05,-3.89636228e-05, 1.48553729e-05,-2.58652388e-05,
 -1.21276030e-04,-3.25403043e-05,-5.35580415e-05,-2.50989562e-04,
  2.72026413e-05, 3.46568204e-05,-4.90501973e+00, 2.63154777e-04,
  1.18280098e-02,-6.06332097e-04]


--- Step 912 ---
qpos:
[ 0.01870866, 0.03011352,-0.0095072 ,-0.02556199, 0.00787561, 0.00467989,
 -0.00784798, 0.027147  , 0.01228454, 0.02800786,-0.00837046, 0.02645003,
  1.18317387, 0.00743858, 1.08475327, 0.04560117, 0.05820488,-0.07834459,
  0.17138596, 0.99961146, 0.0260078 ,-0.00307686,-0.00954266]

qacc:
[ -3.69757674, -1.40954841,  4.40959864, -5.65509566,  4.29380893,
  -3.52383805, 15.45762862,-29.09778236, -0.27512033, -1.54201202,
   4.96521985, -4.84222679, -0.53936389,  0.346055  , 10.79700337,
 -38.80473997,  1.7918584 , -1.7235323 , -0.17492955, 15.38736989,
  16.93353075, -5.29315726]

qfrc_actuator:
[ 9.00293220e-06, 8.69447245e-04, 1.33721001e-04,-8.28691751e-05,
  3.20980088e-05, 3.11549150e-05, 1.33090849e-05, 6.43820456e-05,
 -3.18738383e-05, 8.65226875e-04, 1.98189169e-04, 3.91108627e-05,
  1.85740582e-02,-1.42549517e-03, 9.31109337e-03,-2.57798503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806037043278867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03398821, -0.05278107,  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:
[-2.23071995e-05,-5.56737663e-05,-4.72263886e-07,-6.06864983e-06,
  2.49883117e-05, 3.94854904e-06, 3.80736034e-05,-3.57376286e-05,
 -1.77726355e-06,-7.11177373e-06, 2.70702250e-05, 2.98870288e-06,
 -1.05485291e-04,-5.00996680e-05,-8.80172976e-05,-2.13246992e-04,
  1.54359433e-05, 3.09153099e-05,-4.90501843e+00, 2.63613255e-04,
  1.18325149e-02,-6.11849566e-04]


--- Step 913 ---
qpos:
[ 0.01870686, 0.03011319,-0.00950721,-0.02556274, 0.00787653, 0.00467921,
 -0.00784666, 0.02714755, 0.01228535, 0.02800767,-0.00837074, 0.02645   ,
  1.18362034, 0.00743854, 1.0851462 , 0.04559353, 0.05819091,-0.07841042,
  0.17138143, 0.99960344, 0.02629826,-0.00312799,-0.00957012]

qacc:
[ -5.15390633,  0.54426673, -2.0369886 ,  1.70500145,  2.55930927,
  -1.02361858,  5.73886815,-13.29616032, -0.31441147,  1.06554535,
  -6.07271188, 14.24397046, -0.71670425,  0.79673273,  0.46393332,
  -3.62317621,  1.76379972, -1.70733562, -0.31013271, 15.09447598,
  16.73898223, -5.07644526]

qfrc_actuator:
[-2.12384849e-05, 8.67686008e-04, 1.19369547e-04,-8.55313907e-05,
  4.63604229e-05, 4.67816136e-05, 2.20074727e-05, 4.38612687e-05,
 -3.37232402e-05, 8.37448132e-04, 1.82944069e-04, 5.98142417e-05,
  1.85351846e-02,-1.41628201e-03, 9.28568224e-03,-2.59849942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005747966506000901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03398576, -0.05278105,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09103509e-05,-3.32514117e-05,-2.61162521e-05,-5.17799825e-06,
  1.49738869e-05, 2.41918839e-05, 1.29600891e-05,-1.97336227e-05,
 -1.90545615e-06,-2.60312532e-05,-1.32729187e-05, 2.13950289e-05,
 -1.11037471e-04,-2.66398183e-05,-9.50453413e-05,-4.49167316e-05,
  6.73733625e-06, 2.42754724e-05,-4.90501797e+00, 2.62623365e-04,
  1.18375960e-02,-6.18097735e-04]


--- Step 914 ---
qpos:
[ 0.01870541, 0.03011286,-0.00950752,-0.02556319, 0.00787795, 0.00467871,
 -0.0078458 , 0.02714789, 0.01228614, 0.02800663,-0.00837031, 0.02645025,
  1.1840658 , 0.00743894, 1.08553822, 0.04558824, 0.05818677,-0.07847537,
  0.17137928, 0.99959554, 0.02658342,-0.00313667,-0.00960391]

qacc:
[ 2.91108535, 1.46172662,-6.46112324,12.05836208, 4.4607946 , 1.08132198,
 -2.6544542 ,-0.32596404,-0.20335512,-2.52610226, 6.2095077 ,-1.93813536,
 -0.90761104, 1.2225465 ,-8.37223755,27.53016736, 2.45499937, 0.21669402,
  0.59366053,-2.86015884,21.10523606,-3.7154137 ]

qfrc_actuator:
[-2.79924843e-06, 8.84621757e-04, 1.10952154e-04,-6.90433667e-05,
  7.21286188e-05, 3.85716761e-05,-8.88967389e-06, 3.15794349e-05,
 -3.51348172e-05, 7.67714734e-04, 2.09497123e-04, 7.19755823e-05,
  1.84851812e-02,-1.39305096e-03, 9.28297290e-03,-2.46535862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.27337123,  -2.16279748,  -5.88875994,  -2.16279748,
        52.82061311, -17.09566332,  -5.88875994, -17.09566332,
        12.55219018,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000580940333792565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91107926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91107926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735796, -0.08160935,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75293063e-05,-7.26502777e-06,-1.86718547e-05, 1.40640615e-05,
  2.62024811e-05, 7.16309390e-06,-2.49957431e-05,-1.11840140e-05,
 -1.47779380e-06,-8.61030309e-05, 2.02877999e-05, 1.10042596e-05,
 -1.19306630e-04,-8.36857144e-06,-5.58497665e-05, 1.17455846e-04,
  9.62112506e-07, 1.48934634e-05,-4.90501835e+00, 2.60305591e-04,
  1.18432055e-02,-6.25060088e-04]


--- Step 915 ---
qpos:
[ 0.01870453, 0.03011274,-0.00950807,-0.02556348, 0.00787933, 0.0046781 ,
 -0.00784519, 0.02714775, 0.01228758, 0.02800503,-0.00836903, 0.02644991,
  1.18451044, 0.00743911, 1.08592928, 0.04558329, 0.05819222,-0.0785395 ,
  0.17137861, 0.99958778, 0.02686339,-0.00310353,-0.00964397]

qacc:
[  4.93629542,  1.26439962, -4.83501443,  7.98474143, -0.41860131,
  -0.43349253,  3.34141823,-11.06487634,  5.70983092, -4.35460591,
  16.9624719 ,-28.20933932, -0.37994839,  0.10477275, -2.43640366,
   6.49902124,  2.3969901 ,  0.20593465,  0.36985204, -2.8068337 ,
  20.79536973, -3.68082006]

qfrc_actuator:
[ 2.63953412e-05, 9.12666411e-04, 1.06212098e-04,-5.91458052e-05,
  6.89604183e-05, 1.59898641e-05,-2.74941044e-05, 6.44647309e-06,
 -7.72454287e-07, 7.62308223e-04, 2.60341173e-04, 4.35015180e-05,
  1.84338721e-02,-1.41503618e-03, 9.21935112e-03,-2.45578038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005855598999204709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42200186e-13,  9.48001242e-14,  1.00000000e+00,  1.34805953e-26,
        1.00000000e+00, -9.48001242e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42200186e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0273573 , -0.08160972,  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:
[ 2.97045202e-05, 2.07552094e-05,-8.04426278e-06, 9.21639395e-06,
 -2.41957834e-06,-2.42019592e-05,-2.05964021e-05,-2.59111640e-05,
  3.42849097e-05,-4.88594489e-05, 3.59453214e-05,-3.12467640e-05,
 -1.19827569e-04,-5.15743845e-05,-8.21579908e-05, 7.63861076e-06,
 -1.75536445e-06,-3.36187576e-07,-4.90501498e+00, 2.56340978e-04,
  1.18455255e-02,-6.31850488e-04]


--- Step 916 ---
qpos:
[ 0.018704  , 0.03011271,-0.00950863,-0.02556399, 0.00787998, 0.00467722,
 -0.00784447, 0.02714732, 0.01228909, 0.02800364,-0.00836745, 0.02644882,
  1.18495422, 0.0074393 , 1.0863188 , 0.04557728, 0.05820705,-0.07860285,
  0.17137865, 0.99958013, 0.02713827,-0.00302912,-0.00969026]

qacc:
[  3.06190076, -0.32277709,  2.25382826, -6.17280037, -6.48722676,
  -1.26687145,  5.32518174,-10.60293632,  0.47847554, -2.10723868,
  11.03282713,-24.52282029, -0.67051784,  0.65610404,  0.97908234,
  -6.61446946,  2.34791898,  0.19631031,  0.17631394, -2.75614571,
  20.52220619, -3.65737622]

qfrc_actuator:
[ 4.39181270e-05, 9.11663580e-04, 1.03727309e-04,-7.09467346e-05,
  3.10300799e-05, 2.74909533e-06,-2.10031005e-05,-8.29627814e-06,
  1.11361386e-06, 8.13291789e-04, 2.89823023e-04, 9.15992039e-06,
  1.83924487e-02,-1.41041095e-03, 9.11389427e-03,-2.51926897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860273730287358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42086753e-13,  1.65767879e-13,  1.00000000e+00,  2.35534197e-26,
        1.00000000e+00, -1.65767879e-13, -1.00000000e+00,  0.00000000e+00,
       -1.42086753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735576, -0.0816101 ,  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:
[ 1.83966194e-05, 9.36094964e-06, 1.13812563e-06,-1.10100883e-05,
 -3.80056367e-05,-3.21250602e-05,-1.94127411e-06,-1.69964289e-05,
  2.87090060e-06, 2.98070818e-05, 2.27399918e-05,-3.57994723e-05,
 -1.21130933e-04,-3.53606652e-05,-1.47144741e-04,-7.46734922e-05,
 -8.28803690e-08,-1.50038658e-05,-4.90501292e+00, 2.51585353e-04,
  1.18474435e-02,-6.38492691e-04]


--- Step 917 ---
qpos:
[ 0.01870369, 0.03011296,-0.00950903,-0.02556467, 0.00788016, 0.00467651,
 -0.00784363, 0.02714734, 0.01228991, 0.02800242,-0.00836613, 0.02644772,
  1.18539698, 0.00743983, 1.08670696, 0.04557146, 0.05821172,-0.07866183,
  0.17138066, 0.99957291, 0.02739495,-0.00300179,-0.00972171]

qacc:
[  1.83828828, -0.43432493,  2.81725556, -6.28631685, -4.04514902,
   0.84743335, -4.65973373, 12.35190715, -5.78828993,  0.9265862 ,
  -2.86227729,  2.81175301, -0.94256486,  1.21250629, -2.46769401,
   5.91898744, -2.54226674,  1.0920996 ,  0.49380588, -8.85002079,
 -23.42317605,  8.08046549]

qfrc_actuator:
[ 5.44266743e-05, 9.46527893e-04, 1.20219493e-04,-7.76882909e-05,
  8.45789376e-06, 4.85675777e-05, 2.88792102e-07, 1.87209419e-05,
 -3.38946857e-05, 8.08815130e-04, 2.71194190e-04, 7.18895712e-06,
  1.83463402e-02,-1.38996966e-03, 9.07396142e-03,-2.50106458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37985439,  6.27968708, -1.12608711,  6.27968708,  7.51998142,
        6.3579815 , -1.12608711,  6.3579815 , 41.83549007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936938753241944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35013035e-14,  9.35013035e-14,  1.00000000e+00,  8.74249376e-27,
        1.00000000e+00, -9.35013035e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35013035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09551153, -0.09356216,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10491188e-05, 3.98794500e-05, 1.81926324e-05,-6.51400770e-06,
 -2.36626933e-05, 2.67354909e-05, 1.38330572e-05, 2.52454841e-05,
 -3.49161244e-05, 1.53950046e-05,-1.09078717e-05,-6.01316089e-07,
 -1.23852179e-04,-1.53045793e-05,-1.17764683e-04,-5.24353001e-06,
  5.80300870e-06,-2.91546906e-05,-4.90501210e+00, 2.46060091e-04,
  1.18489761e-02,-6.44988964e-04]


--- Step 918 ---
qpos:
[ 0.01870317, 0.03011378,-0.0095091 ,-0.02556548, 0.00788076, 0.0046763 ,
 -0.00784305, 0.02714836, 0.012291  , 0.02800122,-0.00836521, 0.02644628,
  1.18583884, 0.00744037, 1.08709476, 0.04556533, 0.05820645,-0.0787166 ,
  0.17138365, 0.99956611, 0.02763337,-0.00302017,-0.00973976]

qacc:
[ -1.8560225 , -0.42249662,  3.12496917, -6.23144052,  3.65559464,
   3.42439624,-15.43701477, 32.66897593,  2.23022245,  0.48851897,
  -0.35587749, -4.6296152 , -0.71232985,  0.69528438,  0.41948749,
  -2.1192152 , -2.48464049,  1.05317623,  0.24594171, -8.88859859,
 -22.74284086,  7.35996695]

qfrc_actuator:
[ 4.29740550e-05, 1.00268283e-03, 1.47932388e-04,-8.13545739e-05,
  3.06228399e-05, 9.40030568e-05,-5.09244550e-06, 7.01488877e-05,
 -1.93178173e-05, 7.88753122e-04, 2.41886330e-04,-1.12934233e-05,
  1.82974639e-02,-1.39587273e-03, 9.09468452e-03,-2.50567263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.44358385, -4.97646815,  4.09323071, -4.97646815, 21.34600778,
       18.11806936,  4.09323071, 18.11806936, 28.4711707 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006013269801437293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.23144197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.23144197e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0955073, -0.0935661,  0.0619892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11174255e-05, 8.19355626e-05, 3.79677290e-05,-1.45484501e-06,
  2.15001982e-05, 6.43332888e-05, 2.71815784e-06, 5.35442754e-05,
  1.35556711e-05,-1.37106268e-05,-2.74887302e-05,-1.82079368e-05,
 -1.22743345e-04,-3.76824800e-05,-3.72367147e-05,-2.07181694e-05,
 -2.99375486e-07,-1.15071243e-05,-4.90501241e+00, 2.48968630e-04,
  1.18408294e-02,-6.50876950e-04]


--- Step 919 ---
qpos:
[ 0.01870286, 0.03011466,-0.00950888,-0.02556661, 0.00788162, 0.00467662,
 -0.00784307, 0.02714932, 0.01229294, 0.02800044,-0.00836461, 0.02644493,
  1.1862799 , 0.00744081, 1.08748222, 0.04555947, 0.05819144,-0.07876728,
  0.17138677, 0.99955975, 0.02785353,-0.00308307,-0.0097455 ]

qacc:
[  1.82636285, -1.40978022,  6.48074301,-12.47754922,  2.26616117,
   2.25933348, -6.81015864,  6.37138155,  7.26842965,  1.56564312,
  -5.11042948,  6.61136254, -0.51319894,  0.38060833, -1.24363401,
   3.71982213, -2.43504898,  1.02003806,  0.03104846, -8.89869466,
 -22.1697245 ,  6.79067156]

qfrc_actuator:
[ 5.41949743e-05, 9.64698658e-04, 1.46639361e-04,-1.00908036e-04,
  4.34314451e-05, 1.03287834e-04,-4.39062584e-05, 6.44972450e-05,
  2.43401620e-05, 8.48203784e-04, 2.41936421e-04,-3.86158444e-06,
  1.82629319e-02,-1.39963438e-03, 9.09317730e-03,-2.48805545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.46547187, -4.77626491,  4.35770813, -4.77626491, 28.35451042,
       23.99147525,  4.35770813, 23.99147525, 32.76132236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006039495633289316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19135547e-14, -1.83827109e-13,  1.00000000e+00, -1.68962031e-26,
        1.00000000e+00,  1.83827109e-13, -1.00000000e+00,  0.00000000e+00,
       -9.19135547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0955051 , -0.0935697 ,  0.06198915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09216814e-05, 1.55834327e-05, 2.02492523e-05,-1.47594963e-05,
  1.34397321e-05, 4.81223051e-05,-2.33449302e-05,-1.76261723e-06,
  4.40495844e-05, 4.53694370e-05,-6.79066286e-06, 5.54228655e-06,
 -1.11950712e-04,-4.13414065e-05,-2.82947759e-05, 1.00370513e-05,
 -7.41792347e-07, 3.12472575e-06,-4.90501342e+00, 2.49707819e-04,
  1.18343407e-02,-6.56443737e-04]


--- Step 920 ---
qpos:
[ 0.01870268, 0.03011537,-0.00950875,-0.02556825, 0.00788228, 0.00467723,
 -0.0078435 , 0.02715056, 0.01229436, 0.02800074,-0.00836496, 0.02644397,
  1.18672008, 0.00744145, 1.08786923, 0.04555581, 0.05816685,-0.078814  ,
  0.17138927, 0.99955383, 0.02805545,-0.0031895 ,-0.00973983]

qacc:
[  1.17552887, -1.00065306,  5.38183294,-13.91252371, -1.75740779,
   2.10201885, -8.13818004, 13.51588939, -4.52842549,  4.94424097,
 -17.22603202, 24.89978825, -0.66065044,  0.7644215 , -7.29928063,
  24.68083131, -2.39278999,  0.99187564, -0.15425876, -8.89024446,
 -21.68973304,  6.34262471]

qfrc_actuator:
[ 6.09255751e-05, 9.23762723e-04, 1.27838851e-04,-1.29752000e-04,
  3.28632431e-05, 1.08418649e-04,-6.68204741e-05, 7.85112149e-05,
 -4.01324949e-06, 9.37191372e-04, 2.06406024e-04, 1.88484750e-05,
  1.82263780e-02,-1.38425772e-03, 9.09431960e-03,-2.36877914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.45350682, -4.47918015,  4.64593321, -4.47918015, 38.66077404,
       31.05127549,  4.64593321, 31.05127549, 36.39028173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006025158462856645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.21322677e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.21322677e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09550453, -0.09357304,  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:
[ 7.05130741e-06,-2.86989448e-05,-1.36093487e-05,-2.77639750e-05,
 -1.01684475e-05, 2.71346823e-05,-1.59163310e-05, 1.52307807e-05,
 -2.70474106e-05, 1.13239104e-04,-2.67979780e-05, 2.45291989e-05,
 -1.08658461e-04,-2.06494060e-05,-1.82444818e-05, 1.14520662e-04,
  3.94738082e-06, 1.49733869e-05,-4.90501517e+00, 2.48637298e-04,
  1.18293006e-02,-6.61678000e-04]


--- Step 921 ---
qpos:
[ 0.01870328, 0.03011605,-0.00950895,-0.02556918, 0.00788281, 0.00467777,
 -0.00784377, 0.02715198, 0.01229474, 0.02800178,-0.00836539, 0.02644328,
  1.18715947, 0.00744225, 1.08825587, 0.04555686, 0.05813284,-0.07885685,
  0.17139052, 0.99954833, 0.02823918,-0.00333866,-0.00972343]

qacc:
[  6.60885204,  2.32513766,-11.32416018, 24.02969181, -1.15035504,
  -0.17678682, -0.19146637,  2.85683186, -8.87467081,  1.76304755,
  -5.95735087, 10.07550476, -0.38419104,  0.36308211,-14.79071172,
  50.99053332, -2.35713831,  0.96797606, -0.3133345 , -8.8704773 ,
 -21.29040622,  5.99192045]

qfrc_actuator:
[ 1.00457344e-04, 9.34526487e-04, 1.16567960e-04,-9.28393416e-05,
  2.63758474e-05, 9.33257293e-05,-6.24047124e-05, 8.62496971e-05,
 -5.67820969e-05, 9.72056193e-04, 2.03553804e-04, 3.26150549e-05,
  1.81939723e-02,-1.37541314e-03, 9.11305194e-03,-2.11954861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005978447415243421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.39278179e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.39278179e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09550526, -0.09357616,  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:
[ 3.97268988e-05,-9.30432474e-06,-1.98411148e-05, 3.46739541e-05,
 -6.76689417e-06,-2.57753826e-06, 8.58290128e-06, 8.64423568e-06,
 -5.35223747e-05, 9.36947942e-05, 1.80921894e-05, 1.81731170e-05,
 -9.73493492e-05,-2.15290271e-05, 1.54819710e-05, 2.51559840e-04,
  1.33754626e-05, 2.42299691e-05,-4.90501772e+00, 2.46014801e-04,
  1.18255437e-02,-6.66572099e-04]


--- Step 922 ---
qpos:
[ 0.01870469, 0.03011663,-0.00950905,-0.025569  , 0.00788326, 0.00467813,
 -0.00784383, 0.0271521 , 0.01229483, 0.02800285,-0.00836527, 0.02644315,
  1.18759811, 0.00744292, 1.08864245, 0.04556024, 0.05810858,-0.07889884,
  0.1713942 , 0.99954292, 0.02841967,-0.00344427,-0.00971702]

qacc:
[  6.98944731,  1.85498235,-11.52938637, 30.766177  , -0.71097541,
  -3.50272401, 17.56474578,-40.05572662, -2.46105235, -0.35666884,
  -1.05515389,  9.89508485, -0.3331772 ,  0.12510132, -7.05646145,
  24.62827154,  2.43664939,  0.21348269,  0.60953074, -1.85405921,
  21.60953348, -5.60232641]

qfrc_actuator:
[ 1.41227971e-04, 9.40730999e-04, 1.27840408e-04,-3.52333272e-05,
  2.23497276e-05, 6.63393037e-05,-5.97398331e-05, 1.92184372e-05,
 -7.02181642e-05, 9.38858941e-04, 2.19818054e-04, 5.87461610e-05,
  1.81481020e-02,-1.38826443e-03, 9.10506719e-03,-2.00876598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.41116486,  6.37090955, -0.71731886,  6.37090955,  7.01199668,
        5.33632304, -0.71731886,  5.33632304, 53.80603078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005974436602904226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39371680e-13,  4.64572268e-14,  1.00000000e+00,  6.47482176e-27,
        1.00000000e+00, -4.64572268e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39371680e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735318, -0.08162143,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19227158e-05,-1.61980538e-06, 8.10113142e-06, 5.71956881e-05,
 -4.22003399e-06,-2.63065294e-05, 3.48261650e-06,-6.66799995e-05,
 -1.49723343e-05, 2.36649534e-05, 3.84724730e-05, 3.11284811e-05,
 -1.03907851e-04,-4.11865440e-05, 1.85921852e-05, 1.24846584e-04,
  2.72534245e-05, 3.10498508e-05,-4.90502108e+00, 2.42022968e-04,
  1.18229408e-02,-6.71121024e-04]


--- Step 923 ---
qpos:
[ 0.01870588, 0.03011692,-0.00950886,-0.02556881, 0.00788332, 0.00467808,
 -0.00784376, 0.0271518 , 0.01229475, 0.02800368,-0.00836528, 0.02644307,
  1.18803581, 0.00744378, 1.08902922, 0.04555835, 0.05809383,-0.07894003,
  0.17139942, 0.99953762, 0.02859664,-0.00350723,-0.00971984]

qacc:
[ -1.79671861, -1.15142052,  3.50492263, -3.55824123, -3.47810649,
  -1.74728075,  7.258486  ,-14.51159738, -1.3801292 ,  0.17417731,
  -1.27409234,  2.53177917, -1.23269446,  1.54308272, 16.27078796,
 -56.26593724,  2.38015979,  0.19900144,  0.38218601, -1.98110009,
  21.16677607, -5.20978122]

qfrc_actuator:
[ 1.29132808e-04, 9.08773685e-04, 1.34576927e-04,-3.69182579e-05,
  2.05073700e-06, 3.23665718e-05,-5.82482709e-05,-2.52452571e-06,
 -7.81402258e-05, 8.82995599e-04, 1.93689481e-04, 5.63852967e-05,
  1.80941776e-02,-1.37841858e-03, 9.04908128e-03,-2.30008733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014028087669154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23027801e-14, -9.23027801e-14,  1.00000000e+00, -8.51980322e-27,
        1.00000000e+00,  9.23027801e-14, -1.00000000e+00,  0.00000000e+00,
       -9.23027801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735364, -0.0816243 ,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08784865e-05,-2.87513703e-05, 9.36934000e-06,-3.63708680e-07,
 -2.04254639e-05,-5.08356166e-05,-5.82427901e-06,-2.40482792e-05,
 -8.35242283e-06,-3.33933309e-05,-1.54373938e-05, 5.88547995e-07,
 -1.20531725e-04,-2.47442252e-05,-4.28415147e-05,-2.84103546e-04,
  1.32638197e-05, 2.15889074e-05,-4.90501505e+00, 2.43431411e-04,
  1.18263633e-02,-6.75444103e-04]


--- Step 924 ---
qpos:
[ 0.01870589, 0.03011701,-0.00950885,-0.02556896, 0.00788313, 0.00467763,
 -0.00784368, 0.02715159, 0.01229458, 0.02800406,-0.00836518, 0.02644298,
  1.18847265, 0.00744496, 1.08941507, 0.04555407, 0.05808842,-0.07898048,
  0.17140538, 0.99953246, 0.0287699 ,-0.00352832,-0.00973128]

qacc:
[-10.19441146, -0.45874267,  2.74701441, -8.33709496, -2.13660395,
  -0.36308159,  0.1271558 ,  1.79096635, -0.79289394, -0.95809314,
   2.59584113, -2.685561  , -1.02536826,  1.3690976 ,  6.00148663,
 -22.74719501,  2.33208516,  0.18679481,  0.18607541, -2.07446585,
  20.7867222 , -4.89989356]

qfrc_actuator:
[ 6.82650119e-05, 8.89658125e-04, 1.20621471e-04,-5.57656461e-05,
 -9.91189721e-06, 1.22445582e-05,-5.74556671e-05, 2.55700358e-06,
 -8.27664191e-05, 8.49282794e-04, 1.95849499e-04, 5.49691640e-05,
  1.80620938e-02,-1.35521196e-03, 9.00155614e-03,-2.41771768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006011431449780558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61713252e-14, -9.23426503e-14,  1.00000000e+00, -4.26358253e-27,
        1.00000000e+00,  9.23426503e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61713252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735292, -0.08162665,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11963581e-05,-3.32942126e-05,-1.87590083e-05,-1.97625521e-05,
 -1.25596111e-05,-5.07887853e-05,-1.12564449e-05, 2.23495933e-06,
 -4.87965491e-06,-5.55831957e-05,-6.62810206e-06,-3.37119413e-06,
 -1.05976008e-04,-1.03048935e-05,-1.07322662e-04,-1.40877443e-04,
  4.27167124e-06, 1.23294549e-05,-4.90501055e+00, 2.43411657e-04,
  1.18291798e-02,-6.79670411e-04]


--- Step 925 ---
qpos:
[ 0.01870449, 0.03011694,-0.00950933,-0.02556897, 0.00788348, 0.00467685,
 -0.00784362, 0.02715144, 0.01229436, 0.02800415,-0.00836514, 0.02644321,
  1.18890881, 0.00744611, 1.0897998 , 0.04555261, 0.05809217,-0.07902023,
  0.17141141, 0.99952745, 0.02893931,-0.00350819,-0.00975086]

qacc:
[-1.21888792e+01, 1.46149294e+00,-6.05882455e+00, 9.29687437e+00,
  4.82387231e+00,-2.58043322e-01, 4.57811933e-02, 1.20318209e+00,
 -4.60321985e-01, 4.67140297e-01,-3.53041534e+00, 9.32671885e+00,
 -2.44374893e-01, 8.68113232e-02,-1.01818659e+01, 3.32317379e+01,
  2.29149297e+00, 1.76446927e-01, 1.77599280e-02,-2.14223652e+00,
  2.04633973e+01,-4.65662754e+00]

qfrc_actuator:
[-3.05228653e-06, 8.78271234e-04, 9.45986398e-05,-4.90525329e-05,
  1.86383105e-05, 5.94040079e-07,-5.70186028e-05, 5.63104507e-06,
 -8.54178970e-05, 8.46934014e-04, 1.97034409e-04, 7.19168950e-05,
  1.80324898e-02,-1.35971096e-03, 9.00180617e-03,-2.25435704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005975009304076268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29055478e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.29055478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735126, -0.08162858,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.31110139e-05,-3.47495555e-05,-3.58916817e-05, 4.25644867e-06,
  2.81759109e-05,-4.22698007e-05,-1.13578954e-05, 5.53377608e-07,
 -2.81232594e-06,-3.49616647e-05,-1.12350012e-05, 1.42701250e-05,
 -9.25788372e-05,-3.07317422e-05,-6.90075740e-05, 1.40789871e-04,
 -6.35705754e-08, 3.31872649e-06,-4.90500745e+00, 2.42155958e-04,
  1.18314449e-02,-6.83792139e-04]


--- Step 926 ---
qpos:
[ 0.01870258, 0.03011663,-0.00950982,-0.02556928, 0.00788452, 0.00467588,
 -0.00784393, 0.02715168, 0.01229445, 0.02800417,-0.00836544, 0.02644329,
  1.18934424, 0.00744703, 1.0901837 , 0.04555437, 0.05809511,-0.07905035,
  0.17141906, 0.99952367, 0.02906693,-0.00349189,-0.00976449]

qacc:
[ -4.28596075, -0.89165746,  3.93846042, -8.74088169,  6.01077825,
   1.55397305, -7.56057869, 15.02663413,  2.67039898,  0.52614886,
  -1.4222495 , -0.53927941, -0.13099491, -0.23347792,-10.98830543,
  36.64796091, -0.20347204,  2.40517043,  0.40569269,-20.87139473,
  -2.02979103,  3.1086368 ]

qfrc_actuator:
[-2.66748355e-05, 8.71563569e-04, 9.72228445e-05,-6.28540529e-05,
  5.30495778e-05,-5.88903059e-06,-7.45160637e-05, 2.52553448e-05,
 -6.91341742e-05, 8.45649206e-04, 1.80013522e-04, 6.40517611e-05,
  1.79830846e-02,-1.38060688e-03, 8.98284092e-03,-2.08643702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.41812583,  4.49115741, -4.58495848,  4.49115741, 30.78965252,
       23.87292344, -4.58495848, 23.87292344, 29.80264667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005982773974684968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27849714e-14, -9.27849714e-14,  1.00000000e+00,  8.60905092e-27,
        1.00000000e+00,  9.27849714e-14, -1.00000000e+00,  0.00000000e+00,
        9.27849714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325835, -0.11223683,  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:
[-2.57633203e-05,-3.33826608e-05,-8.81506596e-06,-1.64435951e-05,
  3.51976801e-05,-3.24052440e-05,-2.76010202e-05, 1.74314375e-05,
  1.61892927e-05,-2.25511231e-05,-2.51350616e-05,-9.47515062e-06,
 -1.08488035e-04,-4.96373377e-05,-3.94941456e-05, 1.65892903e-04,
 -9.74916337e-09,-5.41805111e-06,-4.90500568e+00, 2.39804350e-04,
  1.18332036e-02,-6.87803667e-04]


--- Step 927 ---
qpos:
[ 0.01870074, 0.03011641,-0.00951012,-0.02557049, 0.00788562, 0.00467486,
 -0.00784423, 0.02715176, 0.01229508, 0.02800392,-0.00836537, 0.02644393,
  1.18977881, 0.00744777, 1.090567  , 0.04555681, 0.05809724,-0.07907107,
  0.17142752, 0.99952112, 0.02915331,-0.00347918,-0.00977259]

qacc:
[  0.64951065, -2.26541002, 12.0721459 ,-28.14563557,  0.52417914,
  -0.42368958,  2.04217045, -4.67796166,  4.61093876, -0.2083982 ,
  -2.18320623, 11.66419232, -0.44473697,  0.20729241, -2.90790156,
   8.95441235, -0.2017339 ,  2.34932753,  0.2003057 ,-20.60048496,
  -1.91391762,  2.89613924]

qfrc_actuator:
[-2.20321308e-05, 9.03315596e-04, 1.16747275e-04,-1.06346380e-04,
  5.51167247e-05, 8.47200127e-06,-6.69217350e-05, 1.89487668e-05,
 -4.18363571e-05, 8.44925333e-04, 2.05630622e-04, 9.48964347e-05,
  1.79324802e-02,-1.39337237e-03, 8.94170900e-03,-2.05933568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005993218856745891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26232673e-14, -9.26232673e-14,  1.00000000e+00, -8.57906965e-27,
        1.00000000e+00,  9.26232673e-14, -1.00000000e+00,  0.00000000e+00,
       -9.26232673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325704, -0.11223879,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88284509e-06, 1.05749564e-05, 1.09882319e-05,-4.55428660e-05,
  3.05650647e-06,-8.66415657e-06,-1.88293356e-06,-8.31018571e-06,
  2.77660547e-05,-1.89238834e-05, 1.75377173e-05, 2.88239795e-05,
 -1.22425157e-04,-5.01975308e-05,-4.68019085e-05, 2.99126986e-05,
  5.12698047e-08,-3.24207269e-06,-4.90500341e+00, 2.39312266e-04,
  1.18300149e-02,-6.90768489e-04]


--- Step 928 ---
qpos:
[ 0.01869932, 0.03011628,-0.00951051,-0.0255722 , 0.0078864 , 0.00467397,
 -0.00784423, 0.02715104, 0.01229569, 0.02800315,-0.00836458, 0.02644495,
  1.19021265, 0.00744829, 1.0909498 , 0.04555756, 0.05809857,-0.07908259,
  0.17143607, 0.9995198 , 0.02919894,-0.00346987,-0.00977549]

qacc:
[ 3.55045051e+00,-6.52669998e-01, 4.60612328e+00,-1.31109616e+01,
 -2.88474775e+00,-2.30342520e+00, 1.19217292e+01,-2.65755150e+01,
 -1.55703193e-01,-1.93064478e+00, 4.33199865e+00, 1.31939212e+00,
 -4.92556594e-01, 2.89833033e-01, 4.40038512e+00,-1.63811712e+01,
 -2.00081127e-01, 2.30225189e+00, 2.40289458e-02,-2.03598517e+01,
 -1.82031503e+00, 2.72565915e+00]

qfrc_actuator:
[-8.05587851e-07, 9.04652547e-04, 1.10722841e-04,-1.31410834e-04,
  3.81284544e-05, 3.52888938e-05,-4.44981721e-05,-2.02814835e-05,
 -4.37858972e-05, 8.09244763e-04, 2.38507445e-04, 1.12802915e-04,
  1.79024961e-02,-1.40121896e-03, 8.90326335e-03,-2.15097386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005967683927052686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30195900e-14, -9.30195900e-14,  1.00000000e+00, -8.65264413e-27,
        1.00000000e+00,  9.30195900e-14, -1.00000000e+00,  0.00000000e+00,
       -9.30195900e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325609, -0.11224142,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13461054e-05, 7.59151645e-06,-4.05208577e-06,-2.51143232e-05,
 -1.69040093e-05, 2.12684742e-05, 2.01296437e-05,-3.98257706e-05,
 -1.14407535e-06,-4.13864868e-05, 3.21255223e-05, 1.82612358e-05,
 -1.10088810e-04,-4.84981826e-05,-6.30994225e-05,-9.74509948e-05,
  8.50404597e-08,-1.65591951e-06,-4.90500170e+00, 2.38987486e-04,
  1.18278669e-02,-6.92773548e-04]


--- Step 929 ---
qpos:
[ 0.01869851, 0.03011606,-0.00951089,-0.02557417, 0.00788696, 0.00467352,
 -0.00784441, 0.02714983, 0.01229593, 0.02800179,-0.00836353, 0.02644553,
  1.19064589, 0.00744838, 1.09133127, 0.04555797, 0.0580991 ,-0.07908506,
  0.17144411, 0.99951968, 0.02920424,-0.0034638 ,-0.00977345]

qacc:
[  5.23903722, -0.73643905,  3.5331213 , -8.0721046 , -1.85849576,
   0.08252772,  2.5533646 ,-10.79073857, -3.15515285, -2.44228373,
   9.42495962,-17.04285629, -0.08476183, -0.38140874, -0.90086718,
   0.28984522, -0.19856285,  2.26283175, -0.12656501,-20.14963303,
  -1.74469562,  2.58897991]

qfrc_actuator:
[ 3.00020291e-05, 8.87687519e-04, 1.07315063e-04,-1.45468247e-04,
  2.78238702e-05, 6.94038115e-05,-4.89699016e-05,-4.30400295e-05,
 -6.29384511e-05, 7.52944887e-04, 2.39732609e-04, 8.74114794e-05,
  1.78742531e-02,-1.42375558e-03, 8.82916144e-03,-2.16974101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000591361329742579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38701069e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.38701069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325544, -0.11224457,  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:
[ 3.14346674e-05,-1.46073864e-05,-3.19745849e-06,-1.43573034e-05,
 -1.07767087e-05, 4.84878778e-05, 1.03576045e-06,-2.19213479e-05,
 -1.92040113e-05,-7.20072011e-05,-2.73693683e-06,-2.57002070e-05,
 -1.01728994e-04,-5.95542694e-05,-1.20039231e-04,-3.36843005e-05,
  8.68583800e-08,-6.01851583e-07,-4.90500057e+00, 2.38843130e-04,
  1.18266554e-02,-6.93828890e-04]


--- Step 930 ---
qpos:
[ 0.01869877, 0.03011552,-0.00951122,-0.02557593, 0.00788774, 0.00467342,
 -0.00784468, 0.02714941, 0.01229593, 0.02800021,-0.0083629 , 0.02644614,
  1.19107843, 0.0074482 , 1.09171121, 0.04555684, 0.05809885,-0.0790786 ,
  0.17145114, 0.99952077, 0.02916957,-0.00346086,-0.00976669]

qacc:
[  9.14740915, -0.10993264, -1.15342288,  5.10208165,  1.90033891,
   2.34617489,-10.99753237, 24.40909156, -1.98500379,  0.99936229,
  -4.09839687,  5.52896881, -0.35595957,  0.07717855,  2.37262252,
 -11.55977673, -0.19720769,  2.23007458, -0.2546678 ,-19.96902559,
  -1.68360959,  2.47952754]

qfrc_actuator:
[ 8.39491053e-05, 8.59907816e-04, 1.05412040e-04,-1.35199705e-04,
  3.92947117e-05, 8.97860198e-05,-5.14835705e-05,-2.67339147e-06,
 -7.43009757e-05, 7.55577360e-04, 2.22132551e-04, 8.99624102e-05,
  1.78364170e-02,-1.43705296e-03, 8.73908398e-03,-2.25196119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005837355749052919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50963992e-14, -9.50963992e-14,  1.00000000e+00, -9.04332513e-27,
        1.00000000e+00,  9.50963992e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50963992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.063255  , -0.11224812,  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:
[ 5.48602737e-05,-3.71926103e-05,-5.79947226e-06, 9.25752861e-06,
  1.11823734e-05, 4.67886880e-05, 6.88169629e-06, 4.20582695e-05,
 -1.19529598e-05,-3.92712852e-05,-3.36971958e-05,-1.12949133e-06,
 -1.09977115e-04,-5.07350315e-05,-1.51545358e-04,-1.00090305e-04,
  5.41207525e-08,-3.57415707e-08,-4.90500003e+00, 2.38888269e-04,
  1.18263010e-02,-6.93943437e-04]


--- Step 931 ---
qpos:
[ 0.01869933, 0.03011497,-0.00951173,-0.02557689, 0.0078883 , 0.00467347,
 -0.00784489, 0.02714949, 0.0122958 , 0.02799862,-0.0083623 , 0.02644604,
  1.19151008, 0.00744838, 1.09208949, 0.04555633, 0.05809781,-0.07906333,
  0.17145671, 0.99952305, 0.02909523,-0.00346094,-0.00975539]

qacc:
[  2.57117154,  2.12808561,-11.01996107, 25.2408267 , -1.87806434,
   1.02849298, -5.50576927, 13.96177772, -1.16652813, -1.43046947,
   8.08220648,-20.42804022, -0.81736239,  1.07945524, -4.25945217,
  11.50706796, -0.19603008,  2.2031055 , -0.36318868,-19.81666477,
  -1.63428107,  2.39204166]

qfrc_actuator:
[ 9.78227444e-05, 8.79147356e-04, 1.04374841e-04,-9.29604935e-05,
  2.79826804e-05, 8.40932717e-05,-5.28208865e-05, 2.12472143e-05,
 -8.09810829e-05, 7.75661753e-04, 2.29330898e-04, 5.57218037e-05,
  1.78035074e-02,-1.40929397e-03, 8.68209459e-03,-2.21116012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005744295256810139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6637009e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.6637009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325475, -0.11225196,  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:
[ 1.54616611e-05,-2.31403803e-06,-9.10108460e-06, 4.06300024e-05,
 -1.09799394e-05, 2.37073365e-05, 1.06353129e-05, 2.69836361e-05,
 -7.04726887e-06,-8.84138071e-06,-5.09311792e-06,-3.71102360e-05,
 -1.08134227e-04,-9.14703573e-06,-1.39159767e-04, 1.54639860e-05,
 -1.45326625e-08, 7.58421822e-08,-4.90500011e+00, 2.39129131e-04,
  1.18267436e-02,-6.93124952e-04]


--- Step 932 ---
qpos:
[ 0.01869867, 0.0301148 ,-0.00951245,-0.02557738, 0.00788838, 0.00467362,
 -0.00784502, 0.02714917, 0.01229558, 0.02799707,-0.00836171, 0.02644586,
  1.19194074, 0.00744917, 1.0924664 , 0.04555721, 0.05809599,-0.07903934,
  0.17146046, 0.99952649, 0.02898149,-0.00346395,-0.00973967]

qacc:
[-10.44949242,  2.08761669, -8.62103469, 16.65463833, -4.26463986,
  -0.87359572,  5.01943899,-12.14205753, -0.67744471, -0.05657354,
   0.61180948, -1.93037185, -1.06489868,  1.57052556, -6.13079684,
  18.73274313, -0.19503482,  2.18115992, -0.45474218,-19.69087779,
  -1.59447539,  2.32231129]

qfrc_actuator:
[ 3.47334573e-05, 9.26428797e-04, 1.04062622e-04,-6.77187420e-05,
  3.34462132e-06, 8.05749254e-05,-5.35833015e-05,-2.38580383e-07,
 -8.48540359e-05, 7.88366148e-04, 2.33426017e-04, 5.34017246e-05,
  1.77576188e-02,-1.37516929e-03, 8.63969820e-03,-2.13359112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005638970607385885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84419943e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.84419943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325464, -0.112256  ,  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:
[-6.26383666e-05, 4.58790868e-05,-4.91976040e-07, 2.56227569e-05,
 -2.49433763e-05, 1.30890012e-05, 6.38043977e-06,-1.95760661e-05,
 -4.08549240e-06, 5.16599546e-06, 3.69469041e-07,-3.59469993e-06,
 -1.09734008e-04, 7.68251035e-06,-1.06342723e-04, 6.01958411e-05,
 -1.19749540e-07,-2.42091075e-07,-4.90500080e+00, 2.39569954e-04,
  1.18279381e-02,-6.91380041e-04]


--- Step 933 ---
qpos:
[ 0.01869726, 0.03011446,-0.00951291,-0.02557821, 0.00788851, 0.00467381,
 -0.00784513, 0.02714861, 0.01229498, 0.02799582,-0.00836151, 0.02644599,
  1.19237055, 0.00745015, 1.09284233, 0.04555631, 0.0580934 ,-0.07900669,
  0.17146209, 0.99953109, 0.02882853,-0.00346984,-0.00971964]

qacc:
[ -6.42966221, -1.66434945,  7.08684589,-13.39113933,  0.43099108,
  -0.51328057,  2.95429819, -7.25697004, -3.33803043,  2.12172863,
  -8.29464934, 14.07237436, -0.85123594,  1.02790186,  4.01406571,
 -15.96604311, -0.19422023,  2.16357353, -0.53165557,-19.58985048,
  -1.56239209,  2.26696324]

qfrc_actuator:
[-2.12634189e-06, 8.83623955e-04, 1.04294421e-04,-8.81611679e-05,
  6.57290647e-06, 7.83404439e-05,-5.40301894e-05,-1.27625067e-05,
 -1.04798047e-04, 8.14333020e-04, 2.17902677e-04, 6.98791452e-05,
  1.77093101e-02,-1.37313959e-03, 8.57946238e-03,-2.23025669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005525183330349487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00469338e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00469338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06325463, -0.11226017,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86689011e-05,-1.61584411e-05, 1.05479682e-05,-1.79903977e-05,
  2.52454710e-06, 5.55217849e-06, 2.36690032e-06,-1.21215103e-05,
 -2.00662719e-05, 2.88255339e-05,-1.45235069e-05, 1.66443037e-05,
 -1.08434526e-04,-2.09402421e-05,-1.05750292e-04,-1.07703633e-04,
 -2.61789630e-07,-9.71188344e-07,-4.90500210e+00, 2.40213598e-04,
  1.18298508e-02,-6.88714188e-04]


--- Step 934 ---
qpos:
[ 0.01869611, 0.03011337,-0.00951251,-0.02557891, 0.00788903, 0.00467386,
 -0.00784516, 0.02714827, 0.01229415, 0.02799492,-0.00836127, 0.02644628,
  1.19279961, 0.00745095, 1.09321752, 0.04555448, 0.05809003,-0.07896545,
  0.17146133, 0.99953682, 0.02863653,-0.00347854,-0.0096954 ]

qacc:
[  2.25434755, -3.09958134,  9.01859879, -7.39408695,  3.37073928,
   0.04435776, -1.40802263,  5.27799138, -2.00513271,  0.71755775,
  -2.54697001,  4.99898112, -0.46567066,  0.26696472,  1.75028882,
  -7.65768449, -0.19358043,  2.14977119, -0.59598723,-19.51173557,
  -1.53657878,  2.22329288]

qfrc_actuator:
[ 1.22776144e-05, 8.22673963e-04, 1.39964204e-04,-8.21318217e-05,
  2.61811134e-05, 5.91376993e-05,-5.42719149e-05,-2.15230711e-06,
 -1.16289922e-04, 8.47985657e-04, 2.26491414e-04, 7.95255894e-05,
  1.76648971e-02,-1.39017434e-03, 8.56712050e-03,-2.26907577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005406094068091671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02682548e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02682548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0632547 , -0.1122644 ,  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:
[ 1.32734592e-05,-6.85668096e-05, 3.30234198e-05, 5.35767129e-06,
  1.96822992e-05,-1.61323117e-05, 7.77348012e-07, 1.06950722e-05,
 -1.20743338e-05, 4.75189806e-05, 1.33422547e-05, 1.07058939e-05,
 -1.11051548e-04,-4.65652287e-05,-7.68934816e-05,-5.92838809e-05,
 -4.40721398e-07,-2.09838299e-06,-4.90500402e+00, 2.41061966e-04,
  1.18324573e-02,-6.85131810e-04]


--- Step 935 ---
qpos:
[ 0.01869548, 0.03011218,-0.00951219,-0.02557919, 0.00788943, 0.00467375,
 -0.00784516, 0.02714771, 0.01229352, 0.02799438,-0.00836097, 0.02644703,
  1.19322778, 0.00745184, 1.09359203, 0.04555342, 0.05809588,-0.07892347,
  0.17146062, 0.99954267, 0.02844092,-0.0034468 ,-0.00967944]

qacc:
[ 4.50903546e+00, 9.03852765e-01,-5.15815015e+00, 1.24032396e+01,
 -9.98522097e-01,-7.40800688e-01, 3.25259866e+00,-6.89100234e+00,
  1.81244141e+00, 1.19973275e+00,-5.53768631e+00, 1.30641299e+01,
 -6.73077690e-01, 7.03273727e-01,-3.29619570e+00, 1.02216344e+01,
  2.30425629e+00, 1.83370566e-01, 1.16667802e-02,-2.01387388e+00,
  2.00815331e+01,-4.71666245e+00]

qfrc_actuator:
[ 3.89785099e-05, 8.40243420e-04, 1.42938711e-04,-6.05681292e-05,
  1.97588341e-05, 4.76910886e-05,-5.44472612e-05,-1.35364033e-05,
 -1.04957019e-04, 8.68322411e-04, 2.31533331e-04, 1.02853141e-04,
  1.76228439e-02,-1.38284755e-03, 8.56222656e-03,-2.22006255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.91446128,  4.69507593, -3.59682002,  4.69507593, 25.77952946,
       25.930684  , -3.59682002, 25.930684  , 39.76284109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005377409539612243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16151418e-14, -1.03230284e-13,  1.00000000e+00, -5.32824574e-27,
        1.00000000e+00,  1.03230284e-13, -1.00000000e+00,  0.00000000e+00,
       -5.16151418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02732423, -0.08164633,  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:
[ 2.70654227e-05,-1.36780474e-05,-6.92401164e-06, 1.98776984e-05,
 -5.86903655e-06,-1.98426063e-05,-3.04207160e-06,-1.18404681e-05,
  1.09917267e-05, 5.01466840e-05, 1.68781740e-05, 2.60351049e-05,
 -1.15637756e-04,-2.94439918e-05,-5.18870307e-05, 3.46998376e-05,
 -6.56539078e-07,-3.61483279e-06,-4.90500656e+00, 2.42116315e-04,
  1.18357401e-02,-6.80636315e-04]


--- Step 936 ---
qpos:
[ 0.01869656, 0.03011129,-0.00951262,-0.02557889, 0.00788905, 0.00467366,
 -0.00784523, 0.02714702, 0.01229373, 0.02799424,-0.00836088, 0.02644772,
  1.19365516, 0.00745299, 1.09396626, 0.04554993, 0.05811081,-0.07888077,
  0.17145944, 0.99954865, 0.02824146,-0.00337493,-0.00967127]

qacc:
[ 14.5885856 ,  3.71101771,-15.20970799, 26.57963736, -6.77612773,
  -0.04793284,  0.84201219, -3.27956277,  7.05901356,  0.98948506,
  -2.53169018,  1.58275758, -0.95365281,  1.24478874,  7.06075545,
 -25.11486867,  2.27074878,  0.17958674, -0.11867799, -2.13307962,
  19.92088324, -4.45303168]

qfrc_actuator:
[ 1.25944770e-04, 8.69081126e-04, 1.09137272e-04,-3.00056033e-05,
 -1.96909014e-05, 5.87101213e-05,-5.45758605e-05,-2.00175252e-05,
 -6.25305167e-05, 8.80532493e-04, 2.16641863e-04, 9.85241631e-05,
  1.75982233e-02,-1.36111504e-03, 8.53519207e-03,-2.35047559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005353365971097757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07387844e-13, -1.03693922e-13,  1.00000000e+00, -2.15048588e-26,
        1.00000000e+00,  1.03693922e-13, -1.00000000e+00,  0.00000000e+00,
       -2.07387844e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02732218, -0.08164819,  0.06199038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.77532021e-05, 2.06616728e-05,-3.67810280e-05, 3.01260408e-05,
 -3.96228369e-05,-1.20982027e-06,-5.00905983e-06,-7.66542995e-06,
  4.27634050e-05, 4.48709556e-05,-1.55314493e-06,-1.09101230e-06,
 -9.60355987e-05,-1.22015429e-05,-5.30978366e-05,-1.36506814e-04,
  3.06668679e-07, 6.13973708e-06,-4.90500886e+00, 2.44772185e-04,
  1.18333760e-02,-6.75945917e-04]


--- Step 937 ---
qpos:
[ 0.01869798, 0.03011038,-0.00951278,-0.02557859, 0.00788821, 0.00467393,
 -0.00784549, 0.02714621, 0.01229444, 0.02799446,-0.00836068, 0.02644834,
  1.19408197, 0.00745407, 1.09434014, 0.04554482, 0.05813471,-0.07883737,
  0.17145733, 0.99955475, 0.02803796,-0.00326324,-0.00967047]

qacc:
[ 2.97184488e+00,-8.15894192e-01, 2.89275512e+00,-3.46694368e+00,
 -4.14887342e+00, 7.70552376e-01,-1.57570482e+00,-3.16328375e-01,
  4.31999746e+00, 1.12284961e-02, 9.57820249e-01,-2.67433234e+00,
 -4.79809821e-01, 4.24879757e-01, 4.36518296e+00,-1.59427912e+01,
  2.24289803e+00, 1.77060903e-01,-2.30672828e-01,-2.22979641e+00,
  1.97825776e+01,-4.23674871e+00]

qfrc_actuator:
[ 1.41166072e-04, 8.68801320e-04, 1.24984739e-04,-2.99038573e-05,
 -4.27502602e-05, 1.00852993e-04,-5.45767501e-05,-2.35388641e-05,
 -3.76551394e-05, 9.05426555e-04, 2.25549936e-04, 9.56861938e-05,
  1.75734332e-02,-1.36644538e-03, 8.53214351e-03,-2.42585592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005308723665531367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56848863e-13,  1.04565908e-13,  1.00000000e+00,  1.64010438e-26,
        1.00000000e+00, -1.04565908e-13, -1.00000000e+00,  0.00000000e+00,
       -1.56848863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02731973, -0.08164973,  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:
[ 1.77892350e-05, 5.03092699e-06, 1.66371797e-05, 2.98866493e-07,
 -2.41852989e-05, 4.00950535e-05,-1.12788429e-06,-3.89209636e-06,
  2.61454212e-05, 4.96367253e-05, 1.79453108e-05,-9.93205014e-07,
 -8.18220281e-05,-3.01060544e-05,-4.93742784e-05,-9.13184402e-05,
  5.31225620e-06, 1.59557008e-05,-4.90501222e+00, 2.46423739e-04,
  1.18308100e-02,-6.71146730e-04]


--- Step 938 ---
qpos:
[ 0.01869785, 0.0301095 ,-0.00951273,-0.02557898, 0.0078871 , 0.00467444,
 -0.00784571, 0.02714502, 0.01229476, 0.02799517,-0.00836043, 0.0264489 ,
  1.19450822, 0.00745507, 1.09471344, 0.04554242, 0.05816749,-0.07879326,
  0.17145391, 0.99956098, 0.02783024,-0.00311195,-0.00967669]

qacc:
[-1.33018932e+01,-1.96579151e+00, 1.00531273e+01,-2.25023342e+01,
 -2.37948515e+00,-5.64448867e-01, 4.08828993e+00,-1.09271699e+01,
 -3.38303760e+00, 4.23231730e-01,-3.45217722e-01,-9.77840016e-01,
 -1.69087319e-01,-9.78832235e-03,-9.01269258e+00, 3.03062674e+01,
  2.22000394e+00, 1.75561812e-01,-3.26542620e-01,-2.30949774e+00,
  1.96663810e+01,-4.05852978e+00]

qfrc_actuator:
[ 6.07593702e-05, 8.69012994e-04, 1.34394813e-04,-6.54620953e-05,
 -5.59671123e-05, 1.08060762e-04,-5.43648068e-05,-4.30145466e-05,
 -5.88250187e-05, 9.37808460e-04, 2.30747663e-04, 9.37820005e-05,
  1.75485509e-02,-1.37003023e-03, 8.54882871e-03,-2.27280153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005248089767341396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28870062e-14,  5.28870062e-14,  1.00000000e+00,  2.79703543e-27,
        1.00000000e+00, -5.28870062e-14, -1.00000000e+00,  0.00000000e+00,
       -5.28870062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02731698, -0.08165101,  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:
[-7.98842253e-05, 6.50973620e-06, 1.25182081e-05,-3.47607106e-05,
 -1.38899708e-05, 2.92159770e-05, 8.22320881e-06,-1.78694362e-05,
 -2.03852214e-05, 6.38030095e-05, 1.76202228e-05, 8.21268519e-07,
 -7.81528480e-05,-2.95107933e-05,-2.25171940e-05, 1.40193209e-04,
  1.42509843e-05, 2.58898349e-05,-4.90501664e+00, 2.47164286e-04,
  1.18280161e-02,-6.66231985e-04]


--- Step 939 ---
qpos:
[ 0.01869745, 0.03010866,-0.00951255,-0.02557979, 0.00788618, 0.00467487,
 -0.00784552, 0.02714396, 0.01229482, 0.02799607,-0.00836027, 0.02644948,
  1.19493388, 0.00745604, 1.09508656, 0.04553919, 0.05819048,-0.07874515,
  0.1714508 , 0.99956765, 0.02760279,-0.00300535,-0.00967281]

qacc:
[ -2.34275386, -1.139521  ,  5.88628793,-13.29469089,  1.73142853,
  -0.96366954,  2.70685699, -0.93553971, -2.18521272,  0.53939731,
  -1.62402527,  1.94864024, -0.46565334,  0.42266617,  2.28246829,
  -8.28390407, -2.44904894,  0.99936854,  0.07490839, -9.63483068,
 -22.28369865,  5.7044108 ]

qfrc_actuator:
[ 4.90027156e-05, 8.69468703e-04, 1.39888296e-04,-8.62210481e-05,
 -4.55378577e-05, 9.42854468e-05,-3.64180438e-05,-3.62423545e-05,
 -7.14162728e-05, 9.21154525e-04, 2.15987932e-04, 9.24442116e-05,
  1.75183072e-02,-1.37254029e-03, 8.52412894e-03,-2.32364882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005323692894358967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04271889e-13, -1.04271889e-13,  1.00000000e+00, -1.08726267e-26,
        1.00000000e+00,  1.04271889e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04271889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09551139, -0.09360847,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40786364e-05, 5.19753098e-06, 7.19087663e-06,-2.07179996e-05,
  1.00451261e-05, 3.47719886e-06, 2.43761491e-05, 7.96356776e-06,
 -1.31651690e-05, 2.26640651e-05, 6.07096194e-07, 2.01960113e-06,
 -8.03138901e-05,-2.79227219e-05,-2.59810373e-05,-4.74107419e-05,
  2.70381027e-05, 3.59867319e-05,-4.90502211e+00, 2.47065048e-04,
  1.18249742e-02,-6.61196195e-04]


--- Step 940 ---
qpos:
[ 0.01869691, 0.03010793,-0.00951207,-0.02558087, 0.00788609, 0.00467537,
 -0.00784517, 0.02714334, 0.01229508, 0.027997  ,-0.0083602 , 0.02645042,
  1.19535896, 0.00745674, 1.09545901, 0.0455351 , 0.05820384,-0.07869311,
  0.17144729, 0.99957476, 0.02735583,-0.00294246,-0.00965936]

qacc:
[-1.18228693e+00,-1.25417972e+00, 5.80737601e+00,-1.09733292e+01,
  7.23419851e+00, 4.95127310e-01,-3.48852294e+00, 1.06865549e+01,
  1.64331748e+00, 1.00450505e+00,-5.01573928e+00, 1.11863089e+01,
 -2.75318725e-01, 1.19230746e-02, 1.61518733e+00,-7.05590436e+00,
 -2.40644709e+00, 9.84112058e-01,-9.92187301e-02,-9.53346143e+00,
 -2.18114849e+01, 5.41752377e+00]

qfrc_actuator:
[ 4.22735267e-05, 8.87811109e-04, 1.60795472e-04,-9.81022879e-05,
 -3.52557249e-06, 1.03645893e-04,-2.59691105e-05,-1.40864743e-05,
 -6.10896896e-05, 9.10682169e-04, 2.07117648e-04, 1.09148674e-04,
  1.74795428e-02,-1.39215767e-03, 8.47990901e-03,-2.37011837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005368788891006865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03396040e-13,  1.03396040e-13,  1.00000000e+00,  1.06907411e-26,
        1.00000000e+00, -1.03396040e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03396040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09550935, -0.09360889,  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:
[-7.13443806e-06, 2.18735334e-05, 2.21600571e-05,-1.18094153e-05,
  4.22976554e-05, 1.66693887e-05, 1.44398291e-05, 2.33038647e-05,
  9.95130970e-06, 2.37307886e-06,-4.05724841e-06, 1.77328918e-05,
 -9.02119219e-05,-4.48776015e-05,-6.87822798e-05,-5.41145369e-05,
  1.26342643e-05, 2.74060531e-05,-4.90501876e+00, 2.50573156e-04,
  1.18284437e-02,-6.55680219e-04]


--- Step 941 ---
qpos:
[ 0.01869595, 0.03010758,-0.00951176,-0.02558174, 0.0078865 , 0.00467624,
 -0.00784505, 0.02714229, 0.0122958 , 0.02799819,-0.00836035, 0.02645187,
  1.19578335, 0.00745704, 1.09583072, 0.04553241, 0.05820772,-0.07863718,
  0.17144277, 0.99958229, 0.02708953,-0.00292249,-0.00963678]

qacc:
[ -3.62726617,  1.43093114, -5.2347768 ,  8.83217698,  4.42107183,
   0.24449898,  1.62500847, -8.94673457,  3.96237928,  2.03124588,
  -8.9376348 , 18.06346643, -0.10660218, -0.36284468, -5.33262415,
  17.05821845, -2.36964073,  0.97155533, -0.25093123, -9.44723882,
 -21.41250539,  5.17768587]

qfrc_actuator:
[ 2.07828116e-05, 9.16794440e-04, 1.55210547e-04,-8.68880471e-05,
  2.12265577e-05, 1.26774598e-04,-3.76952098e-05,-3.63092404e-05,
 -3.73590272e-05, 9.39519002e-04, 2.01823612e-04, 1.36341799e-04,
  1.74303607e-02,-1.42180762e-03, 8.47195981e-03,-2.28933399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005378791086895346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03203769e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.03203769e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09550862, -0.09360959,  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:
[-2.16893690e-05, 4.53083591e-05, 1.25949938e-06, 1.26908103e-05,
  2.59584495e-05, 3.64255847e-05,-5.70826042e-06,-2.05575398e-05,
  2.40260451e-05, 3.00534725e-05,-4.70389536e-06, 2.74948768e-05,
 -1.10722193e-04,-6.11533107e-05,-5.07077225e-05, 6.77820143e-05,
  3.38902805e-06, 1.66137178e-05,-4.90501674e+00, 2.52647983e-04,
  1.18326510e-02,-6.49787163e-04]


--- Step 942 ---
qpos:
[ 0.01869473, 0.03010741,-0.00951146,-0.0255821 , 0.00788686, 0.00467762,
 -0.00784545, 0.02714098, 0.0122968 , 0.02799945,-0.00836019, 0.02645293,
  1.19620692, 0.00745705, 1.09620212, 0.04553126, 0.05820225,-0.07857741,
  0.17143673, 0.99959022, 0.02680406,-0.00294473,-0.00960545]

qacc:
[ -2.1485894 ,  1.29667289, -6.39045348, 14.9386746 , -0.47604198,
   1.61685929, -3.66984625, -0.36027187,  2.38792746, -1.61552665,
   7.52730343,-14.8264684 , -0.2836193 , -0.0901862 , -5.13480943,
  17.31478041, -2.33812963,  0.96141655, -0.38249594, -9.37608085,
 -21.07766565,  4.97619707]

qfrc_actuator:
[ 8.52605794e-06, 9.16340412e-04, 1.51840716e-04,-6.21851003e-05,
  1.78589204e-05, 1.57842332e-04,-6.23890270e-05,-4.89638763e-05,
 -2.36888734e-05, 9.38436255e-04, 2.16597684e-04, 1.16262637e-04,
  1.73856112e-02,-1.43948035e-03, 8.48047733e-03,-2.20512278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005360418783911941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09550893, -0.09361052,  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:
[-1.28726471e-05, 2.56917273e-05, 6.58627432e-06, 2.69366009e-05,
 -2.61612546e-06, 4.93557726e-05,-1.85941612e-05,-1.16921749e-05,
  1.43884033e-05, 1.58961547e-05, 2.13384749e-05,-1.84253088e-05,
 -1.20804581e-04,-5.83850977e-05,-1.28527110e-05, 8.02146437e-05,
 -1.03821740e-06, 3.69726947e-06,-4.90501596e+00, 2.53442837e-04,
  1.18375712e-02,-6.43516748e-04]


--- Step 943 ---
qpos:
[ 0.01869339, 0.03010711,-0.00951079,-0.02558181, 0.00788752, 0.00467921,
 -0.00784609, 0.02714024, 0.01229796, 0.02800061,-0.0083592 , 0.02645372,
  1.1966296 , 0.00745685, 1.09657324, 0.04553048, 0.05818753,-0.07851382,
  0.1714287 , 0.99959853, 0.02649952,-0.00300864,-0.00956569]

qacc:
[ -1.16576612,  0.12205896, -3.4563831 , 14.31020605,  2.64856304,
   2.10419494, -9.52006535, 19.61947864,  1.36070348, -2.98108109,
  11.55301893,-17.35280758, -0.50995396,  0.27275328, -1.46607623,
   4.58986783, -2.31140741,  0.95343026, -0.49614265, -9.31952619,
 -20.79891418,  4.80600118]

qfrc_actuator:
[ 1.80691273e-06, 8.98277765e-04, 1.67457525e-04,-2.97650911e-05,
  3.34783743e-05, 1.57863536e-04,-7.67307551e-05,-2.03718796e-05,
 -1.60545016e-05, 9.37243104e-04, 2.60708564e-04, 1.04025107e-04,
  1.73382310e-02,-1.44990280e-03, 8.46158279e-03,-2.19057332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005319447059619065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04355116e-13, -1.04355116e-13,  1.00000000e+00, -1.08899901e-26,
        1.00000000e+00,  1.04355116e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04355116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09551009, -0.09361164,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08639507e-06,-1.17974005e-06, 2.26671857e-05, 3.42736972e-05,
  1.55635700e-05, 2.32357953e-05,-6.84981995e-06, 2.98370107e-05,
  8.06628392e-06, 1.12726358e-05, 4.93666415e-05,-1.11825146e-05,
 -1.27721373e-04,-5.31357574e-05,-2.35735304e-05, 1.56293268e-05,
 -9.13798889e-07,-1.12788877e-05,-4.90501637e+00, 2.53075810e-04,
  1.18431859e-02,-6.36868879e-04]


--- Step 944 ---
qpos:
[ 0.018693  , 0.03010709,-0.00951033,-0.02558149, 0.00788802, 0.0046806 ,
 -0.00784616, 0.02713984, 0.01230023, 0.02800166,-0.00835794, 0.0264551 ,
  1.1970514 , 0.00745651, 1.09694335, 0.04552966, 0.05818242,-0.07844921,
  0.17142234, 0.99960684, 0.02619239,-0.0030298 ,-0.0095368 ]

qacc:
[ 8.25569467, 1.0287957 ,-3.26579819, 3.9221871 ,-1.40948395,-1.16372597,
  2.31813306, 2.86095123, 9.52799369, 0.26843731,-3.65972188,13.37746873,
 -0.52229959, 0.32504603,-1.35995065, 2.69192572, 2.40030154, 0.25701574,
  0.41760798,-1.51497204,21.2107049 ,-6.001838  ]

qfrc_actuator:
[ 5.16557097e-05, 9.23146965e-04, 1.58576831e-04,-2.85765490e-05,
  2.46518138e-05, 1.39362544e-04,-4.94323501e-05,-3.26236930e-06,
  4.12272820e-05, 9.18366727e-04, 2.68529513e-04, 1.32027106e-04,
  1.72946347e-02,-1.45596217e-03, 8.38896943e-03,-2.19949468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.83172733,  5.78326791, -0.75023726,  5.78326791,  6.38435018,
        4.25994034, -0.75023726,  4.25994034, 38.66984068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005276905159924405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05196416e-13, -2.62991041e-14,  1.00000000e+00, -2.76657150e-27,
        1.00000000e+00,  2.62991041e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05196416e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02731299, -0.08167044,  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:
[ 4.96397546e-05, 3.03626450e-05,-5.15020112e-06, 2.58876935e-06,
 -8.37711685e-06,-5.68691537e-06, 3.22766610e-05, 1.84478067e-05,
  5.75256796e-05,-2.90343524e-06, 1.58169386e-05, 2.99688823e-05,
 -1.26818124e-04,-4.89523766e-05,-8.93077027e-05,-1.27906408e-05,
  3.55643047e-06,-2.82695688e-05,-4.90501791e+00, 2.51637979e-04,
  1.18494811e-02,-6.29843453e-04]


--- Step 945 ---
qpos:
[ 0.01869321, 0.03010752,-0.00951005,-0.02558153, 0.00788806, 0.00468193,
 -0.00784616, 0.02713932, 0.01230214, 0.02800237,-0.00835614, 0.02645646,
  1.1974725 , 0.00745598, 1.09731228, 0.04553039, 0.05818672,-0.0783836 ,
  0.17141691, 0.99961517, 0.02588208,-0.00300888,-0.0095176 ]

qacc:
[ 5.13815319, 0.35155053, 1.07207366,-7.23510446,-3.99523253,-0.50503455,
  2.18823687,-4.31025158,-3.08322674,-1.94664302, 6.35834151,-7.16228948,
 -0.22258447,-0.0602174 ,-6.3972831 ,19.86160393, 2.35424165, 0.24702275,
  0.23227897,-1.80681082,20.8881091 ,-5.38441124]

qfrc_actuator:
[ 8.11412013e-05, 9.55656248e-04, 1.53194951e-04,-4.57607934e-05,
  1.50171414e-06, 1.27824574e-04,-5.11265564e-05,-1.07973105e-05,
  2.07588293e-05, 8.88940417e-04, 2.90309226e-04, 1.30177756e-04,
  1.72746433e-02,-1.45937375e-03, 8.34810879e-03,-2.11574177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  5.8774767 ,  -5.75959819,  -1.17122205,  -5.75959819,
         8.09128859, -10.88663497,  -1.17122205, -10.88663497,
        59.41356172,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005332538544579185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04098922e-13,  1.04098922e-13,  1.00000000e+00,  1.08365855e-26,
        1.00000000e+00, -1.04098922e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04098922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02731387, -0.08167467,  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:
[ 3.09422897e-05, 4.85479381e-05, 3.36775280e-07,-1.60157598e-05,
 -2.33922244e-05,-7.31224901e-06, 1.73051112e-06,-6.30456543e-06,
 -1.87788651e-05,-2.65268121e-05, 2.41350705e-05,-8.53412715e-07,
 -1.02752765e-04,-4.45417584e-05,-8.76218567e-05, 7.06169776e-05,
 -1.10819155e-06,-1.19239503e-05,-4.90502063e+00, 2.57162910e-04,
  1.18449611e-02,-6.22512948e-04]


--- Step 946 ---
qpos:
[ 0.01869275, 0.03010795,-0.00950937,-0.0255821 , 0.00788817, 0.00468317,
 -0.00784615, 0.02713873, 0.0123031 , 0.02800269,-0.00835342, 0.02645709,
  1.19789296, 0.00745511, 1.09768047, 0.04553039, 0.0581989 ,-0.07832552,
  0.17141456, 0.9996225 , 0.02560673,-0.00295087,-0.00951013]

qacc:
[ -5.83501058, -2.18895098, 10.10536633,-20.03909472,  0.59214497,
  -0.29282874,  1.20971758, -2.51942038, -8.05181671, -4.6340194 ,
  18.92261215,-32.99306969, -0.23899238, -0.11497785,  1.11020472,
  -5.4573074 ,  1.96892331, -1.88095743,  0.76871825, 17.29515184,
  18.54632856, -6.40296527]

qfrc_actuator:
[ 4.51285440e-05, 9.39223406e-04, 1.67718020e-04,-7.35958302e-05,
  5.61963628e-06, 1.20410924e-04,-5.21825513e-05,-1.50411195e-05,
 -2.75726864e-05, 8.71199264e-04, 3.37844626e-04, 9.30232636e-05,
  1.72422007e-02,-1.47884524e-03, 8.31037466e-03,-2.15546760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005469327123737711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02990788e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02990788e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394455, -0.05284228,  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:
[-3.50949816e-05, 1.00901160e-05, 2.40276245e-05,-2.60595447e-05,
  3.45078000e-06,-1.14706581e-05,-2.58493185e-06,-4.62083424e-06,
 -4.88882460e-05,-2.76765657e-05, 4.49694440e-05,-3.74802724e-05,
 -1.00677796e-04,-5.39117349e-05,-7.37842212e-05,-4.78641415e-05,
 -1.17137443e-06, 4.09817912e-06,-4.90502432e+00, 2.61248748e-04,
  1.18406581e-02,-6.15100841e-04]


--- Step 947 ---
qpos:
[ 0.01869289, 0.03010824,-0.00950872,-0.02558261, 0.00788798, 0.00468417,
 -0.00784553, 0.02713807, 0.01230382, 0.028003  ,-0.00835107, 0.02645661,
  1.19831247, 0.00745459, 1.09804801, 0.04552985, 0.05821876,-0.07827479,
  0.17141425, 0.99962891, 0.02536506,-0.0028566 ,-0.00951341]

qacc:
[ 5.20427963e+00,-3.59736039e-03,-5.52865338e-01, 1.84512977e+00,
 -2.58635800e+00,-2.16362554e+00, 7.56302365e+00,-9.57822069e+00,
 -2.07981149e+00,-1.21753600e+00, 9.00560880e+00,-2.74870190e+01,
 -1.00953449e+00, 1.32001193e+00, 7.60543814e-01,-3.83150423e+00,
  1.92041701e+00,-1.83755913e+00, 5.13104008e-01, 1.66557963e+01,
  1.81528606e+01,-5.89349015e+00]

qfrc_actuator:
[ 7.73745819e-05, 9.11429725e-04, 1.58170990e-04,-7.19932555e-05,
 -9.74672149e-06, 1.15518748e-04,-1.73166736e-05,-1.73024064e-05,
 -3.86338754e-05, 8.60666896e-04, 3.11461476e-04, 3.54217115e-05,
  1.71969806e-02,-1.45446617e-03, 8.29049690e-03,-2.17886622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10250826, -6.09751084,  0.24691815, -6.09751084,  6.19327429,
        2.24141836,  0.24691815,  2.24141836, 61.45312875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005604365804424971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98099671e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98099671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394632, -0.05284787,  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:
[ 3.12249892e-05,-1.83377290e-05,-5.41522817e-06, 2.35875605e-06,
 -1.52719969e-05,-1.20812325e-05, 3.20047348e-05,-2.93382427e-06,
 -1.25014087e-05,-1.83850233e-05,-2.78920698e-05,-5.79669994e-05,
 -1.14655829e-04,-1.18414172e-05,-6.39678921e-05,-3.66424527e-05,
  2.92637296e-06, 1.64322964e-05,-4.90502297e+00, 2.63451635e-04,
  1.18337534e-02,-6.08483441e-04]


--- Step 948 ---
qpos:
[ 0.01869376, 0.03010841,-0.00950845,-0.02558307, 0.00788727, 0.00468506,
 -0.00784505, 0.02713707, 0.01230405, 0.02800323,-0.00834959, 0.02645549,
  1.19873115, 0.00745454, 1.09841444, 0.04553006, 0.05824613,-0.07823126,
  0.17141511, 0.99963443, 0.02515599,-0.00272674,-0.00952665]

qacc:
[ 6.25262261, 0.96728051,-3.91937477, 5.45726262,-4.64439541,-0.42329719,
  2.70126627,-8.12604941,-4.14254874, 1.01255362,-1.07671116,-8.52696631,
 -0.88516005, 1.27018852,-3.84017652,11.2191611 , 1.8787195 ,-1.79904531,
  0.28896239,16.11671761,17.80951658,-5.4758692 ]

qfrc_actuator:
[ 1.14055237e-04, 8.94721071e-04, 1.34441341e-04,-7.08682794e-05,
 -3.64667183e-05, 9.45710244e-05,-3.25182284e-05,-3.61048684e-05,
 -6.31648257e-05, 8.36465859e-04, 2.59410211e-04, 1.71344195e-06,
  1.71707754e-02,-1.42209181e-03, 8.23874435e-03,-2.13911053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005683446424965127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76716363e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.76716363e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.033947  , -0.05285159,  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:
[ 3.75828347e-05,-2.79870169e-05,-2.81136643e-05, 1.96138160e-07,
 -2.71593971e-05,-2.12659087e-05,-1.38735740e-05,-1.82714155e-05,
 -2.48972570e-05,-4.27677084e-05,-6.13190268e-05,-3.65935913e-05,
 -9.31556095e-05, 3.20536240e-06,-9.10471243e-05, 2.81981980e-05,
  1.02264173e-05, 2.51321756e-05,-4.90502232e+00, 2.64099870e-04,
  1.18283183e-02,-6.02663794e-04]


--- Step 949 ---
qpos:
[ 0.01869368, 0.03010825,-0.00950836,-0.02558385, 0.00788624, 0.00468591,
 -0.00784537, 0.02713624, 0.01230503, 0.02800297,-0.00834837, 0.02645433,
  1.1990042 , 0.0074333 , 1.09881344, 0.04552424, 0.05827812,-0.0781964 ,
  0.17141644, 0.99963905, 0.02499775,-0.00258497,-0.00949721]

qacc:
[-8.11081448e+00,-5.18960337e-01, 2.59456462e+00,-7.54429061e+00,
 -2.79324991e+00, 2.49265681e+00,-9.65328677e+00, 1.37785489e+01,
  6.29023959e+00,-3.84764126e-02,-6.42560436e-01, 7.05210902e-01,
 -1.00083559e+02, 7.52730143e+01, 7.36320279e+01,-1.70466125e+02,
  1.15374618e+00,-2.16877595e+00, 1.20656226e-01, 2.54228884e+01,
  6.73313501e+00, 2.11091170e+01]

qfrc_actuator:
[ 6.42674331e-05, 8.66956920e-04, 1.20319782e-04,-8.77903510e-05,
 -5.18966287e-05, 8.17152529e-05,-7.72495149e-05,-2.90378644e-05,
 -2.44295685e-05, 8.04157544e-04, 2.45865467e-04, 7.12965818e-08,
  1.71346990e-02,-1.42068958e-03, 8.18391025e-03,-2.20455407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89941106, -0.57296579,  0.69328959, -0.57296579,  0.43021197,
       -0.38776728,  0.69328959, -0.38776728,  0.57894269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001040126957060063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63529977e-01, -9.28657445e-01, -7.37652113e-02, -2.68891214e-02,
       -6.86897486e-02,  9.97275636e-01, -9.31194357e-01,  3.64523071e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066756, -0.04606839,  0.28701202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716507989133868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.710675e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -9.710675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394678, -0.05285379,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87019128e-05,-4.92098867e-05,-2.33640093e-05,-1.90908383e-05,
 -1.62078544e-05,-2.84417894e-05,-5.14777969e-05, 5.32034509e-06,
  3.79959373e-05,-7.04897138e-05,-3.12140496e-05,-6.30900241e-06,
 -8.78668173e-05,-1.88114138e-05,-9.74018088e-05,-7.64266955e-05,
  2.05302967e-05, 3.05150000e-05,-4.90502242e+00, 2.63377462e-04,
  1.18240790e-02,-5.97610692e-04]


--- Step 950 ---
qpos:
[ 0.0186937 , 0.03010776,-0.00950845,-0.02558482, 0.00788538, 0.00468694,
 -0.00784634, 0.02713512, 0.01230715, 0.02800182,-0.00834692, 0.02645422,
  1.19916331, 0.00736298, 1.09923969, 0.04552091, 0.05831389,-0.07817042,
  0.17141768, 0.99964282, 0.02489411,-0.00243778,-0.00941108]

qacc:
[ 8.01814889e-01,-3.62472957e-01, 1.47337863e+00,-4.33464987e+00,
  1.44988669e+00, 1.49509308e+00,-3.75510264e+00,-3.59617608e-01,
  9.79013454e+00, 3.44627191e-01,-7.37991449e+00, 2.58014024e+01,
 -5.37991172e+01, 2.75881999e+00, 3.56375356e+01,-5.93202391e+01,
  9.44133774e-01,-2.21924044e+00,-2.56639305e-02, 2.73479050e+01,
  3.67528482e+00, 2.81887028e+01]

qfrc_actuator:
[ 7.04976451e-05, 8.50554128e-04, 1.11929852e-04,-9.74435242e-05,
 -4.28016495e-05, 1.09193845e-04,-1.03490128e-04,-4.23170741e-05,
  3.34848246e-05, 7.49664258e-04, 2.55152411e-04, 5.28326301e-05,
  1.71004355e-02,-1.39863183e-03, 8.17216786e-03,-2.07809988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.93679333, -0.5611425 ,  0.75013388, -0.5611425 ,  0.40789119,
       -0.39564867,  0.75013388, -0.39564867,  0.64082579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021570306075331945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36327566, -0.92875459, -0.07379503, -0.02688123, -0.06872486,
        0.99727343, -0.93129383,  0.36426886,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07071037, -0.04606084,  0.28676785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.112306311634645e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48467275e-01, -9.36459189e-01, -4.01838891e-02, -1.40140895e-02,
       -3.76609909e-02,  9.99192301e-01, -9.37216178e-01,  3.48748959e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095683, -0.04574863,  0.28092973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005713511674304145
  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([ 0.03394586, -0.05285482,  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:
[ 4.79609251e-06,-4.95734220e-05,-2.20867610e-05,-1.29362098e-05,
  8.62629672e-06, 1.13732092e-06,-3.82758581e-05,-1.61743401e-05,
  5.90062399e-05,-1.00615637e-04,-9.34588070e-06, 4.85367927e-05,
  7.15533940e-03, 1.06142940e-03,-1.74076550e-03, 3.50937055e-04,
  2.29884314e-05, 2.72139023e-05,-4.90500822e+00, 2.72892513e-04,
  1.18339491e-02,-5.93602110e-04]


--- Step 951 ---
qpos:
[ 0.01869413, 0.03010713,-0.00950876,-0.02558592, 0.00788498, 0.00468809,
 -0.00784736, 0.02713312, 0.01230925, 0.02800009,-0.00834548, 0.02645471,
  1.19923994, 0.00724966, 1.09968343, 0.04551873, 0.05835308,-0.07815331,
  0.17141828, 0.99964576, 0.02484595,-0.00228768,-0.00926314]

qacc:
[  3.58724636,  0.14310973, -0.2239846 , -1.59695715,  4.04687403,
  -1.54158858,  9.40997066,-24.58884527, -0.08501419,  0.48756016,
  -5.41042982, 16.35123019,-33.32028539,-10.88686168, 23.82717971,
 -42.39570524,  0.85618949, -2.21772676, -0.15665948, 27.80208598,
   2.48081663, 30.7889178 ]

qfrc_actuator:
[ 9.19253841e-05, 8.58863167e-04, 1.07036530e-04,-1.02729079e-04,
 -1.93481772e-05, 1.25160323e-04,-1.00692341e-04,-8.51663790e-05,
  3.11927859e-05, 7.35715902e-04, 2.60016432e-04, 8.39085535e-05,
  1.70856281e-02,-1.32781939e-03, 8.10037314e-03,-2.10890575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.98456824, -0.5707138 ,  0.80228448, -0.5707138 ,  0.40362577,
       -0.41325975,  0.80228448, -0.41325975,  0.69059142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002976189404528946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63127608e-01, -9.28806513e-01, -7.38701651e-02, -2.68977847e-02,
       -6.87990587e-02,  9.97267867e-01, -9.31351088e-01,  3.64122438e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075935, -0.04605618,  0.28658916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.533787404014815e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34816966, -0.93658257, -0.03988708, -0.01389853, -0.0373873 ,
        0.99920419, -0.9373285 ,  0.34844696,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099917, -0.04575059,  0.28088106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005681885770611322
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76984640e-14, -9.76984640e-14,  1.00000000e+00, -9.54498986e-27,
        1.00000000e+00,  9.76984640e-14, -1.00000000e+00,  0.00000000e+00,
       -9.76984640e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394438, -0.05285491,  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:
[ 2.15534932e-05,-2.45046354e-05,-1.82908574e-05,-8.42078371e-06,
  2.37012381e-05, 7.98249054e-06,-2.23979071e-06,-4.44376830e-05,
 -5.99855684e-07,-7.00114632e-05,-1.53946771e-05, 2.73829333e-05,
  1.28346096e-02, 3.58612515e-03,-3.18130662e-03, 1.94326715e-04,
  3.16362369e-05, 2.13833401e-05,-4.90499864e+00, 2.86084304e-04,
  1.18390347e-02,-5.90732525e-04]


--- Step 952 ---
qpos:
[ 0.01869379, 0.03010657,-0.00950929,-0.02558642, 0.00788521, 0.00468894,
 -0.00784793, 0.02713099, 0.01231132, 0.02799864,-0.00834433, 0.02645444,
  1.19926122, 0.00710585, 1.10013627, 0.04551431, 0.05839557,-0.07814498,
  0.1714178 , 0.99964785, 0.02485292,-0.00213535,-0.00905234]

qacc:
[ -6.70486966,  1.97866717, -9.48349462, 20.32486633,  5.55705492,
  -1.93256594,  6.88277425, -9.69690288, -0.38952497, -0.35686496,
   5.02607142,-17.89990245,-21.20484608,-10.01624022, 21.02257245,
 -52.03404297,  0.82609863, -2.19622458, -0.27221746, 27.62808769,
   2.15541659, 31.32207926]

qfrc_actuator:
[ 5.10985214e-05, 8.81931865e-04, 1.04350709e-04,-6.98748898e-05,
  1.23604744e-05, 9.87058985e-05,-8.08288654e-05,-9.17981195e-05,
  2.89810409e-05, 7.99395228e-04, 2.62357323e-04, 4.87344342e-05,
  1.70731132e-02,-1.21420484e-03, 8.02972572e-03,-2.30472797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.02839885, -0.58532783,  0.84557409, -0.58532783,  0.403259  ,
       -0.43273766,  0.84557409, -0.43273766,  0.72884687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003521638151744726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36305651, -0.92882512, -0.07398554, -0.02693475, -0.06890849,
        0.99725931, -0.93137774,  0.36405427,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07081284, -0.04605581,  0.28647031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013731348827439703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47981215e-01, -9.36660620e-01, -3.96983281e-02, -1.38251707e-02,
       -3.72131954e-02,  9.99211711e-01, -9.37399562e-01,  3.48255742e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104822, -0.04575349,  0.28083691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627794014434889
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86374965e-14, -9.86374965e-14,  1.00000000e+00, -9.72935571e-27,
        1.00000000e+00,  9.86374965e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86374965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394246, -0.05285428,  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:
[-4.02037007e-05, 5.26263892e-06,-1.02788497e-05, 3.10118044e-05,
  3.23869448e-05,-2.43745160e-05, 1.97009447e-05,-7.22879183e-06,
 -2.25815957e-06, 2.25729958e-05,-1.30652666e-05,-3.81741713e-05,
  1.69434424e-02, 5.85069472e-03,-4.13396884e-03,-6.04730580e-05,
  5.10214224e-05, 1.43553876e-05,-4.90499803e+00, 3.00703444e-04,
  1.18349091e-02,-5.89042497e-04]


--- Step 953 ---
qpos:
[ 0.0186933 , 0.03010628,-0.00950998,-0.02558654, 0.00788582, 0.00468938,
 -0.00784815, 0.02712882, 0.01231368, 0.02799745,-0.00834325, 0.02645409,
  1.19925026, 0.00694018, 1.10059853, 0.04550952, 0.05844127,-0.0781453 ,
  0.17141586, 0.99964909, 0.02491442,-0.0019813 ,-0.00877791]

qacc:
[ -1.22831073,  1.57492511, -6.59899357, 12.92958854,  3.34846208,
  -1.5928339 ,  5.02554729, -5.91275791,  2.56732273,  0.33642586,
  -0.36887883, -1.18595686, -9.49283764,-12.58151425, 15.21169645,
 -32.63084222,  0.80201059, -2.16153512, -0.36549121, 27.32870479,
   1.89249733, 31.72183316]

qfrc_actuator:
[ 4.49612802e-05, 9.13713723e-04, 1.03084656e-04,-5.03317363e-05,
  3.09163664e-05, 6.49123947e-05,-6.89547140e-05,-9.48435127e-05,
  4.46074538e-05, 8.20256046e-04, 2.63480488e-04, 4.59443440e-05,
  1.70678272e-02,-1.08797384e-03, 7.97586941e-03,-2.29485027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05749581, -0.56366029,  0.89475385, -0.56366029,  0.36852556,
       -0.43402459,  0.89475385, -0.43402459,  0.78407712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038218283250454214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63037060e-01, -9.28821243e-01, -7.41295574e-02, -2.69860254e-02,
       -6.90430714e-02,  9.97248619e-01, -9.31383835e-01,  3.64038669e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086999, -0.04606117,  0.28640477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001649881358620755
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47880700e-01, -9.36701403e-01, -3.96169135e-02, -1.37927878e-02,
       -3.71383743e-02,  9.99214942e-01, -9.37437346e-01,  3.48154021e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07110287, -0.04575914,  0.28079683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005556403440330759
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99048248e-14, -9.99048248e-14,  1.00000000e+00, -9.98097402e-27,
        1.00000000e+00,  9.99048248e-14, -1.00000000e+00,  0.00000000e+00,
       -9.99048248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394022, -0.0528531 ,  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:
[-7.30546857e-06, 3.39442467e-05,-3.56318474e-07, 2.00220270e-05,
  1.94672956e-05,-4.36725427e-05, 9.01574495e-06,-3.54617385e-06,
  1.55667036e-05, 2.91942229e-05, 2.86209096e-06,-3.01599936e-06,
  1.97034934e-02, 7.50328166e-03,-4.65132540e-03, 5.88437501e-05,
  8.21778916e-05, 6.63667766e-06,-4.90500755e+00, 3.15805278e-04,
  1.18204715e-02,-5.88538895e-04]


--- Step 954 ---
qpos:
[ 0.01869309, 0.03010601,-0.00951055,-0.02558677, 0.00788595, 0.00468941,
 -0.00784824, 0.02712733, 0.01231518, 0.02799651,-0.00834271, 0.02645305,
  1.19922921, 0.00674301, 1.10102003, 0.04550663, 0.058475  ,-0.07814521,
  0.17141623, 0.99965013, 0.02495909,-0.00186973,-0.00855419]

qacc:
[ 2.36043066e+00,-5.21091206e-01, 2.24759754e+00,-4.04081914e+00,
 -4.14012821e+00, 5.02127734e-01,-5.43352942e+00, 1.73260597e+01,
 -7.39157303e+00, 4.18416973e-01, 1.93763283e+00,-1.32485445e+01,
  1.80738952e+01,-4.98670437e+01,-6.83110563e+01, 1.45995081e+02,
 -2.99415556e+00, 1.04972562e-01, 5.79409872e-01,-8.27989534e+00,
 -2.19344676e+01,-2.47983243e+01]

qfrc_actuator:
[ 5.93114870e-05, 8.97219491e-04, 1.02696692e-04,-5.65252149e-05,
  6.07445503e-06, 4.47132476e-05,-6.19444281e-05,-6.02741854e-05,
 -4.02185159e-07, 8.15349161e-04, 2.28258496e-04, 8.95755193e-06,
  1.70721169e-02,-9.32846196e-04, 7.92640609e-03,-2.37554476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06589239,  0.97969051, -0.41992036,  0.97969051,  1.73191281,
        1.5538515 , -0.41992036,  1.5538515 ,  4.69108832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003901542296069467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3630477 , -0.92880392, -0.07429434, -0.02704714, -0.06919611,
        0.99723636, -0.93137792,  0.36405381,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093014, -0.04607339,  0.28638687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37849486, -0.28563579,  0.24833557, -0.28563579,  0.24570176,
       -0.15273875,  0.24833557, -0.15273875,  0.20281462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017091246534050612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34784929, -0.93671203, -0.03964157, -0.01380014, -0.03716195,
        0.99921396, -0.93744889,  0.34812292,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07116219, -0.04576897,  0.28076034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.15682316, -5.15196372,  3.37101486, -5.15196372,  7.38685129,
        1.8798672 ,  3.37101486,  1.8798672 ,  9.02984747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000566963087608896
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.7909639e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.7909639e-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([ 0.09555398, -0.09352392,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41499475e-05, 3.28810652e-06, 7.28387839e-06,-4.35977147e-06,
 -2.43041289e-05,-4.29123333e-05,-1.02155638e-06, 3.29443057e-05,
 -4.45455160e-05, 1.19250381e-05,-2.89393946e-05,-3.56945080e-05,
  2.13181155e-02, 8.75462264e-03,-5.18034064e-03,-5.08641309e-06,
  1.25442879e-04,-1.61689979e-06,-4.90502721e+00, 3.31219160e-04,
  1.17956732e-02,-5.89212858e-04]


--- Step 955 ---
qpos:
[ 0.01869305, 0.0301055 ,-0.00951101,-0.02558668, 0.00788579, 0.00468904,
 -0.00784798, 0.02712695, 0.01231613, 0.0279962 ,-0.00834307, 0.02645155,
  1.19920784, 0.00653847, 1.10140764, 0.04550628, 0.05849873,-0.07814457,
  0.17141845, 0.99965074, 0.02499582,-0.00179715,-0.00838888]

qacc:
[ 1.49920156e+00,-4.16619257e-03,-1.71756634e+00, 6.96796080e+00,
 -2.60819415e+00, 7.48256147e-01,-8.10283972e+00, 2.69158335e+01,
 -4.73865359e+00, 2.44512035e+00,-5.57203256e+00,-1.34825597e+00,
  7.40782831e+00,-1.54047326e+01,-5.85960911e+01, 1.30266921e+02,
 -2.50015069e+00, 1.33043310e-01, 4.61322895e-01,-3.84897218e+00,
 -2.02542305e+01,-2.87085622e+01]

qfrc_actuator:
[ 6.78415565e-05, 8.69679884e-04, 1.02622208e-04,-4.23437773e-05,
 -8.60177802e-06, 3.28212570e-05,-4.00317813e-05,-3.84255584e-06,
 -2.74894520e-05, 8.65885407e-04, 1.89473149e-04,-1.24034510e-05,
  1.70813187e-02,-7.24253010e-04, 7.86777741e-03,-2.37068797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06846022,  0.84157027, -0.65830595,  0.84157027,  1.34823245,
        0.3576574 , -0.65830595,  0.3576574 ,  1.52568506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039253717736082653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63067795e-01, -9.28780376e-01, -7.44902007e-02, -2.71203401e-02,
       -6.93777858e-02,  9.97221746e-01, -9.31367953e-01,  3.64079299e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709732 , -0.04607931,  0.28638285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37854119, -0.28365936,  0.25066072, -0.28365936,  0.22790854,
       -0.17046293,  0.25066072, -0.17046293,  0.18563738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017122598018593565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47809952e-01, -9.36725831e-01, -3.96605032e-02, -1.38051794e-02,
       -3.71802708e-02,  9.99213213e-01, -9.37463415e-01,  3.48083820e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07120511, -0.04577238,  0.28073425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.23095117,  5.39232111, -3.12211876,  5.39232111,  7.93782813,
        2.94800722, -3.12211876,  2.94800722, 11.32255811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000575856374646383
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63975631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63975631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09556879, -0.09349591,  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:
[ 8.94496575e-06,-2.43603997e-05, 1.36094134e-06, 1.44911637e-05,
 -1.53832409e-05,-3.46934503e-05, 1.40674969e-05, 5.52029443e-05,
 -2.83899095e-05, 4.97164643e-05,-4.11113423e-05,-2.25406229e-05,
  2.18307743e-02, 1.05419110e-02,-3.20919715e-03,-9.70851506e-05,
  7.88985938e-05,-4.83424128e-07,-4.90501550e+00, 3.04777756e-04,
  1.18058013e-02,-5.90872711e-04]


--- Step 956 ---
qpos:
[ 0.01869346, 0.03010473,-0.00951144,-0.02558608, 0.00788545, 0.00468865,
 -0.00784786, 0.02712688, 0.01231641, 0.02799644,-0.00834374, 0.02645081,
  1.19918593, 0.00634056, 1.1017668 , 0.04551067, 0.05851332,-0.07814329,
  0.1714218 , 0.99965087, 0.0250291 ,-0.00176281,-0.0082808 ]

qacc:
[  3.84452355,  0.65660909, -5.05900784, 14.28651415, -1.54486657,
   1.05380633, -5.09715776, 10.79627149, -5.79031677,  3.16421758,
 -13.41373245, 26.61993029, -3.30902148,  8.8578991 ,-56.03729241,
 135.83653123, -2.28264071,  0.16178698,  0.2819652 , -1.60752201,
 -19.84595233,-28.12340002]

qfrc_actuator:
[ 9.06231453e-05, 8.53500065e-04, 1.02691650e-04,-1.62974993e-05,
 -1.71631478e-05, 4.38360745e-05,-4.49528622e-05, 1.17561178e-05,
 -6.15433341e-05, 9.13707967e-04, 1.84646564e-04, 2.89110022e-05,
  1.70823012e-02,-4.95109695e-04, 7.78852153e-03,-2.19162669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0660115 ,  0.77594793, -0.73094823,  0.77594793,  0.76827143,
       -0.31606997, -0.73094823, -0.31606997,  0.73048317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003902653118085052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63088202e-01, -9.28756080e-01, -7.46933874e-02, -2.71962592e-02,
       -6.95662678e-02,  9.97206547e-01, -9.31357783e-01,  3.64105313e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100231, -0.04608162,  0.28639074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016704604857633145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34777044, -0.93673934, -0.03968794, -0.01381318, -0.03720657,
        0.99921212, -0.93747796,  0.34804466,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07123466, -0.0457721 ,  0.28071654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.26432415,  5.44006813, -3.10602894,  5.44006813,  8.42813674,
        3.78981913, -3.10602894,  3.78981913, 12.90201963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005798563032457793
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57325995e-14, -9.57325995e-14,  1.00000000e+00, -9.16473060e-27,
        1.00000000e+00,  9.57325995e-14, -1.00000000e+00,  0.00000000e+00,
       -9.57325995e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558149, -0.09347424,  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:
[ 2.30351783e-05,-2.88734858e-05,-4.28199412e-06, 2.53342042e-05,
 -9.01352229e-06,-3.10838822e-06,-8.44195629e-06, 1.56747747e-05,
 -3.48684846e-05, 6.61782392e-05,-3.87180225e-07, 4.15900560e-05,
  2.18473069e-02, 1.11434766e-02,-1.60124945e-03,-4.64638527e-05,
  4.14251542e-05,-7.06152508e-07,-4.90500889e+00, 2.84809861e-04,
  1.18117945e-02,-5.92191462e-04]


--- Step 957 ---
qpos:
[ 0.0186938 , 0.0301035 ,-0.00951149,-0.02558482, 0.00788467, 0.00468854,
 -0.00784823, 0.02712699, 0.01231558, 0.02799694,-0.00834412, 0.02645091,
  1.19916026, 0.00615597, 1.10209468, 0.04551822, 0.05851931,-0.07814126,
  0.17142556, 0.9996505 , 0.02506164,-0.00176652,-0.00822681]

qacc:
[-6.19525513e-01,-2.92956135e-01,-2.58546598e+00, 1.36374391e+01,
 -3.93685325e+00, 2.06583768e+00,-7.56378580e+00, 1.11315432e+01,
 -9.36800070e+00, 1.27022290e+00,-7.52424183e+00, 2.13403143e+01,
 -1.07195901e+01, 2.25578646e+01,-5.46798903e+01, 1.26782151e+02,
 -2.15110126e+00, 1.90194994e-01, 1.04702346e-01,-2.52749718e-01,
 -1.96944684e+01,-2.65617359e+01]

qfrc_actuator:
[ 8.61072065e-05, 8.26502493e-04, 1.20642100e-04, 1.65256226e-05,
 -3.98122851e-05, 6.83541701e-05,-6.56170369e-05, 2.09532923e-05,
 -1.17183403e-04, 9.24224031e-04, 1.99957775e-04, 7.12925994e-05,
  1.70837085e-02,-2.64681942e-04, 7.75087802e-03,-2.07103965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05867322,  0.64288111, -0.84112595,  0.64288111,  0.53213061,
       -0.40244187, -0.84112595, -0.40244187,  0.75108281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003833176401776148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63109080e-01, -9.28732088e-01, -7.48899508e-02, -2.72698000e-02,
       -6.97485680e-02,  9.97191805e-01, -9.31347494e-01,  3.64131632e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710184 , -0.04608122,  0.28641008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015849334024538802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3477409 , -0.93674843, -0.03973213, -0.01382741, -0.03724842,
        0.99921037, -0.9374887 ,  0.34801571,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07125176, -0.04576907,  0.28070665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.26446458,  5.47233912, -3.04910168,  5.47233912,  9.00474234,
        4.91808103, -3.04910168,  4.91808103, 15.09113224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005798731301955157
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91459643e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91459643e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09559257, -0.09345758,  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:
[-3.85284572e-06,-4.29047431e-05, 1.23475873e-05, 3.19324189e-05,
 -2.29066899e-05, 2.17173264e-05,-2.18000479e-05, 9.07805510e-06,
 -5.66417304e-05, 4.92153266e-05, 3.03810722e-05, 4.60177439e-05,
  2.18745843e-02, 1.10464190e-02,-2.23050689e-04,-1.64693357e-04,
  1.67412871e-05,-7.55994821e-07,-4.90500491e+00, 2.71945414e-04,
  1.18156905e-02,-5.93279901e-04]


--- Step 958 ---
qpos:
[ 0.01869407, 0.03010212,-0.00951139,-0.02558389, 0.00788362, 0.00468838,
 -0.00784815, 0.02712683, 0.01231512, 0.02799763,-0.00834393, 0.02645116,
  1.19912832, 0.00598572, 1.10238849, 0.04552683, 0.05851716,-0.07813838,
  0.17142914, 0.99964958, 0.02509577,-0.00180798,-0.00822483]

qacc:
[-4.78708490e-01,-1.34267922e+00, 5.87697507e+00,-1.17390918e+01,
 -2.31934354e+00,-1.82058377e+00, 7.48642496e+00,-1.26175813e+01,
  3.19161114e+00,-1.02303707e+00, 3.33480859e+00,-1.68605057e+00,
 -1.34229083e+01, 2.61342309e+01,-5.22272504e+01, 1.12755367e+02,
 -2.03670114e+00, 2.09426151e-01,-4.57064518e-02, 9.10327789e-01,
 -1.95151630e+01,-2.55252616e+01]

qfrc_actuator:
[ 8.33083568e-05, 8.28820878e-04, 1.31212856e-04,-1.82733718e-07,
 -5.28212470e-05, 6.51915312e-05,-4.20784857e-05, 8.57199026e-06,
 -9.63185456e-05, 9.30169280e-04, 2.26868695e-04, 7.84255080e-05,
  1.70963314e-02,-6.05777475e-05, 7.72350291e-03,-2.05686266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04654413,  0.47280826, -0.93365249,  0.47280826,  0.3347849 ,
       -0.36043994, -0.93365249, -0.36043994,  0.86401479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037134618891965037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63133414e-01, -9.28707785e-01, -7.50731199e-02, -2.73387073e-02,
       -6.99182981e-02,  9.97178032e-01, -9.31335986e-01,  3.64161065e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102189, -0.04607834,  0.28644103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014531363562432972
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47729402e-01, -9.36749887e-01, -3.97983854e-02, -1.38500417e-02,
       -3.73106932e-02,  9.99207730e-01, -9.37492634e-01,  3.48005116e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0712568 , -0.04576352,  0.28070451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.23805881,  5.49374698, -2.95501638,  5.49374698,  9.67357039,
        6.38704797, -2.95501638,  6.38704797, 18.11238404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005767084291873337
  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([ 0.09560237, -0.09344488,  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:
[-2.92421523e-06,-1.77162698e-05, 4.34706545e-06,-1.74960960e-05,
 -1.36518658e-05, 4.86771829e-06, 2.56598067e-05,-1.20264804e-05,
  1.92184214e-05, 4.16779406e-05, 4.24110286e-05, 1.11904588e-05,
  2.20739742e-02, 1.05880610e-02, 1.30705925e-03,-3.10090686e-04,
  4.10579933e-06,-7.21203838e-08,-4.90500247e+00, 2.65725186e-04,
  1.18186856e-02,-5.94223902e-04]


--- Step 959 ---
qpos:
[ 0.01869432, 0.03010077,-0.00951149,-0.02558386, 0.00788242, 0.00468782,
 -0.00784786, 0.02712625, 0.01231561, 0.02799815,-0.00834342, 0.02645053,
  1.19908647, 0.00582848, 1.1026475 , 0.04553414, 0.05850722,-0.07813463,
  0.17143203, 0.99964808, 0.02513358,-0.00188697,-0.00827352]

qacc:
[ -0.31437873, -1.23267358,  8.2448238 ,-23.46379886, -1.28554866,
  -1.99953989,  8.19397417,-15.71454183,  8.04654567, -2.95556065,
  13.9483841 ,-29.70174947,-15.37102115, 26.69887084,-46.05082366,
  89.81847494, -1.94444017,  0.2166938 , -0.1739543 ,  1.95364937,
 -19.38420352,-24.85861568]

qfrc_actuator:
[ 8.15517426e-05, 8.30861403e-04, 1.19664645e-04,-4.58863872e-05,
 -6.00479679e-05, 1.01322194e-05,-4.60013741e-05,-1.63939203e-05,
 -4.83361389e-05, 8.80093245e-04, 2.24848885e-04, 2.92530551e-05,
  1.71053943e-02, 1.03627223e-04, 7.70366579e-03,-2.14120370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0299707 ,  0.29050808, -0.98815217,  0.29050808,  0.18492533,
       -0.24843594, -0.98815217, -0.24843594,  0.95693271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003538915846380079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63163555e-01, -9.28682349e-01, -7.52417931e-02, -2.74027551e-02,
       -7.00743636e-02,  9.97165319e-01, -9.31322351e-01,  3.64195934e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101322, -0.04607314,  0.28648407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001270937179028713
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34774046, -0.93674184, -0.03989109, -0.0138828 , -0.03739742,
        0.99920403, -0.93748805,  0.34801747,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07125027, -0.04575557,  0.28071004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.19088774,  5.50816263, -2.82616974,  5.50816263, 10.39985302,
        8.2032105 , -2.82616974,  8.2032105 , 22.17882251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005710516047309072
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94417285e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94417285e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09561115, -0.0934353 ,  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:
[-1.84335618e-06,-7.67251499e-06,-1.52643873e-05,-4.66516155e-05,
 -7.61352864e-06,-4.75516695e-05,-1.71116885e-07,-2.41024187e-05,
  4.85609950e-05,-1.75517509e-05, 1.21882727e-05,-4.57045554e-05,
  2.23958877e-02, 1.00381912e-02, 2.98477052e-03,-4.48971045e-04,
  2.05048850e-06, 1.63546241e-06,-4.90500099e+00, 2.65597319e-04,
  1.18215248e-02,-5.95098128e-04]


--- Step 960 ---
qpos:
[ 0.01869419, 0.03009918,-0.00951138,-0.02558402, 0.0078808 , 0.0046868 ,
 -0.00784755, 0.02712539, 0.01231598, 0.02799842,-0.00834316, 0.02645005,
  1.19903188, 0.00567995, 1.10287634, 0.04554046, 0.05848978,-0.07813005,
  0.17143379, 0.99964594, 0.02517704,-0.00200349,-0.00837207]

qacc:
[ -3.1416498 , -1.31868801,  5.07997209, -8.65201969, -3.70650844,
  -1.24153513,  4.70533873, -9.14088532, -1.00258089,  0.67628516,
  -3.57148743,  6.89988165,-14.67952987, 21.86558216,-40.29548777,
  79.25238744, -1.8772205 ,  0.21004363, -0.28274705,  2.9382539 ,
 -19.35565813,-24.45862802]

qfrc_actuator:
[ 6.26696277e-05, 8.14851725e-04, 1.30650945e-04,-5.50301599e-05,
 -8.15695253e-05,-2.24410250e-05,-4.85957042e-05,-3.08808382e-05,
 -5.58128440e-05, 8.49938083e-04, 2.05491017e-04, 3.60428359e-05,
  1.70968952e-02, 2.39489485e-04, 7.66834145e-03,-2.14069246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.00951161,  0.16027257, -0.99670778,  0.16027257,  0.11200869,
       -0.14432023, -0.99670778, -0.14432023,  0.98630463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000330288487903508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63202875e-01, -9.28654368e-01, -7.53971857e-02, -2.74626448e-02,
       -7.02177951e-02,  9.97153581e-01, -9.31305253e-01,  3.64239654e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099282, -0.04606565,  0.2865402 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00010319202657131657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34777851, -0.93672246, -0.04001418, -0.01392723, -0.03751223,
        0.99919911, -0.93747328,  0.34805726,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07123262, -0.04574518,  0.28072324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.12791247,  5.52135453, -2.65818648,  5.52135453, 11.11563644,
       10.36006788, -2.65818648, 10.36006788, 27.64694743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005634904176171351
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97026070e-13, -1.97026070e-13,  1.00000000e+00, -3.88192723e-26,
        1.00000000e+00,  1.97026070e-13, -1.00000000e+00,  0.00000000e+00,
       -1.97026070e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09561912, -0.09342819,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89315845e-05,-2.54014450e-05, 5.92437677e-06,-1.09056521e-05,
 -2.17535121e-05,-6.02170862e-05,-1.32670513e-05,-1.69974514e-05,
 -6.05472964e-06,-3.94161550e-05,-2.30757033e-05, 5.56704842e-06,
  2.28810312e-02, 9.52639862e-03, 4.68474539e-03,-3.84471142e-04,
  9.68244369e-06, 4.61454544e-06,-4.90499999e+00, 2.71213329e-04,
  1.18247711e-02,-5.95965423e-04]


--- Step 961 ---
qpos:
[ 0.0186935 , 0.03009761,-0.00951154,-0.02558395, 0.00787928, 0.00468558,
 -0.00784714, 0.02712502, 0.01231592, 0.02799835,-0.00834314, 0.02645036,
  1.19895973, 0.00553804, 1.1030776 , 0.04554325, 0.05846505,-0.0781247 ,
  0.17143405, 0.99964308, 0.02522813,-0.00215753,-0.00852046]

qacc:
[ -4.90036648,  1.28835128, -5.54310492, 10.05784624,  0.88046471,
   0.46731451, -4.11911436, 12.54326914, -3.7217217 ,  1.83687075,
 -10.48992774, 24.68250605,-17.19206152, 22.29806757,-28.65959601,
  44.4579663 , -1.82036825,  0.19256212, -0.37264747,  3.93494865,
 -19.35518186,-24.45195821]

qfrc_actuator:
[ 3.38581633e-05, 8.23777356e-04, 1.19314107e-04,-4.25804136e-05,
 -7.58289893e-05,-5.79470467e-06,-3.25420547e-05,-3.56161687e-06,
 -7.81294103e-05, 8.31892576e-04, 1.93919385e-04, 7.57172450e-05,
  1.70997757e-02, 3.92941040e-04, 7.65118953e-03,-2.30208914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.98608705,  0.04370459, -0.98511805,  0.04370459,  0.07395332,
       -0.04046665, -0.98511805, -0.04046665,  0.98429175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002997550252554052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36325405, -0.92862246, -0.07554349, -0.02752012, -0.07035241,
        0.99714251, -0.9312836 ,  0.36429502,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096104, -0.04605588,  0.28661073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.28243216038556e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34784625, -0.93669058, -0.04017144, -0.01398477, -0.03765861,
        0.9991928 , -0.93744728,  0.34812726,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07120428, -0.04573227,  0.28074406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.05332036,  5.53729665, -2.4456151 ,  5.53729665, 11.68204172,
       12.74440116, -2.4456151 , 12.74440116, 34.90885444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005545165766185217
  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([ 0.09562641, -0.09342301,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93668540e-05,-4.47158210e-06,-1.62122482e-05, 1.13592731e-05,
  5.10254894e-06,-2.04686777e-05, 1.40378615e-06, 2.39532428e-05,
 -2.25062166e-05,-4.46279048e-05,-2.23677036e-05, 3.72953835e-05,
  2.35207589e-02, 9.24672041e-03, 6.17166362e-03,-4.97206876e-04,
  2.65223364e-05, 9.10732476e-06,-4.90499910e+00, 2.82405541e-04,
  1.18288982e-02,-5.96881179e-04]


--- Step 962 ---
qpos:
[ 0.01869315, 0.03009639,-0.00951201,-0.02558376, 0.00787888, 0.00468457,
 -0.007847  , 0.02712426, 0.01231627, 0.02799779,-0.00834287, 0.02645079,
  1.19886788, 0.00539952, 1.10325692, 0.04554225, 0.05843323,-0.07811866,
  0.17143253, 0.9996394 , 0.02528875,-0.00234918,-0.00871907]

qacc:
[  2.97865424,  1.55581538, -5.33987363,  7.46098744,  9.79617916,
   0.21002882,  1.30639587, -7.80382947,  3.61340144, -1.08517441,
   2.40366127, -0.37696555,-16.83530061, 18.89627551,-19.62492709,
  24.67861563, -1.77515775,  0.16964844, -0.44633389,  4.87521414,
 -19.38756524,-24.63906103]

qfrc_actuator:
[ 5.26967233e-05, 8.65255414e-04, 1.12739552e-04,-3.52827098e-05,
 -1.85786346e-05, 2.25607354e-05,-4.08807726e-05,-2.28190925e-05,
 -5.57257717e-05, 8.03538935e-04, 2.04858423e-04, 8.11747871e-05,
  1.71157008e-02, 5.73311702e-04, 7.69372534e-03,-2.43343449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.96100616, -0.02403419, -0.96070558, -0.02403419,  0.06267586,
        0.02247374, -0.96070558,  0.02247374,  0.96044393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002613668458995266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63321559e-01, -9.28584721e-01, -7.56826350e-02, -2.75762227e-02,
       -7.04798779e-02,  9.97131957e-01, -9.31255602e-01,  3.64366578e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07091824, -0.04604383,  0.28669738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.507603528404557e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34794903, -0.93664401, -0.04036672, -0.01405702, -0.03784009,
        0.99918493, -0.93740806,  0.34823286,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07116568, -0.04571673,  0.28077257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.97067133,  5.55838858, -2.18019094,  5.55838858, 11.91171791,
       15.1466758 , -2.18019094, 15.1466758 , 44.5870641 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005445443244332104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01940556e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01940556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09563313, -0.09341934,  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:
[ 1.79865147e-05, 3.61660764e-05,-9.07984802e-06, 6.77160611e-06,
  5.73871654e-05, 1.82681217e-05,-1.15548683e-05,-1.96174390e-05,
  2.17270432e-05,-5.63386366e-05, 2.56525514e-07, 3.49726840e-06,
  2.44134243e-02, 9.09878065e-03, 7.58876516e-03,-4.53278124e-04,
  5.24558647e-05, 1.53763529e-05,-4.90499794e+00, 2.99214835e-04,
  1.18343878e-02,-5.97896820e-04]


--- Step 963 ---
qpos:
[ 0.01869234, 0.03009548,-0.00951229,-0.02558387, 0.00787917, 0.00468403,
 -0.00784703, 0.02712186, 0.01231724, 0.02799751,-0.00834257, 0.02645153,
  1.19875991, 0.00526051, 1.10342326, 0.04554164, 0.05839443,-0.07811201,
  0.17142898, 0.99963483, 0.02536022,-0.00257852,-0.00896787]

qacc:
[ -3.95540487, -0.71444019,  4.37875135, -9.9413475 ,  6.04784552,
  -2.30757923, 16.01259446,-44.47114776,  5.19153195,  0.92439334,
  -4.09330088,  9.33755309,-11.41831834,  9.99061954,-19.55950378,
  42.50591968, -1.74414549,  0.15472065, -0.50827921,  5.54211043,
 -19.42908017,-24.62820658]

qfrc_actuator:
[ 2.84236610e-05, 8.90420047e-04, 1.26924057e-04,-4.87943171e-05,
  1.52643321e-05, 5.75923601e-05,-4.57822321e-05,-1.04843733e-04,
 -2.49267875e-05, 8.75817386e-04, 2.28928791e-04, 1.01961822e-04,
  1.71189749e-02, 7.34906525e-04, 7.71930219e-03,-2.29652986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.93617253, -0.03485893, -0.93552331, -0.03485893,  0.05749592,
        0.03274074, -0.93552331,  0.03274074,  0.93495257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021437318376794006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63407406e-01, -9.28540103e-01, -7.58177773e-02, -2.76322760e-02,
       -7.06030643e-02,  9.97121690e-01, -9.31220444e-01,  3.64456424e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086471, -0.0460296 ,  0.28680154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8829204 ,  5.58344552, -1.85307542,  5.58344552, 11.53356261,
       17.0257792 , -1.85307542, 17.0257792 , 57.18278095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000533914867168972
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07940084e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07940084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09563935, -0.09341686,  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:
[-2.37319092e-05, 4.38595570e-05, 2.07889927e-05,-1.21427803e-05,
  3.54815113e-05, 4.20762679e-05,-3.22040609e-06,-8.20221335e-05,
  3.14151533e-05, 4.10015948e-05, 1.25875189e-05, 1.84485325e-05,
  2.54010938e-02, 9.09325796e-03, 8.70805420e-03,-1.27364825e-04,
  8.75899884e-05, 2.36627522e-05,-4.90499615e+00, 3.21764773e-04,
  1.18416784e-02,-5.99059055e-04]


--- Step 964 ---
qpos:
[ 0.01869091, 0.03009485,-0.00951296,-0.02558375, 0.00787951, 0.00468389,
 -0.0078475 , 0.02711955, 0.01231788, 0.02799765,-0.00834237, 0.02645251,
  1.19870025, 0.00515177, 1.10360798, 0.04553009, 0.05836256,-0.07811634,
  0.17142657, 0.99962992, 0.02545527,-0.00275966,-0.0091885 ]

qacc:
[  -5.41395327,   1.95116011,  -7.35757604,  11.70462857,   0.49846396,
    1.95936075,  -6.59832723,   8.64217823,  -2.79927656,   1.31355642,
   -4.87207445,   8.78925927,  13.47431872,  18.21758475,  60.0805682 ,
 -171.1419791 ,   1.73269628,  -2.74420609,   0.28527577,  11.61166175,
   24.55522787,  13.44165541]

qfrc_actuator:
[-3.29324083e-06, 8.87942886e-04, 9.99263404e-05,-3.89312857e-05,
  1.72901192e-05, 7.85578885e-05,-6.63591423e-05,-9.88533248e-05,
 -4.27047884e-05, 9.01365340e-04, 2.25474990e-04, 1.13945983e-04,
  1.71256970e-02, 9.23266995e-04, 7.71338360e-03,-2.51617584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.91409528, -0.88002486, -0.24723759, -0.88002486,  0.85195383,
        0.22118813, -0.24723759,  0.22118813,  0.12679167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001586190359759411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63508263e-01, -9.28489580e-01, -7.59528958e-02, -2.76894889e-02,
       -7.07257703e-02,  9.97111407e-01, -9.31179379e-01,  3.64561332e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07080057, -0.04601347,  0.28692342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.9405465 , -4.94132082,  3.29749015, -4.94132082,  7.27613989,
        2.00139958,  3.29749015,  2.00139958,  8.93966309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005409004999844952
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02627288e-13, -2.05254575e-13,  1.00000000e+00, -2.10647204e-26,
        1.00000000e+00,  2.05254575e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02627288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03403017, -0.05271023,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23903283e-05, 2.58530138e-05,-1.57830819e-05, 1.22276590e-05,
  3.05236789e-06, 4.03527353e-05,-1.51093588e-05, 6.09102358e-06,
 -1.68437698e-05, 5.18858091e-05, 7.20217074e-06, 1.45329889e-05,
  2.62132958e-02, 9.30870647e-03, 9.34783039e-03,-3.67589496e-04,
  1.31813486e-04, 3.40427280e-05,-4.90499358e+00, 3.49997916e-04,
  1.18509633e-02,-6.00403767e-04]


--- Step 965 ---
qpos:
[ 0.01869082, 0.03009467,-0.00951403,-0.02558353, 0.00787987, 0.00468395,
 -0.00784791, 0.02711801, 0.01231795, 0.02799746,-0.00834212, 0.02645336,
  1.19869245, 0.00506168, 1.10381883, 0.04551093, 0.05833734,-0.07813082,
  0.1714246 , 0.99962463, 0.02557644,-0.00289798,-0.00938371]

qacc:
[ 1.15972451e+01, 1.89153784e+00,-6.33435680e+00, 8.36760185e+00,
  1.92903950e-01, 1.68662036e+00,-8.90541678e+00, 2.20576897e+01,
 -4.78083593e+00,-8.14667537e-01, 2.78953426e+00,-4.73933994e+00,
  2.45910383e+01,-3.80954814e+00, 6.03713608e+01,-1.58133004e+02,
  1.66227616e+00,-2.53909162e+00, 1.11575015e-01, 1.28951277e+01,
  2.18474273e+01, 1.21181314e+01]

qfrc_actuator:
[ 6.73917926e-05, 9.22042487e-04, 8.42316878e-05,-3.31987030e-05,
  1.83326657e-05, 9.09434124e-05,-6.05042799e-05,-5.88872339e-05,
 -7.11832462e-05, 8.27625203e-04, 2.05627979e-04, 1.02851033e-04,
  1.71292683e-02, 1.04386434e-03, 7.67556188e-03,-2.79655312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89847025, -0.8932553 , -0.09666314, -0.8932553 ,  0.88869081,
        0.09037095, -0.09666314,  0.09037095,  0.06336047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.942536920481549e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36356404, -0.92845903, -0.07605938, -0.02773279, -0.07082317,
        0.99710329, -0.93115631,  0.36462024,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075291, -0.04601115,  0.28705398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.99212665,  4.78760846, -3.6033855 ,  4.78760846,  8.73932834,
        3.65004689, -3.6033855 ,  3.65004689, 10.8417314 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005471364165587633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01457606e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01457606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03404983, -0.05268444,  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:
[ 6.97529364e-05, 4.58435973e-05,-1.18582854e-05, 6.53576410e-06,
  1.14373169e-06, 3.21076460e-05, 1.25521783e-05, 4.12975054e-05,
 -2.89545663e-05,-4.26282498e-05,-7.74416838e-06,-8.34152036e-06,
  2.38008392e-02, 7.91824316e-03, 8.38881209e-03,-1.01492753e-04,
  9.08664080e-05, 2.99867678e-05,-4.90498550e+00, 3.23921302e-04,
  1.18571328e-02,-6.03501770e-04]


--- Step 966 ---
qpos:
[ 0.01869159, 0.03009502,-0.00951538,-0.02558292, 0.00787991, 0.00468412,
 -0.00784791, 0.02711695, 0.01231769, 0.02799682,-0.00834174, 0.02645444,
  1.19874219, 0.00498499, 1.1040619 , 0.045488  , 0.05831852,-0.07815466,
  0.17142251, 0.99961889, 0.02572505,-0.0029978 ,-0.00955567]

qacc:
[ 7.25611983e+00, 2.26855021e+00,-8.76262788e+00, 1.56461540e+01,
 -2.93825533e+00, 8.66337536e-03,-1.82670035e+00, 9.35860078e+00,
 -2.90431672e+00,-5.14119335e-01, 7.37497267e-02, 3.76413543e+00,
  3.28322567e+01,-1.68307590e+01, 5.69665794e+01,-1.34964272e+02,
  1.60247130e+00,-2.34010499e+00,-3.09650888e-02, 1.35733158e+01,
  1.96646838e+01, 1.10887216e+01]

qfrc_actuator:
[ 1.09023279e-04, 9.60058171e-04, 7.54854236e-05,-1.21518072e-05,
  1.04600541e-06, 9.82328911e-05,-3.91107860e-05,-3.47574754e-05,
 -8.79639296e-05, 8.01413657e-04, 2.11345378e-04, 1.13676912e-04,
  1.71288921e-02, 1.05230133e-03, 7.61723712e-03,-2.89929056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88991624, -0.8876653 ,  0.06325529, -0.8876653 ,  0.88563932,
       -0.06001829,  0.06325529, -0.06001829,  0.04767598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6314273435890844e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63571473e-01, -9.28448775e-01, -7.61489075e-02, -2.77661908e-02,
       -7.09062393e-02,  9.97096457e-01, -9.31152417e-01,  3.64630192e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072053, -0.04602224,  0.28719388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.01173811,  4.76759317, -3.66211011,  4.76759317,  9.66978392,
        4.76230198, -3.66211011,  4.76230198, 12.21163863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005495036220330568
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01020537e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01020537e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03406469, -0.05266345,  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:
[ 4.36819636e-05, 6.15247062e-05,-5.00974088e-07, 2.27260724e-05,
 -1.72451772e-05, 2.96133162e-05, 3.10082443e-05, 2.67479034e-05,
 -1.76445196e-05,-5.20142967e-05,-4.33185292e-06, 8.56797967e-06,
  2.12083431e-02, 6.99631680e-03, 7.01969466e-03, 1.75608502e-04,
  6.07154989e-05, 2.55352058e-05,-4.90498041e+00, 3.03737542e-04,
  1.18622959e-02,-6.07018379e-04]


--- Step 967 ---
qpos:
[ 0.01869147, 0.0300955 ,-0.00951669,-0.02558169, 0.00787938, 0.00468451,
 -0.00784795, 0.02711621, 0.01231722, 0.02799615,-0.0083409 , 0.02645521,
  1.19892641, 0.00491722, 1.1043634 , 0.04546105, 0.05830651,-0.07818619,
  0.17141998, 0.99961277, 0.02589477,-0.00305766,-0.00971749]

qacc:
[-7.59003196e+00, 1.35026079e+00,-7.15437216e+00, 1.77007294e+01,
 -4.86378185e+00, 1.01798487e+00,-4.53560449e+00, 9.85212611e+00,
 -1.68915153e+00,-1.94276050e+00, 8.15223657e+00,-1.40932035e+01,
  9.45770723e+01,-7.91147364e+01, 9.17724217e+01,-2.11506069e+02,
  1.69834526e+00,-1.92147249e+00,-1.10891423e-01, 1.03833540e+01,
  2.02032496e+01, 4.52184799e+00]

qfrc_actuator:
[ 6.21767898e-05, 9.46909130e-04, 7.09457334e-05, 1.77486123e-05,
 -2.68896909e-05, 1.02472063e-04,-4.42669518e-05,-2.01430066e-05,
 -9.77208680e-05, 8.39470529e-04, 2.50048710e-04, 1.01861410e-04,
  1.71237684e-02, 1.08000912e-03, 7.58240375e-03,-2.77197335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.00524283,  4.71663824, -3.71702369,  4.71663824, 10.88344246,
        6.19008779, -3.71702369,  6.19008779, 13.86002322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005487198254820191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02329672e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02329672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03407576, -0.05264622,  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:
[-4.55528671e-05, 2.21391201e-05, 8.89961451e-06, 3.29586770e-05,
 -2.84178160e-05, 2.83408069e-05, 5.70679012e-06, 1.74797004e-05,
 -1.02943266e-05, 8.45192148e-06, 2.77230297e-05,-1.40287911e-05,
  1.83268662e-02, 6.35702073e-03, 5.36975094e-03, 4.90433377e-04,
  3.87748810e-05, 2.01744998e-05,-4.90497819e+00, 2.87949203e-04,
  1.18660842e-02,-6.11020094e-04]


--- Step 968 ---
qpos:
[ 0.01869114, 0.03009617,-0.00951803,-0.02558046, 0.00787853, 0.00468508,
 -0.00784796, 0.02711461, 0.01231699, 0.0279956 ,-0.00833939, 0.02645545,
  1.19918665, 0.00488419, 1.10468894, 0.0454448 , 0.05830125,-0.07822517,
  0.17141644, 0.99960618, 0.02608714,-0.0030792 ,-0.00987287]

qacc:
[ -1.85448032,  0.33747006, -0.80562154,  0.67475272, -2.91427736,
  -1.54932288,  9.52412765,-24.52264549,  1.98554796, -2.7993888 ,
  12.4460769 ,-22.74918594, 32.93763558,  3.68509812,  1.63086677,
  42.28047139,  1.69166562, -1.86445785, -0.24969346, 11.14569446,
  19.34359645,  2.68343832]

qfrc_actuator:
[ 5.23999638e-05, 9.56503463e-04, 6.87210408e-05, 1.70707213e-05,
 -4.31109508e-05, 1.04735656e-04,-4.73294074e-05,-6.45235184e-05,
 -8.55163358e-05, 8.62589756e-04, 2.90409805e-04, 7.68919849e-05,
  1.71068009e-02, 1.13613361e-03, 7.53684321e-03,-2.57587597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.97722405,  4.63913651, -3.76903432,  4.63913651, 12.27723099,
        7.75439801, -3.76903432,  7.75439801, 15.52176726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005453362454867633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01792521e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01792521e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03408379, -0.05263193,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10986927e-05, 2.52032496e-05, 4.59309797e-06, 1.22072807e-06,
 -1.70199314e-05, 2.00181132e-05, 4.09819664e-06,-4.26262836e-05,
  1.19038273e-05, 3.29786580e-05, 4.50324163e-05,-2.39227751e-05,
  1.15895527e-02, 5.97077430e-03, 2.39618894e-03, 8.86031424e-04,
  2.65071287e-05, 1.19890379e-05,-4.90497659e+00, 2.75502517e-04,
  1.18694792e-02,-6.15387620e-04]


--- Step 969 ---
qpos:
[ 0.01869172, 0.03009725,-0.0095192 ,-0.02557929, 0.00787749, 0.00468555,
 -0.0078476 , 0.02711251, 0.0123169 , 0.02799541,-0.00833806, 0.02645577,
  1.19949691, 0.00487818, 1.10502542, 0.04543114, 0.05830547,-0.07826383,
  0.17141401, 0.99960003, 0.02626716,-0.00305888,-0.01002277]

qacc:
[  7.88129467, -0.07545563,  1.24414101, -2.75342745, -1.63875897,
  -2.24515984,  9.91745463,-19.16323039,  1.24962376,  1.14032599,
  -3.69405789,  5.00177328, 18.56519415,  9.53719683,  7.68313394,
  -4.93748848,  2.36587931,  0.08154739,  0.27384518, -6.37426035,
  20.93663884,  2.21163511]

qfrc_actuator:
[ 1.00055099e-04, 9.97372507e-04, 8.56874574e-05, 1.61720152e-05,
 -5.23040818e-05, 8.79919646e-05,-3.14191324e-05,-8.99984653e-05,
 -7.82383683e-05, 8.76604526e-04, 2.78114198e-04, 7.98831002e-05,
  1.70991231e-02, 1.16218506e-03, 7.45920912e-03,-2.63566439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.94077848,  0.60505676, -5.90988623,  0.60505676, 23.25314226,
        1.77244743, -5.90988623,  1.77244743,  6.12224243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005409285793332302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02621960e-13,  5.13109802e-14,  1.00000000e+00,  5.26563338e-27,
        1.00000000e+00, -5.13109802e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02621960e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0274415 , -0.08145248,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73392385e-05, 5.59487834e-05, 2.27853538e-05, 3.62271100e-07,
 -9.66822251e-06,-6.55278913e-06, 1.90728477e-05,-2.53018437e-05,
  7.63773312e-06, 4.07385106e-05,-7.77049582e-07, 5.49372803e-06,
  7.78196513e-03, 4.26291184e-03, 1.10859123e-03, 2.89348766e-04,
  1.96757045e-05, 2.39868672e-06,-4.90497589e+00, 2.64507728e-04,
  1.18734323e-02,-6.20214778e-04]


--- Step 970 ---
qpos:
[ 0.01869287, 0.03009821,-0.00951964,-0.0255781 , 0.00787669, 0.00468602,
 -0.00784712, 0.02711081, 0.01231794, 0.02799557,-0.00833716, 0.02645614,
  1.19984088, 0.00489092, 1.10536616, 0.04542282, 0.05831898,-0.07830209,
  0.171412  , 0.99959427, 0.02643639,-0.00299721,-0.01016958]

qacc:
[  4.88894656, -2.16280565,  7.42788742, -8.3257404 ,  2.13869941,
   0.49651222, -3.48021389, 10.29595398,  9.54315994,  1.74304715,
  -5.8150484 ,  7.19866568, 12.54798962,  6.7217032 ,-10.31050619,
  44.13184256,  2.3247858 ,  0.10067821,  0.10641872, -5.59840246,
  20.65039128,  1.02529119]

qfrc_actuator:
[ 1.27863286e-04, 9.67966073e-04, 1.13985629e-04, 1.51968532e-05,
 -3.95384125e-05, 9.55816966e-05,-2.22457057e-05,-6.86345955e-05,
 -2.06679104e-05, 8.84874098e-04, 2.52564948e-04, 8.15074064e-05,
  1.70753205e-02, 1.16399869e-03, 7.42122668e-03,-2.43684604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.95903129,  5.95885797,  0.04544856,  5.95885797,  5.96043646,
       -0.18423452,  0.04544856, -0.18423452, 30.11441328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005431369898761529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02204697e-13,  1.02204697e-13,  1.00000000e+00,  1.04458000e-26,
        1.00000000e+00, -1.02204697e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02204697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744051, -0.08144233,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92038182e-05, 6.58759353e-06, 4.26681506e-05, 2.21109916e-06,
  1.24889058e-05, 6.76107243e-06, 9.28897325e-06, 2.12538345e-05,
  5.78093516e-05, 3.11187226e-05,-1.70541533e-05, 3.44656770e-06,
  5.25846499e-03, 2.91466508e-03, 5.14576734e-04, 3.56607248e-04,
  1.88081374e-05,-8.75377030e-06,-4.90497847e+00, 2.53453222e-04,
  1.18686616e-02,-6.24625885e-04]


--- Step 971 ---
qpos:
[ 0.01869435, 0.03009834,-0.00951904,-0.02557722, 0.00787605, 0.00468654,
 -0.00784707, 0.02710907, 0.01231966, 0.02799585,-0.00833623, 0.02645651,
  1.20020741, 0.00491657, 1.10570864, 0.04542   , 0.05832394,-0.07833603,
  0.17141164, 0.9995889 , 0.02659132,-0.00297689,-0.01029888]

qacc:
[  2.83812706, -4.64550799, 16.21133101,-22.39285488,  1.3851252 ,
   1.21791539, -4.05842845,  3.97687872,  5.81530369,  0.07808013,
  -0.08317678,  0.12574076,  8.34096608,  4.82820208,-14.35596182,
  53.26064764, -2.13772856,  1.07875781,  0.41418465, -6.91444896,
 -20.50247106,  9.31468632]

qfrc_actuator:
[ 1.43747553e-04, 8.79001087e-04, 1.48464267e-04,-3.61895249e-06,
 -3.17054501e-05, 8.21944065e-05,-5.25124913e-05,-7.31321901e-05,
  1.27869022e-05, 8.89569670e-04, 2.54887311e-04, 8.23028771e-05,
  1.70361850e-02, 1.16649978e-03, 7.39659263e-03,-2.19316093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.95767521,  5.88460964, -0.93019532,  5.88460964,  6.33267228,
        2.3723097 , -0.93019532,  2.3723097 , 20.96540117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005429729841926977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62133935e-07, -8.62134037e-07,  1.00000000e+00,  7.43275010e-13,
        1.00000000e+00,  8.62134037e-07, -1.00000000e+00, -1.00974196e-28,
        8.62133935e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09062899, -0.09257821,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67329725e-05,-7.63997527e-05, 4.11597824e-05,-1.70197026e-05,
  8.18898376e-06,-6.79134839e-06,-2.69985255e-05,-3.47165819e-06,
  3.51636318e-05, 1.87288631e-05, 6.75471215e-06, 1.60065352e-06,
  3.53497441e-03, 1.98095524e-03, 2.69273719e-04, 3.31535763e-04,
  2.27115571e-05,-1.86511778e-05,-4.90498147e+00, 2.43014909e-04,
  1.18647691e-02,-6.28736252e-04]


--- Step 972 ---
qpos:
[ 0.01869531, 0.03009776,-0.00951767,-0.0255769 , 0.00787517, 0.00468677,
 -0.00784751, 0.02710699, 0.01232038, 0.02799608,-0.00833519, 0.02645727,
  1.20058921, 0.00495047, 1.10605286, 0.04541705, 0.05831923,-0.07836564,
  0.17141145, 0.99958396, 0.02673046,-0.00300221,-0.01041083]

qacc:
[ -4.34219374, -4.2564722 , 16.26409729,-26.91485362, -2.17184879,
   0.26088003, -0.03928868, -4.85712737, -8.43162775,  0.41559009,
  -3.16265081,  9.49368253,  5.6970096 ,  2.87159303,  2.75048818,
  -6.37597327, -2.41796857,  1.08254975,  0.04082859, -7.64231331,
 -22.66425289,  9.31101447]

qfrc_actuator:
[ 1.16986972e-04, 8.43821086e-04, 1.86033729e-04,-3.28373998e-05,
 -4.45982970e-05, 3.84154412e-05,-8.81756155e-05,-9.28603373e-05,
 -3.92474926e-05, 8.74437484e-04, 2.55882027e-04, 1.00374647e-04,
  1.69982894e-02, 1.13224351e-03, 7.41199551e-03,-2.22664667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.01400837, -4.57175593,  3.90734493, -4.57175593, 17.72629855,
       13.70386621,  3.90734493, 13.70386621, 22.04810127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005497775277470973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560771, -0.09346581,  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:
[-2.63017458e-05,-7.01421719e-05, 2.62581417e-05,-3.14014124e-05,
 -1.26612608e-05,-5.33151242e-05,-4.05145190e-05,-2.10186126e-05,
 -5.09946588e-05,-3.19955604e-06, 5.73596321e-06, 1.91345393e-05,
  2.36871425e-03, 1.30164314e-03, 1.89912515e-04, 2.12730346e-05,
  1.41481291e-05,-7.15963087e-06,-4.90498408e+00, 2.51947908e-04,
  1.18571353e-02,-6.32094908e-04]


--- Step 973 ---
qpos:
[ 0.01869595, 0.03009721,-0.00951697,-0.02557694, 0.00787414, 0.00468706,
 -0.00784856, 0.027105  , 0.01232014, 0.0279958 ,-0.00833366, 0.02645861,
  1.2009813 , 0.00498915, 1.10639844, 0.04541058, 0.05830499,-0.07839106,
  0.17141073, 0.99957944, 0.02685321,-0.00307201,-0.01050743]

qacc:
[ -2.84034532,  1.21399989, -2.82254773, -2.08806073, -1.32053656,
   1.96807679, -7.31244654,  9.85202673, -8.27300831, -0.80060906,
  -0.52878429, 10.18913527,  4.19774891,  0.91459694, 12.50205013,
 -41.2329517 , -2.38152858,  1.04827172, -0.13249901, -7.93965964,
 -22.10845562,  8.28810943]

qfrc_actuator:
[ 1.00850244e-04, 8.58867019e-04, 1.54304745e-04,-5.01489595e-05,
 -5.18328019e-05, 6.54819195e-05,-1.09114017e-04,-8.59092254e-05,
 -8.79180766e-05, 8.29805312e-04, 2.73756262e-04, 1.28444638e-04,
  1.69556576e-02, 1.05766784e-03, 7.42472880e-03,-2.42300836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.03591366, -4.99306593,  3.39139298, -4.99306593, 15.11777404,
       13.37100356,  3.39139298, 13.37100356, 25.72171906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005524191004707829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00487386e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00487386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560399, -0.09347295,  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:
[-1.69270482e-05,-2.01062937e-05,-4.40780924e-05,-2.00192298e-05,
 -7.61042298e-06,-1.20205795e-05,-3.76613434e-05, 2.86109438e-06,
 -5.01668501e-05,-4.44538269e-05, 1.85682946e-05, 2.85015132e-05,
  1.56322465e-03, 8.14293118e-04, 1.07978767e-04,-1.70508101e-04,
  1.06296967e-05, 3.22136323e-06,-4.90498749e+00, 2.59435352e-04,
  1.18503099e-02,-6.35169076e-04]


--- Step 974 ---
qpos:
[ 0.01869639, 0.03009653,-0.00951665,-0.02557718, 0.00787337, 0.0046875 ,
 -0.00784972, 0.0271034 , 0.01232   , 0.02799481,-0.00833172, 0.02645961,
  1.20137999, 0.00503121, 1.10674405, 0.0454043 , 0.05828135,-0.0784124 ,
  0.17140888, 0.99957536, 0.02695914,-0.00318531,-0.01059029]

qacc:
[ -1.71338197,  0.46480875, -1.02372641, -1.87924434,  2.33389993,
   1.33134461, -6.11559029, 13.00792126,  0.93869013, -2.80524081,
  10.01310937,-15.86201177,  2.65040557,  0.85871041, -0.67091201,
   2.14382402, -2.35017379,  1.0197223 , -0.28276937, -8.16115982,
 -21.64769575,  7.48143629]

qfrc_actuator:
[ 9.11102812e-05, 8.50348679e-04, 1.35393840e-04,-6.03158585e-05,
 -3.79192671e-05, 9.93324579e-05,-1.03137591e-04,-6.32461065e-05,
 -8.09328830e-05, 7.67925068e-04, 2.83576378e-04, 1.08895905e-04,
  1.69207326e-02, 1.03009466e-03, 7.41452827e-03,-2.41185143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.03013715, -4.84909979,  3.58452023, -4.84909979, 19.16450178,
       17.76802492,  3.58452023, 17.76802492, 30.06652708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005517227315912643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01228436e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.01228436e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560199, -0.093479  ,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02366050e-05,-2.97183244e-05,-2.91864568e-05,-1.29422522e-05,
  1.36944594e-05, 1.94754178e-05,-1.03260724e-06, 2.09070456e-05,
  5.49697557e-06,-8.17114306e-05, 3.89487726e-06,-2.02603370e-05,
  1.01332537e-03, 5.48099345e-04, 2.20423474e-05, 1.52157339e-05,
  1.29436856e-05, 1.10251502e-05,-4.90499155e+00, 2.64544746e-04,
  1.18448898e-02,-6.37969346e-04]


--- Step 975 ---
qpos:
[ 0.01869705, 0.03009556,-0.00951597,-0.02557757, 0.00787312, 0.00468773,
 -0.00785009, 0.02710173, 0.01231995, 0.02799325,-0.00832993, 0.02646006,
  1.20178284, 0.0050756 , 1.10708918, 0.04540092, 0.05826726,-0.07843325,
  0.17140894, 0.99957164, 0.02705588,-0.00325436,-0.01067359]

qacc:
[  1.94148418, -1.73679732,  6.24959462, -9.21618521,  4.583641  ,
  -2.67104672,  9.42118246,-11.84937889,  0.72234518, -1.46019726,
   6.49489344,-15.58753933,  1.75957563,  0.5429381 , -9.54741896,
  32.17830673,  2.3866569 ,  0.12343317,  0.47829616, -4.83728172,
  22.06390388, -0.79897082]

qfrc_actuator:
[ 1.02962450e-04, 8.45587938e-04, 1.59653520e-04,-6.61947220e-05,
 -1.16715907e-05, 8.38659246e-05,-6.35142787e-05,-6.69996042e-05,
 -7.67508887e-05, 7.31624753e-04, 2.70685199e-04, 7.92090346e-05,
  1.68850690e-02, 1.01244178e-03, 7.40129037e-03,-2.26074454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005599116296329532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.95713505e-14, -7.43570257e-14,  1.00000000e+00, -3.68597818e-27,
        1.00000000e+00,  7.43570257e-14, -1.00000000e+00,  0.00000000e+00,
       -4.95713505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744383, -0.08140374,  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:
[ 1.15470908e-05,-2.79444678e-05, 1.40842091e-05,-8.41135189e-06,
  2.66428268e-05,-3.88718376e-06, 4.42539199e-05,-2.54312982e-06,
  4.31451334e-06,-8.20452544e-05,-3.00049452e-05,-3.34527063e-05,
  6.48162037e-04, 3.60687813e-04, 1.59145297e-07, 1.54714266e-04,
  2.04931772e-05, 1.63826195e-05,-4.90499631e+00, 2.67717567e-04,
  1.18407290e-02,-6.40473162e-04]


--- Step 976 ---
qpos:
[ 0.01869785, 0.03009481,-0.00951549,-0.0255784 , 0.00787285, 0.00468769,
 -0.00784985, 0.02709936, 0.01231994, 0.02799155,-0.00832883, 0.02646046,
  1.20218852, 0.00512074, 1.10743394, 0.04539547, 0.05826253,-0.07845356,
  0.17141012, 0.99956825, 0.02714433,-0.00328018,-0.01075848]

qacc:
[ 1.16089103e+00,-2.43503623e-02, 2.38202754e+00,-9.84121549e+00,
 -2.25640212e-01,-3.46761647e+00, 1.48280084e+01,-2.77543018e+01,
  4.10066052e-01, 1.63562465e+00,-5.95855803e+00, 6.55998840e+00,
  1.54027875e+00,-6.56657821e-01, 5.62608011e+00,-2.06782397e+01,
  2.34231282e+00, 1.32177575e-01, 2.79963997e-01,-4.37486059e+00,
  2.15446682e+01,-1.36518197e+00]

qfrc_actuator:
[ 1.09673700e-04, 8.78806267e-04, 1.55961326e-04,-8.72275394e-05,
 -1.38868755e-05, 5.68716478e-05,-4.00698171e-05,-1.04042138e-04,
 -7.42707305e-05, 7.46316885e-04, 2.44583261e-04, 7.93115051e-05,
  1.68489433e-02, 9.47196435e-04, 7.33834298e-03,-2.38349551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13740699,  5.82922465, -1.92039176,  5.82922465, 10.01714571,
       11.7766953 , -1.92039176, 11.7766953 , 41.88480195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005646311722531244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83140038e-14,  4.91570019e-14,  1.00000000e+00,  4.83282167e-27,
        1.00000000e+00, -4.91570019e-14, -1.00000000e+00,  0.00000000e+00,
       -9.83140038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744549, -0.08139815,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04025261e-06, 2.01710017e-05,-8.01689401e-06,-2.19048328e-05,
 -1.46115973e-06,-2.01265947e-05, 2.80085586e-05,-3.57244433e-05,
  2.57770005e-06,-3.87836385e-05,-4.79065859e-05,-5.10441480e-06,
  4.03750040e-04, 1.79093591e-04,-4.57846513e-05,-1.14423248e-04,
  1.12501174e-05, 8.89389980e-06,-4.90499434e+00, 2.61650289e-04,
  1.18399396e-02,-6.42944020e-04]


--- Step 977 ---
qpos:
[ 0.01869804, 0.03009446,-0.00951575,-0.02557912, 0.00787254, 0.00468764,
 -0.0078497 , 0.02709692, 0.01232066, 0.02798985,-0.00832846, 0.02646086,
  1.20259601, 0.00516576, 1.10777815, 0.04538858, 0.05826703,-0.07847333,
  0.17141173, 0.99956516, 0.02722525,-0.00326361,-0.01084586]

qacc:
[ -5.30622208,  2.84762084, -9.86132647, 12.72882951, -0.21569587,
   0.07555323, -0.03516201, -0.92066525,  6.1036289 ,  2.02535593,
  -7.16435987,  8.07601031,  1.43468929, -1.44884746,  3.42326247,
 -13.42104484,  2.30417124,  0.13856191,  0.10778105, -4.00538173,
  21.10732791, -1.80949921]

qfrc_actuator:
[ 7.77932439e-05, 8.98898667e-04, 1.18175073e-04,-8.14966365e-05,
 -1.50883812e-05, 5.85994437e-05,-4.42079999e-05,-1.07143767e-04,
 -3.73061123e-05, 7.55896441e-04, 2.11132778e-04, 7.92296870e-05,
  1.68178359e-02, 8.71789856e-04, 7.31481157e-03,-2.45372542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.14456812,  5.74097611, -2.19018507,  5.74097611, 12.59689653,
       16.91302883, -2.19018507, 16.91302883, 50.47748578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005654913755016727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90822262e-14, -9.81644524e-14,  1.00000000e+00, -4.81812986e-27,
        1.00000000e+00,  9.81644524e-14, -1.00000000e+00,  0.00000000e+00,
       -4.90822262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744587, -0.08139382,  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:
[-3.16649899e-05, 2.88014797e-05,-3.53615807e-05, 5.89258751e-06,
 -1.24969694e-06,-5.26910814e-06,-6.07884928e-06,-3.68533687e-06,
  3.70246874e-05,-2.21744392e-05,-4.75331472e-05,-3.50049636e-06,
  2.30787755e-04, 6.57909738e-05,-5.83518288e-05,-8.29162418e-05,
  6.94290670e-06, 2.50421108e-06,-4.90499351e+00, 2.55689505e-04,
  1.18391258e-02,-6.45174762e-04]


--- Step 978 ---
qpos:
[ 0.01869818, 0.0300946 ,-0.00951685,-0.02557977, 0.00787189, 0.00468754,
 -0.00784964, 0.02709516, 0.01232181, 0.02798838,-0.00832839, 0.02646118,
  1.20300444, 0.00521039, 1.10812124, 0.04538652, 0.05828061,-0.07849252,
  0.17141318, 0.99956234, 0.02729921,-0.00320538,-0.01093646]

qacc:
[-3.67922297e-01, 3.11571531e+00,-1.04386184e+01, 1.25597332e+01,
 -3.14244518e+00, 1.59120656e+00,-8.59182649e+00, 2.04444403e+01,
  3.71425136e+00, 9.97909915e-01,-2.86379022e+00, 2.07781763e+00,
  1.39868542e+00,-1.87503571e+00,-1.63690560e+01, 5.45628776e+01,
  2.27169963e+00, 1.43142457e-01,-4.09103327e-02,-3.71026700e+00,
  2.07414037e+01,-2.15886579e+00]

qfrc_actuator:
[ 7.67126516e-05, 9.28610772e-04, 7.83029685e-05,-7.78402406e-05,
 -3.34269521e-05, 5.96685128e-05,-4.67014259e-05,-7.24863011e-05,
 -1.58448035e-05, 7.97826303e-04, 2.09112126e-04, 7.90337893e-05,
  1.67844044e-02, 8.08613116e-04, 7.30963420e-03,-2.19045029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632397003721701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47835330e-13,  4.92784433e-14,  1.00000000e+00,  7.28509491e-27,
        1.00000000e+00, -4.92784433e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47835330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744523, -0.08139048,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99059014e-06, 3.87723709e-05,-3.80650242e-05, 3.78508347e-06,
 -1.83755263e-05,-3.28584071e-06,-4.45369790e-06, 3.41549067e-05,
  2.25369156e-05, 1.96325552e-05,-1.25629604e-05,-2.85828216e-06,
  1.07009218e-04, 8.42893807e-06,-4.29382308e-05, 2.50648812e-04,
  7.24604109e-06,-3.01688176e-06,-4.90499382e+00, 2.49599047e-04,
  1.18382011e-02,-6.47187795e-04]


--- Step 979 ---
qpos:
[ 0.01869901, 0.0300949 ,-0.00951801,-0.02558107, 0.00787067, 0.00468739,
 -0.00784928, 0.02709311, 0.01232287, 0.0279875 ,-0.0083286 , 0.0264618 ,
  1.20341305, 0.00525502, 1.10846358, 0.04538859, 0.05830317,-0.07851112,
  0.17141395, 0.99955977, 0.02736668,-0.00310608,-0.01103083]

qacc:
[  5.78774785, -0.96493541,  6.46219171,-17.70716306, -4.91342202,
  -1.48883031,  6.41742335,-11.81588774, -0.83851005,  2.15056672,
  -7.75768749, 12.78642232,  0.48089758, -0.60959237,-13.67145455,
  46.11588176,  2.24435688,  0.14634849, -0.16871966, -3.4747221 ,
  20.437664  , -2.43436164]

qfrc_actuator:
[ 1.11534517e-04, 9.28330702e-04, 7.30690106e-05,-1.10931976e-04,
 -6.17052967e-05, 6.03711563e-05,-3.04165583e-05,-8.68977224e-05,
 -2.14441478e-05, 8.58941254e-04, 2.08052458e-04, 9.65762125e-05,
  1.67495920e-02, 7.88587571e-04, 7.28358552e-03,-1.98129433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005585177833467292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96950615e-14,  4.96950615e-14,  1.00000000e+00,  2.46959914e-27,
        1.00000000e+00, -4.96950615e-14, -1.00000000e+00,  0.00000000e+00,
       -4.96950615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744378, -0.08138791,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47795449e-05, 1.37093018e-05,-1.77082707e-06,-3.26713572e-05,
 -2.88029476e-05,-5.90920696e-07, 1.62444159e-05,-1.40368348e-05,
 -4.93523089e-06, 6.94392747e-05, 1.36538889e-06, 1.78951272e-05,
  2.55266864e-05, 7.17565828e-06,-1.99669788e-05, 2.17054232e-04,
  1.19076705e-05,-7.83946425e-06,-4.90499523e+00, 2.43210411e-04,
  1.18371045e-02,-6.49000617e-04]


--- Step 980 ---
qpos:
[ 0.01870024, 0.03009479,-0.00951845,-0.0255824 , 0.00786947, 0.00468735,
 -0.00784884, 0.02709159, 0.01232316, 0.02798724,-0.00832886, 0.02646226,
  1.20382147, 0.00529968, 1.10880606, 0.04538847, 0.05831582,-0.07852532,
  0.17141552, 0.99955766, 0.02741881,-0.00305203,-0.01110748]

qacc:
[  3.55936396, -2.62398636,  8.66419018, -9.91910892,  0.13506932,
   0.99474709, -5.55121579, 14.43845159, -6.52720521,  0.65362825,
  -0.44873005, -2.70737531, -0.34182598,  0.4360846 ,  6.87091876,
 -23.67100886, -2.47552928,  1.10017535,  0.19808806, -7.40079515,
 -22.45796122,  9.50296007]

qfrc_actuator:
[ 1.31694027e-04, 8.92444281e-04, 1.05937432e-04,-1.12123087e-04,
 -6.00967703e-05, 7.86428367e-05,-2.09672573e-05,-5.90485048e-05,
 -6.06738195e-05, 8.95607135e-04, 2.07665045e-04, 8.89273911e-05,
  1.67086583e-02, 7.76481982e-04, 7.26099823e-03,-2.10765062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11693772,  6.00221442, -1.17913066,  6.00221442,  6.92254267,
        4.10082939, -1.17913066,  4.10082939, 26.99168743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005621714292710772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97488340e-13, -9.87441701e-14,  1.00000000e+00, -1.95008223e-26,
        1.00000000e+00,  9.87441701e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97488340e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558674, -0.09352393,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11797166e-05,-2.99696743e-05, 3.43621403e-05,-1.29843204e-06,
  7.89699986e-07, 2.06911324e-05, 1.08457132e-05, 2.81181100e-05,
 -3.93539270e-05, 7.65802161e-05, 1.47562539e-05,-4.27609674e-06,
 -2.51437527e-05,-4.71905825e-06,-1.21666024e-05,-1.17915766e-04,
  2.07345884e-05,-1.20891481e-05,-4.90499774e+00, 2.36402928e-04,
  1.18357928e-02,-6.50626885e-04]


--- Step 981 ---
qpos:
[ 0.01870101, 0.03009448,-0.00951853,-0.02558338, 0.00786829, 0.00468769,
 -0.0078487 , 0.02709075, 0.01232229, 0.02798729,-0.0083287 , 0.02646229,
  1.2042296 , 0.00534388, 1.10914792, 0.04538757, 0.05831877,-0.07853528,
  0.17141708, 0.99955602, 0.02745491,-0.00304217,-0.01116849]

qacc:
[-3.90661486e+00,-5.31587557e-01, 7.90018348e-02, 5.40683956e+00,
  2.32265102e-01, 2.76177861e+00,-1.20105592e+01, 2.40543059e+01,
 -9.89361974e+00,-1.65128591e+00, 8.34634166e+00,-1.67994544e+01,
  1.10135753e-01,-5.68342727e-01, 1.40122375e+00,-6.27825616e+00,
 -2.42774455e+00, 1.06241546e+00,-6.09258426e-04,-7.74930690e+00,
 -2.19539041e+01, 8.44865489e+00]

qfrc_actuator:
[ 1.07544493e-04, 8.88950687e-04, 1.25395677e-04,-9.45409773e-05,
 -5.86597957e-05, 1.07306388e-04,-3.32789841e-05,-2.42933339e-05,
 -1.19374940e-04, 8.99587578e-04, 2.25323099e-04, 6.64978441e-05,
  1.66640799e-02, 7.33572503e-04, 7.22445772e-03,-2.14659385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15183831, -5.59426238,  2.55916842, -5.59426238, 10.92493557,
       10.4338418 ,  2.55916842, 10.4338418 , 28.95989119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005663645118541283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.80131171e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.80131171e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558368, -0.09353156,  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:
[-2.35430813e-05,-1.31956085e-05, 1.74628312e-05, 1.74655966e-05,
  1.46502995e-06, 4.36794214e-05,-5.73026148e-06, 3.65668355e-05,
 -5.98303682e-05, 4.96681923e-05, 3.51533693e-05,-1.87185760e-05,
 -6.00498835e-05,-5.02019428e-05,-6.25270633e-05,-4.87578553e-05,
  9.37133188e-06,-5.34595964e-06,-4.90499734e+00, 2.44190189e-04,
  1.18318513e-02,-6.51586458e-04]


--- Step 982 ---
qpos:
[ 0.01870184, 0.03009413,-0.00951872,-0.02558379, 0.00786749, 0.00468841,
 -0.00784868, 0.02708928, 0.01232141, 0.02798757,-0.00832826, 0.02646206,
  1.20463733, 0.00538741, 1.10948882, 0.0453882 , 0.05831217,-0.07854111,
  0.17141796, 0.99955485, 0.02747446,-0.00307558,-0.01121551]

qacc:
[  0.42058517,  1.43191483, -7.60720564, 17.74604871,  3.25578399,
  -0.48295093,  5.09479606,-16.04738697, -0.06504973, -0.9945542 ,
   5.03550611, -9.9544804 ,  0.3370854 , -1.04684644, -6.06097244,
  19.04181819, -2.38680524,  1.0311731 , -0.17259159, -8.01120895,
 -21.52843021,  7.61231471]

qfrc_actuator:
[ 1.10771338e-04, 8.87100301e-04, 1.19142928e-04,-6.60507761e-05,
 -3.95921693e-05, 1.24143135e-04,-4.05372952e-05,-5.67730444e-05,
 -1.18045274e-04, 9.01771149e-04, 2.35598816e-04, 5.32906829e-05,
  1.66279815e-02, 6.90435360e-04, 7.19558569e-03,-2.06262315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15490553, -5.49187704,  2.77887544, -5.49187704, 13.48743538,
       14.4912405 ,  2.77887544, 14.4912405 , 34.79386859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005667328299503727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79494187e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.79494187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558225, -0.09353802,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53601033e-06,-4.87106781e-06,-6.21610564e-06, 2.88734374e-05,
  1.91232142e-05, 4.16344584e-05, 2.32000996e-06,-3.00937409e-05,
 -4.08565609e-07, 3.63903417e-05, 2.42165853e-05,-1.02248389e-05,
 -8.19363601e-05,-6.99278834e-05,-6.74352245e-05, 7.22108876e-05,
  3.88737983e-06,-9.71307584e-07,-4.90499784e+00, 2.49399085e-04,
  1.18290695e-02,-6.52283540e-04]


--- Step 983 ---
qpos:
[ 0.01870235, 0.0300935 ,-0.00951862,-0.02558351, 0.00786692, 0.00468916,
 -0.00784888, 0.02708784, 0.01232125, 0.02798803,-0.00832763, 0.02646135,
  1.20504458, 0.00542996, 1.10982912, 0.04539107, 0.05829616,-0.07854292,
  0.17141755, 0.99955416, 0.02747709,-0.00315151,-0.01124985]

qacc:
[ -2.66684287,  0.23174501, -4.25619405, 15.92612393,  2.06034625,
   0.73699479, -2.67775894,  3.43471079,  6.06592867, -1.30471088,
   7.04640746,-15.92391012,  0.52630222, -1.53909455, -7.72437994,
  25.56342149, -2.35205109,  1.00539915, -0.32076812, -8.20800361,
 -21.17179286,  6.94938483]

qfrc_actuator:
[ 9.45952406e-05, 8.68403260e-04, 1.33286898e-04,-3.13853945e-05,
 -2.80531516e-05, 9.82218535e-05,-6.25894576e-05,-5.75455416e-05,
 -8.13860647e-05, 9.02832524e-04, 2.41418227e-04, 2.78523675e-05,
  1.65863398e-02, 6.29787496e-04, 7.19267047e-03,-1.94239414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13233758, -5.32489189,  3.04156055, -5.32489189, 17.61446313,
       20.10187736,  3.04156055, 20.10187736, 41.32490464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005640221275674956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84201657e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.84201657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558214, -0.09354355,  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:
[-1.61034546e-05,-2.14543489e-05, 1.33776560e-05, 3.48058992e-05,
  1.20981707e-05,-3.46595014e-06,-1.42137218e-05, 5.07110326e-07,
  3.66606460e-05, 2.59575600e-05, 1.59565292e-05,-2.32411826e-05,
 -1.03842698e-04,-9.77335756e-05,-2.95396181e-05, 1.14750238e-04,
  3.69212167e-06, 1.11614820e-06,-4.90499926e+00, 2.52512510e-04,
  1.18273581e-02,-6.52693186e-04]


--- Step 984 ---
qpos:
[ 0.01870232, 0.03009267,-0.00951834,-0.02558281, 0.00786615, 0.00468961,
 -0.00784922, 0.02708678, 0.01232118, 0.02798837,-0.00832705, 0.02646039,
  1.20545131, 0.00547174, 1.1101694 , 0.04539132, 0.05827086,-0.07854079,
  0.17141535, 0.99955393, 0.0274625 ,-0.00326934,-0.01127255]

qacc:
[-4.64600923e+00, 8.24266985e-02,-2.41788818e+00, 9.40821656e+00,
 -1.77411716e+00, 7.51913288e-01,-4.84187283e+00, 1.18487812e+01,
  8.23129982e-01,-4.96222534e-01, 2.56813122e+00,-6.59159479e+00,
 -9.95567335e-03,-6.86129779e-01, 7.83236983e+00,-2.74791163e+01,
 -2.32283656e+00, 9.84212581e-01,-4.47932456e-01,-8.35621484e+00,
 -2.08753298e+01, 6.42451966e+00]

qfrc_actuator:
[ 6.71194491e-05, 8.57599750e-04, 1.41551824e-04,-1.11143807e-05,
 -3.87962625e-05, 6.46006116e-05,-7.55963032e-05,-3.96929333e-05,
 -7.75034440e-05, 8.67670456e-04, 2.26791372e-04, 1.31679490e-05,
  1.65626968e-02, 5.94708789e-04, 7.16805149e-03,-2.08577537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.08949995, -5.08360403,  3.35245876, -5.08360403, 24.29525997,
       27.60686462,  3.35245876, 27.60686462, 47.95201889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000558871922866383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93271427e-14, -1.98654285e-13,  1.00000000e+00, -1.97317626e-26,
        1.00000000e+00,  1.98654285e-13, -1.00000000e+00,  0.00000000e+00,
       -9.93271427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558306, -0.09354834,  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:
[-2.79527051e-05,-1.85338789e-05, 6.69128614e-06, 2.04941969e-05,
 -1.03999510e-05,-3.84910447e-05,-1.54595338e-05, 1.72236620e-05,
  4.96946115e-06,-1.83565554e-05,-8.11656416e-06,-1.34746389e-05,
 -1.03732676e-04,-8.47003956e-05,-3.09590884e-05,-1.42053287e-04,
  8.35427764e-06, 9.87234153e-07,-4.90500160e+00, 2.53880598e-04,
  1.18266403e-02,-6.52796777e-04]


--- Step 985 ---
qpos:
[ 0.01870231, 0.03009171,-0.00951795,-0.02558223, 0.0078656 , 0.00469006,
 -0.00784981, 0.02708592, 0.01232081, 0.02798827,-0.00832619, 0.02645894,
  1.20585741, 0.00551303, 1.11050905, 0.04538991, 0.05825514,-0.07853795,
  0.17141509, 0.99955391, 0.02744243,-0.00334327,-0.01130162]

qacc:
[  0.13690405, -0.69833795,  2.71624243, -4.73744534,  1.94578595,
   1.12549126, -4.87843491,  8.72706462, -2.51416586, -2.42098264,
   9.87799354,-18.59508839, -0.21055685, -0.24942303,  4.12113857,
 -15.77067168,  2.39559903,  0.17705084,  0.4868396 , -3.00109826,
  21.82528323, -3.77222456]

qfrc_actuator:
[ 6.87242195e-05, 8.51576293e-04, 1.46289101e-04,-1.72307406e-05,
 -2.70605093e-05, 7.99240298e-05,-8.31931111e-05,-2.87856850e-05,
 -9.29564510e-05, 8.28753285e-04, 2.35572411e-04,-1.28672912e-05,
  1.65338972e-02, 5.75171732e-04, 7.13037948e-03,-2.17034537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005608048530998389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89847911e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.89847911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744515, -0.08137948,  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:
[ 7.84840273e-07,-1.41123214e-05, 2.44860474e-06,-6.27843132e-06,
  1.14266694e-05,-8.67033971e-06,-1.68545753e-05, 9.06057829e-06,
 -1.53112416e-05,-5.14518249e-05, 3.51440148e-06,-2.73651083e-05,
 -1.06437799e-04,-6.55000997e-05,-7.45652452e-05,-9.80264964e-05,
  1.75597870e-05,-1.29863036e-06,-4.90500485e+00, 2.53755874e-04,
  1.18268524e-02,-6.52580416e-04]


--- Step 986 ---
qpos:
[ 0.01870266, 0.03009067,-0.0095175 ,-0.02558207, 0.00786555, 0.00469069,
 -0.00785063, 0.02708516, 0.01231991, 0.0279875 ,-0.00832483, 0.02645755,
  1.20626258, 0.00555394, 1.1108479 , 0.04539073, 0.05824881,-0.07853442,
  0.17141599, 0.9995541 , 0.02741701,-0.00337424,-0.01133694]

qacc:
[  3.12389517, -1.14191016,  5.71268955,-13.10837647,  4.2968565 ,
   1.07286687, -3.92140899,  5.99040598, -4.46400372, -2.11017963,
   6.01198397, -5.28240112, -0.24498003, -0.23528809, -7.92396324,
  26.02712877,  2.3491666 ,  0.17442125,  0.28695136, -2.92644836,
  21.35234096, -3.70699631]

qfrc_actuator:
[ 8.74364256e-05, 8.48424993e-04, 1.48912028e-04,-3.88189205e-05,
 -2.18062136e-06, 1.06702171e-04,-8.73522936e-05,-2.20135729e-05,
 -1.19655982e-04, 7.87957534e-04, 2.58070767e-04,-9.85849999e-06,
  1.64700773e-02, 5.47224742e-04, 7.13286394e-03,-2.04199321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005654561884099601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47255841e-13,  9.81705610e-14,  1.00000000e+00,  1.44561886e-26,
        1.00000000e+00, -9.81705610e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47255841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744659, -0.08137916,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87328561e-05,-1.07765119e-05,-2.01996288e-07,-2.22299842e-05,
  2.52018983e-05, 1.88331776e-05,-7.70934251e-06, 5.99551676e-06,
 -2.71653689e-05,-7.00244611e-05, 1.13507604e-05, 3.94994096e-07,
 -1.38872202e-04,-6.94565922e-05,-4.71980685e-05, 1.12301279e-04,
  7.86739243e-06,-1.16813933e-06,-4.90500252e+00, 2.53343468e-04,
  1.18269440e-02,-6.52200741e-04]


--- Step 987 ---
qpos:
[ 0.01870357, 0.03008965,-0.00951735,-0.02558216, 0.00786579, 0.00469117,
 -0.00785106, 0.02708415, 0.01231871, 0.02798642,-0.00832363, 0.02645655,
  1.20666694, 0.00559424, 1.11118611, 0.0453911 , 0.05825173,-0.07853019,
  0.17141733, 0.9995545 , 0.02738637,-0.00336306,-0.01137842]

qacc:
[  4.84975746,  0.33191024, -0.1243641 , -3.67250082,  2.64454939,
  -1.81410891,  7.22694769,-12.1216281 , -2.67163689,  0.8217415 ,
  -5.18476338, 12.43894593, -0.17263293, -0.45159007,  0.43118053,
  -2.8902819 ,  2.30934878,  0.17216186,  0.11353413, -2.86486533,
  20.95155909, -3.6498411 ]

qfrc_actuator:
[ 1.16058498e-04, 8.46994760e-04, 1.32520691e-04,-5.15786415e-05,
  1.24767905e-05, 8.68938946e-05,-7.16387471e-05,-3.54638918e-05,
 -1.35002067e-04, 7.81937536e-04, 2.52982070e-04, 1.02198265e-05,
  1.64279008e-02, 5.14321537e-04, 7.08491819e-03,-2.07316632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005662560082262263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47047847e-13, -2.45079745e-14,  1.00000000e+00, -3.60384488e-27,
        1.00000000e+00,  2.45079745e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47047847e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0274468 , -0.08137899,  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:
[ 2.91679345e-05,-8.41236107e-06,-1.94055641e-05,-1.36608665e-05,
  1.53802578e-05,-1.06152279e-05, 1.88644998e-05,-1.27922595e-05,
 -1.61692257e-05,-4.28138932e-05,-1.81451461e-05, 1.74806705e-05,
 -1.34886758e-04,-8.35913467e-05,-6.24190125e-05,-3.21553695e-05,
  2.99004599e-06,-6.75015373e-07,-4.90500156e+00, 2.52094330e-04,
  1.18266536e-02,-6.51667591e-04]


--- Step 988 ---
qpos:
[ 0.01870413, 0.03008845,-0.00951733,-0.02558239, 0.00786586, 0.00469134,
 -0.00785118, 0.02708266, 0.01231801, 0.02798528,-0.00832263, 0.02645577,
  1.20707071, 0.00563351, 1.11152325, 0.04539049, 0.05826375,-0.07852529,
  0.17141854, 0.99955512, 0.02735059,-0.00331041,-0.011426  ]

qacc:
[ -3.02934482, -0.14399826,  0.77104491, -2.83836183, -1.48792598,
  -2.23865324,  9.41596023,-17.91608428,  4.37602592,  0.92397341,
  -4.34175414,  8.4939842 ,  0.28507347, -1.27219086,  1.32584255,
  -7.05600527,  2.27552717,  0.17025135, -0.03613697, -2.81462057,
  20.61448817, -3.60020019]

qfrc_actuator:
[ 9.70204813e-05, 8.28781887e-04, 1.22803336e-04,-5.90499809e-05,
  3.24289157e-06, 5.71625993e-05,-6.22680119e-05,-6.07287852e-05,
 -1.08033343e-04, 7.96701718e-04, 2.49540039e-04, 2.24311258e-05,
  1.63987335e-02, 4.61080783e-04, 7.01738071e-03,-2.12724755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639502776169925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47649057e-13, -9.84327049e-14,  1.00000000e+00, -1.45334961e-26,
        1.00000000e+00,  9.84327049e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47649057e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744602, -0.08137893,  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:
[-1.81865361e-05,-2.74670579e-05,-1.43091525e-05,-8.76816563e-06,
 -8.80074149e-06,-3.23234301e-05, 9.06005051e-06,-2.53145012e-05,
  2.64770501e-05,-1.21587511e-05,-1.39157077e-05, 1.00913160e-05,
 -1.23654319e-04,-1.06256020e-04,-1.04848534e-04,-6.50199625e-05,
  2.63301260e-06, 1.55086314e-07,-4.90500189e+00, 2.50050683e-04,
  1.18259918e-02,-6.50983482e-04]


--- Step 989 ---
qpos:
[ 0.01870515, 0.03008705,-0.00951743,-0.02558236, 0.00786582, 0.00469141,
 -0.00785159, 0.02708193, 0.01231868, 0.02798383,-0.0083216 , 0.02645551,
  1.20747374, 0.00567189, 1.11185943, 0.04538949, 0.05828475,-0.07851971,
  0.17141908, 0.99955593, 0.02730976,-0.00321685,-0.01147959]

qacc:
[  3.92211067,  0.60253858, -3.66643172,  8.55847932, -0.98432145,
   2.21794748,-11.32526097, 25.03154953, 11.61847103,  0.57343843,
  -4.84478154, 13.98173053,  0.1176585 , -1.01141359, -0.30004634,
  -1.09664664,  2.24709253,  0.16866398, -0.16472457, -2.77421936,
  20.33350253, -3.55746513]

qfrc_actuator:
[ 1.21089732e-04, 8.18437969e-04, 1.17044145e-04,-4.56054618e-05,
 -2.22299605e-06, 5.71869906e-05,-7.45354029e-05,-2.17497716e-05,
 -3.86253494e-05, 7.70546637e-04, 2.47194712e-04, 4.76920979e-05,
  1.63560775e-02, 4.14036172e-04, 6.98608230e-03,-2.14111084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005591794939343031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92725088e-14,  1.48908763e-13,  1.00000000e+00,  1.47825465e-26,
        1.00000000e+00, -1.48908763e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92725088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744446, -0.08137895,  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:
[ 2.35344622e-05,-2.89984146e-05,-1.34832916e-05, 1.16065192e-05,
 -5.72658807e-06,-1.72690903e-05,-1.87011840e-05, 3.74182297e-05,
  7.01779037e-05,-3.53579923e-05,-6.22012341e-06, 2.44556361e-05,
 -1.37083820e-04,-1.02765846e-04,-8.93616634e-05,-3.15407421e-05,
  6.56379647e-06, 1.30269026e-06,-4.90500344e+00, 2.47245892e-04,
  1.18249671e-02,-6.50150456e-04]


--- Step 990 ---
qpos:
[ 0.01870714, 0.03008569,-0.00951748,-0.02558186, 0.00786605, 0.0046916 ,
 -0.00785257, 0.02708236, 0.01231949, 0.02798217,-0.00832092, 0.02645556,
  1.20772632, 0.00568617, 1.11223692, 0.04538207, 0.05831124,-0.0785148 ,
  0.17141934, 0.99955685, 0.02728108,-0.00309621,-0.01150068]

qacc:
[ 8.32107801e+00, 8.25026380e-01,-4.80551460e+00, 1.26363115e+01,
  2.43949604e+00, 4.15319342e+00,-1.94525560e+01, 4.02692995e+01,
  1.16943363e+00, 1.31240527e+00,-6.42189549e+00, 1.26032821e+01,
 -1.02694116e+02, 7.40491353e+01, 8.77494813e+01,-2.01167321e+02,
  1.37171350e+00,-1.68010865e-01,-7.10455829e-02, 5.96939156e+00,
  1.40484669e+01, 1.58559283e+01]

qfrc_actuator:
[ 1.70354393e-04, 8.48425504e-04, 1.31458312e-04,-1.99563432e-05,
  1.23332147e-05, 7.49914277e-05,-9.93172010e-05, 3.69764106e-05,
 -3.35711450e-05, 7.55617604e-04, 2.27614188e-04, 6.26467634e-05,
  1.63213400e-02, 3.70996597e-04, 6.97655607e-03,-2.13104812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89084406, -0.5326471 ,  0.71406597, -0.5326471 ,  0.38626496,
       -0.37638343,  0.71406597, -0.37638343,  0.61008633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.748773516353786e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35537616, -0.93164357, -0.07581589, -0.02702093, -0.07083727,
        0.99712183, -0.93433273,  0.35640195,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073448, -0.04687227,  0.28728223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005524904280869158
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02372063e-14, -1.00474413e-13,  1.00000000e+00, -5.04755379e-27,
        1.00000000e+00,  1.00474413e-13, -1.00000000e+00,  0.00000000e+00,
       -5.02372063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02744228, -0.08137905,  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:
[ 4.99449695e-05, 1.15411871e-05, 7.18160599e-06, 2.41692341e-05,
  1.43866357e-05, 5.88986839e-06,-2.93518911e-05, 5.80699043e-05,
  7.09631350e-06,-3.48706136e-05,-2.68007302e-05, 1.36989172e-05,
 -1.35333678e-04,-1.01220227e-04,-5.75816069e-05,-3.94141404e-06,
  1.46015474e-05, 2.75322958e-06,-4.90500617e+00, 2.43705796e-04,
  1.18235856e-02,-6.49170137e-04]


--- Step 991 ---
qpos:
[ 0.01870867, 0.03008467,-0.0095175 ,-0.0255811 , 0.00786681, 0.00469177,
 -0.00785379, 0.02708314, 0.01231966, 0.02798031,-0.00832049, 0.02645578,
  1.20792897, 0.00563846, 1.11259027, 0.04538638, 0.05832867,-0.07850799,
  0.17142069, 0.99955732, 0.02725402,-0.00302162,-0.01154311]

qacc:
[ -3.941045  ,  0.93076834, -3.79844285,  8.1433007 ,  4.54637725,
   1.34078913, -6.31199007, 12.77027762, -5.41008468,  0.80589509,
  -3.97177377,  7.49251921,  8.75313991,-70.43105836,-73.51956368,
 199.79982641, -2.26654594,  0.47618234,  0.27233331,  1.04818751,
 -23.29708998,-10.04646806]

qfrc_actuator:
[ 1.45277709e-04, 8.84682198e-04, 1.40087465e-04,-5.03918393e-06,
  3.85564611e-05, 6.77711065e-05,-1.13445278e-04, 5.35958500e-05,
 -6.64496229e-05, 7.47448207e-04, 2.15792661e-04, 7.14091159e-05,
  1.63101817e-02, 3.71673984e-04, 6.96034489e-03,-2.10044134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89845501,  0.6958732 , -0.56831496,  0.6958732 ,  0.71430971,
       -0.2254767 , -0.56831496, -0.2254767 ,  0.62237009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.934923832720853e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55140041e-01, -9.31734122e-01, -7.58094816e-02, -2.70006817e-02,
       -7.08381302e-02,  9.97122321e-01, -9.34423092e-01,  3.56164970e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078089, -0.04689104,  0.28716936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.06581472, -5.98639783,  0.97834003, -5.98639783,  6.45447058,
        2.37815947,  0.97834003,  2.37815947, 20.6176149 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005560212894447497
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98363773e-14, -9.98363773e-14,  1.00000000e+00, -9.96730223e-27,
        1.00000000e+00,  9.98363773e-14, -1.00000000e+00,  0.00000000e+00,
       -9.98363773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09557744, -0.09358182,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36143028e-05, 4.52880085e-05, 1.27447025e-05, 1.61299705e-05,
  2.66329204e-05,-7.49254211e-06,-1.45096683e-05, 1.69866068e-05,
 -3.26864747e-05,-3.25614156e-05,-2.18398304e-05, 6.60919783e-06,
  7.37336077e-03, 1.10215127e-03,-2.14243656e-03, 3.47093132e-04,
  1.81737827e-05, 3.23152394e-06,-4.90500573e+00, 2.47334442e-04,
  1.18253498e-02,-6.48298256e-04]


--- Step 992 ---
qpos:
[ 0.0187092 , 0.03008409,-0.00951775,-0.02558017, 0.00786822, 0.00469153,
 -0.00785467, 0.02708343, 0.01231979, 0.02797838,-0.00831998, 0.02645572,
  1.20807954, 0.00556861, 1.11291565, 0.0453955 , 0.0583375 ,-0.07849943,
  0.17142247, 0.99955728, 0.02723013,-0.00299135,-0.0116109 ]

qacc:
[-8.60662914e+00, 1.62426176e+00,-5.65841262e+00, 8.73085015e+00,
  5.76858408e+00,-2.49854350e+00, 1.01433180e+01,-1.87604743e+01,
 -4.32857682e-01,-8.72584593e-01, 4.16930471e+00,-9.11449681e+00,
 -2.24391934e+01,-1.66036708e+00,-5.48362167e+01, 1.34292463e+02,
 -2.14884197e+00, 4.38388710e-01, 1.07376406e-01, 1.80694087e+00,
 -2.24818990e+01,-1.20751340e+01]

qfrc_actuator:
[ 9.43895086e-05, 9.06645402e-04, 1.27504678e-04, 3.44559676e-06,
  7.14300769e-05, 2.78781416e-05,-1.03540805e-04, 2.75414494e-05,
 -6.81126810e-05, 7.61164399e-04, 2.26430997e-04, 5.87210948e-05,
  1.62935606e-02, 4.10599752e-04, 6.88061779e-03,-1.93106213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90815392,  0.58635103, -0.6934955 ,  0.58635103,  0.4710923 ,
       -0.36953597, -0.6934955 , -0.36953597,  0.59571095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013931169159733388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54950687e-01, -9.31801894e-01, -7.58632974e-02, -2.70055534e-02,
       -7.08938642e-02,  9.97118228e-01, -9.34494896e-01,  3.55976530e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07081126, -0.04690196,  0.28708373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005595739559129953
  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([ 0.0955759 , -0.09358325,  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:
[-5.15586187e-05, 5.06329686e-05,-1.09175869e-06, 1.11800922e-05,
  3.36277580e-05,-4.63364113e-05, 7.16687362e-06,-2.65474427e-05,
 -2.63811709e-06,-8.66956491e-06, 1.46864588e-06,-1.47063816e-05,
  9.85110440e-03, 4.24072717e-03,-1.02005198e-03,-7.08988120e-05,
  9.18420040e-06, 1.26798591e-06,-4.90500354e+00, 2.46814608e-04,
  1.18240658e-02,-6.47582879e-04]


--- Step 993 ---
qpos:
[ 0.0187105 , 0.03008362,-0.00951774,-0.02557913, 0.00787001, 0.00469089,
 -0.00785485, 0.02708338, 0.01231954, 0.02797679,-0.00831956, 0.02645547,
  1.20818235, 0.00548488, 1.11321171, 0.04540792, 0.05833816,-0.07848931,
  0.17142412, 0.99955661, 0.02721145,-0.00300403,-0.0117085 ]

qacc:
[ 6.56596225e+00,-3.96060071e-01, 1.18798282e+00, 7.52685018e-02,
  3.39976433e+00,-3.19764420e+00, 1.20809046e+01,-1.88307893e+01,
 -3.12998997e+00, 2.95606688e-01, 4.23708725e-01,-3.90244726e+00,
 -2.51677979e+01, 9.08083232e+00,-5.18162855e+01, 1.21866454e+02,
 -2.04320930e+00, 3.86536406e-01,-3.09064865e-02, 2.82307507e+00,
 -2.18379567e+01,-1.43230106e+01]

qfrc_actuator:
[ 1.35256367e-04, 9.02037979e-04, 1.37951213e-04, 8.05556596e-06,
  9.01980789e-05, 2.20425587e-05,-6.19408180e-05, 1.20836049e-05,
 -8.68811877e-05, 8.05713091e-04, 2.32569025e-04, 5.13010361e-05,
  1.62756543e-02, 4.39680185e-04, 6.85985933e-03,-1.78270994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.91744922,  0.47398501, -0.78552611,  0.47398501,  0.3341885 ,
       -0.35193844, -0.78552611, -0.35193844,  0.70509021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016845615918233638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54810059e-01, -9.31849402e-01, -7.59375728e-02, -2.70214370e-02,
       -7.09672946e-02,  9.97112574e-01, -9.34547840e-01,  3.55837513e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082654, -0.04690625,  0.28702243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005595107196718074
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92137403e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.92137403e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09557564, -0.09358479,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93835784e-05, 2.39613799e-05, 2.11654586e-05, 6.95952265e-06,
  1.97083116e-05,-3.13740888e-05, 3.20039359e-05,-1.77117464e-05,
 -1.88539742e-05, 3.94372993e-05, 4.03626442e-06,-8.02353617e-06,
  1.24355111e-02, 5.37765795e-03, 3.52458302e-04,-1.64310857e-04,
  7.14788003e-06,-6.47061423e-08,-4.90500252e+00, 2.48794123e-04,
  1.18231290e-02,-6.46934378e-04]


--- Step 994 ---
qpos:
[ 0.01871261, 0.03008347,-0.00951793,-0.02557803, 0.00787167, 0.00469025,
 -0.00785499, 0.02708348, 0.01231907, 0.02797579,-0.00831955, 0.02645581,
  1.20824108, 0.00539166, 1.1134781 , 0.04542212, 0.05833101,-0.07847785,
  0.17142518, 0.99955522, 0.02719991,-0.00305849,-0.01183987]

qacc:
[  7.05875444,  1.0850091 , -3.5445196 ,  4.64915772, -1.17648356,
   0.19526283, -1.33337055,  3.91738086, -1.92608095,  3.13189072,
 -12.52780984, 22.98108795,-25.58057419, 13.81974073,-47.61295397,
 106.7115892 , -1.95189786,  0.33895112, -0.14935184,  3.76323524,
 -21.29986858,-16.32890531]

qfrc_actuator:
[ 1.76552911e-04, 9.17140869e-04, 1.26301021e-04, 1.03452613e-05,
  8.27591356e-05, 3.67858183e-05,-5.50832407e-05, 2.07874075e-05,
 -9.78247349e-05, 8.50628720e-04, 2.18383893e-04, 8.25717810e-05,
  1.62584632e-02, 5.16695495e-04, 6.88093491e-03,-1.70064650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.92441388,  0.35596938, -0.85312767,  0.35596938,  0.22235286,
       -0.29293649, -0.85312767, -0.29293649,  0.8021855 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018705989561753817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54714107e-01, -9.31878867e-01, -7.60241956e-02, -2.70451240e-02,
       -7.10509647e-02,  9.97105973e-01, -9.34583577e-01,  3.55743639e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082776, -0.04690488,  0.2869844 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005565609497221319
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.97395726e-14, -1.99479145e-13,  1.00000000e+00,  1.98959647e-26,
        1.00000000e+00,  1.99479145e-13, -1.00000000e+00,  0.00000000e+00,
        9.97395726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09557642, -0.09358642,  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:
[ 4.24526460e-05, 3.31950790e-05,-3.85379852e-06, 4.18017747e-06,
 -6.89035775e-06, 3.08286604e-06, 3.71480325e-06, 8.12308698e-06,
 -1.14873994e-05, 6.75050833e-05,-5.80446462e-06, 3.29482181e-05,
  1.48047635e-02, 6.14912119e-03, 1.83358293e-03,-2.48545877e-04,
  1.22909094e-05,-4.44822639e-07,-4.90500228e+00, 2.53953650e-04,
  1.18227994e-02,-6.46386624e-04]


--- Step 995 ---
qpos:
[ 0.01871418, 0.03008379,-0.00951862,-0.02557727, 0.00787323, 0.00468961,
 -0.00785532, 0.02708371, 0.01231882, 0.02797539,-0.00832002, 0.02645652,
  1.20825901, 0.00529104, 1.11371622, 0.04543723, 0.05831635,-0.07846521,
  0.17142524, 0.99955298, 0.02719724,-0.00315384,-0.01200849]

qacc:
[ -4.78605717,  1.33589813, -2.4349981 , -2.85078554, -0.90172148,
   0.78801156, -3.32946143,  5.74254338,  1.82287722,  2.9300065 ,
 -10.8857143 , 17.73690316,-24.70382551, 15.12566633,-42.90889813,
  93.26563194, -1.87797699,  0.29345806, -0.25081698,  4.6349242 ,
 -20.88834753,-18.07476356]

qfrc_actuator:
[ 1.46731402e-04, 9.43835800e-04, 1.01760800e-04,-6.50528310e-06,
  7.77124762e-05, 2.81299440e-05,-6.86960139e-05, 2.58759362e-05,
 -8.63169963e-05, 8.77623746e-04, 1.92356384e-04, 1.00843080e-04,
  1.62430885e-02, 6.41397546e-04, 6.85363828e-03,-1.64040182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.92772989,  0.25626562, -0.89163371,  0.25626562,  0.14971218,
       -0.2236111 , -0.89163371, -0.2236111 ,  0.86346153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001952149386787757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54659376e-01, -9.31891966e-01, -7.61189198e-02, -2.70748396e-02,
       -7.11410079e-02,  9.97098746e-01, -9.34603488e-01,  3.55691327e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07081581, -0.04689864,  0.28696902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005513502285196675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00682195e-13,  1.00682195e-13,  1.00000000e+00,  1.01369044e-26,
        1.00000000e+00, -1.00682195e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00682195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09557799, -0.09358813,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85723994e-05, 4.46539402e-05,-1.80165431e-05,-1.54850936e-05,
 -5.24188832e-06,-5.79447014e-06,-1.22282859e-05, 5.50904186e-06,
  1.11900463e-05, 6.49870999e-05,-1.16474959e-05, 2.16063833e-05,
  1.69913979e-02, 6.74977287e-03, 3.28516247e-03,-2.78443257e-04,
  2.49351003e-05, 5.00243395e-07,-4.90500240e+00, 2.62991347e-04,
  1.18234034e-02,-6.45970498e-04]


--- Step 996 ---
qpos:
[ 0.01871572, 0.03008396,-0.00951903,-0.02557737, 0.00787471, 0.00468899,
 -0.00785556, 0.02708431, 0.01231906, 0.02797486,-0.00831989, 0.02645678,
  1.20823861, 0.00518437, 1.11392733, 0.04545168, 0.05829442,-0.07845156,
  0.17142394, 0.9995498 , 0.02720511,-0.00328935,-0.01221747]

qacc:
[ -0.19654085, -2.77201893, 13.25041836,-28.61187506, -0.63706555,
   0.57504655, -3.63038437, 10.09968731,  4.15291304, -2.82670764,
  11.72873358,-20.49278512,-23.96490794, 15.84291943,-36.31353678,
  72.84744055, -1.81584983,  0.25032826, -0.3366142 ,  5.45737469,
 -20.56516039,-19.64838769]

qfrc_actuator:
[ 1.46299173e-04, 9.06176690e-04, 1.05357000e-04,-5.22293869e-05,
  7.41226689e-05, 4.09480529e-05,-5.88633440e-05, 4.65189207e-05,
 -6.16893506e-05, 8.40360636e-04, 2.12726935e-04, 7.57887344e-05,
  1.62407465e-02, 7.78660213e-04, 6.79825958e-03,-1.66410267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.92676695,  0.1660736 , -0.91176562,  0.1660736 ,  0.10165774,
       -0.15028957, -0.91176562, -0.15028957,  0.89939245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001928877045060373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54642796e-01, -9.31890034e-01, -7.62197565e-02, -2.71096484e-02,
       -7.12356529e-02,  9.97091043e-01, -9.34608771e-01,  3.55677446e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07079143, -0.04688819,  0.28697604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005444092100655856
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01965856e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01965856e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558017, -0.09358988,  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:
[-1.24837089e-06,-1.70934423e-05, 1.00660937e-05,-4.47371904e-05,
 -3.74053465e-06, 7.31271582e-06, 7.33126580e-06, 2.00806592e-05,
  2.49765364e-05,-2.38047060e-06, 3.31154415e-05,-2.22520696e-05,
  1.90272748e-02, 7.25838444e-03, 4.63837380e-03,-3.48828402e-04,
  4.54637581e-05, 3.07555877e-06,-4.90500248e+00, 2.76486386e-04,
  1.18252951e-02,-6.45717002e-04]


--- Step 997 ---
qpos:
[ 0.01871689, 0.03008393,-0.0095191 ,-0.02557733, 0.0078758 , 0.00468839,
 -0.00785539, 0.02708479, 0.01231958, 0.02797392,-0.00831901, 0.02645607,
  1.20817875, 0.00510286, 1.11414409, 0.04545471, 0.05828013,-0.07844042,
  0.17142444, 0.9995473 , 0.02720773,-0.00338261,-0.01238887]

qacc:
[-3.09283436e+00,-8.92813868e-01, 2.19955730e+00,-8.01875001e-02,
 -3.50299253e+00,-1.38392733e+00, 5.52043331e+00,-8.40165262e+00,
  2.53269543e+00,-4.61887432e+00, 1.97764426e+01,-3.74186671e+01,
 -5.03706637e+01, 7.25534287e+01, 4.73595088e+01,-1.42995228e+02,
  1.90850687e+00,-6.24480415e-01, 4.46518995e-01,-2.82830240e+00,
  2.16018893e+01, 1.82165542e+01]

qfrc_actuator:
[ 1.27686316e-04, 9.01358580e-04, 1.25263138e-04,-4.35951280e-05,
  5.36659601e-05, 4.88777744e-05,-3.51644561e-05, 4.06797382e-05,
 -4.72972192e-05, 8.00548272e-04, 2.42285096e-04, 2.54218896e-05,
  1.62581236e-02, 9.07314059e-04, 6.74291346e-03,-1.93224194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.92165353, -0.8848562 ,  0.25782697, -0.8848562 ,  0.873651  ,
       -0.16474358,  0.25782697, -0.16474358,  0.35625739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017994684138955994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54662071e-01, -9.31874049e-01, -7.63254339e-02, -2.71489310e-02,
       -7.13337747e-02,  9.97082960e-01, -9.34600316e-01,  3.55699661e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075525, -0.04687409,  0.28700545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.01758359, -5.9151827 ,  1.10540757, -5.9151827 ,  6.21233788,
        1.04215605,  1.10540757,  1.04215605, 11.59429901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005502088254889931
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51336589e-13, -5.04455296e-14,  1.00000000e+00, -7.63425438e-27,
        1.00000000e+00,  5.04455296e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51336589e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02745824, -0.08128785,  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:
[-1.86538415e-05,-1.42194039e-05, 1.60692109e-05, 7.38000865e-06,
 -2.05615909e-05, 1.44167833e-05, 2.68161878e-05,-4.88059665e-06,
  1.51220950e-05,-3.52298995e-05, 3.23787123e-05,-4.97567667e-05,
  2.09604655e-02, 7.69099982e-03, 5.92918793e-03,-5.84952724e-04,
  7.43429434e-05, 7.53755089e-06,-4.90500216e+00, 2.94926897e-04,
  1.18288446e-02,-6.45657410e-04]


--- Step 998 ---
qpos:
[ 0.01871784, 0.03008407,-0.00951912,-0.02557652, 0.00787663, 0.00468767,
 -0.00785453, 0.02708451, 0.01232028, 0.02797305,-0.00831853, 0.02645547,
  1.20807586, 0.00501599, 1.1143704 , 0.04544996, 0.05827267,-0.07843174,
  0.17142622, 0.99954538, 0.02721155,-0.00343819,-0.01251973]

qacc:
[  -1.99641492,   1.67022051,  -8.84642852,  21.86968335,  -2.20741733,
   -3.64460391,  16.00787099, -30.27302034,   1.4223369 ,   1.45090463,
   -5.52401883,   8.07820045, -30.78515044,  24.09094234,  39.88756625,
 -113.81000888,   1.70791825,  -0.61651533,   0.32112013,   0.42336087,
   19.39131572,  19.75649579]

qfrc_actuator:
[ 1.16265311e-04, 9.34103252e-04, 1.37034043e-04,-3.01340831e-06,
  4.11977425e-05, 3.61113918e-05,-3.50922986e-06, 1.55473848e-06,
 -3.90492553e-05, 8.12782718e-04, 2.23713717e-04, 3.15716990e-05,
  1.62781613e-02, 1.00201661e-03, 6.70692362e-03,-2.26501708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.91779022, -0.84863536,  0.34950954, -0.84863536,  0.81793334,
       -0.24245999,  0.34950954, -0.24245999,  0.3290792 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016942084563815205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35471819, -0.93184618, -0.07640482, -0.02718163, -0.07140627,
        0.99707688, -0.93457807,  0.35575811,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073336, -0.04686178,  0.28703027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.05914292,  5.8717791 , -1.49513314,  5.8717791 ,  6.75044366,
        2.71491891, -1.49513314,  2.71491891, 16.7213399 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005552178798109292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99904211e-14,  7.49856317e-14,  1.00000000e+00,  3.74856330e-27,
        1.00000000e+00, -7.49856317e-14, -1.00000000e+00,  0.00000000e+00,
       -4.99904211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746385, -0.0812654 ,  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:
[-1.19703354e-05, 2.84196849e-05, 1.10691832e-05, 4.06732789e-05,
 -1.30484028e-05, 6.37337989e-07, 3.77721067e-05,-3.76735640e-05,
  8.67786453e-06,-2.87812436e-06,-2.35799742e-05, 4.79323179e-06,
  2.29519874e-02, 6.52883310e-03, 5.60660860e-03,-3.48101952e-04,
  4.58203297e-05, 3.52800137e-06,-4.90500124e+00, 2.76295541e-04,
  1.18279514e-02,-6.46259026e-04]


--- Step 999 ---
qpos:
[ 0.01871863, 0.03008458,-0.00951933,-0.02557593, 0.0078773 , 0.004687  ,
 -0.00785337, 0.02708445, 0.01232141, 0.02797245,-0.00831873, 0.02645564,
  1.20793457, 0.00491349, 1.11461533, 0.0454431 , 0.0582713 ,-0.0784254 ,
  0.17142887, 0.99954394, 0.02722138,-0.00346017,-0.01260685]

qacc:
[ -1.25268902,  0.56940717, -0.40282232, -3.35750559, -1.3649945 ,
  -0.30304064,  0.210535  ,  3.23629146,  3.70920051,  3.78758723,
 -16.21640701, 30.27846375,-19.77865509,  3.68932215, 35.01939048,
 -79.91096871,  1.52180134, -0.58328118,  0.2179996 ,  2.86731972,
  17.42322595, 21.39117574]

qfrc_actuator:
[ 1.09174752e-04, 9.53591486e-04, 1.26323855e-04,-1.49518992e-05,
  3.35363998e-05, 4.65630416e-05, 1.47297852e-05, 1.41582933e-05,
 -1.67273511e-05, 8.38183661e-04, 1.94870859e-04, 7.09379298e-05,
  1.62855601e-02, 1.11454656e-03, 6.68199191e-03,-2.24508081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.91384391, -0.805013  ,  0.43250985, -0.805013  ,  0.75599873,
       -0.29379083,  0.43250985, -0.29379083,  0.36702299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015785436603184743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35481454, -0.93180266, -0.0764882 , -0.02721887, -0.07148132,
        0.99707049, -0.93454041,  0.35585703,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072431, -0.04685064,  0.28705775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.0713204 ,  5.86758743, -1.55959904,  5.86758743,  7.05878088,
        3.71506429, -1.55959904,  3.71506429, 20.04828759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005566841330886252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98587511e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.98587511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746747, -0.08124774,  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:
[-7.43218762e-06, 3.93939103e-05,-2.07377214e-06,-9.54846489e-06,
 -8.03189645e-06, 1.70081860e-05, 2.17190682e-05, 1.32054916e-05,
  2.25738395e-05, 1.91586232e-05,-3.21695610e-05, 3.85222763e-05,
  2.51096356e-02, 6.91012545e-03, 5.09903213e-03, 5.99054024e-05,
  2.42255396e-05, 1.47370562e-06,-4.90499992e+00, 2.63039986e-04,
  1.18286630e-02,-6.46735425e-04]


--- Step 1000 ---
qpos:
[ 0.01871934, 0.03008543,-0.00951943,-0.02557517, 0.00787754, 0.00468672,
 -0.00785272, 0.02708491, 0.01232281, 0.0279721 ,-0.00831927, 0.02645556,
  1.20776129, 0.0047936 , 1.11488217, 0.04543628, 0.05827542,-0.07842125,
  0.17143203, 0.99954292, 0.02724091,-0.00345181,-0.01264779]

qacc:
[ -0.7864453 ,  0.50207107, -1.8570571 ,  4.47185537, -3.91362948,
   2.98721659,-12.02190089, 21.310269  ,  2.1909505 ,  0.82110057,
  -1.41610235, -2.39019141,-13.5380028 , -3.85905758, 32.87684704,
 -66.56927108,  1.37313848, -0.55029786,  0.12690318,  4.72746147,
  15.85076039, 22.65087237]

qfrc_actuator:
[ 1.04687505e-04, 9.82616440e-04, 1.37851907e-04,-4.46569519e-06,
  1.10105789e-05, 7.08257298e-05,-1.04761651e-05, 3.93576912e-05,
 -4.05073698e-06, 8.53503967e-04, 1.78044721e-04, 5.85298489e-05,
  1.62918338e-02, 1.19694590e-03, 6.63590681e-03,-2.19360449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90944631, -0.76482982,  0.49206497, -0.76482982,  0.70095938,
       -0.32405684,  0.49206497, -0.32405684,  0.40575604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014375245398615694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35494682, -0.93174425, -0.07658599, -0.02726403, -0.07156875,
        0.99706298, -0.93448886,  0.35599237,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072645, -0.04684073,  0.287091  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.05991935,  5.83630731, -1.63099339,  5.83630731,  7.47079782,
        5.04865341, -1.63099339,  5.04865341, 24.12589863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005553113863371317
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99640069e-14,  1.24955009e-13,  1.00000000e+00,  1.24910033e-26,
        1.00000000e+00, -1.24955009e-13, -1.00000000e+00,  0.00000000e+00,
       -9.99640069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746951, -0.08123386,  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:
[-4.69110391e-06, 5.01942491e-05, 1.90732005e-05, 1.19133176e-05,
 -2.27495689e-05, 3.88342088e-05,-1.85658787e-05, 2.69361304e-05,
  1.33431396e-05, 2.10748492e-05,-1.54888732e-05,-1.19497498e-05,
  2.70346096e-02, 7.77614013e-03, 4.11697804e-03, 2.15659543e-04,
  9.44987918e-06, 3.57098264e-07,-4.90499901e+00, 2.54759441e-04,
  1.18295841e-02,-6.47198821e-04]


--- Step 1001 ---
qpos:
[ 0.01871965, 0.03008679,-0.00951946,-0.0255743 , 0.0078775 , 0.00468673,
 -0.00785256, 0.02708464, 0.012324  , 0.02797151,-0.00831923, 0.02645499,
  1.20756243, 0.0046581 , 1.11517023, 0.04542913, 0.05828457,-0.0784192 ,
  0.17143537, 0.99954226, 0.02727294,-0.00341566,-0.01264083]

qacc:
[-3.47454640e+00, 6.94376678e-01,-1.93890465e+00, 3.24013721e+00,
 -2.41157580e+00, 2.77788896e-01, 2.60232947e+00,-1.45245362e+01,
 -1.70795340e+00,-2.97048346e+00, 1.21849650e+01,-2.14424892e+01,
 -9.82751894e+00,-5.59712165e+00, 3.27195867e+01,-6.80361949e+01,
  1.25866121e+00,-5.21950405e-01, 4.55851273e-02, 6.14692815e+00,
  1.46275020e+01, 2.35441139e+01]

qfrc_actuator:
[ 8.40142686e-05, 1.01722832e-03, 1.44735877e-04, 1.41351722e-06,
 -2.33267013e-06, 6.75030178e-05,-4.33109052e-05, 7.33897984e-07,
 -1.49099306e-05, 8.27171872e-04, 2.03882325e-04, 3.35082767e-05,
  1.62982370e-02, 1.26926614e-03, 6.59214094e-03,-2.21326826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90465863, -0.73055684,  0.53356719, -0.73055684,  0.65504345,
       -0.34177153,  0.53356719, -0.34177153,  0.43670721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012645903705723225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35510901, -0.93167306, -0.07670011, -0.02731737, -0.07167055,
        0.99705421, -0.93442568,  0.35615817,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073839, -0.04683233,  0.28713132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.02989849,  5.78050762, -1.71621896,  5.78050762,  8.06444642,
        6.85269189, -1.71621896,  6.85269189, 29.11089137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005516939576116903
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50929199e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.50929199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0274703 , -0.08122296,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07964716e-05, 6.70936628e-05, 2.00008128e-05, 8.91675774e-06,
 -1.39765860e-05, 1.57062830e-05,-2.61722361e-05,-3.70786774e-05,
 -1.04609461e-05,-1.82304474e-05, 2.78811144e-05,-2.48850527e-05,
  2.86387399e-02, 8.71955743e-03, 2.97243463e-03, 1.92933892e-04,
  1.84530362e-06,-4.56583000e-07,-4.90499920e+00, 2.51090002e-04,
  1.18296234e-02,-6.47736332e-04]


--- Step 1002 ---
qpos:
[ 0.01871935, 0.03008831,-0.00951923,-0.02557368, 0.00787765, 0.00468677,
 -0.00785243, 0.02708356, 0.01232436, 0.02797054,-0.00831877, 0.02645381,
  1.20734362, 0.00451116, 1.1154756 , 0.04541888, 0.05829845,-0.07841914,
  0.17143859, 0.9995419 , 0.02731951,-0.0033535 ,-0.01258515]

qacc:
[-5.09778786e+00,-1.03121819e+00, 5.04943982e+00,-9.93353351e+00,
  1.62789788e+00,-1.54731928e+00, 9.00914798e+00,-2.29896330e+01,
 -7.04194612e+00,-2.93402141e+00, 1.23707658e+01,-2.34449253e+01,
 -8.43355739e+00,-2.81373253e+00, 3.53479089e+01,-8.56239897e+01,
  1.18037051e+00,-4.99301835e-01,-2.90156662e-02, 7.18538043e+00,
  1.37489296e+01, 2.39699143e+01]

qfrc_actuator:
[ 5.39788440e-05, 1.00164519e-03, 1.48837316e-04,-1.32211850e-05,
  7.59261032e-06, 6.53409094e-05,-4.50222496e-05,-3.96513735e-05,
 -5.72849692e-05, 7.94011428e-04, 2.19021200e-04, 1.26529649e-06,
  1.63106198e-02, 1.39397645e-03, 6.54371368e-03,-2.41729212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89977336, -0.70554243,  0.55839231, -0.70554243,  0.62148682,
       -0.35162189,  0.55839231, -0.35162189,  0.45549045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010572395207737177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35529513, -0.93159148, -0.07682898, -0.02737788, -0.0717854 ,
        0.99704429, -0.93435316,  0.35634839,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075901, -0.04682579,  0.28717914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.98548279,  5.70186252, -1.82065045,  5.70186252,  8.95816329,
        9.30975822, -1.82065045,  9.30975822, 35.14152505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000546334013243055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08033089e-14,  5.08033089e-14,  1.00000000e+00,  2.58097619e-27,
        1.00000000e+00, -5.08033089e-14, -1.00000000e+00,  0.00000000e+00,
       -5.08033089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747011, -0.08121443,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06236680e-05, 2.63883949e-05, 2.07133158e-05,-1.09006380e-05,
  9.53616359e-06,-3.80494973e-07,-2.97424152e-06,-4.13385578e-05,
 -4.26903218e-05,-3.86396430e-05, 1.39556388e-05,-3.25406379e-05,
  2.99291274e-02, 9.62699891e-03, 1.85703095e-03, 3.72880572e-06,
  1.75193568e-06,-1.36250105e-06,-4.90500105e+00, 2.51673313e-04,
  1.18279500e-02,-6.48416768e-04]


--- Step 1003 ---
qpos:
[ 0.01872008, 0.03008961,-0.00951903,-0.02557283, 0.00787825, 0.00468668,
 -0.00785223, 0.02708168, 0.01232421, 0.02796984,-0.00831896, 0.02645259,
  1.20711078, 0.00435388, 1.11580045, 0.04540702, 0.05831667,-0.07842098,
  0.17144148, 0.9995418 , 0.02738249,-0.0032673 ,-0.01247887]

qacc:
[  8.7624954 ,  0.27906362, -2.42534212,  6.7274729 ,  4.07540131,
  -2.03763073, 10.36622649,-24.24695612, -4.38341929,  2.11509771,
  -6.85468444,  7.02879479, -4.64274484, -5.27861235, 33.75909872,
 -76.01687636,  1.08665759, -0.47499873, -0.0846891 ,  8.13201381,
  12.81568393, 24.93324863]

qfrc_actuator:
[ 1.07441516e-04, 9.56089262e-04, 1.33295296e-04,-4.34611838e-06,
  3.11306899e-05, 4.62453143e-05,-4.60891441e-05,-8.07187452e-05,
 -8.23575170e-05, 8.27981911e-04, 1.92157602e-04, 5.14441967e-07,
  1.63323293e-02, 1.53443996e-03, 6.49740333e-03,-2.46273342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89522598, -0.67025088,  0.59345877, -0.67025088,  0.57606098,
       -0.36046417,  0.59345877, -0.36046417,  0.48811863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.157013125294548e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55499884e-01, -9.31501831e-01, -7.69686360e-02, -2.74437526e-02,
       -7.19097446e-02,  9.97033515e-01, -9.34273340e-01,  3.56557607e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078751, -0.04682148,  0.28723428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.93025822,  5.6001547 , -1.95095614,  5.6001547 , 10.34312749,
       12.66699442, -1.95095614, 12.66699442, 42.29044429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005396548379663635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02864178e-13,  2.57160445e-14,  1.00000000e+00,  2.64525977e-27,
        1.00000000e+00, -2.57160445e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02864178e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746918, -0.08120775,  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:
[ 5.25739520e-05,-2.70573307e-05,-7.93832943e-06, 1.05052642e-05,
  2.38107963e-05,-2.16918185e-05,-2.94226360e-06,-4.19894954e-05,
 -2.63403988e-05, 1.38696591e-05,-3.42415839e-05,-2.55152880e-06,
  3.09467605e-02, 1.03418577e-02, 9.39072129e-04, 1.12056342e-04,
  9.37246753e-06,-2.60721973e-06,-4.90500496e+00, 2.56164775e-04,
  1.18239881e-02,-6.49293009e-04]


--- Step 1004 ---
qpos:
[ 0.01872041, 0.03009068,-0.00951922,-0.02557219, 0.00787914, 0.00468599,
 -0.0078516 , 0.02708004, 0.01232479, 0.02796962,-0.00831992, 0.02645134,
  1.2068704 , 0.0041856 , 1.11615141, 0.04539879, 0.05833879,-0.07842461,
  0.17144388, 0.9995419 , 0.02746363,-0.00315919,-0.01231902]

qacc:
[ -3.43207301,  0.34421569, -0.76006945, -2.19429835,  2.46775769,
  -1.4960667 ,  3.14679427,  0.86856195,  6.22170308,  2.7434099 ,
  -8.78324748,  9.32599266,  0.8800302 ,-11.0758833 , 27.31286598,
 -40.23990664,  0.97456684, -0.44664669, -0.12177055,  9.01850021,
  11.79248972, 26.44762244]

qfrc_actuator:
[ 8.53567118e-05, 9.28364021e-04, 1.06158933e-04,-1.72556060e-05,
  4.47321821e-05,-5.93171853e-07,-2.90970141e-05,-6.86196560e-05,
 -4.37762981e-05, 8.66237515e-04, 1.58757300e-04, 5.75648484e-07,
  1.63598210e-02, 1.67008522e-03, 6.47817394e-03,-2.18249873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89149459, -0.6191954 ,  0.64137326, -0.6191954 ,  0.51392006,
       -0.36451849,  0.64137326, -0.36451849,  0.53958068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.39495228318764e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35571775, -0.93140629, -0.07711816, -0.02751424, -0.07204288,
        0.99702196, -0.93418834,  0.35678026,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082295, -0.04681966,  0.28729678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86725658,  5.478196  , -2.10096845,  5.478196  , 12.44512148,
       17.15153464, -2.10096845, 17.15153464, 50.58923627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005320123104205904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56512782e-13,  1.30427318e-13,  1.00000000e+00,  2.04135425e-26,
        1.00000000e+00, -1.30427318e-13, -1.00000000e+00,  0.00000000e+00,
       -1.56512782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746767, -0.08120255,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05668300e-05,-4.40804670e-05,-3.33611290e-05,-1.41455710e-05,
  1.42724661e-05,-6.13622411e-05, 1.06981231e-05, 1.02535049e-05,
  3.78121668e-05, 3.88498586e-05,-3.48270706e-05,-5.73082404e-07,
  3.16747501e-02, 1.09975097e-02,-6.02975811e-05, 4.71061295e-04,
  2.50242460e-05,-4.31603204e-06,-4.90501138e+00, 2.64393795e-04,
  1.18171609e-02,-6.50409828e-04]


--- Step 1005 ---
qpos:
[ 0.01872048, 0.03009152,-0.00951949,-0.02557174, 0.00787984, 0.00468492,
 -0.00785083, 0.0270789 , 0.01232652, 0.02796942,-0.00832085, 0.02645012,
  1.20670344, 0.0039916 , 1.11646562, 0.04540177, 0.05835206,-0.07842809,
  0.17144686, 0.99954133, 0.02753824,-0.00309687,-0.0122145 ]

qacc:
[-2.28915294e+00,-4.61685337e-01, 2.01329947e+00,-4.93337191e+00,
 -1.64959345e+00, 1.56574309e-01,-3.37597236e+00, 1.20310505e+01,
  9.77909347e+00,-6.83517634e-02, 1.50548350e-01, 1.15907886e-01,
  7.90811316e+01,-1.00606173e+02,-9.48502002e+01, 2.37395245e+02,
 -2.21312560e+00, 3.47665541e-02, 1.46731583e-01,-3.05384665e+00,
 -2.36864203e+01,-2.70180426e+01]

qfrc_actuator:
[ 7.22130168e-05, 9.29199317e-04, 1.07943617e-04,-2.51257731e-05,
  3.46189851e-05,-1.03114043e-05,-1.94158751e-05,-4.31012812e-05,
  1.42039018e-05, 8.53479356e-04, 1.57317438e-04, 1.12154468e-06,
  1.63800507e-02, 1.84313420e-03, 6.43128912e-03,-2.20851939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88912624,  0.37866252, -0.80446266,  0.37866252,  1.73423903,
        0.39779662, -0.80446266,  0.39779662,  1.07637008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2805254622385875e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35594265, -0.93130708, -0.0772784 , -0.02758918, -0.07218579,
        0.99700955, -0.93410046,  0.35701027,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708642 , -0.04682051,  0.28736676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.88263851, -5.79395341,  1.01761474, -5.79395341,  6.02439847,
        0.80713312,  1.01761474,  0.80713312, 10.47818093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005338806437391042
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03976707e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03976707e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09559662, -0.09351525,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37597498e-05,-3.13556336e-05,-1.19286525e-05,-1.11896761e-05,
 -9.72986458e-06,-4.13569092e-05,-1.31794578e-06, 2.34616701e-05,
  5.91025112e-05, 1.78516567e-06, 2.29127193e-06, 9.98508847e-07,
  3.20703502e-02, 1.17233867e-02,-1.41907002e-03, 2.62274460e-04,
  4.95695903e-05,-6.56192127e-06,-4.90502078e+00, 2.76280215e-04,
  1.18067828e-02,-6.51806385e-04]


--- Step 1006 ---
qpos:
[ 0.01872176, 0.03009221,-0.00951981,-0.02557105, 0.00788007, 0.00468377,
 -0.00785061, 0.02707774, 0.0123279 , 0.02796897,-0.00832116, 0.02644959,
  1.20673291, 0.00386011, 1.1167794 , 0.04539698, 0.05835577,-0.07842834,
  0.1714491 , 0.99954134, 0.02758193,-0.00307714,-0.01211925]

qacc:
[ 10.47176789,  0.39623662, -2.75328261,  7.09471523, -4.1647855 ,
   1.39055002, -5.01128017,  5.56171618, -2.97337934, -0.61569031,
  -1.17795476, 12.38511704,107.30215618,-38.74820173, 16.49337291,
 -73.52729008, -2.39005053,  0.81151694, -0.18729377,-15.2180993 ,
 -21.59623188, -3.99964145]

qfrc_actuator:
[ 1.35472042e-04, 9.29492652e-04, 1.09164320e-04,-1.21653263e-05,
  1.06324042e-05,-1.54873513e-05,-4.94976778e-05,-4.53852820e-05,
 -5.64677768e-06, 8.45905161e-04, 1.92311816e-04, 3.74347611e-05,
  1.63835835e-02, 2.07550452e-03, 6.41513375e-03,-2.21429507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.91285704,  5.88467355, -0.57662426,  5.88467355,  6.01672364,
        1.05999882, -0.57662426,  1.05999882, 16.73055482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005375465047061656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03267626e-13, -1.03267626e-13,  1.00000000e+00,  1.06642025e-26,
        1.00000000e+00,  1.03267626e-13, -1.00000000e+00,  0.00000000e+00,
        1.03267626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09559914, -0.09349389,  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:
[ 6.28455791e-05,-2.02166079e-05,-7.11883442e-06, 1.09856409e-05,
 -2.42784518e-05,-2.75408271e-05,-3.79687266e-05,-3.64166715e-06,
 -1.81182288e-05,-6.01254886e-06, 3.56953546e-05, 3.64915878e-05,
  2.84054021e-02, 1.32476179e-02, 3.97910922e-04,-3.04769111e-04,
  2.06221522e-05,-4.20912095e-06,-4.90501223e+00, 2.59573669e-04,
  1.18142676e-02,-6.53958118e-04]


--- Step 1007 ---
qpos:
[ 0.01872345, 0.0300928 ,-0.00952014,-0.02557022, 0.00788   , 0.00468268,
 -0.00785085, 0.02707619, 0.012328  , 0.02796828,-0.00832096, 0.02644916,
  1.20688314, 0.00379365, 1.11709425, 0.04539383, 0.05835005,-0.07842525,
  0.17145005, 0.99954193, 0.02759732,-0.00309941,-0.01202968]

qacc:
[  3.46337079,  0.20714854, -1.52775278,  4.0605646 , -2.56192184,
   0.5370554 , -0.14229108, -5.93531132,-10.90647331, -1.50914777,
   4.49027528, -3.33667778, 46.87795874, 20.01660674, -5.18197527,
  16.16015182, -2.35631116,  0.83271037, -0.32218431,-13.90616769,
 -21.23926057, -2.20975713]

qfrc_actuator:
[ 1.54428925e-04, 9.29488992e-04, 1.10052355e-04,-4.80747262e-06,
 -3.56722008e-06,-3.30165328e-07,-6.73035178e-05,-6.40312809e-05,
 -7.11559328e-05, 8.23923338e-04, 2.13055226e-04, 4.12643188e-05,
  1.63740342e-02, 2.23001349e-03, 6.42612223e-03,-2.12242241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.91552376,  5.89809862, -0.45371139,  5.89809862,  5.99855981,
        1.07944139, -0.45371139,  1.07944139, 19.94790637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005378697273233646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03205569e-13, -1.03205569e-13,  1.00000000e+00, -1.06513895e-26,
        1.00000000e+00,  1.03205569e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03205569e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560202, -0.0934774 ,  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:
[ 2.07790273e-05,-1.23133595e-05,-3.79376420e-06, 6.45470388e-06,
 -1.48975200e-05,-8.20946388e-06,-2.82828434e-05,-2.12051433e-05,
 -6.60475255e-05,-1.63881086e-05, 2.51727175e-05, 5.52104342e-06,
  1.85777462e-02, 1.02821843e-02, 4.27349698e-04, 1.74861052e-04,
  1.28179556e-05,-9.64889201e-07,-4.90500566e+00, 2.52494915e-04,
  1.18192843e-02,-6.55179854e-04]


--- Step 1008 ---
qpos:
[ 0.01872466, 0.03009363,-0.00952118,-0.02556931, 0.00788012, 0.00468189,
 -0.00785118, 0.02707438, 0.01232835, 0.02796732,-0.00832071, 0.02644848,
  1.20711412, 0.00377341, 1.11741067, 0.04538758, 0.05833503,-0.07841877,
  0.17144923, 0.99954307, 0.0275865 ,-0.00316318,-0.01194295]

qacc:
[ -4.09933543,  2.47188026, -8.69223148, 11.09372856,  1.52901655,
   0.13629396,  1.21191151, -5.87670582,  2.11481716, -1.03577009,
   4.28413409, -8.69862001, 29.0190076 , 18.40347995, 10.710204  ,
 -36.36811211, -2.32761041,  0.84859508, -0.43950099,-12.86303632,
 -20.93966449, -0.80132151]

qfrc_actuator:
[ 1.29380590e-04, 9.47063121e-04, 7.52263134e-05,-8.08306958e-07,
  5.86446095e-06, 4.46671952e-05,-5.98734790e-05,-7.43655275e-05,
 -5.64733018e-05, 7.93410708e-04, 2.07365477e-04, 2.59164770e-05,
  1.63670274e-02, 2.29253753e-03, 6.37339099e-03,-2.31555456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.8960289 ,  5.88634863, -0.33772271,  5.88634863,  5.95578466,
        1.04151481, -0.33772271,  1.04151481, 24.04914415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005355057874044528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03661160e-13, -1.03661160e-13,  1.00000000e+00, -1.07456361e-26,
        1.00000000e+00,  1.03661160e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03661160e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560517, -0.09346476,  0.06199038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44489160e-05, 1.01641290e-05,-3.76204475e-05, 3.46281463e-06,
  9.00746913e-06, 3.36961623e-05, 1.53652112e-06,-1.20703013e-05,
  1.27360584e-05,-3.42395782e-05,-5.77391472e-06,-1.50668757e-05,
  1.25351136e-02, 7.09682224e-03, 3.14372007e-04,-1.01581603e-04,
  1.07051992e-05,-7.18510588e-07,-4.90500198e+00, 2.46567295e-04,
  1.18234548e-02,-6.55741912e-04]


--- Step 1009 ---
qpos:
[ 0.01872522, 0.03009445,-0.00952259,-0.025568  , 0.00787999, 0.00468129,
 -0.0078509 , 0.0270731 , 0.01232886, 0.02796653,-0.00832073, 0.02644792,
  1.2072653 , 0.00375157, 1.11769671, 0.04538579, 0.0583121 ,-0.07841122,
  0.17144703, 0.99954361, 0.02757512,-0.00326813,-0.01189578]

qacc:
[-5.62285744e+00, 1.84074019e+00,-8.22296845e+00, 1.56229557e+01,
 -2.03285444e+00,-3.40680313e-01,-7.29148531e-01, 9.04573870e+00,
  1.45765462e+00, 1.25968429e+00,-4.73134374e+00, 7.35438227e+00,
 -5.91288451e+01, 5.27847572e+01,-5.41108253e+01, 1.34116837e+02,
 -1.97438442e+00, 2.64971075e-01,-3.48938248e-01,-8.58911043e-02,
 -2.11306474e+01,-1.92036443e+01]

qfrc_actuator:
[ 9.63987193e-05, 9.39377313e-04, 5.51691602e-05, 1.89269219e-05,
 -6.37880390e-06, 7.18000517e-05,-1.97138220e-05,-4.41743672e-05,
 -4.79502012e-05, 8.28903648e-04, 2.03820993e-04, 3.48924855e-05,
  1.63607995e-02, 2.29265515e-03, 6.33027686e-03,-2.49808812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88865485,  0.44920638, -0.76676011,  0.44920638,  0.26467218,
       -0.36556023, -0.76676011, -0.36556023,  0.6744914 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.550885941698454e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55715474e-01, -9.31359073e-01, -7.76967074e-02, -2.77217227e-02,
       -7.25829486e-02,  9.96977042e-01, -9.34183070e-01,  3.56794048e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07083593, -0.04682422,  0.2874141 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85905634, -5.85567323,  0.1990786 , -5.85567323,  5.87556747,
        0.48565629,  0.1990786 ,  0.48565629, 20.14408995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005310156225499657
  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([ 0.09560855, -0.09345515,  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:
[-3.36911619e-05,-9.65606639e-06,-2.24713390e-05, 1.89354534e-05,
 -1.19750810e-05, 4.58158948e-05, 4.69085955e-05, 3.14596363e-05,
  8.88273127e-06, 1.45464165e-05,-1.18400150e-05, 7.01834446e-06,
  8.49282542e-03, 4.78737784e-03, 1.85104223e-04,-1.31260850e-04,
  1.36692771e-05,-3.16492118e-06,-4.90500055e+00, 2.41148519e-04,
  1.18273320e-02,-6.55713364e-04]


--- Step 1010 ---
qpos:
[ 0.01872538, 0.03009506,-0.00952359,-0.02556649, 0.00787938, 0.00468072,
 -0.00784979, 0.02707255, 0.01232844, 0.02796607,-0.00832064, 0.02644743,
  1.20737548, 0.00374427, 1.11798178, 0.04537737, 0.05829694,-0.07840437,
  0.17144655, 0.99954429, 0.02756913,-0.00333586,-0.0118333 ]

qacc:
[ -3.41553333, -1.00132745,  2.32508818,  0.62262262, -4.28954839,
  -0.80249831, -0.08626008, 11.14884568, -7.97736464,  0.24506178,
  -0.50113778,  1.16004312,-43.06530349, 54.70880118, 22.20849275,
 -71.39685665,  1.9409699 , -0.17146421,  0.43090953,  2.49610155,
  18.84789132,  7.12553011]

qfrc_actuator:
[ 7.67785844e-05, 9.34441789e-04, 7.94234374e-05, 3.00071624e-05,
 -3.12892139e-05, 7.04589375e-05, 2.16570736e-05,-8.12578911e-06,
 -9.64045702e-05, 8.68164486e-04, 2.19619260e-04, 4.04195315e-05,
  1.63719066e-02, 2.32018754e-03, 6.31705448e-03,-2.53855963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88874739, -0.77804382,  0.42955761, -0.77804382,  0.76040248,
       -0.23246698,  0.42955761, -0.23246698,  0.46768745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1688386855688822e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35557421, -0.93141081, -0.07772317, -0.02772021, -0.07261185,
        0.99697498, -0.93423689,  0.35665309,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078468, -0.04681552,  0.28740303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8401389 , -5.72614917,  1.14823261, -5.72614917,  6.48850371,
        3.23334623,  1.14823261,  3.23334623, 21.96459194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005287145197550441
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57489011e-13,  5.24963370e-14,  1.00000000e+00,  8.26759620e-27,
        1.00000000e+00, -5.24963370e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57489011e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746955, -0.08118715,  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:
[-2.06065881e-05,-1.41952090e-05, 2.01522159e-05, 1.02577828e-05,
 -2.52379408e-05, 3.53346818e-05, 5.77082622e-05, 4.02513791e-05,
 -4.81911586e-05, 4.52850726e-05, 1.75984207e-05, 5.88010599e-06,
  1.24908965e-02, 4.89456118e-03, 1.68627517e-03,-3.95801365e-04,
  1.58242036e-05,-3.27294086e-06,-4.90500327e+00, 2.41731877e-04,
  1.18276482e-02,-6.55544706e-04]


--- Step 1011 ---
qpos:
[ 0.01872496, 0.03009562,-0.00952408,-0.02556489, 0.00787882, 0.00468025,
 -0.00784868, 0.02707249, 0.0123271 , 0.02796582,-0.00832032, 0.02644702,
  1.20744084, 0.00372624, 1.11827575, 0.04536881, 0.05828869,-0.07839839,
  0.1714473 , 0.9995451 , 0.027572  ,-0.00337003,-0.0117479 ]

qacc:
[ -4.97410106, -1.30096138,  4.20144073, -3.46313622,  0.44846076,
   1.14772672, -5.97706796, 14.37522614, -7.85691878, -0.16061416,
   0.69433526,  0.0759678 ,-27.72488971, 15.60424832, 15.35912123,
 -30.4508753 ,  1.72626844, -0.21881108,  0.31009044,  4.26395514,
  17.13759422, 10.98019089]

qfrc_actuator:
[ 4.74303839e-05, 9.49121125e-04, 1.11886624e-04, 3.59321302e-05,
 -2.79438371e-05, 5.21046078e-05, 1.00255976e-05, 1.32926129e-05,
 -1.42500909e-04, 8.73961625e-04, 2.28989576e-04, 4.38929392e-05,
  1.63661664e-02, 2.33089331e-03, 6.30423591e-03,-2.41347637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88892671, -0.72819145,  0.50983126, -0.72819145,  0.67499908,
       -0.3055526 ,  0.50983126, -0.3055526 ,  0.45250625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7836987020940345e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35547123, -0.93144922, -0.07773385, -0.02771601, -0.07262489,
        0.99697415, -0.9342762 ,  0.3565501 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074851, -0.04680901,  0.287391  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005334562103374713
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.20297169e-14, -5.20297169e-14,  1.00000000e+00, -2.70709144e-27,
        1.00000000e+00,  5.20297169e-14, -1.00000000e+00,  0.00000000e+00,
       -5.20297169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747132, -0.08118545,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99560634e-05, 1.13215588e-05, 3.23702088e-05, 6.21253380e-06,
  2.63647034e-06, 1.50504009e-05, 4.16386031e-06, 2.57137980e-05,
 -4.74966882e-05, 3.50067744e-05, 2.11025999e-05, 6.14125581e-06,
  1.45333405e-02, 4.17713668e-03, 1.71628500e-03, 5.96063865e-05,
  1.01169066e-05,-2.14916517e-06,-4.90500129e+00, 2.43100731e-04,
  1.18277753e-02,-6.55445004e-04]


--- Step 1012 ---
qpos:
[ 0.01872419, 0.03009636,-0.00952396,-0.02556327, 0.00787831, 0.00467977,
 -0.00784763, 0.0270727 , 0.01232522, 0.02796559,-0.00831978, 0.02644668,
  1.20746303, 0.00369099, 1.11858266, 0.04536085, 0.05828665,-0.07839336,
  0.17144887, 0.99954604, 0.02758608,-0.00337358,-0.01163378]

qacc:
[ -2.97875214, -1.39633438,  5.19518338, -5.83558198,  0.38819955,
   0.72262804, -3.74483224,  8.59329199, -4.61825004, -0.45255765,
   1.37058743, -0.54832436,-21.88311495,  3.85463914, 18.53659416,
 -34.24091593,  1.55579193, -0.23920942,  0.20261904,  5.47412502,
  15.76683853, 13.91541356]

qfrc_actuator:
[ 3.03396872e-05, 9.75478167e-04, 1.49001530e-04, 3.87938336e-05,
 -2.57431192e-05, 4.12248215e-05, 2.60780478e-06, 2.58758926e-05,
 -1.69069016e-04, 8.59657136e-04, 2.34352419e-04, 4.60969448e-05,
  1.63361608e-02, 2.31546197e-03, 6.29613372e-03,-2.33491846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88903145, -0.72432544,  0.51548965, -0.72432544,  0.66146727,
       -0.31975524,  0.51548965, -0.31975524,  0.43973658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0595127030588202e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40876754, -0.91138896, -0.0477416 , -0.0195375 , -0.04356084,
        0.99885972, -0.91242938,  0.40923418,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072645, -0.04680329,  0.28737171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005349745971407471
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03764088e-13,  5.18820441e-14,  1.00000000e+00,  5.38349299e-27,
        1.00000000e+00, -5.18820441e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03764088e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747199, -0.08118416,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79628584e-05, 3.96119218e-05, 4.36519879e-05, 4.58491957e-06,
  2.27965717e-06,-4.96230965e-07,-2.91375800e-06, 1.38713644e-05,
 -2.79508902e-05, 9.87921388e-06, 1.54063834e-05, 4.55636300e-06,
  1.67432444e-02, 4.69824469e-03, 1.25859113e-03, 1.44025186e-04,
  1.02686091e-05,-1.28969733e-06,-4.90500082e+00, 2.45264089e-04,
  1.18269511e-02,-6.55487611e-04]


--- Step 1013 ---
qpos:
[ 0.0187239 , 0.03009759,-0.0095238 ,-0.02556197, 0.00787782, 0.00467934,
 -0.00784641, 0.02707304, 0.01232372, 0.02796541,-0.00831943, 0.02644639,
  1.20744536, 0.00363863, 1.11890074, 0.0453512 , 0.05829037,-0.07838938,
  0.17145086, 0.99954707, 0.02761315,-0.00334855,-0.01148705]

qacc:
[  4.19628605, -0.17436168,  2.97012187, -9.12772169,  0.27185112,
  -0.17789201,  0.16840727,  1.73130919,  3.27346268,  0.70660271,
  -2.67687669,  3.9228313 ,-19.42984255,  1.70057539, 22.64554571,
 -52.83478296,  1.4375374 , -0.26052237,  0.10384391,  6.37523808,
  14.80579838, 15.87606627]

qfrc_actuator:
[ 5.61087557e-05, 1.00865331e-03, 1.53113448e-04, 2.20930007e-05,
 -2.42428164e-05, 5.26426888e-05, 1.55253285e-05, 3.31767205e-05,
 -1.48425622e-04, 8.51154467e-04, 2.19464653e-04, 4.75145804e-05,
  1.63356676e-02, 2.34839240e-03, 6.26887297e-03,-2.44473001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88901759, -0.70673848,  0.53932644, -0.70673848,  0.63404096,
       -0.3341238 ,  0.53932644, -0.3341238 ,  0.45117859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.025183405866304e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08779552e-01, -9.11381489e-01, -4.77813664e-02, -1.95543802e-02,
       -4.35968484e-02,  9.98857818e-01, -9.12423643e-01,  4.09246987e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07071858, -0.04679691,  0.28732214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005339072941804718
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.19857584e-14, -2.59928792e-14,  1.00000000e+00, -1.35125954e-27,
        1.00000000e+00,  2.59928792e-14, -1.00000000e+00,  0.00000000e+00,
       -5.19857584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747177, -0.08118321,  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:
[ 2.52547351e-05, 6.45022916e-05, 1.78159358e-05,-1.34099575e-05,
  1.56445463e-06, 1.11382583e-05, 1.29288053e-05, 7.44685446e-06,
  1.98258364e-05, 3.86554879e-07,-1.07955053e-05, 2.46361195e-06,
  1.89001604e-02, 5.59275357e-03, 5.78387977e-04, 3.12585782e-06,
  1.62451719e-05,-8.49031948e-07,-4.90500199e+00, 2.49146847e-04,
  1.18247612e-02,-6.55704803e-04]


--- Step 1014 ---
qpos:
[ 0.01872462, 0.03009897,-0.00952341,-0.02556085, 0.0078777 , 0.00467909,
 -0.00784534, 0.02707277, 0.01232283, 0.02796496,-0.00831885, 0.02644648,
  1.20739357, 0.00356759, 1.11923762, 0.04534426, 0.05829923,-0.07838646,
  0.17145298, 0.99954819, 0.02765505,-0.00329753,-0.01130237]

qacc:
[  8.58871032, -0.80047938,  3.81180248, -7.21814394,  3.21680611,
  -0.54420925,  4.85054883,-15.16488999,  5.15669869, -0.2097769 ,
  -1.3670348 ,  7.7369808 ,-13.9468757 , -4.89413388, 20.17045929,
 -28.85473778,  1.28509679, -0.26597057,  0.03390686,  7.3236762 ,
  13.60430633, 18.58836618]

qfrc_actuator:
[ 1.06894339e-04, 9.92254109e-04, 1.55480132e-04, 1.17532573e-05,
 -5.41388351e-06, 5.96455842e-05, 4.92803169e-06, 1.83994996e-06,
 -1.17918437e-04, 8.28346342e-04, 2.28260101e-04, 6.61996777e-05,
  1.63328341e-02, 2.41711253e-03, 6.26709094e-03,-2.20395031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8888974 , -0.66458415,  0.59031051, -0.66458415,  0.58039809,
       -0.34731509,  0.59031051, -0.34731509,  0.49788267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6985008665797447e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08845845e-01, -9.11349336e-01, -4.78274242e-02, -1.95764467e-02,
       -4.36374294e-02,  9.98855614e-01, -9.12393467e-01,  4.09314258e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072056, -0.04679242,  0.28729282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005307943240011603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.22906413e-14,  7.84359620e-14,  1.00000000e+00,  4.10146676e-27,
        1.00000000e+00, -7.84359620e-14, -1.00000000e+00,  0.00000000e+00,
       -5.22906413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747086, -0.08118252,  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:
[ 5.15395106e-05, 2.27352018e-05, 1.73987384e-05,-7.22991129e-06,
  1.88764486e-05, 1.62225842e-05,-6.45647925e-06,-3.02697642e-05,
  3.10889638e-05,-2.47109872e-05, 7.62722062e-06, 1.83752286e-05,
  2.08887290e-02, 6.51750266e-03, 1.18481789e-05, 3.26874874e-04,
  2.80586468e-05,-8.80235578e-07,-4.90500498e+00, 2.55304928e-04,
  1.18208295e-02,-6.56123356e-04]


--- Step 1015 ---
qpos:
[ 0.0187256 , 0.03010003,-0.00952278,-0.02555946, 0.00787781, 0.00467897,
 -0.00784495, 0.02707218, 0.0123223 , 0.02796413,-0.00831754, 0.02644677,
  1.20731385, 0.00347886, 1.11959619, 0.04534216, 0.05831271,-0.07838461,
  0.171455  , 0.99954936, 0.02771326,-0.00322269,-0.01107517]

qacc:
[  2.2363843 , -0.55790229,  0.26280807,  4.20598472,  1.97125462,
   1.3583105 , -3.23424289, -1.44504852,  3.20771565, -2.16680494,
   6.13378011, -3.53418071, -9.86321213, -7.72524251, 17.72710361,
 -14.72924703,  1.15505318, -0.26660398, -0.02470165,  8.08985537,
  12.58116386, 20.89640231]

qfrc_actuator:
[ 1.18725291e-04, 9.46279726e-04, 1.56616602e-04, 2.29577367e-05,
  5.71114254e-06, 4.60743954e-05,-3.72661705e-05,-1.64945544e-05,
 -9.96184185e-05, 8.15000354e-04, 2.68679393e-04, 7.71496223e-05,
  1.63241889e-02, 2.48021487e-03, 6.23690192e-03,-1.91631006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88871673, -0.62382281,  0.63297909, -0.62382281,  0.53113414,
       -0.35241003,  0.63297909, -0.35241003,  0.54140445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0275157101290523e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4089558 , -0.91129696, -0.04788521, -0.01960542, -0.04368776,
        0.99885285, -0.91234356,  0.40942548,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073112, -0.04678968,  0.28728067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005260947744538252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27577482e-14,  1.58273244e-13,  1.00000000e+00,  8.35013997e-27,
        1.00000000e+00, -1.58273244e-13, -1.00000000e+00,  0.00000000e+00,
       -5.27577482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746941, -0.08118204,  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:
[ 1.33354229e-05,-3.00182324e-05, 7.69888852e-06, 1.26303255e-05,
  1.16686570e-05,-7.12677467e-06,-4.06956123e-05,-1.84538425e-05,
  1.92015159e-05,-2.47842116e-05, 3.68863047e-05, 1.05105575e-05,
  2.25845249e-02, 7.51558930e-03,-9.64488766e-04, 4.77591193e-04,
  4.69284573e-05,-1.47638327e-06,-4.90501018e+00, 2.63944907e-04,
  1.18145264e-02,-6.56778745e-04]


--- Step 1016 ---
qpos:
[ 0.01872533, 0.03010104,-0.00952275,-0.02555792, 0.00787805, 0.00467878,
 -0.00784505, 0.02707208, 0.01232235, 0.02796359,-0.0083165 , 0.02644614,
  1.20741399, 0.0034021 , 1.11992417, 0.04534724, 0.05831663,-0.0783799 ,
  0.17145617, 0.99955116, 0.02773498,-0.00319022,-0.01086638]

qacc:
[ -10.69187413,   1.94558822,  -7.64595675,  11.22714206,   1.15443461,
    2.28148134, -10.34645487,  19.6549527 ,   4.82694922,  -0.75132931,
    7.10924979, -22.82551645, 134.14347168,-114.38175599, -76.6029693 ,
  179.7110623 ,  -2.39029764,   0.71261258,  -0.21241625, -18.04503003,
  -21.63313196,  -8.5574385 ]

qfrc_actuator:
[ 5.42667687e-05, 9.36206129e-04, 1.21389150e-04, 2.89640948e-05,
  1.22070758e-05, 3.79076568e-05,-6.23373815e-05, 8.44335849e-06,
 -7.09008031e-05, 8.43057742e-04, 2.56454364e-04, 3.02244953e-05,
  1.63393574e-02, 2.56418333e-03, 6.19405700e-03,-1.97657547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.78996677, -5.70522387,  0.98698321, -5.70522387,  5.90516877,
        0.66592137,  0.98698321,  0.66592137,  9.6393033 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005225988418064154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12442688e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.12442688e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09563344, -0.09333056,  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:
[-6.40855111e-05,-2.47761353e-05,-4.00665311e-05, 5.22584163e-06,
  6.82746674e-06,-2.13439921e-05,-3.21966688e-05, 2.28654912e-05,
  2.92691100e-05, 2.22867444e-05,-1.24452444e-05,-4.65090127e-05,
  2.39950623e-02, 8.48557456e-03,-2.09893283e-03, 1.73600992e-04,
  7.35796702e-05,-2.65110421e-06,-4.90501790e+00, 2.75322848e-04,
  1.18053575e-02,-6.57697940e-04]


--- Step 1017 ---
qpos:
[ 0.0187243 , 0.03010208,-0.00952321,-0.02555634, 0.00787837, 0.00467837,
 -0.00784515, 0.0270726 , 0.01232309, 0.02796355,-0.00831658, 0.02644463,
  1.20747431, 0.00333308, 1.12022312, 0.04535458, 0.05831226,-0.07837473,
  0.17145673, 0.99955243, 0.02774878,-0.00320049,-0.01070954]

qacc:
[ -6.62867974,  1.52267228, -5.51541117,  6.96413356,  0.67337066,
   1.04414765, -6.76937251, 17.8032284 ,  5.82707212,  1.96658958,
  -2.38526718,-11.27968718,-34.95068858, 39.36021742,-47.03705152,
 108.60488497, -2.07171638,  0.11865981, -0.15299197, -3.7992159 ,
 -22.12118528,-25.35741479]

qfrc_actuator:
[ 1.64448003e-05, 9.47545548e-04, 1.00602742e-04, 3.18610577e-05,
  1.59287881e-05, 3.31310044e-05,-5.92927703e-05, 4.09065320e-05,
 -3.62768500e-05, 8.59936328e-04, 1.95613418e-04,-1.48767576e-05,
  1.63298157e-02, 2.63807877e-03, 6.17417222e-03,-2.00131966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88867441,  0.49204274, -0.74002443,  0.49204274,  0.32880175,
       -0.37225971, -0.74002443, -0.37225971,  0.64115869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.91997704210223e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40912634, -0.91121473, -0.04799334, -0.01965799, -0.04378269,
        0.99884766, -0.91226597,  0.40959834,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074606, -0.04678768,  0.28723665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80185693, -5.76857497,  0.62055355, -5.76857497,  5.97963157,
        1.65256704,  0.62055355,  1.65256704, 21.16387832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005240499138050858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.29636107e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.29636107e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09563738, -0.09330534,  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:
[-3.97002517e-05,-1.06282098e-05,-3.06700526e-05, 5.48713943e-07,
  3.90863822e-06,-2.23722844e-05,-4.53537811e-06, 3.08800815e-05,
  3.54919978e-05, 2.47968782e-05,-5.93849437e-05,-4.54828400e-05,
  1.49972678e-02, 7.96580447e-03,-5.94886725e-04,-2.11293899e-04,
  5.53714091e-05,-1.18276000e-06,-4.90500549e+00, 2.59800414e-04,
  1.18181037e-02,-6.58654786e-04]


--- Step 1018 ---
qpos:
[ 0.01872316, 0.03010274,-0.00952352,-0.02555439, 0.00787907, 0.00467808,
 -0.00784562, 0.02707315, 0.01232423, 0.02796381,-0.00831771, 0.02644366,
  1.20749946, 0.00326331, 1.12048928, 0.04536177, 0.05829995,-0.07836906,
  0.1714563 , 0.9995531 , 0.02775933,-0.0032525 ,-0.01060372]

qacc:
[ -0.85657184, -0.16154397, -1.72951369,  8.2451243 ,  3.39080687,
   1.20165049, -4.18609705,  5.10493674,  3.45659398,  4.44894204,
 -17.5416102 , 28.21367445,-25.0628235 , 21.79709428,-46.19679736,
  95.37339508, -1.984478  ,  0.12213176, -0.24540012, -1.47134963,
 -21.58933351,-24.91726285]

qfrc_actuator:
[ 1.23816844e-05, 9.18407911e-04, 1.06365577e-04, 5.06947852e-05,
  3.57421567e-05, 4.83011452e-05,-7.51708106e-05, 4.20450933e-05,
 -1.62096808e-05, 8.69777484e-04, 1.42053667e-04, 1.24453974e-05,
  1.63027665e-02, 2.70538249e-03, 6.15304663e-03,-2.05596876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88867458,  0.34843532, -0.81751779,  0.34843532,  0.1981923 ,
       -0.29429135, -0.81751779, -0.29429135,  0.76324428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.930261270010296e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40914854, -0.91120218, -0.04804225, -0.01967914, -0.04382681,
        0.9988453 , -0.91225556,  0.40962153,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073193, -0.04677983,  0.28717331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79143765,  5.76379753, -0.56514435,  5.76379753,  5.90813471,
        1.19017067, -0.56514435,  1.19017067, 17.92975733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005227784073480318
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12369717e-13, -5.30924293e-14,  1.00000000e+00, -1.12752242e-26,
        1.00000000e+00,  5.30924293e-14, -1.00000000e+00,  0.00000000e+00,
       -2.12369717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09564131, -0.09328577,  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:
[-5.22564782e-06,-4.14380270e-05,-1.98223746e-07, 1.73252998e-05,
  1.99155358e-05, 3.06191255e-06,-1.99848836e-05, 6.23674523e-07,
  2.11207718e-05, 9.51213590e-06,-5.73217747e-05, 2.54471357e-05,
  1.69594703e-02, 7.64691472e-03, 8.29619138e-04,-3.80616260e-04,
  3.04893920e-05,-1.78288414e-06,-4.90500273e+00, 2.46652164e-04,
  1.18222962e-02,-6.59332897e-04]


--- Step 1019 ---
qpos:
[ 0.01872163, 0.03010269,-0.00952327,-0.02555255, 0.00788035, 0.00467805,
 -0.00784639, 0.02707369, 0.01232457, 0.02796388,-0.0083188 , 0.02644335,
  1.20765847, 0.00322033, 1.12078179, 0.04535375, 0.05829685,-0.07836276,
  0.1714563 , 0.999554  , 0.02776405,-0.00326208,-0.01050321]

qacc:
[-3.27234938e+00,-2.71987427e+00, 8.84270046e+00,-1.12681224e+01,
  5.06086362e+00, 1.12223279e+00,-3.45227369e+00, 3.47981324e+00,
 -6.82626728e+00, 9.87697401e-01,-6.65782712e+00, 1.81863435e+01,
  8.26154590e+01,-4.96494690e+01, 7.95576113e+01,-2.34246071e+02,
  2.30341755e+00, 1.58391520e-01, 1.04082759e-01,-3.15445405e+00,
  2.11020630e+01,-3.23712461e+00]

qfrc_actuator:
[-7.29270966e-06, 8.65383026e-04, 1.27605641e-04, 4.32345646e-05,
  6.48692425e-05, 7.52074859e-05,-8.42913625e-05, 4.24948054e-05,
 -5.81311550e-05, 8.57646444e-04, 1.46515239e-04, 4.66625142e-05,
  1.62981816e-02, 2.77412699e-03, 6.15386327e-03,-2.14479004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.78361977, -5.66753079,  1.15297544, -5.66753079,  6.45611152,
        3.3056799 ,  1.15297544,  3.3056799 , 22.03291879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005218238008200399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.31895547e-14,  7.97843321e-14,  1.00000000e+00,  4.24369310e-27,
        1.00000000e+00, -7.97843321e-14, -1.00000000e+00,  0.00000000e+00,
       -5.31895547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746741, -0.08118551,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98439955e-05,-7.55186529e-05, 1.32496270e-05,-8.90853757e-06,
  2.96949120e-05, 2.45390091e-05,-1.09210946e-05,-9.87758352e-08,
 -4.12978537e-05,-1.75448663e-05, 2.59361278e-07, 3.31400872e-05,
  1.87113648e-02, 7.75419886e-03, 2.46476251e-03,-4.62472624e-04,
  1.70985744e-05,-1.78343284e-06,-4.90500252e+00, 2.40308459e-04,
  1.18246458e-02,-6.59802165e-04]


--- Step 1020 ---
qpos:
[ 0.01872058, 0.03010223,-0.0095228 ,-0.02555187, 0.00788162, 0.00467802,
 -0.00784692, 0.02707456, 0.01232407, 0.02796357,-0.00831943, 0.02644345,
  1.20776279, 0.00320285, 1.12110524, 0.04534561, 0.05830014,-0.07835698,
  0.17145678, 0.99955502, 0.02777724,-0.00324057,-0.01037734]

qacc:
[ 4.00329916e+00,-3.57283356e+00, 1.68039431e+01,-3.68306147e+01,
 -4.08752551e-02, 4.82226266e-02,-1.61595981e+00, 7.17083307e+00,
 -7.22109882e+00,-8.97405011e-01, 7.46881557e-01, 5.91431936e+00,
 -6.31461978e+01, 8.45614859e+01, 5.14696327e+01,-1.01153461e+02,
  1.59440748e+00,-1.29231444e-01, 1.21974938e-01, 4.11204926e+00,
  1.59385713e+01, 1.22350401e+01]

qfrc_actuator:
[ 1.72481108e-05, 8.51768855e-04, 1.39922385e-04,-1.51628437e-05,
  6.37346274e-05, 7.34542849e-05,-7.15301043e-05, 6.03132982e-05,
 -1.00693015e-04, 8.32695175e-04, 1.67345637e-04, 6.69175926e-05,
  1.62931294e-02, 2.79873595e-03, 6.13707477e-03,-2.15025512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8887656 , -0.6501652 ,  0.60596164, -0.6501652 ,  0.57783488,
       -0.33361243,  0.60596164, -0.33361243,  0.53081688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2452448198839398e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40909619, -0.91122072, -0.04813642, -0.01971528, -0.04391381,
        0.99884077, -0.91227826,  0.40957097,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069451, -0.04676488,  0.28703028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005226234981715872
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06216332e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06216332e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746783, -0.08118443,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39356058e-05,-5.34954274e-05,-1.96069853e-06,-6.13491416e-05,
 -2.81709833e-07, 9.72829726e-06, 1.64885231e-05, 1.84896331e-05,
 -4.37817740e-05,-3.32914161e-05, 1.83993524e-05, 2.01618685e-05,
  1.20161046e-02, 6.44243816e-03, 1.12428174e-03, 2.90295158e-04,
  1.24405158e-05,-8.51156661e-07,-4.90500063e+00, 2.47085132e-04,
  1.18258160e-02,-6.59767640e-04]


--- Step 1021 ---
qpos:
[ 0.01871982, 0.03010168,-0.00952265,-0.02555155, 0.00788253, 0.00467779,
 -0.00784687, 0.0270753 , 0.01232374, 0.02796335,-0.00832027, 0.02644378,
  1.20781077, 0.00317329, 1.12145154, 0.04533905, 0.05830888,-0.07835198,
  0.1714575 , 0.99955611, 0.02780293,-0.00319172,-0.01021708]

qacc:
[ 2.58318342e+00, 9.84241968e-03, 1.32735954e+00,-7.04921086e+00,
 -3.21664105e+00,-2.13400852e+00, 7.81079821e+00,-1.09419350e+01,
  1.54438464e+00, 1.13048243e+00,-4.81650998e+00, 8.97229550e+00,
 -3.64743974e+01, 2.26811472e+01, 3.14295917e+01,-5.52580131e+01,
  1.36556916e+00,-1.95672328e-01, 6.04222309e-02, 6.15678638e+00,
  1.41998811e+01, 1.67888001e+01]

qfrc_actuator:
[ 3.21168434e-05, 8.61784625e-04, 1.29233715e-04,-3.20276642e-05,
  4.47946090e-05, 5.46603564e-05,-4.60516099e-05, 5.26957163e-05,
 -9.00124719e-05, 8.53585828e-04, 1.62078294e-04, 7.87831294e-05,
  1.62839705e-02, 2.82294511e-03, 6.11368649e-03,-2.15020267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88922558, -0.62940888,  0.62814536, -0.62940888,  0.54014429,
       -0.34978346,  0.62814536, -0.34978346,  0.53873852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4911212572562325e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40905028, -0.91124045, -0.04815307, -0.0197199 , -0.04392999,
        0.99883997, -0.91229874,  0.40952534,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069256, -0.04676592,  0.28698596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005211075330024406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06525329e-13, -7.98939965e-14,  1.00000000e+00, -8.51073424e-27,
        1.00000000e+00,  7.98939965e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06525329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02746746, -0.08118365,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55510744e-05,-2.29084065e-05,-2.41027640e-05,-2.04200209e-05,
 -1.89460644e-05,-9.15030414e-06, 3.01632359e-05,-6.27103524e-06,
  9.38139402e-06, 6.94014172e-06,-9.16820433e-06, 1.14714919e-05,
  1.47400199e-02, 5.19127457e-03,-4.52279885e-04, 2.95268768e-04,
  2.02288898e-05,-3.64191353e-07,-4.90500202e+00, 2.52651903e-04,
  1.18237572e-02,-6.59897983e-04]


--- Step 1022 ---
qpos:
[ 0.01871959, 0.03010113,-0.00952248,-0.02555044, 0.0078832 , 0.00467742,
 -0.00784648, 0.02707561, 0.01232355, 0.0279632 ,-0.00832088, 0.02644387,
  1.20784514, 0.00309955, 1.12176372, 0.04534333, 0.05830923,-0.07834663,
  0.17145799, 0.99955666, 0.02782351,-0.00318656,-0.01010875]

qacc:
[ 4.53883457e+00, 1.62537341e+00,-9.17031915e+00, 2.29691106e+01,
 -2.04594862e+00,-2.04554623e+00, 8.86646264e+00,-1.68425521e+01,
  1.11377972e+00,-1.00041027e+00, 4.69665466e+00,-9.14499338e+00,
  2.42252239e+01,-6.69292220e+01,-8.62292358e+01, 2.21480043e+02,
 -2.10085955e+00, 8.82258271e-02,-5.80165782e-02,-2.40445822e+00,
 -2.25826410e+01,-2.53469668e+01]

qfrc_actuator:
[ 5.89119232e-05, 8.85816689e-04, 1.40698410e-04, 1.12029288e-05,
  3.32887424e-05, 4.35954768e-05,-3.11247932e-05, 3.01582246e-05,
 -8.35836396e-05, 8.66155321e-04, 1.77122678e-04, 6.78836330e-05,
  1.62904422e-02, 2.87429864e-03, 6.12855906e-03,-2.14849037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88970778,  0.56058207, -0.69088905,  0.56058207,  0.44704125,
       -0.35917623, -0.69088905, -0.35917623,  0.59827495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3288283105247304e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40906477, -0.91123271, -0.0481764 , -0.01973018, -0.04395095,
        0.99883884, -0.91229202,  0.40954031,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070014, -0.04676762,  0.2869607 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7945952 , -5.71380724,  0.96423046, -5.71380724,  5.93225471,
        0.81573845,  0.96423046,  0.81573845, 10.62847304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005231638257805066
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06106631e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06106631e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565369, -0.09321468,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72436010e-05, 5.39475216e-06, 3.06235015e-06, 4.10179058e-05,
 -1.20484418e-05,-1.02203304e-05, 1.65361723e-05,-2.20084475e-05,
  6.70485635e-06, 1.50675266e-05, 1.57565526e-05,-1.06948849e-05,
  1.75618333e-02, 5.84676124e-03,-1.58621086e-03, 2.16793135e-04,
  3.52763654e-05,-3.95818435e-07,-4.90500549e+00, 2.60371636e-04,
  1.18195045e-02,-6.60219431e-04]


--- Step 1023 ---
qpos:
[ 0.01872038, 0.03010089,-0.0095223 ,-0.02554954, 0.00788373, 0.00467694,
 -0.00784592, 0.027076  , 0.01232309, 0.02796294,-0.00832094, 0.02644384,
  1.20785696, 0.00302302, 1.12204062, 0.04534832, 0.0583015 ,-0.07834071,
  0.17145779, 0.99955664, 0.02784149,-0.00322374,-0.01004917]

qacc:
[  8.68070613, -0.13596336,  1.96979359, -6.03988386, -1.25295424,
  -0.46998084,  1.09924062,  0.14139826, -2.24697352, -1.96323282,
   7.33149868,-10.3825232 ,-13.53158394,  8.95939912,-53.41510618,
 113.16729423, -2.01822993,  0.14132393, -0.17427602, -1.15161661,
 -21.8490986 ,-23.76586157]

qfrc_actuator:
[ 1.10267699e-04, 9.18207915e-04, 1.47511083e-04, 7.11459440e-07,
  2.62565794e-05, 3.71876319e-05,-2.25337625e-05, 3.45267308e-05,
 -9.74792811e-05, 8.55956124e-04, 2.04014196e-04, 6.14465171e-05,
  1.62884966e-02, 2.96111803e-03, 6.14406407e-03,-2.17343952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88970017,  0.39933451, -0.79504613,  0.39933451,  0.25076207,
       -0.32092482, -0.79504613, -0.32092482,  0.72850656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.317258835087247e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4091245 , -0.91120346, -0.04822244, -0.01975196, -0.04399163,
        0.99883662, -0.91226476,  0.40960102,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069654, -0.04676291,  0.28691781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79671522,  5.77540129, -0.4966359 ,  5.77540129,  5.89413036,
        1.13284514, -0.4966359 ,  1.13284514, 18.97062243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005234225555888761
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18162547e-13, -1.59081274e-13,  1.00000000e+00, -5.06137033e-26,
        1.00000000e+00,  1.59081274e-13, -1.00000000e+00,  0.00000000e+00,
       -3.18162547e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565675, -0.09319675,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21510951e-05, 3.78222021e-05, 9.72432771e-06,-9.35849877e-06,
 -7.37788357e-06,-9.64657210e-06, 7.75464546e-06, 4.07413161e-06,
 -1.36949580e-05, 1.03700739e-06, 3.15827982e-05,-5.45319811e-06,
  1.82395506e-02, 8.14435201e-03, 1.29533153e-04,-3.52003921e-04,
  1.49215224e-05,-5.86761073e-07,-4.90500278e+00, 2.49055320e-04,
  1.18226810e-02,-6.60991062e-04]


--- Step 1024 ---
qpos:
[ 0.01872108, 0.03010081,-0.009522  ,-0.02554877, 0.00788383, 0.00467658,
 -0.00784565, 0.02707678, 0.01232281, 0.02796286,-0.00832103, 0.02644338,
  1.20784641, 0.0029456 , 1.12228893, 0.04535531, 0.05828593,-0.0783342 ,
  0.1714565 , 0.99955599, 0.02785994,-0.0033025 ,-0.010037  ]

qacc:
[ -0.68006929, -0.38083164,  2.19635508, -4.64261615, -3.82608656,
   1.83474102, -7.93991308, 15.13839954,  1.54261455, -0.55780058,
   4.08725824,-11.4202917 ,-15.07907634, 12.38881618,-47.27066986,
 106.38903207, -1.95972621,  0.14802682, -0.27146489,  0.37091094,
 -21.43952089,-23.12699552]

qfrc_actuator:
[ 1.04654398e-04, 9.19808201e-04, 1.51513559e-04,-5.80678653e-06,
  4.15886136e-06, 5.13634778e-05,-3.54613936e-05, 5.46954660e-05,
 -8.77204553e-05, 8.67763659e-04, 2.02088282e-04, 3.99237668e-05,
  1.62827953e-02, 3.02774092e-03, 6.13465166e-03,-1.99555204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88924226,  0.30233359, -0.83626922,  0.30233359,  0.16802083,
       -0.26074075, -0.83626922, -0.26074075,  0.79497754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5247764373006263e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09162090e-01, -9.11182881e-01, -4.82922464e-02, -1.97824376e-02,
       -4.40544688e-02,  9.98833249e-01, -9.12247247e-01,  4.09640038e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07068187, -0.04675258,  0.28685865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77868941,  5.76479951, -0.40042221,  5.76479951,  5.86178607,
        1.19632616, -0.40042221,  1.19632616, 23.00196106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005212215267039466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19506093e-13,  5.32510155e-14,  1.00000000e+00,  1.70140239e-26,
        1.00000000e+00, -5.32510155e-14, -1.00000000e+00,  0.00000000e+00,
       -3.19506093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565999, -0.09318294,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07994948e-06, 2.43782585e-05, 1.26837476e-05,-4.74889575e-06,
 -2.23112387e-05, 1.05655482e-05,-1.38256287e-05, 2.01022162e-05,
  9.35550324e-06, 1.86816333e-05, 1.99357663e-06,-2.04903713e-05,
  1.93601166e-02, 8.35143825e-03, 1.87843857e-03,-2.10777724e-04,
  6.27388128e-06,-1.06890126e-07,-4.90500194e+00, 2.44533223e-04,
  1.18248881e-02,-6.61577514e-04]


--- Step 1025 ---
qpos:
[ 0.01872137, 0.03010052,-0.00952092,-0.02554774, 0.00788366, 0.00467677,
 -0.00784599, 0.02707707, 0.01232334, 0.02796309,-0.0083212 , 0.02644231,
  1.20781706, 0.00289546, 1.12254936, 0.04535726, 0.05827746,-0.078329  ,
  0.17145647, 0.99955561, 0.02788263,-0.0033452 ,-0.00999771]

qacc:
[ -3.54836515, -1.8599482 ,  5.14129627, -1.66072704, -2.36845369,
   1.41816819, -1.94995015, -5.91626865,  6.87952491, -0.62250763,
   5.41068685,-16.13402253,-35.58388306, 60.18468437, 36.4965298 ,
 -93.8855018 ,  1.77482486, -0.32701301,  0.31725155,  1.98035169,
  18.41608987, 13.05169237]

qfrc_actuator:
[ 8.32990849e-05, 9.02947855e-04, 1.89222655e-04, 7.80075816e-06,
 -8.87791855e-06, 9.54366692e-05,-6.08963782e-05, 3.07414050e-05,
 -4.63573032e-05, 8.92531337e-04, 2.00984571e-04, 9.69103262e-06,
  1.62916138e-02, 3.08145529e-03, 6.12693554e-03,-1.83955208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88869445, -0.80113553,  0.38465529, -0.80113553,  0.77432079,
       -0.23821017,  0.38465529, -0.23821017,  0.39256548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.1112988783383e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09166564e-01, -9.11175660e-01, -4.83904821e-02, -1.98229900e-02,
       -4.41439444e-02,  9.98828494e-01, -9.12244360e-01,  4.09646467e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065654, -0.04673703,  0.2867837 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82051221, -5.71753915,  1.09000391, -5.71753915,  6.1836358 ,
        1.90473935,  1.09000391,  1.90473935, 15.81168901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005263244047567089
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05469461e-13,  2.63673652e-14,  1.00000000e+00,  2.78095180e-27,
        1.00000000e+00, -2.63673652e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05469461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747254, -0.08116391,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14662331e-05,-8.18071227e-07, 4.41369256e-05, 1.49954362e-05,
 -1.36674319e-05, 4.79873780e-05,-2.42596401e-05,-2.35890585e-05,
  4.16444255e-05, 3.47558569e-05, 2.29421470e-06,-2.97609870e-05,
  2.04864274e-02, 8.45044086e-03, 3.29595595e-03,-1.55591208e-04,
  7.68740280e-06, 1.40785389e-06,-4.90500239e+00, 2.46079530e-04,
  1.18267656e-02,-6.62073408e-04]


--- Step 1026 ---
qpos:
[ 0.0187214 , 0.03010004,-0.00951906,-0.02554655, 0.00788333, 0.00467722,
 -0.00784626, 0.02707638, 0.01232402, 0.02796373,-0.00832149, 0.02644157,
  1.20794958, 0.00284999, 1.12283599, 0.04535478, 0.05827809,-0.07832341,
  0.17145672, 0.99955563, 0.02789605,-0.00334473,-0.0099584 ]

qacc:
[-2.18868384e+00,-2.15250404e+00, 6.65206647e+00,-5.12653836e+00,
 -1.36628879e+00,-1.89787435e+00, 1.14563925e+01,-2.89234712e+01,
  1.24492760e+00, 1.54952497e+00,-6.12979014e+00, 1.17002087e+01,
  1.21426237e+02,-1.07555258e+02, 4.33607872e+01,-1.15827946e+02,
  2.27524451e+00, 9.62109316e-02, 6.77649095e-02,-4.85102665e+00,
  2.15326166e+01,-5.80637852e-01]

qfrc_actuator:
[ 7.06203258e-05, 8.93065956e-04, 2.28711097e-04, 1.53932653e-05,
 -1.64723480e-05, 1.03726699e-04,-5.79031621e-05,-1.89625539e-05,
 -3.99887559e-05, 9.24857333e-04, 2.00440089e-04, 2.78536518e-05,
  1.62989771e-02, 3.13513337e-03, 6.08032044e-03,-1.79696647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.84411693,  5.46742371, -2.06421431,  5.46742371,  9.95325722,
       10.88375897, -2.06421431, 10.88375897, 34.67160902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005291986164794038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.24483148e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.24483148e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747477, -0.08115615,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33074019e-05,-5.94652584e-07, 4.52632412e-05, 9.37329604e-06,
 -7.96413205e-06, 2.90946047e-05, 9.10318469e-06,-4.89457446e-05,
  7.60381124e-06, 5.09722992e-05, 5.88816598e-06, 1.91528443e-05,
  2.14328842e-02, 7.14137923e-03, 2.63779802e-03, 1.37714007e-04,
  4.31994296e-06, 5.35005964e-07,-4.90500189e+00, 2.45002849e-04,
  1.18259643e-02,-6.62665382e-04]


--- Step 1027 ---
qpos:
[ 0.01872163, 0.03009987,-0.00951717,-0.02554564, 0.00788292, 0.00467739,
 -0.00784624, 0.0270748 , 0.01232442, 0.02796458,-0.00832172, 0.02644141,
  1.20802629, 0.00282845, 1.12315871, 0.04535296, 0.05828474,-0.07831862,
  0.17145739, 0.99955587, 0.02791647,-0.00331362,-0.00988661]

qacc:
[ 1.64187324e+00,-2.43175908e-01, 2.62924653e+00,-7.69069172e+00,
 -7.62244361e-01,-3.00261406e+00, 1.38953557e+01,-2.94116576e+01,
 -2.32738597e+00, 1.32264065e+00,-6.77775352e+00, 1.66175609e+01,
 -6.30869157e+01, 8.28825750e+01, 5.66559340e+01,-1.08446034e+02,
  1.50613095e+00,-2.00293982e-01, 1.05193298e-01, 3.39469145e+00,
  1.58024559e+01, 1.58013919e+01]

qfrc_actuator:
[ 8.09084185e-05, 9.22955201e-04, 2.33432354e-04, 1.62965088e-06,
 -2.08059474e-05, 5.51068281e-05,-5.60433840e-05,-6.56648848e-05,
 -5.42793376e-05, 9.25997770e-04, 2.00302080e-04, 5.66040186e-05,
  1.62952090e-02, 3.18272200e-03, 6.01398879e-03,-1.76777239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88866818, -0.64354691,  0.6128446 , -0.64354691,  0.56004993,
       -0.34508137,  0.6128446 , -0.34508137,  0.52629891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.51057094542004e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09131558e-01, -9.11185754e-01, -4.84962927e-02, -1.98647374e-02,
       -4.42411869e-02,  9.98823363e-01, -9.12259152e-01,  4.09613525e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063942, -0.04672858,  0.28668765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84308384, -5.38416686,  2.26988457, -5.38416686,  7.9837959 ,
        5.07776965,  2.26988457,  5.07776965, 17.88755491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000529072907216363
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04921553e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04921553e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747576, -0.08115008,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.89727128e-06, 3.92946714e-05, 1.04791053e-05,-1.20457204e-05,
 -4.54810458e-06,-3.25814468e-05, 7.29715379e-06,-4.60916194e-05,
 -1.40491943e-05, 3.16681125e-05, 1.17769322e-05, 3.15119036e-05,
  1.33390523e-02, 6.95907769e-03, 1.25558146e-03, 3.86657053e-04,
  2.03752695e-06,-8.28158921e-08,-4.90500069e+00, 2.47460743e-04,
  1.18265374e-02,-6.62922983e-04]


--- Step 1028 ---
qpos:
[ 0.01872163, 0.03010017,-0.00951587,-0.02554488, 0.00788246, 0.00467739,
 -0.00784652, 0.0270734 , 0.0123243 , 0.02796532,-0.00832153, 0.02644195,
  1.20804691, 0.00279391, 1.12350605, 0.0453521 , 0.05829654,-0.07831486,
  0.17145825, 0.99955628, 0.02794837,-0.0032557 ,-0.00977442]

qacc:
[-1.94189863e+00, 1.98619872e+00,-5.54118237e+00, 3.56121053e+00,
 -4.35829603e-01, 9.85013962e-01,-4.56301758e+00, 8.15257797e+00,
 -4.40616270e+00, 1.21904482e-01,-3.60522432e+00, 1.51946487e+01,
 -3.57778298e+01, 2.11597000e+01, 3.58117574e+01,-6.69513624e+01,
  1.28650742e+00,-2.54473396e-01, 4.67087751e-02, 5.67030072e+00,
  1.40233261e+01, 1.97971584e+01]

qfrc_actuator:
[ 6.91244511e-05, 9.40768392e-04, 1.99984707e-04,-6.82609551e-06,
 -2.31878622e-05, 4.37859238e-05,-7.28667807e-05,-5.70219863e-05,
 -8.06041022e-05, 9.08468396e-04, 2.18034364e-04, 9.13210727e-05,
  1.62985266e-02, 3.20554132e-03, 5.93932091e-03,-1.83867634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88891778, -0.62486057,  0.63223737, -0.62486057,  0.52912977,
       -0.35559009,  0.63223737, -0.35559009,  0.53747664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7581799249410687e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40911361, -0.91119284, -0.04851463, -0.01987139, -0.0442583 ,
        0.99882247, -0.91226706,  0.40959592,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064644, -0.04673264,  0.28666326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82384842,  5.32370462, -2.36122416,  5.32370462, 14.40990495,
       19.35844534, -2.36122416, 19.35844534, 49.47012591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005267308855866765
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.26940348e-14,  1.31735087e-13,  1.00000000e+00,  6.94165326e-27,
        1.00000000e+00, -1.31735087e-13, -1.00000000e+00,  0.00000000e+00,
       -5.26940348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0274758 , -0.08114534,  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:
[-1.14833486e-05, 4.14195730e-05,-2.44809588e-05,-6.65173427e-06,
 -2.52091283e-06,-3.00131061e-05,-2.42481772e-05, 6.60540147e-06,
 -2.67252357e-05, 3.93160215e-06, 2.68089007e-05, 3.70945864e-05,
  1.61312470e-02, 5.78554757e-03,-6.28912245e-04, 2.82009964e-04,
  7.89719288e-06,-3.14602406e-07,-4.90500210e+00, 2.50708665e-04,
  1.18248391e-02,-6.63273076e-04]


--- Step 1029 ---
qpos:
[ 0.01872114, 0.03010071,-0.00951518,-0.0255442 , 0.00788163, 0.00467727,
 -0.00784734, 0.02707246, 0.01232422, 0.02796612,-0.00832115, 0.02644291,
  1.20801802, 0.00273846, 1.12387229, 0.04535124, 0.05831292,-0.0783122 ,
  0.17145906, 0.99955678, 0.02799451,-0.0031735 ,-0.00961707]

qacc:
[-4.18983376e+00, 1.87201384e+00,-5.90448858e+00, 5.41027070e+00,
 -3.26939793e+00, 2.32402626e+00,-1.04784067e+01, 1.95316444e+01,
  2.57964696e-01, 3.77478972e-01,-2.94912599e+00, 9.63698091e+00,
 -2.46307893e+01, 2.95983586e+00, 2.92444775e+01,-5.87128140e+01,
  1.14366005e+00,-2.76927336e-01,-1.14471755e-02, 7.06599790e+00,
  1.28306598e+01, 2.22025103e+01]

qfrc_actuator:
[ 4.44356767e-05, 9.33299290e-04, 1.62002043e-04,-1.21144083e-05,
 -4.21555173e-05, 3.70951196e-05,-1.00417594e-04,-3.36252330e-05,
 -7.82890689e-05, 9.15472273e-04, 2.28340319e-04, 1.11509600e-04,
  1.62974772e-02, 3.24084349e-03, 5.86470788e-03,-1.89921300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88915054, -0.6053114 ,  0.65129625, -0.6053114 ,  0.50478078,
       -0.35723129,  0.65129625, -0.35723129,  0.55714161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3337997974879717e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09159133e-01, -9.11171106e-01, -4.85388444e-02, -1.98835483e-02,
       -4.42793848e-02,  9.98821296e-01, -9.12246375e-01,  4.09641980e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066229, -0.04673701,  0.28665642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005226838568765796
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06204067e-13,  1.59306100e-13,  1.00000000e+00,  1.69189557e-26,
        1.00000000e+00, -1.59306100e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06204067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02747511, -0.08114167,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50101459e-05, 1.03195018e-05,-3.26933362e-05,-4.49628254e-06,
 -1.90490687e-05,-2.81945618e-05,-3.65020132e-05, 2.14040014e-05,
  1.53243723e-06, 1.62899765e-05, 1.56925023e-05, 2.20043421e-05,
  1.89323847e-02, 6.47043415e-03,-1.94178858e-03, 1.71355985e-04,
  2.04949379e-05,-7.84112757e-07,-4.90500540e+00, 2.57013419e-04,
  1.18211145e-02,-6.63771284e-04]


--- Step 1030 ---
qpos:
[ 0.01871967, 0.03010146,-0.00951497,-0.02554393, 0.00788092, 0.00467695,
 -0.00784819, 0.02707179, 0.01232416, 0.0279671 ,-0.00832093, 0.02644376,
  1.20800421, 0.00263845, 1.12420201, 0.04536149, 0.05832058,-0.0783093 ,
  0.17146017, 0.99955678, 0.0280344 ,-0.00313628,-0.00951257]

qacc:
[-8.44154917e+00, 7.48353167e-01,-4.26127244e-01,-6.33800960e+00,
  1.09431545e+00, 3.61970839e-01,-2.81544480e+00, 7.61192935e+00,
  2.31868080e-01, 5.00706534e-01,-1.01753423e+00,-5.88618139e-01,
  4.70211246e+01,-8.83591240e+01,-9.22081794e+01, 2.33407605e+02,
 -2.17897283e+00, 5.87089770e-02, 7.67505266e-02,-2.97692386e+00,
 -2.32514852e+01,-2.57703136e+01]

qfrc_actuator:
[-5.39685846e-06, 9.46219266e-04, 1.39306384e-04,-3.32698718e-05,
 -3.52286578e-05, 3.31963108e-05,-9.85446101e-05,-1.94947334e-05,
 -7.68837355e-05, 9.19318936e-04, 2.16502096e-04, 1.05244982e-04,
  1.62952359e-02, 3.29674814e-03, 5.82703917e-03,-1.84642348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88917711,  0.64358266, -0.61354486,  0.64358266,  0.61716177,
       -0.2853326 , -0.61354486, -0.2853326 ,  0.58987525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3906839082942086e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09263092e-01, -9.11122427e-01, -4.85761705e-02, -1.99039307e-02,
       -4.43111486e-02,  9.98819481e-01, -9.12199296e-01,  4.09746805e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07068581, -0.04674168,  0.28666564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82792695, -5.74639655,  0.97142122, -5.74639655,  5.96163971,
        0.79097156,  0.97142122,  0.79097156, 10.50688204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005272276965306993
  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([ 0.09567435, -0.09308793,  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:
[-5.05587835e-05, 1.17097656e-05,-2.47607040e-05,-2.19354300e-05,
  6.37624710e-06,-2.62789406e-05,-7.69252769e-06, 1.20807983e-05,
  1.45752792e-06, 1.71053333e-05,-5.79518387e-06,-4.60015577e-06,
  2.14042421e-02, 7.57220222e-03,-2.93065957e-03, 2.22828997e-04,
  4.05756544e-05,-1.66760289e-06,-4.90501098e+00, 2.66570698e-04,
  1.18147649e-02,-6.64474544e-04]


--- Step 1031 ---
qpos:
[ 0.01871727, 0.03010227,-0.00951528,-0.02554355, 0.00788064, 0.00467662,
 -0.00784914, 0.02707162, 0.01232343, 0.02796835,-0.00832145, 0.02644421,
  1.20798923, 0.00254638, 1.12449282, 0.04537135, 0.05831991,-0.07830582,
  0.17146104, 0.9995563 , 0.02806987,-0.00314228,-0.00945621]

qacc:
[-8.00351281e+00, 1.80537837e+00,-6.82231017e+00, 9.64726282e+00,
  3.80776970e+00, 1.27701956e+00,-6.67248694e+00, 1.54446566e+01,
 -5.75299337e+00, 1.57848337e+00,-3.40097752e+00,-2.57540017e+00,
 -4.48690075e+00, 1.09481999e+01,-5.58752960e+01, 1.13023285e+02,
 -2.08321677e+00, 1.45544278e-01,-6.30214974e-02,-2.07740281e+00,
 -2.22912325e+01,-2.34516382e+01]

qfrc_actuator:
[-5.18726267e-05, 9.35780804e-04, 1.08130028e-04,-2.80619066e-05,
 -1.31111592e-05, 4.88660388e-05,-9.70583723e-05, 6.84537518e-06,
 -1.11539853e-04, 9.21128545e-04, 1.73909447e-04, 8.34533604e-05,
  1.62988994e-02, 3.43254091e-03, 5.82116829e-03,-1.94978336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88894418,  0.48107814, -0.74751962,  0.48107814,  0.34401271,
       -0.35069931, -0.74751962, -0.35069931,  0.66324607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.832603468750711e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40939192, -0.91106145, -0.04863427, -0.01993407, -0.04436131,
        0.99881665, -0.91214083,  0.40987695,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706971 , -0.04674126,  0.28665429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84937392,  5.82640575, -0.51785264,  5.82640575,  5.94153294,
        1.03688925, -0.51785264,  1.03688925, 17.51550637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005298381787489231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.0954002e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.0954002e-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([ 0.09567689, -0.09306806,  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:
[-4.79457978e-05,-9.98706070e-06,-3.25748144e-05, 4.42511114e-06,
  2.22893394e-05,-7.13515874e-08,-4.45645612e-06, 2.51867784e-05,
 -3.46034906e-05, 9.94132398e-06,-3.99482207e-05,-2.13532672e-05,
  2.06540549e-02, 9.93914085e-03,-1.11728568e-03,-4.37469992e-04,
  1.62813282e-05,-1.08667723e-06,-4.90500580e+00, 2.52592349e-04,
  1.18194422e-02,-6.65746594e-04]


--- Step 1032 ---
qpos:
[ 0.01871537, 0.03010286,-0.00951586,-0.02554344, 0.00788029, 0.00467627,
 -0.00785035, 0.02707178, 0.01232298, 0.0279701 ,-0.00832288, 0.02644404,
  1.20796707, 0.00246631, 1.12474643, 0.04537804, 0.05831121,-0.07830165,
  0.17146119, 0.99955529, 0.02810364,-0.00319033,-0.00944597]

qacc:
[  4.24315354, -0.11177412,  1.13089686, -5.24627463, -0.69088116,
   1.38368946, -6.35964941, 12.49833032,  2.34321016,  1.95056598,
  -3.35484951, -6.36617872,-12.41883753, 22.37738276,-44.25135168,
  77.63233769, -2.00700727,  0.1738376 , -0.17935082, -0.71312292,
 -21.67662169,-22.45854941]

qfrc_actuator:
[-2.49819800e-05, 9.11419017e-04, 8.98705176e-05,-4.29128394e-05,
 -1.77432238e-05, 4.06494118e-05,-1.13482359e-04, 2.24203809e-05,
 -9.61335266e-05, 9.57057167e-04, 1.31242184e-04, 5.26846779e-05,
  1.63070257e-02, 3.54607524e-03, 5.78264885e-03,-2.10427237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88866666,  0.31795828, -0.82983791,  0.31795828,  0.18846041,
       -0.26828898, -0.82983791, -0.26828898,  0.78586983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.4074244940385355e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40946748, -0.91102332, -0.04871232, -0.01996982, -0.0444308 ,
        0.99881285, -0.91210613,  0.40995416,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069623, -0.04673631,  0.286624  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84596915,  5.8301214 , -0.43016247,  5.8301214 ,  5.92948481,
        1.13191282, -0.43016247,  1.13191282, 21.18712438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000529423979162974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04851978e-13,  2.09703955e-13,  1.00000000e+00,  2.19878744e-26,
        1.00000000e+00, -2.09703955e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04851978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09567975, -0.09305272,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54888013e-05,-3.65199959e-05,-2.41831393e-05,-1.63188301e-05,
 -3.99952137e-06,-8.06643441e-06,-1.61016439e-05, 1.59102543e-05,
  1.44007051e-05, 3.22663037e-05,-4.62819842e-05,-3.21418257e-05,
  2.07200175e-02, 9.65714947e-03, 7.84207538e-04,-5.73811838e-04,
  4.52614698e-06,-2.02957542e-08,-4.90500284e+00, 2.45894846e-04,
  1.18228731e-02,-6.66776095e-04]


--- Step 1033 ---
qpos:
[ 0.01871449, 0.03010343,-0.00951648,-0.02554355, 0.00787989, 0.00467579,
 -0.00785142, 0.02707211, 0.01232341, 0.02797174,-0.00832409, 0.02644384,
  1.20809445, 0.00242183, 1.12502626, 0.04537278, 0.05829321,-0.07829415,
  0.1714594 , 0.99955485, 0.02811194,-0.00327979,-0.00943775]

qacc:
[   8.8005172 ,  -0.38834302,   2.23355852,  -5.89952177,  -0.45529978,
   -0.20966556,  -0.23990019,   3.10962736,   7.48781738,  -0.8379649 ,
    2.8390147 ,  -3.47498332,  88.89484974, -46.79576665,  69.343716  ,
 -199.20907833,  -2.32344535,   0.83111935,  -0.48458172, -12.54470994,
  -20.84099159,  -0.38136248]

qfrc_actuator:
[ 2.71221871e-05, 9.32195242e-04, 9.70558140e-05,-5.17037859e-05,
 -2.03348523e-05, 3.58694277e-05,-1.04944322e-04, 3.15045172e-05,
 -5.13721419e-05, 9.42106295e-04, 1.42274599e-04, 5.24211681e-05,
  1.63077616e-02, 3.60352045e-03, 5.66720336e-03,-1.96695660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.82286926,  5.81408922, -0.31964505,  5.81408922,  5.88334899,
        1.10007818, -0.31964505,  1.10007818, 25.83241646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005266115942112737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05411943e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05411943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09568284, -0.09304096,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28345631e-05,-5.33863417e-06,-3.89978256e-06,-1.15099433e-05,
 -2.70811881e-06,-1.19099202e-05, 5.45715921e-06, 8.49427431e-06,
  4.52023299e-05,-7.88763845e-06, 1.08804333e-05,-1.10870678e-06,
  2.10791915e-02, 9.11620326e-03, 2.52387934e-03,-2.79224713e-04,
  2.97153147e-06, 1.75567131e-06,-4.90500151e+00, 2.45325068e-04,
  1.18256834e-02,-6.67659545e-04]


--- Step 1034 ---
qpos:
[ 0.01871355, 0.03010389,-0.00951702,-0.02554342, 0.00787945, 0.00467516,
 -0.00785207, 0.02707218, 0.01232403, 0.02797317,-0.00832483, 0.02644364,
  1.20831123, 0.00242245, 1.12531645, 0.04537202, 0.05828448,-0.07828631,
  0.17145863, 0.99955483, 0.02811032,-0.00332501,-0.00942883]

qacc:
[ -0.48971212,  0.14315339, -1.73848423,  5.89439557, -0.23048335,
  -1.90337558,  7.59143355,-12.61131408,  1.62913013, -1.62151235,
   5.41606378, -6.15500346, 36.93342928,  9.79539911,  0.19247401,
  17.95659194,  2.31508615,  0.08778107,  0.25567744, -5.17337292,
  22.07205005, -0.25946623]

qfrc_actuator:
[ 2.26151022e-05, 9.26692882e-04, 1.01636535e-04,-3.90509033e-05,
 -2.16962870e-05, 3.32753117e-05,-8.17241271e-05, 1.89665308e-05,
 -4.29656407e-05, 9.32548706e-04, 1.66996387e-04, 5.23550398e-05,
  1.62902161e-02, 3.63442691e-03, 5.63437891e-03,-1.87529713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005246268928989078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05810724e-13,  2.64526809e-14,  1.00000000e+00,  2.79897731e-27,
        1.00000000e+00, -2.64526809e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05810724e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748194, -0.08110614,  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:
[-2.96978615e-06,-9.77789981e-06, 2.59914629e-06, 1.20635725e-05,
 -1.44312722e-06,-7.73453798e-06, 2.17436873e-05,-1.26913855e-05,
  9.73330281e-06,-1.17960203e-05, 2.43883150e-05,-5.15649020e-08,
  1.35870900e-02, 7.37107581e-03, 1.17459498e-03, 4.08431210e-04,
  9.73757054e-06, 6.34800009e-07,-4.90500270e+00, 2.44700053e-04,
  1.18266305e-02,-6.67966109e-04]


--- Step 1035 ---
qpos:
[ 0.01871257, 0.03010427,-0.0095175 ,-0.02554314, 0.00787901, 0.00467446,
 -0.00785245, 0.0270721 , 0.01232474, 0.02797403,-0.00832501, 0.02644279,
  1.20846348, 0.00244217, 1.12562988, 0.04536911, 0.05828244,-0.07827912,
  0.17145881, 0.99955506, 0.0281127 ,-0.0033366 ,-0.00939282]

qacc:
[-3.93908571e-01, 4.18358520e-02,-9.31767853e-01, 3.47182066e+00,
 -1.05038553e-01,-1.14647176e+00, 4.59273001e+00,-7.57264165e+00,
  8.51165051e-01,-3.61703547e+00, 1.45296270e+01,-2.61784485e+01,
 -6.58310728e+01, 8.02695886e+01, 4.61360496e+01,-9.91740055e+01,
  1.67376865e+00,-1.64369341e-01, 2.37062844e-01, 1.88031256e+00,
  1.72051764e+01, 1.30632284e+01]

qfrc_actuator:
[ 2.03196676e-05, 9.23270369e-04, 1.04553893e-04,-3.16585412e-05,
 -2.23231412e-05, 3.20589636e-05,-6.77859013e-05, 1.15690145e-05,
 -3.82819419e-05, 8.73105652e-04, 1.81837220e-04, 1.68963623e-05,
  1.62723831e-02, 3.60790849e-03, 5.63563173e-03,-1.96470961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88864372, -0.66219214,  0.59261222, -0.66219214,  0.60108667,
       -0.32131976,  0.59261222, -0.32131976,  0.5295971 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.625480833825055e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40914867, -0.91115529, -0.04892247, -0.02004056, -0.0446294 ,
        0.99880258, -0.91224763,  0.40963918,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063041, -0.04671714,  0.28639437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.83588551, -5.40027432,  2.21237359, -5.40027432, 11.36120894,
       13.48699077,  2.21237359, 13.48699077, 38.75683977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005281967867078741
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.25477934e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.25477934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748426, -0.08109913,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38693509e-06,-7.84575512e-06, 1.63704140e-06, 7.29875058e-06,
 -6.70914385e-07,-1.56411919e-06, 1.45944681e-05,-7.22086078e-06,
  4.96788962e-06,-6.10414320e-05, 1.53988344e-05,-3.51227218e-05,
  9.10094429e-03, 5.09114359e-03, 6.49743813e-04, 9.27646997e-05,
  2.56111962e-06,-2.29195138e-07,-4.90500067e+00, 2.45339460e-04,
  1.18270699e-02,-6.67960933e-04]


--- Step 1036 ---
qpos:
[ 0.01871226, 0.03010482,-0.0095178 ,-0.02554247, 0.0078789 , 0.00467357,
 -0.00785261, 0.0270723 , 0.01232551, 0.0279736 ,-0.00832438, 0.02644228,
  1.20855075, 0.00244498, 1.12596092, 0.04536617, 0.05828619,-0.07827282,
  0.17145961, 0.99955547, 0.02812385,-0.00331858,-0.00932177]

qacc:
[  5.74458784,  0.48916322, -3.09008276,  9.43800421,  3.01068193,
  -0.32613471, -0.39011855,  4.97271139,  0.48444748, -3.29066393,
   7.7729203 , -2.09747121,-39.59810405, 20.68106034, 28.64166179,
 -56.55026684,  1.44650859, -0.22482186,  0.15530131,  4.30305846,
  15.33410138, 17.08529397]

qfrc_actuator:
[ 5.48682214e-05, 9.56618844e-04, 1.24216371e-04,-9.67268847e-06,
 -4.76038383e-06, 1.38962569e-05,-5.94310252e-05, 2.50043940e-05,
 -3.58153419e-05, 7.66427506e-04, 2.08241459e-04, 3.18551389e-05,
  1.62703386e-02, 3.57265102e-03, 5.58123980e-03,-2.01590596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88910759, -0.64569771,  0.61121745, -0.64569771,  0.56327822,
       -0.34421019,  0.61121745, -0.34421019,  0.52547967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2387645927736012e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40900542, -0.91121901, -0.04893349, -0.02003807, -0.04464261,
        0.99880204, -0.91231192,  0.40949598,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062137, -0.0467189 ,  0.2863346 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84092467,  5.35762432, -2.32642701,  5.35762432, 12.95254387,
       16.37763996, -2.32642701, 16.37763996, 43.55766444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005288101507603671
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24868435e-14,  5.24868435e-14,  1.00000000e+00,  2.75486874e-27,
        1.00000000e+00, -5.24868435e-14, -1.00000000e+00,  0.00000000e+00,
       -5.24868435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748537, -0.08109365,  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:
[ 3.44751229e-05, 2.96052945e-05, 1.84978659e-05, 2.18486009e-05,
  1.75428568e-05,-1.63023452e-05, 9.59239176e-06, 1.37354172e-05,
  2.59427501e-06,-1.39160348e-04, 1.44711828e-05, 1.21924956e-05,
  1.23235547e-02, 4.09978714e-03,-5.71146360e-04, 1.47579906e-04,
  1.75188543e-06,-1.74564080e-07,-4.90500017e+00, 2.45396452e-04,
  1.18269454e-02,-6.68024567e-04]


--- Step 1037 ---
qpos:
[ 0.01871202, 0.03010532,-0.00951776,-0.02554152, 0.00787901, 0.00467251,
 -0.00785264, 0.02707267, 0.01232561, 0.02797284,-0.00832407, 0.02644226,
  1.20857955, 0.00242341, 1.12630792, 0.04536357, 0.05829509,-0.07826755,
  0.17146073, 0.999556  , 0.02814687,-0.00327378,-0.00921054]

qacc:
[  0.62950653, -0.43576792,  0.29362043,  3.97220635,  1.86560761,
  -0.22996126, -0.20193965,  2.97119658, -5.68220315,  1.48715083,
  -7.94899732, 17.05472346,-28.97981477,  3.53225662, 24.06421273,
 -46.38750066,  1.28926798, -0.25314233,  0.07848397,  5.87208167,
  14.00755182, 19.68063231]

qfrc_actuator:
[ 5.75682658e-05, 9.40804435e-04, 1.36019917e-04, 3.01551502e-06,
  5.61467736e-06, 3.47287601e-06,-5.44917985e-05, 3.28199486e-05,
 -7.01775092e-05, 7.92136053e-04, 2.05586144e-04, 5.85751213e-05,
  1.62694792e-02, 3.59602808e-03, 5.56768984e-03,-2.00992434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88983582, -0.62690164,  0.63150782, -0.62690164,  0.53779199,
       -0.34947605,  0.63150782, -0.34947605,  0.54290883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.517794503178667e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40895107, -0.91124285, -0.04894374, -0.02003961, -0.04465315,
        0.99880154, -0.91233625,  0.40944177,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062252, -0.04672068,  0.28629561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82676557,  5.26591209, -2.49426679,  5.26591209, 16.35798762,
       22.23358376, -2.49426679, 22.23358376, 52.76645064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005270862394845255
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57975528e-13, -7.89877639e-14,  1.00000000e+00, -1.24781337e-26,
        1.00000000e+00,  7.89877639e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57975528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748552, -0.08108939,  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:
[ 3.71181268e-06, 5.49153208e-06, 2.09466266e-05, 1.50177430e-05,
  1.08669595e-05,-1.69297539e-05, 3.23962532e-06, 7.71732461e-06,
 -3.43364838e-05,-4.85863297e-05,-2.91971363e-05, 2.14951217e-05,
  1.55699451e-02, 4.96807500e-03,-1.47155424e-03, 1.53785891e-04,
  6.75240704e-06,-9.43533997e-08,-4.90500102e+00, 2.47968833e-04,
  1.18256582e-02,-6.68191514e-04]


--- Step 1038 ---
qpos:
[ 0.01871216, 0.03010568,-0.00951775,-0.02554073, 0.00787924, 0.00467127,
 -0.00785228, 0.02707241, 0.01232495, 0.02797231,-0.0083241 , 0.02644215,
  1.20855803, 0.00237832, 1.12667015, 0.0453611 , 0.05830867,-0.07826335,
  0.17146188, 0.9995566 , 0.02818404,-0.00320438,-0.0090553 ]

qacc:
[ 3.25603037e+00,-4.38480726e-01, 1.98251976e+00,-4.65418347e+00,
  1.10262927e+00,-2.60059779e+00, 1.15506077e+01,-2.27501856e+01,
 -6.47351308e+00, 1.03632998e+00,-2.81241187e+00, 1.44343553e+00,
 -2.31912271e+01,-1.03086637e+00, 2.32552199e+01,-4.60152745e+01,
  1.16762323e+00,-2.69721509e-01, 1.07469669e-02, 7.03055967e+00,
  1.29741133e+01, 2.16279508e+01]

qfrc_actuator:
[ 7.69939457e-05, 9.13395311e-04, 1.25133413e-04,-7.66861070e-06,
  1.16704424e-05,-2.25473075e-06,-3.38351055e-05, 1.76075115e-06,
 -1.08187241e-04, 8.43566371e-04, 2.04066077e-04, 5.65722272e-05,
  1.62710840e-02, 3.65105204e-03, 5.61011661e-03,-2.00550220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89043887, -0.60964906,  0.64900647, -0.60964906,  0.51650167,
       -0.3512607 ,  0.64900647, -0.3512607 ,  0.56047952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2969552930472345e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40897883, -0.91122945, -0.04896133, -0.02004819, -0.04466858,
        0.99880067, -0.91232362,  0.40946991,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063264, -0.04672244,  0.28627541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005235348195285344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.30157204e-14, -1.32539301e-13,  1.00000000e+00, -7.02666653e-27,
        1.00000000e+00,  1.32539301e-13, -1.00000000e+00,  0.00000000e+00,
       -5.30157204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02748492, -0.08108609,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95325008e-05,-1.93876549e-05,-6.66120891e-06,-9.43527405e-06,
  6.35823018e-06,-1.41529552e-05, 1.78372587e-05,-3.15212283e-05,
 -3.90357719e-05, 1.91629225e-05,-1.44019051e-05,-4.67442433e-06,
  1.84931064e-02, 6.24121665e-03,-2.23259661e-03, 1.39610645e-04,
  1.82370300e-05,-2.68367914e-07,-4.90500364e+00, 2.53516357e-04,
  1.18225193e-02,-6.68519473e-04]


--- Step 1039 ---
qpos:
[ 0.01871218, 0.03010591,-0.00951813,-0.02554006, 0.00787919, 0.00466993,
 -0.00785116, 0.0270721 , 0.01232349, 0.02797163,-0.00832405, 0.02644237,
  1.2085452 , 0.00228719, 1.12699332, 0.0453687 , 0.05831363,-0.07825899,
  0.17146309, 0.99955669, 0.02821608,-0.00317964,-0.0089533 ]

qacc:
[-9.77664819e-01, 6.98104422e-01,-2.27185246e+00, 1.09879642e+00,
 -2.38626668e+00,-2.39120154e+00, 8.58310689e+00,-1.07637471e+01,
 -6.77395823e+00, 3.18234037e-01,-2.84758153e+00, 8.75330303e+00,
  4.30690279e+01,-8.58864284e+01,-9.25362230e+01, 2.29745211e+02,
 -2.15302175e+00, 3.78634967e-02, 1.06132942e-02,-2.43919916e+00,
 -2.30880751e+01,-2.59702108e+01]

qfrc_actuator:
[ 7.06135938e-05, 8.96886862e-04, 1.00863628e-04,-1.42945106e-05,
 -2.61486569e-06, 1.26576539e-05, 1.36844589e-05, 1.35113355e-06,
 -1.48027300e-04, 8.21238341e-04, 2.03359965e-04, 7.32290431e-05,
  1.62702133e-02, 3.69847202e-03, 5.61638394e-03,-2.00194109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89066335,  0.63641967, -0.62309807,  0.63641967,  0.58097596,
       -0.31630839, -0.62309807, -0.31630839,  0.5675924 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.552854621538417e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40907052, -0.91118665, -0.04899173, -0.02006517, -0.04469428,
        0.99879918, -0.91228214,  0.40956233,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065064, -0.04672445,  0.28627209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8204158 , -5.74027015,  0.96256877, -5.74027015,  5.9483842 ,
        0.76313843,  0.96256877,  0.76313843, 10.37138491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005263126563948839
  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([ 0.09569753, -0.09295622,  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:
[-5.81854620e-06,-2.91380532e-05,-2.94278056e-05,-7.87357617e-06,
 -1.41089611e-05, 9.37510536e-06, 4.57129862e-05,-1.01013765e-06,
 -4.09794674e-05,-1.47832842e-05, 1.32424130e-06, 1.68917201e-05,
  2.10066128e-02, 7.46559211e-03,-2.99499860e-03, 1.35009610e-04,
  3.68993040e-05,-8.42463184e-07,-4.90500840e+00, 2.62179319e-04,
  1.18169470e-02,-6.69055554e-04]


--- Step 1040 ---
qpos:
[ 0.01871213, 0.03010621,-0.00951862,-0.02553986, 0.00787898, 0.00466933,
 -0.00785015, 0.02707242, 0.01232226, 0.02797087,-0.00832427, 0.02644247,
  1.20852682, 0.00219956, 1.1272783 , 0.04537726, 0.05831033,-0.07825418,
  0.17146381, 0.99955629, 0.02824493,-0.00319795,-0.00890011]

qacc:
[-6.63036585e-01,-5.86349299e-01, 4.23478340e+00,-1.23423429e+01,
 -1.52364280e+00, 2.61175407e+00,-1.05963820e+01, 2.13000491e+01,
  1.88850856e+00, 3.66986588e-01,-9.27129767e-01,-8.43205439e-01,
 -4.62100594e+00, 6.68647478e+00,-5.90162141e+01, 1.25305586e+02,
 -2.06613554e+00, 1.15981232e-01,-1.19256381e-01,-1.47445580e+00,
 -2.22240868e+01,-2.37886188e+01]

qfrc_actuator:
[ 6.68426942e-05, 9.22471350e-04, 1.04441290e-04,-3.62272924e-05,
 -1.10038139e-05, 9.32142750e-05, 2.35360997e-05, 3.67723681e-05,
 -1.35367009e-04, 8.08202817e-04, 1.85119906e-04, 6.51745461e-05,
  1.62537060e-02, 3.77323783e-03, 5.55203506e-03,-1.99113034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89028262,  0.49719894, -0.73850955,  0.49719894,  0.35591175,
       -0.3597633 , -0.73850955, -0.3597633 ,  0.64807325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.109366012630438e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40919155, -0.91112945, -0.04904486, -0.02009292, -0.04474006,
        0.99879658, -0.91222725,  0.40968457,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065681, -0.04672122,  0.28624953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.83159117,  5.80989434, -0.50257658,  5.80989434,  5.92240831,
        1.0498659 , -0.50257658,  1.0498659 , 17.96826868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005276739350258547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10399444e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10399444e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09570036, -0.09293702,  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:
[-3.94958547e-06, 2.86836480e-06,-6.33661232e-06,-2.43526954e-05,
 -8.78843838e-06, 9.52299141e-05, 1.73875079e-05, 3.73868140e-05,
  1.14501648e-05,-2.03004437e-05,-2.05391864e-05,-8.31113995e-06,
  2.05557322e-02, 9.84431053e-03,-1.11286302e-03,-3.58866800e-04,
  1.44008604e-05,-6.54651446e-07,-4.90500434e+00, 2.49399398e-04,
  1.18208690e-02,-6.70119897e-04]


--- Step 1041 ---
qpos:
[ 0.01871238, 0.03010644,-0.00951873,-0.02554028, 0.00787901, 0.00466953,
 -0.00784963, 0.02707284, 0.01232188, 0.0279701 ,-0.00832479, 0.02644315,
  1.2084987 , 0.00212042, 1.12752802, 0.04538507, 0.05829905,-0.07824879,
  0.17146363, 0.99955536, 0.02827324,-0.00325824,-0.00889376]

qacc:
[  2.58504626, -2.43449713, 11.14056761,-22.44261252,  2.1344921 ,
   2.6272214 , -8.22622867, 10.0425644 ,  7.23604927,  2.04682696,
  -9.7967978 , 20.44451027,-11.83650319, 18.35956539,-48.8189385 ,
  97.44701741, -1.99415972,  0.14406663, -0.22692499, -0.15055404,
 -21.64513572,-22.81553054]

qfrc_actuator:
[ 8.23991487e-05, 9.19904233e-04, 1.24599385e-04,-6.69340175e-05,
  1.90456518e-06, 1.23595416e-04,-6.39309691e-06, 3.97589992e-05,
 -9.19061687e-05, 8.18492505e-04, 1.74426214e-04, 9.58883102e-05,
  1.62394365e-02, 3.85106141e-03, 5.51588057e-03,-2.00640050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88952936,  0.35735846, -0.81459034,  0.35735846,  0.2148693 ,
       -0.29597145, -0.81459034, -0.29597145,  0.75968753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.045936481949175e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09266354e-01, -9.11091785e-01, -4.91203587e-02, -2.01276068e-02,
       -4.48072436e-02,  9.98792867e-01, -9.12192924e-01,  4.09760991e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065121, -0.04671332,  0.28620892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82017753,  5.80559158, -0.41179234,  5.80559158,  5.90020887,
        1.12830965, -0.41179234,  1.12830965, 21.72747931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005262836230089524
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16432901e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.16432901e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09570344, -0.0929222 ,  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:
[ 1.54431205e-05,-3.32149224e-06, 1.91294486e-05,-3.12772444e-05,
  1.26896007e-05, 8.88344826e-05,-6.82795953e-06, 8.39556740e-06,
  4.37882008e-05,-5.63113655e-06,-1.76948409e-05, 2.89726568e-05,
  2.08178681e-02, 9.74954253e-03, 7.55281950e-04,-4.23663339e-04,
  4.30252639e-06, 1.79689070e-07,-4.90500226e+00, 2.43799327e-04,
  1.18237561e-02,-6.70974665e-04]


--- Step 1042 ---
qpos:
[ 0.01871247, 0.03010614,-0.00951786,-0.02554071, 0.00787919, 0.0046702 ,
 -0.00784928, 0.02707227, 0.01232202, 0.02796997,-0.00832579, 0.02644446,
  1.20845775, 0.00204782, 1.12774705, 0.04539171, 0.05828001,-0.07824279,
  0.17146216, 0.99955381, 0.02830354,-0.00335978,-0.00893315]

qacc:
[ -1.33253882, -3.46900306, 11.40349248,-12.71785495,  1.3462912 ,
  -0.93279839,  8.36741575,-25.43422215,  4.43823466,  3.45272674,
 -13.78526253, 25.08198358,-13.09913507, 17.73735395,-40.75246748,
  79.18649589, -1.93940179,  0.15177906, -0.31938201,  1.11035177,
 -21.25007558,-22.28429697]

qfrc_actuator:
[ 7.37008368e-05, 8.82818551e-04, 1.72023853e-04,-6.70614881e-05,
  9.48991199e-06, 1.23508625e-04,-2.42616224e-05,-1.19299214e-05,
 -6.61869420e-05, 8.95984650e-04, 1.68405064e-04, 1.31446296e-04,
  1.62430657e-02, 3.94206010e-03, 5.48177669e-03,-2.01823014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88878426,  0.23910699, -0.85601711,  0.23910699,  0.12843769,
       -0.21238382, -0.85601711, -0.21238382,  0.82946014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3188970585003476e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40928319, -0.91107874, -0.04922193, -0.02017016, -0.04489948,
        0.99878787, -0.91218443,  0.4097799 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706343 , -0.04670096,  0.28615133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79100092,  5.78331778, -0.29820652,  5.78331778,  5.84600996,
        1.06682711, -0.29820652,  1.06682711, 26.48069035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00052272509259077
  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([ 0.09570671, -0.09291084,  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:
[-8.24940413e-06,-3.63324196e-05, 4.80111839e-05,-2.16898581e-07,
  7.97690117e-06, 4.85295686e-05,-7.88172957e-08,-4.79579482e-05,
  2.69984868e-05, 7.19761089e-05,-8.34987853e-06, 3.52677435e-05,
  2.13083921e-02, 9.41679275e-03, 2.47963421e-03,-3.98754407e-04,
  4.43757590e-06, 1.90401492e-06,-4.90500162e+00, 2.44353031e-04,
  1.18262127e-02,-6.71711377e-04]


--- Step 1043 ---
qpos:
[ 0.0187128 , 0.03010555,-0.00951615,-0.02554151, 0.00787912, 0.00467104,
 -0.0078493 , 0.02707115, 0.01232247, 0.02797047,-0.00832662, 0.0264458 ,
  1.20857419, 0.00200724, 1.12800964, 0.04537998, 0.05827018,-0.07823669,
  0.17146181, 0.99955284, 0.02832051,-0.00341606,-0.00896666]

qacc:
[ 2.08691579e+00,-3.47840533e+00, 1.33554640e+01,-2.07233978e+01,
 -2.25860208e+00, 7.88286551e-02, 2.41858496e+00,-1.16925201e+01,
  2.61619168e+00, 4.25607198e-01,-4.26183453e-01, 1.61872024e-01,
  9.63358972e+01,-5.63880589e+01, 1.13834916e+02,-3.18935362e+02,
  2.30019783e+00, 2.55888655e-02, 2.76607398e-01,-6.86085588e+00,
  2.26419660e+01, 2.32757409e+00]

qfrc_actuator:
[ 8.62947415e-05, 8.78749041e-04, 2.17285838e-04,-8.47145444e-05,
 -3.87824120e-06, 1.05154315e-04,-5.27732232e-05,-4.21283086e-05,
 -5.11262607e-05, 9.42148124e-04, 1.83224004e-04, 1.34120982e-04,
  1.62474094e-02, 4.00402563e-03, 5.44443426e-03,-2.11604609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.84139031, -5.74365918,  1.06405827, -5.74365918,  6.13386751,
        1.57875693,  1.06405827,  1.57875693, 14.36333129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005288668190926299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57443658e-13,  5.24812195e-14,  1.00000000e+00,  8.26283520e-27,
        1.00000000e+00, -5.24812195e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57443658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749383, -0.08104423,  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:
[ 1.23390381e-05,-1.44813067e-05, 4.36581654e-05,-1.75517468e-05,
 -1.31225202e-05, 6.68790692e-06,-2.01671919e-05,-2.90561273e-05,
  1.58754856e-05, 8.62227900e-05, 2.98877557e-05, 6.15508870e-06,
  2.19529012e-02, 9.15330453e-03, 3.97206180e-03,-4.39221768e-04,
  1.38292880e-05, 4.83971354e-06,-4.90500186e+00, 2.50598709e-04,
  1.18288317e-02,-6.72405819e-04]


--- Step 1044 ---
qpos:
[ 0.01871397, 0.03010509,-0.00951431,-0.02554285, 0.00787889, 0.0046715 ,
 -0.00784947, 0.02707076, 0.0123231 , 0.02797097,-0.00832694, 0.02644653,
  1.20878369, 0.00201234, 1.12829039, 0.04536774, 0.05826943,-0.07823037,
  0.17146192, 0.99955237, 0.02832596,-0.00342834,-0.0089968 ]

qacc:
[ 7.18679040e+00,-1.35513818e+00, 7.37860010e+00,-1.72411793e+01,
 -1.39799967e+00, 1.46106436e+00,-9.05953506e+00, 2.23956953e+01,
  1.53158427e+00,-2.71498493e+00, 1.22416307e+01,-2.36334814e+01,
  3.87214474e+01, 9.01553417e+00, 2.67193511e+01,-5.83216583e+01,
  2.27249596e+00, 5.36475069e-02, 1.16475934e-01,-5.95222096e+00,
  2.19836921e+01, 1.07654637e+00]

qfrc_actuator:
[ 1.29080964e-04, 8.94471264e-04, 2.25502782e-04,-1.12524777e-04,
 -1.17180083e-05, 5.82011146e-05,-6.96580470e-05,-6.20209494e-06,
 -4.24541399e-05, 8.98255769e-04, 1.92349795e-04, 9.96683644e-05,
  1.62426507e-02, 4.02047691e-03, 5.45815608e-03,-2.37205167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.87330217,  5.60615492, -1.75120114,  5.60615492,  7.61227395,
        5.56700482, -1.75120114,  5.56700482, 23.69506506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005327468170992083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.20989985e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.20989985e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749709, -0.08103225,  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:
[ 4.31399940e-05, 1.58961409e-05, 9.98359751e-06,-2.72628728e-05,
 -8.20833501e-06,-4.86566177e-05,-1.89993035e-05, 3.49507574e-05,
  9.16743386e-06, 1.07570191e-05, 3.08312856e-05,-2.96065233e-05,
  1.40816270e-02, 7.57224112e-03, 1.80303456e-03, 2.22158589e-04,
  4.96244457e-06, 1.66951454e-06,-4.90500029e+00, 2.47433261e-04,
  1.18282408e-02,-6.72927253e-04]


--- Step 1045 ---
qpos:
[ 0.0187146 , 0.03010513,-0.00951288,-0.02554385, 0.00787892, 0.00467181,
 -0.00784994, 0.02707113, 0.01232417, 0.02797092,-0.00832707, 0.02644659,
  1.20891919, 0.00203326, 1.12860459, 0.04535414, 0.05827488,-0.07822491,
  0.17146258, 0.99955219, 0.02833566,-0.00340865,-0.00899386]

qacc:
[  -4.57062994,   2.58004995,  -9.70677128,  16.13134813,   2.21450259,
    2.22228844, -11.40335609,  25.12852566,   3.80197635,  -2.6022052 ,
   11.05088609, -22.50805992, -71.38081525,  82.18339608,  59.18076256,
 -122.1712369 ,   1.54898486,  -0.21313156,   0.13684288,   2.02920549,
   16.47292184,  16.08052901]

qfrc_actuator:
[ 1.00525715e-04, 9.39523371e-04, 2.11866942e-04,-9.28334947e-05,
  1.51798850e-06, 6.55798254e-05,-7.96271615e-05, 3.28164010e-05,
 -1.98558448e-05, 8.18468537e-04, 1.79888535e-04, 6.13188317e-05,
  1.62378801e-02, 4.01864497e-03, 5.44997540e-03,-2.37843835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88870697, -0.64053492,  0.61604797, -0.64053492,  0.55152404,
       -0.35058543,  0.61604797, -0.35058543,  0.52418632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.782519181001656e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08959038e-01, -9.11212905e-01, -4.94322393e-02, -2.02405055e-02,
       -4.50984281e-02,  9.98777480e-01, -9.12328245e-01,  4.09459611e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07058475, -0.04668902,  0.28596266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.87848641, -5.57508703,  1.86413709, -5.57508703, 10.03883086,
       12.44236946,  1.86413709, 12.44236946, 43.08996247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005333764758576193
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.20374949e-14, -7.80562423e-14,  1.00000000e+00, -4.06185131e-27,
        1.00000000e+00,  7.80562423e-14, -1.00000000e+00,  0.00000000e+00,
       -5.20374949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749888, -0.08102284,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72919480e-05, 5.48454763e-05,-1.00823995e-05, 2.01842863e-05,
  1.29850540e-05,-2.22738470e-05,-2.11528508e-05, 3.69567465e-05,
  2.28723570e-05,-6.86826507e-05,-7.46962935e-06,-3.74002462e-05,
  9.42556015e-03, 5.28759515e-03, 8.79370859e-04, 2.39215375e-04,
  1.22253040e-06, 1.43867428e-07,-4.90499984e+00, 2.45177916e-04,
  1.18277003e-02,-6.73115675e-04]


--- Step 1046 ---
qpos:
[ 0.0187142 , 0.0301056 ,-0.00951224,-0.02554387, 0.00787875, 0.00467213,
 -0.00785036, 0.02707227, 0.01232516, 0.02797026,-0.00832703, 0.02644689,
  1.20898403, 0.00203272, 1.12894624, 0.04534291, 0.05828553,-0.0782205 ,
  0.17146355, 0.99955221, 0.02835492,-0.00336142,-0.00894914]

qacc:
[ -8.92022154,  4.75444372,-20.16763187, 37.79336111, -1.64095145,
   1.4337795 , -8.33926572, 21.50795596, -0.68150605, -0.81373615,
   0.71574819,  3.61067628,-41.20188408, 17.86811008, 35.93528691,
 -60.96631256,  1.29883   , -0.26484024,  0.07944265,  4.72343234,
  14.39248122, 20.46682431]

qfrc_actuator:
[ 4.79510374e-05, 9.48480599e-04, 1.67861139e-04,-4.53301933e-05,
 -8.45379861e-06, 8.77175772e-05,-6.74835419e-05, 7.33759297e-05,
 -2.47448410e-05, 7.88693310e-04, 1.90111692e-04, 7.41917459e-05,
  1.62234845e-02, 4.03519867e-03, 5.42662417e-03,-2.30500563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8893967 , -0.6121078 ,  0.6452523 , -0.6121078 ,  0.51253426,
       -0.35750425,  0.6452523 , -0.35750425,  0.55025627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8171610304202038e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4088517 , -0.91126119, -0.04942999, -0.02023427, -0.04509876,
        0.99877759, -0.91237649,  0.4093521 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07059046, -0.04669702,  0.28593346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86358406,  5.53080057, -1.94727069,  5.53080057,  9.70986494,
       10.92452762, -1.94727069, 10.92452762, 36.89233819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005315659964036656
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04429462e-13,  1.56644194e-13,  1.00000000e+00,  1.63582689e-26,
        1.00000000e+00, -1.56644194e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04429462e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749954, -0.08101548,  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:
[-5.33527188e-05, 3.83805431e-05,-3.32363062e-05, 4.98956418e-05,
 -9.61122749e-06, 6.89413085e-06, 6.21646581e-06, 3.95913248e-05,
 -4.24038051e-06,-7.13142136e-05,-6.17617836e-06, 8.94278731e-06,
  1.31094492e-02, 4.51236188e-03,-8.21297893e-04, 3.79518470e-04,
  4.95177672e-07,-2.15238058e-07,-4.90500019e+00, 2.44607913e-04,
  1.18273150e-02,-6.73332672e-04]


--- Step 1047 ---
qpos:
[ 0.01871352, 0.03010617,-0.00951199,-0.0255433 , 0.00787813, 0.0046725 ,
 -0.00785037, 0.02707351, 0.01232505, 0.02796985,-0.00832695, 0.0264469 ,
  1.20898758, 0.002004  , 1.12931089, 0.04533414, 0.05830072,-0.07821724,
  0.17146461, 0.99955235, 0.02838709,-0.00328962,-0.00885755]

qacc:
[-2.43818159e+00, 2.45314638e+00,-1.10302513e+01, 2.17395857e+01,
 -4.06242060e+00,-8.83798383e-01, 2.84496849e+00,-1.84624853e+00,
 -9.38427636e+00,-3.52635280e-01, 3.00937521e+00,-8.38253496e+00,
 -2.87726618e+01,-2.54989859e-01, 2.80020144e+01,-4.52558374e+01,
  1.13750191e+00,-2.85929134e-01, 2.01227548e-02, 6.42091845e+00,
  1.30039449e+01, 2.30611597e+01]

qfrc_actuator:
[ 3.49406272e-05, 9.35652442e-04, 1.41664175e-04,-1.74000240e-05,
 -3.20119903e-05, 1.00872448e-04,-4.23081065e-05, 7.90437106e-05,
 -8.12829738e-05, 8.60220986e-04, 2.13872573e-04, 6.38978296e-05,
  1.62056759e-02, 4.04046426e-03, 5.43611211e-03,-2.22236606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89028299, -0.58912735,  0.66748241, -0.58912735,  0.48657288,
       -0.35631901,  0.66748241, -0.35631901,  0.5757919 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1098197098752546e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08840572e-01, -9.11266132e-01, -4.94309838e-02, -2.02341271e-02,
       -4.50999142e-02,  9.98777542e-01, -9.12381481e-01,  4.09340975e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07060537, -0.04670415,  0.28592258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.83318074,  5.45171457, -2.07480258,  5.45171457, 11.52802202,
       14.96366422, -2.07480258, 14.96366422, 45.15144017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000527867487172276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57741723e-13, -2.62902871e-14,  1.00000000e+00, -4.14707519e-27,
        1.00000000e+00,  2.62902871e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57741723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02749931, -0.08100973,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45547157e-05, 3.86360276e-06,-2.06477717e-05, 2.93949803e-05,
 -2.38308252e-05, 1.99783575e-05, 2.87341408e-05, 6.94691298e-06,
 -5.66894831e-05, 3.07800258e-05, 8.58628872e-06,-1.33886118e-05,
  1.66219881e-02, 5.58946417e-03,-2.19023519e-03, 3.42701570e-04,
  5.42515083e-06,-5.12502139e-07,-4.90500179e+00, 2.47544977e-04,
  1.18257338e-02,-6.73649429e-04]


--- Step 1048 ---
qpos:
[ 0.01871269, 0.0301068 ,-0.0095123 ,-0.02554274, 0.00787757, 0.00467292,
 -0.00785031, 0.02707449, 0.01232426, 0.02797007,-0.00832681, 0.02644639,
  1.2089862 , 0.00195608, 1.12965851, 0.0453321 , 0.05831253,-0.07821423,
  0.17146745, 0.99955297, 0.02840935,-0.00322877,-0.0087376 ]

qacc:
[-1.31545762e+00, 1.65350353e+00,-5.76990309e+00, 6.62226361e+00,
  5.94442863e-01,-6.55735108e-01, 3.55294291e+00,-8.25251937e+00,
 -5.78303580e+00,-3.98367189e-01, 4.84918190e+00,-1.44576838e+01,
  1.14561577e+01,-2.98083041e+01,-4.69117319e+01, 1.24415679e+02,
 -8.46959043e-01,-6.14565613e-02, 4.45653041e-01,-4.86833239e+00,
 -5.11007353e+00, 1.43475927e+01]

qfrc_actuator:
[ 2.75770489e-05, 9.27671389e-04, 1.08332713e-04,-1.89726423e-05,
 -2.78656420e-05, 9.08340671e-05,-4.52035044e-05, 6.41369542e-05,
 -1.14501037e-04, 9.20905635e-04, 2.28078897e-04, 4.01432064e-05,
  1.62141513e-02, 4.01876056e-03, 5.40080590e-03,-2.25951027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89087149, -0.11217227, -0.88378131, -0.11217227,  2.59173609,
       -0.21587902, -0.88378131, -0.21587902,  0.91827153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7778044606588235e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08914165e-01, -9.11232423e-01, -4.94436812e-02, -2.02429805e-02,
       -4.51098586e-02,  9.98776913e-01, -9.12348304e-01,  4.09414915e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062816, -0.04671057,  0.28592805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79038673, -5.71920637,  0.90512819, -5.71920637,  5.97490109,
        1.16588536,  0.90512819,  1.16588536, 13.15723166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005226501127917637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84175052e-07, -4.24843695e-13,  1.00000000e+00, -7.82456096e-20,
        1.00000000e+00,  4.24843695e-13, -1.00000000e+00, -1.20370622e-35,
       -1.84175052e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06108615, -0.08683797,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78893759e-06,-8.85417903e-06,-3.40690417e-05,-1.55149097e-06,
  3.47462870e-06, 7.34236526e-06, 5.00487498e-06,-1.29237827e-05,
 -3.48713553e-05, 7.90907400e-05, 2.11647578e-05,-2.23959795e-05,
  1.96939361e-02, 6.97660295e-03,-3.38258735e-03, 1.81152844e-04,
  1.74119157e-05,-1.06751252e-06,-4.90500525e+00, 2.54092743e-04,
  1.18220053e-02,-6.74136000e-04]


--- Step 1049 ---
qpos:
[ 0.01871177, 0.03010762,-0.00951337,-0.0255422 , 0.00787741, 0.0046734 ,
 -0.00785056, 0.02707565, 0.01232377, 0.02797123,-0.00832671, 0.0264459 ,
  1.20898565, 0.00187974, 1.12996284, 0.04533389, 0.05831591,-0.07821074,
  0.1714699 , 0.99955309, 0.02842944,-0.0032117 ,-0.00866389]

qacc:
[-7.30550071e-01, 2.32530864e+00,-7.82455311e+00, 8.47158122e+00,
  3.49810907e+00, 1.31947710e+00,-5.40522010e+00, 9.10849169e+00,
  2.50836138e+00, 1.37748293e+00,-3.26012777e+00, 3.16249019e+00,
  2.39097598e+01,-5.07899816e+01,-7.80772798e+01, 1.74396694e+02,
 -2.10771915e+00, 1.18356857e-01,-9.73844887e-02,-9.59548599e-01,
 -2.25500274e+01,-2.24889716e+01]

qfrc_actuator:
[ 2.35831975e-05, 9.40343748e-04, 7.10413267e-05,-2.01425744e-05,
 -7.44193873e-06, 8.46082394e-05,-6.47578619e-05, 7.27134622e-05,
 -9.82047229e-05, 9.92356496e-04, 2.36512183e-04, 4.41621290e-05,
  1.62142255e-02, 4.03642682e-03, 5.35737657e-03,-2.35603499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89136671,  0.58186587, -0.67525308,  0.58186587,  0.48893652,
       -0.34677427, -0.67525308, -0.34677427,  0.59255118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.27425047589882e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09033166e-01, -9.11178591e-01, -4.94514333e-02, -2.02520541e-02,
       -4.51142833e-02,  9.98776529e-01, -9.12294757e-01,  4.09534219e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064441, -0.04671267,  0.28592108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80708916, -5.71473807,  1.03152961, -5.71473807,  5.96858706,
        0.8947084 ,  1.03152961,  0.8947084 , 10.76382923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005246881059188524
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05798379e-13, -1.05798379e-13,  1.00000000e+00, -1.11932971e-26,
        1.00000000e+00,  1.05798379e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05798379e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09571897, -0.09283451,  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:
[-4.22428245e-06, 5.97785442e-07,-4.33735783e-05,-2.75943199e-06,
  2.05253472e-05,-1.65704863e-06,-1.78764368e-05, 8.80939191e-06,
  1.53017289e-05, 1.19068042e-04, 2.66001672e-05, 7.70638989e-06,
  1.99392591e-02, 7.95557660e-03,-2.58059892e-03,-2.53762142e-04,
  2.27702629e-05, 4.74347179e-09,-4.90500419e+00, 2.55287874e-04,
  1.18217510e-02,-6.74563400e-04]


--- Step 1050 ---
qpos:
[ 0.01871081, 0.03010857,-0.00951434,-0.02554207, 0.00787749, 0.00467386,
 -0.00785102, 0.0270769 , 0.01232313, 0.02797314,-0.00832675, 0.02644584,
  1.20897669, 0.00180513, 1.1302339 , 0.04533853, 0.05831112,-0.07820661,
  0.1714715 , 0.99955271, 0.02844913,-0.00323726,-0.00863378]

qacc:
[-3.50644481e-01,-9.71279587e-01, 5.45186909e+00,-1.28881316e+01,
  2.15877615e+00, 7.51635200e-01,-3.12920598e+00, 5.14468687e+00,
 -1.25708742e+00, 2.30054042e+00,-8.53393081e+00, 1.55831143e+01,
 -5.76398303e+00, 6.09336884e+00,-5.73845495e+01, 1.30269193e+02,
 -2.04163384e+00, 1.60333410e-01,-2.12719974e-01,-7.72197786e-02,
 -2.19271540e+01,-2.11854855e+01]

qfrc_actuator:
[ 2.16025236e-05, 9.65259761e-04, 8.50571864e-05,-3.87984754e-05,
  4.63717621e-06, 8.06514558e-05,-7.62024085e-05, 7.72828106e-05,
 -1.06160445e-04, 1.01645366e-03, 2.23795693e-04, 6.45014980e-05,
  1.61982679e-02, 4.11237030e-03, 5.36530672e-03,-2.11516950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89113719,  0.47785076, -0.75218625,  0.47785076,  0.33294034,
       -0.35461269, -0.75218625, -0.35461269,  0.66585796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.05029348078681e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40914895, -0.91112473, -0.04948599, -0.02027198, -0.04514322,
        0.99877482, -0.91224239,  0.40965085,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064875, -0.04670958,  0.28589567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80093131,  5.79261104, -0.31058245,  5.79261104,  5.85167025,
        0.94632177, -0.31058245,  0.94632177, 23.45058919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005239369911077263
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17850155e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.17850155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09572152, -0.09282119,  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:
[-2.10331268e-06, 1.61571541e-05, 8.70477390e-06,-2.01849583e-05,
  1.26621970e-05,-8.20833301e-06,-1.36899247e-05, 4.04728523e-06,
 -7.46306529e-06, 9.64676301e-05, 1.54069956e-05, 2.65098269e-05,
  1.98818670e-02, 9.45457453e-03,-4.14196569e-04,-2.05692878e-04,
  7.40767718e-06,-2.72739835e-07,-4.90500194e+00, 2.45984368e-04,
  1.18236455e-02,-6.75253893e-04]


--- Step 1051 ---
qpos:
[ 0.01871018, 0.03010908,-0.00951433,-0.02554251, 0.00787772, 0.00467411,
 -0.00785154, 0.02707822, 0.0123224 , 0.02797533,-0.00832666, 0.02644538,
  1.20895574, 0.00173673, 1.13047381, 0.04534429, 0.05829842,-0.07820179,
  0.17147187, 0.99955177, 0.02847058,-0.0033045 ,-0.0086464 ]

qacc:
[ 2.85637885e+00,-4.46389854e+00, 1.74430668e+01,-2.83652886e+01,
  1.27221826e+00, 1.37551093e-02,-6.90771613e-01, 1.95161473e+00,
 -7.65947370e-01,-8.33679199e-01, 5.18637395e+00,-1.25412535e+01,
 -1.20289129e+01, 1.63114527e+01,-4.84419887e+01, 1.04855921e+02,
 -1.97712490e+00, 1.74398981e-01,-3.07429720e-01, 9.97854800e-01,
 -2.14324018e+01,-2.07652758e+01]

qfrc_actuator:
[ 3.85741119e-05, 9.26499747e-04, 1.29300796e-04,-6.75450301e-05,
  1.17027487e-05, 6.03537609e-05,-8.27597498e-05, 7.94639139e-05,
 -1.10591484e-04, 9.94181695e-04, 2.16270221e-04, 4.09671194e-05,
  1.62001223e-02, 4.20449316e-03, 5.33547424e-03,-2.04522391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89030477,  0.35187203, -0.81781945,  0.35187203,  0.20841549,
       -0.29338721, -0.81781945, -0.29338721,  0.76407305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1364792618583214e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40921512, -0.91109164, -0.04954807, -0.02030075, -0.04519835,
        0.99877174, -0.91221207,  0.40971836,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064139, -0.0467017 ,  0.28585201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77613761,  5.77322491, -0.18341162,  5.77322491,  5.79923581,
        0.72705922, -0.18341162,  0.72705922, 28.66169126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005209097313818439
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.32828894e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.32828894e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09572436, -0.09281102,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69143999e-05,-2.88122728e-05, 4.79554435e-05,-2.81466486e-05,
  7.42293607e-06,-2.75518596e-05,-9.80232331e-06, 1.43109359e-06,
 -4.61205291e-06, 3.59185968e-05, 1.51941171e-05,-1.83551965e-05,
  2.03038383e-02, 9.46145483e-03, 1.21425814e-03,-2.79289273e-04,
  2.05868404e-06, 3.10961470e-07,-4.90500107e+00, 2.42703104e-04,
  1.18252406e-02,-6.75834211e-04]


--- Step 1052 ---
qpos:
[ 0.01870976, 0.03010908,-0.00951368,-0.02554325, 0.00787769, 0.00467408,
 -0.00785234, 0.02707923, 0.01232197, 0.02797745,-0.00832589, 0.02644431,
  1.20891469, 0.00169993, 1.13072277, 0.04534105, 0.05829259,-0.07819832,
  0.17147296, 0.99955107, 0.0284964 ,-0.0033366 ,-0.0086306 ]

qacc:
[   1.81665679,  -3.12912899,  11.45181813, -17.39677078,  -2.30791147,
   -0.18905075,   1.4153672 ,  -5.99349578,   2.55622146,  -3.26766578,
   14.11945097, -25.83396756, -39.68301504,  67.66612893,  44.23261757,
 -126.79660675,   1.71801734,  -0.33994635,   0.18082291,   2.07501065,
   17.98311109,  13.6941991 ]

qfrc_actuator:
[ 4.88112022e-05, 8.85541771e-04, 1.55256233e-04,-8.42822956e-05,
 -1.98920348e-06, 3.04435765e-05,-1.04203713e-04, 6.24585035e-05,
 -9.51526042e-05, 9.79782347e-04, 2.47145842e-04, 9.51830465e-06,
  1.62026360e-02, 4.26564599e-03, 5.27866541e-03,-2.11274174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88922838, -0.79570603,  0.39696224, -0.79570603,  0.76440382,
       -0.25020932,  0.39696224, -0.25020932,  0.38768682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4968057625452243e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40922164, -0.91108368, -0.04964053, -0.02033905, -0.0452825 ,
        0.99876715, -0.91220829,  0.40972678,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706228 , -0.04668924,  0.28579117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74639817, -5.64817312,  1.05793779, -5.64817312,  6.06570823,
        1.70474907,  1.05793779,  1.70474907, 14.84780091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005172720589890073
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60972791e-13, -8.04863953e-14,  1.00000000e+00, -1.29561197e-26,
        1.00000000e+00,  8.04863953e-14, -1.00000000e+00,  0.00000000e+00,
       -1.60972791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750038, -0.08098483,  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:
[ 1.07176497e-05,-4.83800513e-05, 2.49319954e-05,-1.68605748e-05,
 -1.34902814e-05,-4.72843204e-05,-2.82931615e-05,-1.85000915e-05,
  1.53231785e-05, 7.95547594e-06, 3.95053417e-05,-2.97450538e-05,
  2.09046000e-02, 9.21321195e-03, 2.71035218e-03,-4.03605837e-04,
  5.51422896e-06, 1.97755565e-06,-4.90500119e+00, 2.44874982e-04,
  1.18269551e-02,-6.76371863e-04]


--- Step 1053 ---
qpos:
[ 0.01870947, 0.03010919,-0.00951322,-0.02554421, 0.00787784, 0.00467371,
 -0.00785285, 0.02708035, 0.01232207, 0.02797933,-0.00832465, 0.02644324,
  1.20884963, 0.0016602 , 1.13099068, 0.04533749, 0.05829278,-0.07819624,
  0.17147449, 0.99955052, 0.02853069,-0.00333757,-0.00857978]

qacc:
[  1.07078832,  0.25512416,  0.20423123, -3.69372433,  1.60863397,
  -1.06643603,  2.73695317, -1.23443243,  4.56403237, -1.61762621,
   5.23988384, -5.57142844,-17.78114943, 14.02913457, 30.25464443,
 -62.25599071,  1.50344417, -0.34758336,  0.10880476,  4.15801772,
  16.0986226 , 17.04948358]

qfrc_actuator:
[ 5.49963315e-05, 9.14533827e-04, 1.52425082e-04,-9.38438077e-05,
  7.71809467e-06, 3.04329711e-05,-8.10691611e-05, 6.97842363e-05,
 -6.81430718e-05, 9.52583413e-04, 2.64954791e-04, 9.20280144e-06,
  1.62067077e-02, 4.31585427e-03, 5.26708400e-03,-1.98679293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8887498 , -0.74643455,  0.48240198, -0.74643455,  0.68921985,
       -0.30873846,  0.48240198, -0.30873846,  0.41102985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1792336768160877e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09221686e-01, -9.11079593e-01, -4.97150643e-02, -2.03696707e-02,
       -4.53504590e-02,  9.98763442e-01, -9.12207591e-01,  4.09728339e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061491, -0.04668123,  0.28575197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7552074 ,  5.4092368 , -1.96534207,  5.4092368 ,  9.51000809,
       10.33438728, -1.96534207, 10.33438728, 34.19867728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005183503499822939
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14183906e-13, -1.07091953e-13,  1.00000000e+00, -2.29373727e-26,
        1.00000000e+00,  1.07091953e-13, -1.00000000e+00,  0.00000000e+00,
       -2.14183906e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750213, -0.08097667,  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:
[ 6.47976572e-06, 6.36493451e-06,-1.03419378e-05,-1.10987734e-05,
  9.30932905e-06,-3.30858742e-05, 9.25041866e-06, 3.96057774e-06,
  2.74687527e-05,-1.59437823e-05, 2.32565103e-05, 8.08686730e-07,
  2.19127376e-02, 7.68401973e-03, 2.24175728e-03, 1.70584577e-04,
  1.65096096e-06, 8.09561255e-07,-4.90500104e+00, 2.42763364e-04,
  1.18261103e-02,-6.77050203e-04]


--- Step 1054 ---
qpos:
[ 0.01870994, 0.03010986,-0.00951333,-0.02554531, 0.00787845, 0.00467342,
 -0.00785298, 0.02708113, 0.01232285, 0.02798035,-0.00832341, 0.0264423 ,
  1.20895969, 0.00162825, 1.13126815, 0.045334  , 0.05830188,-0.07819376,
  0.17147541, 0.99955034, 0.02855662,-0.00329658,-0.00853005]

qacc:
[ 6.54125061e+00, 2.02134412e+00,-5.56148157e+00, 3.64595035e+00,
  4.05433607e+00,-1.66375978e+00, 7.44328705e+00,-1.37564235e+01,
  5.71242869e+00,-8.95561903e-01, 1.01871417e+00, 1.70472456e+00,
  1.31016488e+02,-1.12983876e+02, 4.62357318e+00,-1.71699387e+01,
  2.22796189e+00, 1.01408259e-01,-1.52459778e-01,-4.36991402e+00,
  2.09189549e+01,-1.13293854e+00]

qfrc_actuator:
[ 9.42548609e-05, 9.67325887e-04, 1.32911196e-04,-9.90678028e-05,
  3.11266982e-05, 6.62776925e-05,-4.94091239e-05, 5.59221339e-05,
 -3.45460819e-05, 8.46891108e-04, 2.39353615e-04, 9.43071985e-06,
  1.62234406e-02, 4.41689097e-03, 5.24946646e-03,-1.96286220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.74565373,  5.34957937, -2.09631519,  5.34957937, 11.24180738,
       14.02561521, -2.09631519, 14.02561521, 41.53757192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005171809057694793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14668216e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.14668216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750285, -0.08097029,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94498360e-05, 5.37361829e-05,-1.98614599e-05,-5.52476000e-06,
  2.36610778e-05, 1.94434096e-05, 2.61094760e-05,-1.48837297e-05,
  3.44033007e-05,-1.09839901e-04,-2.60372688e-05, 3.59375445e-07,
  2.31285860e-02, 7.93222581e-03, 1.27105192e-03, 2.09602843e-04,
  3.69203937e-06,-1.04676261e-07,-4.90500248e+00, 2.43307875e-04,
  1.18240336e-02,-6.77820170e-04]


--- Step 1055 ---
qpos:
[ 0.01871054, 0.03011047,-0.00951322,-0.02554575, 0.00787864, 0.00467348,
 -0.00785308, 0.0270807 , 0.01232367, 0.02798056,-0.00832297, 0.02644107,
  1.2090408 , 0.00160342, 1.13152844, 0.04533598, 0.05830251,-0.07819015,
  0.17147589, 0.99954982, 0.02857875,-0.00329875,-0.00851648]

qacc:
[  1.06146489,  0.65859595, -5.25213262, 16.37530943, -3.64987598,
  -2.11044114, 13.35016183,-34.7524009 ,  0.43790924,  0.58564982,
  -2.43886792, -0.60564466,-26.48103223, 30.71119568,-39.85235535,
 107.30787406, -2.11741831,  0.28265075, -0.10818398, -1.76581166,
 -22.1061459 ,-17.44754918]

qfrc_actuator:
[ 9.94093804e-05, 9.45139517e-04, 1.39339367e-04,-6.61730082e-05,
  9.14722556e-06, 8.78541969e-05,-4.83492183e-05,-5.77155893e-06,
 -3.28504736e-05, 7.83584742e-04, 1.87993312e-04,-7.87910496e-06,
  1.62094106e-02, 4.45011589e-03, 5.19643667e-03,-2.07142142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88870953,  0.46382379, -0.75807132,  0.46382379,  0.30954503,
       -0.35436016, -0.75807132, -0.35436016,  0.67189527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.913917333714127e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40922747, -0.91107222, -0.04980255, -0.02040589, -0.04543009,
        0.99875908, -0.91220419,  0.40973591,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062866, -0.04668561,  0.28572177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73095347, -5.70028272,  0.59211865, -5.70028272,  6.21376422,
        4.64798358,  0.59211865,  4.64798358, 50.4767495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005153799693548011
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.1541835e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.1541835e-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([ 0.09573369, -0.09276787,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32213750e-06, 3.51548629e-06, 1.48830098e-05, 3.44001829e-05,
 -2.13006997e-05, 3.72232945e-05, 7.77924809e-06,-6.02485492e-05,
  2.67192674e-06,-1.30127426e-04,-7.72688288e-05,-2.29150440e-05,
  1.43625495e-02, 7.57986210e-03, 7.35059155e-04, 9.61541880e-05,
  5.47887787e-06,-7.39426461e-07,-4.90500224e+00, 2.46164425e-04,
  1.18244737e-02,-6.78319189e-04]


--- Step 1056 ---
qpos:
[ 0.01871084, 0.03011064,-0.00951283,-0.0255454 , 0.00787823, 0.00467364,
 -0.00785311, 0.02708025, 0.01232382, 0.02798087,-0.00832363, 0.02643989,
  1.20909421, 0.00157842, 1.13176346, 0.04533932, 0.05829499,-0.07818548,
  0.17147553, 0.99954886, 0.02860021,-0.0033431 ,-0.00854013]

qacc:
[-2.44445290e+00, 2.68976391e-01,-5.11192021e+00, 1.86054955e+01,
 -5.36133020e+00,-7.24489995e-02, 5.37105834e-01,-1.01235829e+00,
 -5.79366194e+00, 3.32331860e+00,-1.18607902e+01, 1.44195705e+01,
 -2.00399148e+01, 1.76214931e+01,-4.00857802e+01, 8.92541034e+01,
 -2.03762668e+00, 2.64573149e-01,-2.11598067e-01,-2.11674543e-01,
 -2.16124315e+01,-1.80024113e+01]

qfrc_actuator:
[ 8.44380852e-05, 8.96114853e-04, 1.43017610e-04,-2.89052225e-05,
 -2.16224623e-05, 8.28150174e-05,-4.76883582e-05,-6.37817892e-06,
 -6.76998472e-05, 8.52517285e-04, 1.57482547e-04, 1.49607890e-07,
  1.61943100e-02, 4.47570503e-03, 5.17215325e-03,-2.10511778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88880049,  0.32241351, -0.82826074,  0.32241351,  0.18502134,
       -0.2739571 , -0.82826074, -0.2739571 ,  0.78215839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3798174454782465e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40916428, -0.91109836, -0.04984346, -0.02041954, -0.04546881,
        0.99875704, -0.91223223,  0.40967349,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062842, -0.04668828,  0.28569085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73058150e+00,  5.73055259e+00, -1.82025442e-02,  5.73055259e+00,
        5.73083469e+00,  7.97095149e-02, -1.82025442e-02,  7.97095149e-02,
        3.08248519e+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: -0.000515334375234669
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07718704e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07718704e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09573533, -0.09275842,  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:
[-1.47898179e-05,-4.25342629e-05, 7.41915481e-06, 3.86020949e-05,
 -3.13598410e-05, 1.47939172e-05, 7.22569758e-06, 8.71128733e-08,
 -3.48113992e-05,-2.07850906e-05,-6.77046949e-05,-6.65967989e-07,
  1.57935582e-02, 7.24924806e-03, 1.56464562e-03,-2.11736982e-04,
  3.25759166e-07, 3.06078864e-08,-4.90500052e+00, 2.42941630e-04,
  1.18259631e-02,-6.78932589e-04]


--- Step 1057 ---
qpos:
[ 0.01871097, 0.03011076,-0.00951278,-0.02554461, 0.00787779, 0.00467398,
 -0.00785373, 0.02708018, 0.01232355, 0.02798129,-0.00832426, 0.02643874,
  1.20910663, 0.00157193, 1.13201571, 0.04533447, 0.05829421,-0.07818213,
  0.17147579, 0.99954815, 0.02862571,-0.00335283,-0.00853405]

qacc:
[-1.57164550e+00, 1.81139686e+00,-8.39694007e+00, 1.65593263e+01,
 -2.03582736e-01, 2.64557790e+00,-1.06997459e+01, 1.80531896e+01,
 -3.57360262e+00, 1.16855258e-01,-2.83106084e-01, 5.26249383e-01,
 -4.70091797e+01, 6.18557301e+01, 5.41600441e+01,-1.43481441e+02,
  1.68433163e+00,-3.29544356e-01, 1.54332580e-01, 1.91638140e+00,
  1.77444326e+01, 1.43566127e+01]

qfrc_actuator:
[ 7.55044388e-05, 9.02400340e-04, 1.27147792e-04,-7.15777533e-06,
 -2.18000722e-05, 7.96670276e-05,-8.28231096e-05, 1.11995159e-05,
 -8.82636148e-05, 8.93695094e-04, 1.75606830e-04, 5.40660637e-06,
  1.61901479e-02, 4.50117224e-03, 5.15581228e-03,-2.10974295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88870171, -0.77894703,  0.42782268, -0.77894703,  0.73093579,
       -0.2872482 ,  0.42782268, -0.2872482 ,  0.36570202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.505906815600086e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40907103, -0.91113646, -0.04991241, -0.0204432 , -0.04553377,
        0.9987536 , -0.91227352,  0.40958153,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061659, -0.04668466,  0.28564127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74396693, -5.64390795,  1.06745451, -5.64390795,  6.07467276,
        1.74852723,  1.06745451,  1.74852723, 14.9888824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005169743484922246
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07376993e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07376993e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275068 , -0.08094678,  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:
[-9.38239312e-06,-1.43318287e-05,-2.24123219e-05, 2.09333055e-05,
 -1.06395155e-06, 6.60581018e-06,-3.11850677e-05, 1.84654086e-05,
 -2.15894238e-05, 1.55282550e-05, 5.47689830e-06, 2.01556387e-06,
  1.71730096e-02, 7.28406477e-03, 2.80703233e-03,-2.85921807e-04,
  2.85174075e-06, 1.42462086e-06,-4.90500008e+00, 2.44394018e-04,
  1.18273922e-02,-6.79462454e-04]


--- Step 1058 ---
qpos:
[ 0.01871099, 0.03011111,-0.00951279,-0.02554397, 0.0078777 , 0.00467454,
 -0.00785478, 0.02707961, 0.01232338, 0.02798158,-0.00832484, 0.026437  ,
  1.20907809, 0.00155279, 1.13228948, 0.04532784, 0.05829927,-0.07818015,
  0.1714764 , 0.99954761, 0.02865971,-0.00333207,-0.00849124]

qacc:
[ -0.93668056,  0.14186917,  0.57222352, -3.24084179,  3.02463129,
   0.48044403,  0.829796  , -8.9258708 ,  0.85566835, -1.53328286,
   7.70767575,-17.90389502,-24.29192271, 10.71473117, 38.65718911,
 -85.5966359 ,  1.46133398, -0.34452751,  0.08901138,  4.17787099,
  15.79850878, 17.91096462]

qfrc_actuator:
[ 7.02033569e-05, 9.41660397e-04, 1.35570183e-04,-1.24404792e-05,
 -3.96738721e-06, 9.52955599e-05,-1.03303708e-04,-1.39577333e-05,
 -8.24895915e-05, 8.64907845e-04, 1.68963159e-04,-2.64961502e-05,
  1.61894179e-02, 4.49018382e-03, 5.05078404e-03,-2.12340657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8886494 , -0.72952086,  0.5074417 , -0.72952086,  0.65901063,
       -0.33013896,  0.5074417 , -0.33013896,  0.41402689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.115249131715768e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40901082, -0.91116061, -0.04996498, -0.02046178, -0.04558306,
        0.99875097, -0.9123001 ,  0.40952232,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061579, -0.04668382,  0.2856137 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74813956,  5.4295555 , -1.8870706 ,  5.4295555 ,  9.07338455,
        9.56752875, -1.8870706 ,  9.56752875, 33.27621844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005174852645176697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07270980e-13, -1.07270980e-13,  1.00000000e+00, -1.15070631e-26,
        1.00000000e+00,  1.07270980e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07270980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750842, -0.08093822,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58004390e-06, 2.75029905e-05, 3.42291468e-06,-6.26583411e-06,
  1.78052434e-05, 1.36671458e-05,-2.23146114e-05,-2.55929714e-05,
  5.14623992e-06,-1.88996976e-05,-2.68612178e-06,-3.10046852e-05,
  1.92210744e-02, 6.34672838e-03, 1.83610032e-03, 1.09414575e-04,
  2.01779917e-07, 2.59985589e-07,-4.90500042e+00, 2.42587881e-04,
  1.18264587e-02,-6.80103036e-04]


--- Step 1059 ---
qpos:
[ 0.01871094, 0.03011192,-0.00951283,-0.02554343, 0.00787817, 0.00467496,
 -0.00785539, 0.02707873, 0.01232328, 0.02798162,-0.00832602, 0.02643564,
  1.20901819, 0.00152315, 1.13256125, 0.0453232 , 0.0583048 ,-0.07817531,
  0.17147806, 0.99954784, 0.02867545,-0.00330162,-0.00842195]

qacc:
[ -0.55807954,  0.51705648, -0.54853759, -1.43049824,  4.93877915,
  -2.07455099,  8.41220678,-14.34919534,  0.58742037,  2.12823144,
  -9.68622373, 17.46443066,-16.76373908,  5.17878773, -8.03775038,
  26.00342175,  0.11757905,  0.71657829,  0.26289259, -9.1314031 ,
   5.14499991, 13.12706796]

qfrc_actuator:
[ 6.70811085e-05, 9.82687847e-04, 1.40655514e-04,-1.57768706e-05,
  2.43131866e-05, 8.65530060e-05,-7.94086597e-05,-2.85257071e-05,
 -7.90170689e-05, 8.29843422e-04, 1.29671938e-04,-9.08082275e-06,
  1.61815666e-02, 4.51659069e-03, 4.99272640e-03,-2.25215835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861289, -0.85592754, -0.2387905 , -0.85592754,  0.95633965,
       -0.24276175, -0.2387905 , -0.24276175,  1.7587751 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.431162160773894e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40901618, -0.91115547, -0.05001467, -0.02048244, -0.04562824,
        0.99874848, -0.91229723,  0.40952871,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062475, -0.0466846 ,  0.28560544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73496819, -4.08723683,  4.0229784 , -4.08723683, 12.59638136,
        6.9710095 ,  4.0229784 ,  6.9710095 , 12.81732458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005158719982866484
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43525475e-09,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43525475e-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([ 0.0459251 , -0.09654886,  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:
[-3.27638610e-06, 5.68293659e-05, 1.09651149e-05,-2.16444339e-06,
  2.87933147e-05,-6.80671370e-06, 2.30904273e-05,-1.52508515e-05,
  3.61829613e-06,-4.75154503e-05,-4.45919991e-05, 1.59133378e-05,
  2.12592506e-02, 7.00571299e-03, 6.96695939e-04, 6.80657744e-05,
  3.23916021e-06,-6.57669584e-07,-4.90500224e+00, 2.43806450e-04,
  1.18243283e-02,-6.80827958e-04]


--- Step 1060 ---
qpos:
[ 0.01871051, 0.03011325,-0.00951315,-0.02554292, 0.00787898, 0.00467524,
 -0.00785574, 0.02707874, 0.01232391, 0.02798123,-0.00832732, 0.02643483,
  1.20913273, 0.00149691, 1.13283811, 0.04531234, 0.05830904,-0.07816218,
  0.17147883, 0.99954942, 0.02864423,-0.00327367,-0.00835211]

qacc:
[  -3.29320176,   1.36607096,  -3.71322118,   3.11743203,   2.96243127,
    0.89919614,  -7.21790943,  22.18199809,   6.24006184,   0.9302093 ,
   -6.521259  ,  16.71276903, 133.52968362,-119.2744845 ,  16.79161579,
  -69.90775038,  -0.32364768,   2.07185907,  -0.22363041, -23.48212741,
   -1.43253705,   0.3964625 ]

qfrc_actuator:
[ 4.75124100e-05, 1.00670574e-03, 1.25997384e-04,-1.79360566e-05,
  4.07578177e-05, 8.12236547e-05,-6.50951495e-05, 1.65280887e-05,
 -4.14307289e-05, 8.08936268e-04, 1.24678245e-04, 1.94350861e-05,
  1.61753806e-02, 4.53283571e-03, 5.01745213e-03,-2.39975694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.73239882, -4.24358887,  3.85387465, -4.24358887, 10.93594831,
        5.72974648,  3.85387465,  5.72974648, 12.04155275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005155571228988552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81585190e-08, -6.81585258e-08,  1.00000000e+00, -4.64558417e-15,
        1.00000000e+00,  6.81585258e-08, -1.00000000e+00,  1.57772181e-30,
       -6.81585190e-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([ 0.06477681, -0.11073249,  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:
[-1.96473399e-05, 5.79372271e-05,-1.65536203e-06, 6.08360772e-07,
  1.72602312e-05,-5.01585213e-06, 1.52267855e-05, 4.52654166e-05,
  3.76757281e-05,-5.59911442e-05,-1.97344609e-05, 2.52518498e-05,
  2.28205771e-02, 7.54712338e-03, 8.16674166e-04,-1.80176904e-04,
  7.29142346e-06,-1.29033827e-07,-4.90500159e+00, 2.45612073e-04,
  1.18245293e-02,-6.81123470e-04]


--- Step 1061 ---
qpos:
[ 0.01870985, 0.03011475,-0.0095132 ,-0.02554279, 0.00787963, 0.00467555,
 -0.00785602, 0.02708031, 0.0123243 , 0.02798057,-0.00832848, 0.02643434,
  1.20919216, 0.00146464, 1.13309751, 0.04530805, 0.05830514,-0.07814847,
  0.17147879, 0.99955045, 0.02861419,-0.00328963,-0.0083244 ]

qacc:
[ -1.97831232, -1.26604738,  6.40076955,-13.31407824, -1.35225947,
   3.08256617,-17.53194497, 44.48938355, -2.06732174, -0.13829652,
  -1.32403557,  6.60450142,-37.40404406, 27.96366589,-43.16678154,
 119.33600805, -2.03424218,  0.14493831, -0.20158067,  0.71538034,
 -22.54898401,-20.43418677]

qfrc_actuator:
[ 3.61719692e-05, 1.00252258e-03, 1.35242654e-04,-3.71642187e-05,
  3.23485044e-05, 9.57553805e-05,-5.65208244e-05, 9.62879595e-05,
 -5.50760998e-05, 8.14561096e-04, 1.40037252e-04, 3.65320223e-05,
  1.61634516e-02, 4.53328573e-03, 4.98476424e-03,-2.39148277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88948004,  0.5141604 , -0.72581942,  0.5141604 ,  0.35946093,
       -0.37545818, -0.72581942, -0.37545818,  0.62351068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.962949787284847e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40924006, -0.91105787, -0.04996128, -0.02047172, -0.04557453,
        0.99875116, -0.91219706,  0.40975178,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063264, -0.04667694,  0.28554326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73429906,  3.09712958,  4.82596872,  3.09712958, 12.80336486,
       -4.53666694,  4.82596872, -4.53666694,  8.64576537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005157900026476758
  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([ 0.09574219, -0.09270376,  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:
[-1.18967427e-05, 2.78478594e-05, 2.10166575e-05,-1.67955444e-05,
 -7.92304849e-06, 1.68119914e-05, 1.09800692e-05, 8.09521605e-05,
 -1.25626071e-05,-2.86337438e-05, 2.25704253e-06, 1.45102412e-05,
  1.40901229e-02, 7.38121882e-03, 5.23289030e-04, 1.37560527e-04,
  6.08108647e-06, 1.31889182e-06,-4.90499780e+00, 2.45605963e-04,
  1.18292991e-02,-6.80405978e-04]


--- Step 1062 ---
qpos:
[ 0.01870906, 0.03011617,-0.00951302,-0.0255425 , 0.00787983, 0.00467582,
 -0.00785614, 0.02708282, 0.01232418, 0.02797986,-0.00832929, 0.026434  ,
  1.20920645, 0.00142086, 1.13333357, 0.04530863, 0.0582934 ,-0.07813428,
  0.17147762, 0.99955085, 0.02858867,-0.00334844,-0.00834052]

qacc:
[ -1.11449743, -0.4437197 ,  0.81067149,  1.44286631, -3.95746875,
   1.43367712, -9.1746974 , 25.30042962, -4.34493981, -0.70356141,
   1.75457341,  0.52000107,-25.4323809 , 11.55983253,-47.69251451,
 120.26245951, -1.96008512,  0.12156333, -0.2850009 ,  2.37484804,
 -22.02248591,-21.30461278]

qfrc_actuator:
[ 2.97705349e-05, 9.81555982e-04, 1.40650913e-04,-3.07826659e-05,
  9.38211099e-06, 8.65773404e-05,-5.13032192e-05, 1.42576940e-04,
 -8.10251145e-05, 8.36118826e-04, 1.67380733e-04, 4.68041799e-05,
  1.61571302e-02, 4.56783509e-03, 4.98871159e-03,-2.21121460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89090192,  0.4219092 , -0.7846648 ,  0.4219092 ,  0.26682716,
       -0.33556097, -0.7846648 , -0.33556097,  0.71047295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.809799418600277e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4093463 , -0.91101207, -0.04992606, -0.02046256, -0.04554003,
        0.99875292, -0.9121496 ,  0.40985743,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062115, -0.04666594,  0.28547724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71727093,  5.68327144,  0.62258547,  5.68327144,  6.02811653,
       -2.8375541 ,  0.62258547, -2.8375541 , 31.61988347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005137020400271947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0806099e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0806099e-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([ 0.09574335, -0.09269492,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.74329430e-06,-1.82894133e-06, 1.31509934e-05, 7.97097428e-06,
 -2.31895048e-05, 5.94630029e-06, 1.28402632e-05, 4.89615815e-05,
 -2.63316162e-05, 6.66916980e-06, 2.22321773e-05, 9.41135170e-06,
  1.68373948e-02, 7.71721865e-03, 1.39621094e-03,-1.14595280e-05,
  9.74242848e-07,-8.22417396e-07,-4.90499941e+00, 2.42072814e-04,
  1.18275915e-02,-6.79780120e-04]


--- Step 1063 ---
qpos:
[ 0.01870889, 0.03011724,-0.00951288,-0.02554208, 0.00787941, 0.00467618,
 -0.00785642, 0.02708484, 0.01232443, 0.02797926,-0.00832982, 0.02643378,
  1.20918035, 0.00140078, 1.13358247, 0.04530303, 0.05828837,-0.07812146,
  0.17147738, 0.99955146, 0.02856891,-0.00337372,-0.008326  ]

qacc:
[ 5.31407445e+00,-9.98945045e-02,-9.02151939e-01, 3.50980900e+00,
 -5.47814386e+00,-4.13530987e-01, 3.74085351e+00,-1.20904269e+01,
  3.23456527e+00,-4.01189451e-01, 1.13722265e+00, 3.14764763e-01,
 -4.98714658e+01, 6.92256806e+01, 4.18289144e+01,-1.09041287e+02,
  1.67648446e+00,-3.44133590e-01, 2.34218619e-01, 2.78305450e+00,
  1.72201548e+01, 1.48320820e+01]

qfrc_actuator:
[ 6.18299585e-05, 9.32947804e-04, 1.25930763e-04,-2.71573523e-05,
 -2.19603297e-05, 8.09886139e-05,-6.59787428e-05, 1.15518629e-04,
 -6.07334171e-05, 8.49360138e-04, 1.83895170e-04, 5.30025451e-05,
  1.61605865e-02, 4.63073932e-03, 5.01579638e-03,-2.17721328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89160224, -0.78330735,  0.42589219, -0.78330735,  0.78524919,
       -0.19560614,  0.42589219, -0.19560614,  0.53184047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.494486679332243e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40943957, -0.91096999, -0.04992908, -0.02046847, -0.04554069,
        0.99875277, -0.9121076 ,  0.40995088,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07059953, -0.04664841,  0.28539677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73190742, -5.62703745,  1.09142669, -5.62703745,  6.05902087,
        1.6864895 ,  1.09142669,  1.6864895 , 14.42689317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005154968946632921
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07684744e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07684744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750827, -0.08091059,  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:
[ 3.18566635e-05,-4.66276507e-05,-1.32207515e-05, 4.15344071e-06,
 -3.20019416e-05, 2.46490966e-06,-1.01780758e-05,-2.54113374e-05,
  1.95171452e-05, 2.19925668e-05, 2.09753640e-05, 7.44176231e-06,
  1.90967420e-02, 8.35616786e-03, 2.58541479e-03,-2.21748565e-04,
  4.67962329e-06,-1.52859390e-06,-4.90500182e+00, 2.44180987e-04,
  1.18261893e-02,-6.79175180e-04]


--- Step 1064 ---
qpos:
[ 0.0187091 , 0.03011787,-0.00951285,-0.02554161, 0.00787896, 0.00467694,
 -0.0078573 , 0.02708617, 0.01232424, 0.02797878,-0.00833017, 0.02643399,
  1.20911214, 0.00137086, 1.13384736, 0.04529616, 0.05828921,-0.07811013,
  0.17147775, 0.99955218, 0.02855917,-0.00336912,-0.00827442]

qacc:
[  3.31234406, -0.15120875, -0.52451   ,  1.97447245, -0.2708893 ,
   0.75835045,  1.0314162 ,-12.46583081, -3.81648224,  0.53545012,
  -3.43548788, 10.3612307 ,-26.89927519, 15.65357051, 29.26393442,
 -64.02875255,  1.46966363, -0.37186187,  0.15335973,  4.94648246,
  15.50148887, 18.07484679]

qfrc_actuator:
[ 8.07632062e-05, 9.03573858e-04, 1.17067890e-04,-2.52270688e-05,
 -2.24715990e-05, 1.12947501e-04,-9.23190059e-05, 8.10183429e-05,
 -8.43933036e-05, 8.57486323e-04, 1.93853811e-04, 7.44947410e-05,
  1.61604553e-02, 4.62678292e-03, 5.00109088e-03,-2.18638188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89247827, -0.75037616,  0.48316982, -0.75037616,  0.71553294,
       -0.27480102,  0.48316982, -0.27480102,  0.46570465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.245046514313485e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40954937, -0.91092118, -0.04991913, -0.02046987, -0.04552915,
        0.99875326, -0.91205827,  0.41006061,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07058866, -0.04663393,  0.28533861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74584388,  5.52612126, -1.57375529,  5.52612126,  8.40392843,
        9.33366049, -1.57375529,  9.33366049, 38.52027835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005172041888475143
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36646381e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.36646381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750941, -0.08090296,  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:
[ 1.98421392e-05,-5.80296762e-05,-1.99936980e-05,-4.47464360e-07,
 -1.41839738e-06, 3.01206766e-05,-2.79679991e-05,-3.52447188e-05,
 -2.30833209e-05, 2.51124756e-05, 1.73558205e-05, 2.33075280e-05,
  2.11146948e-02, 7.16666104e-03, 1.92428908e-03, 7.62790119e-05,
  9.47560774e-07,-7.57054220e-07,-4.90500002e+00, 2.42452813e-04,
  1.18273706e-02,-6.78789609e-04]


--- Step 1065 ---
qpos:
[ 0.01870954, 0.03011818,-0.00951271,-0.0255408 , 0.00787816, 0.00467818,
 -0.00785859, 0.02708705, 0.01232377, 0.02797869,-0.00833075, 0.0264341 ,
  1.2090057 , 0.0013236 , 1.13412869, 0.04528867, 0.05829537,-0.07810031,
  0.17147843, 0.99955296, 0.02856222,-0.0033372 ,-0.00818183]

qacc:
[ 1.94341388e+00,-3.63582862e-02,-1.92129388e+00, 7.81893180e+00,
 -3.08283896e+00, 8.75327024e-01,-3.11931118e-01,-7.09944380e+00,
 -2.41857299e+00, 9.67444133e-01,-2.31523674e+00, 7.86233592e-01,
 -1.84406746e+01, 6.32780862e-01, 2.70845314e+01,-5.73120410e+01,
  1.32800460e+00,-3.77527724e-01, 7.68591051e-02, 6.34778331e+00,
  1.42934602e+01, 2.00803072e+01]

qfrc_actuator:
[ 9.18064127e-05, 9.03705703e-04, 1.29557356e-04,-6.53760626e-06,
 -4.03347428e-05, 1.49322492e-04,-1.07417636e-04, 6.02070828e-05,
 -9.82433550e-05, 8.80226623e-04, 1.82104981e-04, 6.93020004e-05,
  1.61704317e-02, 4.64228355e-03, 4.96589002e-03,-2.20611456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8931252 , -0.72574364,  0.52054662, -0.72574364,  0.67642547,
       -0.30212174,  0.52054662, -0.30212174,  0.4719085 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.74518677194745e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09714969e-01, -9.10847254e-01, -4.99091593e-02, -2.04740452e-02,
       -4.55163449e-02,  9.98753761e-01, -9.11983803e-01,  4.10226209e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07058751, -0.04662126,  0.28530066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74072777,  5.47389527, -1.72986297,  5.47389527,  9.87479722,
       13.08165077, -1.72986297, 13.08165077, 47.13567504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005165776295648489
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07459456e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07459456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750965, -0.08089699,  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:
[ 1.15999165e-05,-3.64843005e-05,-1.98331974e-06, 1.55011296e-05,
 -1.78903434e-05, 4.59101281e-05,-1.35426424e-05,-2.11767639e-05,
 -1.45219589e-05, 4.13794340e-05,-3.60740091e-06,-3.06013319e-06,
  2.32286953e-02, 7.67446976e-03, 1.08396815e-03, 1.19598379e-04,
  3.06687944e-06,-3.26477937e-08,-4.90499941e+00, 2.43530990e-04,
  1.18275707e-02,-6.78531432e-04]


--- Step 1066 ---
qpos:
[ 0.01871045, 0.0301179 ,-0.00951206,-0.02553943, 0.00787716, 0.00467967,
 -0.00786   , 0.02708768, 0.01232382, 0.027979  ,-0.00833175, 0.02643381,
  1.20886631, 0.00125977, 1.13442486, 0.04527924, 0.05830641,-0.078092  ,
  0.17147914, 0.99955375, 0.02858007,-0.0032799 ,-0.00804544]

qacc:
[ 4.09281146e+00,-1.08057881e+00, 3.25966928e-01, 9.08199350e+00,
 -1.83548767e+00, 1.39119152e-01, 1.00389803e+00,-5.25541324e+00,
  4.46840344e+00, 8.81508159e-01,-7.16347213e-01,-5.75823117e+00,
 -1.48716690e+01,-1.89220637e+00, 2.84834385e+01,-6.61750022e+01,
  1.22141426e+00,-3.76951606e-01, 8.27009159e-03, 7.36466326e+00,
  1.33744117e+01, 2.15066394e+01]

qfrc_actuator:
[ 1.15874123e-04, 8.68352683e-04, 1.54686661e-04, 2.19036151e-05,
 -5.05250864e-05, 1.52609702e-04,-1.15713074e-04, 4.76359395e-05,
 -7.06889878e-05, 8.93678258e-04, 1.57674455e-04, 4.84454060e-05,
  1.61876395e-02, 4.71640115e-03, 4.89114801e-03,-2.32110477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8933222 , -0.70595475,  0.54740518, -0.70595475,  0.64705226,
       -0.31759917,  0.54740518, -0.31759917,  0.4837341 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.89015889294088e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09933516e-01, -9.10749062e-01, -4.99064911e-02, -2.04838684e-02,
       -4.55089990e-02,  9.98753895e-01, -9.11885368e-01,  4.10444973e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07059508, -0.04661018,  0.28528104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005141048457223407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15952647e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.15952647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02750919, -0.08089233,  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:
[ 2.43912074e-05,-5.55124232e-05, 1.78782459e-05, 2.71090673e-05,
 -1.06813140e-05, 2.52172384e-05,-1.21349697e-06,-1.14855579e-05,
  2.71421834e-05, 3.57183115e-05,-1.64254890e-05,-1.92659262e-05,
  2.51559685e-02, 8.61626673e-03, 1.81978183e-04, 3.40597329e-05,
  1.16705106e-05, 3.88313531e-07,-4.90500049e+00, 2.47728960e-04,
  1.18260086e-02,-6.78453043e-04]


--- Step 1067 ---
qpos:
[ 1.87112995e-02, 3.01177395e-02,-9.51161191e-03,-2.55384553e-02,
  7.87638551e-03, 4.68089478e-03,-7.86100025e-03, 2.70881847e-02,
  1.23242011e-02, 2.79793147e-02,-8.33263538e-03, 2.64336324e-02,
  1.20875285e+00, 1.15038901e-03, 1.13468498e+00, 4.52794613e-02,
  5.83093222e-02,-7.80839044e-02, 1.71479706e-01, 9.99553899e-01,
  2.85979379e-02,-3.26650377e-03,-7.96817108e-03]

qacc:
[-5.54490801e-01,-6.28698405e-02, 2.14649350e+00,-8.82082036e+00,
  2.04774200e+00,-1.74469104e+00, 6.27021996e+00,-8.95306401e+00,
  2.81684911e+00,-1.00596521e-01,-9.77975253e-02, 1.82036691e+00,
  5.57918218e+01,-9.63121342e+01,-8.76507060e+01, 2.17222618e+02,
 -2.03325817e+00,-5.47431279e-02,-3.75677732e-02, 1.00948475e-01,
 -2.27910150e+01,-2.89201701e+01]

qfrc_actuator:
[ 1.11912541e-04, 9.00862454e-04, 1.51433638e-04, 2.57315443e-06,
 -3.83601688e-05, 1.18341745e-04,-1.02303956e-04, 3.99877186e-05,
 -5.44932014e-05, 8.83634448e-04, 1.61423168e-04, 5.40370109e-05,
  1.61994358e-02, 4.79633883e-03, 4.85081659e-03,-2.29640556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89299879,  0.52738278, -0.72063461,  0.52738278,  0.51817527,
       -0.27430749, -0.72063461, -0.27430749,  0.69225206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.650470828845543e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10190236e-01, -9.10632951e-01, -4.99159248e-02, -2.05005805e-02,
       -4.55118199e-02,  9.98753423e-01, -9.11769541e-01,  4.10702208e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061046, -0.04660084,  0.2852783 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70733277, -5.62960751,  0.93870475, -5.62960751,  5.83521566,
        0.76694026,  0.93870475,  0.76694026, 10.30683293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005124822628139875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08318190e-13, -1.08318190e-13,  1.00000000e+00, -1.17328303e-26,
        1.00000000e+00,  1.08318190e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08318190e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575267, -0.09262538,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27201701e-06, 6.32591354e-06,-1.15877727e-05,-2.05658231e-05,
  1.18706960e-05,-2.09516419e-05, 1.80693879e-05,-6.83421877e-06,
  1.70058298e-05, 5.72244676e-06, 8.44483956e-06, 6.18006846e-06,
  2.68140552e-02, 9.52511908e-03,-6.06391940e-04, 1.54084243e-04,
  2.72564955e-05, 3.74395861e-07,-4.90500367e+00, 2.55106576e-04,
  1.18221284e-02,-6.78596927e-04]


--- Step 1068 ---
qpos:
[ 1.87117502e-02, 3.01177628e-02,-9.51130340e-03,-2.55373891e-02,
  7.87576349e-03, 4.68177220e-03,-7.86146191e-03, 2.70885973e-02,
  1.23244303e-02, 2.79795994e-02,-8.33342948e-03, 2.64335323e-02,
  1.20864646e+00, 1.04793350e-03, 1.13491403e+00, 4.52811260e-02,
  5.83043122e-02,-7.80756917e-02, 1.71479626e-01, 9.99553446e-01,
  2.86169798e-02,-3.29575988e-03,-7.94453125e-03]

qacc:
[-3.42692812e+00, 8.14453231e-01,-2.93313345e+00, 4.59863705e+00,
  1.35815614e+00,-2.15944020e+00, 7.40960634e+00,-9.59388393e+00,
 -1.30126491e+00,-1.30146031e-01, 8.50217691e-02, 1.11090930e+00,
  2.41175077e+00, 3.66270108e+00,-5.03702929e+01, 1.09373651e+02,
 -1.97995384e+00, 2.97951008e-02,-1.60765758e-01, 6.75581956e-01,
 -2.20793101e+01,-2.61990550e+01]

qfrc_actuator:
[ 9.14814081e-05, 9.20358751e-04, 1.49433419e-04, 8.57837203e-06,
 -3.08901933e-05, 9.74418787e-05,-7.63507883e-05, 3.52741988e-05,
 -6.28793219e-05, 8.77475298e-04, 1.63953249e-04, 5.73962160e-05,
  1.62198499e-02, 4.89763394e-03, 4.84582891e-03,-2.21644745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89188145,  0.40937905, -0.792377  ,  0.40937905,  0.28826784,
       -0.31185505, -0.792377  , -0.31185505,  0.73076253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.744505112508287e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10448500e-01, -9.10514406e-01, -4.99554344e-02, -2.05297656e-02,
       -4.55420042e-02,  9.98751448e-01, -9.11652652e-01,  4.10961607e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061494, -0.0465882 ,  0.2852579 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71371945,  5.70169327, -0.37051838,  5.70169327,  5.77068077,
        0.87654487, -0.37051838,  0.87654487, 19.20236188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005132662439455843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.24458224e-13, -1.08152741e-13,  1.00000000e+00, -3.50910463e-26,
        1.00000000e+00,  1.08152741e-13, -1.00000000e+00,  0.00000000e+00,
       -3.24458224e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575518, -0.09260749,  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:
[-2.05231074e-05, 1.97544402e-05,-2.83865075e-06, 5.47181649e-06,
  7.79956994e-06,-2.92064346e-05, 2.36101359e-05,-5.12130698e-06,
 -7.88577513e-06,-9.43496401e-07, 4.97283485e-06, 4.01793032e-06,
  2.55388843e-02, 1.19072976e-02, 1.18637332e-03,-2.49127491e-04,
  7.88472468e-06,-2.38903652e-07,-4.90500176e+00, 2.44587098e-04,
  1.18239997e-02,-6.79266957e-04]


--- Step 1069 ---
qpos:
[ 1.87119528e-02, 3.01173116e-02,-9.51077400e-03,-2.55355087e-02,
  7.87558074e-03, 4.68254392e-03,-7.86168114e-03, 2.70889391e-02,
  1.23242129e-02, 2.79794588e-02,-8.33371310e-03, 2.64334949e-02,
  1.20854630e+00, 9.57238102e-04, 1.13511903e+00, 4.52853099e-02,
  5.82926599e-02,-7.80674289e-02, 1.71479214e-01, 9.99552438e-01,
  2.86374680e-02,-3.36118281e-03,-7.97008848e-03]

qacc:
[-2.11239108e+00, 4.36557925e-01,-5.88798410e+00, 1.99476952e+01,
  3.87375532e+00,-9.70720463e-01, 3.54433042e+00,-5.06551774e+00,
 -3.78276799e+00,-1.85234822e+00, 5.53676049e+00,-4.96708372e+00,
 -2.05329466e+00, 1.25600039e+01,-4.27654943e+01, 9.89061345e+01,
 -1.66057044e+00, 1.25101181e-02,-8.31195128e-02, 7.93345123e-01,
 -1.87744387e+01,-2.40746416e+01]

qfrc_actuator:
[ 7.92816488e-05, 8.60927854e-04, 1.48190996e-04, 4.72048666e-05,
 -8.49783500e-06, 1.02514035e-04,-6.09171728e-05, 3.23360954e-05,
 -8.56634452e-05, 8.38180020e-04, 1.83488578e-04, 5.94061025e-05,
  1.62355463e-02, 5.01299083e-03, 4.84159462e-03,-2.01023316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89038815,  0.32152608, -0.8303084 ,  0.32152608,  0.2148037 ,
       -0.26161125, -0.8303084 , -0.26161125,  0.78908261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.236981788994991e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10632174e-01, -9.10427844e-01, -5.00235795e-02, -2.05670404e-02,
       -4.55999491e-02,  9.98748037e-01, -9.11569095e-01,  4.11146914e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706084 , -0.04657251,  0.28522031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70008278,  5.64126774,  0.81672643,  5.64126774,  6.78334606,
       -7.48228289,  0.81672643, -7.48228289, 57.38147777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005115918683190402
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07475367e-07, -6.07475692e-07,  1.00000000e+00,  3.69026519e-13,
        1.00000000e+00,  6.07475692e-07, -1.00000000e+00,  0.00000000e+00,
        6.07475367e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09082405, -0.09174616,  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:
[-1.27916815e-05,-4.87518624e-05, 2.67132505e-06, 3.94782517e-05,
  2.26030800e-05,-6.62740812e-06, 1.21253214e-05,-3.47463557e-06,
 -2.30160851e-05,-3.86263128e-05, 2.00986971e-05, 2.22144676e-06,
  2.52005551e-02, 1.16786351e-02, 2.73186224e-03,-1.16233250e-04,
  1.83558704e-06, 4.18935322e-07,-4.90500095e+00, 2.41722423e-04,
  1.18257278e-02,-6.79826777e-04]


--- Step 1070 ---
qpos:
[ 1.87123519e-02, 3.01167677e-02,-9.51060967e-03,-2.55338787e-02,
  7.87497775e-03, 4.68337508e-03,-7.86150576e-03, 2.70892105e-02,
  1.23237239e-02, 2.79787881e-02,-8.33309935e-03, 2.64334688e-02,
  1.20843480e+00, 9.07257702e-04, 1.13533778e+00, 4.52813905e-02,
  5.82878084e-02,-7.80608958e-02, 1.71479588e-01, 9.99551708e-01,
  2.86613695e-02,-3.39109931e-03,-7.96295845e-03]

qacc:
[   1.67537825,   0.37901634,  -0.48024722,  -3.18897685,  -3.68554778,
   -1.16179075,   4.56536766,  -6.46882006,  -2.27832582,  -3.1811171 ,
   10.28562733, -11.14212095, -39.49288765,  76.03222758,  48.69073056,
 -131.91896335,   1.70019822,  -0.43241374,   0.19672043,   1.6153943 ,
   18.22737335,  15.82327793]

qfrc_actuator:
[ 8.97821673e-05, 8.61239794e-04, 1.29348613e-04, 3.36349266e-05,
 -3.07581441e-05, 1.23064694e-04,-3.39621445e-05, 3.04790345e-05,
 -9.89790526e-05, 8.14914278e-04, 2.30522196e-04, 6.05893488e-05,
  1.62375816e-02, 5.11142705e-03, 4.85427528e-03,-2.06721612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88910624, -0.81321792,  0.35942528, -0.81321792,  0.79584946,
       -0.21099819,  0.35942528, -0.21099819,  0.41171213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.235709858178899e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10741774e-01, -9.10373315e-01, -5.01160909e-02, -2.06106715e-02,
       -4.56817555e-02,  9.98743399e-01, -9.11518730e-01,  4.11258562e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0705928 , -0.04655458,  0.28516864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73300998, -5.63775041,  1.04075635, -5.63775041,  5.98414408,
        1.36038697,  1.04075635,  1.36038697, 13.10219126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005156320257780622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07656523e-13, -1.07656523e-13,  1.00000000e+00, -1.15899270e-26,
        1.00000000e+00,  1.07656523e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07656523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02751482, -0.08085614,  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:
[ 1.01095097e-05,-2.47067512e-05,-2.72211888e-05,-1.47998813e-05,
 -2.16206130e-05, 1.91819732e-05, 2.69511202e-05,-1.79209394e-06,
 -1.40059129e-05,-4.06191820e-05, 4.16129614e-05, 2.68562813e-07,
  2.48906386e-02, 1.11909827e-02, 3.94292121e-03,-3.00043683e-04,
  5.74094360e-06, 2.09393559e-06,-4.90500075e+00, 2.45046133e-04,
  1.18275736e-02,-6.80313304e-04]


--- Step 1071 ---
qpos:
[ 1.87128733e-02, 3.01165700e-02,-9.51059376e-03,-2.55331865e-02,
  7.87445802e-03, 4.68410362e-03,-7.86121927e-03, 2.70898433e-02,
  1.23234230e-02, 2.79781710e-02,-8.33185705e-03, 2.64333997e-02,
  1.20830552e+00, 8.60363419e-04, 1.13557289e+00, 4.52735680e-02,
  5.82890299e-02,-7.80561134e-02, 1.71480427e-01, 9.99551161e-01,
  2.86930088e-02,-3.38910992e-03,-7.91846872e-03]

qacc:
[  1.03816422, -1.06168548,  8.39577378,-24.62072313,  0.73793229,
   0.29622494, -2.78102731,  8.93491022,  1.62075745, -1.77732139,
   6.61555635, -8.39581512,-17.34044181, 19.39011705, 37.32554689,
 -92.36106895,  1.51825501, -0.43768166,  0.11588073,  3.8008134 ,
  16.51230645, 18.20184679]

qfrc_actuator:
[ 9.58049831e-05, 9.14958112e-04, 1.35949124e-04,-1.05141953e-05,
 -2.58683602e-05, 9.95216885e-05,-3.58486761e-05, 4.70509849e-05,
 -8.88572533e-05, 8.54799114e-04, 2.75711083e-04, 6.13029843e-05,
  1.62487549e-02, 5.16605195e-03, 4.84261443e-03,-2.21924455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88865452, -0.78110542,  0.42377019, -0.78110542,  0.73931919,
       -0.27525917,  0.42377019, -0.27525917,  0.38128887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.5249018035072294e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10825996e-01, -9.10331344e-01, -5.01880984e-02, -2.06445922e-02,
       -4.57454483e-02,  9.98739783e-01, -9.11480006e-01,  4.11344379e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07058736, -0.04654175,  0.28513713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74633301,  5.50904054, -1.63426296,  5.50904054,  7.67549469,
        6.50313335, -1.63426296,  6.50313335, 27.66815722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005172640801718031
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07316849e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07316849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02751713, -0.08084478,  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:
[ 6.31176594e-06, 3.36632691e-05,-2.36688469e-06,-4.64402019e-05,
  4.28103291e-06,-7.36638161e-06, 5.32178581e-06, 1.82896608e-05,
  9.69357547e-06, 2.57883206e-05, 4.19339575e-05, 4.18682810e-07,
  2.54678756e-02, 9.21048226e-03, 3.23978581e-03,-4.78030633e-05,
  1.17369654e-06, 7.76242372e-07,-4.90500067e+00, 2.42130957e-04,
  1.18267126e-02,-6.80963216e-04]


--- Step 1072 ---
qpos:
[ 1.87134629e-02, 3.01166274e-02,-9.51052732e-03,-2.55330318e-02,
  7.87469081e-03, 4.68455741e-03,-7.86080024e-03, 2.70900005e-02,
  1.23232457e-02, 2.79776498e-02,-8.33064378e-03, 2.64333795e-02,
  1.20837605e+00, 8.23145955e-04, 1.13583012e+00, 4.52655985e-02,
  5.82991502e-02,-7.80510211e-02, 1.71480718e-01, 9.99551040e-01,
  2.87149145e-02,-3.34482420e-03,-7.87300455e-03]

qacc:
[ 5.83038235e-01,-9.12615367e-01, 6.00465815e+00,-1.55616341e+01,
  6.62866012e+00,-1.72573077e+00, 7.61190659e+00,-1.58284433e+01,
  1.05102915e+00, 3.06213646e-01,-1.11748337e+00, 1.94131523e+00,
  1.48424697e+02,-1.26281052e+02, 2.27838597e+01,-5.61565890e+01,
  2.22467486e+00, 7.74733511e-02,-1.36648697e-01,-5.03653971e+00,
  2.11148337e+01,-1.01613737e-01]

qfrc_actuator:
[ 9.91367574e-05, 9.29307781e-04, 1.39992117e-04,-3.67178036e-05,
  1.27287106e-05, 6.74134193e-05,-3.71618527e-05, 2.10189860e-05,
 -8.27766304e-05, 8.43439374e-04, 2.66445095e-04, 6.17845196e-05,
  1.62663993e-02, 5.21573293e-03, 4.83692273e-03,-2.02094856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.74069466,  5.46964741, -1.74313868,  5.46964741,  8.57593671,
        8.89646616, -1.74313868,  8.89646616, 33.65616317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005165735743719035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.37301500e-14,  1.07460300e-13,  1.00000000e+00,  5.77385803e-27,
        1.00000000e+00, -1.07460300e-13, -1.00000000e+00,  0.00000000e+00,
       -5.37301500e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02751829, -0.08083586,  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:
[ 3.52995113e-06, 3.07026221e-05, 9.09712789e-06,-2.57500918e-05,
  3.87151852e-05,-3.43742937e-05,-1.56000113e-06,-2.58114606e-05,
  6.37157729e-06, 1.17516687e-05, 1.23260739e-06, 3.04406571e-06,
  2.63737448e-02, 9.10650441e-03, 2.41206992e-03, 3.44633215e-04,
  2.86021331e-06,-1.42277595e-07,-4.90500202e+00, 2.42442196e-04,
  1.18247765e-02,-6.81675006e-04]


--- Step 1073 ---
qpos:
[ 1.87130542e-02, 3.01165648e-02,-9.51026884e-03,-2.55328086e-02,
  7.87503946e-03, 4.68472735e-03,-7.86035377e-03, 2.70895084e-02,
  1.23227985e-02, 2.79769047e-02,-8.32965577e-03, 2.64334211e-02,
  1.20839028e+00, 8.08885384e-04, 1.13610953e+00, 4.52593168e-02,
  5.83104731e-02,-7.80432731e-02, 1.71481918e-01, 9.99551645e-01,
  2.87184663e-02,-3.28855960e-03,-7.80668883e-03]

qacc:
[ -8.55698114, -0.53728524,  1.42504911, -0.48786337,  1.02465331,
  -1.79072352,  8.57862106,-19.64762591, -2.3036687 ,  0.465561  ,
  -2.3425757 ,  3.92938953,-61.76818797, 79.22701489, 32.687835  ,
 -55.17790079,  0.30068709,  0.6639339 ,  0.22695343, -9.19552673,
   6.21509089, 10.28265555]

qfrc_actuator:
[ 4.76010667e-05, 9.02236268e-04, 1.42361016e-04,-3.44266565e-05,
  1.75896970e-05, 4.81317858e-05,-3.81968994e-05,-1.21303562e-05,
 -9.68841370e-05, 8.01269241e-04, 2.42664984e-04, 6.20522762e-05,
  1.62689831e-02, 5.23686979e-03, 4.81772671e-03,-2.07622133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862181,  0.18822649, -0.86845813,  0.18822649,  7.52833146,
        1.43906682, -0.86845813,  1.43906682,  1.20051999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0750922045361105e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10960813e-01, -9.10266395e-01, -5.02623165e-02, -2.06819834e-02,
       -4.58099991e-02,  9.98736051e-01, -9.11418381e-01,  4.11480904e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07060501, -0.04653886,  0.28511893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005142733760815309
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20393276e-06, -1.07940939e-13,  1.00000000e+00,  1.29953633e-19,
        1.00000000e+00,  1.07940939e-13, -1.00000000e+00,  0.00000000e+00,
        1.20393276e-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([ 0.04595297, -0.09642261,  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:
[-5.14216917e-05,-9.13040869e-06, 8.93697704e-06, 3.41806313e-06,
  5.95036901e-06,-3.99405977e-05,-9.23296723e-06,-3.51826485e-05,
 -1.39170853e-05,-3.52070703e-05,-2.11039700e-05, 8.71456745e-07,
  1.63895042e-02, 8.64756306e-03, 1.28255432e-03, 2.95847600e-04,
  5.22831174e-06,-6.10559778e-07,-4.90500191e+00, 2.45087355e-04,
  1.18251195e-02,-6.82081765e-04]


--- Step 1074 ---
qpos:
[ 1.87113413e-02, 3.01165594e-02,-9.51030690e-03,-2.55325480e-02,
  7.87578896e-03, 4.68476652e-03,-7.86057357e-03, 2.70889970e-02,
  1.23218406e-02, 2.79764423e-02,-8.32919748e-03, 2.64337672e-02,
  1.20833832e+00, 7.42142632e-04, 1.13638732e+00, 4.52570230e-02,
  5.83210115e-02,-7.80315162e-02, 1.71483420e-01, 9.99552853e-01,
  2.86953852e-02,-3.23819580e-03,-7.75781534e-03]

qacc:
[-11.19830626,  1.002998  , -3.58518993,  4.61931712,  3.50755167,
   1.64288991, -6.03881412,  6.87862582, -4.37280091,  2.48960697,
  -9.60563608, 15.498337  ,-13.81936648,-37.99311181,-14.75220939,
  47.4630186 , -0.19616337,  1.00223693,  0.07580686,-13.324746  ,
  -3.30249578, -8.58632823]

qfrc_actuator:
[-1.80630942e-05, 9.03842999e-04, 1.25811112e-04,-3.31824425e-05,
  3.80499386e-05, 3.66651424e-05,-7.45182472e-05,-1.36808742e-05,
 -1.22760405e-04, 8.47410020e-04, 2.28136865e-04, 7.99118056e-05,
  1.62730609e-02, 5.25923462e-03, 4.77364961e-03,-2.12563760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.8597724110921975e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41106499, -0.91022094, -0.05023359, -0.02067537, -0.04578146,
        0.9987375 , -0.91137155,  0.41158462,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062007, -0.04654035,  0.28511153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72288095, -3.80320632,  4.2763288 , -3.80320632, 14.02958406,
        7.38766997,  4.2763288 ,  7.38766997, 12.29319733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000514390210376886
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07916422e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07916422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06357213, -0.11131412,  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:
[-6.71665174e-05,-1.52465712e-06,-1.72169936e-05, 1.23034669e-06,
  2.06172425e-05,-3.72248657e-05,-4.69326093e-05,-4.26683777e-06,
 -2.62973376e-05, 2.21398189e-05,-2.43727079e-05, 1.56373651e-05,
  1.92064536e-02, 7.52155673e-03, 1.24342304e-04, 1.60830055e-04,
  9.21925089e-06, 7.46245351e-07,-4.90500111e+00, 2.47695806e-04,
  1.18258006e-02,-6.82052952e-04]


--- Step 1075 ---
qpos:
[ 1.87088538e-02, 3.01168190e-02,-9.51091577e-03,-2.55326275e-02,
  7.87677783e-03, 4.68467544e-03,-7.86103464e-03, 2.70891319e-02,
  1.23205793e-02, 2.79766987e-02,-8.32946570e-03, 2.64342809e-02,
  1.20827930e+00, 6.61980316e-04, 1.13664386e+00, 4.52632281e-02,
  5.83233835e-02,-7.80194670e-02, 1.71484443e-01, 9.99553420e-01,
  2.86771156e-02,-3.23180321e-03,-7.75497026e-03]

qacc:
[-6.66769031e+00, 1.25835689e+00,-2.52253931e+00,-2.66449604e+00,
  2.10082078e+00, 1.82875034e+00,-9.50625354e+00, 2.11815246e+01,
 -2.61934815e+00, 3.33072773e+00,-1.11960203e+01, 1.47184491e+01,
  5.86813505e+00,-1.90465678e+01,-5.78961790e+01, 1.55121636e+02,
 -2.04157609e+00, 7.30377337e-02,-1.19860960e-01, 2.50985654e+00,
 -2.26185546e+01,-2.23833074e+01]

qfrc_actuator:
[-5.59939225e-05, 9.22527599e-04, 9.83216847e-05,-5.03151380e-05,
  4.97857772e-05, 4.76005763e-05,-7.80707318e-05, 2.11102110e-05,
 -1.37596588e-04, 9.10615123e-04, 2.01801880e-04, 9.03063519e-05,
  1.62756269e-02, 5.34859256e-03, 4.75859400e-03,-1.85496788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88980753,  0.54458959, -0.70369   ,  0.54458959,  0.44257318,
       -0.34611714, -0.70369   , -0.34611714,  0.62194555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.476922055667439e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11387446e-01, -9.10078853e-01, -5.01682127e-02, -2.06645941e-02,
       -4.57145941e-02,  9.98740782e-01, -9.11226286e-01,  4.11906126e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063433, -0.04653251,  0.28509844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71966046,  5.68711094,  0.60933152,  5.68711094,  6.0051527 ,
       -2.6646021 ,  0.60933152, -2.6646021 , 30.58935343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005139951929297032
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15998717e-13, -1.07999359e-13,  1.00000000e+00, -2.33277230e-26,
        1.00000000e+00,  1.07999359e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15998717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09576807, -0.09251794,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98881179e-05, 1.43109020e-05,-2.98778275e-05,-1.77670393e-05,
  1.23108367e-05,-1.97489519e-05,-1.71677000e-05, 3.14896044e-05,
 -1.56005177e-05, 7.12198361e-05,-2.42232504e-05, 1.08044848e-05,
  2.25172039e-02, 1.02357585e-02, 1.85046672e-04, 2.30819321e-04,
  5.53646846e-06, 2.02265890e-06,-4.90499946e+00, 2.45949390e-04,
  1.18276133e-02,-6.81520397e-04]


--- Step 1076 ---
qpos:
[ 1.87062747e-02, 3.01173053e-02,-9.51129520e-03,-2.55336534e-02,
  7.87789979e-03, 4.68450783e-03,-7.86162778e-03, 2.70903580e-02,
  1.23191497e-02, 2.79773869e-02,-8.32969831e-03, 2.64345532e-02,
  1.20820836e+00, 5.86212573e-04, 1.13687224e+00, 4.52707562e-02,
  5.83178768e-02,-7.80070217e-02, 1.71484573e-01, 9.99553318e-01,
  2.86650399e-02,-3.26810874e-03,-7.79738998e-03]

qacc:
[-7.82429560e-01,-2.28989050e+00, 1.25862751e+01,-2.94778958e+01,
  1.16864151e+00, 2.51222329e+00,-1.37151164e+01, 3.28713766e+01,
 -1.44004829e+00,-2.30622712e-02, 1.93481915e+00,-6.49415834e+00,
 -1.08332230e+01, 1.34351063e+01,-4.47880863e+01, 9.81685109e+01,
 -1.96968644e+00, 9.90608860e-02,-2.23425956e-01, 3.19760786e+00,
 -2.19656209e+01,-2.20226624e+01]

qfrc_actuator:
[-5.95399780e-05, 9.51228098e-04, 1.17919329e-04,-9.58642022e-05,
  5.62881110e-05, 5.42764206e-05,-7.98730439e-05, 7.70483403e-05,
 -1.45811763e-04, 9.30251730e-04, 2.04296717e-04, 7.84844015e-05,
  1.62690208e-02, 5.42457136e-03, 4.71484319e-03,-1.89542636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89036082,  0.42457526, -0.78260989,  0.42457526,  0.29331986,
       -0.32390189, -0.78260989, -0.32390189,  0.71464016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.204309216861855e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11667692e-01, -9.09953604e-01, -5.01413051e-02, -2.06675524e-02,
       -4.56837253e-02,  9.98742134e-01, -9.11099645e-01,  4.12186167e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063744, -0.04652012,  0.28506735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7109507 ,  5.70107937,  0.33563645,  5.70107937,  5.80985254,
       -1.67993447,  0.33563645, -1.67993447, 34.24611062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005129264171019193
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16448790e-13, -2.16448790e-13,  1.00000000e+00, -4.68500788e-26,
        1.00000000e+00,  2.16448790e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16448790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09576945, -0.0925098 ,  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:
[-4.70174813e-06, 2.97634319e-05, 1.82672516e-05,-4.63129463e-05,
  6.84468215e-06,-6.55198158e-06,-6.90104253e-06, 5.51110599e-05,
 -8.64683971e-06, 5.49058513e-05, 1.45949274e-05,-9.39847999e-06,
  2.28629894e-02, 1.09844087e-02, 1.19845180e-03,-2.35752543e-04,
  3.82014558e-08, 1.33324594e-07,-4.90500005e+00, 2.42384652e-04,
  1.18260711e-02,-6.81152966e-04]


--- Step 1077 ---
qpos:
[ 1.87047066e-02, 3.01182872e-02,-9.51131259e-03,-2.55352620e-02,
  7.87909084e-03, 4.68457373e-03,-7.86264043e-03, 2.70918791e-02,
  1.23179775e-02, 2.79782707e-02,-8.32977413e-03, 2.64343584e-02,
  1.20812213e+00, 5.18548780e-04, 1.13706673e+00, 4.52731365e-02,
  5.83047534e-02,-7.79941399e-02, 1.71483458e-01, 9.99552496e-01,
  2.86606822e-02,-3.34606016e-03,-7.88517563e-03]

qacc:
[  8.67528528, -1.57422808,  8.98709917,-19.96871528,  0.59081662,
   2.08735358, -8.24217412, 13.84827249,  2.19398097, -1.14543192,
   6.42346564,-14.8923218 ,-16.25881022, 22.01737587,-33.21878296,
  46.47837189, -1.90415514,  0.1091082 , -0.31108657,  3.95582022,
 -21.43493656,-22.09135909]

qfrc_actuator:
[-7.32317161e-06, 1.00362318e-03, 1.47444647e-04,-1.22215493e-04,
  5.96608745e-05, 7.61475238e-05,-9.83905530e-05, 9.17134450e-05,
 -1.32315477e-04, 9.23746650e-04, 2.05865298e-04, 5.36745860e-05,
  1.62576026e-02, 5.49782899e-03, 4.70319449e-03,-2.24305392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89025425,  0.26863315, -0.84875724,  0.26863315,  0.16284569,
       -0.23022607, -0.84875724, -0.23022607,  0.8173873 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0743700600895514e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41187553, -0.90985889, -0.05015327, -0.02068293, -0.0456899 ,
        0.99874153, -0.91100536,  0.41239452,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062972, -0.04650367,  0.28502013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68558642,  5.66230504,  0.51399853,  5.66230504,  5.98525074,
       -3.30115885,  0.51399853, -3.30115885, 42.051777  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005098100939651684
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08885940e-13,  1.08885940e-13,  1.00000000e+00,  1.18561479e-26,
        1.00000000e+00, -1.08885940e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08885940e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577132, -0.09250369,  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:
[ 5.20904084e-05, 7.08240433e-05, 3.63238014e-05,-2.53441178e-05,
  3.56297751e-06, 1.91560980e-05,-1.88081263e-05, 1.52167760e-05,
  1.32635599e-05, 2.67803331e-05, 1.43755995e-05,-2.21363334e-05,
  2.34467023e-02, 1.08393608e-02, 2.59025518e-03,-6.50585771e-04,
  3.94952761e-06,-1.12123113e-07,-4.90500102e+00, 2.44736544e-04,
  1.18254207e-02,-6.80844259e-04]


--- Step 1078 ---
qpos:
[ 1.87034321e-02, 3.01196360e-02,-9.51095193e-03,-2.55368138e-02,
  7.87996790e-03, 4.68510179e-03,-7.86371168e-03, 2.70931639e-02,
  1.23169763e-02, 2.79791578e-02,-8.32946389e-03, 2.64342225e-02,
  1.20801345e+00, 4.85255443e-04, 1.13727163e+00, 4.52655985e-02,
  5.82985177e-02,-7.79832250e-02, 1.71483228e-01, 9.99552000e-01,
  2.86584104e-02,-3.38754607e-03,-7.93843289e-03]

qacc:
[   2.52381744,  -0.459932  ,   2.0947262 ,  -1.97650623,  -2.77220642,
    0.29336601,   0.84772912,  -5.19573082,   1.46939548,  -0.95652487,
    3.16331365,  -2.75910421, -43.52368459,  73.43711924,  49.34567353,
 -141.15548735,   1.72189854,  -0.49173085,   0.22135801,   0.95181133,
   18.72816579,  16.73169912]

qfrc_actuator:
[ 6.27494774e-06, 1.01661740e-03, 1.64949576e-04,-1.19280552e-04,
  4.34140194e-05, 1.24608982e-04,-9.10916700e-05, 8.19744222e-05,
 -1.23903188e-04, 9.19372724e-04, 2.24495332e-04, 5.68994292e-05,
  1.62600078e-02, 5.56398672e-03, 4.72298869e-03,-2.28972014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88954152, -0.82842872,  0.32402155, -0.82842872,  0.82256503,
       -0.17123938,  0.32402155, -0.17123938,  0.45173231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.066040796777269e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41200318, -0.9097982 , -0.05020573, -0.02071104, -0.04573476,
        0.9987389 , -0.910947  ,  0.41252342,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061161, -0.04648339,  0.28495867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69318045, -5.60043345,  1.02344945, -5.60043345,  5.90777564,
        1.17428968,  1.02344945,  1.17428968, 12.11902902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005107437283923127
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63030346e-13, -1.08686897e-13,  1.00000000e+00, -1.77192625e-26,
        1.00000000e+00,  1.08686897e-13, -1.00000000e+00,  0.00000000e+00,
       -1.63030346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02752319, -0.08078318,  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:
[ 1.51376839e-05, 5.90065445e-05, 3.57210609e-05, 6.72996495e-06,
 -1.61387884e-05, 5.59480115e-05, 9.47334555e-06,-9.27417398e-06,
  8.81374406e-06, 1.25929109e-05, 2.51558629e-05, 4.43693759e-06,
  2.42132782e-02, 1.05015685e-02, 4.30105069e-03,-4.40738319e-04,
  1.67847221e-05, 1.41570658e-06,-4.90500205e+00, 2.52731199e-04,
  1.18259232e-02,-6.80638509e-04]


--- Step 1079 ---
qpos:
[ 1.87016419e-02, 3.01207456e-02,-9.50978880e-03,-2.55382694e-02,
  7.88029848e-03, 4.68604526e-03,-7.86440804e-03, 2.70939515e-02,
  1.23160843e-02, 2.79795131e-02,-8.32837141e-03, 2.64341679e-02,
  1.20787910e+00, 4.48337177e-04, 1.13749657e+00, 4.52566757e-02,
  5.82982816e-02,-7.79742423e-02, 1.71483593e-01, 9.99551728e-01,
  2.86632294e-02,-3.39693410e-03,-7.95136292e-03]

qacc:
[ -4.39431749, -2.35227576,  7.53608891, -6.99144201, -4.8032341 ,
  -1.51265081,  8.30468674,-17.82897417,  0.96375808, -2.72344082,
   8.3438481 , -7.79014006,-18.74531998, 14.20041617, 35.1039565 ,
 -76.81505089,  1.49993304, -0.48304658,  0.14859009,  3.4814884 ,
  16.64812848, 19.68351917]

qfrc_actuator:
[-2.07377536e-05, 9.70396455e-04, 1.92834070e-04,-1.16932898e-04,
  1.57508455e-05, 1.53197342e-04,-6.84960475e-05, 5.80063252e-05,
 -1.18557959e-04, 8.63133718e-04, 2.53070253e-04, 5.88534179e-05,
  1.62825528e-02, 5.57862379e-03, 4.71627543e-03,-2.21999052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88917035, -0.78589051,  0.41593271, -0.78589051,  0.75396266,
       -0.25547027,  0.41593271, -0.25547027,  0.40646809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.376342115428362e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41212977, -0.90973921, -0.05023555, -0.02072974, -0.04575903,
        0.9987374 , -0.91088931,  0.41265079,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07060407, -0.04646747,  0.28491885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71504961,  5.51068325, -1.5146492 ,  5.51068325,  7.10942655,
        5.07310184, -1.5146492 ,  5.07310184, 24.1722985 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000513429479092567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40591780e-14, -1.08118356e-13,  1.00000000e+00, -5.84478946e-27,
        1.00000000e+00,  1.08118356e-13, -1.00000000e+00,  0.00000000e+00,
       -5.40591780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275262 , -0.08076938,  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:
[-2.65570257e-05,-5.59971862e-06, 4.46877321e-05, 6.24015289e-06,
 -2.81022890e-05, 6.14191778e-05, 3.50025979e-05,-2.14242029e-05,
  5.61007680e-06,-4.38460506e-05, 3.44130662e-05, 3.44748079e-06,
  2.53569944e-02, 8.79792531e-03, 3.77024006e-03, 1.24050651e-04,
  5.54716891e-06, 4.56532161e-07,-4.90500058e+00, 2.45800238e-04,
  1.18266948e-02,-6.80800180e-04]


--- Step 1080 ---
qpos:
[ 1.87009209e-02, 3.01214781e-02,-9.50843204e-03,-2.55392789e-02,
  7.88029509e-03, 4.68699232e-03,-7.86435118e-03, 2.70944725e-02,
  1.23156082e-02, 2.79794757e-02,-8.32715387e-03, 2.64334752e-02,
  1.20772094e+00, 3.99217731e-04, 1.13774208e+00, 4.52470469e-02,
  5.83034987e-02,-7.79671106e-02, 1.71484254e-01, 9.99551601e-01,
  2.86783386e-02,-3.37706561e-03,-7.92117798e-03]

qacc:
[  9.18420489, -0.13853264, -2.13919233,  9.85190634, -2.91436749,
  -2.64386277, 10.56932155,-16.40149117,  3.55334047, -2.18936676,
   9.73548338,-20.67775294,-11.10614074, -1.04429323, 33.0617273 ,
 -70.29628177,  1.36327433, -0.46274534,  0.07388133,  5.09765192,
  15.28077185, 21.11163429]

qfrc_actuator:
[ 3.50905570e-05, 9.24610876e-04, 1.90865400e-04,-9.72471610e-05,
 -6.51392512e-07, 1.34218458e-04,-3.71324323e-05, 4.36086106e-05,
 -9.73069570e-05, 8.29567200e-04, 2.51556230e-04, 2.44935433e-05,
  1.63023030e-02, 5.58659566e-03, 4.68708960e-03,-2.24476335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88887969, -0.75739639,  0.46525028, -0.75739639,  0.71110431,
       -0.28940645,  0.46525028, -0.28940645,  0.41774532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6448910580390785e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12301233e-01, -9.09660291e-01, -5.02578230e-02, -2.07475816e-02,
       -4.57753933e-02,  9.98736277e-01, -9.10811304e-01,  4.12822927e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07060604, -0.04645439,  0.28489786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71685734,  5.48723849, -1.60395498,  5.48723849,  7.73953623,
        6.91972131, -1.60395498,  6.91972131, 29.38969203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005136512949565769
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62107499e-13, -1.08071666e-13,  1.00000000e+00, -1.75192275e-26,
        1.00000000e+00,  1.08071666e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62107499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02752794, -0.08075853,  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:
[ 5.50459427e-05,-3.94743315e-05, 2.57405053e-06, 2.11132314e-05,
 -1.71799567e-05, 2.16416538e-05, 4.76170854e-05,-1.09726491e-05,
  2.14009948e-05,-5.08556545e-05,-6.23106304e-06,-3.49845561e-05,
  2.66595031e-02, 8.98751068e-03, 2.73431452e-03, 1.67512515e-04,
  2.86202433e-07, 8.23127097e-08,-4.90499995e+00, 2.42616595e-04,
  1.18270948e-02,-6.81002444e-04]


--- Step 1081 ---
qpos:
[ 1.87012193e-02, 3.01218865e-02,-9.50735221e-03,-2.55400178e-02,
  7.88043992e-03, 4.68798637e-03,-7.86414510e-03, 2.70948539e-02,
  1.23157350e-02, 2.79793779e-02,-8.32610078e-03, 2.64323539e-02,
  1.20754356e+00, 3.35427970e-04, 1.13801277e+00, 4.52397835e-02,
  5.83136167e-02,-7.79617081e-02, 1.71484978e-01, 9.99551558e-01,
  2.87063152e-02,-3.33067539e-03,-7.84458049e-03]

qacc:
[ 8.74199003e+00, 8.86298951e-01,-4.95011761e+00, 1.03396727e+01,
  1.30770008e+00,-6.45065677e-01, 2.97531494e+00,-5.66061717e+00,
  5.13458104e+00,-5.12679952e-01, 3.50459401e+00,-1.05970803e+01,
 -5.79061333e+00,-8.25839697e+00, 3.01604058e+01,-5.12386615e+01,
  1.22522808e+00,-4.32287398e-01, 1.59236434e-02, 6.40293709e+00,
  1.39715400e+01, 2.27941683e+01]

qfrc_actuator:
[ 8.59871008e-05, 8.97072786e-04, 1.71272684e-04,-8.52995786e-05,
  7.46162421e-06, 1.22450146e-04,-3.65415651e-05, 3.49216029e-05,
 -6.68627272e-05, 8.45183174e-04, 2.50085767e-04, 4.53759755e-06,
  1.63104809e-02, 5.61834727e-03, 4.65962950e-03,-2.06007286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88866725, -0.7196507 ,  0.52137543, -0.7196507 ,  0.66057081,
       -0.31483985,  0.52137543, -0.31483985,  0.4540961 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.447679674927941e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12516545e-01, -9.09561396e-01, -5.02808779e-02, -2.07679630e-02,
       -4.57914663e-02,  9.98735117e-01, -9.10713342e-01,  4.13038991e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07061661, -0.04644382,  0.28489405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70265857,  5.43834893, -1.71600573,  5.43834893,  8.67485722,
        9.41946353, -1.71600573,  9.41946353, 35.55473225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005119082629749805
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42198234e-14, -1.08439647e-13,  1.00000000e+00, -5.87957850e-27,
        1.00000000e+00,  1.08439647e-13, -1.00000000e+00,  0.00000000e+00,
       -5.42198234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02752867, -0.08075002,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24824828e-05,-4.81947677e-05,-2.67216287e-05, 1.07531739e-05,
  7.63087084e-06, 9.65739036e-06, 1.05343237e-05,-6.32824112e-06,
  3.10570176e-05,-1.56145855e-05,-1.39670200e-05,-2.30338468e-05,
  2.78568295e-02, 9.62994408e-03, 1.67388463e-03, 3.86397579e-04,
  1.73808956e-06,-2.09185174e-07,-4.90500073e+00, 2.43240303e-04,
  1.18261721e-02,-6.81312112e-04]


--- Step 1082 ---
qpos:
[ 1.87017814e-02, 3.01218348e-02,-9.50587708e-03,-2.55409819e-02,
  7.88102585e-03, 4.68887054e-03,-7.86412833e-03, 2.70955180e-02,
  1.23165710e-02, 2.79788749e-02,-8.32471431e-03, 2.64317021e-02,
  1.20758333e+00, 2.88870021e-04, 1.13828126e+00, 4.52376295e-02,
  5.83227028e-02,-7.79479627e-02, 1.71484865e-01, 9.99552940e-01,
  2.86840711e-02,-3.28435921e-03,-7.76900989e-03]

qacc:
[   2.28221872,  -2.18176649,   7.83670294, -12.01380608,   3.87653998,
    0.95857448,  -4.83567648,  10.1278006 ,   6.06078406,  -0.51222551,
   -0.95372572,   8.86884856, 158.39026559,-128.55723548, -29.56811999,
   73.67748242,  -0.25796152,   2.08571439,  -0.20930388, -25.12095718,
   -0.24635144,  -0.422924  ]

qfrc_actuator:
[ 9.80414154e-05, 8.80581016e-04, 1.94756548e-04,-9.57505341e-05,
  2.99352040e-05, 9.72107134e-05,-5.41116427e-05, 4.73932955e-05,
 -3.12560874e-05, 8.19122890e-04, 2.66633565e-04, 2.87750159e-05,
  1.63281366e-02, 5.68946896e-03, 4.65335216e-03,-1.94777258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.68772058, -4.24447886,  3.7861015 , -4.24447886,  8.65704   ,
        3.32881026,  3.7861015 ,  3.32881026,  9.41954467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100725282953245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06358174, -0.11123697,  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:
[ 1.35653768e-05,-4.85086435e-05, 1.05928658e-05,-1.32333856e-05,
  2.26936499e-05,-1.79708652e-05,-1.45119057e-05, 1.31230250e-05,
  3.65143550e-05,-3.86592943e-05, 1.07952781e-05, 2.26358243e-05,
  2.88341036e-02, 1.04354860e-02, 4.03262078e-04, 3.79183723e-04,
  1.04358196e-05,-6.80705213e-07,-4.90500337e+00, 2.47554223e-04,
  1.18232193e-02,-6.81788311e-04]


--- Step 1083 ---
qpos:
[ 1.87021394e-02, 3.01214481e-02,-9.50419239e-03,-2.55417220e-02,
  7.88153191e-03, 4.68924885e-03,-7.86358831e-03, 2.70966738e-02,
  1.23174827e-02, 2.79785201e-02,-8.32336082e-03, 2.64312995e-02,
  1.20754086e+00, 2.14858116e-04, 1.13855782e+00, 4.52388789e-02,
  5.83314872e-02,-7.79308751e-02, 1.71485182e-01, 9.99554779e-01,
  2.86382817e-02,-3.24356517e-03,-7.71822191e-03]

qacc:
[ -1.73893659, -0.56357484,  0.4293428 ,  3.34816723, -0.6771829 ,
  -1.11761496,  0.94120213,  7.10155923,  0.6421087 ,  0.79937491,
  -3.62017794,  7.87713631,-45.02466788, 14.91562003,  4.17495859,
   8.58440989, -0.07545121,  0.83552478,  0.10762798,-11.79321507,
  -3.2059776 ,-12.26612891]

qfrc_actuator:
[ 8.71382859e-05, 8.70982765e-04, 2.08019630e-04,-8.37476469e-05,
  2.51676886e-05, 6.40266829e-05,-2.90415475e-05, 7.21935946e-05,
 -2.84046274e-05, 8.57188822e-04, 2.75807621e-04, 4.32964069e-05,
  1.63308984e-02, 5.77593133e-03, 4.64003833e-03,-1.84709112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88906262,  0.65914568, -0.59662326,  0.65914568,  0.85328942,
       -0.03952201, -0.59662326, -0.03952201,  0.84539895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.134728451669937e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12968762e-01, -9.09357961e-01, -5.02483754e-02, -2.07772562e-02,
       -4.57515557e-02,  9.98736752e-01, -9.10508159e-01,  4.13491104e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064277, -0.04643089,  0.28487581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68027045,  5.16948136, -2.35413145,  5.16948136, 12.71971841,
       15.45805568, -2.35413145, 15.45805568, 39.62490453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005091562163097187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70143272e-07, -4.70143347e-07,  1.00000000e+00, -2.21034731e-13,
        1.00000000e+00,  4.70143347e-07, -1.00000000e+00,  0.00000000e+00,
       -4.70143272e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06482649, -0.11050373,  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:
[-1.05257400e-05,-3.51127961e-05, 4.07562056e-06, 1.00331268e-05,
 -4.12882046e-06,-4.56946451e-05, 2.00116082e-05, 2.37790007e-05,
  3.90749441e-06, 1.96661761e-05, 3.29179750e-06, 1.36768677e-05,
  1.79839477e-02, 9.66478269e-03, 4.96388724e-04, 2.23742934e-04,
  8.89477193e-06, 2.00822654e-06,-4.90499859e+00, 2.47672198e-04,
  1.18286306e-02,-6.81268809e-04]


--- Step 1084 ---
qpos:
[ 1.87016746e-02, 3.01208643e-02,-9.50292555e-03,-2.55429774e-02,
  7.88197716e-03, 4.68908575e-03,-7.86265948e-03, 2.70977864e-02,
  1.23177323e-02, 2.79788274e-02,-8.32243136e-03, 2.64306885e-02,
  1.20747420e+00, 1.36569263e-04, 1.13881479e+00, 4.52469133e-02,
  5.83321336e-02,-7.79137114e-02, 1.71484986e-01, 9.99555912e-01,
  2.85988524e-02,-3.24673186e-03,-7.71642149e-03]

qacc:
[-7.06840458e+00,-1.40185713e-01, 2.31628145e+00,-1.04362297e+01,
 -5.13370535e-01,-1.89011863e+00, 5.88480209e+00,-6.85581549e+00,
 -5.66727434e+00, 1.64274936e+00,-3.68868847e+00, 2.53413222e-01,
 -1.43697609e+01, 8.37049495e+00,-4.85882403e+01, 1.29971019e+02,
 -2.03448381e+00, 1.90516427e-02,-1.28445002e-01, 3.27894712e+00,
 -2.26486428e+01,-2.38664389e+01]

qfrc_actuator:
[ 4.50704233e-05, 8.47826799e-04, 1.79672602e-04,-1.11889519e-04,
  2.21526820e-05, 2.65158277e-05,-1.45294533e-05, 6.85638473e-05,
 -6.26091451e-05, 9.15586785e-04, 2.63037815e-04, 3.42682260e-05,
  1.63331992e-02, 5.87388588e-03, 4.61633287e-03,-1.75371877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89068969,  0.56584955, -0.68785348,  0.56584955,  0.44773395,
       -0.36438909, -0.68785348, -0.36438909,  0.59093195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5819327120461134e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13354873e-01, -9.09187843e-01, -5.01519155e-02, -2.07566588e-02,
       -4.56549641e-02,  9.98741601e-01, -9.10333406e-01,  4.13875694e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065135, -0.04641754,  0.28484443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68801972,  5.53621805,  1.30531914,  5.53621805,  6.55064951,
       -3.65865059,  1.30531914, -3.65865059, 21.20536475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005101093097648751
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0882207e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0882207e-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([ 0.09578223, -0.09242742,  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:
[-4.23877920e-05,-4.15281808e-05,-3.47633647e-05,-2.93096830e-05,
 -3.15008969e-06,-5.79350264e-05, 8.34757449e-06,-4.43721858e-06,
 -3.40835503e-05, 7.06636687e-05,-7.83879066e-06,-7.80664560e-06,
  2.20959456e-02, 1.11358874e-02, 6.40824039e-05, 1.45642378e-04,
  4.29348932e-06, 2.64549015e-06,-4.90499824e+00, 2.45784600e-04,
  1.18295599e-02,-6.80206614e-04]


--- Step 1085 ---
qpos:
[ 1.87013982e-02, 3.01201991e-02,-9.50206554e-03,-2.55449206e-02,
  7.88238271e-03, 4.68861879e-03,-7.86218365e-03, 2.70988754e-02,
  1.23179145e-02, 2.79795926e-02,-8.32162683e-03, 2.64299793e-02,
  1.20738630e+00, 5.89734540e-05, 1.13904333e+00, 4.52564393e-02,
  5.83249587e-02,-7.78964139e-02, 1.71483891e-01, 9.99556287e-01,
  2.85677239e-02,-3.29264338e-03,-7.76359491e-03]

qacc:
[ 1.60504354e+00,-3.90736973e-01, 4.12931004e+00,-1.53048647e+01,
 -3.58363142e-01, 8.16472248e-01,-3.39259100e+00, 3.92901468e+00,
 -5.84699964e-01, 7.53027900e-01,-1.39008097e+00,-4.50607109e-01,
 -1.54602028e+01, 1.40751516e+01,-4.54791828e+01, 1.00517892e+02,
 -1.95531805e+00, 3.34648918e-02,-2.24712303e-01, 4.24483829e+00,
 -2.20324219e+01,-2.38812167e+01]

qfrc_actuator:
[ 5.60145866e-05, 8.52037652e-04, 1.62408359e-04,-1.45716020e-04,
  2.02020597e-05, 4.39940017e-06,-4.19322733e-05, 6.59668275e-05,
 -6.50817346e-05, 9.32352612e-04, 2.55258559e-04, 2.92206465e-05,
  1.63329609e-02, 5.89552980e-03, 4.56196113e-03,-1.79374327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89215361,  0.45925109, -0.76487026,  0.45925109,  0.323445  ,
       -0.34146974, -0.76487026, -0.34146974,  0.68712492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.978042022412181e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41369202, -0.90903755, -0.05009639, -0.02075053, -0.04559675,
        0.99874439, -0.91018038,  0.41421211,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064942, -0.04639928,  0.28479718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67848702,  5.67664639,  0.14457039,  5.67664639,  5.69641868,
       -0.70409779,  0.14457039, -0.70409779, 33.32532592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000508936791612416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09072781e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09072781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09578393, -0.09241893,  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:
[ 9.69779107e-06,-2.74500538e-05,-3.11397140e-05,-3.73748548e-05,
 -2.06051698e-06,-5.29885060e-05,-3.85068778e-05,-4.88136230e-06,
 -3.44538830e-06, 5.42959419e-05, 5.57026116e-06,-2.44244385e-06,
  2.33047676e-02, 1.13726912e-02, 9.83669649e-04,-2.34849061e-04,
 -2.06194818e-09,-2.08148039e-07,-4.90500043e+00, 2.42848083e-04,
  1.18263671e-02,-6.79319733e-04]


--- Step 1086 ---
qpos:
[ 1.87012545e-02, 3.01198307e-02,-9.50194849e-03,-2.55469346e-02,
  7.88241658e-03, 4.68801481e-03,-7.86212058e-03, 2.70995554e-02,
  1.23184102e-02, 2.79806743e-02,-8.32088243e-03, 2.64295742e-02,
  1.20727321e+00, 2.00759028e-05, 1.13928191e+00, 4.52593188e-02,
  5.83231869e-02,-7.78806798e-02, 1.71483739e-01, 9.99556928e-01,
  2.85407133e-02,-3.30919956e-03,-7.77326246e-03]

qacc:
[   1.11057757,   2.32121969,  -7.41084731,   7.15718118,  -3.28059538,
    0.13688786,   0.98732366,  -7.31800896,   2.66395661,   1.20740744,
   -4.99118466,  10.12785152, -48.50284478,  81.88212689,  39.34523264,
 -105.98011699,   1.35076879,  -0.3908928 ,   0.23580253,   2.00200707,
   15.2233081 ,  18.31956512]

qfrc_actuator:
[ 6.25785758e-05, 8.90384392e-04, 1.34197280e-04,-1.47069275e-04,
  1.14065840e-06, 9.25127377e-06,-5.82925037e-05, 4.62345937e-05,
 -4.88452120e-05, 9.41831383e-04, 2.50344160e-04, 4.42873940e-05,
  1.63264765e-02, 5.93913865e-03, 4.54927535e-03,-1.75145283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8926204 , -0.78352135,  0.42762774, -0.78352135,  0.87835458,
       -0.02613857,  0.42762774, -0.02613857,  0.84472798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.358361961696351e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41396364, -0.90891458, -0.05008376, -0.02075891, -0.04557906,
        0.99874502, -0.91005669,  0.41448381,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063735, -0.0463768 ,  0.28473594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65962262, -5.56635159,  1.02325859, -5.56635159,  5.88264726,
        1.21321587,  1.02325859,  1.21321587, 12.25930933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005066139774483292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01182755e-06, -1.01182773e-06,  1.00000000e+00, -1.02379517e-12,
        1.00000000e+00,  1.01182773e-06, -1.00000000e+00,  0.00000000e+00,
       -1.01182755e-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([ 0.03058723, -0.0812372 ,  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:
[ 6.84145489e-06, 1.49880598e-05,-3.90067438e-05,-4.33013055e-06,
 -1.91366961e-05,-3.29347944e-05,-3.22200244e-05,-2.34327365e-05,
  1.61573597e-05, 4.08512313e-05, 6.88635156e-06, 1.75370096e-05,
  2.43586555e-02, 1.13830089e-02, 2.38836216e-03,-2.68230687e-04,
  5.76885843e-06,-1.12435400e-06,-4.90500270e+00, 2.46264112e-04,
  1.18243379e-02,-6.78533897e-04]


--- Step 1087 ---
qpos:
[ 1.87011907e-02, 3.01197277e-02,-9.50226108e-03,-2.55486222e-02,
  7.88291149e-03, 4.68745088e-03,-7.86240979e-03, 2.71003113e-02,
  1.23187521e-02, 2.79821983e-02,-8.32055012e-03, 2.64297065e-02,
  1.20712669e+00,-2.02600238e-05, 1.13953335e+00, 4.52577833e-02,
  5.83268970e-02,-7.78667429e-02, 1.71483938e-01, 9.99557703e-01,
  2.85240048e-02,-3.29637057e-03,-7.74034127e-03]

qacc:
[ 6.68103827e-01, 2.22250282e+00,-8.79087297e+00, 1.49226628e+01,
  4.04405360e+00, 1.18610646e+00,-4.48669550e+00, 6.34985819e+00,
 -1.33023008e+00, 2.84520037e+00,-1.15607015e+01, 2.11884998e+01,
 -2.62078419e+01, 2.29979080e+01, 3.41950915e+01,-8.77911554e+01,
  1.37047787e+00,-4.49265928e-01, 8.77772899e-02, 5.10309734e+00,
  1.53340920e+01, 2.08490635e+01]

qfrc_actuator:
[ 6.64948216e-05, 9.13361612e-04, 1.17669591e-04,-1.29280555e-04,
  2.54185351e-05, 3.02388342e-05,-6.78862097e-05, 5.21213209e-05,
 -5.72422460e-05, 9.64648669e-04, 2.29381207e-04, 7.10596132e-05,
  1.63439950e-02, 5.97539666e-03, 4.56448698e-03,-1.93627403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89336493, -0.76057801,  0.46863845, -0.76057801,  0.7418064 ,
       -0.24597232,  0.46863845, -0.24597232,  0.4941635 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.92119862326459e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41421257, -0.90880263, -0.05005725, -0.02076037, -0.04554926,
        0.99874635, -0.90994338,  0.4147325 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063322, -0.04635761,  0.28469151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66799371,  5.48586147, -1.42529879,  5.48586147,  6.85254427,
        4.55924071, -1.42529879,  4.55924071, 23.21614791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005076451416080319
  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([ 0.02753376, -0.08070304,  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:
[ 4.12404139e-06, 2.31361009e-05,-1.83787726e-05, 1.70013506e-05,
  2.37248137e-05,-5.07650436e-06,-2.11705910e-05, 2.90495072e-06,
 -7.90569937e-06, 4.77958218e-05,-1.10901400e-05, 2.90986878e-05,
  2.56346080e-02, 9.48457748e-03, 1.89666598e-03,-1.21783237e-04,
  5.46229519e-07,-5.09221095e-07,-4.90500065e+00, 2.43455270e-04,
  1.18263085e-02,-6.78003153e-04]


--- Step 1088 ---
qpos:
[ 1.87011745e-02, 3.01197754e-02,-9.50248044e-03,-2.55501056e-02,
  7.88369328e-03, 4.68689921e-03,-7.86257039e-03, 2.71011012e-02,
  1.23189909e-02, 2.79842146e-02,-8.32051445e-03, 2.64301440e-02,
  1.20694931e+00,-7.32700210e-05, 1.13979873e+00, 4.52529951e-02,
  5.83355946e-02,-7.78545973e-02, 1.71484231e-01, 9.99558537e-01,
  2.85205354e-02,-3.25664107e-03,-7.66183611e-03]

qacc:
[ 4.08402759e-01, 3.58524478e-01,-1.85109360e+00, 5.12340592e+00,
  2.52764056e+00,-2.78355758e-01, 8.64170152e-01,-4.82243439e-01,
 -8.96041479e-01, 2.10992385e+00,-7.86446380e+00, 1.32549954e+01,
 -1.61077222e+01, 2.98550434e+00, 3.13287609e+01,-7.76561038e+01,
  1.24685397e+00,-4.47821464e-01, 2.34790983e-02, 6.58685546e+00,
  1.41457598e+01, 2.23766633e+01]

qfrc_actuator:
[ 6.88221275e-05, 9.27029970e-04, 1.25888424e-04,-1.18128051e-04,
  3.95106789e-05, 4.30329095e-05,-5.55627500e-05, 5.53053881e-05,
 -6.23249471e-05, 9.95216697e-04, 2.16917761e-04, 8.67476225e-05,
  1.63722386e-02, 5.99639622e-03, 4.54256544e-03,-2.07940888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89388372, -0.74142227,  0.49932066, -0.74142227,  0.70518168,
       -0.28019647,  0.49932066, -0.28019647,  0.47783063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.287276745670627e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41449418, -0.90867568, -0.0500308 , -0.02076348, -0.04551877,
        0.99874768, -0.90981506,  0.41501391,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063778, -0.04634075,  0.28466582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65956957,  5.37305291, -1.77792861,  5.37305291,  9.01432666,
       10.13836398, -1.77792861, 10.13836398, 36.29857601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005066074407562848
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09574291e-13, -1.09574291e-13,  1.00000000e+00, -1.20065253e-26,
        1.00000000e+00,  1.09574291e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09574291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02753471, -0.08069483,  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:
[ 2.45656734e-06, 2.35506632e-05, 1.13303867e-05, 1.18428005e-05,
  1.47653387e-05, 5.73712825e-06, 8.77513920e-06, 2.28976660e-06,
 -5.29353541e-06, 5.61909184e-05,-2.97098890e-06, 1.79147947e-05,
  2.73335637e-02, 9.57781705e-03, 1.22733750e-03,-4.53476239e-05,
  1.31774022e-06, 3.11481109e-07,-4.90499945e+00, 2.44008153e-04,
  1.18273997e-02,-6.77595116e-04]


--- Step 1089 ---
qpos:
[ 1.87011863e-02, 3.01201418e-02,-9.50321177e-03,-2.55517688e-02,
  7.88394822e-03, 4.68623638e-03,-7.86219416e-03, 2.71008741e-02,
  1.23181331e-02, 2.79864177e-02,-8.32021204e-03, 2.64304209e-02,
  1.20679995e+00,-1.72733351e-04, 1.14002926e+00, 4.52573513e-02,
  5.83363643e-02,-7.78427104e-02, 1.71484184e-01, 9.99558638e-01,
  2.85219844e-02,-3.26028275e-03,-7.64169533e-03]

qacc:
[ 2.19296811e-01, 1.48168797e+00,-3.91405990e+00, 1.38906186e+00,
 -4.61660502e+00,-3.73195885e+00, 1.74022376e+01,-3.57944931e+01,
 -9.33939229e+00,-8.11263124e-01, 3.96045946e+00,-7.33858278e+00,
  5.77999056e+01,-9.84021718e+01,-8.44516858e+01, 2.08512101e+02,
 -1.98194451e+00,-6.46921060e-02,-8.50684780e-02, 2.53964869e+00,
 -2.24906569e+01,-2.85616419e+01]

qfrc_actuator:
[ 7.01964642e-05, 9.35121525e-04, 9.53462688e-05,-1.28718358e-04,
  1.19758555e-05, 3.31700343e-05,-3.04289700e-05, 3.62163082e-06,
 -1.18666076e-04, 9.94702956e-04, 2.27356044e-04, 7.80496703e-05,
  1.63759329e-02, 6.09106230e-03, 4.50845363e-03,-2.05490699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8939448 ,  0.48083008, -0.75361777,  0.48083008,  0.48077894,
       -0.26361185, -0.75361777, -0.26361185,  0.72575277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.329150670403383e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14812814e-01, -9.08531293e-01, -5.00121835e-02, -2.07716881e-02,
       -4.54945653e-02,  9.98748608e-01, -9.09669647e-01,  4.15332558e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065024, -0.04632591,  0.28465735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65937454, -5.58599296,  0.90840676, -5.58599296,  5.79735172,
        0.84845199,  0.90840676,  0.84845199, 10.87669246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000506583409088851
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09579489e-13, -5.47897446e-14,  1.00000000e+00, -6.00383223e-27,
        1.00000000e+00,  5.47897446e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09579489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09579208, -0.09237329,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45355416e-06, 2.41130069e-05,-2.38677397e-05,-8.95578815e-06,
 -2.71136557e-05,-4.71854975e-06, 2.74849223e-05,-5.10904990e-05,
 -5.64709530e-05, 3.09871462e-05, 2.22747544e-05,-6.04937723e-06,
  2.88782790e-02, 1.03068055e-02, 4.90209845e-04, 1.40537682e-04,
  9.25056419e-06, 8.46597144e-07,-4.90500000e+00, 2.48176674e-04,
  1.18265768e-02,-6.77364781e-04]


--- Step 1090 ---
qpos:
[ 1.87012146e-02, 3.01206758e-02,-9.50428431e-03,-2.55531924e-02,
  7.88387120e-03, 4.68570979e-03,-7.86190671e-03, 2.71003866e-02,
  1.23162620e-02, 2.79886981e-02,-8.31939413e-03, 2.64298976e-02,
  1.20665919e+00,-2.66036589e-04, 1.14023204e+00, 4.52636495e-02,
  5.83293682e-02,-7.78307849e-02, 1.71483332e-01, 9.99558036e-01,
  2.85288467e-02,-3.30625859e-03,-7.67504509e-03]

qacc:
[ 1.28496895e-01, 1.66842408e+00,-6.63625884e+00, 1.11985570e+01,
 -2.92558520e+00,-1.02349978e-01, 1.73584891e+00,-6.21290687e+00,
 -8.62251912e+00,-2.96897048e+00, 1.41416759e+01,-2.89016780e+01,
  3.99866685e+00, 1.53851872e+00,-4.70655140e+01, 1.04679083e+02,
 -1.94146060e+00, 9.64287077e-03,-2.01079494e-01, 2.79003676e+00,
 -2.19010326e+01,-2.61412485e+01]

qfrc_actuator:
[ 7.09995230e-05, 9.39638565e-04, 7.76206880e-05,-1.16546786e-04,
 -4.33090497e-06, 4.53367766e-05,-3.35739140e-05,-8.93501569e-06,
 -1.69222395e-04, 9.93401448e-04, 2.51090631e-04, 3.73112907e-05,
  1.63979905e-02, 6.21551928e-03, 4.47091837e-03,-1.92316668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89295952,  0.38293821, -0.8066815 ,  0.38293821,  0.27125778,
       -0.29512683, -0.8066815 , -0.29512683,  0.75286044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.620762966165527e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15117688e-01, -9.08390939e-01, -5.00320656e-02, -2.07952391e-02,
       -4.55056658e-02,  9.98747612e-01, -9.09530023e-01,  4.15638228e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065231, -0.04630839,  0.28463251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65749836,  5.65018643, -0.28754316,  5.65018643,  5.70366339,
        0.90713686, -0.28754316,  0.90713686, 23.48262175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005063522029615103
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19259049e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.19259049e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09579443, -0.09235963,  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:
[ 8.55071164e-07, 1.26873134e-05,-1.59869648e-05, 1.22082406e-05,
 -1.70779285e-05, 1.30268104e-05,-2.49712639e-06,-1.27998874e-05,
 -5.21954772e-05, 2.02623425e-05, 3.26411871e-05,-3.87614848e-05,
  2.75001431e-02, 1.27568684e-02, 2.19152154e-03,-1.85920022e-04,
  5.14491234e-07,-3.80548059e-08,-4.90500004e+00, 2.43265916e-04,
  1.18263403e-02,-6.77514975e-04]


--- Step 1091 ---
qpos:
[ 1.87009078e-02, 3.01211371e-02,-9.50493612e-03,-2.55541358e-02,
  7.88359912e-03, 4.68535259e-03,-7.86200684e-03, 2.71004595e-02,
  1.23144880e-02, 2.79910417e-02,-8.31826244e-03, 2.64289061e-02,
  1.20650487e+00,-3.16192794e-04, 1.14045183e+00, 4.52625830e-02,
  5.83286286e-02,-7.78207261e-02, 1.71483096e-01, 9.99557708e-01,
  2.85403669e-02,-3.31859880e-03,-7.66961827e-03]

qacc:
[  -2.86116749,  -0.27729096,  -1.16360552,   8.83434788,  -1.73083392,
    2.46433042, -10.82197891,  21.00905248,   0.83653507,  -1.75891173,
    8.36627864, -17.01304315, -42.96383357,  81.17036208,  51.50538535,
 -134.28049115,   1.56411132,  -0.46666822,   0.15396868,   2.25904968,
   17.38183531,  18.89327755]

qfrc_actuator:
[ 5.37074887e-05, 9.42034765e-04, 1.03124349e-04,-9.10655505e-05,
 -1.38849820e-05, 5.27657079e-05,-5.32752358e-05, 1.93875495e-05,
 -1.62694395e-04, 9.91661955e-04, 2.64694929e-04, 1.35576673e-05,
  1.64211543e-02, 6.28831344e-03, 4.45857263e-03,-1.86555951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89132168, -0.79561674,  0.40180635, -0.79561674,  0.79086036,
       -0.19892346,  0.40180635, -0.19892346,  0.49743335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2310749109192204e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41533415, -0.90828891, -0.05008798, -0.02082939, -0.04555153,
        0.99874481, -0.90943042,  0.41585613,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064382, -0.04628836,  0.2845914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67061733, -5.57832492,  1.01891705, -5.57832492,  5.88532132,
        1.17545252,  1.01891705,  1.17545252, 12.10593614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005079681865171048
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09280763e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09280763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02754054, -0.08066185,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72628717e-05, 6.70824836e-06, 2.65868289e-05, 2.57133927e-05,
 -1.00342324e-05, 1.36601703e-05,-1.77563075e-05, 2.85476435e-05,
  5.01208119e-06, 1.45577068e-05, 2.04341469e-05,-2.25141885e-05,
  2.70934379e-02, 1.25237495e-02, 3.56287148e-03,-2.26236927e-04,
  3.81057653e-06, 8.11937836e-07,-4.90500033e+00, 2.45591890e-04,
  1.18269867e-02,-6.77674178e-04]


--- Step 1092 ---
qpos:
[ 1.87003960e-02, 3.01214285e-02,-9.50522084e-03,-2.55544052e-02,
  7.88321464e-03, 4.68489262e-03,-7.86193595e-03, 2.71005221e-02,
  1.23121167e-02, 2.79931728e-02,-8.31712284e-03, 2.64280403e-02,
  1.20633206e+00,-3.64169101e-04, 1.14069045e+00, 4.52590429e-02,
  5.83334088e-02,-7.78125428e-02, 1.71483211e-01, 9.99557549e-01,
  2.85610683e-02,-3.30099451e-03,-7.62067507e-03]

qacc:
[-1.74291346e+00, 1.41357563e-01,-3.66341373e+00, 1.48477308e+01,
 -9.81632853e-01,-6.32958893e-01, 2.10620760e+00,-2.48430988e+00,
 -5.08619110e+00,-3.44829044e-02,-7.97698331e-01, 3.09666878e+00,
 -1.72692716e+01, 1.83637307e+01, 3.66229430e+01,-8.47018220e+01,
  1.37997051e+00,-4.68874092e-01, 8.77258836e-02, 4.54351697e+00,
  1.56221087e+01, 2.13066695e+01]

qfrc_actuator:
[ 4.36561372e-05, 9.25578865e-04, 1.18434830e-04,-5.79348495e-05,
 -1.93915548e-05, 3.95116846e-05,-4.70707964e-05, 1.82630538e-05,
 -1.93631586e-04, 9.54137646e-04, 2.54463927e-04, 1.77355793e-05,
  1.64253630e-02, 6.32616420e-03, 4.42635728e-03,-1.95041829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89033597, -0.76383997,  0.45743486, -0.76383997,  0.72734935,
       -0.2721605 ,  0.45743486, -0.2721605 ,  0.4358733 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.174374254496896e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41551624, -0.90820347, -0.05012702, -0.02085481, -0.04558284,
        0.99874285, -0.90934665,  0.41603926,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064442, -0.04627304,  0.28456854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67938386,  5.45305184, -1.58733318,  5.45305184,  7.44551716,
        6.06729362, -1.58733318,  6.06729362, 26.52268699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005090471379462363
  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([ 0.02754291, -0.08064958,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05548512e-05,-6.12479597e-06, 2.08653761e-05, 3.48417882e-05,
 -5.78743981e-06,-8.04911653e-06, 7.83249363e-06,-5.96618622e-07,
 -3.07765823e-05,-2.62271296e-05,-5.52647120e-06, 5.06454709e-06,
  2.77744451e-02, 1.04047637e-02, 2.67655926e-03, 5.62481277e-05,
  2.35110260e-07, 1.45657950e-07,-4.90500017e+00, 2.43143100e-04,
  1.18266435e-02,-6.78010830e-04]


--- Step 1093 ---
qpos:
[ 1.86997676e-02, 3.01216613e-02,-9.50559688e-03,-2.55542576e-02,
  7.88345700e-03, 4.68432774e-03,-7.86177022e-03, 2.71005767e-02,
  1.23100826e-02, 2.79948393e-02,-8.31598265e-03, 2.64276104e-02,
  1.20614266e+00,-4.21617572e-04, 1.14095111e+00, 4.52560386e-02,
  5.83431507e-02,-7.78061398e-02, 1.71483440e-01, 9.99557482e-01,
  2.85939159e-02,-3.25628380e-03,-7.52497542e-03]

qacc:
[-1.00311557e+00, 1.03899858e+00,-5.56938154e+00, 1.29624657e+01,
  5.51925672e+00,-4.31252228e-01, 1.35213352e+00,-1.54707300e+00,
  2.88101116e+00, 2.76237512e-01,-3.72624386e+00, 1.16230255e+01,
 -7.41955811e+00,-1.79621950e+00, 3.12902704e+01,-6.13896617e+01,
  1.24040372e+00,-4.45072517e-01, 2.84328521e-02, 6.04299153e+00,
  1.42613479e+01, 2.29610872e+01]

qfrc_actuator:
[ 3.79529321e-05, 9.15690737e-04, 1.09762118e-04,-3.83531061e-05,
  1.30309953e-05, 3.18049181e-05,-4.34790990e-05, 1.75694271e-05,
 -1.75381755e-04, 9.13145496e-04, 2.47864743e-04, 3.82659346e-05,
  1.64297817e-02, 6.34900461e-03, 4.35481447e-03,-1.87416482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88955271, -0.7303603 ,  0.50781676, -0.7303603 ,  0.67876459,
       -0.30316305,  0.50781676, -0.30316305,  0.45353273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.084436008028169e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41571811, -0.90810909, -0.05016307, -0.02087998, -0.04561096,
        0.99874104, -0.9092538 ,  0.41624214,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706534 , -0.04626088,  0.28456258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67133697,  5.41531234, -1.68477159,  5.41531234,  8.24008496,
        8.25665199, -1.68477159,  8.25665199, 32.21045342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005080567844769762
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09261706e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09261706e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02754416, -0.08063994,  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:
[-6.01580536e-06,-7.52061650e-06,-6.16097019e-06, 2.07210262e-05,
  3.22549770e-05,-1.06018114e-05, 2.87777476e-06,-7.78191613e-07,
  1.73455493e-05,-5.66898505e-05,-1.25597359e-05, 1.93092138e-05,
  2.87019576e-02, 1.03191860e-02, 1.65879731e-03, 2.55129003e-04,
  3.61272107e-06,-2.67945931e-07,-4.90500142e+00, 2.44453782e-04,
  1.18250320e-02,-6.78430399e-04]


--- Step 1094 ---
qpos:
[ 1.86990753e-02, 3.01220053e-02,-9.50610137e-03,-2.55545860e-02,
  7.88408609e-03, 4.68360947e-03,-7.86178664e-03, 2.71003030e-02,
  1.23103506e-02, 2.79961343e-02,-8.31466815e-03, 2.64274060e-02,
  1.20599780e+00,-5.15726864e-04, 1.14117765e+00, 4.52626827e-02,
  5.83447947e-02,-7.77998467e-02, 1.71483517e-01, 9.99556813e-01,
  2.86273914e-02,-3.25503620e-03,-7.48693596e-03]

qacc:
[-5.52968706e-01,-4.73776619e-01, 3.90937871e+00,-1.20171951e+01,
  3.39876844e+00,-3.76036516e-01, 2.42093979e+00,-7.68498845e+00,
  1.96301736e+01,-5.52421214e-01, 2.38972444e-01, 3.72947783e+00,
  6.37041243e+01,-9.42839011e+01,-8.50435620e+01, 2.11821284e+02,
 -2.02445697e+00,-2.74654236e-02,-3.80542590e-02, 3.92075571e-01,
 -2.25449196e+01,-2.81992290e+01]

qfrc_actuator:
[ 3.48524459e-05, 9.27452492e-04, 1.04763700e-04,-6.24186108e-05,
  3.20114751e-05, 9.71712519e-06,-5.91998985e-05,-6.16306700e-07,
 -5.73046938e-05, 9.05914953e-04, 2.61201427e-04, 5.04945204e-05,
  1.64294955e-02, 6.42687681e-03, 4.30131478e-03,-1.91629577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88894209,  0.46978705, -0.75466427,  0.46978705,  0.48267087,
       -0.25290843, -0.75466427, -0.25290843,  0.73150373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8268047479040704e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41594505, -0.90800289, -0.05020429, -0.02090859, -0.0456432 ,
        0.99873897, -0.90914935,  0.41647023,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066987, -0.04625142,  0.2845715 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68054448, -5.60676358,  0.91257205, -5.60676358,  5.81463443,
        0.82383701,  0.91257205,  0.82383701, 10.74212766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005091899293362956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18037114e-13, -2.18037114e-13,  1.00000000e+00, -4.75401829e-26,
        1.00000000e+00,  2.18037114e-13, -1.00000000e+00,  0.00000000e+00,
       -2.18037114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09580369, -0.09229825,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27942016e-06, 7.16655297e-06,-6.59133362e-06,-2.41967744e-05,
  1.98933467e-05,-2.74255784e-05,-1.75799705e-05,-1.85562063e-05,
  1.18572223e-04,-4.07719143e-05, 7.13058159e-07, 9.73398645e-06,
  2.95299655e-02, 1.08714556e-02, 4.98162609e-04, 1.85014084e-04,
  1.45583015e-05,-7.95956619e-07,-4.90500459e+00, 2.49483764e-04,
  1.18213617e-02,-6.78998441e-04]


--- Step 1095 ---
qpos:
[ 1.86990405e-02, 3.01226777e-02,-9.50706606e-03,-2.55552053e-02,
  7.88459314e-03, 4.68268821e-03,-7.86197136e-03, 2.70998195e-02,
  1.23113432e-02, 2.79973615e-02,-8.31331914e-03, 2.64269743e-02,
  1.20587279e+00,-5.95056391e-04, 1.14137433e+00, 4.52695325e-02,
  5.83385196e-02,-7.77933160e-02, 1.71482937e-01, 9.99555579e-01,
  2.86621585e-02,-3.29611335e-03,-7.50076746e-03]

qacc:
[ 5.61985249e+00, 1.11039384e+00,-2.12261976e+00,-2.39125176e+00,
 -1.07553362e+00,-2.27642725e-01, 1.31171648e+00,-4.52766068e+00,
  6.17681252e+00,-6.65927376e-01, 3.18305765e+00,-7.09882068e+00,
  6.65590481e+00, 7.36751234e+00,-4.49167784e+01, 9.26698778e+01,
 -1.97977894e+00, 5.93845038e-02,-1.64276441e-01, 7.27652554e-01,
 -2.18915447e+01,-2.53223823e+01]

qfrc_actuator:
[ 6.88125601e-05, 9.52057892e-04, 8.42908850e-05,-7.64408818e-05,
  2.51634643e-05,-3.15621184e-06,-6.85165336e-05,-1.12213431e-05,
 -2.34522330e-05, 9.19034197e-04, 2.68573053e-04, 4.00255488e-05,
  1.64268078e-02, 6.56874560e-03, 4.25225054e-03,-1.91451572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861329,  0.34012662, -0.82094303,  0.34012662,  0.23325579,
       -0.27152253, -0.82094303, -0.27152253,  0.77611822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.071589379641263e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4161415 , -0.90790892, -0.05027575, -0.02094832, -0.0457036 ,
        0.99873538, -0.90905854,  0.41666843,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07067506, -0.04623985,  0.28456098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68775872,  5.67352325, -0.40216072,  5.67352325,  5.76143074,
        1.03933554, -0.40216072,  1.03933554, 20.35029044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100772182082408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08828917e-13, -2.17657834e-13,  1.00000000e+00, -2.36874663e-26,
        1.00000000e+00,  2.17657834e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08828917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09580618, -0.09228168,  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:
[ 3.38678042e-05, 2.62107946e-05,-2.06381827e-05,-1.44133202e-05,
 -6.29075363e-06,-3.26026644e-05,-1.77807338e-05,-1.27483146e-05,
  3.73218068e-05,-9.13587735e-06,-6.60336609e-07,-1.20123493e-05,
  2.73014445e-02, 1.28493592e-02, 2.15153737e-03,-2.96484268e-04,
  2.17020368e-06,-1.07937650e-07,-4.90500190e+00, 2.42806257e-04,
  1.18243301e-02,-6.79969359e-04]


--- Step 1096 ---
qpos:
[ 1.86994131e-02, 3.01236653e-02,-9.50861047e-03,-2.55556325e-02,
  7.88535904e-03, 4.68195994e-03,-7.86274478e-03, 2.70991908e-02,
  1.23120459e-02, 2.79989060e-02,-8.31264282e-03, 2.64264196e-02,
  1.20593293e+00,-6.18655151e-04, 1.14160895e+00, 4.52626184e-02,
  5.83358888e-02,-7.77825607e-02, 1.71483348e-01, 9.99555383e-01,
  2.86639745e-02,-3.31770219e-03,-7.51035336e-03]

qacc:
[ 3.47217852e+00, 2.42580038e+00,-8.86371662e+00, 1.28870649e+01,
  2.25527125e+00, 1.59701339e+00,-4.71817206e+00, 3.01038624e+00,
 -2.49690943e+00, 2.05107570e+00,-6.17686701e+00, 4.88004441e+00,
  1.02411239e+02,-3.87383696e+01, 9.18950716e+01,-2.53389498e+02,
  9.11065275e-01, 1.05615378e+00, 2.47806212e-01,-1.65492626e+01,
  9.67879902e+00, 1.90076696e+00]

qfrc_actuator:
[ 8.88081149e-05, 9.66355103e-04, 5.49165557e-05,-6.66794469e-05,
  3.86776928e-05, 2.51153491e-05,-9.16842759e-05,-1.72651270e-05,
 -3.94778239e-05, 9.44208158e-04, 2.36930459e-04, 3.40531925e-05,
  1.64446018e-02, 6.67673082e-03, 4.19604041e-03,-1.84530047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.67967776, -5.66060304, -0.46509426, -5.66060304,  5.73935113,
       -0.72627693, -0.46509426, -0.72627693, 14.51910186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005090832982347197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33112240e-07, -9.38503991e-07,  1.00000000e+00, -3.12627167e-13,
        1.00000000e+00,  9.38503991e-07, -1.00000000e+00,  5.04870979e-29,
       -3.33112240e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04727408, -0.09535495,  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:
[ 2.09921092e-05, 2.40746669e-05,-2.69979496e-05, 9.88954588e-06,
  1.33253217e-05, 5.85527629e-06,-3.25191304e-05,-8.30044283e-06,
 -1.49281386e-05, 1.93708527e-05,-3.40563620e-05,-6.62663827e-06,
  2.63272244e-02, 1.22202797e-02, 3.58487682e-03,-2.38301173e-04,
  2.06231571e-06, 1.84212987e-06,-4.90500028e+00, 2.43312534e-04,
  1.18271847e-02,-6.80843516e-04]


--- Step 1097 ---
qpos:
[ 1.86996786e-02, 3.01242356e-02,-9.50964100e-03,-2.55559208e-02,
  7.88628076e-03, 4.68148858e-03,-7.86363070e-03, 2.70987978e-02,
  1.23128963e-02, 2.80003616e-02,-8.31224122e-03, 2.64261678e-02,
  1.20610628e+00,-5.83883230e-04, 1.14185886e+00, 4.52581430e-02,
  5.83376659e-02,-7.77676257e-02, 1.71484225e-01, 9.99556142e-01,
  2.86359292e-02,-3.31689868e-03,-7.51663212e-03]

qacc:
[ -0.89581078, -1.70005402,  4.67839266, -2.79328851,  1.36293708,
   1.13668229, -4.56017577,  8.63594157,  1.25261521,  1.27137441,
  -5.98638496, 11.73645657, 46.40393347, 13.84625891, 13.36557685,
 -18.21510205,  1.10200098,  1.04494214,  0.11667457,-15.01626635,
  11.12804534,  1.38502905]

qfrc_actuator:
[ 8.26593196e-05, 9.21091413e-04, 7.37628239e-05,-6.07669164e-05,
  4.63245524e-05, 6.00064348e-05,-8.71696918e-05,-2.80010326e-06,
 -3.14476245e-05, 9.22999136e-04, 2.18077986e-04, 4.85180859e-05,
  1.64644175e-02, 6.68201774e-03, 4.13584238e-03,-1.93476846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.68174116,  5.57939782, -1.07354675,  5.57939782,  6.43291051,
        3.90394976, -1.07354675,  3.90394976, 25.97120576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005093371442890651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.49285947e-14,  1.13254664e-06,  1.00000000e+00,  8.48601279e-20,
        1.00000000e+00, -1.13254664e-06, -1.00000000e+00,  0.00000000e+00,
       -7.49285947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0444619 , -0.09487729,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.52941922e-06,-3.69645645e-05, 2.08417835e-05, 6.20303125e-06,
  8.02925196e-06, 3.11339942e-05, 1.45001191e-06, 1.34334367e-05,
  7.60612022e-06,-1.77610881e-05,-1.92985649e-05, 1.39847090e-05,
  1.70915526e-02, 9.44173163e-03, 1.62459879e-03, 3.59692372e-04,
  6.66936776e-07, 1.09282526e-07,-4.90500012e+00, 2.42740125e-04,
  1.18266124e-02,-6.80912670e-04]


--- Step 1098 ---
qpos:
[ 1.86998686e-02, 3.01242485e-02,-9.50975708e-03,-2.55561455e-02,
  7.88694227e-03, 4.68102185e-03,-7.86417131e-03, 2.70999624e-02,
  1.23138369e-02, 2.80010877e-02,-8.31151191e-03, 2.64264778e-02,
  1.20620001e+00,-5.30534919e-04, 1.14213864e+00, 4.52493736e-02,
  5.83453411e-02,-7.77537010e-02, 1.71485024e-01, 9.99557101e-01,
  2.86136211e-02,-3.28546134e-03,-7.48793100e-03]

qacc:
[-6.10463860e-01,-3.16054751e+00, 9.93180188e+00,-9.88118177e+00,
 -2.27740860e+00, 2.25221494e+00,-1.45902349e+01, 4.09840731e+01,
  7.90267476e-01,-7.24844023e-01,-1.18942263e+00, 1.09300969e+01,
 -7.76915294e+01, 8.93855535e+01, 6.30978455e+01,-1.42956961e+02,
  1.47448535e+00,-2.52604094e-01,-1.96354449e-02, 2.80733180e+00,
  1.58328496e+01, 1.70347995e+01]

qfrc_actuator:
[ 7.89280871e-05, 8.93955422e-04, 1.20679725e-04,-5.71873851e-05,
  3.26978575e-05, 6.32228507e-05,-6.62864530e-05, 7.69051727e-05,
 -2.70583449e-05, 8.56486933e-04, 2.24523332e-04, 7.48686939e-05,
  1.64692789e-02, 6.63625871e-03, 4.12185553e-03,-2.13014329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88919147, -0.67933385,  0.57373076, -0.67933385,  0.65161467,
       -0.2813061 ,  0.57373076, -0.2813061 ,  0.55610709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4208829147991327e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41615578, -0.90789882, -0.05033994, -0.02097585, -0.04576159,
        0.99873214, -0.90905136,  0.41668408,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065661, -0.04622147,  0.28442486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67630359,  5.43401636, -1.64069761,  5.43401636,  9.59162416,
       12.96760343, -1.64069761, 12.96760343, 48.6252106 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005086681124036041
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09130393e-13,  1.09130393e-13,  1.00000000e+00,  1.19094428e-26,
        1.00000000e+00, -1.09130393e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09130393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755344, -0.08058511,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90705606e-06,-4.32467771e-05, 4.20699804e-05, 2.84065065e-06,
 -1.33882642e-05, 2.15331779e-05, 2.79743206e-05, 8.13546852e-05,
  4.61140373e-06,-7.98829053e-05, 8.62820198e-07, 2.51901607e-05,
  1.14376606e-02, 6.47850254e-03, 8.39335552e-04, 4.08355433e-05,
  1.06346352e-07, 2.42080614e-09,-4.90500047e+00, 2.42618306e-04,
  1.18263873e-02,-6.80254698e-04]


--- Step 1099 ---
qpos:
[ 1.86993227e-02, 3.01240564e-02,-9.50938530e-03,-2.55566869e-02,
  7.88743530e-03, 4.68074193e-03,-7.86470988e-03, 2.71010373e-02,
  1.23148225e-02, 2.80016046e-02,-8.31086846e-03, 2.64267177e-02,
  1.20626068e+00,-5.25688119e-04, 1.14239390e+00, 4.52500424e-02,
  5.83458316e-02,-7.77395158e-02, 1.71485692e-01, 9.99557597e-01,
  2.85922288e-02,-3.29191630e-03,-7.50059294e-03]

qacc:
[-6.29487147e+00,-2.27464834e+00, 9.07087681e+00,-1.51938771e+01,
 -1.48534245e+00, 5.92338220e-02, 5.31263332e-01,-2.23184915e+00,
  3.85079814e-01,-1.81519015e-01, 5.40511538e-01,-1.46042019e+00,
  1.07101366e+01,-5.69834975e+01,-6.67538604e+01, 1.76409719e+02,
 -1.79613868e+00, 6.51446743e-02,-3.27420190e-02, 5.38279038e-01,
 -1.95268609e+01,-2.01334885e+01]

qfrc_actuator:
[ 4.11534033e-05, 8.95755786e-04, 1.48327634e-04,-7.27405871e-05,
  2.44133672e-05, 6.53366148e-05,-7.15000815e-05, 7.00700303e-05,
 -2.48550506e-05, 8.69984702e-04, 2.27902179e-04, 7.24652967e-05,
  1.64677951e-02, 6.59407077e-03, 4.11242964e-03,-2.15252095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89177017,  0.57346696, -0.68292729,  0.57346696,  0.48454943,
       -0.34195096, -0.68292729, -0.34195096,  0.60462748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.646202703578862e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16137724e-01, -9.07910669e-01, -5.02753611e-02, -2.09479653e-02,
       -4.57033334e-02,  9.98735394e-01, -9.09060272e-01,  4.16664640e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066151, -0.04622209,  0.28438778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65367625, -5.58628195,  0.87035003, -5.58628195,  5.85499754,
        1.29216686,  0.87035003,  1.29216686, 13.9473606 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005058810899963231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.12622233e-08, -5.12625525e-08,  1.00000000e+00,  2.62783242e-15,
        1.00000000e+00,  5.12625525e-08, -1.00000000e+00,  3.94430453e-31,
        5.12622233e-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([ 0.09090286, -0.09140018,  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:
[-3.79053141e-05,-1.35728497e-05, 2.39973528e-05,-1.58930710e-05,
 -8.66197200e-06, 2.34361746e-05, 5.50463837e-06,-3.36092011e-06,
  2.31276565e-06,-2.99464865e-05,-1.21611917e-05,-5.31055285e-06,
  1.54151467e-02, 5.50547249e-03,-6.68142337e-04, 2.32168840e-04,
  1.95344364e-06, 1.05953121e-06,-4.90499964e+00, 2.44136773e-04,
  1.18273984e-02,-6.79673837e-04]


--- Step 1100 ---
qpos:
[ 1.86986729e-02, 3.01236075e-02,-9.50921092e-03,-2.55570105e-02,
  7.88782497e-03, 4.68079232e-03,-7.86530239e-03, 2.71009719e-02,
  1.23151373e-02, 2.80024499e-02,-8.31072726e-03, 2.64265406e-02,
  1.20626051e+00,-5.08990646e-04, 1.14266868e+00, 4.52450056e-02,
  5.83519399e-02,-7.77266405e-02, 1.71486402e-01, 9.99558277e-01,
  2.85781308e-02,-3.26853821e-03,-7.47388448e-03]

qacc:
[-8.92576677e-01, 6.62654494e-01,-3.76884695e+00, 8.03310175e+00,
 -9.17352325e-01,-1.75835449e+00, 1.17201170e+01,-3.16139566e+01,
 -5.73745992e+00, 9.90197884e-01,-1.12022976e+00,-5.55918948e+00,
 -5.76806756e+01, 6.44800235e+01, 5.05006542e+01,-1.24705194e+02,
  1.40443074e+00,-3.27486772e-01, 1.04493176e-02, 3.59581590e+00,
  1.55004222e+01, 1.92386746e+01]

qfrc_actuator:
[ 3.69011405e-05, 8.61530508e-04, 1.28969682e-04,-6.39133049e-05,
  1.93465485e-05, 8.43573877e-05,-7.44140451e-05, 1.23350117e-05,
 -5.94596433e-05, 9.13507396e-04, 2.11971000e-04, 5.32166788e-05,
  1.64665057e-02, 6.57816756e-03, 4.07760621e-03,-2.04760953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89463782, -0.71067113,  0.54343663, -0.71067113,  0.68692343,
       -0.27163539,  0.54343663, -0.27163539,  0.5394107 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.788157474020116e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41617591, -0.90789501, -0.05024205, -0.02093597, -0.04567219,
        0.99873707, -0.90904307,  0.41670217,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065768, -0.04621606,  0.28433743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64990826, -5.55372248,  1.03808961, -5.55372248,  5.91936337,
        1.44157006,  1.03808961,  1.44157006, 13.362229  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005054165107698932
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09832485e-13, -1.09832485e-13,  1.00000000e+00, -1.20631747e-26,
        1.00000000e+00,  1.09832485e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09832485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755529, -0.08056765,  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:
[-5.36164077e-06,-3.75469366e-05,-1.97543321e-05, 8.76942302e-06,
 -5.30488451e-06, 3.31305493e-05, 2.49638940e-06,-5.66058457e-05,
 -3.45441231e-05, 2.40139199e-05,-2.38118961e-05,-2.10591142e-05,
  1.70660988e-02, 7.91448150e-03, 5.18942105e-04,-1.35848961e-04,
  3.38456723e-07,-1.55289220e-07,-4.90500049e+00, 2.43030849e-04,
  1.18261396e-02,-6.79191311e-04]


--- Step 1101 ---
qpos:
[ 1.86986663e-02, 3.01229799e-02,-9.50986432e-03,-2.55568458e-02,
  7.88815115e-03, 4.68068452e-03,-7.86548793e-03, 2.71009370e-02,
  1.23150350e-02, 2.80033756e-02,-8.31103273e-03, 2.64265072e-02,
  1.20624637e+00,-5.39450645e-04, 1.14291236e+00, 4.52489088e-02,
  5.83499074e-02,-7.77135122e-02, 1.71486343e-01, 9.99558348e-01,
  2.85680351e-02,-3.28850600e-03,-7.49414287e-03]

qacc:
[ 5.49524073e+00, 3.07292010e+00,-1.33716390e+01, 2.32813066e+01,
 -5.42932628e-01,-1.28253888e+00, 4.14222060e+00,-4.14874414e+00,
 -3.56942258e+00, 1.65765972e+00,-6.35115415e+00, 9.48086898e+00,
  2.50490573e+01,-6.88629342e+01,-7.59545796e+01, 1.92214487e+02,
 -2.03519230e+00, 6.32641335e-02,-1.92222991e-01, 2.09414001e+00,
 -2.23205141e+01,-2.28624907e+01]

qfrc_actuator:
[ 7.01772694e-05, 8.41329055e-04, 8.18983397e-05,-4.08655321e-05,
  1.62126047e-05, 6.00462425e-05,-5.81404339e-05, 1.39095497e-05,
 -7.99458315e-05, 9.03580613e-04, 1.84904525e-04, 5.97412742e-05,
  1.64636987e-02, 6.57258887e-03, 4.05109133e-03,-2.05023508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89792975,  0.54189413, -0.71598085,  0.54189413,  0.43936236,
       -0.34706931, -0.71598085, -0.34706931,  0.63524839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.668737902971686e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41625715, -0.90785993, -0.05020291, -0.02092371, -0.04563476,
        0.99873904, -0.90900615,  0.4167827 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706631 , -0.0462109 ,  0.28430684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64440902, -5.57551146,  0.87921851, -5.57551146,  5.82159678,
        1.12362556,  0.87921851,  1.12362556, 12.76981315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005047382280719548
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09980081e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09980081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09581833, -0.09221905,  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:
[ 3.31085213e-05,-4.48866060e-05,-5.69507633e-05, 2.09292394e-05,
 -3.27088185e-06,-7.69100475e-06, 2.14728186e-05, 1.98062081e-06,
 -2.14866505e-05,-2.36210085e-06,-2.57770537e-05, 6.31962400e-06,
  2.01039902e-02, 7.31520279e-03,-4.88904568e-04, 1.45658778e-04,
  1.38594296e-06, 5.44868096e-07,-4.90499974e+00, 2.43950192e-04,
  1.18269482e-02,-6.78822988e-04]


--- Step 1102 ---
qpos:
[ 1.86990584e-02, 3.01225124e-02,-9.51097866e-03,-2.55568207e-02,
  7.88878232e-03, 4.68030735e-03,-7.86567789e-03, 2.71013099e-02,
  1.23153767e-02, 2.80044802e-02,-8.31202282e-03, 2.64269016e-02,
  1.20618643e+00,-5.45465854e-04, 1.14316558e+00, 4.52414443e-02,
  5.83537465e-02,-7.77019218e-02, 1.71486522e-01, 9.99558631e-01,
  2.85643403e-02,-3.27715619e-03,-7.47545642e-03]

qacc:
[ 3.40322022e+00, 1.20577363e+00,-3.41491163e+00, 1.63171159e+00,
  2.68776849e+00, 4.90513663e-01,-3.99615979e+00, 1.12681681e+01,
  3.76057100e+00, 3.02340151e+00,-1.22557671e+01, 2.06356901e+01,
 -5.46856968e+01, 7.36781900e+01, 5.29360501e+01,-1.54494749e+02,
  1.46788516e+00,-3.84476586e-01, 5.94312196e-02, 3.14275666e+00,
  1.62325088e+01, 1.90067438e+01]

qfrc_actuator:
[ 8.97596996e-05, 8.82824295e-04, 7.21661924e-05,-4.51483593e-05,
  3.19924882e-05, 2.78449546e-05,-6.62988581e-05, 3.26024920e-05,
 -5.64410793e-05, 9.14958658e-04, 1.51302201e-04, 8.13357493e-05,
  1.64526259e-02, 6.60972014e-03, 3.99613475e-03,-2.28951994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89958386, -0.75813553,  0.48423305, -0.75813553,  0.74159306,
       -0.24735701,  0.48423305, -0.24735701,  0.51231137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001048325471578956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41636006, -0.90781272, -0.05020323, -0.02092901, -0.04563267,
        0.99873902, -0.9089589 ,  0.41688574,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065809, -0.04619998,  0.28426018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64180701, -5.54785289,  1.02533635, -5.54785289,  5.88514934,
        1.31666791,  1.02533635,  1.31666791, 12.76598616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005044171908199085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10050078e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10050078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755835, -0.08054737,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05357078e-05, 5.57058408e-06,-2.52794195e-05,-7.76628664e-06,
  1.56832955e-05,-3.19767125e-05,-7.03013435e-06, 1.91457454e-05,
  2.28769396e-05, 4.96565877e-06,-3.70529654e-05, 2.07238968e-05,
  2.07908370e-02, 9.71106971e-03, 1.00661892e-03,-5.41726307e-04,
  1.05185038e-06,-1.29946250e-07,-4.90500039e+00, 2.43665241e-04,
  1.18262342e-02,-6.78605402e-04]


--- Step 1103 ---
qpos:
[ 1.86993379e-02, 3.01220472e-02,-9.51192794e-03,-2.55568713e-02,
  7.88959745e-03, 4.67995231e-03,-7.86607000e-03, 2.71018805e-02,
  1.23163422e-02, 2.80056861e-02,-8.31341941e-03, 2.64275424e-02,
  1.20612954e+00,-5.90954631e-04, 1.14338543e+00, 4.52398216e-02,
  5.83507334e-02,-7.76903594e-02, 1.71486607e-01, 9.99558341e-01,
  2.85638316e-02,-3.30294608e-03,-7.50479883e-03]

qacc:
[-9.60516930e-01,-6.12242232e-01, 2.50912049e+00,-4.08557100e+00,
  1.61172461e+00, 9.98031746e-01,-4.35593970e+00, 8.08907653e+00,
  5.30090272e+00, 1.76664033e+00,-7.16260635e+00, 1.20194369e+01,
  3.28141076e+01,-6.85176005e+01,-7.02855975e+01, 1.66700368e+02,
 -1.71304160e+00,-7.01889526e-03,-2.34431451e-02, 1.66061660e+00,
 -1.92366428e+01,-2.34807573e+01]

qfrc_actuator:
[ 8.33604942e-05, 8.90059801e-04, 8.48018351e-05,-4.76443708e-05,
  4.10249594e-05, 4.43419413e-05,-7.11152793e-05, 4.34244405e-05,
 -2.49887376e-05, 9.21236278e-04, 1.31947616e-04, 9.38779711e-05,
  1.64559388e-02, 6.60198548e-03, 3.97483350e-03,-2.35227385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90124944,  0.46473587, -0.77218594,  0.46473587,  0.41883926,
       -0.29033592, -0.77218594, -0.29033592,  0.72651236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011241511960946595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16476177e-01, -9.07759988e-01, -5.01936095e-02, -2.09308258e-02,
       -4.56212556e-02,  9.98739506e-01, -9.08905658e-01,  4.17001805e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066228, -0.04619133,  0.28423395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6349911 , -5.56857549,  0.86260752, -5.56857549,  5.82134769,
        1.20302769,  0.86260752,  1.20302769, 13.40115398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005035759269065694
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57142486e-08, -3.57141384e-08,  1.00000000e+00,  1.27550362e-15,
        1.00000000e+00,  3.57141384e-08, -1.00000000e+00,  0.00000000e+00,
        3.57142486e-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([ 0.09091315, -0.09135913,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79483690e-06, 4.83279112e-06, 1.04212356e-05,-3.28081526e-06,
  9.46649806e-06,-1.99574592e-06,-1.16199374e-05, 9.58076574e-06,
  3.21284323e-05, 2.26848746e-06,-2.21783998e-05, 1.18742572e-05,
  2.30822749e-02, 8.48050194e-03, 5.03817441e-04,-3.71974352e-05,
  5.52868968e-07, 9.86861322e-08,-4.90499995e+00, 2.43415441e-04,
  1.18265707e-02,-6.78516244e-04]


--- Step 1104 ---
qpos:
[ 1.86991940e-02, 3.01215651e-02,-9.51241507e-03,-2.55573153e-02,
  7.89016962e-03, 4.67961242e-03,-7.86624343e-03, 2.71022022e-02,
  1.23176778e-02, 2.80064823e-02,-8.31427500e-03, 2.64283284e-02,
  1.20603657e+00,-6.10049441e-04, 1.14362327e+00, 4.52311535e-02,
  5.83536004e-02,-7.76804508e-02, 1.71486965e-01, 9.99558278e-01,
  2.85694609e-02,-3.29713708e-03,-7.49426948e-03]

qacc:
[-3.61777447e+00,-2.11778024e+00, 9.18622197e+00,-1.67236630e+01,
 -2.13094417e+00,-1.09949597e+00, 5.00739397e+00,-9.68348730e+00,
  3.17833872e+00,-1.76059278e+00, 4.86752762e+00,-2.90400400e+00,
 -4.86218621e+01, 7.00629293e+01, 5.19879722e+01,-1.33889176e+02,
  1.47003421e+00,-4.13441873e-01, 6.84432514e-02, 3.01168720e+00,
  1.63853181e+01, 1.94664982e+01]

qfrc_actuator:
[ 6.17240620e-05, 8.94585711e-04, 1.10416530e-04,-6.68289691e-05,
  2.82553807e-05, 5.43688688e-05,-5.59743647e-05, 3.18181635e-05,
 -6.87772613e-06, 8.88954515e-04, 1.56642661e-04, 1.00999237e-04,
  1.64544842e-02, 6.63922433e-03, 3.99322021e-03,-2.23300858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90118942, -0.77009689,  0.46807388, -0.77009689,  0.75013823,
       -0.24851643,  0.46807388, -0.24851643,  0.49231865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011215121542955499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16598518e-01, -9.07702601e-01, -5.02161593e-02, -2.09464041e-02,
       -4.56389177e-02,  9.98738373e-01, -9.08849230e-01,  4.17124774e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065779, -0.046179  ,  0.28419489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64654488, -5.55412396,  1.01743606, -5.55412396,  5.86407246,
        1.18747033,  1.01743606,  1.18747033, 12.12887597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005050017024741532
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19845402e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.19845402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756238, -0.08052445,  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:
[-2.18014558e-05, 9.26535802e-06, 2.77994032e-05,-1.86775701e-05,
 -1.25011785e-05, 6.94072980e-06, 1.36360540e-05,-1.19074008e-05,
  1.90573090e-05,-3.51001157e-05, 2.28432739e-05, 6.68002871e-06,
  2.29286284e-02, 1.04927934e-02, 2.18611000e-03,-2.11002066e-04,
  1.84849027e-06, 1.85863671e-07,-4.90500019e+00, 2.44229800e-04,
  1.18265903e-02,-6.78511630e-04]


--- Step 1105 ---
qpos:
[ 1.86991362e-02, 3.01214676e-02,-9.51272067e-03,-2.55587091e-02,
  7.89127426e-03, 4.67935337e-03,-7.86624539e-03, 2.71020314e-02,
  1.23185314e-02, 2.80070048e-02,-8.31511705e-03, 2.64292129e-02,
  1.20590825e+00,-6.38261526e-04, 1.14388302e+00, 4.52219322e-02,
  5.83615614e-02,-7.76722291e-02, 1.71487408e-01, 9.99558343e-01,
  2.85857021e-02,-3.26351013e-03,-7.43811187e-03]

qacc:
[ 7.37123802e-01,-1.95709724e+00, 1.17117486e+01,-2.86958409e+01,
  4.68802826e+00,-1.39530796e+00, 7.19316562e+00,-1.60315544e+01,
 -4.10352050e+00,-1.88621485e-01,-2.54360373e-01, 2.12461390e+00,
 -2.24968684e+01, 1.22875010e+01, 3.54603650e+01,-7.38064497e+01,
  1.27349788e+00,-4.21697711e-01, 2.09236172e-02, 5.27273859e+00,
  1.45945967e+01, 2.23896676e+01]

qfrc_actuator:
[ 6.68064088e-05, 9.33009573e-04, 1.25702913e-04,-1.13431302e-04,
  5.60158102e-05, 6.05118942e-05,-4.69516574e-05, 7.12244731e-06,
 -3.22727933e-05, 8.69512788e-04, 1.53724697e-04, 1.04870413e-04,
  1.64429288e-02, 6.65336919e-03, 4.00004410e-03,-2.18926023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90119575, -0.73451129,  0.52215606, -0.73451129,  0.68680835,
       -0.30157644,  0.52215606, -0.30157644,  0.47697143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001121790889756658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16725300e-01, -9.07643760e-01, -5.02277697e-02, -2.09576354e-02,
       -4.56465373e-02,  9.98737789e-01, -9.08790846e-01,  4.17251960e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066234, -0.04616949,  0.28417469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64115765,  5.39327223, -1.65386649,  5.39327223,  7.92646892,
        7.45241885, -1.65386649,  7.45241885, 29.94355687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005043370627660776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10067563e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10067563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756391, -0.08051399,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45198983e-06, 4.85637649e-05, 1.99909286e-05,-4.56034801e-05,
  2.74075286e-05, 1.23400882e-05, 1.17297693e-05,-2.41572505e-05,
 -2.48475881e-05,-3.40747698e-05,-7.12412139e-06, 3.28524244e-06,
  2.47192842e-02, 9.18701656e-03, 1.28877243e-03, 1.83982242e-04,
  1.95323387e-07,-2.45396092e-08,-4.90500009e+00, 2.43148958e-04,
  1.18265041e-02,-6.78662339e-04]


--- Step 1106 ---
qpos:
[ 1.86998292e-02, 3.01215966e-02,-9.51281097e-03,-2.55602873e-02,
  7.89304773e-03, 4.67934901e-03,-7.86619992e-03, 2.71012068e-02,
  1.23187292e-02, 2.80074541e-02,-8.31604940e-03, 2.64297732e-02,
  1.20580571e+00,-7.10861940e-04, 1.14411425e+00, 4.52250941e-02,
  5.83613873e-02,-7.76639950e-02, 1.71487402e-01, 9.99557787e-01,
  2.86049215e-02,-3.27344669e-03,-7.43460738e-03]

qacc:
[ 6.44296157e+00,-6.94937321e-01, 3.66680301e+00,-7.34134110e+00,
  5.88055238e+00,-1.15361565e+00, 7.34243831e+00,-1.89004872e+01,
 -5.58955243e+00,-5.01099114e-01, 3.03410151e+00,-8.46807238e+00,
  5.43211937e+01,-9.27842909e+01,-8.45440353e+01, 2.23243500e+02,
 -2.03379025e+00, 3.06847204e-03,-1.11904544e-01, 1.57340989e+00,
 -2.25146374e+01,-2.56994554e+01]

qfrc_actuator:
[ 1.05332542e-04, 9.38119519e-04, 1.34888062e-04,-1.22512738e-04,
  8.96633575e-05, 8.20054557e-05,-4.16401220e-05,-2.50838647e-05,
 -6.53145987e-05, 8.75555523e-04, 1.52302609e-04, 8.90275386e-05,
  1.64425251e-02, 6.71411657e-03, 4.00958165e-03,-2.01696966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90058805,  0.53002276, -0.72810351,  0.53002276,  0.49290776,
       -0.29677077, -0.72810351, -0.29677077,  0.68455385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010947005126749969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41689736, -0.90756396, -0.05024185, -0.02097218, -0.04565536,
        0.99873708, -0.90871159,  0.41742454,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07067495, -0.0461616 ,  0.28417106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64043341, -5.56890804,  0.89540622, -5.56890804,  5.78774981,
        0.91622271,  0.89540622,  0.91622271, 11.33880797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000504247688288828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10087071e-13, -1.10087071e-13,  1.00000000e+00, -1.21191633e-26,
        1.00000000e+00,  1.10087071e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10087071e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09582828, -0.09216037,  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:
[ 3.86747937e-05, 3.44545045e-05, 2.01071884e-05,-7.19480940e-06,
  3.44312779e-05, 2.98013392e-05, 8.47179631e-06,-3.17419497e-05,
 -3.37815492e-05,-1.43599184e-05,-9.22089973e-06,-1.74857411e-05,
  2.64857448e-02, 9.70369323e-03, 1.97713885e-04, 3.82754602e-04,
  5.49318306e-06,-1.88692100e-07,-4.90500146e+00, 2.45825422e-04,
  1.18249279e-02,-6.78929363e-04]


--- Step 1107 ---
qpos:
[ 1.87013235e-02, 3.01218959e-02,-9.51274790e-03,-2.55619504e-02,
  7.89452112e-03, 4.67944325e-03,-7.86601772e-03, 2.70996712e-02,
  1.23192181e-02, 2.80078800e-02,-8.31648508e-03, 2.64300915e-02,
  1.20570874e+00,-7.76685953e-04, 1.14431725e+00, 4.52304671e-02,
  5.83532957e-02,-7.76554796e-02, 1.71486505e-01, 9.99556621e-01,
  2.86278124e-02,-3.32577579e-03,-7.47985571e-03]

qacc:
[ 6.87639696e+00,-3.91960211e-01, 2.05786050e+00,-3.86953012e+00,
 -2.63772083e+00,-1.71045254e+00, 9.29852381e+00,-2.19042174e+01,
  2.49634941e+00,-1.92223625e+00, 7.82216600e+00,-1.27777735e+01,
  1.24999818e+00, 4.60374894e+00,-4.83915299e+01, 1.08750930e+02,
 -1.97935313e+00, 7.03232040e-02,-2.23046001e-01, 1.92150108e+00,
 -2.18715338e+01,-2.37675890e+01]

qfrc_actuator:
[ 1.45473243e-04, 9.40997909e-04, 1.40306085e-04,-1.27219621e-04,
  7.32359376e-05, 7.69978909e-05,-3.84998564e-05,-6.14381220e-05,
 -4.93201031e-05, 8.96798047e-04, 1.87381744e-04, 7.94922380e-05,
  1.64552334e-02, 6.82399079e-03, 3.99786847e-03,-1.95779525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8985055 ,  0.40856481, -0.8002418 ,  0.40856481,  0.28117888,
       -0.31517716, -0.8002418 , -0.31517716,  0.73759127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.960122206382915e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41705923, -0.90748681, -0.05029194, -0.02100129, -0.0456971 ,
        0.99873456, -0.90863664,  0.41758766,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07067658, -0.04615034,  0.28414862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6387841 ,  5.63342381, -0.24580959,  5.63342381,  5.67528387,
        0.83649563, -0.24580959,  0.83649563, 24.80945352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005040441401995416
  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([ 0.09583049, -0.09214773,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12792836e-05, 2.60009013e-05, 1.47623083e-05,-2.67450204e-06,
 -1.54375407e-05, 1.20607523e-05, 9.24132258e-06,-3.54014567e-05,
  1.50000739e-05, 1.05405517e-05, 3.03780840e-05,-1.08087626e-05,
  2.52097026e-02, 1.20352777e-02, 1.60785154e-03,-1.78228188e-04,
  1.49940520e-07, 2.08141446e-07,-4.90500023e+00, 2.42781523e-04,
  1.18263140e-02,-6.79476305e-04]


--- Step 1108 ---
qpos:
[ 1.87029433e-02, 3.01221794e-02,-9.51249791e-03,-2.55639803e-02,
  7.89544161e-03, 4.67955856e-03,-7.86577769e-03, 2.70980730e-02,
  1.23195503e-02, 2.80081444e-02,-8.31674311e-03, 2.64310232e-02,
  1.20559347e+00,-8.03510354e-04, 1.14453607e+00, 4.52281787e-02,
  5.83515395e-02,-7.76487429e-02, 1.71486283e-01, 9.99555758e-01,
  2.86540400e-02,-3.34396856e-03,-7.48673171e-03]

qacc:
[   1.08243173,  -1.30099912,   6.14868064, -12.76982805,  -4.8624962 ,
   -0.25312137,   1.22357932,  -2.43231335,  -1.32762245,   0.5553815 ,
   -4.87505011,  15.32030376, -43.57873934,  77.40320771,  50.56793435,
 -133.75924297,   1.58383982,  -0.44465079,   0.16877887,   1.59938016,
   17.62284144,  18.68461358]

qfrc_actuator:
[ 1.50726501e-04, 9.24750434e-04, 1.43439650e-04,-1.47080200e-04,
  4.52175487e-05, 7.38964991e-05,-3.67706082e-05,-6.44572041e-05,
 -5.78463029e-05, 8.73882001e-04, 1.90552860e-04, 1.09294208e-04,
  1.64766991e-02, 6.85892119e-03, 4.01701176e-03,-1.92576656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89548917, -0.79377487,  0.41451454, -0.79377487,  0.77726217,
       -0.22639888,  0.41451454, -0.22639888,  0.4619465 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.316635599984158e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41713747, -0.90744621, -0.05037574, -0.02104032, -0.04577138,
        0.99873034, -0.90859982,  0.41766777,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066719, -0.04613593,  0.28410853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66236283, -5.57037831,  1.01648326, -5.57037831,  5.88794818,
        1.23621887,  1.01648326,  1.23621887, 12.43690312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005069515938082442
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09499905e-13, -1.09499905e-13,  1.00000000e+00, -1.19902291e-26,
        1.00000000e+00,  1.09499905e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09499905e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757092, -0.08047707,  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:
[ 6.46413988e-06, 1.22812589e-06, 1.02254974e-05,-1.82878209e-05,
 -2.84517947e-05, 4.02739530e-06, 4.13472689e-06,-2.86798608e-06,
 -8.08225578e-06,-1.12141168e-05, 8.71540034e-06, 3.10932098e-05,
  2.49519145e-02, 1.17328883e-02, 3.03484724e-03,-2.57625501e-04,
  5.39780386e-06, 2.05834510e-06,-4.90499964e+00, 2.46236538e-04,
  1.18281833e-02,-6.80004411e-04]


--- Step 1109 ---
qpos:
[ 1.87042691e-02, 3.01225339e-02,-9.51224902e-03,-2.55658847e-02,
  7.89636392e-03, 4.67972774e-03,-7.86529030e-03, 2.70971241e-02,
  1.23197779e-02, 2.80080963e-02,-8.31682748e-03, 2.64319796e-02,
  1.20545645e+00,-8.32088230e-04, 1.14477502e+00, 4.52245785e-02,
  5.83553531e-02,-7.76437862e-02, 1.71486468e-01, 9.99555087e-01,
  2.86883075e-02,-3.33187732e-03,-7.45033752e-03]

qacc:
[-2.52285662e+00, 3.60282341e-01,-1.66833168e+00, 3.77740791e+00,
  2.32544364e-02, 7.16568865e-01,-5.19331750e+00, 1.59962794e+01,
 -8.80156225e-01,-8.45609026e-01, 2.31388113e+00,-1.93483884e+00,
 -1.70206979e+01, 1.43024342e+01, 3.49097240e+01,-7.61972132e+01,
  1.39244147e+00,-4.45027844e-01, 1.01843745e-01, 3.97440050e+00,
  1.57856266e+01, 2.11788832e+01]

qfrc_actuator:
[ 1.35402605e-04, 9.32650654e-04, 1.45107651e-04,-1.40211912e-04,
  4.61226842e-05, 8.97295214e-05,-1.81111386e-05,-3.00865659e-05,
 -6.30008113e-05, 8.42370854e-04, 1.92452157e-04, 1.08682104e-04,
  1.65053688e-02, 6.83170416e-03, 4.04106924e-03,-1.91878969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89346928, -0.75721486,  0.47424994, -0.75721486,  0.71178221,
       -0.29009208,  0.47424994, -0.29009208,  0.4302915 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.996402632354847e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17196787e-01, -9.07415351e-01, -5.04402745e-02, -2.10703413e-02,
       -4.58286156e-02,  9.98727079e-01, -9.08571891e-01,  4.17728522e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07066708, -0.04612581,  0.28408726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6745068 ,  5.4536235 , -1.5678068 ,  5.4536235 ,  7.30258281,
        5.66327025, -1.5678068 ,  5.66327025, 25.37421969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005084469772559386
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09177857e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09177857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757355, -0.08046413,  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:
[-1.51354966e-05, 9.90436909e-06, 2.54468822e-06, 6.92127428e-06,
  9.79265080e-08, 1.88029951e-05, 1.99019825e-05, 3.46344458e-05,
 -5.39642626e-06,-3.46597928e-05, 1.73069818e-06,-1.87679670e-07,
  2.58949578e-02, 9.75577806e-03, 2.26397649e-03, 1.31510522e-04,
  3.81505774e-07, 5.84957707e-07,-4.90500009e+00, 2.42699913e-04,
  1.18270564e-02,-6.80709891e-04]


--- Step 1110 ---
qpos:
[ 1.87050563e-02, 3.01230970e-02,-9.51262254e-03,-2.55673211e-02,
  7.89763457e-03, 4.68001092e-03,-7.86461396e-03, 2.70969356e-02,
  1.23206309e-02, 2.80080116e-02,-8.31666839e-03, 2.64321905e-02,
  1.20530265e+00,-8.67043952e-04, 1.14501482e+00, 4.52243843e-02,
  5.83598318e-02,-7.76367845e-02, 1.71487700e-01, 9.99555154e-01,
  2.87060558e-02,-3.30840800e-03,-7.38312493e-03]

qacc:
[ -4.64381179,  2.98856358,-12.20904061, 21.11842454,  3.06884316,
   1.18197256, -7.21642314, 20.00102645,  5.3366208 , -2.27424763,
  11.16881548,-24.41574332, -8.44199008,  1.50962301, -8.61198289,
  32.95195439,  0.16629044,  0.51126683,  0.26189977, -8.2575217 ,
   6.06826514, 15.26940535]

qfrc_actuator:
[ 1.08101667e-04, 9.37206394e-04, 1.10504283e-04,-1.17651833e-04,
  6.40483827e-05, 9.91293495e-05,-7.25883356e-06, 8.27840451e-06,
 -3.06165970e-05, 8.59176174e-04, 2.11273914e-04, 7.24120994e-05,
  1.65233521e-02, 6.84560981e-03, 4.02983713e-03,-1.93012904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89176092, -0.82363223, -0.34185889, -0.82363223,  1.13512117,
       -0.58632185, -0.34185889, -0.58632185,  2.30437172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.637958370716713e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17289684e-01, -9.07369320e-01, -5.04998644e-02, -2.10999946e-02,
       -4.58805682e-02,  9.98724068e-01, -9.08528541e-01,  4.17822797e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07067548, -0.04611846,  0.284083  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66673771, -3.7974131 ,  4.20613481, -3.7974131 , 13.50234694,
        7.07420149,  4.20613481,  7.07420149, 12.05351954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005074904674383664
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36729542e-14,  7.64496324e-07,  1.00000000e+00,  1.04529232e-20,
        1.00000000e+00, -7.64496324e-07, -1.00000000e+00,  0.00000000e+00,
       -1.36729542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04449287, -0.09474045,  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:
[-2.77399740e-05, 1.08950677e-05,-3.20084783e-05, 2.32102199e-05,
  1.79327982e-05, 2.55001543e-05, 1.83804502e-05, 4.05340726e-05,
  3.22136975e-05,-2.22778025e-06, 1.18688135e-05,-3.77006551e-05,
  2.69993619e-02, 9.85757898e-03, 1.24159678e-03, 1.84690086e-04,
  2.20224740e-06,-4.25633680e-07,-4.90500192e+00, 2.42970937e-04,
  1.18247978e-02,-6.81471760e-04]


--- Step 1111 ---
qpos:
[ 1.87051654e-02, 3.01234631e-02,-9.51322878e-03,-2.55687955e-02,
  7.89876531e-03, 4.68034977e-03,-7.86403336e-03, 2.70972358e-02,
  1.23211762e-02, 2.80080023e-02,-8.31633316e-03, 2.64316095e-02,
  1.20511895e+00,-9.61125911e-04, 1.14524188e+00, 4.52287192e-02,
  5.83637370e-02,-7.76263655e-02, 1.71489273e-01, 9.99555793e-01,
  2.86978045e-02,-3.29057899e-03,-7.33658566e-03]

qacc:
[-5.82054639e+00, 3.23191993e-01,-1.34986077e+00, 1.18749047e+00,
 -1.23449052e+00, 1.34977690e+00,-6.76515778e+00, 1.53308575e+01,
 -2.61852493e+00,-2.01777788e+00, 1.06912380e+01,-2.47424419e+01,
  1.96808542e+01,-7.46701600e+01,-3.53138659e+01, 8.98170846e+01,
 -1.43395528e-01, 8.54321659e-01, 8.50340194e-02,-1.30156182e+01,
 -3.21065614e+00,-1.02059890e+01]

qfrc_actuator:
[ 7.39768469e-05, 9.04084186e-04, 9.02651167e-05,-1.21574618e-04,
  5.63339113e-05, 8.68349399e-05,-1.88839865e-05, 3.09165905e-05,
 -4.74077536e-05, 8.69315190e-04, 2.22357259e-04, 3.32604974e-05,
  1.65299331e-02, 6.90726746e-03, 4.02507109e-03,-1.85013540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.748593099965953e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41746989, -0.90728495, -0.05052633, -0.0211202 , -0.04590041,
        0.99872273, -0.90844528,  0.4180038 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07068375, -0.04610757,  0.28407467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66543846, -3.79897288,  4.2029749 , -3.79897288, 11.28959683,
        5.08354811,  4.2029749 ,  5.08354811, 10.26034132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005073304528157435
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09418134e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09418134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06365679, -0.11090836,  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:
[-3.49302408e-05,-3.26718682e-05,-2.11268480e-05,-4.10797793e-06,
 -7.19837213e-06, 7.48770134e-06,-2.70286465e-06, 2.51533335e-05,
 -1.58458060e-05, 9.74394363e-06, 1.07788068e-05,-3.95719293e-05,
  2.78439089e-02, 1.02386719e-02, 1.18986767e-03, 9.32987904e-05,
  6.52549995e-06,-1.96786997e-07,-4.90500164e+00, 2.44641730e-04,
  1.18245709e-02,-6.81820653e-04]


--- Step 1112 ---
qpos:
[ 1.87048643e-02, 3.01234705e-02,-9.51371709e-03,-2.55703084e-02,
  7.89945016e-03, 4.68060468e-03,-7.86376530e-03, 2.70974936e-02,
  1.23211718e-02, 2.80079705e-02,-8.31614743e-03, 2.64312897e-02,
  1.20490596e+00,-1.08650573e-03, 1.14546119e+00, 4.52338605e-02,
  5.83680721e-02,-7.76130070e-02, 1.71491120e-01, 9.99556832e-01,
  2.86683771e-02,-3.27647389e-03,-7.31635521e-03]

qacc:
[ -3.50930599, -0.87603724,  2.60887318, -3.20937711, -3.93097547,
   0.68293641, -2.40351425,  2.21605487, -4.68877271,  0.93507744,
  -4.46471056,  9.22522059, -0.20723611,-29.84764401,-14.62473785,
  32.85792519,  0.10749796,  0.73488757,  0.0684801 ,-10.61874409,
  -2.31565204,-13.05881953]

qfrc_actuator:
[ 5.38651398e-05, 8.84182640e-04, 9.62563823e-05,-1.23315720e-04,
  3.35842479e-05, 6.15367217e-05,-4.37865011e-05, 2.63335575e-05,
 -7.52685711e-05, 8.57604444e-04, 2.11014857e-04, 4.59823223e-05,
  1.65527615e-02, 7.01737058e-03, 3.98277007e-03,-1.77108544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8903107 ,  0.4159372 , -0.78717811,  0.4159372 ,  2.32327268,
        0.75716307, -0.78717811,  0.75716307,  1.29038824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.143704155819788e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41785065, -0.90711021, -0.05051629, -0.02113525, -0.04588242,
        0.99872324, -0.90826986,  0.41838483,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069107, -0.04608967,  0.28406048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64960692,  5.38194462, -1.71835107,  5.38194462,  7.93773656,
        7.16651401, -1.71835107,  7.16651401, 28.09541688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005053793497434844
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19681122e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.19681122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06366025, -0.11089984,  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:
[-2.11402938e-05,-4.27259398e-05,-3.49328295e-06,-3.94559540e-06,
 -2.29525583e-05,-2.06137594e-05,-2.28295820e-05,-3.86858147e-06,
 -2.83208977e-05,-5.73724938e-06,-9.37256324e-06, 1.27435462e-05,
  2.93613983e-02, 1.33070088e-02, 1.77907100e-03,-5.53716827e-05,
  2.86575946e-06, 3.20359232e-07,-4.90499961e+00, 2.43522940e-04,
  1.18269003e-02,-6.81656245e-04]


--- Step 1113 ---
qpos:
[ 0.01870432, 0.03012334,-0.00951423,-0.02557185, 0.0079002 , 0.00468053,
 -0.00786366, 0.02709737, 0.01232187, 0.02800798,-0.00831618, 0.02643216,
  1.20466397,-0.00122919, 1.14567526, 0.04523872, 0.05837276,-0.07759704,
  0.17149311, 0.99955813, 0.02862162,-0.00326789,-0.00732529]

qacc:
[-2.05114471e+00,-1.81854011e-01, 5.04577327e-01,-8.58483157e-01,
  5.90501764e-01,-7.46013037e-01, 3.63966829e+00,-9.71180607e+00,
  5.95550363e+00, 3.09819879e+00,-1.60102318e+01, 3.69163963e+01,
 -1.01635265e+01,-7.37494756e+00,-6.59411752e+00, 1.25058185e+01,
  8.92458984e-02, 6.51368992e-01, 3.66905180e-02,-8.69336788e+00,
 -3.24117217e+00,-1.44672311e+01]

qfrc_actuator:
[ 4.21646697e-05, 8.90206641e-04, 9.99757010e-05,-1.23732218e-04,
  3.76806705e-05, 2.85535559e-05,-5.86477147e-05, 5.75344568e-06,
 -3.83955268e-05, 8.68356925e-04, 2.04224827e-04, 1.06844429e-04,
  1.65863596e-02, 7.13461046e-03, 3.93393532e-03,-1.76170101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.890086  ,  0.56184258, -0.69035209,  0.56184258,  1.64693464,
        0.61596074, -0.69035209,  0.61596074,  1.39138523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8602914828597025e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41837268, -0.90687191, -0.05047405, -0.02114391, -0.04583192,
        0.99872537, -0.90802931,  0.41890663,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069893, -0.04606682,  0.28404432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.61988477,  5.48157779, -1.23911651,  5.48157779,  7.0105867 ,
        6.15215822, -1.23911651,  6.15215822, 32.835674  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005017097698714567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.30616450e-08, -8.30616312e-08,  1.00000000e+00, -6.89923572e-15,
        1.00000000e+00,  8.30616312e-08, -1.00000000e+00, -7.88860905e-31,
       -8.30616450e-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([ 0.064887  , -0.110178  ,  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:
[-1.23303777e-05,-1.87558505e-05,-5.66157707e-06,-2.43807331e-06,
  3.43802489e-06,-4.94130991e-05,-2.20708461e-05,-2.23294938e-05,
  3.60400283e-05, 6.14405425e-06,-8.68857492e-06, 6.05415022e-05,
  3.08587414e-02, 1.49914642e-02, 2.11280729e-03,-8.75023568e-05,
  5.24065621e-07, 5.24201327e-07,-4.90499960e+00, 2.42861140e-04,
  1.18272610e-02,-6.80970347e-04]


--- Step 1114 ---
qpos:
[ 0.01870365, 0.03012332,-0.0095148 ,-0.02557376, 0.007901  , 0.00468026,
 -0.0078638 , 0.02709699, 0.01232265, 0.02800838,-0.00831645, 0.02643336,
  1.20444183,-0.0013542 , 1.14586589, 0.0452457 , 0.0583698 ,-0.0775812 ,
  0.17149403, 0.99955851, 0.02858882,-0.00330073,-0.0073865 ]

qacc:
[-1.17496894e+00,-4.24355665e-01, 3.27889164e+00,-9.61777406e+00,
  3.73523336e-01,-1.22831238e-01, 1.13127915e+00,-5.03070644e+00,
  7.66500795e-01, 1.85564024e+00,-7.25405361e+00, 1.30653121e+01,
  4.41337268e+00, 1.22241508e+01,-4.10004021e+01, 9.32705498e+01,
 -1.91509332e+00,-3.01751086e-02,-2.69610518e-01, 7.05707562e+00,
 -2.14017264e+01,-2.55582247e+01]

qfrc_actuator:
[ 3.55041230e-05, 9.11710530e-04, 1.02422749e-04,-1.41101775e-04,
  3.97974679e-05, 2.67396469e-05,-6.75042151e-05,-6.31746150e-06,
 -3.47222012e-05, 9.10288505e-04, 2.00296135e-04, 1.24548910e-04,
  1.66167955e-02, 7.25465430e-03, 3.93449145e-03,-1.81110258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89006288,  0.43730638, -0.77522581,  0.43730638,  0.34407521,
       -0.3079927 , -0.77522581, -0.3079927 ,  0.7163236 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8299246012514214e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41899775, -0.90658706, -0.05040632, -0.02114702, -0.04575589,
        0.99872879, -0.90774098,  0.41953106,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070723, -0.04603986,  0.28402671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59785779,  5.12391764,  2.25421379,  5.12391764,  6.88056367,
       -2.9156415 ,  2.25421379, -2.9156415 , 12.22522693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004989824900819978
  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([ 0.09584614, -0.09206964,  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:
[-7.02485768e-06, 9.75374018e-06,-2.19630614e-06,-1.84104392e-05,
  2.19907670e-06,-3.49591750e-05,-2.25547990e-05,-1.53866255e-05,
  4.73081042e-06, 4.61800787e-05,-1.63728370e-06, 1.88421475e-05,
  3.23377910e-02, 1.59790921e-02, 2.37063942e-03,-1.23958190e-04,
  3.11010786e-07, 3.94815823e-07,-4.90500123e+00, 2.42627066e-04,
  1.18258149e-02,-6.79857233e-04]


--- Step 1115 ---
qpos:
[ 0.01870324, 0.03012373,-0.0095161 ,-0.02557551, 0.00790147, 0.00468019,
 -0.00786459, 0.02709714, 0.01232279, 0.02800883,-0.00831686, 0.02643411,
  1.20421264,-0.00142332, 1.14607741, 0.04524574, 0.05837246,-0.07756727,
  0.17149497, 0.99955906, 0.02856443,-0.00330192,-0.00740672]

qacc:
[ 2.28534595e+00, 2.90907652e+00,-1.02001184e+01, 1.37291830e+01,
 -2.89160069e+00, 3.15257163e+00,-1.30571651e+01, 2.30025885e+01,
 -5.55002491e+00,-4.42515464e-01, 3.56650407e+00,-1.11297914e+01,
 -4.69439842e+01, 9.65032965e+01, 5.64606721e+01,-1.42167876e+02,
  1.40836257e+00,-4.78167357e-01, 6.51549356e-03, 4.15123749e+00,
  1.64395506e+01, 2.00170921e+01]

qfrc_actuator:
[ 4.96130720e-05, 9.42307598e-04, 6.86551630e-05,-1.32786734e-04,
  2.29711828e-05, 6.13865722e-05,-9.03705325e-05, 2.22504256e-05,
 -6.83930789e-05, 8.81789438e-04, 1.80432375e-04, 9.89879422e-05,
  1.66366570e-02, 7.38383419e-03, 3.91857646e-03,-1.73829400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88955042, -0.78324767,  0.4216907 , -0.78324767,  0.82566966,
       -0.11865203,  0.4216907 , -0.11865203,  0.66916632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0806873088472216e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41947905, -0.90636549, -0.05038771, -0.02116347, -0.04572777,
        0.99872973, -0.90751829,  0.42001257,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0707053 , -0.04601222,  0.28399387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.58840549, -5.50694217,  0.95071753, -5.50694217,  5.74891074,
        0.9297116 ,  0.95071753,  0.9297116 , 10.97367278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004978039736398682
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11512069e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.11512069e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758025, -0.08041738,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39095092e-05, 3.48208640e-05,-3.26483728e-05, 8.30414736e-06,
 -1.67744403e-05, 9.79225779e-06,-3.33925075e-05, 2.59915674e-05,
 -3.35154633e-05,-2.21563206e-06,-9.87796794e-06,-2.32749406e-05,
  3.13655120e-02, 1.52274886e-02, 3.52400169e-03,-1.57890386e-04,
  6.52612203e-06,-8.12707378e-07,-4.90500304e+00, 2.45994530e-04,
  1.18235517e-02,-6.79018471e-04]


--- Step 1116 ---
qpos:
[ 0.01870266, 0.0301243 ,-0.00951774,-0.0255768 , 0.00790242, 0.00468026,
 -0.00786542, 0.02709794, 0.01232252, 0.02800877,-0.00831697, 0.02643459,
  1.20397167,-0.00148584, 1.14631308, 0.04524616, 0.05837998,-0.07755526,
  0.1714958 , 0.99955968, 0.02855276,-0.00327542,-0.00737984]

qacc:
[-1.49101034e+00, 2.15666111e+00,-9.34296010e+00, 1.78605751e+01,
  4.25978903e+00, 1.64199963e+00,-8.36439036e+00, 1.96474182e+01,
 -3.42791190e+00,-2.08836402e+00, 7.64074894e+00,-1.24926040e+01,
 -1.52585286e+01, 2.06914819e+01, 3.58360378e+01,-7.06563686e+01,
  1.21272492e+00,-4.80523331e-01,-2.69439370e-02, 6.32778041e+00,
  1.45536870e+01, 2.31220018e+01]

qfrc_actuator:
[ 4.03267414e-05, 9.42487195e-04, 4.93465317e-05,-1.09437296e-04,
  4.83887387e-05, 8.20815071e-05,-8.56377054e-05, 5.67708391e-05,
 -8.82596400e-05, 8.28981776e-04, 1.86521313e-04, 8.36193417e-05,
  1.66465535e-02, 7.49097004e-03, 3.89495974e-03,-1.65495784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88930518, -0.74875411,  0.47982391, -0.74875411,  0.73294154,
       -0.24400184,  0.47982391, -0.24400184,  0.50854595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6477993837187802e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41988466, -0.90617926, -0.05035892, -0.0211718 , -0.04569218,
        0.99873118, -0.9073305 ,  0.42041809,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07071135, -0.04598996,  0.28397733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.57999857,  5.14755365, -2.15385132,  5.14755365,  9.73608726,
        9.93276059, -2.15385132,  9.93276059, 29.31860003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000496750334333898
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11748594e-13, -1.11748594e-13,  1.00000000e+00, -1.24877482e-26,
        1.00000000e+00,  1.11748594e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11748594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02758258, -0.08040755,  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:
[-8.86749892e-06, 1.32738507e-05,-1.58365758e-05, 2.38777948e-05,
  2.49445277e-05, 2.03925271e-05, 3.55232729e-06, 3.42927724e-05,
 -2.08481244e-05,-5.71087237e-05, 3.60871437e-06,-1.62586298e-05,
  3.17263375e-02, 1.25413291e-02, 2.45313718e-03, 2.71645040e-04,
  6.59425787e-07,-5.27572469e-08,-4.90500079e+00, 2.43141553e-04,
  1.18259174e-02,-6.78539463e-04]


--- Step 1117 ---
qpos:
[ 0.01870129, 0.03012457,-0.00951857,-0.02557781, 0.00790367, 0.00468044,
 -0.00786589, 0.02709877, 0.01232133, 0.02800858,-0.00831687, 0.02643518,
  1.20372394,-0.00155216, 1.14656811, 0.04524839, 0.05839121,-0.07754497,
  0.17149668, 0.99956036, 0.02855406,-0.00322666,-0.00730328]

qacc:
[-6.79730443e+00,-2.12304061e+00, 5.86662701e+00,-2.31253110e+00,
  2.62225732e+00,-7.86178879e-01, 2.86182132e+00,-2.88930942e+00,
 -7.88297209e+00,-4.79431575e-01, 9.89731366e-01, 7.82953134e-01,
 -3.52714753e+00,-2.81936500e-02, 2.33193085e+01,-3.95925227e+01,
  9.28572693e-01,-4.30712201e-01, 1.12027906e-02, 6.48426326e+00,
  1.18832308e+01, 2.44952050e+01]

qfrc_actuator:
[-4.15229406e-07, 9.24515037e-04, 9.18869814e-05,-9.51943100e-05,
  6.29671167e-05, 9.43909846e-05,-6.46861565e-05, 5.90195624e-05,
 -1.35334926e-04, 8.50881281e-04, 2.07782621e-04, 9.21225657e-05,
  1.66511511e-02, 7.55853516e-03, 3.84969796e-03,-1.60534437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88906078, -0.72916289,  0.5086753 , -0.72916289,  0.70901043,
       -0.258094  ,  0.5086753 , -0.258094  ,  0.51909479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1303613041481168e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42028376, -0.90599559, -0.05033435, -0.02118156, -0.04566058,
        0.99873242, -0.90714547,  0.42081718,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072458, -0.04597119,  0.28397524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004942375194537692
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33949012e-07, -4.33949461e-07,  1.00000000e+00, -1.88311940e-13,
        1.00000000e+00,  4.33949461e-07, -1.00000000e+00,  2.52435490e-29,
       -4.33949012e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03061023, -0.08091618,  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:
[-4.09960073e-05,-1.27980084e-05, 4.41739423e-05, 1.47341052e-05,
  1.52928185e-05, 2.59307657e-05, 2.67941962e-05, 3.91181731e-06,
 -4.77065136e-05,-9.99322698e-06, 9.34799381e-06, 5.86443762e-06,
  3.23187352e-02, 1.22788759e-02, 1.19566479e-03, 3.01695843e-04,
  1.60598011e-06, 5.52939536e-07,-4.90499984e+00, 2.44243492e-04,
  1.18269491e-02,-6.78222396e-04]


--- Step 1118 ---
qpos:
[ 0.01869978, 0.03012464,-0.00951887,-0.02557864, 0.0079044 , 0.00468077,
 -0.0078661 , 0.02709963, 0.01231992, 0.02800835,-0.00831683, 0.02643554,
  1.20352675,-0.00165615, 1.14678608, 0.04525817, 0.05839445,-0.07753501,
  0.17149718, 0.9995603 , 0.02856148,-0.00322105,-0.00728521]

qacc:
[-1.12330900e+00,-1.36059965e+00, 3.69613625e+00,-1.20991265e+00,
 -4.61046254e+00,-4.67082560e-01, 1.87576047e+00,-2.02584784e+00,
 -1.79822836e+00,-3.70641112e-01, 2.28891155e+00,-6.38054474e+00,
  6.90258550e+01,-9.95140809e+01,-8.33712635e+01, 1.99002801e+02,
 -1.99600885e+00,-8.01450222e-02,-9.58982532e-02, 3.13242546e+00,
 -2.23779619e+01,-2.86324364e+01]

qfrc_actuator:
[-6.08016063e-06, 9.13809321e-04, 1.17252230e-04,-8.64037935e-05,
  3.55304774e-05, 1.01636062e-04,-5.21434610e-05, 6.00134986e-05,
 -1.44794101e-04, 8.46423398e-04, 2.02627238e-04, 7.91631111e-05,
  1.66525406e-02, 7.61013421e-03, 3.78568491e-03,-1.77283541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88881901,  0.49853705, -0.73583968,  0.49853705,  0.57859394,
       -0.21017987, -0.73583968, -0.21017987,  0.74642053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.446137550524373e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42068093, -0.90581208, -0.05031932, -0.02119523, -0.04563766,
        0.99873318, -0.90696104,  0.42121453,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074297, -0.04595502,  0.28398363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.57838113, -5.50950291,  0.87390717, -5.50950291,  5.70032541,
        0.76879145,  0.87390717,  0.76879145, 10.42518733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004965470262911914
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11794348e-13, -1.11794348e-13,  1.00000000e+00, -1.24979763e-26,
        1.00000000e+00,  1.11794348e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11794348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09585702, -0.09203092,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.86631727e-06,-8.11568440e-06, 2.86841872e-05, 1.00633152e-05,
 -2.69942287e-05, 2.74505614e-05, 2.13355734e-05, 3.10654242e-06,
 -1.08633059e-05,-7.87986324e-06,-5.86485948e-06,-1.29494941e-05,
  3.26565580e-02, 1.25218203e-02, 1.58625997e-04, 4.23614880e-05,
  9.98310161e-06, 8.38042470e-07,-4.90500068e+00, 2.48850154e-04,
  1.18258730e-02,-6.78082420e-04]


--- Step 1119 ---
qpos:
[ 0.0186989 , 0.0301249 ,-0.00951955,-0.02557935, 0.00790513, 0.00468124,
 -0.00786613, 0.0271005 , 0.01231945, 0.02800856,-0.00831762, 0.02643538,
  1.2033541 ,-0.00174317, 1.14697121, 0.04526597, 0.0583899 ,-0.077525  ,
  0.17149683, 0.99955954, 0.02857486,-0.00325746,-0.00732028]

qacc:
[ 5.41229887e+00, 1.55573801e+00,-5.73567018e+00, 8.39471003e+00,
  9.69300323e-02,-2.81214597e-01, 1.22849157e+00,-1.41207219e+00,
  7.89784987e+00, 1.78701490e+00,-3.42039016e+00,-4.39287847e+00,
  8.83880948e+00, 7.44215669e+00,-4.27987838e+01, 7.86367030e+01,
 -1.94924176e+00, 1.09001181e-02,-2.10784590e-01, 3.05319623e+00,
 -2.17398338e+01,-2.59668298e+01]

qfrc_actuator:
[ 2.67094669e-05, 9.25230127e-04, 9.67678957e-05,-8.09076197e-05,
  3.68456414e-05, 1.05759785e-04,-4.46886190e-05, 6.02535313e-05,
 -9.65231269e-05, 8.79364193e-04, 1.64051225e-04, 5.36394330e-05,
  1.66630702e-02, 7.72304878e-03, 3.74143200e-03,-1.88177412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861653,  0.37334461, -0.80638275,  0.37334461,  0.27572894,
       -0.28375889, -0.80638275, -0.28375889,  0.75723989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0249497017800386e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21026958e-01, -9.05649935e-01, -5.03437739e-02, -2.12229979e-02,
       -4.56517243e-02,  9.98731948e-01, -9.06799804e-01,  4.21561520e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075053, -0.04593773,  0.28397428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.57917627,  5.56087372, -0.45154328,  5.56087372,  5.70348307,
        1.53087078, -0.45154328,  1.53087078, 24.43225052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000496646996732783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11771845e-13, -5.58859226e-14,  1.00000000e+00, -6.24647269e-27,
        1.00000000e+00,  5.58859226e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11771845e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09585966, -0.09201796,  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:
[ 3.25853755e-05, 1.32429254e-05,-1.82731917e-05, 6.34003195e-06,
  5.56609615e-07, 2.39936705e-05, 1.58583000e-05, 2.21401606e-06,
  4.79496802e-05, 2.67665988e-05,-4.13737331e-05,-2.63164994e-05,
  3.01417180e-02, 1.45217945e-02, 1.96462516e-03,-4.44971748e-04,
  4.77650344e-07,-3.17453957e-08,-4.90500019e+00, 2.43275874e-04,
  1.18259552e-02,-6.78382932e-04]


--- Step 1120 ---
qpos:
[ 0.01869843, 0.03012535,-0.00952079,-0.02557963, 0.00790622, 0.00468185,
 -0.00786603, 0.02710102, 0.01231956, 0.02800943,-0.00831901, 0.02643418,
  1.20338425,-0.00176416, 1.1471941 , 0.04525864, 0.05837608,-0.07751169,
  0.17149433, 0.99955933, 0.02856411,-0.00333492,-0.00735578]

qacc:
[   3.41029701,   2.70963349, -11.10604814,  19.28858197,   3.12261155,
   -0.90774988,   4.93850808, -11.20201725,   4.93042712,   0.44654258,
    4.06892376, -21.57697616, 109.21406874, -34.86242021,  95.61101446,
 -267.04529568,  -2.3192776 ,   0.82525376,  -0.53810977, -11.91539129,
  -20.60490301,   0.40957874]

qfrc_actuator:
[ 4.63540111e-05, 9.31868476e-04, 6.72237078e-05,-5.96504173e-05,
  5.50863965e-05, 1.07957417e-04,-4.03087879e-05, 4.22902739e-05,
 -6.79290866e-05, 9.34294639e-04, 1.41709176e-04, 3.18905786e-06,
  1.66796043e-02, 7.83316880e-03, 3.72596597e-03,-1.84255016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.56383465,  5.55462168, -0.32005308,  5.55462168,  5.64479698,
        1.40512666, -0.32005308,  1.40512666, 29.95024916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000494709889413053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12209504e-13, -2.24419008e-13,  1.00000000e+00, -2.51819455e-26,
        1.00000000e+00,  2.24419008e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12209504e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09586245, -0.092008  ,  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:
[ 2.05992841e-05, 1.05554576e-05,-2.88341767e-05, 2.13167712e-05,
  1.82642154e-05, 1.89670696e-05, 1.13587889e-05,-1.63461975e-05,
  3.00127176e-05, 6.02416901e-05,-2.28149121e-05,-5.12474977e-05,
  2.89316745e-02, 1.37851380e-02, 3.58822851e-03,-3.07171083e-04,
  2.91486228e-06, 9.18783186e-07,-4.90499983e+00, 2.44949352e-04,
  1.18270321e-02,-6.78705344e-04]


--- Step 1121 ---
qpos:
[ 0.01869784, 0.03012581,-0.00952207,-0.02557931, 0.00790718, 0.00468231,
 -0.00786548, 0.02710169, 0.01231932, 0.02801045,-0.00832028, 0.0264331 ,
  1.20353895,-0.00171953, 1.14743358, 0.0452508 , 0.05837134,-0.0774982 ,
  0.17149242, 0.99955965, 0.0285411 ,-0.00336777,-0.00738703]

qacc:
[-9.02437276e-01, 1.33178675e+00,-7.19914150e+00, 1.74192075e+01,
 -1.16750804e+00,-1.16881162e+00, 3.29009671e+00,-1.47171987e+00,
 -2.95022242e+00, 6.83973756e-02,-4.20070887e-01, 2.01211838e+00,
  5.01868873e+01, 1.73473552e+01, 2.41223518e+01,-5.32035069e+01,
  2.27224563e+00, 4.50049026e-02, 1.49102713e-01,-6.29218705e+00,
  2.23054961e+01, 1.51395492e+00]

qfrc_actuator:
[ 4.03385412e-05, 9.35555531e-04, 6.80851555e-05,-2.92901637e-05,
  4.76288737e-05, 9.11990599e-05,-2.00470276e-05, 4.92620973e-05,
 -8.66702631e-05, 9.30996767e-04, 1.46982891e-04, 9.52779924e-06,
  1.66828141e-02, 7.85027148e-03, 3.75455526e-03,-2.07329583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004995202752520606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11128925e-13, -1.11128925e-13,  1.00000000e+00, -1.23496380e-26,
        1.00000000e+00,  1.11128925e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11128925e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02759485, -0.08035514,  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:
[-5.41129347e-06, 4.55456585e-06, 2.37315594e-07, 3.02313143e-05,
 -6.93163210e-06,-4.52412365e-06, 2.50029312e-05, 7.85601107e-06,
 -1.78354948e-05, 2.34789411e-05, 1.31418686e-05, 7.13617219e-06,
  1.87974162e-02, 1.05036710e-02, 1.72656384e-03, 2.18085368e-04,
  8.92399145e-06,-1.64637727e-07,-4.90500231e+00, 2.47038952e-04,
  1.18263057e-02,-6.78470515e-04]


--- Step 1122 ---
qpos:
[ 0.01869754, 0.03012649,-0.00952283,-0.0255794 , 0.0079077 , 0.00468249,
 -0.00786459, 0.02710245, 0.01231885, 0.02801157,-0.00832177, 0.02643316,
  1.20362618,-0.00165114, 1.14769731, 0.04523856, 0.05837287,-0.07748571,
  0.17149117, 0.99956021, 0.02852217,-0.00336785,-0.00738482]

qacc:
[   2.38853977,  -1.97327967,   9.11185267, -16.9162395 ,  -3.86787594,
   -1.12205706,   3.0385413 ,  -1.6179935 ,  -1.90342666,   3.14279195,
  -15.86674273,  36.07204312, -71.50058193,  88.04007041,  54.68036473,
 -126.60593594,   1.56695324,  -0.24978798,   0.1637906 ,   1.97241477,
   16.87502755,  16.24365949]

qfrc_actuator:
[ 5.47773450e-05, 9.73080007e-04, 1.04639795e-04,-4.70573801e-05,
  2.50998787e-05, 6.32974736e-05,-8.38115918e-06, 5.30949079e-05,
 -9.76116166e-05, 9.28521896e-04, 1.32824196e-04, 6.69574363e-05,
  1.66990734e-02, 7.82105796e-03, 3.67697895e-03,-2.33257135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88877385, -0.70035996,  0.54718816, -0.70035996,  0.70967563,
       -0.22923234,  0.54718816, -0.22923234,  0.59537359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.278322513024501e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42108775, -0.90561733, -0.05042176, -0.02125903, -0.04572097,
        0.99872801, -0.90677073,  0.42162405,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070849, -0.04590043,  0.28379019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63241779,  5.3028527 , -1.89838969,  5.3028527 ,  9.08535651,
        9.64524062, -1.89838969,  9.64524062, 32.57487878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005032581936742914
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.5151761e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.5151761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.027598  , -0.08034464,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42812085e-05, 4.14121281e-05, 3.85801183e-05,-1.69738359e-05,
 -2.27288992e-05,-2.49571995e-05, 1.40696989e-05, 4.65348186e-06,
 -1.14555388e-05, 1.36485028e-05,-7.43738875e-06, 5.90330787e-05,
  1.25874591e-02, 7.19410262e-03, 8.13339184e-04,-1.72429418e-05,
  2.74686879e-06,-6.23713728e-07,-4.90500136e+00, 2.44748267e-04,
  1.18260385e-02,-6.78015983e-04]


--- Step 1123 ---
qpos:
[ 0.01869741, 0.03012759,-0.00952349,-0.02558003, 0.00790794, 0.0046825 ,
 -0.00786382, 0.02710293, 0.01231827, 0.02801254,-0.00832298, 0.02643322,
  1.20364877,-0.00160251, 1.14798376, 0.04522742, 0.0583797 ,-0.0774744 ,
  0.17149035, 0.9995609 , 0.02851259,-0.00333956,-0.00734093]

qacc:
[  1.49954485, -0.86720901,  6.21507671,-16.24533814, -2.41265024,
  -0.44105988,  2.46704343, -7.09800388, -1.07604122, -1.02793061,
   3.39441048, -3.84708266,-37.87976842, 16.01397007, 32.48910173,
 -59.82848164,  1.32556384, -0.29475826,  0.1079201 ,  4.63611128,
  14.80583911, 20.4119542 ]

qfrc_actuator:
[ 6.33960056e-05, 9.95189496e-04, 1.08813841e-04,-7.52001664e-05,
  1.16413215e-05, 4.66546384e-05,-1.97010304e-05, 3.72731648e-05,
 -1.03858470e-04, 9.08775683e-04, 1.42816102e-04, 6.51937563e-05,
  1.67093324e-02, 7.79742843e-03, 3.59300135e-03,-2.26757090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8900188 , -0.67041147,  0.5853904 , -0.67041147,  0.62503789,
       -0.30346628,  0.5853904 , -0.30346628,  0.54247762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.771362353842879e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4209976 , -0.90566135, -0.05038394, -0.02123849, -0.04568881,
        0.99872992, -0.90681307,  0.42153298,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070494, -0.04589869,  0.28373971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64166012,  5.29294404, -1.95270894,  5.29294404,  9.48368614,
       10.41406038, -1.95270894, 10.41406038, 33.86964526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005043990649430258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10054033e-13, -1.10054033e-13,  1.00000000e+00, -1.21118901e-26,
        1.00000000e+00,  1.10054033e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10054033e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02759988, -0.08033641,  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:
[ 9.04707855e-06, 5.24983187e-05, 1.68921445e-05,-2.53657015e-05,
 -1.41139590e-05,-2.75199934e-05,-1.45945979e-05,-1.63170504e-05,
 -6.57830905e-06,-1.11490662e-05, 1.39419530e-05,-2.86163998e-07,
  1.59697155e-02, 5.98062339e-03,-4.86867889e-04, 2.66744673e-04,
 -7.59791337e-09,-1.54962193e-08,-4.90500007e+00, 2.43361136e-04,
  1.18272032e-02,-6.77616800e-04]


--- Step 1124 ---
qpos:
[ 0.01869739, 0.03012885,-0.00952456,-0.02558059, 0.00790801, 0.00468225,
 -0.00786288, 0.02710321, 0.01231761, 0.02801294,-0.00832357, 0.02643363,
  1.20361536,-0.00158253, 1.14829435, 0.04522036, 0.05839115,-0.07746431,
  0.17148975, 0.99956165, 0.02851577,-0.00328608,-0.00724994]

qacc:
[  0.88337324,  1.50331044, -5.39699137,  7.32772863, -1.42724453,
  -1.24275969,  4.79986718, -8.40619473, -0.56929596, -1.71772706,
   3.55354648,  2.0171345 ,-24.66448678, -4.44984649, 24.39701948,
 -31.06920038,  1.15484306, -0.30583459,  0.05417175,  6.36155324,
  13.30500725, 23.16085115]

qfrc_actuator:
[ 6.85135025e-05, 9.72262112e-04, 7.60203195e-05,-7.37459681e-05,
  3.63423528e-06, 3.67661031e-05,-8.96815437e-06, 2.77593724e-05,
 -1.07294471e-04, 8.61129949e-04, 1.66871015e-04, 8.18683653e-05,
  1.67021875e-02, 7.77565427e-03, 3.59498434e-03,-2.02949326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89193453, -0.63945072,  0.62181186, -0.63945072,  0.5830689 ,
       -0.31762718,  0.62181186, -0.31762718,  0.56529726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.79080502027037e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42099997, -0.90566229, -0.05034713, -0.02122305, -0.0456554 ,
        0.99873178, -0.90681233,  0.42153457,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07071049, -0.04589663,  0.28370841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63426303,  5.23926404, -2.07244593,  5.23926404, 11.21956391,
       14.11996602, -2.07244593, 14.11996602, 41.33035971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000503486036556644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10253606e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10253606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760076, -0.08032995,  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:
[ 5.39715988e-06, 8.80485973e-06,-2.07519236e-05, 3.79243196e-06,
 -8.41652546e-06,-2.90072292e-05, 2.67640997e-06,-1.15179009e-05,
 -3.63159941e-06,-5.10378704e-05, 2.34615662e-05, 1.66742225e-05,
  1.91928556e-02, 6.94512257e-03,-1.62637355e-03, 4.48920672e-04,
  3.14385417e-06, 6.14355094e-07,-4.90499970e+00, 2.45324059e-04,
  1.18275341e-02,-6.77319513e-04]


--- Step 1125 ---
qpos:
[ 0.01869777, 0.03012975,-0.00952523,-0.02558077, 0.00790799, 0.00468189,
 -0.00786162, 0.02710369, 0.01231726, 0.02801253,-0.00832423, 0.02643432,
  1.20353523,-0.00158965, 1.14862654, 0.04521698, 0.05840673,-0.07745546,
  0.17148916, 0.99956239, 0.02853414,-0.00320974,-0.00710817]

qacc:
[ 3.50652124e+00,-8.03490228e-01, 5.68521206e-01, 5.63316253e+00,
 -8.39708444e-01,-6.32586938e-01, 1.18437424e+00, 1.86365407e+00,
  2.64325322e+00,-3.14930691e-01,-1.61720251e+00, 7.13852248e+00,
 -1.83694414e+01,-8.73574846e+00, 2.14982906e+01,-2.73044966e+01,
  1.03214033e+00,-3.09022796e-01, 3.12284013e-03, 7.58889634e+00,
  1.22052057e+01, 2.50309737e+01]

qfrc_actuator:
[ 8.92833875e-05, 9.40154009e-04, 9.25178608e-05,-5.49472164e-05,
 -1.10307083e-06, 4.88386893e-05, 1.47430538e-05, 3.98140656e-05,
 -9.12977871e-05, 7.79459647e-04, 1.45669540e-04, 9.14953909e-05,
  1.67127789e-02, 7.75402796e-03, 3.56771209e-03,-1.86852416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89381299, -0.61660851,  0.64706692, -0.61660851,  0.55527153,
       -0.32260581,  0.64706692, -0.32260581,  0.58639272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.238478685522635e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21087686e-01, -9.05623003e-01, -5.03203514e-02, -2.12161585e-02,
       -4.56290739e-02,  9.98733129e-01, -9.06771766e-01,  4.21621827e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072384, -0.04589418,  0.28369353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.61382517,  5.15829901, -2.2151714 ,  5.15829901, 13.74231948,
       18.92819862, -2.2151714 , 18.92819862, 49.69046336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005009605581101362
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21618849e-13, -1.10809425e-13,  1.00000000e+00, -2.45574572e-26,
        1.00000000e+00,  1.10809425e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21618849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02760086, -0.08032491,  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:
[ 2.09281376e-05,-3.13379619e-05, 1.58902347e-05, 1.85322002e-05,
 -4.98624669e-06,-4.09480721e-06, 1.76420356e-05, 1.06782411e-05,
  1.58714608e-05,-1.04662105e-04,-2.82766224e-05, 8.57566902e-06,
  2.20018601e-02, 8.35459505e-03,-2.86625862e-03, 4.04249263e-04,
  1.35494591e-05, 9.59174493e-07,-4.90500100e+00, 2.50845648e-04,
  1.18259469e-02,-6.77191856e-04]


--- Step 1126 ---
qpos:
[ 0.01869771, 0.03013032,-0.00952513,-0.0255804 , 0.00790826, 0.00468173,
 -0.00786055, 0.02710499, 0.01231641, 0.02801146,-0.00832514, 0.02643477,
  1.20347165,-0.00165051, 1.14892576, 0.04522603, 0.05841345,-0.07744691,
  0.17148867, 0.99956263, 0.0285505 ,-0.00317946,-0.00702148]

qacc:
[-3.77446104e+00,-1.46786680e+00, 2.33104834e+00, 6.03527134e+00,
  2.52504934e+00, 2.48913612e+00,-1.19531360e+01, 2.63498217e+01,
 -4.21394859e+00,-6.68095997e-01, 2.13779128e+00,-5.42970460e+00,
  5.38209907e+01,-1.00843729e+02,-9.13878006e+01, 2.37425043e+02,
 -2.21531904e+00,-7.62692429e-02, 2.25839686e-02,-9.18181641e-01,
 -2.38117412e+01,-2.68748638e+01]

qfrc_actuator:
[ 6.58430320e-05, 9.38496708e-04, 1.37952989e-04,-2.60722975e-05,
  1.38729511e-05, 7.40519391e-05, 1.05219346e-05, 8.22400532e-05,
 -1.17250285e-04, 7.48861780e-04, 1.33255351e-04, 7.90764736e-05,
  1.67245421e-02, 7.74241401e-03, 3.56485270e-03,-1.75503807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89514249,  0.72437261, -0.52589391,  0.72437261,  0.71042081,
       -0.25443787, -0.52589391, -0.25443787,  0.5446767 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.105701689513402e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21239135e-01, -9.05553180e-01, -5.03093336e-02, -2.12191303e-02,
       -4.56155407e-02,  9.98733684e-01, -9.06701351e-01,  4.21773234e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074384, -0.04589168,  0.28369309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64112525, -5.5672365 ,  0.91003947, -5.5672365 ,  5.75472669,
        0.69496554,  0.91003947,  0.69496554,  9.89263044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005043330643908911
  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([ 0.09587322, -0.09193023,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28449146e-05,-1.51240678e-05, 4.15575284e-05, 2.84428092e-05,
  1.48317325e-05, 2.70209179e-05,-2.53589606e-06, 4.30658845e-05,
 -2.55243929e-05,-9.45736270e-05,-3.72097856e-05,-1.77154883e-05,
  2.43484421e-02, 9.69799546e-03,-3.95545030e-03, 3.32734170e-04,
  3.22087364e-05, 8.72343654e-07,-4.90500456e+00, 2.59878441e-04,
  1.18216489e-02,-6.77286938e-04]


--- Step 1127 ---
qpos:
[ 0.01869737, 0.03013091,-0.00952513,-0.02558002, 0.00790871, 0.00468185,
 -0.00785953, 0.02710609, 0.01231492, 0.02801044,-0.00832605, 0.02643565,
  1.20340625,-0.00170797, 1.14918769, 0.0452365 , 0.05841172,-0.07743834,
  0.17148777, 0.99956237, 0.02856682,-0.00319343,-0.0069861 ]

qacc:
[-2.41057432e+00, 3.52211570e-01,-1.24971091e+00, 1.60051101e+00,
  1.55300808e+00, 7.69100506e-02, 1.12086697e+00,-4.84798848e+00,
 -5.53810516e+00, 9.28009973e-01,-4.99121864e+00, 1.23016691e+01,
 -1.71496408e+00, 3.88006269e+00,-5.93014621e+01, 1.27706295e+02,
 -2.11135984e+00, 6.63017259e-03,-9.98178746e-02, 6.17884909e-02,
 -2.28465316e+01,-2.50122880e+01]

qfrc_actuator:
[ 5.20691831e-05, 9.37471688e-04, 1.29205767e-04,-2.69713265e-05,
  2.25781846e-05, 8.91144200e-05, 7.67128645e-06, 7.11755502e-05,
 -1.49939465e-04, 8.20094566e-04, 1.61826736e-04, 1.07094991e-04,
  1.67223430e-02, 7.77427799e-03, 3.57544810e-03,-1.78679065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89522787,  0.618849  , -0.64688395,  0.618849  ,  0.50361436,
       -0.37464158, -0.64688395, -0.37464158,  0.53682267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.158169043163506e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42141513, -0.90547021, -0.05032887, -0.02123626, -0.04562912,
        0.9987327 , -0.90661917,  0.42194986,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075219, -0.04588435,  0.28367253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66590186,  5.64718455, -0.46016359,  5.64718455,  5.74847301,
        1.01332339, -0.46016359,  1.01332339, 18.10153199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005073875263370553
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18811651e-13, -5.47029128e-14,  1.00000000e+00, -1.19696347e-26,
        1.00000000e+00,  5.47029128e-14, -1.00000000e+00,  0.00000000e+00,
       -2.18811651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09587545, -0.09191116,  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:
[-1.44497217e-05, 2.88112333e-07,-5.77619975e-06, 4.43775523e-07,
  9.13447397e-06, 3.14897277e-05, 3.89437254e-06,-9.16175405e-06,
 -3.34730104e-05, 9.93813558e-06, 3.86210386e-06, 2.23377153e-05,
  2.35189019e-02, 1.24188590e-02,-2.30246104e-03,-3.22134042e-04,
  1.06607852e-05,-9.13591736e-08,-4.90500195e+00, 2.47308809e-04,
  1.18235987e-02,-6.77954732e-04]


--- Step 1128 ---
qpos:
[ 0.01869755, 0.03013146,-0.00952544,-0.02558032, 0.00790891, 0.00468219,
 -0.00785854, 0.02710704, 0.01231339, 0.0280096 ,-0.00832673, 0.02643682,
  1.20333671,-0.0017557 , 1.14941332, 0.0452471 , 0.05840187,-0.07742957,
  0.17148605, 0.99956156, 0.02858539,-0.00325035,-0.00699994]

qacc:
[ 4.50967594e+00,-6.11304203e-01, 4.94380742e+00,-1.61638317e+01,
 -2.15065577e+00, 9.16153183e-02, 6.85862396e-01,-3.18515429e+00,
 -3.05112812e-01, 2.46207935e-01,-1.76231628e+00, 6.37873847e+00,
 -8.17783019e+00, 1.57800877e+01,-5.32783841e+01, 1.10179986e+02,
 -2.02907198e+00, 4.91504875e-02,-2.04416856e-01, 1.19855734e+00,
 -2.21638278e+01,-2.39877568e+01]

qfrc_actuator:
[ 7.96150281e-05, 9.18849770e-04, 1.06267505e-04,-6.31746246e-05,
  9.76386990e-06, 9.79441355e-05, 5.58683714e-06, 6.42252599e-05,
 -1.50812463e-04, 8.45458410e-04, 1.79323266e-04, 1.23299487e-04,
  1.67234759e-02, 7.79658430e-03, 3.59569371e-03,-1.77537955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89418804,  0.50419583, -0.73848413,  0.50419583,  0.35853803,
       -0.36571199, -0.73848413, -0.36571199,  0.64450027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.493531994305881e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42152585, -0.90541594, -0.05037784, -0.02126256, -0.04567089,
        0.99873023, -0.90656708,  0.42206177,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074901, -0.04587295,  0.28363403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66777461,  5.65557382, -0.37169044,  5.65557382,  5.7379634 ,
        1.06797981, -0.37169044,  1.06797981, 21.91796038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005076181611121389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09356117e-13, -5.46780587e-14,  1.00000000e+00, -5.97938021e-27,
        1.00000000e+00,  5.46780587e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09356117e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09587797, -0.09189641,  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:
[ 2.71230936e-05,-1.96611465e-05,-2.35816625e-05,-3.63836654e-05,
 -1.25435080e-05, 2.68354039e-05, 4.56675821e-06,-5.64975795e-06,
 -1.85665509e-06, 3.27055005e-05, 2.08183377e-05, 1.72021820e-05,
  2.36104305e-02, 1.22723042e-02,-4.22016820e-04,-3.83036579e-04,
  1.92710254e-06, 6.00167784e-08,-4.90500086e+00, 2.42394917e-04,
  1.18251208e-02,-6.78481302e-04]


--- Step 1129 ---
qpos:
[ 0.01869807, 0.03013169,-0.0095254 ,-0.02558038, 0.00790896, 0.00468274,
 -0.00785789, 0.02710862, 0.01231117, 0.02800857,-0.00832752, 0.02643756,
  1.20326156,-0.0017941 , 1.14960544, 0.04525753, 0.05838417,-0.07742049,
  0.17148315, 0.99956015, 0.02860813,-0.00334926,-0.00706142]

qacc:
[ 2.83699704e+00,-9.03507411e-01, 1.54481252e+00, 2.44915167e+00,
 -1.37768137e+00, 2.52776236e+00,-1.12369050e+01, 2.24195650e+01,
 -5.86198980e+00,-8.30796773e-01, 4.42034325e+00,-1.15935693e+01,
 -9.21940223e+00, 1.64265730e+01,-4.82275664e+01, 9.86193271e+01,
 -1.96619410e+00, 7.67855345e-02,-2.96356415e-01, 2.16792985e+00,
 -2.16530630e+01,-2.32214251e+01]

qfrc_actuator:
[ 9.57523379e-05, 9.07482980e-04, 1.28317968e-04,-4.88621646e-05,
  2.14075110e-06, 1.02973137e-04,-1.37969159e-05, 9.52601203e-05,
 -1.86207325e-04, 7.89887050e-04, 1.54458270e-04, 9.68715023e-05,
  1.67055803e-02, 7.82322983e-03, 3.59102620e-03,-1.75509487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89231161,  0.38741419, -0.80382228,  0.38741419,  0.23866881,
       -0.31503294, -0.80382228, -0.31503294,  0.74047677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.109462699247008e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42155645, -0.90539718, -0.05045892, -0.02129842, -0.04574364,
        0.99872614, -0.906552  ,  0.42209414,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0707347 , -0.04585777,  0.28357865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6513989 ,  5.64543993, -0.25945637,  5.64543993,  5.69592235,
        0.96877352, -0.25945637,  0.96877352, 26.73067558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005056003176778512
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.19585112e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.19585112e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09588071, -0.09188506,  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:
[ 1.69219916e-05,-2.87959885e-05, 1.38232291e-05, 1.19452713e-05,
 -7.97017404e-06, 2.07063162e-05,-1.34907467e-05, 3.22283229e-05,
 -3.54426000e-05,-3.22146546e-05,-1.49361630e-05,-2.39707561e-05,
  2.37995819e-02, 1.18139358e-02, 1.38340594e-03,-3.70052678e-04,
  4.02330593e-06, 1.50443964e-06,-4.90500077e+00, 2.44094866e-04,
  1.18267383e-02,-6.78948783e-04]


--- Step 1130 ---
qpos:
[ 0.01869912, 0.03013177,-0.00952544,-0.0255799 , 0.00790891, 0.00468335,
 -0.00785767, 0.02711024, 0.01230923, 0.02800749,-0.00832863, 0.02643762,
  1.20317449,-0.00179268, 1.14980235, 0.04525931, 0.05837348,-0.07741317,
  0.17148175, 0.99955908, 0.02863142,-0.00341075,-0.00708874]

qacc:
[   4.58448572,   1.11218205,  -6.50082913,  15.87209555,  -0.82133751,
    1.37079921,  -4.93378976,   6.26227763,   2.39274786,  -0.57074332,
    4.78821134, -15.89583491, -38.46534286,  72.90014309,  36.86159655,
 -110.45169314,   1.75623041,  -0.43850286,   0.37481005,   0.19331514,
   19.19086244,  16.53772048]

qfrc_actuator:
[ 1.22784404e-04, 9.00763607e-04, 1.23566380e-04,-2.26504378e-05,
 -2.35900560e-06, 8.78919503e-05,-4.32319442e-05, 9.51223914e-05,
 -1.70638661e-04, 7.92584416e-04, 1.39924739e-04, 6.32257744e-05,
  1.66978511e-02, 7.84897423e-03, 3.54051272e-03,-1.81800769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89017857, -0.81970752,  0.34712745, -0.81970752,  0.82695455,
       -0.14929733,  0.34712745, -0.14929733,  0.53762753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.979504134431798e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21504086e-01, -9.05415092e-01, -5.05748541e-02, -2.13448232e-02,
       -4.58499115e-02,  9.98720273e-01, -9.06575261e-01,  4.22044187e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070967, -0.04583896,  0.28350709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70638181, -5.61606248,  1.01125445, -5.61606248,  5.94679577,
        1.33515342,  1.01125445,  1.33515342, 13.12123675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005123654995232846
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41714375e-14, -1.08342875e-13,  1.00000000e+00, -5.86908927e-27,
        1.00000000e+00,  1.08342875e-13, -1.00000000e+00,  0.00000000e+00,
       -5.41714375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02761351, -0.08027232,  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:
[ 2.75133674e-05,-1.94598313e-05,-8.58743347e-06, 2.56884291e-05,
 -4.71983144e-06,-4.94153934e-06,-2.57216130e-05, 9.04161723e-07,
  1.45152521e-05,-1.94040701e-05,-2.38381218e-05,-3.60060952e-05,
  2.40717510e-02, 1.13736497e-02, 3.00490700e-03,-4.25531130e-04,
  1.58451998e-05, 4.44412575e-06,-4.90500123e+00, 2.51813972e-04,
  1.18289228e-02,-6.79420940e-04]


--- Step 1131 ---
qpos:
[ 0.01870048, 0.03013181,-0.00952586,-0.02557946, 0.00790916, 0.00468372,
 -0.0078577 , 0.02711222, 0.01230887, 0.02800637,-0.0083294 , 0.02643724,
  1.20306998,-0.0017908 , 1.15001331, 0.04525964, 0.05836907,-0.07740757,
  0.17148143, 0.99955825, 0.02865997,-0.00343876,-0.00707766]

qacc:
[  2.70064525,  0.91380625, -3.19468486,  3.26656737,  2.56120038,
   1.10722728, -5.91322389, 12.6678203 , 13.47254662, -1.96077118,
   8.7721032 ,-17.03123766,-14.89538975, 14.2522936 , 26.19827469,
 -59.07598014,  1.56687281, -0.43248101,  0.27129557,  2.57057825,
  17.30388681, 18.70498638]

qfrc_actuator:
[ 1.38263591e-04, 8.96798172e-04, 1.03033393e-04,-2.51811905e-05,
  1.27665851e-05, 6.08091203e-05,-6.07204825e-05, 1.12120773e-04,
 -8.96812094e-05, 8.12411307e-04, 1.67340931e-04, 4.34156995e-05,
  1.67182941e-02, 7.82220680e-03, 3.53481173e-03,-1.76251194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88916544, -0.7846164 ,  0.41832078, -0.7846164 ,  0.7552116 ,
       -0.25124828,  0.41832078, -0.25124828,  0.41791579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3658601791238037e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42143929, -0.90544031, -0.05066323, -0.02137893, -0.04593152,
        0.99871579, -0.90660458,  0.4219812 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07069491, -0.04582525,  0.28345719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74957628,  5.52649492, -1.5860269 ,  5.52649492,  7.17355686,
        4.96184614, -1.5860269 ,  4.96184614, 23.03907972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005176611496277572
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36172661e-14, -1.07234532e-13,  1.00000000e+00, -5.74962245e-27,
        1.00000000e+00,  1.07234532e-13, -1.00000000e+00,  0.00000000e+00,
       -5.36172661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02761756, -0.08025805,  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:
[ 1.62732254e-05,-1.55177756e-05,-2.47245102e-05,-3.16323216e-06,
  1.49907337e-05,-3.51506169e-05,-2.16592602e-05, 1.59089446e-05,
  8.13744612e-05, 2.55960141e-06, 1.92488475e-05,-2.21634322e-05,
  2.46868388e-02, 9.35555322e-03, 2.75606182e-03, 6.17994615e-05,
  5.21082743e-06, 2.20054863e-06,-4.90500049e+00, 2.45133267e-04,
  1.18282230e-02,-6.80178192e-04]


--- Step 1132 ---
qpos:
[ 0.01870168, 0.03013186,-0.00952628,-0.02557909, 0.00790959, 0.00468389,
 -0.00785769, 0.02711471, 0.01230914, 0.02800515,-0.00832985, 0.02643732,
  1.20294764,-0.00179813, 1.15024099, 0.04525962, 0.05837042,-0.07740363,
  0.17148181, 0.99955756, 0.02869685,-0.003436  ,-0.00702608]

qacc:
[ -1.45510702, -0.06982266,  0.5611649 , -1.67834082,  1.58196723,
   0.66515106, -4.9288057 , 13.85760073,  5.37216688, -0.07030024,
  -1.93862143,  9.60034182, -8.40802909, -0.73567638, 26.18729411,
 -54.81623253,  1.44198315, -0.4122331 ,  0.1730632 ,  4.126742  ,
  15.98432787, 19.78773845]

qfrc_actuator:
[ 1.29062981e-04, 9.12174850e-04, 1.08851339e-04,-2.68573407e-05,
  2.15681973e-05, 6.23018844e-05,-5.33016559e-05, 1.39067563e-04,
 -5.96642405e-05, 8.07024083e-04, 1.83891535e-04, 6.74585878e-05,
  1.67299393e-02, 7.80512526e-03, 3.52303839e-03,-1.74623234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88869092, -0.75883594,  0.46253602, -0.75883594,  0.71346942,
       -0.28746813,  0.46253602, -0.28746813,  0.4170711 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.912683750431452e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42141485, -0.90544748, -0.05073844, -0.02140951, -0.04600024,
        0.99871198, -0.90661522,  0.42195835,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07068972, -0.04581498,  0.28342679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76789271,  5.51810317, -1.67902466,  5.51810317,  7.82114895,
        6.74801271, -1.67902466,  6.74801271, 27.94519083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005199019596986432
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.33861723e-14, -1.06772345e-13,  1.00000000e+00, -5.70016679e-27,
        1.00000000e+00,  1.06772345e-13, -1.00000000e+00,  0.00000000e+00,
       -5.33861723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02762012, -0.08024684,  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:
[-8.73043603e-06, 1.46120579e-06,-5.40201370e-07,-3.25863616e-06,
  9.21557524e-06,-2.19685252e-05,-1.96845770e-06, 2.49948106e-05,
  3.24009942e-05,-8.52123387e-07, 1.87025445e-05, 2.43888633e-05,
  2.55703911e-02, 9.31562527e-03, 2.03814391e-03, 1.49463522e-04,
  1.17250820e-06, 8.41163318e-07,-4.90500089e+00, 2.42020512e-04,
  1.18269638e-02,-6.80935530e-04]


--- Step 1133 ---
qpos:
[ 0.01870275, 0.03013185,-0.00952659,-0.02557907, 0.00791012, 0.004684  ,
 -0.0078576 , 0.02711644, 0.01230943, 0.02800404,-0.00833017, 0.02643767,
  1.20302541,-0.00178758, 1.15047651, 0.04525895, 0.05838069,-0.07739935,
  0.17148177, 0.9995573 , 0.02872402,-0.0033908 ,-0.00697366]

qacc:
[-1.01966192e+00,-1.15980966e+00, 5.54639868e+00,-1.20077688e+01,
  9.02016276e-01,-1.86123491e+00, 9.69800075e+00,-2.28330201e+01,
  1.19951431e-01, 3.23269013e-01,-2.09968150e+00, 6.52055179e+00,
  1.44074202e+02,-1.12973417e+02, 4.00370074e+00,-1.89879183e+01,
  2.22992922e+00, 8.32346591e-02,-1.05158302e-01,-5.01067753e+00,
  2.11920092e+01,-1.75751706e-01]

qfrc_actuator:
[ 1.23166298e-04, 9.03614315e-04, 1.12520102e-04,-4.57275470e-05,
  2.65710975e-05, 6.32539141e-05,-4.88773572e-05, 1.00676774e-04,
 -5.98927785e-05, 8.22096445e-04, 1.93813572e-04, 8.15718381e-05,
  1.67369674e-02, 7.78557513e-03, 3.47492033e-03,-1.75399467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.76601865,  5.48065027, -1.79149203,  5.48065027,  8.75850765,
        9.15481923, -1.79149203,  9.15481923, 33.77304395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005196728165393905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06819425e-13, -1.06819425e-13,  1.00000000e+00, -1.14103895e-26,
        1.00000000e+00,  1.06819425e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06819425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02762147, -0.08023804,  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:
[-6.15027203e-06,-7.99932233e-06, 3.79385822e-06,-1.88896850e-05,
  5.25616745e-06,-1.06770402e-05, 5.00717491e-07,-3.89202482e-05,
  7.15666482e-07, 1.95657531e-05, 1.29118348e-05, 1.52007591e-05,
  2.64677347e-02, 9.75607564e-03, 1.14958847e-03, 1.58449883e-04,
  3.85224206e-06,-1.96656013e-07,-4.90500273e+00, 2.42534471e-04,
  1.18244786e-02,-6.81759339e-04]


--- Step 1134 ---
qpos:
[ 0.01870375, 0.03013168,-0.00952709,-0.02557926, 0.00791036, 0.00468377,
 -0.00785733, 0.02711738, 0.01230971, 0.02800346,-0.00833083, 0.02643817,
  1.20304311,-0.001755  , 1.15074577, 0.04525306, 0.0583965 ,-0.0773961 ,
  0.17148161, 0.99955714, 0.02875979,-0.00331688,-0.00688412]

qacc:
[-6.80854333e-01,-9.73702973e-02, 8.60110187e-01,-3.80283447e+00,
 -2.52952996e+00,-2.59257050e+00, 1.19513287e+01,-2.57072081e+01,
 -6.21278295e-02, 1.98299814e+00,-6.64947234e+00, 9.30807970e+00,
 -6.50099137e+01, 8.05071129e+01, 7.06992970e+01,-1.63352373e+02,
  1.38472721e+00,-2.57487727e-01,-2.72648343e-02, 4.25825019e+00,
  1.49170498e+01, 1.81308767e+01]

qfrc_actuator:
[ 1.19269629e-04, 8.80772209e-04, 9.70261246e-05,-5.68342107e-05,
  1.15475079e-05, 2.83148987e-05,-4.63062341e-05, 5.96493682e-05,
 -6.01523390e-05, 8.67027533e-04, 1.82059546e-04, 8.97345707e-05,
  1.67329041e-02, 7.77665264e-03, 3.41584367e-03,-1.90001197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88865878, -0.67566462,  0.57722764, -0.67566462,  0.59710241,
       -0.34127666,  0.57722764, -0.34127666,  0.48918283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.8476958672557074e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21359709e-01, -9.05468440e-01, -5.08222451e-02, -2.14421558e-02,
       -4.60774843e-02,  9.98707715e-01, -9.06640077e-01,  4.21904930e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07070632, -0.04581654,  0.28341077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74568508, -5.38462598,  2.00466959, -5.38462598,  7.53946966,
        4.81818008,  2.00466959,  4.81818008, 18.68751738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005171847448397632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36666557e-14, -1.07333311e-13,  1.00000000e+00,  5.76021986e-27,
        1.00000000e+00,  1.07333311e-13, -1.00000000e+00,  0.00000000e+00,
        5.36666557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02762179, -0.08023116,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07770940e-06,-2.73419011e-05,-1.73294658e-05,-1.16849897e-05,
 -1.48763403e-05,-4.24811151e-05,-9.25762921e-07,-4.22296284e-05,
 -2.36682166e-07, 5.92353611e-05,-5.57991445e-06, 9.74622591e-06,
  1.64614070e-02, 8.85606269e-03, 6.93894663e-04, 4.40548943e-05,
  6.29860462e-06,-8.28213533e-07,-4.90500253e+00, 2.45585957e-04,
  1.18249140e-02,-6.82279996e-04]


--- Step 1135 ---
qpos:
[ 0.01870469, 0.0301313 ,-0.00952774,-0.02557957, 0.00791007, 0.00468334,
 -0.00785708, 0.02711817, 0.01230895, 0.02800352,-0.00833228, 0.02643878,
  1.20299958,-0.00177705, 1.15101226, 0.04525143, 0.05841039,-0.07738841,
  0.17148216, 0.99955776, 0.02876402,-0.00325043,-0.0068079 ]

qacc:
[ -0.46859003, -0.09361391,  0.46032966, -2.23137098, -4.63284718,
  -0.48916887,  2.01412177, -4.49638945, -8.89067553,  3.27010642,
 -10.86444949, 13.5119728 , -8.93972464,-43.88917936,-17.61612573,
  54.22142117, -0.48030305,  1.1126411 ,  0.17454733,-15.76675599,
  -4.02785962, -6.49828051]

qfrc_actuator:
[ 1.16580351e-04, 8.67231242e-04, 8.80376010e-05,-6.33087305e-05,
 -1.51418576e-05, 2.53958118e-05,-4.49875982e-05, 5.28837047e-05,
 -1.13675136e-04, 8.93895348e-04, 1.39977615e-04, 9.43462066e-05,
  1.67383980e-02, 7.76280225e-03, 3.36355711e-03,-2.03539852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88891011, -0.27460175,  0.84543188, -0.27460175,  8.06270992,
        2.33009669,  0.84543188,  2.33009669,  1.64574062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7359509736355787e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21306790e-01, -9.05492528e-01, -5.08317826e-02, -2.14434967e-02,
       -4.60873797e-02,  9.98707229e-01, -9.06664638e-01,  4.21852148e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07072828, -0.04582648,  0.28342534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74125601, -4.31042539,  3.79239416, -4.31042539,  9.1770778 ,
        3.90514615,  3.79239416,  3.90514615, 10.17983503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005166423322382069
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14891997e-13, -1.07445998e-13,  1.00000000e+00, -2.30892852e-26,
        1.00000000e+00,  1.07445998e-13, -1.00000000e+00,  0.00000000e+00,
       -2.14891997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06373147, -0.11064822,  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:
[-2.81537942e-06,-3.29017898e-05,-1.71667570e-05,-8.47037043e-06,
 -2.71251654e-05,-2.86780416e-05,-9.03376155e-06,-9.44163992e-06,
 -5.35116887e-05, 5.92860916e-05,-3.01823292e-05, 7.14844625e-06,
  1.94684091e-02, 7.73928351e-03,-1.04984181e-03, 1.68147515e-04,
  1.74321375e-05,-1.37733907e-06,-4.90500577e+00, 2.51732618e-04,
  1.18216520e-02,-6.82865821e-04]


--- Step 1136 ---
qpos:
[ 0.01870559, 0.03013041,-0.00952782,-0.02557996, 0.00791015, 0.0046829 ,
 -0.00785696, 0.02711919, 0.0123079 , 0.02800375,-0.00833345, 0.02643874,
  1.20289888,-0.00183863, 1.15127211, 0.04524931, 0.05842321,-0.07737687,
  0.17148324, 0.99955897, 0.02874225,-0.00319039,-0.00674999]

qacc:
[ -0.31216293, -2.45635242,  8.16174206,-10.23624533,  3.2689528 ,
   0.80567728, -3.88376868,  8.17808134, -2.47527658, -1.87189292,
   9.75135809,-21.58861819,-16.55924795,-22.6365581 , -8.11564148,
  14.64873882, -0.26676894,  0.95958015,  0.13503352,-13.01404495,
  -3.56209487, -9.01798936]

qfrc_actuator:
[ 1.14622561e-04, 8.41634553e-04, 1.18507169e-04,-6.69941542e-05,
  4.78082122e-06, 4.16952699e-05,-4.42739351e-05, 6.63547658e-05,
 -1.27109084e-04, 8.91853119e-04, 1.51279091e-04, 6.12982388e-05,
  1.67465690e-02, 7.77834077e-03, 3.37599856e-03,-2.11853461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8894667 ,  0.21475883, -0.863151  ,  0.21475883,  1.84114905,
        0.23678614, -0.863151  ,  0.23678614,  0.94838097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9401024528974106e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21487645e-01, -9.05410232e-01, -5.07983847e-02, -2.14385703e-02,
       -4.60528348e-02,  9.98708929e-01, -9.06580693e-01,  4.22032519e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0707477 , -0.04582597,  0.28342931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74482448,  5.25064971, -2.33102679,  5.25064971,  9.36978942,
        8.16525196, -2.33102679,  8.16525196, 24.13709604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005170793631149861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07355186e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07355186e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06373648, -0.11063859,  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:
[-2.04832426e-06,-4.78848763e-05, 2.12789198e-05,-5.85001808e-06,
  1.91425592e-05,-2.00645965e-06,-6.64801012e-06, 1.17455647e-05,
 -1.49834361e-05, 2.51748817e-05, 2.00938361e-05,-3.14087300e-05,
  2.25375420e-02, 1.04864452e-02,-9.04330892e-04,-1.29118515e-04,
  1.24656710e-05, 1.02934806e-06,-4.90500155e+00, 2.49419662e-04,
  1.18255077e-02,-6.82992998e-04]


--- Step 1137 ---
qpos:
[ 0.01870647, 0.03012908,-0.00952725,-0.02558042, 0.00791082, 0.00468253,
 -0.00785687, 0.02712035, 0.01230773, 0.02800413,-0.00833422, 0.02643898,
  1.20280133,-0.00190336, 1.15150077, 0.04524881, 0.05842776,-0.07736521,
  0.17148412, 0.99955956, 0.02872604,-0.00317464,-0.00674031]

qacc:
[-2.34409272e-01,-2.52003178e+00, 8.36611384e+00,-1.00267779e+01,
  5.12410927e+00, 4.88372140e-01,-2.22178891e+00, 4.67608221e+00,
  7.51266291e+00,-3.50362679e-01, 2.90866590e-01, 3.97120905e+00,
  6.51347150e+00,-9.63265041e+00,-5.15631852e+01, 1.12143215e+02,
 -2.06715608e+00, 3.14690481e-02,-5.15485266e-02, 2.85866529e+00,
 -2.28082674e+01,-2.34746844e+01]

qfrc_actuator:
[ 1.13110414e-04, 8.26934966e-04, 1.54228384e-04,-6.89933108e-05,
  3.42299648e-05, 5.16493161e-05,-4.38269081e-05, 7.38859445e-05,
 -8.13169552e-05, 9.08189136e-04, 1.76120355e-04, 7.73826095e-05,
  1.67581830e-02, 7.87150894e-03, 3.36914231e-03,-2.25603821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8904223 ,  0.55490846, -0.69636805,  0.55490846,  0.47330519,
       -0.33238431, -0.69636805, -0.33238431,  0.62555825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2774499071918185e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21857302e-01, -9.05241954e-01, -5.07289080e-02, -2.14279496e-02,
       -4.59811384e-02,  9.98712460e-01, -9.06408992e-01,  4.22401160e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076584, -0.04581697,  0.28342701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74285069,  5.74206596,  0.09493464,  5.74206596,  5.75031247,
       -0.45132156,  0.09493464, -0.45132156, 33.04077094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005168376459606105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14810789e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.14810789e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589446, -0.09177776,  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:
[-1.58617717e-06,-3.73015125e-05, 2.82611158e-05,-3.42405939e-06,
  2.99922332e-05, 7.98083152e-06,-3.79316949e-07, 7.44135629e-06,
  4.53613366e-05, 3.32156467e-05, 3.14403719e-05, 1.72498357e-05,
  2.54055431e-02, 1.25562296e-02,-5.84185883e-04,-2.43402030e-04,
  7.94056783e-06, 2.48691463e-06,-4.90499957e+00, 2.47188015e-04,
  1.18275950e-02,-6.82497167e-04]


--- Step 1138 ---
qpos:
[ 0.01870766, 0.03012788,-0.00952674,-0.02558126, 0.00791149, 0.00468235,
 -0.00785709, 0.02712091, 0.01230846, 0.0280046 ,-0.00833494, 0.0264398 ,
  1.20270191,-0.00195899, 1.15169864, 0.04524784, 0.05842432,-0.0773533 ,
  0.17148433, 0.99955949, 0.02871661,-0.00320198,-0.00677745]

qacc:
[ 2.73638582e+00,-4.69759911e-01, 3.56105124e+00,-1.03020262e+01,
  1.25502910e-02,-1.73727466e-01, 3.54260548e+00,-1.37214537e+01,
  7.62761655e+00, 1.11876696e+00,-6.22795343e+00, 1.59076604e+01,
 -6.26325671e+00, 1.35707382e+01,-4.34789941e+01, 8.73957765e+01,
 -1.99937019e+00, 6.26458354e-02,-1.67380681e-01, 3.47077350e+00,
 -2.21843782e+01,-2.27925600e+01]

qfrc_actuator:
[ 1.29625149e-04, 8.54418534e-04, 1.57288270e-04,-8.77316420e-05,
  3.35301694e-05, 5.77305228e-05,-6.13175903e-05, 4.23505575e-05,
 -3.65495013e-05, 8.99998571e-04, 1.73340054e-04, 1.04514791e-04,
  1.67578424e-02, 7.95519888e-03, 3.30522291e-03,-2.28605387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89090617,  0.45708837, -0.76471173,  0.45708837,  0.33712585,
       -0.33100911, -0.76471173, -0.33100911,  0.6930533 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.814250550491409e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42215158, -0.90510644, -0.05069898, -0.02143021, -0.04594706,
        0.99871398, -0.90627192,  0.42269517,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07077268, -0.0458044 ,  0.2834069 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74143302,  5.74083549,  0.0828312 ,  5.74083549,  5.74695466,
       -0.38269171,  0.0828312 , -0.38269171, 32.26489469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005166640130504496
  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([ 0.09589595, -0.0917689 ,  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:
[ 1.64582257e-05, 1.23544335e-05,-1.27284938e-06,-1.94216668e-05,
  1.55042412e-07, 1.08050199e-05,-1.56318116e-05,-3.10648917e-05,
  4.61082954e-05, 1.76276461e-05, 8.55231995e-06, 2.99775941e-05,
  2.52481085e-02, 1.27994776e-02, 9.06902743e-04,-3.55322357e-04,
  3.52295711e-07, 3.39550169e-07,-4.90499996e+00, 2.42291211e-04,
  1.18259787e-02,-6.82199655e-04]


--- Step 1139 ---
qpos:
[ 0.01870904, 0.03012694,-0.00952656,-0.02558232, 0.00791215, 0.00468199,
 -0.00785733, 0.02712042, 0.01230971, 0.02800504,-0.00833585, 0.02644062,
  1.20259912,-0.00200552, 1.15186776, 0.04524645, 0.0584131 ,-0.07734106,
  0.17148347, 0.99955874, 0.02871513,-0.00327149,-0.00686053]

qacc:
[ 1.60400741e+00, 8.51635584e-01,-1.61321152e+00,-1.78443431e+00,
 -1.13348502e-01,-2.30016801e+00, 1.22741839e+01,-3.01718615e+01,
  4.52660119e+00, 5.06885110e-01,-1.91818329e+00, 2.40599230e+00,
 -7.57395379e+00, 1.48062750e+01,-4.05362785e+01, 8.16427866e+01,
 -1.94505844e+00, 8.05364303e-02,-2.67309819e-01, 4.05647138e+00,
 -2.17066476e+01,-2.23689276e+01]

qfrc_actuator:
[ 1.38865600e-04, 8.71310448e-04, 1.41202494e-04,-9.84031508e-05,
  3.28403923e-05, 2.58355057e-05,-7.15478449e-05,-1.19334928e-05,
 -1.05162533e-05, 8.77086702e-04, 1.54171707e-04, 1.02376356e-04,
  1.67506656e-02, 8.00445482e-03, 3.26140991e-03,-2.28564091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89067284,  0.359368  , -0.81495567,  0.359368  ,  0.23518718,
       -0.2890471 , -0.81495567, -0.2890471 ,  0.7632128 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.56335372994534e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42235037, -0.90501312, -0.05070924, -0.02144466, -0.04595165,
        0.99871346, -0.90617895,  0.42289444,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076855, -0.0457885 ,  0.28337   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72139982,  5.71561884,  0.25713276,  5.71561884,  5.79020437,
       -1.52940666,  0.25713276, -1.52940666, 39.71747902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005142085506629201
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07954547e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07954547e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09589792, -0.09176222,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.72869612e-06, 2.27472735e-05,-1.43548467e-05,-1.05623132e-05,
 -6.79674858e-07,-3.04050100e-05,-1.09951255e-05,-5.49668212e-05,
  2.73914291e-05,-9.99523026e-06,-1.34365247e-05,-5.06730057e-07,
  2.53334391e-02, 1.23950326e-02, 2.39854857e-03,-3.32246401e-04,
  2.69248889e-06,-4.12049889e-08,-4.90500065e+00, 2.43648808e-04,
  1.18253641e-02,-6.81967235e-04]


--- Step 1140 ---
qpos:
[ 0.01871052, 0.03012622,-0.00952659,-0.0255835 , 0.00791279, 0.00468136,
 -0.00785712, 0.02711961, 0.01231024, 0.02800517,-0.00833686, 0.02644178,
  1.20244236,-0.00207497, 1.15202733, 0.04524502, 0.05840288,-0.07732567,
  0.17148315, 0.9995585 , 0.02868953,-0.00334611,-0.00696586]

qacc:
[  0.85099219,  0.57869787, -1.15786638, -0.77132968, -0.09881388,
  -2.29234552,  9.02106331,-15.13653241, -6.22552761,  0.60626925,
  -4.17418347, 10.48163851,-25.64835847,  1.20101182,-12.77172418,
  27.02512258,  0.2530121 ,  0.78930579,  0.13466545,-12.08635836,
  -2.95788267,-11.00721789]

qfrc_actuator:
[ 1.43744439e-04, 8.81656969e-04, 1.31684394e-04,-1.04252229e-04,
  3.21714152e-05, 2.47000319e-05,-4.20657737e-05,-2.59291613e-05,
 -4.89762270e-05, 8.45430848e-04, 1.43150998e-04, 1.18513001e-04,
  1.67555682e-02, 8.06490493e-03, 3.29449686e-03,-2.10705269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88982983,  0.45334655, -0.76568534,  0.45334655,  0.47799995,
       -0.24383601, -0.76568534, -0.24383601,  0.74545954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.509179744742733e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22452464e-01, -9.04962555e-01, -5.07611057e-02, -2.14718351e-02,
       -4.59961971e-02,  9.98710824e-01, -9.06130717e-01,  4.22997782e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075382, -0.04576937,  0.28331697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70582252, -4.82738969, -3.04182829, -4.82738969,  7.99677091,
       -3.63574127, -3.04182829, -3.63574127, 11.4757537 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005122968230053121
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16714798e-13, -1.08357399e-13,  1.00000000e+00, -2.34826518e-26,
        1.00000000e+00,  1.08357399e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16714798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06373997, -0.11060394,  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:
[ 5.17428229e-06, 1.96826426e-05,-6.94400976e-06,-5.57412673e-06,
 -6.96171323e-07,-2.27481496e-05, 1.99535083e-05,-1.67463578e-05,
 -3.76586725e-05,-4.00360259e-05,-1.47540208e-05, 1.52318587e-05,
  2.55069627e-02, 1.20010125e-02, 3.86680317e-03,-1.33046051e-04,
  1.42121754e-05, 1.41350449e-06,-4.90500139e+00, 2.50821318e-04,
  1.18259588e-02,-6.81839333e-04]


--- Step 1141 ---
qpos:
[ 0.01871239, 0.03012542,-0.00952634,-0.02558474, 0.00791273, 0.00468088,
 -0.00785678, 0.02711929, 0.0123103 , 0.02800475,-0.00833759, 0.02644313,
  1.20226999,-0.00210203, 1.15220619, 0.04523853, 0.05839891,-0.07731228,
  0.17148356, 0.99955851, 0.02866838,-0.00338512,-0.00703258]

qacc:
[   3.37282136,  -1.00130599,   3.64794417,  -5.0060686 ,  -6.18488593,
    0.86947456,  -4.90032932,  13.17574154,  -3.94325887,  -1.13171013,
    2.18012141,   1.04910456, -43.69159867,  80.09612193,  47.8703274 ,
 -116.89861063,   1.55972008,  -0.50229929,   0.18480507,   2.16593549,
   18.36358079,  18.78052289]

qfrc_actuator:
[ 1.63771854e-04, 8.70277964e-04, 1.43855719e-04,-1.07216494e-04,
 -3.98480868e-06, 5.99362324e-05,-2.47345557e-05, 1.69698729e-06,
 -7.18243519e-05, 8.08813975e-04, 1.54759029e-04, 1.27523633e-04,
  1.67617415e-02, 8.14271549e-03, 3.31444512e-03,-2.05256947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88932492, -0.81066688,  0.36567475, -0.81066688,  0.8387222 ,
       -0.11218153,  0.36567475, -0.11218153,  0.64062891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6852465460900864e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42270777, -0.9048424 , -0.05077757, -0.0214918 , -0.04600505,
        0.99870999, -0.90601117,  0.42325378,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073987, -0.04574377,  0.28326303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7102848 , -3.94239989,  4.13096062, -3.94239989, 10.1377858 ,
        4.22540446,  4.13096062,  4.22540446,  9.74281756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005128446775648221
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41208222e-14, -2.16483289e-13,  1.00000000e+00, -1.17162536e-26,
        1.00000000e+00,  2.16483289e-13, -1.00000000e+00,  0.00000000e+00,
       -5.41208222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02763295, -0.08016563,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01881278e-05,-2.01924000e-06, 1.51980337e-05,-2.46656410e-06,
 -3.61840554e-05, 2.59412244e-05, 1.45172056e-05, 2.70185727e-05,
 -2.39673212e-05,-6.14072562e-05, 2.05753234e-06, 7.08189767e-06,
  2.82105494e-02, 1.32263710e-02, 4.35984734e-03,-7.79689347e-05,
  2.10772360e-05,-2.45058806e-07,-4.90500489e+00, 2.54155029e-04,
  1.18225234e-02,-6.81200923e-04]


--- Step 1142 ---
qpos:
[ 0.0187138 , 0.03012428,-0.00952556,-0.0255853 , 0.00791224, 0.00468066,
 -0.0078563 , 0.0271193 , 0.01231078, 0.02800381,-0.00833786, 0.02644422,
  1.20207827,-0.0021289 , 1.15240617, 0.04523167, 0.05840045,-0.0773009 ,
  0.17148444, 0.99955866, 0.02865629,-0.00339262,-0.0070559 ]

qacc:
[ -3.9545048 , -0.5045592 , -1.69481622, 12.84771809, -3.8087322 ,
   0.60543231, -2.98366664,  8.03303204,  3.55353798, -2.53038093,
   9.11859423,-14.02402741,-16.50945538, 15.55103032, 33.46401687,
 -69.07751132,  1.37753551, -0.49884476,  0.11458305,  4.48705099,
  16.40556129, 21.21863704]

qfrc_actuator:
[ 1.39298692e-04, 8.46066421e-04, 1.68644581e-04,-7.29602803e-05,
 -2.52328752e-05, 8.11831868e-05,-1.45492444e-05, 1.80997852e-05,
 -4.97737344e-05, 7.87346010e-04, 1.79597108e-04, 1.14521876e-04,
  1.67724940e-02, 8.13928258e-03, 3.31360772e-03,-2.03199256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88908797, -0.78057301,  0.42565619, -0.78057301,  0.76310722,
       -0.23102489,  0.42565619, -0.23102489,  0.46543198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1939662874103235e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42293546, -0.90473615, -0.05077486, -0.02150223, -0.04599719,
        0.99871012, -0.90590466,  0.4234817 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073532, -0.04572301,  0.28322832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72451289,  5.3040828 , -2.15331223,  5.3040828 ,  8.6322825 ,
        7.16247766, -2.15331223,  7.16247766, 23.3672746 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005145903465761242
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07874451e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07874451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276372 , -0.08015266,  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:
[-2.38835149e-05,-2.22773788e-05, 2.61647748e-05, 3.46503358e-05,
 -2.22690355e-05, 3.99116553e-05, 1.82706167e-05, 1.85451423e-05,
  2.13238728e-05,-5.50662065e-05, 1.26634441e-05,-1.54237323e-05,
  2.90008318e-02, 1.11031890e-02, 3.39161962e-03, 1.95412813e-04,
  7.70680197e-06,-3.45160547e-07,-4.90500222e+00, 2.46378548e-04,
  1.18248766e-02,-6.80953288e-04]


--- Step 1143 ---
qpos:
[ 0.01871422, 0.03012327,-0.00952494,-0.0255851 , 0.00791219, 0.00468056,
 -0.00785506, 0.02711947, 0.01231151, 0.0280028 ,-0.00833802, 0.02644511,
  1.20186981,-0.00216694, 1.15263219, 0.04522831, 0.05840692,-0.07729138,
  0.17148553, 0.9995589 , 0.02865631,-0.00337185,-0.00703232]

qacc:
[ -8.53225737,  2.16432464,-10.60207765, 23.67062806,  3.88172877,
  -1.58427146,  5.14142578, -3.43359958,  2.22034327, -0.7917665 ,
   3.55077223, -7.13828445, -6.43954629, -4.2584127 , 28.19061143,
 -42.18628128,  1.23317318, -0.46809885,  0.05314983,  6.02874568,
  14.84133235, 23.01943752]

qfrc_actuator:
[ 8.88239408e-05, 8.67700070e-04, 1.65137783e-04,-3.48391581e-05,
 -2.01976891e-06, 9.38634473e-05, 2.67883316e-05, 2.77502848e-05,
 -3.69823908e-05, 8.10663898e-04, 1.94331236e-04, 1.06443380e-04,
  1.67868922e-02, 8.14785887e-03, 3.33672108e-03,-1.78590565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88888665, -0.74691224,  0.48191449, -0.74691224,  0.7140109 ,
       -0.27103736,  0.48191449, -0.27103736,  0.46880979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6661519497037133e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42319119, -0.90461699, -0.05076741, -0.02151206, -0.04598435,
        0.9987105 , -0.90578499,  0.42373759,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073939, -0.04570548,  0.28321124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72020808,  5.26547577, -2.23507167,  5.26547577,  9.76703773,
        9.5336914 , -2.23507167,  9.5336914 , 28.18007897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005140623686910456
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39926229e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.39926229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02763992, -0.08014248,  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:
[-5.11781275e-05, 1.60843184e-05,-3.68155035e-06, 3.87501070e-05,
  2.25926649e-05, 3.95625260e-05, 5.24717943e-05, 1.23543011e-05,
  1.33948164e-05,-5.47674463e-06, 4.39689020e-06,-1.03008271e-05,
  2.99815040e-02, 1.11025031e-02, 2.35541212e-03, 4.58552688e-04,
  8.20995008e-07,-7.61558869e-08,-4.90500040e+00, 2.42770261e-04,
  1.18267217e-02,-6.80781721e-04]


--- Step 1144 ---
qpos:
[ 0.01871471, 0.03012275,-0.00952508,-0.02558481, 0.00791241, 0.00468049,
 -0.0078538 , 0.02711982, 0.01231205, 0.02800228,-0.00833853, 0.02644552,
  1.20164738,-0.00221532, 1.15287952, 0.04522554, 0.05841799,-0.07728364,
  0.17148658, 0.99955915, 0.02867044,-0.00332488,-0.00696045]

qacc:
[ 6.59657134e-01, 2.99581814e+00,-1.01716928e+01, 1.28227897e+01,
  2.45155749e+00, 3.09542887e-01,-1.80593121e+00, 4.80216929e+00,
 -1.69957965e+00, 6.17451701e-01, 7.78331109e-01,-9.00504820e+00,
 -4.76528917e+00,-5.02459352e+00, 2.97836749e+01,-5.81948078e+01,
  1.15101397e+00,-4.43375138e-01,-1.03350672e-02, 7.04144767e+00,
  1.38379503e+01, 2.37362151e+01]

qfrc_actuator:
[ 9.44744532e-05, 8.98763624e-04, 1.27374936e-04,-3.02447196e-05,
  1.16662058e-05, 6.59335540e-05, 1.51441370e-05, 3.33674176e-05,
 -4.75107051e-05, 8.60596189e-04, 1.85419647e-04, 8.36081401e-05,
  1.68145916e-02, 8.19266754e-03, 3.31441616e-03,-1.81652435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88870509, -0.72700261,  0.51113984, -0.72700261,  0.68380436,
       -0.29143368,  0.51113984, -0.29143368,  0.47419416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.684285942370575e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23478597e-01, -9.04482674e-01, -5.07638672e-02, -2.15251640e-02,
       -4.59743138e-02,  9.98710684e-01, -9.05650344e-01,  4.24025299e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075108, -0.04569069,  0.28320925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7012278 ,  5.20407794, -2.32842678,  5.20407794, 11.32698626,
       12.57367667, -2.32842678, 12.57367667, 33.80363322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005117325232202458
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42384436e-14, -1.08476887e-13,  1.00000000e+00,  5.88361754e-27,
        1.00000000e+00,  1.08476887e-13, -1.00000000e+00,  0.00000000e+00,
        5.42384436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02764143, -0.08013449,  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:
[ 4.16573092e-06, 4.09662311e-05,-3.35478689e-05, 5.91279463e-06,
  1.43392101e-05, 5.55867654e-06, 3.40383751e-06, 9.36467079e-06,
 -1.01401696e-05, 4.73797277e-05,-9.84588020e-06,-2.31180722e-05,
  3.08452456e-02, 1.17057140e-02, 1.02590831e-03, 2.52598159e-04,
  1.19265040e-06, 1.30717320e-07,-4.90500011e+00, 2.43233146e-04,
  1.18270120e-02,-6.80752815e-04]


--- Step 1145 ---
qpos:
[ 0.01871562, 0.03012239,-0.00952528,-0.02558481, 0.00791246, 0.00468054,
 -0.00785352, 0.0271203 , 0.01231212, 0.02800196,-0.00833939, 0.02644602,
  1.20141413,-0.00227321, 1.15314636, 0.04522215, 0.05843336,-0.07727758,
  0.17148737, 0.99955937, 0.02870033,-0.00325352,-0.00683876]

qacc:
[ 3.49810688e+00,-2.46013422e-01, 2.43253886e+00,-7.60427185e+00,
 -1.63783393e+00, 3.17713788e+00,-1.15939663e+01, 1.51962579e+01,
 -4.05962013e+00, 1.44721912e+00,-5.16271897e+00, 7.28533125e+00,
 -2.87185146e+00,-5.94406625e+00, 3.07607946e+01,-6.57042797e+01,
  1.07445196e+00,-4.20287386e-01,-6.31806003e-02, 7.87276687e+00,
  1.29574763e+01, 2.45193409e+01]

qfrc_actuator:
[ 1.15370623e-04, 8.99559721e-04, 1.22983269e-04,-4.54211973e-05,
  1.86793692e-06, 4.91887692e-05,-4.56230890e-05, 3.64912357e-05,
 -7.16775611e-05, 8.54973712e-04, 1.62737162e-04, 8.77910779e-05,
  1.68452987e-02, 8.22736169e-03, 3.30163085e-03,-1.86965614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861289, -0.70625023,  0.53929905, -0.70625023,  0.65360403,
       -0.30776071,  0.53929905, -0.30776071,  0.48557848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.427515605348275e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42378399, -0.90433933, -0.05076911, -0.02154292, -0.04597179,
        0.99871042, -0.90550706,  0.4243312 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076965, -0.04567867,  0.28322155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67084511,  5.11674254, -2.44487833,  5.11674254, 13.56965089,
       16.53094756, -2.44487833, 16.53094756, 40.26749618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000507996230257296
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09274731e-13, -1.09274731e-13,  1.00000000e+00, -1.19409668e-26,
        1.00000000e+00,  1.09274731e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09274731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.027642  , -0.08012824,  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:
[ 2.10346832e-05, 1.70479903e-05, 1.48367532e-07,-1.44675450e-05,
 -9.38935143e-06,-1.25398443e-05,-5.88910443e-05, 3.65800999e-06,
 -2.44485824e-05, 1.78704004e-05,-1.48959114e-05, 5.42470869e-06,
  3.15730526e-02, 1.22584129e-02,-5.66577828e-05, 1.68224009e-04,
  9.25996261e-06, 6.17981393e-08,-4.90500183e+00, 2.47530208e-04,
  1.18250661e-02,-6.80914869e-04]


--- Step 1146 ---
qpos:
[ 0.01871608, 0.03012149,-0.00952467,-0.02558462, 0.00791238, 0.00468077,
 -0.00785376, 0.02712077, 0.01231189, 0.02800147,-0.00834009, 0.02644728,
  1.20142059,-0.00229634, 1.15339323, 0.04522697, 0.05844726,-0.07726342,
  0.17148742, 0.999561  , 0.02867951,-0.0031823 ,-0.00672094]

qacc:
[  -3.78661665,  -2.56228234,   7.2871343 ,  -4.82409226,  -1.05497983,
    1.66336394,  -5.58174756,   6.21210983,  -2.46458941,   0.8976807 ,
   -6.73091599,  19.67941515, 165.44835724,-116.79222396, -65.02992357,
  160.38041246,  -0.3676883 ,   2.02378044,  -0.18738195, -25.36464125,
   -0.29646016,  -1.84158836]

qfrc_actuator:
[ 9.17963364e-05, 8.46824941e-04, 1.55967755e-04,-3.65941070e-05,
 -3.91867542e-06, 7.45467253e-05,-6.38519692e-05, 3.81017598e-05,
 -8.59184784e-05, 8.33843356e-04, 1.67424782e-04, 1.25543900e-04,
  1.68673785e-02, 8.25928976e-03, 3.26732236e-03,-1.70451921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.66738456, -4.40129901,  3.57040821, -4.40129901,  7.98920742,
        2.86214799,  3.57040821,  2.86214799,  9.19559992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005075701278689171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52081981e-07, -7.52081909e-07,  1.00000000e+00, -5.65627252e-13,
        1.00000000e+00,  7.52081909e-07, -1.00000000e+00, -1.00974196e-28,
       -7.52081981e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06496443, -0.10983779,  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:
[-2.29534147e-05,-4.37708028e-05, 3.60279147e-05, 9.28057716e-06,
 -6.05560042e-06, 6.32786616e-06,-2.79507951e-05,-8.94759368e-07,
 -1.49533340e-05,-1.39698025e-05, 6.74552001e-06, 3.81113079e-05,
  3.21350056e-02, 1.27667476e-02,-1.07171791e-03, 3.63715520e-04,
  2.53004865e-05,-4.05764861e-07,-4.90500590e+00, 2.55447650e-04,
  1.18204179e-02,-6.81309163e-04]


--- Step 1147 ---
qpos:
[ 0.01871659, 0.03012009,-0.00952362,-0.02558396, 0.00791189, 0.00468102,
 -0.00785365, 0.02712121, 0.0123115 , 0.02800097,-0.00834076, 0.02644862,
  1.20139806,-0.00231937, 1.15362131, 0.04523627, 0.05845274,-0.07724923,
  0.17148735, 0.99956212, 0.02865871,-0.00315593,-0.00665449]

qacc:
[ 5.26280398e-01,-9.24077140e-01, 3.54569326e-01, 7.43644472e+00,
 -3.62985791e+00,-9.91758699e-01, 3.69050458e+00,-4.71181759e+00,
 -1.44260623e+00, 6.65156259e-02,-5.95729234e-01, 1.97071231e+00,
 -2.15394446e+01, 1.89238717e+01,-3.98820622e+01, 1.02486832e+02,
 -2.10671559e+00, 9.60313757e-03,-2.83379731e-02, 8.48875082e-02,
 -2.31512394e+01,-2.50363531e+01]

qfrc_actuator:
[ 9.54880011e-05, 8.15869186e-04, 1.75031819e-04,-1.37384436e-05,
 -2.50426324e-05, 8.95668010e-05,-3.88796092e-05, 3.88818784e-05,
 -9.41985293e-05, 8.39225883e-04, 1.70428915e-04, 1.29486885e-04,
  1.68727751e-02, 8.30234305e-03, 3.17501877e-03,-1.63004865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88888533,  0.58571497, -0.66862179,  0.58571497,  0.4736924 ,
       -0.36371042, -0.66862179, -0.36371042,  0.57027375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6621286674879306e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24318169e-01, -9.04092169e-01, -5.07093710e-02, -2.15446257e-02,
       -4.59050042e-02,  9.98713452e-01, -9.05256826e-01,  4.24864778e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07080834, -0.04566544,  0.28323148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6987129 ,  2.66777751,  5.03570173,  2.66777751, 15.37999842,
       -5.12888117,  5.03570173, -5.12888117,  8.41585435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005114235753235497
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08542417e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08542417e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09591938, -0.09167658,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00783881e-06,-4.75780352e-05, 1.47857101e-05, 2.24099597e-05,
 -2.12926770e-05, 1.27379764e-05, 2.28051237e-05, 6.59785061e-08,
 -8.72751227e-06, 6.14532848e-07, 2.27957333e-06, 4.31987820e-06,
  2.01593986e-02, 1.10756303e-02,-1.67271238e-04, 2.69933621e-05,
  2.20221277e-05, 3.73142977e-06,-4.90499830e+00, 2.55214528e-04,
  1.18290560e-02,-6.80839173e-04]


--- Step 1148 ---
qpos:
[ 0.0187175 , 0.03011896,-0.00952264,-0.02558344, 0.00791115, 0.0046813 ,
 -0.00785295, 0.0271213 , 0.01231066, 0.02800066,-0.00834146, 0.02644963,
  1.20135111,-0.00234175, 1.1538197 , 0.04524479, 0.05845014,-0.07723492,
  0.17148673, 0.99956268, 0.02864109,-0.00317306,-0.00663869]

qacc:
[ 3.28971272e+00, 2.21270238e-01, 2.90642051e-01,-2.79378566e+00,
 -2.17698987e+00,-2.33475540e+00, 9.92823980e+00,-1.71391315e+01,
 -3.76451937e+00,-3.12647575e-01, 2.90337437e+00,-8.72560264e+00,
 -1.81008095e+01, 1.62491449e+01,-4.02783403e+01, 7.99763709e+01,
 -2.01766883e+00, 2.79874395e-02,-1.37140359e-01, 1.66053701e+00,
 -2.24560780e+01,-2.46954037e+01]

qfrc_actuator:
[ 1.15213262e-04, 8.69165619e-04, 1.85787018e-04,-1.83241659e-05,
 -3.72731853e-05, 9.84692155e-05,-6.39578851e-06, 2.14343647e-05,
 -1.16659359e-04, 8.60413630e-04, 1.72478290e-04, 1.13514174e-04,
  1.68890411e-02, 8.35508432e-03, 3.12309235e-03,-1.80480776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88976931,  0.47073585, -0.7550478 ,  0.47073585,  0.33991567,
       -0.3428072 , -0.7550478 , -0.3428072 ,  0.67604557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4209444880201075e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42450332, -0.90400785, -0.05066294, -0.02153424, -0.04585859,
        0.99871581, -0.90517026,  0.42504917,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07081145, -0.04565562,  0.2831981 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70942758,  5.70718961, -0.15984369,  5.70718961,  5.72215366,
        0.45438236, -0.15984369,  0.45438236, 21.93306581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000512739445849647
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16527719e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.16527719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592099, -0.09166176,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97980301e-05, 3.07408592e-05, 3.52710753e-06,-5.67569137e-06,
 -1.28321448e-05, 2.07204550e-05, 3.79218926e-05,-1.61121942e-05,
 -2.27189445e-05, 2.22061297e-05, 2.61721549e-06,-1.57835204e-05,
  2.16241825e-02, 1.11238311e-02, 7.16080496e-04,-3.72897985e-04,
  5.69244879e-06, 9.51811234e-07,-4.90499858e+00, 2.45239915e-04,
  1.18276521e-02,-6.80543504e-04]


--- Step 1149 ---
qpos:
[ 0.01871828, 0.03011827,-0.00952196,-0.02558264, 0.00791096, 0.00468161,
 -0.00785211, 0.02712121, 0.01230956, 0.02800043,-0.00834153, 0.02645006,
  1.20128308,-0.00236374, 1.15398793, 0.04525163, 0.05843973,-0.07722046,
  0.17148517, 0.9995626 , 0.02862913,-0.00323269,-0.00667277]

qacc:
[-1.00556168e+00, 2.02450142e+00,-7.52808467e+00, 1.24963074e+01,
  4.83355618e+00,-7.53946987e-01, 3.45978279e+00,-6.74899019e+00,
 -2.22287641e+00,-2.87813012e+00, 1.28394097e+01,-2.38907977e+01,
 -1.53279238e+01, 1.35262990e+01,-3.85062155e+01, 7.22793278e+01,
 -1.95240835e+00, 3.98828647e-02,-2.34657039e-01, 2.89956836e+00,
 -2.19380729e+01,-2.43318949e+01]

qfrc_actuator:
[ 1.08704471e-04, 9.01441819e-04, 1.74129639e-04,-3.44741601e-06,
 -8.66124823e-06, 8.59194046e-05,-5.29257121e-06, 1.11476345e-05,
 -1.29536466e-04, 8.73128652e-04, 2.09515675e-04, 8.59719968e-05,
  1.69177869e-02, 8.39529231e-03, 3.11835171e-03,-1.89484741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89037303,  0.36672947, -0.81134064,  0.36672947,  0.23727014,
       -0.29520532, -0.81134064, -0.29520532,  0.75693896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2189385248763e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42463619, -0.90394606, -0.05065208, -0.02153635, -0.04584559,
        0.99871636, -0.90510789,  0.42518197,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07080416, -0.0456408 ,  0.28314922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69955888,  5.69932658, -0.0514576 ,  5.69932658,  5.70127491,
        0.19006328, -0.0514576 ,  0.19006328, 26.7505359 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005115275072563596
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17040728e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.17040728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592303, -0.09165036,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.91852949e-06, 4.99841239e-05,-5.07146190e-06, 1.62025668e-05,
  2.82536344e-05, 6.15675904e-06, 9.48540087e-06,-8.40209372e-06,
 -1.35368160e-05, 2.50034864e-05, 4.14102134e-05,-2.68063939e-05,
  2.28732137e-02, 1.11318109e-02, 2.19148876e-03,-4.24655474e-04,
  5.73186171e-07,-4.83611877e-07,-4.90499988e+00, 2.42192254e-04,
  1.18262953e-02,-6.80203073e-04]


--- Step 1150 ---
qpos:
[ 0.01871864, 0.0301178 ,-0.0095219 ,-0.02558162, 0.00791112, 0.00468195,
 -0.00785153, 0.02712137, 0.012309  , 0.02800018,-0.00834108, 0.02645018,
  1.20119604,-0.0023855 , 1.15412908, 0.045257  , 0.05842171,-0.07720581,
  0.17148234, 0.99956183, 0.02862483,-0.00333408,-0.00675607]

qacc:
[-3.69788640e+00, 2.50236858e+00,-9.41313925e+00, 1.40734198e+01,
  3.02024160e+00, 1.29752936e+00,-5.63978228e+00, 1.04024170e+01,
  4.64515172e+00,-2.10274293e+00, 8.77082872e+00,-1.49753985e+01,
 -1.37440701e+01, 1.20045637e+01,-3.46409831e+01, 6.51495108e+01,
 -1.90380865e+00, 4.62311133e-02,-3.20503153e-01, 3.89913425e+00,
 -2.15522882e+01,-2.40157508e+01]

qfrc_actuator:
[ 8.68010322e-05, 8.85309530e-04, 1.31541992e-04, 4.99171033e-06,
  8.25226149e-06, 7.82527367e-05,-2.28101243e-05, 2.28706042e-05,
 -1.01159849e-04, 8.63054173e-04, 2.31378204e-04, 6.96183308e-05,
  1.69279700e-02, 8.44572534e-03, 3.13770930e-03,-1.93285177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89023973,  0.27601861, -0.84636901,  0.27601861,  0.16378314,
       -0.23691267, -0.84636901, -0.23691267,  0.81297756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.056343714506046e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42470786, -0.90391081, -0.05068019, -0.02155197, -0.04586931,
        0.99871493, -0.90507389,  0.42525434,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078684, -0.04562151,  0.28308585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67348313,  5.67284615,  0.08501398,  5.67284615,  5.67956507,
       -0.40583777,  0.08501398, -0.40583777, 32.75438446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005083209779062348
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09204919e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09204919e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592542, -0.09164167,  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:
[-2.20576306e-05, 1.14752062e-05,-3.23305532e-05, 1.07175342e-05,
  1.77185638e-05,-2.63558082e-06,-1.53826944e-05, 1.21479304e-05,
  2.79869336e-05, 1.13126997e-05, 3.12022267e-05,-1.43709993e-05,
  2.39367592e-02, 1.11627221e-02, 3.71605074e-03,-3.79739063e-04,
  5.85717146e-06,-2.44730226e-07,-4.90500160e+00, 2.45633577e-04,
  1.18256489e-02,-6.79892428e-04]


--- Step 1151 ---
qpos:
[ 0.01871873, 0.0301177 ,-0.00952239,-0.02558121, 0.00791079, 0.00468249,
 -0.00785152, 0.02712167, 0.01230948, 0.02799982,-0.00834058, 0.0264505 ,
  1.20108671,-0.00237265, 1.15427636, 0.04525203, 0.05841104,-0.07719326,
  0.17148089, 0.99956138, 0.02862114,-0.00339675,-0.00680714]

qacc:
[-2.30160398e+00, 7.47835115e-01, 6.55128567e-01,-1.07710756e+01,
 -4.31674158e+00, 2.15972921e+00,-7.89282621e+00, 1.10538606e+01,
  8.81409581e+00, 8.96660817e-02,-1.38023262e+00, 4.75630060e+00,
 -4.29985178e+01, 7.17783064e+01, 4.40882313e+01,-1.32507502e+02,
  1.83655575e+00,-5.24553660e-01, 3.47441648e-01, 2.21080651e-01,
  1.98135755e+01, 1.55538331e+01]

qfrc_actuator:
[ 7.37726743e-05, 9.11185658e-04, 1.06339285e-04,-2.59926377e-05,
 -1.73734824e-05, 9.12520628e-05,-5.11448294e-05, 2.96896598e-05,
 -4.87320220e-05, 8.39366496e-04, 2.26257636e-04, 7.76980194e-05,
  1.69382404e-02, 8.44904542e-03, 3.16168192e-03,-2.13444211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88945779, -0.85617918,  0.24102359, -0.85617918,  0.8639722 ,
       -0.0905315 ,  0.24102359, -0.0905315 ,  0.56786609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.924741483384157e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24712046e-01, -9.03904923e-01, -5.07500624e-02, -2.15819737e-02,
       -4.59324204e-02,  9.98711385e-01, -9.05071211e-01,  4.25260042e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075981, -0.04559811,  0.28300845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71057284, -5.62056736,  1.00988355, -5.62056736,  5.92618235,
        1.19998764,  1.00988355,  1.19998764, 12.38917587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005128800355782004
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41170911e-14, -1.08234182e-13,  1.00000000e+00, -5.85731910e-27,
        1.00000000e+00,  1.08234182e-13, -1.00000000e+00,  0.00000000e+00,
       -5.41170911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765157, -0.080073  ,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36651005e-05, 2.60794848e-05,-2.64407682e-05,-3.14034320e-05,
 -2.51230066e-05, 8.85526496e-06,-3.03653294e-05, 6.40712457e-06,
  5.32518653e-05,-1.15206406e-05, 5.57867276e-07, 9.36243390e-06,
  2.48975250e-02, 1.11550174e-02, 5.09108308e-03,-5.08172489e-04,
  2.09321171e-05, 1.89348638e-06,-4.90500331e+00, 2.55236282e-04,
  1.18261839e-02,-6.79670769e-04]


--- Step 1152 ---
qpos:
[ 0.01871901, 0.03011767,-0.00952281,-0.02558154, 0.0079098 , 0.00468303,
 -0.00785177, 0.02712136, 0.01231058, 0.02799924,-0.00834032, 0.0264506 ,
  1.20095128,-0.00236345, 1.15443812, 0.04524288, 0.05840691,-0.07718276,
  0.17148043, 0.99956114, 0.02862298,-0.00342481,-0.00682146]

qacc:
[ 1.61150240e+00,-1.62884862e+00, 8.96854068e+00,-2.16453137e+01,
 -5.71960486e+00,-5.30410128e-01, 4.48578717e+00,-1.46342399e+01,
  5.32579462e+00,-8.29760463e-02, 7.54907507e-01,-3.91449214e+00,
 -1.90220266e+01, 1.41238185e+01, 3.53306491e+01,-8.96566182e+01,
  1.63615203e+00,-5.15055729e-01, 2.46784422e-01, 2.70855104e+00,
  1.78449834e+01, 1.78662768e+01]

qfrc_actuator:
[ 8.38305270e-05, 9.08778229e-04, 1.09496780e-04,-6.21249315e-05,
 -5.00752951e-05, 8.09653908e-05,-6.78040095e-05,-1.92725856e-06,
 -1.80866629e-05, 8.07612934e-04, 2.05202515e-04, 6.45514653e-05,
  1.69548673e-02, 8.40738983e-03, 3.14380375e-03,-2.22945671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8890896 , -0.82622467,  0.32837952, -0.82622467,  0.80993556,
       -0.19915683,  0.32837952, -0.19915683,  0.3879978 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1977356521196083e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42472357, -0.90389717, -0.05079176, -0.02160034, -0.04596986,
        0.99870927, -0.90506537,  0.42527248,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074395, -0.04557955,  0.28295524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.75305683,  5.55438337, -1.498829  ,  5.55438337,  6.96900729,
        4.50608774, -1.498829  ,  4.50608774, 22.45178551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005180871706792073
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.35731768e-14, -1.07146354e-13,  1.00000000e+00, -5.74017055e-27,
        1.00000000e+00,  1.07146354e-13, -1.00000000e+00,  0.00000000e+00,
       -5.35731768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765554, -0.08005792,  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:
[ 9.67181766e-06, 5.37386435e-06, 4.20726358e-06,-3.65410850e-05,
 -3.34117327e-05,-1.13616083e-05,-1.83544158e-05,-3.21642439e-05,
  3.22026248e-05,-3.76529290e-05,-2.30461895e-05,-1.34418817e-05,
  2.60273855e-02, 9.38292994e-03, 4.76428189e-03,-8.70571230e-05,
  7.96571086e-06, 6.39379298e-07,-4.90500133e+00, 2.47472601e-04,
  1.18269343e-02,-6.79837654e-04]


--- Step 1153 ---
qpos:
[ 0.01871907, 0.03011733,-0.00952302,-0.02558225, 0.00790913, 0.00468349,
 -0.0078522 , 0.02712068, 0.0123117 , 0.02799787,-0.00834007, 0.02645094,
  1.20079113,-0.0023673 , 1.15461836, 0.04523132, 0.05840874,-0.07717423,
  0.17148058, 0.99956101, 0.0286337 ,-0.00342129,-0.00679623]

qacc:
[ -1.92897707, -1.75596842,  7.35103776,-14.24458016,  2.68259808,
  -0.35824045,  2.68524556, -8.73999805,  0.14236361, -0.48427128,
  -0.78784544,  5.59425162,-11.35136409, -1.63899646, 35.11540108,
 -82.00794322,  1.49155897, -0.48969162,  0.1541397 ,  4.39551543,
  16.38007292, 19.29189019]

qfrc_actuator:
[ 7.18877678e-05, 8.71806488e-04, 1.11511073e-04,-8.32411972e-05,
 -3.34086041e-05, 7.45752054e-05,-7.75492954e-05,-2.04087130e-05,
 -1.82684784e-05, 7.35672655e-04, 1.92609129e-04, 7.45056702e-05,
  1.69604775e-02, 8.38089322e-03, 3.11049402e-03,-2.29804363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88883738, -0.80054102,  0.38622009, -0.80054102,  0.77071971,
       -0.24482942,  0.38622009, -0.24482942,  0.38136507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5090722891962515e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42479117, -0.90386381, -0.05082008, -0.02161585, -0.04599387,
        0.99870782, -0.90503327,  0.42534078,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07073844, -0.04556429,  0.28292384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77087869,  5.54758014, -1.5897784 ,  5.54758014,  7.53610056,
        6.15979548, -1.5897784 ,  6.15979548, 27.26567255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005202669983038893
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06697429e-13, -1.06697429e-13,  1.00000000e+00, -1.13843414e-26,
        1.00000000e+00,  1.06697429e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06697429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765803, -0.08004607,  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:
[-1.16570753e-05,-3.46528850e-05, 2.38342683e-06,-2.14509421e-05,
  1.57152799e-05,-1.79411297e-05,-1.54672118e-05,-2.02279654e-05,
  7.49716220e-07,-9.82999331e-05,-2.36714209e-05, 7.28098682e-06,
  2.73377410e-02, 9.53762492e-03, 4.00370403e-03, 5.30574691e-05,
  1.18819406e-06, 1.82507213e-07,-4.90500020e+00, 2.43301011e-04,
  1.18274828e-02,-6.80012873e-04]


--- Step 1154 ---
qpos:
[ 0.01871967, 0.03011666,-0.00952318,-0.02558285, 0.00790865, 0.00468398,
 -0.00785285, 0.02712046, 0.01231212, 0.02799588,-0.00834003, 0.02645174,
  1.20060983,-0.00238587, 1.15482105, 0.04521906, 0.05841601,-0.07716753,
  0.17148105, 0.99956094, 0.02865592,-0.00338888,-0.00672868]

qacc:
[  4.6915344 , -0.38731413,  0.22306888,  1.93439522,  1.79283912,
   1.60924994, -7.65140772, 16.02072377, -5.9605738 ,  0.68818301,
  -5.56873697, 14.24193813, -7.49614959, -6.61833262, 35.4841496 ,
 -75.45407723,  1.35941164, -0.45876831,  0.07662229,  5.7176217 ,
  15.08496098, 20.72571263]

qfrc_actuator:
[ 1.00341299e-04, 8.49935061e-04, 1.12685800e-04,-7.76370202e-05,
 -2.33210677e-05, 8.83546629e-05,-8.31147562e-05, 4.50195459e-06,
 -5.43392229e-05, 7.11270663e-04, 1.84963270e-04, 9.79476969e-05,
  1.69602917e-02, 8.39212970e-03, 3.09367327e-03,-2.27986750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88866315, -0.77196819,  0.4402128 , -0.77196819,  0.73028105,
       -0.27774282,  0.4402128 , -0.27774282,  0.40160639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.163965861549482e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24915373e-01, -9.03804084e-01, -5.08439117e-02, -2.16323387e-02,
       -4.60124470e-02,  9.98706612e-01, -9.04974568e-01,  4.25465665e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07074236, -0.04555187,  0.28291214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76872799,  5.51297373, -1.69862984,  5.51297373,  8.35522554,
        8.39458531, -1.69862984,  8.39458531, 33.0137035 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000520004080588124
  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([ 0.02765933, -0.08003677,  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:
[ 2.81039493e-05,-4.16631109e-05,-6.42241567e-06, 3.78857824e-06,
  1.05293528e-05,-3.19964244e-07,-1.18759633e-05, 2.32137652e-05,
 -3.60863506e-05,-8.39001919e-05,-3.06014301e-05, 1.85540363e-05,
  2.85720821e-02, 1.02018682e-02, 3.05935586e-03, 1.90866253e-04,
  8.73114549e-07,-4.39932229e-08,-4.90500036e+00, 2.42798198e-04,
  1.18269917e-02,-6.80267111e-04]


--- Step 1155 ---
qpos:
[ 0.01872061, 0.0301157 ,-0.00952332,-0.02558373, 0.00790762, 0.00468432,
 -0.0078532 , 0.02712019, 0.0123121 , 0.02799375,-0.00833974, 0.02645238,
  1.20065314,-0.00238413, 1.15503945, 0.04520656, 0.05843215,-0.07716044,
  0.17148072, 0.99956126, 0.02866924,-0.00331473,-0.00666141]

qacc:
[ 2.89069892e+00,-9.89425469e-01, 4.16012604e+00,-8.79189742e+00,
 -4.95966695e+00,-1.14273076e+00, 4.03927176e+00,-5.42469832e+00,
 -3.70905805e+00,-1.20721299e+00, 4.72947962e+00,-7.87291937e+00,
  1.61373935e+02,-1.25510864e+02, 1.33612150e+01,-3.71945861e+01,
  2.21501694e+00, 9.79921484e-02,-1.97330763e-01,-4.59003294e+00,
  2.08263417e+01,-7.26169611e-01]

qfrc_actuator:
[ 1.16845681e-04, 8.37289902e-04, 1.13419782e-04,-9.18558705e-05,
 -5.27076205e-05, 7.86581458e-05,-6.83065589e-05, 1.50390342e-06,
 -7.57289471e-05, 7.51060755e-04, 2.15985661e-04, 9.36662891e-05,
  1.69785010e-02, 8.41512787e-03, 3.04844263e-03,-2.22814261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.75067406,  5.45317777, -1.82567912,  5.45317777,  9.57454541,
       11.42164031, -1.82567912, 11.42164031, 39.86632686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005177955285994157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36033513e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.36033513e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276597 , -0.08002948,  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:
[ 1.73113916e-05,-3.70712965e-05,-8.52136150e-06,-1.61491177e-05,
 -2.90879193e-05,-1.13397724e-05, 1.40845343e-05,-2.97048809e-06,
 -2.24832821e-05,-1.25950123e-05, 1.05872556e-05,-8.57047006e-06,
  2.96470640e-02, 1.09605456e-02, 1.88754829e-03, 2.76121679e-04,
  7.29873813e-06,-3.53786189e-07,-4.90500221e+00, 2.45868861e-04,
  1.18248274e-02,-6.80660265e-04]


--- Step 1156 ---
qpos:
[ 0.01872104, 0.03011476,-0.00952332,-0.02558482, 0.00790658, 0.00468455,
 -0.00785337, 0.02711953, 0.01231183, 0.02799135,-0.00833877, 0.02645259,
  1.20063216,-0.00235973, 1.15529946, 0.0451902 , 0.05845342,-0.07715446,
  0.17148004, 0.9995616 , 0.02869351,-0.00321379,-0.00655394]

qacc:
[-4.27464609e+00,-8.00274828e-01, 3.79162305e+00,-7.69403781e+00,
  1.56138779e-02,-1.45872537e+00, 6.61001161e+00,-1.34108108e+01,
 -2.16353889e+00,-3.12260700e+00, 1.24007549e+01,-2.05518008e+01,
 -6.90618872e+01, 8.44881712e+01, 7.84824242e+01,-1.73118962e+02,
  1.28507355e+00,-2.77507915e-01,-8.78227271e-02, 5.45044345e+00,
  1.39992285e+01, 1.96886239e+01]

qfrc_actuator:
[ 9.06665261e-05, 8.65757157e-04, 1.31661189e-04,-9.98682035e-05,
 -5.18328254e-05, 7.27998477e-05,-5.94564726e-05,-1.79028289e-05,
 -8.82936614e-05, 7.40372883e-04, 2.52091019e-04, 7.31895935e-05,
  1.69704132e-02, 8.38053391e-03, 2.99128979e-03,-2.31622231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88891238, -0.67682757,  0.57625485, -0.67682757,  0.60564961,
       -0.33270011,  0.57625485, -0.33270011,  0.49814672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7425564458879814e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25135445e-01, -9.03700803e-01, -5.08400547e-02, -2.16418964e-02,
       -4.60036899e-02,  9.98706808e-01, -9.04870975e-01,  4.25685939e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0707758 , -0.04554999,  0.28292951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71759628, -5.32698571,  2.07704849, -5.32698571,  7.36299817,
        4.21994596,  2.07704849,  4.21994596, 16.54044991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005137419572416868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62078891e-13, -1.08052594e-13,  1.00000000e+00, -1.75130447e-26,
        1.00000000e+00,  1.08052594e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62078891e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765923, -0.08002379,  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:
[-2.56832314e-05, 5.32737489e-06, 8.98990676e-06,-1.02052895e-05,
  4.37447198e-08,-9.43499980e-06, 8.14174636e-06,-1.94612846e-05,
 -1.32351210e-05,-1.58466966e-05, 3.45322782e-05,-2.08132657e-05,
  1.84120237e-02, 9.91290438e-03, 1.04189208e-03, 2.00144174e-04,
  1.24366839e-05, 2.33201854e-07,-4.90500268e+00, 2.49826951e-04,
  1.18252890e-02,-6.80808619e-04]


--- Step 1157 ---
qpos:
[ 0.01872151, 0.03011404,-0.00952296,-0.02558569, 0.00790591, 0.00468494,
 -0.00785381, 0.02711865, 0.01231071, 0.02798926,-0.00833816, 0.02645256,
  1.20062264,-0.00237724, 1.15554243, 0.04518773, 0.05846579,-0.0771482 ,
  0.17147998, 0.99956157, 0.02871442,-0.00315875,-0.00649411]

qacc:
[ 2.43122008e-01,-2.84378738e-01, 5.05443340e-01, 2.50921684e+00,
  3.18255215e+00, 5.12095184e-01,-5.81574631e-01,-3.00483429e+00,
 -7.16194593e+00, 9.15900262e-01,-1.58712297e+00,-2.41256288e+00,
  4.04583534e+01,-7.66476506e+01,-7.09657199e+01, 2.03071582e+02,
 -2.22660175e+00, 7.11708357e-02, 1.55298569e-01,-1.60291155e+00,
 -2.36338956e+01,-2.31466000e+01]

qfrc_actuator:
[ 9.28357037e-05, 9.00953724e-04, 1.60273289e-04,-8.63604825e-05,
 -3.31412102e-05, 8.70040020e-05,-7.19515845e-05,-2.90579231e-05,
 -1.31073648e-04, 7.70584832e-04, 2.37448991e-04, 6.10680727e-05,
  1.69484840e-02, 8.35418056e-03, 2.97734607e-03,-2.12943269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88974572,  0.65456346, -0.60265589,  0.65456346,  0.69842477,
       -0.20779968, -0.60265589, -0.20779968,  0.66404797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.385926701199806e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25201129e-01, -9.03671497e-01, -5.08116722e-02, -2.16331249e-02,
       -4.59764499e-02,  9.98708253e-01, -9.04840322e-01,  4.25751092e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07080526, -0.04555856,  0.28295793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73963769, -5.66635904,  0.9142297 , -5.66635904,  5.9039337 ,
        1.01830009,  0.9142297 ,  1.01830009, 12.05102083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005164441004258391
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07487241e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07487241e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09593669, -0.09155163,  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:
[ 1.42581451e-06, 3.96213717e-05, 3.04804840e-05, 1.38536103e-05,
  1.86900475e-05, 9.77071415e-06,-1.41139985e-05,-1.16551612e-05,
 -4.31808843e-05, 2.76612018e-05,-1.43657153e-05,-1.20076264e-05,
  2.16024604e-02, 8.75261895e-03,-1.05685648e-03, 5.78448825e-04,
  2.71977836e-05, 7.54865303e-08,-4.90500612e+00, 2.58468787e-04,
  1.18219182e-02,-6.81038678e-04]


--- Step 1158 ---
qpos:
[ 0.018722  , 0.03011352,-0.00952202,-0.02558572, 0.00790546, 0.0046853 ,
 -0.00785434, 0.02711766, 0.0123091 , 0.02798787,-0.00833821, 0.02645201,
  1.20060891,-0.00239495, 1.15576511, 0.045192  , 0.05846955,-0.07714147,
  0.17147995, 0.99956114, 0.02873409,-0.00314826,-0.00647892]

qacc:
[ 2.04829511e-01, 3.82842817e-01,-4.51577194e+00, 1.80064222e+01,
  2.01539388e+00,-2.42991031e-02, 5.12385309e-01,-2.34390222e+00,
 -4.33478939e+00, 1.71222159e+00,-2.55279856e+00,-5.91421875e+00,
 -1.60770715e+00, 5.92468698e-01,-5.03287713e+01, 1.32684415e+02,
 -2.15034717e+00, 1.15701206e-01, 6.56201846e-03,-5.40083012e-01,
 -2.29073468e+01,-2.16662383e+01]

qfrc_actuator:
[ 9.39345637e-05, 9.22234963e-04, 1.94832138e-04,-4.25313182e-05,
 -2.18746797e-05, 7.75259783e-05,-7.91042518e-05,-3.52623952e-05,
 -1.55793128e-04, 8.24864213e-04, 2.10880354e-04, 3.62052122e-05,
  1.69457017e-02, 8.42376842e-03, 2.98778222e-03,-1.86492379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89042872,  0.57879518, -0.67665313,  0.57879518,  0.4721052 ,
       -0.35782535, -0.67665313, -0.35782535,  0.58435228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.285024118516268e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25279824e-01, -9.03634451e-01, -5.08119031e-02, -2.16372273e-02,
       -4.59747745e-02,  9.98708241e-01, -9.04803239e-01,  4.25829894e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082261, -0.04556158,  0.28296278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77779761,  5.76946501, -0.31019136,  5.76946501,  5.82027487,
        0.79006407, -0.31019136,  0.79006407, 20.47274913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005211125669936228
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -1.065243e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  1.065243e-13, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09593772, -0.09153554,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15452005e-06, 5.03484140e-05, 4.69809467e-05, 4.68524569e-05,
  1.18021473e-05,-7.42953229e-06,-7.27423046e-06,-6.49962984e-06,
 -2.59815430e-05, 6.63155996e-05,-2.30218026e-05,-2.44032788e-05,
  2.10268158e-02, 1.09182003e-02,-1.99020532e-04, 1.47832360e-04,
  8.43379381e-06,-4.64396654e-07,-4.90500249e+00, 2.47048067e-04,
  1.18237751e-02,-6.81764462e-04]


--- Step 1159 ---
qpos:
[ 0.01872215, 0.03011315,-0.00952056,-0.02558556, 0.0079055 , 0.00468532,
 -0.00785458, 0.0271173 , 0.01230823, 0.02798671,-0.00833813, 0.02645082,
  1.20058795,-0.00240692, 1.15596329, 0.04520015, 0.05846502,-0.07713419,
  0.17147945, 0.99956025, 0.02875479,-0.00318113,-0.006507  ]

qacc:
[-2.86243510e+00,-8.33283068e-01, 2.43431916e+00,-1.11904899e-02,
  4.27162251e+00, 3.91624737e-02,-3.48018377e+00, 1.42863757e+01,
  6.38941464e+00,-1.34544488e+00, 7.87976578e+00,-1.91547353e+01,
 -8.16893281e+00, 1.20896899e+01,-4.72768062e+01, 1.14268599e+02,
 -2.07540769e+00, 1.37359847e-01,-1.18776505e-01, 5.92660418e-01,
 -2.22922580e+01,-2.10076741e+01]

qfrc_actuator:
[ 7.66329253e-05, 9.17331598e-04, 2.14839668e-04,-3.44803688e-05,
  2.67790970e-06, 5.39611885e-05,-6.53743343e-05,-3.01147392e-06,
 -1.16416618e-04, 8.22060969e-04, 2.13107084e-04, 4.06747412e-06,
  1.69500792e-02, 8.47273576e-03, 2.98179671e-03,-1.72973054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89059358,  0.47989104, -0.75024097,  0.47989104,  0.34281861,
       -0.35038382, -0.75024097, -0.35038382,  0.66647085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.474896207016593e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42530451, -0.90362119, -0.05084111, -0.02165096, -0.0460006 ,
        0.99870675, -0.90479131,  0.42585525,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082799, -0.04555957,  0.28294602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.78882675,  5.78522505, -0.20417222,  5.78522505,  5.81262752,
        0.67439528, -0.20417222,  0.67439528, 24.89783435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005224596562224681
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06249642e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06249642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09593933, -0.09152316,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72536059e-05, 3.49664861e-05, 3.78078415e-05, 1.27433457e-05,
  2.48859651e-05,-2.95009780e-05, 1.10781981e-05, 3.15564835e-05,
  3.86348054e-05, 2.85174428e-05, 1.22626050e-05,-3.05621518e-05,
  2.12409544e-02, 1.09782571e-02, 8.04825145e-04,-5.54558005e-05,
  5.17913171e-07,-2.11399724e-07,-4.90500052e+00, 2.42249096e-04,
  1.18251793e-02,-6.82344017e-04]


--- Step 1160 ---
qpos:
[ 0.01872244, 0.03011285,-0.00951901,-0.0255863 , 0.00790584, 0.00468504,
 -0.00785467, 0.02711802, 0.01230887, 0.02798541,-0.00833762, 0.02644998,
  1.20055853,-0.00241404, 1.15613656, 0.04521137, 0.05845243,-0.07712632,
  0.17147803, 0.99955887, 0.02877849,-0.00325643,-0.0065775 ]

qacc:
[  1.16975525, -2.04073197, 11.2294912 ,-27.06154285,  2.59750426,
   1.40564767,-10.18308725, 28.96159314, 12.90780874, -0.73652088,
   0.88469233,  4.4401278 , -8.51594717, 11.5640181 ,-45.46239533,
 107.08580277, -2.01404949,  0.14873821, -0.22764731,  1.57803744,
 -21.80780856,-20.59759231]

qfrc_actuator:
[ 8.41447562e-05, 8.96701979e-04, 2.08204117e-04,-8.30894903e-05,
  1.71033120e-05, 4.00120601e-05,-5.72172501e-05, 5.16065667e-05,
 -3.96352605e-05, 8.02954614e-04, 2.32096128e-04, 2.11432507e-05,
  1.69538515e-02, 8.46794860e-03, 2.99902343e-03,-1.58318303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89014678,  0.3796174 , -0.80514093,  0.3796174 ,  0.23822737,
       -0.3073747 , -0.80514093, -0.3073747 ,  0.74522211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9389721658887743e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25260601e-01, -9.03638428e-01, -5.09019942e-02, -2.16747106e-02,
       -4.60567035e-02,  9.98703653e-01, -9.04811377e-01,  4.25812602e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082181, -0.04555288,  0.2829094 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77800308,  5.77756464, -0.07117883,  5.77756464,  5.78175653,
        0.30466618, -0.07117883,  0.30466618, 30.50766567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005211376722044081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06519168e-13,  1.06519168e-13,  1.00000000e+00,  1.13463331e-26,
        1.00000000e+00, -1.06519168e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06519168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09594143, -0.09151372,  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:
[ 7.01883465e-06, 7.26707780e-06, 5.67106098e-06,-4.55579330e-05,
  1.51205770e-05,-2.67942133e-05, 4.52190875e-06, 5.43515171e-05,
  7.79216524e-05,-1.88136646e-06, 2.53455789e-05, 1.81306648e-05,
  2.16063308e-02, 1.06862649e-02, 2.04364341e-03,-1.03280775e-04,
  2.04214820e-06, 1.05064291e-06,-4.90499972e+00, 2.43270922e-04,
  1.18266337e-02,-6.82853543e-04]


--- Step 1161 ---
qpos:
[ 0.01872281, 0.03011289,-0.00951794,-0.02558726, 0.00790599, 0.00468482,
 -0.00785502, 0.02711869, 0.01230974, 0.02798405,-0.00833717, 0.02644971,
  1.20046956,-0.00244572, 1.15629584, 0.04522139, 0.05844066,-0.07711481,
  0.17147749, 0.99955811, 0.02877455,-0.00333639,-0.00666873]

qacc:
[  0.73025984,  1.33372645, -3.18169606, -0.13357477, -1.54612553,
   0.7058407 , -2.16789673,  1.55152668,  1.93222542,  1.27016193,
  -7.11056718, 17.32072741,-28.81553188,  2.42778231,-15.64299465,
  27.87304986,  0.2066782 ,  0.91043965,  0.21892843,-13.83968899,
  -2.71640926,-10.24843069]

qfrc_actuator:
[ 8.84547036e-05, 9.19899684e-04, 1.85787610e-04,-9.36642987e-05,
  7.69600630e-06, 4.96867066e-05,-7.01322914e-05, 4.79305202e-05,
 -3.02370285e-05, 7.92092404e-04, 2.25268580e-04, 4.92754647e-05,
  1.69469786e-02, 8.44726125e-03, 3.02576941e-03,-1.57260094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88930381,  0.44397504, -0.77055008,  0.44397504,  0.4394141 ,
       -0.25921716, -0.77055008, -0.25921716,  0.73994824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6451894903314187e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42514545, -0.90368724, -0.05099728, -0.02170951, -0.04614563,
        0.99869879, -0.90486465,  0.42569937,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07080448, -0.0455417 ,  0.28285408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.78489939, -4.81867808, -3.20084402, -4.81867808,  8.65467056,
       -4.32026783, -3.20084402, -4.32026783, 12.28880266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005219800822127696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06347259e-13, -1.06347259e-13,  1.00000000e+00, -1.13097396e-26,
        1.00000000e+00,  1.06347259e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06347259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06379648, -0.1103696 ,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51817585e-06, 2.64777944e-05,-2.18070241e-05,-1.09561520e-05,
 -8.98939327e-06,-2.03090660e-06,-1.60101918e-05,-3.61148673e-06,
  1.16779935e-05,-5.82971633e-06,-3.45841300e-06, 2.92819452e-05,
  2.20216148e-02, 1.04232524e-02, 3.31212594e-03,-2.47433707e-04,
  1.22386611e-05, 3.56710811e-06,-4.90499965e+00, 2.49698293e-04,
  1.18285521e-02,-6.83352848e-04]


--- Step 1162 ---
qpos:
[ 0.01872255, 0.03011324,-0.00951748,-0.02558799, 0.00790604, 0.00468497,
 -0.00785624, 0.02711896, 0.01231003, 0.02798291,-0.00833748, 0.02645015,
  1.20032605,-0.00250209, 1.15644136, 0.04522961, 0.05842988,-0.07709995,
  0.17147753, 0.99955785, 0.02874697,-0.00342077,-0.00678303]

qacc:
[ -5.5194736 ,  2.63182417, -9.75388165, 14.57351404, -1.03694917,
   2.09051299, -5.06710577, -0.6675311 , -4.99301842,  3.8861864 ,
 -16.37021406, 29.5082441 ,-24.84872498, -1.21861712,-13.77260113,
  21.25383362,  0.24567339,  0.83596334,  0.14557957,-11.84749222,
  -2.61762291,-11.42346493]

qfrc_actuator:
[ 5.53324596e-05, 9.33603421e-04, 1.54447318e-04,-8.17382177e-05,
  2.09281995e-06, 7.33032706e-05,-1.13081921e-04, 2.77400986e-05,
 -6.05877843e-05, 8.03909171e-04, 1.85519121e-04, 8.36637165e-05,
  1.69386222e-02, 8.46226215e-03, 2.99423311e-03,-1.65829804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88887727,  0.42853221, -0.77875731,  0.42853221,  0.45385572,
       -0.23938234, -0.77875731, -0.23938234,  0.75715069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6374290584008566e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42520235, -0.90365741, -0.05105132, -0.02173548, -0.04619314,
        0.99869603, -0.90483729,  0.42575753,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078764, -0.04552311,  0.28279704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.78027483,  5.75396917,  0.55083199,  5.75396917,  5.99498533,
       -2.24285741,  0.55083199, -2.24285741, 29.20907477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005214152163673935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06462469e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06462469e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06379543, -0.11036016,  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:
[-3.29810401e-05, 2.35255083e-05,-2.89479693e-05, 1.20912844e-05,
 -5.85856780e-06, 1.90266912e-05,-4.54603736e-05,-2.09015211e-05,
 -3.00151694e-05, 9.14856026e-06,-4.03548642e-05, 3.45909293e-05,
  2.49900101e-02, 1.16667739e-02, 3.97735538e-03,-2.73689566e-04,
  1.79034088e-05, 1.59377687e-06,-4.90500211e+00, 2.52701422e-04,
  1.18259303e-02,-6.83241362e-04]


--- Step 1163 ---
qpos:
[ 0.01872189, 0.03011359,-0.00951699,-0.02558891, 0.00790602, 0.00468521,
 -0.00785791, 0.027119  , 0.01230995, 0.02798237,-0.0083385 , 0.02645094,
  1.20016314,-0.00251861, 1.15660235, 0.04523027, 0.05842547,-0.07708713,
  0.1714784 , 0.99955783, 0.02872365,-0.00346764,-0.00686127]

qacc:
[  -3.38655969,  -0.50770227,   2.63229168,  -6.1208478 ,  -0.60901791,
    0.90210423,  -2.04012989,  -1.39308129,  -3.15446217,   3.48662735,
  -12.74912518,  19.52216191, -44.7158585 ,  78.22509685,  49.75854843,
 -131.75717824,   1.59509343,  -0.50982447,   0.20589407,   2.06305422,
   19.27802014,  17.47536902]

qfrc_actuator:
[ 3.59492512e-05, 9.23741005e-04, 1.53580716e-04,-9.21873031e-05,
 -1.21867458e-06, 6.94370575e-05,-1.37847603e-04, 1.57536246e-05,
 -7.85638466e-05, 8.64583285e-04, 1.62257133e-04, 1.03703529e-04,
  1.69576974e-02, 8.50861717e-03, 2.95483745e-03,-1.72968578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8886853 , -0.82471703,  0.33106402, -0.82471703,  0.83746753,
       -0.12758914,  0.33106402, -0.12758914,  0.57084666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.588019173834929e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42541563, -0.90355595, -0.05107039, -0.02175453, -0.04620525,
        0.99869506, -0.90473658,  0.42597149,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07077175, -0.04549803,  0.28273984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79935789, -4.10991467,  4.09159544, -4.10991467,  9.85982719,
        4.07864917,  4.09159544,  4.07864917,  9.89626832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005237450222137369
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.29944428e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.29944428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276818 , -0.07993843,  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:
[-2.03369236e-05,-2.19548989e-06, 8.38980638e-07,-1.02067106e-05,
 -3.46864305e-06,-3.50633394e-06,-2.71457930e-05,-1.31488181e-05,
 -1.88570745e-05, 5.89710415e-05,-2.51282845e-05, 1.97123361e-05,
  2.77353159e-02, 1.29479687e-02, 4.62186942e-03,-2.56449084e-04,
  2.54963605e-05,-2.47924732e-07,-4.90500589e+00, 2.56451737e-04,
  1.18222193e-02,-6.82553351e-04]


--- Step 1164 ---
qpos:
[ 0.018721  , 0.0301138 ,-0.00951618,-0.02558996, 0.0079063 , 0.00468515,
 -0.00785915, 0.02711853, 0.01230931, 0.0279823 ,-0.0083392 , 0.02645122,
  1.19997785,-0.00253598, 1.15678133, 0.04522783, 0.05842675,-0.07707634,
  0.17147977, 0.99955794, 0.02870913,-0.00348128,-0.0068987 ]

qacc:
[ -1.94043228, -1.31884107,  4.98051794, -7.53654528,  2.70691594,
  -2.64493435, 10.96282544,-20.09035575, -4.77067159, -1.30112372,
   7.68196178,-17.33702047,-18.17875929, 16.00550335, 37.24918786,
 -88.80362536,  1.4190004 , -0.5074411 ,  0.12778328,  4.34945542,
  17.22725342, 19.90591908]

qfrc_actuator:
[ 2.48199967e-05, 9.17695583e-04, 1.70599566e-04,-9.79677949e-05,
  1.45964705e-05, 4.92127495e-05,-1.16262010e-04,-9.06389050e-06,
 -1.06850888e-04, 9.00837742e-04, 1.84629171e-04, 7.96946585e-05,
  1.69867067e-02, 8.53688488e-03, 2.89794055e-03,-1.83925376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8886285 , -0.79691279,  0.39318013, -0.79691279,  0.77659049,
       -0.22708301,  0.39318013, -0.22708301,  0.42836783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.028675274741475e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42561203, -0.90346357, -0.05106832, -0.02176369, -0.04619865,
        0.99869516, -0.90464398,  0.42616811,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076587, -0.04547785,  0.28270394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.81369413,  5.18736425, -2.62493649,  5.18736425,  9.88679475,
        8.04920675, -2.62493649,  8.04920675, 21.72042841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005254934365792469
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58454361e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58454361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276872 , -0.07992579,  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:
[-1.17236835e-05,-7.55781410e-06, 1.63094697e-05,-6.04303711e-06,
  1.57169892e-05,-2.83463620e-05, 1.70796564e-05,-2.61596727e-05,
 -2.88220666e-05, 6.49082478e-05, 3.21574013e-05,-2.19650826e-05,
  2.87333952e-02, 1.09839304e-02, 3.78902543e-03, 1.16400166e-05,
  1.06850937e-05,-3.94119698e-07,-4.90500291e+00, 2.47633471e-04,
  1.18246868e-02,-6.82288892e-04]


--- Step 1165 ---
qpos:
[ 0.01872102, 0.03011382,-0.00951544,-0.02559034, 0.00790677, 0.00468483,
 -0.00786013, 0.02711813, 0.01230937, 0.02798232,-0.00833951, 0.02645194,
  1.2000191 ,-0.00253285, 1.15698787, 0.04521504, 0.05843679,-0.07706527,
  0.17148062, 0.99955851, 0.02868419,-0.00345086,-0.00693474]

qacc:
[ 7.78657076e+00, 1.28466430e+00,-7.78018635e+00, 1.95533425e+01,
  1.66025605e+00,-9.33042211e-01, 2.57050398e+00,-1.74984037e+00,
  5.97408797e+00,-7.67830900e-02,-1.41413098e+00, 8.35819669e+00,
  1.61537940e+02,-1.24679910e+02, 6.14418434e+01,-1.79892511e+02,
  2.19261268e+00, 7.07902333e-02,-1.33085240e-01,-5.36224886e+00,
  2.20037000e+01, 8.41953788e-02]

qfrc_actuator:
[ 7.18916631e-05, 8.96308106e-04, 1.62541514e-04,-6.54378621e-05,
  2.37889253e-05, 3.72798819e-05,-1.03077135e-04,-5.71588670e-06,
 -6.99739101e-05, 8.86840900e-04, 1.98146640e-04, 1.00987809e-04,
  1.70226424e-02, 8.56130197e-03, 2.81910630e-03,-2.15069481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.80804126,  5.14288933, -2.6988947 ,  5.14288933, 11.3839132 ,
       10.62512454, -2.6988947 , 10.62512454, 26.05478878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005248042140199027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05774972e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05774972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769078, -0.07991586,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67256819e-05,-2.25200910e-05,-7.82760836e-06, 3.26536615e-05,
  9.62962200e-06,-2.53542317e-05, 8.54364710e-06, 2.21838821e-06,
  3.60527883e-05, 2.79998809e-05, 3.01350258e-05, 2.47621167e-05,
  2.98870147e-02, 1.10507103e-02, 2.80667814e-03,-1.45567371e-04,
  2.10186811e-06,-1.33610214e-07,-4.90500076e+00, 2.42946977e-04,
  1.18268181e-02,-6.82095299e-04]


--- Step 1166 ---
qpos:
[ 0.01872126, 0.0301141 ,-0.00951499,-0.02559037, 0.007907  , 0.00468454,
 -0.00786136, 0.02711811, 0.01231022, 0.02798252,-0.00833965, 0.02645326,
  1.19999361,-0.0025053 , 1.15723188, 0.04519785, 0.05845206,-0.07705545,
  0.17148129, 0.99955918, 0.02866883,-0.00339121,-0.00693073]

qacc:
[ 1.86565489e+00, 1.89586868e+00,-7.72105912e+00, 1.40341935e+01,
 -2.10597167e+00, 1.52758619e+00,-7.01632375e+00, 1.40656572e+01,
  6.70126240e+00, 9.98300145e-01,-5.77396563e+00, 1.58010193e+01,
 -7.20455004e+01, 8.85860242e+01, 7.42544078e+01,-1.66685482e+02,
  1.30557804e+00,-3.13390383e-01,-4.27523777e-02, 4.75389606e+00,
  1.52166757e+01, 1.95758670e+01]

qfrc_actuator:
[ 8.18293490e-05, 9.36843173e-04, 1.57449601e-04,-4.61660307e-05,
  1.12511870e-05, 4.81564060e-05,-1.12677523e-04, 1.41717845e-05,
 -3.05395216e-05, 8.96125341e-04, 2.06142256e-04, 1.30963563e-04,
  1.70304856e-02, 8.52690004e-03, 2.79483733e-03,-2.39724075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88919471, -0.70188166,  0.54592067, -0.70188166,  0.65691346,
       -0.29864038,  0.54592067, -0.29864038,  0.50523745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4276478547957018e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25967582e-01, -9.03300395e-01, -5.09903415e-02, -2.17485241e-02,
       -4.61195904e-02,  9.98699146e-01, -9.04476988e-01,  4.26522425e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078143, -0.04546167,  0.28267599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.78396726, -5.03865423,  2.84011281, -5.03865423,  8.31224919,
        4.48543396,  2.84011281,  4.48543396, 13.74159159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005218662413783992
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06370458e-13, -1.06370458e-13,  1.00000000e+00, -1.13146744e-26,
        1.00000000e+00,  1.06370458e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06370458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769282, -0.07990808,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12897300e-05, 2.77312212e-05,-9.58730411e-06, 1.86699312e-05,
 -1.22733610e-05,-1.41449734e-06,-1.36928181e-05, 1.91433530e-05,
  4.04994524e-05, 3.22420198e-05, 1.83482298e-05, 3.26978062e-05,
  1.85708818e-02, 9.99405166e-03, 1.40243323e-03, 1.25059448e-04,
  2.95276893e-06, 5.02043317e-07,-4.90500161e+00, 2.40724033e-04,
  1.18260961e-02,-6.81530780e-04]


--- Step 1167 ---
qpos:
[ 0.01872093, 0.03011455,-0.0095146 ,-0.02559018, 0.00790743, 0.00468422,
 -0.00786243, 0.02711866, 0.01231085, 0.02798278,-0.00833956, 0.02645425,
  1.19990869,-0.0024992 , 1.1575107 , 0.04518309, 0.05847157,-0.07704702,
  0.17148171, 0.99955986, 0.02866787,-0.00330693,-0.0068775 ]

qacc:
[-4.90834479e+00, 8.51178047e-01,-3.66549734e+00, 7.55288382e+00,
  1.70378902e+00, 6.51977735e-01,-4.78277304e+00, 1.43100826e+01,
 -1.89031185e+00,-1.23977013e+00, 5.90670670e+00,-1.19972109e+01,
 -3.33465635e+01, 1.04216304e+01, 4.59622505e+01,-8.18346763e+01,
  1.06082091e+00,-3.47411726e-01,-6.18850204e-02, 7.19527926e+00,
  1.30660217e+01, 2.42254597e+01]

qfrc_actuator:
[ 5.20594605e-05, 9.43136519e-04, 1.54392878e-04,-3.47990288e-05,
  2.15314560e-05, 5.47816853e-05,-1.00044438e-04, 4.36327608e-05,
 -4.31947754e-05, 8.83753679e-04, 2.10896201e-04, 1.12554520e-04,
  1.70237358e-02, 8.49833204e-03, 2.75881709e-03,-2.26936402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89072982, -0.66435812,  0.59331939, -0.66435812,  0.5965598 ,
       -0.32939129,  0.59331939, -0.32939129,  0.52190018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6258882265717653e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42611129, -0.90323667, -0.05091847, -0.02172512, -0.04605117,
        0.99870281, -0.90440985,  0.42666476,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07080247, -0.0454632 ,  0.28268255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7476274 ,  4.9746158 , -2.87896134,  4.9746158 , 15.90242239,
       17.54667661, -2.87896134, 17.54667661, 36.06688648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005174225613503169
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07283979e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07283979e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769374, -0.079902  ,  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:
[-2.94329611e-05, 2.06072458e-05, 2.12664488e-06, 1.25840782e-05,
  9.93073453e-06, 3.84694127e-06, 1.13351216e-05, 2.93031008e-05,
 -1.14572617e-05, 1.08577307e-05, 1.48008729e-05,-1.57607327e-05,
  2.18993378e-02, 8.74259531e-03,-5.11286482e-04, 4.71839097e-04,
  4.26486957e-06, 1.17622288e-06,-4.90500111e+00, 2.42707562e-04,
  1.18272290e-02,-6.81076355e-04]


--- Step 1168 ---
qpos:
[ 0.01872162, 0.03011496,-0.00951416,-0.02558983, 0.00790763, 0.00468384,
 -0.00786304, 0.02711953, 0.01231132, 0.02798278,-0.00833953, 0.02645508,
  1.19977537,-0.00252079, 1.1578201 , 0.0451717 , 0.05849472,-0.07703999,
  0.17148178, 0.99956048, 0.0286841 ,-0.00320097,-0.00676982]

qacc:
[  8.79306677,  0.09869877, -1.09154148,  3.69984952, -1.96593317,
  -0.64679513,  0.83071916,  4.17443229, -1.32597254, -0.52900469,
   2.13122937, -4.80785203,-19.97077593, -7.56221077, 35.80363851,
 -57.81798647,  0.9107824 , -0.34990906, -0.08894236,  8.60853258,
  11.67298323, 26.87320459]

qfrc_actuator:
[ 1.05683872e-04, 9.28883323e-04, 1.52436473e-04,-2.81931483e-05,
  9.66120283e-06, 5.89109833e-05,-7.43824103e-05, 6.07532213e-05,
 -5.09044242e-05, 8.40695642e-04, 1.95826495e-04, 1.01309060e-04,
  1.70366045e-02, 8.50937761e-03, 2.69865824e-03,-2.13493676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89239696, -0.63348693,  0.62854327, -0.63348693,  0.55987074,
       -0.33514162,  0.62854327, -0.33514162,  0.55461936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.179271891558218e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26326844e-01, -9.03138280e-01, -5.08593041e-02, -2.17107841e-02,
       -4.59925066e-02,  9.98705828e-01, -9.04308611e-01,  4.26879299e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07083088, -0.04546427,  0.28270429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70240933,  4.86975613, -2.96697613,  4.86975613, 19.6352109 ,
       22.8681806 , -2.96697613, 22.8681806 , 43.23640284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000511877649946979
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62669198e-13, -1.08446132e-13,  1.00000000e+00, -1.76408453e-26,
        1.00000000e+00,  1.08446132e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62669198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276938 , -0.07989726,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27713958e-05,-1.78229588e-06, 2.98825009e-06, 7.80577431e-06,
 -1.15883678e-05, 9.90443346e-06, 2.88814860e-05, 1.82493026e-05,
 -8.04083348e-06,-3.46187532e-05,-1.15542537e-05,-1.05771397e-05,
  2.48823591e-02, 9.82553109e-03,-2.31775769e-03, 4.83395740e-04,
  1.19845297e-05, 1.41891196e-06,-4.90500199e+00, 2.49020284e-04,
  1.18266463e-02,-6.80813693e-04]


--- Step 1169 ---
qpos:
[ 0.01872295, 0.03011547,-0.00951376,-0.02558976, 0.00790734, 0.00468365,
 -0.00786342, 0.02712059, 0.01231169, 0.02798282,-0.00834008, 0.02645611,
  1.19968025,-0.00259331, 1.15809965, 0.04517179, 0.05850878,-0.0770331 ,
  0.17148244, 0.99956058, 0.02870059,-0.00314149,-0.00671284]

qacc:
[ 5.46285197e+00,-3.25320912e-01, 2.49751266e+00,-7.28464301e+00,
 -4.29626928e+00,-2.48628624e-02,-3.04666333e-01, 2.93280713e+00,
 -8.39272624e-01, 2.09050473e+00,-8.25987551e+00, 1.27224255e+01,
  6.83184814e+01,-1.10122964e+02,-8.47831966e+01, 2.19068114e+02,
 -2.27387802e+00,-3.36449097e-02, 1.46170198e-01, 2.11713255e-01,
 -2.39595918e+01,-2.46783663e+01]

qfrc_actuator:
[ 1.36966662e-04, 9.37939967e-04, 1.51051917e-04,-4.22125668e-05,
 -1.51583661e-05, 7.93200269e-05,-5.90110053e-05, 7.04780884e-05,
 -5.56243343e-05, 8.50513542e-04, 1.69050246e-04, 1.12086964e-04,
  1.70570637e-02, 8.52350527e-03, 2.67107608e-03,-2.12275585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89353782,  0.73613721, -0.50647   ,  0.73613721,  1.25140621,
        0.52014972, -0.50647   ,  0.52014972,  1.64955805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.04535538304251e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42660214, -0.90301048, -0.05082027, -0.02170809, -0.04595061,
        0.99870782, -0.90417884,  0.4271541 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708653 , -0.04546502,  0.28273884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73509886, -5.6640286 ,  0.90007715, -5.6640286 ,  5.85959739,
        0.78344757,  0.90007715,  0.78344757, 10.66519783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005158880103357938
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07603104e-13,  1.07603104e-13,  1.00000000e+00, -1.15784280e-26,
        1.00000000e+00, -1.07603104e-13, -1.00000000e+00,  0.00000000e+00,
        1.07603104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09596779, -0.09145526,  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:
[ 3.28177596e-05, 9.00665537e-06,-1.12819987e-06,-1.38453507e-05,
 -2.51473665e-05, 3.27104980e-05, 2.16162071e-05, 1.15045369e-05,
 -4.96674936e-06,-1.23847928e-05,-3.57178366e-05, 8.68722136e-06,
  2.73203712e-02, 1.12240035e-02,-3.88078066e-03, 3.25719020e-04,
  2.82003593e-05, 1.11258437e-06,-4.90500525e+00, 2.59362103e-04,
  1.18230746e-02,-6.80806910e-04]


--- Step 1170 ---
qpos:
[ 0.01872361, 0.0301159 ,-0.00951333,-0.0255895 , 0.0079071 , 0.00468352,
 -0.00786356, 0.02712212, 0.01231166, 0.02798302,-0.00834106, 0.02645723,
  1.19959799,-0.002657  , 1.15834811, 0.04517459, 0.05851412,-0.07702604,
  0.17148308, 0.99956017, 0.02871849,-0.00312685,-0.00670282]

qacc:
[-5.73457296e+00, 2.10495343e-01,-1.70861634e+00, 5.05527471e+00,
  4.44757679e-01, 3.60429446e-01,-3.16592944e+00, 1.08775292e+01,
 -3.46204621e+00, 1.63108318e+00,-5.85998028e+00, 8.00115214e+00,
  5.76060349e+00, 2.35855254e+00,-5.43751092e+01, 1.22934825e+02,
 -2.17926246e+00, 4.23643756e-02,-2.63003233e-03, 7.88083545e-01,
 -2.30790330e+01,-2.28262123e+01]

qfrc_actuator:
[ 1.01564247e-04, 9.25360495e-04, 1.50090496e-04,-3.27319357e-05,
 -1.18885322e-05, 7.37737336e-05,-4.97781745e-05, 9.35332723e-05,
 -7.63002024e-05, 8.74124403e-04, 1.53552550e-04, 1.18018704e-04,
  1.70547238e-02, 8.60929457e-03, 2.66737834e-03,-2.05136314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89381289,  0.66040732, -0.60229864,  0.66040732,  0.58514657,
       -0.33844588, -0.60229864, -0.33844588,  0.52271436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.238408734816394e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26871954e-01, -9.02883202e-01, -5.08159303e-02, -2.17199569e-02,
       -4.59402029e-02,  9.98708036e-01, -9.04051203e-01,  4.27424171e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708873 , -0.04546201,  0.28275027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76918658,  5.74289689, -0.55013556,  5.74289689,  5.90665888,
        1.43508125, -0.55013556,  1.43508125, 20.75008264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005200601451401526
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06739868e-13, -1.06739868e-13,  1.00000000e+00, -1.13933994e-26,
        1.00000000e+00,  1.06739868e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06739868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09596959, -0.09143978,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44443091e-05,-8.38481761e-06, 2.67351968e-07, 9.55379229e-06,
  2.56523839e-06, 1.77038866e-05, 1.90554740e-05, 2.54287365e-05,
 -2.08250613e-05, 9.68174761e-06,-2.21504504e-05, 4.33333151e-06,
  2.54094544e-02, 1.38586690e-02,-2.39678872e-03,-1.78182573e-04,
  8.53661266e-06,-2.18015255e-07,-4.90500221e+00, 2.47257748e-04,
  1.18241157e-02,-6.81432019e-04]


--- Step 1171 ---
qpos:
[ 0.01872385, 0.03011623,-0.00951234,-0.02558916, 0.0079069 , 0.00468313,
 -0.00786338, 0.0271236 , 0.01231138, 0.02798336,-0.00834192, 0.02645769,
  1.19952217,-0.00270316, 1.15855989, 0.04517556, 0.05851113,-0.07701862,
  0.17148323, 0.99955925, 0.02873942,-0.00315554,-0.00673816]

qacc:
[-3.66501756e+00,-1.51418059e+00, 4.91603662e+00,-4.43871418e+00,
  3.75789591e-01,-1.32154509e+00, 4.40384058e+00,-5.49658567e+00,
 -2.11078772e+00,-1.49843050e+00, 8.37792712e+00,-2.00830847e+01,
 -5.41769976e+00, 2.05607183e+01,-4.79885612e+01, 9.07743004e+01,
 -2.08076032e+00, 8.88604933e-02,-1.25157142e-01, 1.59598409e+00,
 -2.22922781e+01,-2.20557524e+01]

qfrc_actuator:
[ 8.04596398e-05, 9.35445000e-04, 1.84827106e-04,-2.72652789e-05,
 -9.86076137e-06, 3.49596974e-05,-4.43303477e-05, 8.87206225e-05,
 -8.84504626e-05, 8.88103693e-04, 1.62657342e-04, 8.55689044e-05,
  1.70609127e-02, 8.68095172e-03, 2.67919703e-03,-2.22429958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89322932,  0.53547821, -0.71492775,  0.53547821,  0.41139286,
       -0.3608937 , -0.71492775, -0.3608937 ,  0.62292128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.822197730654892e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42704803, -0.90279836, -0.05084393, -0.02174092, -0.04596126,
        0.99870661, -0.90396754,  0.42760108,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.070897  , -0.04545559,  0.28274068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77693045,  5.76018008, -0.4396031 ,  5.76018008,  5.89099047,
        1.49454419, -0.4396031 ,  1.49454419, 25.36014925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005210066118907924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06545963e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06545963e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09597182, -0.09142787,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21135598e-05, 5.82493602e-06, 3.33584495e-05, 5.30177119e-06,
  2.10502298e-06,-2.38841681e-05, 1.23313333e-05,-2.90268074e-06,
 -1.27572230e-05, 1.49976544e-05, 8.53369026e-06,-3.27169072e-05,
  2.47726052e-02, 1.34907919e-02,-8.35061070e-04,-4.87336014e-04,
  4.48579843e-07,-2.77836026e-07,-4.90500039e+00, 2.42318063e-04,
  1.18252076e-02,-6.81966225e-04]


--- Step 1172 ---
qpos:
[ 0.01872417, 0.03011643,-0.00951091,-0.0255884 , 0.00790707, 0.00468278,
 -0.0078632 , 0.02712465, 0.01231096, 0.02798392,-0.00834245, 0.02645738,
  1.19944977,-0.00273397, 1.1587378 , 0.04517526, 0.05850011,-0.07701073,
  0.17148243, 0.99955775, 0.02876481,-0.00322649,-0.00681756]

qacc:
[  0.78415275, -0.5420063 , -0.11182153,  6.80873683,  3.25962874,
  -0.84384844,  4.87902229,-12.32961898, -1.21967315, -2.24828393,
  11.69932607,-25.71712559, -6.37795167, 19.41131182,-45.48432177,
  88.08056444, -2.01163082,  0.11640195, -0.23358737,  2.31363034,
 -21.74654349,-21.42078282]

qfrc_actuator:
[ 8.57144943e-05, 9.23663670e-04, 2.04939630e-04,-6.41366413e-06,
  9.16318093e-06, 4.74878970e-05,-4.13243959e-05, 6.75144485e-05,
 -9.54801924e-05, 9.14035559e-04, 1.86154431e-04, 4.85583819e-05,
  1.70829846e-02, 8.76739384e-03, 2.69129663e-03,-2.25634666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89193603,  0.41784793, -0.7880057 ,  0.41784793,  0.27905103,
       -0.32498842, -0.7880057 , -0.32498842,  0.71960765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.7921050872805456e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42711563, -0.9027629 , -0.05090555, -0.02177078, -0.04601531,
        0.99870347, -0.90393488,  0.42767012,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708949 , -0.04544594,  0.28271217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76358665,  5.75573813, -0.30068205,  5.75573813,  5.83318407,
        1.33225288, -0.30068205,  1.33225288, 31.26593634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005193754105238813
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06880592e-13, -1.06880592e-13,  1.00000000e+00, -1.14234609e-26,
        1.00000000e+00,  1.06880592e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06880592e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0959744 , -0.0914188 ,  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:
[ 4.60874855e-06,-1.44035538e-06, 2.55918791e-05, 2.23555399e-05,
  1.90750520e-05, 1.60428784e-06,-5.10227431e-07,-2.18624637e-05,
 -7.39747533e-06, 3.46711059e-05, 2.65196059e-05,-3.67086207e-05,
  2.44720383e-02, 1.27016042e-02, 1.00730764e-03,-4.29136369e-04,
  2.23686239e-06, 9.53727732e-07,-4.90499944e+00, 2.43519542e-04,
  1.18266743e-02,-6.82473496e-04]


--- Step 1173 ---
qpos:
[ 0.01872455, 0.03011651,-0.00950979,-0.025587  , 0.00790747, 0.00468281,
 -0.00786316, 0.02712541, 0.01231045, 0.02798472,-0.00834272, 0.02645698,
  1.19932762,-0.00278311, 1.15890044, 0.04517301, 0.05848985,-0.07699942,
  0.17148241, 0.99955685, 0.02876329,-0.00330251,-0.00691811]

qacc:
[  0.51057678,  2.01392412,-10.083632  , 21.67977389,  1.9801786 ,
   0.30238126,  0.91166612, -6.10831206, -0.68779176, -0.56376193,
   2.86991245, -5.04207886,-25.53660715,  5.33745382,-15.32445748,
  23.86715515,  0.19416419,  0.8561426 ,  0.19211935,-13.47622233,
  -2.92147267,-10.45457952]

qfrc_actuator:
[ 8.86852210e-05, 8.98845930e-04, 1.80667506e-04, 2.32925217e-05,
  2.02862119e-05, 9.06311638e-05,-3.95929786e-05, 5.46275467e-05,
 -9.94424143e-05, 9.29233783e-04, 2.00253235e-04, 4.46884235e-05,
  1.70879981e-02, 8.85787709e-03, 2.70463280e-03,-2.18592816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89028506,  0.48185855, -0.74861193,  0.48185855,  0.50157864,
       -0.2501984 , -0.74861193, -0.2501984 ,  0.72924001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.112355572889595e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42707802, -0.90277521, -0.05100277, -0.02181055, -0.04610404,
        0.99869851, -0.90395169,  0.42763458,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088147, -0.04543304,  0.28266555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74520515, -4.79345411, -3.16704594, -4.79345411,  8.37927266,
       -3.98676936, -3.16704594, -3.98676936, 11.77934433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005171259779258308
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07345509e-13, -1.07345509e-13,  1.00000000e+00, -1.15230583e-26,
        1.00000000e+00,  1.07345509e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07345509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0638203 , -0.11026079,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10034172e-06,-1.94054089e-05,-2.06654415e-05, 3.09597036e-05,
  1.16666145e-05, 4.30131874e-05, 1.24241993e-06,-1.32640512e-05,
 -4.16550832e-06, 3.84740098e-05, 2.32569984e-05,-2.18014714e-06,
  2.43060043e-02, 1.20253134e-02, 2.71122862e-03,-2.95812370e-04,
  1.29657298e-05, 3.60705827e-06,-4.90499903e+00, 2.50325029e-04,
  1.18288117e-02,-6.83002563e-04]


--- Step 1174 ---
qpos:
[ 0.01872462, 0.0301162 ,-0.00950852,-0.0255856 , 0.00790766, 0.00468308,
 -0.00786308, 0.027126  , 0.0123099 , 0.02798567,-0.00834304, 0.02645657,
  1.19915943,-0.00285198, 1.15904965, 0.04516905, 0.05848052,-0.07698494,
  0.17148288, 0.99955643, 0.02873867,-0.00338331,-0.00704195]

qacc:
[ -2.66420949, -0.92060856,  2.50535248, -2.35799743, -1.88985748,
  -0.11631334,  1.54810771, -4.50410681, -0.37448674,  0.30162833,
  -0.75591547,  0.55480948,-21.71576224,  0.63438901,-13.67684374,
  21.32227838,  0.23057732,  0.79442798,  0.12212865,-11.57545227,
  -2.8079745 ,-11.52891799]

qfrc_actuator:
[ 7.25262178e-05, 8.66236046e-04, 1.83589727e-04, 2.24212915e-05,
  8.91205096e-06, 9.85211366e-05,-3.84798165e-05, 4.67721946e-05,
 -1.01569330e-04, 9.20130759e-04, 1.90918365e-04, 4.25812241e-05,
  1.70821128e-02, 8.88956461e-03, 2.73423187e-03,-2.24812158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88937979,  0.46369772, -0.75893401,  0.46369772,  0.51393535,
       -0.22939113, -0.75893401, -0.22939113,  0.74922512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7866421754072635e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42719119, -0.90271845, -0.05105956, -0.02184068, -0.04615261,
        0.99869561, -0.90389749,  0.42774914,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086823, -0.04541357,  0.28261674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73810143,  5.71206012,  0.54605601,  5.71206012,  5.94890485,
       -2.20512516,  0.54605601, -2.20512516, 28.8049796 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005162558999394634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15052850e-13, -1.07526425e-13,  1.00000000e+00, -2.31238641e-26,
        1.00000000e+00,  1.07526425e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15052850e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06381924, -0.1102512 ,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60775647e-05,-4.64232048e-05,-2.57743451e-06,-1.82015553e-06,
 -1.10270934e-05, 3.16323484e-05, 9.68933544e-06,-6.22954463e-06,
 -2.23435501e-06, 1.70943936e-05, 1.39592681e-06, 3.03624784e-07,
  2.67868275e-02, 1.29742694e-02, 3.49999615e-03,-2.61272449e-04,
  1.92407397e-05, 1.84296825e-06,-4.90500163e+00, 2.53369110e-04,
  1.18259255e-02,-6.82941986e-04]


--- Step 1175 ---
qpos:
[ 0.01872415, 0.03011552,-0.00950721,-0.02558421, 0.0079077 , 0.00468354,
 -0.00786296, 0.02712651, 0.01230899, 0.02798637,-0.00834324, 0.02645584,
  1.19897806,-0.00287647, 1.1592193 , 0.04516058, 0.05847719,-0.07697248,
  0.17148398, 0.99955626, 0.02871851,-0.00342761,-0.00712602]

qacc:
[-4.61660739e+00,-6.10749941e-01, 1.56862004e+00,-1.67940293e+00,
 -1.21204650e+00,-7.48893501e-02, 9.98779638e-01,-2.77771215e+00,
 -3.10781961e+00,-1.31764871e+00, 5.59408459e+00,-1.12376071e+01,
 -4.30191242e+01, 8.07894924e+01, 4.78688613e+01,-1.14521605e+02,
  1.49966960e+00,-5.08747311e-01, 1.60502415e-01, 2.16329911e+00,
  1.88289424e+01, 1.93433708e+01]

qfrc_actuator:
[ 4.52374436e-05, 8.47033115e-04, 1.84745918e-04, 2.13332493e-05,
  2.14253372e-06, 1.02998723e-04,-3.78691794e-05, 4.19130638e-05,
 -1.20352871e-04, 8.78696662e-04, 1.85472519e-04, 2.37336167e-05,
  1.70924486e-02, 8.93021396e-03, 2.73669450e-03,-2.10530215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8889148 , -0.80625463,  0.37433006, -0.80625463,  0.83722921,
       -0.11132354,  0.37433006, -0.11132354,  0.64913946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7495676393495807e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27443535e-01, -9.02597724e-01, -5.10820177e-02, -2.18632215e-02,
       -4.61667854e-02,  9.98694462e-01, -9.03777641e-01,  4.28002309e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085566, -0.0453883 ,  0.28256709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73259138, -4.06930016,  4.03774692, -4.06930016,  9.4820224 ,
        3.77873119,  4.03774692,  3.77873119,  9.54085172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005155807232590237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07667236e-13,  1.07667236e-13,  1.00000000e+00,  1.15922336e-26,
        1.00000000e+00, -1.07667236e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07667236e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771871, -0.07980932,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77739038e-05,-4.57850270e-05,-8.82590976e-06,-3.20484093e-06,
 -7.07198623e-06, 2.38850476e-05, 8.11761724e-06,-3.29121330e-06,
 -1.88405942e-05,-3.16057272e-05,-1.73925995e-06,-1.80613466e-05,
  2.90984511e-02, 1.40026972e-02, 4.17123860e-03,-3.38411476e-05,
  2.74772182e-05, 1.51649780e-07,-4.90500548e+00, 2.57142040e-04,
  1.18220038e-02,-6.82318761e-04]


--- Step 1176 ---
qpos:
[ 0.01872336, 0.03011463,-0.00950624,-0.02558284, 0.00790801, 0.00468391,
 -0.0078624 , 0.02712662, 0.01230786, 0.02798658,-0.00834337, 0.02645492,
  1.19878109,-0.00290113, 1.15941401, 0.0451545 , 0.05847909,-0.07696201,
  0.17148549, 0.99955626, 0.02870748,-0.00344005,-0.00716493]

qacc:
[ -2.78405609,  0.61311301, -2.52846785,  2.92522402,  2.3333045 ,
  -2.15469709,  9.19842745,-16.74290341, -1.84681365, -1.24034063,
   4.28085172, -7.28151026,-13.35396711, 12.29079749, 30.7345466 ,
 -51.5883915 ,  1.3079138 , -0.4950515 ,  0.09968558,  4.52760405,
  16.606471  , 22.09717837]

qfrc_actuator:
[ 2.93753030e-05, 8.36000438e-04, 1.67142002e-04, 2.01361759e-05,
  1.58973221e-05, 8.76428970e-05,-1.98272541e-05, 2.10960770e-05,
 -1.31038297e-04, 8.35959202e-04, 1.82219720e-04, 1.29145177e-05,
  1.71165424e-02, 8.92001553e-03, 2.69367955e-03,-1.90699795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88872676, -0.77001705,  0.44374429, -0.77001705,  0.7535991 ,
       -0.23448325,  0.44374429, -0.23448325,  0.48183453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0758066993230224e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27664280e-01, -9.02493033e-01, -5.10841317e-02, -2.18754200e-02,
       -4.61633460e-02,  9.98694353e-01, -9.03672911e-01,  4.28223389e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085224, -0.04536804,  0.2825363 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74367138,  5.11189434, -2.61883508,  5.11189434,  9.73228089,
        7.78565653, -2.61883508,  7.78565653, 20.94105969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005169381547818347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36922558e-14, -1.07384512e-13,  1.00000000e+00, -5.76571666e-27,
        1.00000000e+00,  1.07384512e-13, -1.00000000e+00,  0.00000000e+00,
       -5.36922558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772443, -0.079796  ,  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:
[-1.66864784e-05,-3.85972848e-05,-2.82667925e-05,-3.52833487e-06,
  1.35619563e-05,-4.84948425e-07, 2.38540583e-05,-1.95787366e-05,
 -1.12464879e-05,-6.15754316e-05,-1.06248393e-05,-1.25840629e-05,
  2.97802414e-02, 1.17732583e-02, 3.10286052e-03, 3.89516991e-04,
  1.14937944e-05,-1.87979362e-07,-4.90500262e+00, 2.47791408e-04,
  1.18245395e-02,-6.82139175e-04]


--- Step 1177 ---
qpos:
[ 0.01872203, 0.03011377,-0.00950535,-0.02558155, 0.00790849, 0.00468394,
 -0.00786122, 0.02712684, 0.01230695, 0.02798662,-0.00834367, 0.02645385,
  1.19857037,-0.00293502, 1.15963352, 0.0451515 , 0.05848576,-0.0769534 ,
  0.17148714, 0.99955635, 0.02870843,-0.0034237 ,-0.0071562 ]

qacc:
[-4.54355503e+00, 1.40877094e-01,-9.27155150e-02,-1.13079767e+00,
  1.45550373e+00,-1.94998259e+00, 5.82232506e+00,-4.58596093e+00,
  1.91381672e+00,-4.88673824e-02, 4.75298303e-01,-2.62165366e+00,
 -5.44985456e+00,-3.33346572e+00, 2.75396559e+01,-4.26935807e+01,
  1.19361424e+00,-4.65068995e-01, 3.60112585e-02, 5.96410230e+00,
  1.51129440e+01, 2.33790547e+01]

qfrc_actuator:
[ 2.61688274e-06, 8.65377007e-04, 1.74143058e-04, 1.88797449e-05,
  2.38679751e-05, 6.05811013e-05, 8.26713219e-06, 2.65552917e-05,
 -1.19113634e-04, 8.46032201e-04, 1.80273522e-04, 6.90363625e-06,
  1.71389323e-02, 8.94160989e-03, 2.69146236e-03,-1.75151830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862739, -0.74290707,  0.48759382, -0.74290707,  0.7111563 ,
       -0.27039828,  0.48759382, -0.27039828,  0.47664352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.886599697672549e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27912113e-01, -9.02375721e-01, -5.10811188e-02, -2.18868025e-02,
       -4.61546159e-02,  9.98694507e-01, -9.03555306e-01,  4.28471480e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085706, -0.04535109,  0.28252199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73653507,  5.07010801, -2.68362428,  5.07010801, 11.1523274 ,
       10.23192862, -2.68362428, 10.23192862, 25.06747631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005160639915631343
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07566411e-13, -1.07566411e-13,  1.00000000e+00, -1.15705327e-26,
        1.00000000e+00,  1.07566411e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07566411e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772831, -0.07978554,  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:
[-2.72553001e-05, 1.81904166e-06,-4.57645973e-06,-3.95798990e-06,
  8.35575294e-06,-2.32600442e-05, 3.02432065e-05, 5.87988155e-06,
  1.15745601e-05,-2.71058110e-05,-1.64091404e-05,-9.26004455e-06,
  3.05817273e-02, 1.18031664e-02, 1.84397903e-03, 4.24295262e-04,
  2.16066691e-06,-7.63549698e-08,-4.90500058e+00, 2.42920566e-04,
  1.18266730e-02,-6.82030630e-04]


--- Step 1178 ---
qpos:
[ 0.0187204 , 0.03011336,-0.00950517,-0.02558029, 0.00790871, 0.00468375,
 -0.00786002, 0.02712785, 0.01230688, 0.02798633,-0.00834371, 0.0264534 ,
  1.19859423,-0.00293692, 1.15985348, 0.04515047, 0.05850114,-0.07694445,
  0.17148778, 0.99955686, 0.02869995,-0.00336426,-0.00714733]

qacc:
[-2.69682891e+00, 2.49696739e+00,-7.88473976e+00, 8.05624417e+00,
 -2.22065972e+00, 1.26480809e+00,-8.22705645e+00, 2.18788591e+01,
  7.16613268e+00, 9.07712703e-02,-3.59651055e+00, 1.41529955e+01,
  1.62179804e+02,-1.15037568e+02,-1.56610528e+01, 3.22201006e+01,
  2.17425468e+00, 8.41433315e-02,-2.53460531e-01,-4.87054612e+00,
  2.15076868e+01,-5.35385802e-01]

qfrc_actuator:
[-1.25916897e-05, 9.01075740e-04, 1.42533946e-04, 1.76537730e-05,
  1.06110798e-05, 4.45317719e-05, 6.52566578e-06, 6.51785157e-05,
 -7.62259067e-05, 8.34404046e-04, 1.97079333e-04, 3.93179499e-05,
  1.71500435e-02, 8.99142317e-03, 2.70219470e-03,-1.78314137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.71501532,  5.00395893, -2.76075987,  5.00395893, 13.0565598 ,
       13.30676655, -2.76075987, 13.30676655, 29.83392333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005134252705620429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40596212e-14,  1.08119242e-13,  1.00000000e+00,  5.84488528e-27,
        1.00000000e+00, -1.08119242e-13, -1.00000000e+00,  0.00000000e+00,
       -5.40596212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773073, -0.07977733,  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:
[-1.60003152e-05, 3.56137445e-05,-3.19347941e-05,-1.38506762e-06,
 -1.30290174e-05,-2.25699963e-05,-2.63276439e-06, 3.87837450e-05,
  4.32184994e-05,-3.05668191e-05, 8.86916064e-06, 3.05070269e-05,
  3.12793964e-02, 1.23153659e-02, 6.11139143e-04, 2.38049021e-04,
  4.18226190e-07, 2.41744238e-08,-4.90500009e+00, 2.42360030e-04,
  1.18272461e-02,-6.82055425e-04]


--- Step 1179 ---
qpos:
[ 0.01871929, 0.03011339,-0.0095057 ,-0.02557905, 0.00790877, 0.00468366,
 -0.00785919, 0.02712826, 0.01230699, 0.02798528,-0.00834304, 0.02645336,
  1.19855444,-0.00291283, 1.16011024, 0.0451434 , 0.05852142,-0.07693671,
  0.1714879 , 0.99955743, 0.02870254,-0.00327733,-0.00709686]

qacc:
[ 4.42713859e+00, 2.54266672e+00,-8.13529596e+00, 8.57799530e+00,
 -1.42745659e+00,-6.98829390e-02, 2.94345451e+00,-1.27186843e+01,
  1.48805868e+00,-2.12514898e+00, 4.34697192e+00, 2.30632753e+00,
 -7.07618686e+01, 8.86736788e+01, 7.81347040e+01,-1.81923164e+02,
  1.22906697e+00,-3.00783036e-01,-1.29905407e-01, 5.49910534e+00,
  1.43714235e+01, 2.03845762e+01]

qfrc_actuator:
[ 1.46283220e-05, 9.22391065e-04, 1.06166529e-04, 1.64360306e-05,
  2.72080904e-06, 5.28627419e-05,-1.27640993e-05, 3.42238456e-05,
 -6.87225733e-05, 7.74484508e-04, 2.24773994e-04, 5.85755543e-05,
  1.71431831e-02, 8.98512099e-03, 2.67406100e-03,-1.89164726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8889541 , -0.68242595,  0.56967905, -0.68242595,  0.62644425,
       -0.31446396,  0.56967905, -0.31446396,  0.51225363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8597913873338737e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28320022e-01, -9.02185551e-01, -5.10214694e-02, -2.18820170e-02,
       -4.60908632e-02,  9.98697557e-01, -9.03362129e-01,  4.28878613e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088968, -0.04534145,  0.28252995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67965753, -4.85521332,  2.94710251, -4.85521332,  8.98882286,
        5.45169487,  2.94710251,  5.45169487, 14.66106944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005090808085524701
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.45209624e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.45209624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773189, -0.07977091,  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:
[ 2.67683574e-05, 3.45847612e-05,-3.29908669e-05,-8.26133902e-07,
 -8.26992831e-06,-3.18618803e-06,-2.29478718e-05,-3.12621527e-05,
  8.75787627e-06,-7.38465416e-05, 2.35316397e-05, 1.88482128e-05,
  1.95466220e-02, 1.07123330e-02, 5.57604651e-04, 3.06382557e-05,
  4.32035434e-06, 7.73023990e-07,-4.90500103e+00, 2.42918465e-04,
  1.18270022e-02,-6.81784303e-04]


--- Step 1180 ---
qpos:
[ 0.01871851, 0.03011373,-0.00950611,-0.02557788, 0.00790907, 0.00468373,
 -0.0078589 , 0.02712761, 0.01230684, 0.02798375,-0.00834207, 0.02645321,
  1.19845402,-0.00294912, 1.16037236, 0.04514383, 0.05853925,-0.07692477,
  0.17148834, 0.99955867, 0.02867768,-0.00320067,-0.00705706]

qacc:
[  2.87139812, -0.09769594,  1.20319394, -2.76536374,  2.1767525 ,
  -0.44717235,  6.37808025,-23.97852494, -2.15841427, -1.71272179,
   5.717885  , -7.97476348, -5.02317191,-52.28762803,-15.80018485,
  64.48132223, -0.6160107 ,  1.04873408,  0.08113302,-13.7113244 ,
  -5.37890858, -5.14253604]

qfrc_actuator:
[ 3.10941501e-05, 9.52655586e-04, 1.20499125e-04, 1.52248467e-05,
  1.58120729e-05, 5.78429442e-05,-4.22030715e-05,-1.96614180e-05,
 -8.21168900e-05, 7.57165582e-04, 2.40701067e-04, 5.21408756e-05,
  1.71492622e-02, 8.95610283e-03, 2.65127690e-03,-1.79052592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89004846,  0.4606883 , -0.76154616,  0.4606883 ,  1.89217943,
        0.60622722, -0.76154616,  0.60622722,  1.25677842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.810874238267337e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28460219e-01, -9.02122292e-01, -5.09628418e-02, -2.18639615e-02,
       -4.60345353e-02,  9.98700550e-01, -9.03296080e-01,  4.29017706e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07091824, -0.04534678,  0.28255435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66349796, -4.29015833,  3.69726258, -4.29015833,  9.22171542,
        4.12881583,  3.69726258,  4.12881583, 10.45441373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005070914307482993
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09469709e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09469709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06383248, -0.11020625,  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:
[ 1.72595546e-05, 4.27701325e-05, 1.73869599e-05,-8.90488783e-07,
  1.28573576e-05,-2.89161217e-06,-3.40145477e-05,-5.54264604e-05,
 -1.31675273e-05,-5.29120869e-05, 4.22790072e-06,-8.41767661e-06,
  2.27333856e-02, 9.38204102e-03,-1.30929280e-03, 4.32571670e-04,
  1.22561850e-05, 1.03549318e-06,-4.90500237e+00, 2.48611496e-04,
  1.18261189e-02,-6.81614238e-04]


--- Step 1181 ---
qpos:
[ 0.01871759, 0.03011402,-0.00950588,-0.02557742, 0.00790988, 0.0046838 ,
 -0.00785902, 0.02712736, 0.01230652, 0.02798228,-0.00834088, 0.02645291,
  1.19836387,-0.00300544, 1.16061019, 0.04515166, 0.05854843,-0.07691272,
  0.17148882, 0.99955926, 0.02865923,-0.00316896,-0.00706333]

qacc:
[-1.18771825e+00,-3.28831472e+00, 1.46252539e+01,-2.78190678e+01,
  4.38142250e+00, 1.96747132e+00,-8.71870539e+00, 1.63810478e+01,
 -1.35696871e+00,-8.26159705e-01, 3.67970274e+00,-6.54419046e+00,
  2.39554714e+01,-4.09393896e+01,-6.03817847e+01, 1.54255842e+02,
 -2.16010968e+00, 2.69761427e-02, 1.15837654e-02, 3.30370936e+00,
 -2.31026819e+01,-2.23937504e+01]

qfrc_actuator:
[ 2.33316879e-05, 9.34990858e-04, 1.46937733e-04,-2.14353417e-05,
  4.11460395e-05, 6.07063790e-05,-5.96533311e-05, 2.16236673e-06,
 -8.99395642e-05, 8.00930242e-04, 2.67444492e-04, 4.84161089e-05,
  1.71597991e-02, 8.97169595e-03, 2.63853218e-03,-1.69902660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89185715,  0.65284203, -0.60762362,  0.65284203,  0.63168575,
       -0.27953296, -0.60762362, -0.27953296,  0.59152178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.7231893524546204e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28830009e-01, -9.01951736e-01, -5.08713018e-02, -2.18434233e-02,
       -4.59429451e-02,  9.98705217e-01, -9.03121082e-01,  4.29385971e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094361, -0.04534148,  0.28256619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68568554,  5.56487854, -1.16582454,  5.56487854,  7.3505286 ,
        7.94686431, -1.16582454,  7.94686431, 43.61878208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005098222840262817
  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([ 0.09600407, -0.09136353,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.24610284e-06, 9.80316110e-06, 3.73809708e-05,-3.42478346e-05,
  2.57020312e-05,-8.15491346e-06,-2.41581358e-05, 1.94443734e-05,
 -8.23111214e-06, 1.47278517e-05, 1.60504801e-05,-6.00767140e-06,
  2.57743430e-02, 1.24176485e-02,-1.59568039e-03, 1.47408286e-04,
  8.62034046e-06, 3.16430994e-06,-4.90500068e+00, 2.46873881e-04,
  1.18273422e-02,-6.81012034e-04]


--- Step 1182 ---
qpos:
[ 0.01871658, 0.03011434,-0.00950559,-0.02557736, 0.00791064, 0.00468394,
 -0.00785914, 0.02712769, 0.01230578, 0.02798132,-0.00833987, 0.0264522 ,
  1.19827329,-0.00305351, 1.16081617, 0.04515892, 0.05854934,-0.0769004 ,
  0.17148887, 0.99955918, 0.02864811,-0.00318076,-0.00711469]

qacc:
[-7.33984726e-01,-1.00178144e+00, 5.32444708e+00,-1.25122929e+01,
 -4.19450271e-01, 1.26129644e+00,-6.81796652e+00, 1.67243449e+01,
 -3.73411935e+00, 2.95259628e-01, 1.67494899e+00,-8.98766375e+00,
 -4.45611902e+00, 1.10129787e+01,-4.49196437e+01, 8.98052755e+01,
 -2.06782211e+00, 6.65550133e-02,-1.11194257e-01, 3.75017883e+00,
 -2.23689445e+01,-2.19256217e+01]

qfrc_actuator:
[ 1.91265567e-05, 9.24295985e-04, 1.44573269e-04,-4.31934466e-05,
  3.79707498e-05, 8.01387865e-05,-5.20820475e-05, 3.28647126e-05,
 -1.12165153e-04, 8.45485079e-04, 2.65126820e-04, 2.86326112e-05,
  1.71741380e-02, 9.01558423e-03, 2.60233200e-03,-1.84696643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89316717,  0.54796158, -0.70532667,  0.54796158,  0.44391584,
       -0.34901908, -0.70532667, -0.34901908,  0.62201757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.776339823231642e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29143353e-01, -9.01805417e-01, -5.08229579e-02, -2.18385570e-02,
       -4.58917256e-02,  9.98707678e-01, -9.02972347e-01,  4.29698662e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095742, -0.04533229,  0.28255805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69701351,  5.68996329, -0.28333857,  5.68996329,  5.77147122,
        1.49524863, -0.28333857,  1.49524863, 35.72437602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005112147780608339
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08586750e-13, -1.08586750e-13,  1.00000000e+00,  1.17910822e-26,
        1.00000000e+00,  1.08586750e-13, -1.00000000e+00,  0.00000000e+00,
        1.08586750e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09600565, -0.0913557 ,  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:
[-4.41422814e-06, 1.02693505e-06, 3.07321481e-06,-2.07137535e-05,
 -2.44754687e-06, 1.07231875e-05, 3.58396751e-06, 2.98949749e-05,
 -2.24657898e-05, 5.58845575e-05, 2.49749507e-06,-1.87123581e-05,
  2.52752701e-02, 1.34637714e-02,-4.21877808e-04,-3.70896082e-04,
  1.27977737e-06, 6.32247878e-07,-4.90500057e+00, 2.42186276e-04,
  1.18255593e-02,-6.80640450e-04]


--- Step 1183 ---
qpos:
[ 0.01871657, 0.03011498,-0.00950576,-0.02557723, 0.00791102, 0.00468421,
 -0.0078592 , 0.02712802, 0.0123058 , 0.0279806 ,-0.00833908, 0.02645129,
  1.19817991,-0.00308993, 1.16098858, 0.04516349, 0.05854228,-0.07688774,
  0.17148804, 0.9995584 , 0.0286453 ,-0.00323498,-0.00721071]

qacc:
[ 8.48362553e+00, 1.89034282e+00,-6.46374265e+00, 8.37263042e+00,
 -3.42050410e+00, 1.96479237e-02, 1.87803703e-01,-3.32022871e-01,
  6.57921043e+00, 5.45809615e-01,-6.92010393e-01,-2.45063841e+00,
 -8.75437322e+00, 1.80633950e+01,-4.07046037e+01, 7.21634876e+01,
 -1.99404118e+00, 8.84135395e-02,-2.17219224e-01, 4.24714872e+00,
 -2.18128303e+01,-2.17230768e+01]

qfrc_actuator:
[ 7.03149940e-05, 9.53250999e-04, 1.25246223e-04,-3.82719829e-05,
  1.80372047e-05, 9.17124635e-05,-4.74903679e-05, 3.30573696e-05,
 -7.16813575e-05, 8.36798820e-04, 2.45681502e-04, 1.72981838e-05,
  1.71806999e-02, 9.09170535e-03, 2.56426431e-03,-2.00930716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89350536,  0.43333993, -0.78138872,  0.43333993,  0.30740353,
       -0.32503838, -0.78138872, -0.32503838,  0.71324667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.022214126281662e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42935605, -0.90170453, -0.05081664, -0.02184666, -0.04588088,
        0.998708  , -0.90287104,  0.42991149,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095996, -0.04531966,  0.28253224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68778509,  5.68722449, -0.07985526,  5.68722449,  5.69541613,
        0.54347625, -0.07985526,  0.54347625, 44.3937088 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100804609593779
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08828225e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08828225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09600767, -0.09134982,  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:
[ 5.10595950e-05, 2.92639402e-05,-1.94590942e-05, 4.66729462e-06,
 -2.00007492e-05, 1.95865611e-05, 8.28173232e-06, 1.35733829e-06,
  3.98427457e-05, 2.22931307e-05,-8.24028643e-06,-9.21504290e-06,
  2.53031341e-02, 1.31289063e-02, 1.12834029e-03,-5.06018502e-04,
  3.54440835e-06,-8.25485684e-08,-4.90500074e+00, 2.43538615e-04,
  1.18248755e-02,-6.80353267e-04]


--- Step 1184 ---
qpos:
[ 0.01871717, 0.03011587,-0.00950585,-0.02557775, 0.00791115, 0.00468445,
 -0.00785913, 0.02712872, 0.01230631, 0.02797956,-0.00833802, 0.02645063,
  1.19808342,-0.00311777, 1.16113239, 0.04516735, 0.05852744,-0.07687467,
  0.17148598, 0.99955688, 0.02865168,-0.0033309 ,-0.00735089]

qacc:
[  5.26342011, -1.27328124,  7.76790766,-19.45830767, -2.12154018,
   0.37962097, -2.94511617,  9.06425297,  4.15055602, -0.67718226,
   0.72810651,  3.45986822, -6.98846633, 13.66815852,-39.47011966,
  78.13406518, -1.9440289 ,  0.09936257, -0.31036851,  4.68112237,
 -21.43897767,-21.49904941]

qfrc_actuator:
[ 1.00439021e-04, 9.70165133e-04, 1.31750598e-04,-7.09261811e-05,
  6.16154983e-06, 8.07133095e-05,-4.47510946e-05, 5.07901477e-05,
 -4.78650587e-05, 7.96228835e-04, 2.51590569e-04, 2.87299510e-05,
  1.71881495e-02, 9.12720713e-03, 2.54768225e-03,-1.98266306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89275515,  0.34261332, -0.82439546,  0.34261332,  0.21792332,
       -0.28045566, -0.82439546, -0.28045566,  0.77619963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.463921548549254e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42946179, -0.90165212, -0.05085306, -0.02186774, -0.04591117,
        0.99870615, -0.90282023,  0.43001817,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095164, -0.04530379,  0.28249005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66237441,  5.6598075 ,  0.17047866,  5.6598075 ,  5.70703584,
       -1.48273742,  0.17047866, -1.48273742, 54.88852553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005069530206423811
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09499597e-13, -1.09499597e-13,  1.00000000e+00, -1.19901616e-26,
        1.00000000e+00,  1.09499597e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09499597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09601003, -0.09134549,  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:
[ 3.16209179e-05, 2.94552394e-05, 1.03053353e-05,-3.19871218e-05,
 -1.24376094e-05, 1.70575993e-06, 7.84972794e-06, 1.88847151e-05,
  2.49919410e-05,-3.01675272e-05, 9.17996217e-06, 1.19228932e-05,
  2.54499762e-02, 1.25829358e-02, 2.78773417e-03,-3.45923564e-04,
  1.47726614e-05, 1.04419335e-06,-4.90500098e+00, 2.50542873e-04,
  1.18254472e-02,-6.80183848e-04]


--- Step 1185 ---
qpos:
[ 0.01871743, 0.03011689,-0.0095061 ,-0.02557863, 0.00791182, 0.00468464,
 -0.00785899, 0.02712928, 0.01230676, 0.02797832,-0.00833692, 0.02645047,
  1.19796678,-0.00310819, 1.16128973, 0.04516428, 0.0585193 ,-0.07686377,
  0.17148508, 0.99955578, 0.02865722,-0.00338933,-0.00745048]

qacc:
[-2.85784459e+00,-1.14218670e-01, 2.15794183e+00,-8.15155865e+00,
  4.81000821e+00,-5.61140910e-01, 2.48114610e+00,-4.89777857e+00,
 -5.29819011e-01, 6.47837605e-01,-4.74320122e+00, 1.32860382e+01,
 -4.33425334e+01, 7.42813568e+01, 4.47971863e+01,-1.18983595e+02,
  1.67609450e+00,-5.41324684e-01, 2.92739221e-01,-4.97613116e-01,
  1.93142077e+01, 1.97605281e+01]

qfrc_actuator:
[ 8.24001022e-05, 9.62058236e-04, 1.17888161e-04,-8.99129156e-05,
  3.46343001e-05, 7.40390400e-05,-4.32027812e-05, 4.31807457e-05,
 -5.18233078e-05, 7.90243700e-04, 2.54544132e-04, 5.34516423e-05,
  1.72015866e-02, 9.11898935e-03, 2.49149360e-03,-1.91453373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89117147, -0.82770339,  0.33029333, -0.82770339,  0.84409359,
       -0.1179755 ,  0.33029333, -0.1179755 ,  0.59552904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.08437552600931e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4294652 , -0.90164596, -0.05093334, -0.02190253, -0.04598353,
        0.99870205, -0.90281777,  0.43002335,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093284, -0.04528471,  0.28243167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67225844, -5.58579435,  0.98661912, -5.58579435,  5.85093212,
        1.0115701 ,  0.98661912,  1.0115701 , 11.39931401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005081702234894514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63855974e-13, -1.09237316e-13,  1.00000000e+00, -1.78991868e-26,
        1.00000000e+00,  1.09237316e-13, -1.00000000e+00,  0.00000000e+00,
       -1.63855974e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02774812, -0.07969905,  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:
[-1.71088515e-05, 9.10215297e-06,-7.62649491e-06,-1.79940431e-05,
  2.81187785e-05,-3.30488281e-06, 3.51636740e-06,-6.89887859e-06,
 -3.23879831e-06,-2.04108501e-05,-1.73404893e-06, 2.39790312e-05,
  2.56187156e-02, 1.21462273e-02, 4.15859299e-03,-2.42650623e-04,
  3.45233834e-05, 4.06418110e-06,-4.90500112e+00, 2.62967315e-04,
  1.18274276e-02,-6.80159412e-04]


--- Step 1186 ---
qpos:
[ 0.01871783, 0.03011814,-0.00950687,-0.02557938, 0.00791283, 0.0046848 ,
 -0.00785882, 0.02712975, 0.01230716, 0.02797753,-0.00833633, 0.02645021,
  1.19782763,-0.00310131, 1.16146727, 0.04516087, 0.05851709,-0.07685495,
  0.17148501, 0.999555  , 0.02866728,-0.00341459,-0.00750557]

qacc:
[  1.06615064,  2.02697955, -7.35613073, 10.36353942,  2.95649396,
  -0.34219142,  1.50663397, -3.0871729 , -0.4592568 ,  1.82040278,
  -5.27158432,  4.1950661 ,-16.93279079, 13.05289149, 32.00903845,
 -66.08978005,  1.48057967, -0.51863407,  0.20787658,  2.21126646,
  17.23552191, 21.75051286]

qfrc_actuator:
[ 8.94218608e-05, 9.74463280e-04, 9.20132671e-05,-8.29869027e-05,
  5.11194124e-05, 6.99775528e-05,-4.23786399e-05, 3.84716006e-05,
 -5.43396969e-05, 8.40519480e-04, 2.38100874e-04, 5.03050911e-05,
  1.71989587e-02, 9.12328307e-03, 2.45671081e-03,-1.83276678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89029188, -0.79221181,  0.40622664, -0.79221181,  0.77178626,
       -0.23110634,  0.40622664, -0.23110634,  0.43959477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.120727311434123e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42947229, -0.90163971, -0.05098413, -0.02192479, -0.04602918,
        0.99869946, -0.90281386,  0.43003156,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07092381, -0.04526998,  0.2823938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70777178,  5.50283287, -1.51574702,  5.50283287,  6.75293442,
        3.79440323, -1.51574702,  3.79440323, 19.4831357 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005125361638873144
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41533995e-14, -1.08306799e-13,  1.00000000e+00, -5.86518134e-27,
        1.00000000e+00,  1.08306799e-13, -1.00000000e+00,  0.00000000e+00,
       -5.41533995e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02775289, -0.07968061,  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:
[ 6.52459774e-06, 1.51105768e-05,-2.55634390e-05, 6.70235587e-06,
  1.72832102e-05,-5.47923816e-06, 3.29475183e-07,-4.86656032e-06,
 -2.62225263e-06, 3.95637027e-05,-2.00408073e-05,-3.61367976e-06,
  2.66227622e-02, 1.02791231e-02, 3.44424518e-03, 1.84906603e-04,
  1.59017965e-05, 1.74685386e-06,-4.90500010e+00, 2.51387021e-04,
  1.18275560e-02,-6.80625525e-04]


--- Step 1187 ---
qpos:
[ 0.0187183 , 0.03011922,-0.00950725,-0.0255797 , 0.00791335, 0.00468497,
 -0.00785896, 0.02713052, 0.01230717, 0.02797701,-0.00833594, 0.02644991,
  1.19766747,-0.00310549, 1.16166527, 0.0451573 , 0.05852031,-0.07684807,
  0.17148544, 0.99955443, 0.02868542,-0.00340956,-0.00751469]

qacc:
[  0.71059914, -0.41808669, -0.62559052,  7.47332644, -4.40822191,
   1.52350033, -6.66226349, 12.35425756, -3.23131574,  0.85902706,
  -2.3407999 ,  1.76566412, -9.87753002, -1.09046199, 31.19201957,
 -64.15265661,  1.35881354, -0.48623658,  0.1237633 ,  3.992363  ,
  15.82413554, 22.53336506]

qfrc_actuator:
[ 9.34014511e-05, 9.63513562e-04, 1.12608802e-04,-6.08626758e-05,
  2.48986513e-05, 6.75065823e-05,-5.97253603e-05, 5.32652742e-05,
 -7.37300292e-05, 8.52990601e-04, 2.28306945e-04, 4.85744989e-05,
  1.71929554e-02, 9.14247633e-03, 2.43901125e-03,-1.83539360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88962806, -0.7673578 ,  0.45011121, -0.7673578 ,  0.73218934,
       -0.26840441,  0.45011121, -0.26840441,  0.43204733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.205529431145697e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29532698e-01, -9.01608839e-01, -5.10211928e-02, -2.19438509e-02,
       -4.60611498e-02,  9.98697571e-01, -9.02784652e-01,  4.30092864e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07092377, -0.04525809,  0.28237422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72072695,  5.49593566, -1.58789421,  5.49593566,  7.20165657,
        5.12571548, -1.58789421,  5.12571548, 23.46158296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005141260158747635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61957816e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.61957816e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02775604, -0.07966611,  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:
[ 4.17271771e-06,-7.52643401e-06, 2.07951538e-05, 2.20174820e-05,
 -2.57313135e-05,-5.67813654e-06,-1.86119369e-05, 1.44730486e-05,
 -1.94544840e-05, 3.03237429e-05,-4.21140462e-06,-7.97657991e-07,
  2.77413516e-02, 1.04326019e-02, 2.41366930e-03, 1.98680430e-04,
  4.24245282e-06, 5.79119791e-07,-4.90499948e+00, 2.44570579e-04,
  1.18279193e-02,-6.81053563e-04]


--- Step 1188 ---
qpos:
[ 0.01871848, 0.03011971,-0.00950716,-0.0255797 , 0.00791389, 0.00468537,
 -0.00785966, 0.02713076, 0.01230696, 0.02797663,-0.00833589, 0.02644963,
  1.19748831,-0.00312127, 1.16187926, 0.04515031, 0.05852863,-0.07684303,
  0.17148606, 0.99955399, 0.02871424,-0.00337632,-0.00747726]

qacc:
[-2.55154311e+00,-1.47229336e+00, 2.79649703e+00, 2.30644187e+00,
  2.13070551e-01, 7.93932167e-01,-1.35050539e-01,-8.32508857e+00,
 -1.99427295e+00, 1.14199328e+00,-3.87604416e+00, 4.52882934e+00,
 -7.89867103e+00,-3.36115495e+00, 3.42835413e+01,-8.49115911e+01,
  1.27584090e+00,-4.61297258e-01, 4.51291826e-02, 5.31646941e+00,
  1.48046289e+01, 2.28395923e+01]

qfrc_actuator:
[ 7.77979402e-05, 9.03356675e-04, 1.24891583e-04,-4.77142704e-05,
  2.70137512e-05, 8.37005758e-05,-8.76425516e-05, 2.61466184e-05,
 -8.51449256e-05, 8.42754197e-04, 2.04641135e-04, 4.76776707e-05,
  1.72122311e-02, 9.14455109e-03, 2.35092296e-03,-2.06622974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8890939 , -0.75132419,  0.47539448, -0.75132419,  0.70586862,
       -0.28957338,  0.47539448, -0.28957338,  0.43144558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2075977121119515e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42964424, -0.90155387, -0.05105343, -0.02196345, -0.04608752,
        0.99869592, -0.9027311 ,  0.43020526,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093196, -0.04524874,  0.28237159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.7154623 ,  5.46426513, -1.67580306,  5.46426513,  7.83345149,
        6.90609462, -1.67580306,  6.90609462, 28.23405826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005134801200177702
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62161540e-13, -1.08107693e-13,  1.00000000e+00, -1.75309100e-26,
        1.00000000e+00,  1.08107693e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62161540e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02775789, -0.07965471,  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:
[-1.54892471e-05,-5.91619615e-05, 1.40431598e-05, 1.39732882e-05,
  1.38200945e-06, 9.77920427e-06,-3.08827707e-05,-2.77250230e-05,
 -1.19761167e-05, 5.82464927e-06,-1.79454261e-05, 2.43170804e-07,
  2.88102345e-02, 1.09876354e-02, 1.29834384e-03,-2.50850191e-05,
  7.93780277e-08,-1.45719096e-07,-4.90499992e+00, 2.42223059e-04,
  1.18273959e-02,-6.81524718e-04]


--- Step 1189 ---
qpos:
[ 0.01871777, 0.03011948,-0.00950731,-0.02557983, 0.00791445, 0.00468569,
 -0.00786034, 0.02713102, 0.01230661, 0.02797625,-0.00833607, 0.02644935,
  1.19729282,-0.00314795, 1.16210784, 0.04513821, 0.05854176,-0.07683975,
  0.17148658, 0.99955362, 0.02875591,-0.0033167 ,-0.00739247]

qacc:
[-7.52441580e+00,-4.87182991e-01, 8.79951051e-01,-2.03352024e+00,
  1.87913261e-01,-1.40534870e-01, 2.48164169e-01, 1.23230106e-01,
 -1.16076324e+00, 6.69432559e-01,-2.37370262e+00, 2.74777251e+00,
 -6.32114439e+00,-4.10710034e+00, 3.72496412e+01,-9.85088907e+01,
  1.19975750e+00,-4.38980371e-01,-2.15009446e-02, 6.39478380e+00,
  1.39196172e+01, 2.32729151e+01]

qfrc_actuator:
[ 3.30409241e-05, 8.31916888e-04, 9.64288026e-05,-5.77646425e-05,
  2.80510188e-05, 7.53594987e-05,-8.60217503e-05, 2.78501099e-05,
 -9.17687445e-05, 8.36691877e-04, 1.90624615e-04, 4.72456751e-05,
  1.72472496e-02, 9.15906120e-03, 2.30015428e-03,-2.34190625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88872459, -0.73517622,  0.49934689, -0.73517622,  0.68072799,
       -0.30622831,  0.49934689, -0.30622831,  0.43787214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0655155098084971e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29794011e-01, -9.01480582e-01, -5.10868695e-02, -2.19855390e-02,
       -4.61140360e-02,  9.98694213e-01, -9.02659263e-01,  4.30355964e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094774, -0.04524199,  0.2823854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69573831,  5.40928344, -1.78356038,  5.40928344,  8.77085716,
        9.3263955 , -1.78356038,  9.3263955 , 33.9813615 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005110580823166344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62930066e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.62930066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02775872, -0.07964576,  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:
[-4.52318285e-05,-1.01048584e-04,-3.84750382e-05,-1.18260437e-05,
  1.08235714e-06,-1.04464627e-05,-1.11939733e-06, 5.14491437e-07,
 -6.97363270e-06,-6.49241621e-06,-1.50104564e-05,-7.96742011e-07,
  2.97941775e-02, 1.15817840e-02, 4.43807801e-04,-1.30838716e-04,
  3.41593390e-06,-8.17764641e-07,-4.90500189e+00, 2.43952554e-04,
  1.18252975e-02,-6.82105183e-04]


--- Step 1190 ---
qpos:
[ 0.01871654, 0.03011894,-0.00950799,-0.02557976, 0.00791502, 0.00468567,
 -0.00786062, 0.02713165, 0.01230653, 0.02797558,-0.00833604, 0.02644941,
  1.19732726,-0.00314197, 1.1623273 , 0.04512436, 0.05855381,-0.07682813,
  0.17148648, 0.99955471, 0.02874643,-0.0032568 ,-0.00730937]

qacc:
[-4.57181607e+00, 1.49336296e+00,-6.70288343e+00, 1.10905290e+01,
  9.12262378e-02,-8.04680855e-01, 6.56887055e-01, 5.35408922e+00,
  2.29515360e+00,-2.67905470e-01,-1.07739010e+00, 6.99327701e+00,
  1.58438800e+02,-1.10896017e+02,-1.83354953e+01, 2.16429939e+01,
 -2.67386074e-01, 2.08593166e+00,-1.55405649e-01,-2.55825483e+01,
 -7.63416761e-02,-7.62711000e-01]

qfrc_actuator:
[ 6.99448481e-06, 8.42837148e-04, 7.95617145e-05,-4.59212418e-05,
  2.84365257e-05, 5.25278280e-05,-6.70390009e-05, 4.65086404e-05,
 -7.77694667e-05, 8.15451085e-04, 2.00182801e-04, 6.48522004e-05,
  1.72761801e-02, 9.20273334e-03, 2.31926007e-03,-2.53490732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.70090395, -4.25994128,  3.78856253, -4.25994128,  8.73076948,
        3.40684604,  3.78856253,  3.40684604,  9.53163499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005116927417586348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06383981, -0.11009921,  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:
[-2.73968857e-05,-5.40406464e-05,-4.28773783e-05, 5.95882360e-06,
  4.12644000e-07,-2.88863776e-05, 1.67084138e-05, 1.81823194e-05,
  1.37916231e-05,-2.79931055e-05, 6.34785084e-06, 1.67955354e-05,
  3.06386128e-02, 1.21708981e-02,-2.70922766e-04,-6.91166103e-05,
  1.42299099e-05,-1.67022798e-06,-4.90500577e+00, 2.49452638e-04,
  1.18210994e-02,-6.82849265e-04]


--- Step 1191 ---
qpos:
[ 0.01871535, 0.03011846,-0.00950884,-0.02557963, 0.00791558, 0.00468547,
 -0.00786096, 0.02713217, 0.01230662, 0.02797507,-0.00833634, 0.02644932,
  1.19728575,-0.00317049, 1.16255135, 0.04511129, 0.0585657 ,-0.07681306,
  0.17148693, 0.99955631, 0.02871203,-0.00320098,-0.00725013]

qacc:
[ 3.47740824e-01, 6.59913259e-01,-2.51542392e+00, 3.87696972e+00,
  2.32378550e-03,-3.00669202e-01, 1.21909728e+00,-2.98738987e+00,
  1.41988629e+00, 7.96829265e-01,-1.88390746e+00,-3.95197347e-01,
 -3.57758138e+01,-3.13612286e-01, 6.13934108e+00,-7.80684635e+00,
 -4.27010222e-02, 8.61716037e-01, 1.36394148e-01,-1.24866026e+01,
 -2.47293434e+00,-1.18220862e+01]

qfrc_actuator:
[ 9.93208001e-06, 8.85292141e-04, 8.77880159e-05,-3.89582677e-05,
  2.84353901e-05, 3.90409542e-05,-7.35302082e-05, 3.94770569e-05,
 -6.94981269e-05, 8.38651910e-04, 1.88023671e-04, 5.74277831e-05,
  1.72692307e-02, 9.20695395e-03, 2.31266440e-03,-2.50210386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88910072,  0.67255688, -0.58152156,  0.67255688,  1.68048353,
        0.91527124, -0.58152156,  0.91527124,  1.94765472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2231780379614053e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43007238, -0.90134876, -0.05107008, -0.02199253, -0.0460921 ,
        0.99869507, -0.90252649,  0.43063433,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.070983  , -0.04523822,  0.28240229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70158664,  5.26141204, -2.19673248,  5.26141204, 11.43860811,
       13.74078734, -2.19673248, 13.74078734, 38.61225953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005117766007027708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08467545e-13, -1.08467545e-13,  1.00000000e+00, -1.17652082e-26,
        1.00000000e+00,  1.08467545e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08467545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0638449 , -0.11008871,  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:
[ 2.12420376e-06, 3.65730646e-06,-7.99300185e-06, 3.28581687e-06,
 -9.22285903e-10,-2.54069995e-05,-9.76893048e-06,-7.33825094e-06,
  8.66313962e-06, 9.60614732e-06,-1.65718292e-05,-8.07683694e-06,
  1.91388616e-02, 1.05453659e-02, 1.76424459e-04, 5.03146352e-05,
  1.23905078e-05, 1.91970011e-06,-4.90499994e+00, 2.49472255e-04,
  1.18270808e-02,-6.82625571e-04]


--- Step 1192 ---
qpos:
[ 0.01871385, 0.03011819,-0.0095097 ,-0.02557944, 0.0079158 , 0.00468518,
 -0.00786169, 0.02713261, 0.0123068 , 0.0279749 ,-0.00833688, 0.02644877,
  1.1972271 ,-0.00320321, 1.16275838, 0.04510532, 0.05856919,-0.07679795,
  0.17148707, 0.99955726, 0.0286828 ,-0.00318999,-0.00723909]

qacc:
[-2.58269427e+00, 4.38136549e-01,-1.38176639e+00, 2.16592324e+00,
 -3.08457814e+00, 8.13397680e-01,-2.74964960e+00, 2.11750715e+00,
  8.25260289e-01, 2.00905975e-01, 1.89429805e+00,-9.75308910e+00,
 -9.14380760e+00, 3.62958499e+00,-4.61481144e+01, 1.26034948e+02,
 -2.09611473e+00, 9.07634179e-03,-7.77748395e-02, 2.67600914e+00,
 -2.30766583e+01,-2.34568724e+01]

qfrc_actuator:
[-5.60535779e-06, 9.10917736e-04, 9.31555580e-05,-3.48747214e-05,
  1.04544411e-05, 3.11347320e-05,-9.50046585e-05, 3.51212684e-05,
 -6.46708699e-05, 8.70432561e-04, 1.81040700e-04, 3.53493420e-05,
  1.72600056e-02, 9.24158521e-03, 2.27376414e-03,-2.31788095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89079078,  0.60620206, -0.65270765,  0.60620206,  0.50782636,
       -0.3556781 , -0.65270765, -0.3556781 ,  0.56045483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6918665676759904e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43037485, -0.9012096 , -0.05097784, -0.02196814, -0.04600153,
        0.99869978, -0.90238289,  0.43093516,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099625, -0.04523003,  0.28238748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70843953,  5.63365017,  0.92101448,  5.63365017,  6.2143122 ,
       -3.0943158 ,  0.92101448, -3.0943158 , 24.63571279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005126181467807467
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08289477e-13, -2.16578955e-13,  1.00000000e+00, -2.34532218e-26,
        1.00000000e+00,  2.16578955e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08289477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602297, -0.09125824,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54717297e-05, 2.61918551e-05, 5.26840025e-06, 4.03036120e-06,
 -1.79891430e-05,-2.44363194e-05,-2.81746109e-05,-5.92535065e-06,
  5.08381793e-06, 3.34085502e-05,-7.30997121e-06,-2.23957199e-05,
  2.29259275e-02, 1.23043118e-02,-9.64759093e-05, 1.95041263e-04,
  7.26240586e-06, 3.10764476e-06,-4.90499869e+00, 2.47155705e-04,
  1.18287814e-02,-6.81834614e-04]


--- Step 1193 ---
qpos:
[ 0.01871184, 0.0301183 ,-0.00951061,-0.02557888, 0.00791615, 0.0046849 ,
 -0.00786277, 0.02713332, 0.01230635, 0.02797472,-0.0083374 , 0.02644833,
  1.19715351,-0.00323501, 1.16294206, 0.04510345, 0.0585646 ,-0.07678274,
  0.17148646, 0.99955752, 0.02866067,-0.00322268,-0.00727565]

qacc:
[-4.46399261e+00, 1.39789325e+00,-5.82092369e+00, 1.20405582e+01,
  1.11180664e+00, 1.56541413e+00,-6.70132900e+00, 1.19720421e+01,
 -5.38940842e+00, 1.61060581e-01,-1.05527587e+00, 2.94933491e+00,
 -1.08844170e+01, 9.93409585e+00,-4.61898986e+01, 1.13109871e+02,
 -2.02431839e+00, 2.56711690e-02,-1.85656858e-01, 3.64216240e+00,
 -2.24867159e+01,-2.31775046e+01]

qfrc_actuator:
[-3.19024934e-05, 9.44029976e-04, 9.67319140e-05,-1.47790491e-05,
  1.75403701e-05, 4.43169558e-05,-1.07364139e-04, 5.01301398e-05,
 -9.74129066e-05, 8.53855335e-04, 1.77219314e-04, 4.03534278e-05,
  1.72628330e-02, 9.27798227e-03, 2.22791258e-03,-2.19146851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89237369,  0.53036081, -0.71766859,  0.53036081,  0.40434342,
       -0.3606569 , -0.71766859, -0.3606569 ,  0.62584637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.160317645399614e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30618994e-01, -9.01095885e-01, -5.09263111e-02, -2.19583297e-02,
       -4.59491123e-02,  9.98702414e-01, -9.02266654e-01,  4.31178485e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099869, -0.04521693,  0.28235442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70708359,  5.70653686,  0.07899486,  5.70653686,  5.7118215 ,
       -0.34226381,  0.07899486, -0.34226381, 30.4319968 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000512451668189931
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08324657e-13, -1.08324657e-13,  1.00000000e+00, -1.17342313e-26,
        1.00000000e+00,  1.08324657e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08324657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602447, -0.09124871,  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:
[-2.67375682e-05, 4.90378176e-05, 9.78909149e-06, 2.14808477e-05,
  6.56755133e-06,-6.54461088e-06,-2.10706988e-05, 1.28735555e-05,
 -3.25812156e-05,-3.48733073e-07, 1.41387197e-06, 5.74962769e-06,
  2.37848792e-02, 1.25519315e-02, 7.04668686e-04,-3.46352055e-05,
  1.76035117e-07, 3.81869251e-07,-4.90499991e+00, 2.42520749e-04,
  1.18263127e-02,-6.81220615e-04]


--- Step 1194 ---
qpos:
[ 0.01870987, 0.03011847,-0.00951131,-0.0255784 , 0.00791727, 0.00468467,
 -0.00786404, 0.02713419, 0.01230621, 0.02797476,-0.00833808, 0.02644828,
  1.19706813,-0.00326566, 1.16310293, 0.04510638, 0.05855212,-0.07676738,
  0.17148474, 0.99955705, 0.02864714,-0.00329816,-0.00735919]

qacc:
[ 3.91986280e-01,-6.43686316e-01, 2.79319800e+00,-4.66227646e+00,
  6.78436726e+00, 8.93277253e-01,-3.80410974e+00, 6.86087485e+00,
  2.54852200e+00, 1.51686455e+00,-6.64952108e+00, 1.35111220e+01,
 -8.53269866e+00, 8.03359285e+00,-4.76820887e+01, 1.19139664e+02,
 -1.97008920e+00, 3.80234856e-02,-2.80767598e-01, 4.38870811e+00,
 -2.20312556e+01,-2.28801839e+01]

qfrc_actuator:
[-2.88110556e-05, 9.28126106e-04, 9.92681730e-05,-2.09220587e-05,
  5.70817510e-05, 5.23250469e-05,-1.14136690e-04, 5.86870543e-05,
 -8.09944303e-05, 8.79493857e-04, 1.75122221e-04, 6.12173209e-05,
  1.72679855e-02, 9.27647840e-03, 2.21635329e-03,-1.93980594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89300987,  0.46311649, -0.76353765,  0.46311649,  0.32275295,
       -0.3458839 , -0.76353765, -0.3458839 ,  0.68321728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.658827522743171e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30788153e-01, -9.01015525e-01, -5.09174881e-02, -2.19631398e-02,
       -4.59370339e-02,  9.98702863e-01, -9.02185783e-01,  4.31347670e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099061, -0.04519955,  0.28230471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68748349,  5.68242457,  0.23983223,  5.68242457,  5.74392653,
       -1.33732366,  0.23983223, -1.33732366, 37.37313647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100433764224227
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08836138e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08836138e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09602643, -0.0912415 ,  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:
[ 2.32854213e-06, 1.44615965e-05, 1.46242740e-05,-3.28447340e-06,
  3.97260535e-05, 5.70870881e-07,-1.02602239e-05, 7.79910050e-06,
  1.54610842e-05, 2.59827439e-05,-1.78600332e-06, 2.10135820e-05,
  2.45365882e-02, 1.25046496e-02, 1.85711903e-03, 1.12412179e-05,
  3.19722736e-06,-5.42991716e-07,-4.90500144e+00, 2.44245995e-04,
  1.18248272e-02,-6.80677686e-04]


--- Step 1195 ---
qpos:
[ 0.01870795, 0.03011857,-0.00951214,-0.02557831, 0.00791851, 0.00468418,
 -0.0078647 , 0.02713514, 0.01230695, 0.02797518,-0.00833889, 0.02644881,
  1.19694996,-0.00329449, 1.16326643, 0.04510858, 0.05854365,-0.07675186,
  0.17148458, 0.9995571 , 0.0286194 ,-0.00335338,-0.00743607]

qacc:
[  0.44598672, -0.56186633,  3.4497976 , -9.77568587,  1.08290601,
  -1.86722392,  5.82309186, -5.22233232,  7.54780902,  2.03406595,
  -8.97870271, 18.86711098,-27.29589971, 26.11485236,  8.02786325,
 -18.12227769,  1.00380418,  0.04104218,  0.39233947, -7.17034209,
  10.16605405,  3.0651899 ]

qfrc_actuator:
[-2.61959176e-05, 9.00719528e-04, 8.32012757e-05,-4.24978878e-05,
  6.21431663e-05, 3.94465314e-05,-8.20749936e-05, 6.33767980e-05,
 -3.57591318e-05, 9.12482706e-04, 1.74226235e-04, 9.12732552e-05,
  1.72641351e-02, 9.30490235e-03, 2.25279014e-03,-1.73960806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89242883, -0.00480938,  0.89241587, -0.00480938,  2.75631373,
        0.01004479,  0.89241587,  0.01004479,  0.89248296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.205136234654233e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30875883e-01, -9.00971560e-01, -5.09531328e-02, -2.19830311e-02,
       -4.59670326e-02,  9.98701045e-01, -9.02143403e-01,  4.31436300e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097231, -0.04517828,  0.28223891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66216465, -5.65491699, -0.2863955 , -5.65491699,  5.68116611,
       -0.37518644, -0.2863955 , -0.37518644, 13.07027037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000506927179198435
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.21288839e-14,  1.06406806e-06,  1.00000000e+00,  8.73907222e-20,
        1.00000000e+00, -1.06406806e-06, -1.00000000e+00,  1.20370622e-35,
       -8.21288839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04472357, -0.09390757,  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:
[ 2.68767323e-06,-1.64320855e-05,-1.13854920e-05,-2.05142427e-05,
  6.19067604e-06,-1.43091564e-05, 3.11998068e-05, 4.51073897e-06,
  4.56965361e-05, 4.80616630e-05, 4.98500804e-06, 3.15174193e-05,
  2.51213939e-02, 1.24763907e-02, 3.03090476e-03,-2.95875998e-05,
  1.57176327e-05, 4.88686933e-07,-4.90500294e+00, 2.51997059e-04,
  1.18246608e-02,-6.80251721e-04]


--- Step 1196 ---
qpos:
[ 0.01870608, 0.03011879,-0.00951324,-0.02557849, 0.00791911, 0.00468329,
 -0.00786459, 0.02713615, 0.01230719, 0.02797597,-0.0083397 , 0.02644933,
  1.19680711,-0.00329721, 1.16344961, 0.04510849, 0.05854111,-0.07673816,
  0.17148507, 0.99955736, 0.02859804,-0.00337641,-0.00747178]

qacc:
[ 3.84781684e-01, 3.78702214e-01, 5.97658978e-02,-4.46788302e+00,
 -5.58535804e+00,-2.55627731e+00, 8.15244685e+00,-8.18282709e+00,
 -4.24263136e+00, 5.14709493e-01,-1.09609631e+00, 8.15495553e-01,
 -3.89509864e+01, 5.96260833e+01, 3.92898186e+01,-8.77786859e+01,
  1.47904738e+00,-4.57544411e-01, 1.63910480e-01, 3.13368327e+00,
  1.67061013e+01, 2.00993180e+01]

qfrc_actuator:
[-2.38917617e-05, 9.19791445e-04, 7.39621100e-05,-5.52525790e-05,
  2.91067082e-05, 1.43192799e-05,-4.51811087e-05, 6.57628560e-05,
 -6.27037232e-05, 9.31884332e-04, 1.74091908e-04, 9.10003173e-05,
  1.72678501e-02, 9.33238768e-03, 2.28460184e-03,-1.67318234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89234664, -0.78628944,  0.42193772, -0.78628944,  0.82401505,
       -0.12733728,  0.42193772, -0.12733728,  0.65505104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.138210423279324e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31061424e-01, -9.00882959e-01, -5.09503928e-02, -2.19913115e-02,
       -4.59600342e-02,  9.98701185e-01, -9.02054561e-01,  4.31622021e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096025, -0.04515646,  0.28218462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.69208714,   4.98592973,   2.74597174,   4.98592973,
        15.40917135, -17.64355343,   2.74597174, -17.64355343,
        37.72792947,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005106093464975897
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17431003e-13, -1.08715502e-13,  1.00000000e+00, -2.36381206e-26,
        1.00000000e+00,  1.08715502e-13, -1.00000000e+00,  0.00000000e+00,
       -2.17431003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02776892, -0.07957793,  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:
[ 2.37859554e-06, 6.66656497e-06,-1.47347192e-05,-1.42499226e-05,
 -3.28669667e-05,-2.64651929e-05, 3.79482712e-05, 2.94038370e-06,
 -2.55882299e-05, 4.86699246e-05, 1.15003883e-05, 2.57051751e-06,
  2.67641831e-02, 1.24126286e-02, 2.92806798e-03, 7.29961296e-05,
  1.15771908e-05,-7.32668946e-07,-4.90500362e+00, 2.49125744e-04,
  1.18235872e-02,-6.79715154e-04]


--- Step 1197 ---
qpos:
[ 0.0187046 , 0.03011922,-0.00951426,-0.02557851, 0.00791897, 0.00468191,
 -0.00786418, 0.02713687, 0.0123078 , 0.02797694,-0.00834039, 0.02644952,
  1.19663935,-0.00330689, 1.1636536 , 0.04510973, 0.05854382,-0.07672629,
  0.17148595, 0.99955777, 0.02858707,-0.0033706 ,-0.0074622 ]

qacc:
[  3.31731357,  0.35761733, -1.577859  ,  4.07547845, -6.5389566 ,
  -2.06326497,  7.59218145,-12.53333964,  3.11096883, -0.81475668,
   4.62433103,-10.70715949,-15.7579017 ,  7.95981159, 27.66914478,
 -50.01373178,  1.31438278, -0.4549365 ,  0.0945091 ,  5.1582709 ,
  15.09766053, 22.21051242]

qfrc_actuator:
[-4.03631340e-06, 9.48817828e-04, 8.67777341e-05,-4.49152028e-05,
 -8.32514725e-06,-3.56728369e-05,-4.13040504e-05, 4.90074953e-05,
 -4.31639205e-05, 9.25226930e-04, 1.74336022e-04, 7.28734261e-05,
  1.72925321e-02, 9.28105019e-03, 2.30668244e-03,-1.57866253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89242451, -0.76044199,  0.46706475, -0.76044199,  0.74803259,
       -0.23508876,  0.46706475, -0.23508876,  0.50966951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.201635880703719e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43124401, -0.90079642, -0.05093544, -0.02199415, -0.0459421 ,
        0.99870195, -0.90196722,  0.43180452,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095692, -0.04513827,  0.28214888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69804315,  5.43659137, -1.70621511,  5.43659137,  7.90622469,
        7.03603002, -1.70621511,  7.03603002, 28.11726793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005113412884373836
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42799423e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.42799423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02777116, -0.07956666,  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:
[ 1.99287278e-05, 2.91128191e-05, 1.18972033e-05, 9.83814158e-06,
 -3.83767902e-05,-5.68096618e-05, 3.19429410e-06,-1.65183748e-05,
  1.88073474e-05, 2.30162429e-05, 1.18033228e-05,-1.55932640e-05,
  2.80219486e-02, 1.10558774e-02, 1.96227122e-03, 2.80980067e-04,
  2.44987159e-06,-3.83578855e-07,-4.90500121e+00, 2.44106497e-04,
  1.18259069e-02,-6.79380183e-04]


--- Step 1198 ---
qpos:
[ 0.01870371, 0.03011995,-0.00951548,-0.02557806, 0.00791872, 0.00468019,
 -0.00786376, 0.02713739, 0.01231001, 0.02797749,-0.00834079, 0.02644991,
  1.19644852,-0.00332785, 1.163872  , 0.04510841, 0.05855147,-0.07671619,
  0.17148691, 0.99955824, 0.02858888,-0.00333781,-0.00740631]

qacc:
[ 5.08700323e+00, 1.93233921e+00,-8.31916387e+00, 1.66356199e+01,
 -8.99537837e-01,-8.96986912e-01, 3.44745567e+00,-6.82227692e+00,
  1.37228273e+01,-9.54730936e-01, 1.75819179e+00, 1.46579336e+00,
 -1.12040461e+01,-1.81886462e-01, 2.95936803e+01,-7.13534182e+01,
  1.23513475e+00,-4.45566203e-01, 2.01417496e-02, 6.36362408e+00,
  1.41943039e+01, 2.27363930e+01]

qfrc_actuator:
[ 2.59908057e-05, 9.65944393e-04, 7.70737316e-05,-2.10473486e-05,
 -1.25267039e-05,-4.70618079e-05,-3.93229157e-05, 3.88298402e-05,
  3.91085860e-05, 8.67489186e-04, 1.74683776e-04, 7.98735310e-05,
  1.73093994e-02, 9.27604272e-03, 2.29016133e-03,-1.78953250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89231442, -0.75024749,  0.483067  , -0.75024749,  0.72197762,
       -0.26454872,  0.483067  , -0.26454872,  0.48144592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.111774304572773e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31464275e-01, -9.00691786e-01, -5.09203868e-02, -2.19988665e-02,
       -4.59231495e-02,  9.98702716e-01, -9.01861758e-01,  4.32024733e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096157, -0.04512256,  0.28213006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68759195,  5.3919702 , -1.80979545,  5.3919702 ,  8.88836926,
        9.53615828, -1.80979545,  9.53615828, 34.09891398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100567126708755
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44166461e-14, -1.08833292e-13,  1.00000000e+00, -5.92234274e-27,
        1.00000000e+00,  1.08833292e-13, -1.00000000e+00,  0.00000000e+00,
       -5.44166461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02777232, -0.07955781,  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:
[ 3.06168617e-05, 3.62927383e-05,-1.87787404e-06, 2.57183271e-05,
 -5.31145271e-06,-4.31748767e-05,-9.92048341e-06,-1.28209679e-05,
  8.28348083e-05,-4.31157445e-05, 6.01258975e-06, 8.08967285e-06,
  2.92827182e-02, 1.13983127e-02, 9.01943344e-04, 2.75435940e-06,
  1.14778538e-07, 8.27297855e-08,-4.90499992e+00, 2.43024562e-04,
  1.18271962e-02,-6.79155108e-04]


--- Step 1199 ---
qpos:
[ 0.01870319, 0.03012077,-0.00951672,-0.02557731, 0.00791842, 0.00467871,
 -0.00786359, 0.02713773, 0.01231216, 0.02797765,-0.00834087, 0.02645036,
  1.19623797,-0.00336033, 1.16410502, 0.04510385, 0.05856374,-0.07670782,
  0.1714877 , 0.99955873, 0.0286054 ,-0.0032798 ,-0.00730266]

qacc:
[ 3.14889679e+00, 7.61681833e-01,-3.80800260e+00, 8.91686758e+00,
 -4.44916314e-01, 6.21766504e-01,-1.01549144e+00,-1.88097130e+00,
 -5.31669094e-01,-1.30482239e+00, 3.58934702e+00,-2.54951004e+00,
 -8.44226552e+00,-2.84893336e+00, 3.17339587e+01,-7.88729861e+01,
  1.15462365e+00,-4.29831660e-01,-3.99945889e-02, 7.33632417e+00,
  1.33448947e+01, 2.34842465e+01]

qfrc_actuator:
[ 4.40061008e-05, 9.57992325e-04, 7.18601561e-05,-7.19256545e-06,
 -1.48869885e-05, 2.45227317e-07,-3.83113312e-05, 3.26398783e-05,
  3.33628528e-05, 8.50626645e-04, 1.92641938e-04, 8.38054904e-05,
  1.73276360e-02, 9.32369719e-03, 2.29823615e-03,-1.94949747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89193593, -0.73451737,  0.50599797, -0.73451737,  0.69585263,
       -0.28463868,  0.50599797, -0.28463868,  0.47874841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.792023359836659e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31716965e-01, -9.00571228e-01, -5.09109593e-02, -2.20076645e-02,
       -4.59084794e-02,  9.98703196e-01, -9.01740608e-01,  4.32277544e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097363, -0.04510928,  0.28212798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66424943,  5.3207932 , -1.94239063,  5.3207932 , 10.37778485,
       12.91179376, -1.94239063, 12.91179376, 41.03354305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000507183997927263
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64174594e-13, -1.09449729e-13,  1.00000000e+00, -1.79688648e-26,
        1.00000000e+00,  1.09449729e-13, -1.00000000e+00,  0.00000000e+00,
       -1.64174594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02777261, -0.07955088,  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:
[ 1.89180569e-05, 1.30559936e-05, 2.94498712e-06, 1.58434605e-05,
 -2.52536506e-06, 2.06189890e-05,-9.55814122e-06,-8.63099947e-06,
 -3.32993488e-06,-3.93645741e-05, 1.00688925e-05, 2.44557217e-06,
  3.04537932e-02, 1.20102020e-02, 1.84476542e-04,-3.03459331e-05,
  5.10499453e-06, 3.65000276e-07,-4.90500037e+00, 2.45730147e-04,
  1.18265884e-02,-6.79093135e-04]


--- Step 1200 ---
qpos:
[ 0.01870289, 0.03012122,-0.0095175 ,-0.02557637, 0.00791776, 0.00467755,
 -0.0078635 , 0.02713797, 0.0123132 , 0.0279777 ,-0.00834081, 0.0264505 ,
  1.19601648,-0.00340355, 1.16435643, 0.04510074, 0.05857951,-0.07670096,
  0.17148851, 0.99955922, 0.02863613,-0.00320147,-0.00714775]

qacc:
[ 1.91315598e+00,-1.37619583e+00, 3.40590624e+00,-6.19018310e-01,
 -3.27332030e+00, 4.89954915e-01,-6.88176324e-01,-1.15776679e+00,
 -9.52999635e+00,-1.14706570e+00, 5.28548962e+00,-1.10542355e+01,
 -1.98452648e+00,-7.89041335e+00, 2.27470483e+01,-4.02736413e+01,
  8.74914532e-01,-3.79481063e-01, 2.47240205e-03, 7.11155502e+00,
  1.09362412e+01, 2.53005702e+01]

qfrc_actuator:
[ 5.48035976e-05, 9.17334496e-04, 8.69863311e-05, 6.41636926e-07,
 -3.39076673e-05, 2.90861261e-05,-3.76266880e-05, 2.88983143e-05,
 -2.41644189e-05, 8.58432457e-04, 2.03243029e-04, 6.81841069e-05,
  1.73578741e-02, 9.40770912e-03, 2.29390338e-03,-1.81092754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89129561, -0.70883771,  0.54033042, -0.70883771,  0.67142218,
       -0.28844309,  0.54033042, -0.28844309,  0.51289873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.20591187374027e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43199099, -0.90043977, -0.05091175, -0.02202198, -0.04590249,
        0.99870316, -0.90160901,  0.43255194,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099246, -0.04509847,  0.28214142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005030812424183974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20266218e-07, -1.20266397e-07,  1.00000000e+00, -1.44639848e-14,
        1.00000000e+00,  1.20266397e-07, -1.00000000e+00, -3.15544362e-30,
       -1.20266218e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03071519, -0.0800471 ,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13511132e-05,-3.20791682e-05, 1.87364698e-05, 8.80216542e-06,
 -1.90845052e-05, 3.80771958e-05, 3.48259551e-06,-3.35437632e-06,
 -5.76386578e-05,-1.20227421e-05, 3.79485943e-06,-1.69129859e-05,
  3.14688238e-02, 1.26710380e-02,-5.55071711e-04, 2.69002407e-04,
  1.76326145e-05, 2.89786674e-07,-4.90500293e+00, 2.52019832e-04,
  1.18235900e-02,-6.79241451e-04]


--- Step 1201 ---
qpos:
[ 0.01870307, 0.03012141,-0.00951778,-0.02557571, 0.00791687, 0.00467639,
 -0.00786329, 0.02713819, 0.01231353, 0.02797757,-0.0083406 , 0.02645045,
  1.19585173,-0.0034878 , 1.1645774 , 0.04510918, 0.05858675,-0.07669466,
  0.17148938, 0.99955912, 0.02866641,-0.00316842,-0.00705411]

qacc:
[ 4.10791341e+00,-2.30177602e+00, 8.84776168e+00,-1.41781959e+01,
 -1.95355211e+00,-4.17412094e-01, 1.58327476e+00,-2.16914441e+00,
 -5.93950556e+00,-1.02462979e+00, 4.09074722e+00,-7.35011348e+00,
  7.58346738e+01,-1.06839581e+02,-8.60781646e+01, 2.21888257e+02,
 -2.13197650e+00,-1.36748202e-01, 1.74810862e-02,-1.53427579e-01,
 -2.35052671e+01,-2.99683482e+01]

qfrc_actuator:
[ 7.90227505e-05, 9.10732478e-04, 1.13853413e-04,-1.28977713e-05,
 -4.48303806e-05, 1.11549815e-05,-3.71923783e-05, 2.66184398e-05,
 -5.84224512e-05, 8.45406367e-04, 2.09504503e-04, 5.89522323e-05,
  1.73792551e-02, 9.48183845e-03, 2.21735012e-03,-1.67414748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89049565,  0.63571064, -0.62358199,  0.63571064,  0.81710951,
       -0.0748135 , -0.62358199, -0.0748135 ,  0.81422703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3631129971215196e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43227246, -0.90030389, -0.05092572, -0.02204239, -0.04590819,
        0.99870244, -0.9014736 ,  0.43283409,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101592, -0.04508962,  0.28216485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67585565, -5.60071257,  0.92051944, -5.60071257,  5.78756397,
        0.67966649,  0.92051944,  0.67966649,  9.81114766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005086129855196575
  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([ 0.09604163, -0.09115572,  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:
[ 2.45368333e-05,-2.02981810e-05, 2.28554056e-05,-1.40949708e-05,
 -1.14517850e-05, 3.97154647e-06, 8.62549888e-06,-5.90224164e-07,
 -3.59522827e-05,-1.97098801e-05, 3.66201711e-06,-9.94288914e-06,
  3.20358558e-02, 1.32820393e-02,-1.55619480e-03, 3.32541977e-04,
  3.80270347e-05,-6.61918328e-08,-4.90500741e+00, 2.61263350e-04,
  1.18181311e-02,-6.79608180e-04]


--- Step 1202 ---
qpos:
[ 0.01870353, 0.03012146,-0.00951776,-0.02557556, 0.0079162 , 0.00467462,
 -0.00786248, 0.02713842, 0.01231311, 0.02797727,-0.00834033, 0.02645064,
  1.19571327,-0.00355291, 1.16476166, 0.04511549, 0.05858579,-0.07668846,
  0.17148982, 0.99955847, 0.02869742,-0.00317894,-0.00701596]

qacc:
[ 2.49114295e+00,-2.11471408e+00, 9.44988098e+00,-1.87664154e+01,
  1.97552964e+00,-2.42293420e+00, 7.39437939e+00,-7.57422730e+00,
 -6.46030770e+00, 1.11488886e-01,-1.71518942e+00, 5.87477409e+00,
  9.11150338e+00, 9.02609236e+00,-4.80761203e+01, 8.88459249e+01,
 -2.04897281e+00,-2.94174245e-02,-1.10527316e-01, 4.43711697e-01,
 -2.25755615e+01,-2.71130927e+01]

qfrc_actuator:
[ 9.31980730e-05, 9.06852081e-04, 1.29790982e-04,-3.88742454e-05,
 -3.31418000e-05,-5.23974025e-05,-1.93472480e-05, 2.51760303e-05,
 -9.64450818e-05, 8.37749820e-04, 2.13086435e-04, 7.12929259e-05,
  1.73842993e-02, 9.54913557e-03, 2.11717503e-03,-1.92193002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88953415,  0.50845614, -0.72989271,  0.50845614,  0.40684908,
       -0.33624693, -0.72989271, -0.33624693,  0.65529861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.053873953379236e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43252151, -0.90018173, -0.05097057, -0.02207456, -0.0459425 ,
        0.99870016, -0.90135335,  0.43308445,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102784, -0.04507897,  0.28216653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69430764,  5.67291036, -0.493181  ,  5.67291036,  5.78283716,
        1.01832803, -0.493181  ,  1.01832803, 17.40782389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005108822640648714
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08657425e-13,  1.08657425e-13,  1.00000000e+00,  1.18064360e-26,
        1.00000000e+00, -1.08657425e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08657425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09604429, -0.09113542,  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:
[ 1.48825368e-05,-1.11110054e-05, 1.40710278e-05,-2.63315753e-05,
  1.13641962e-05,-5.95398898e-05, 1.97185342e-05,-9.83149410e-07,
 -3.90841148e-05,-1.83572850e-05,-3.81465601e-07, 1.14307340e-05,
  2.92053765e-02, 1.54042456e-02,-1.37621531e-04,-4.93482675e-04,
  1.28735816e-05,-5.88215616e-07,-4.90500392e+00, 2.47285292e-04,
  1.18212342e-02,-6.80644541e-04]


--- Step 1203 ---
qpos:
[ 0.01870416, 0.03012167,-0.00951794,-0.02557573, 0.00791602, 0.00467229,
 -0.00786138, 0.02713831, 0.01231292, 0.02797708,-0.00834042, 0.02645098,
  1.19559169,-0.00359457, 1.16490884, 0.04511674, 0.0585769 ,-0.07668215,
  0.17148937, 0.99955724, 0.02873085,-0.00323187,-0.00702963]

qacc:
[ 1.41863568e+00, 1.32757489e-01, 1.13207968e+00,-6.32109586e+00,
  4.33074665e+00,-2.28525899e+00, 8.51261847e+00,-1.45565235e+01,
  1.99943131e+00, 1.41613429e+00,-5.44589885e+00, 8.36458642e+00,
 -1.47115776e+00, 2.25269808e+01,-3.89336563e+01, 5.78996255e+01,
 -1.98399119e+00, 3.20517533e-02,-2.19385453e-01, 1.27849122e+00,
 -2.19257194e+01,-2.52955572e+01]

qfrc_actuator:
[ 1.01344004e-04, 9.22334048e-04, 1.21403980e-04,-5.42086350e-05,
 -8.24122731e-06,-8.94590613e-05,-9.31956768e-06, 6.45277976e-06,
 -8.31286538e-05, 8.51129345e-04, 1.97338301e-04, 7.84760028e-05,
  1.73962171e-02, 9.62182098e-03, 2.07372182e-03,-2.19611821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88878324,  0.36779724, -0.80911115,  0.36779724,  0.24875301,
       -0.29093821, -0.80911115, -0.29093821,  0.75653161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3150060689684924e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43265052, -0.90011556, -0.05104418, -0.02211312, -0.04600564,
        0.9986964 , -0.90129049,  0.43321526,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102824, -0.04506653,  0.28214904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69081033,  5.67621262, -0.40734813,  5.67621262,  5.76976607,
        1.10021256, -0.40734813,  1.10021256, 21.02177652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005104523956973445
  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([ 0.09604716, -0.09111969,  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:
[ 8.57606567e-06, 1.10486339e-05,-9.86216666e-06,-1.58372580e-05,
  2.52019950e-05,-6.62676327e-05, 1.33776954e-07,-2.06104844e-05,
  1.21623837e-05, 3.51727679e-06,-1.91905393e-05, 6.60682945e-06,
  2.79033270e-02, 1.45213671e-02, 1.65145527e-03,-6.62128424e-04,
  2.26891864e-06, 1.94965006e-07,-4.90500178e+00, 2.41702512e-04,
  1.18239513e-02,-6.81540710e-04]


--- Step 1204 ---
qpos:
[ 0.01870488, 0.03012223,-0.00951864,-0.02557574, 0.00791579, 0.0046701 ,
 -0.00786102, 0.02713796, 0.01231289, 0.02797661,-0.00834025, 0.02645105,
  1.19566037,-0.00356844, 1.16509355, 0.04509954, 0.05856679,-0.07666772,
  0.17148814, 0.99955746, 0.02871405,-0.00328846,-0.00704089]

qacc:
[ 7.74231286e-01, 2.23780085e+00,-7.97454595e+00, 1.12850972e+01,
 -4.26490794e-01, 1.78296920e+00,-5.04641822e+00, 1.92030341e+00,
  1.38397966e+00,-1.60562937e+00, 6.27173558e+00,-1.08924981e+01,
  9.91065299e+01,-2.34775088e+01, 1.06121345e+02,-3.02339331e+02,
 -3.05805387e-01, 2.02565358e+00,-1.97211916e-01,-2.51059663e+01,
 -1.97396559e+00, 1.33834479e+00]

qfrc_actuator:
[ 1.05879302e-04, 9.49201605e-04, 9.88163910e-05,-4.54018874e-05,
 -1.12761309e-05,-5.71644765e-05,-3.94225437e-05,-4.52801277e-06,
 -7.52053000e-05, 8.23666206e-04, 2.05889745e-04, 6.48161154e-05,
  1.74228098e-02, 9.66802961e-03, 2.06033156e-03,-2.28708432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.67064566, -4.53042507, -3.41049422, -4.53042507,  9.29971095,
       -4.82077004, -3.41049422, -4.82077004, 12.07444993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005079716747434947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03257151e-07, -1.03257373e-07,  1.00000000e+00, -1.06620621e-14,
        1.00000000e+00,  1.03257373e-07, -1.00000000e+00,  0.00000000e+00,
       -1.03257151e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06506216, -0.10925398,  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:
[ 4.78969101e-06, 3.03268615e-05,-2.20691758e-05, 8.63000239e-06,
 -2.34096669e-06,-5.53740052e-06,-4.44744881e-05,-1.42151429e-05,
  8.28123454e-06,-2.91663247e-05, 7.14472303e-06,-1.40452510e-05,
  2.70855557e-02, 1.33964598e-02, 3.49010996e-03,-5.00567901e-04,
  3.39808392e-06, 2.31090085e-06,-4.90500062e+00, 2.43092242e-04,
  1.18267222e-02,-6.82372542e-04]


--- Step 1205 ---
qpos:
[ 0.01870566, 0.03012275,-0.00951949,-0.02557527, 0.00791519, 0.00466834,
 -0.0078615 , 0.0271371 , 0.01231296, 0.02797597,-0.00834025, 0.02645064,
  1.19563614,-0.00357382, 1.1652813 , 0.04508908, 0.05855689,-0.0766499 ,
  0.17148725, 0.99955822, 0.02867241,-0.0033503 ,-0.00707385]

qacc:
[ 4.17722773e-01, 1.33181711e+00,-6.84050901e+00, 1.53382326e+01,
 -3.37310333e+00, 1.85127888e+00,-3.65662836e+00,-4.05566248e+00,
  8.09571371e-01,-7.61201152e-01, 4.44487141e+00,-1.25405594e+01,
 -5.08181891e+01, 1.56459477e+01,-1.31264290e+01, 5.86582773e+01,
  5.27730099e-02, 8.49506351e-01, 8.71852317e-02,-1.24357647e+01,
 -3.01531618e+00,-1.07201591e+01]

qfrc_actuator:
[ 1.08255294e-04, 9.29382502e-04, 8.58547680e-05,-2.24569268e-05,
 -3.07327257e-05,-1.92488915e-05,-7.49298217e-05,-2.85811910e-05,
 -7.05371077e-05, 8.07540120e-04, 1.93046780e-04, 3.89897315e-05,
  1.74206937e-02, 9.60912331e-03, 2.05959820e-03,-2.35922392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862668,  0.6125606 , -0.64375997,  0.6125606 ,  0.54371277,
       -0.32819791, -0.64375997, -0.32819791,  0.57633465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7927642202088425e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32553045e-01, -9.00155735e-01, -5.11616698e-02, -2.21591560e-02,
       -4.61138619e-02,  9.98690384e-01, -9.01336139e-01,  4.33120266e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099624, -0.04504019,  0.28203225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66651678,  5.63436807, -0.60275106,  5.63436807,  6.07544153,
        3.82252759, -0.60275106,  3.82252759, 41.39856111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005074632592615425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09389498e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09389498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06388434, -0.10993411,  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:
[ 2.52562323e-06,-7.06186193e-06,-9.11687916e-06, 2.36478801e-05,
 -1.95226685e-05, 2.50982950e-05,-4.25984536e-05,-2.61009779e-05,
  4.89996546e-06,-3.15445737e-05,-1.84707080e-05,-2.71022688e-05,
  1.75727714e-02, 9.94924045e-03, 1.60963101e-03, 3.48955245e-04,
  4.11718196e-06,-9.46816892e-07,-4.90500135e+00, 2.42952805e-04,
  1.18261782e-02,-6.82024972e-04]


--- Step 1206 ---
qpos:
[ 0.01870714, 0.03012324,-0.00952018,-0.0255749 , 0.00791401, 0.004667  ,
 -0.00786223, 0.02713592, 0.01231308, 0.02797528,-0.00834049, 0.02644991,
  1.19557708,-0.00354708, 1.1654887 , 0.04507778, 0.05855297,-0.07663345,
  0.17148721, 0.99955916, 0.02863718,-0.00337935,-0.00706985]

qacc:
[ 6.11193274e+00,-6.67311200e-01, 2.72064178e+00,-4.60136080e+00,
 -5.06105442e+00, 5.85295879e-01, 1.16238034e-01,-5.66907649e+00,
  4.65259592e-01,-5.87368049e-02, 1.48620716e+00,-6.62368929e+00,
 -5.10260379e+01, 7.58111688e+01, 3.57957030e+01,-7.35170582e+01,
  1.49620652e+00,-3.41063178e-01, 2.09123416e-01, 3.14267723e+00,
  1.69335553e+01, 1.79863089e+01]

qfrc_actuator:
[ 1.44847533e-04, 9.35064829e-04, 9.62574722e-05,-2.69152797e-05,
 -5.96900455e-05, 2.17078091e-05,-7.77900746e-05,-4.23672091e-05,
 -6.78207413e-05, 8.15982691e-04, 1.85447944e-04, 2.39545288e-05,
  1.74199875e-02, 9.57708126e-03, 2.08419021e-03,-2.22483555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8888392 , -0.75043468,  0.47632228, -0.75043468,  1.01587057,
        0.20013497,  0.47632228,  0.20013497,  1.2041472 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5151657976665497e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32655642e-01, -9.00107637e-01, -5.11403632e-02, -2.21551573e-02,
       -4.60921442e-02,  9.98691476e-01, -9.01286993e-01,  4.33222525e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709761 , -0.04501903,  0.28195004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67658422, -3.8400511 ,  4.18062387, -3.8400511 , 13.46705095,
        7.15581962,  4.18062387,  7.15581962, 12.24945798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005087026467721356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.45614924e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.45614924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02778531, -0.07948698,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66619084e-05, 8.51614618e-07, 8.64147153e-06,-4.61617227e-06,
 -2.95005660e-05, 4.51389244e-05,-3.79669004e-06,-1.46845965e-05,
  2.84885405e-06,-1.41479073e-05,-1.73192168e-05,-1.75513881e-05,
  2.22159029e-02, 1.14918162e-02, 1.47926878e-03, 1.46020014e-04,
  6.47351191e-06,-2.50973675e-06,-4.90500343e+00, 2.45269467e-04,
  1.18249323e-02,-6.81038961e-04]


--- Step 1207 ---
qpos:
[ 0.01870836, 0.03012374,-0.00952077,-0.02557459, 0.00791284, 0.00466611,
 -0.00786281, 0.02713524, 0.01231324, 0.02797459,-0.00834087, 0.02644899,
  1.19548295,-0.0035285 , 1.16571557, 0.04506965, 0.05855431,-0.07661843,
  0.1714877 , 0.99956019, 0.02861247,-0.00337932,-0.00702332]

qacc:
[-2.24649636e+00,-4.05744589e-01, 1.73745259e+00,-2.95937955e+00,
  5.66836933e-02, 1.24765423e+00,-5.69335321e+00, 1.38351641e+01,
  2.64854617e-01,-4.75409774e-03, 7.76488183e-01,-3.74442837e+00,
 -2.27400363e+01, 1.29461228e+01, 2.05953635e+01,-2.71110100e+01,
  1.31521603e+00,-3.60606490e-01, 1.36146632e-01, 5.22679744e+00,
  1.51843278e+01, 2.08238944e+01]

qfrc_actuator:
[ 1.30276587e-04, 9.38292953e-04, 1.02686648e-04,-2.96801221e-05,
 -5.84967155e-05, 6.43146177e-05,-6.13187919e-05,-1.44659520e-05,
 -6.62736619e-05, 8.21344821e-04, 1.81123809e-04, 1.54191133e-05,
  1.74235711e-02, 9.56339753e-03, 2.06378879e-03,-2.05041792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88937438, -0.72606942,  0.51362436, -0.72606942,  0.7500504 ,
       -0.19695109,  0.51362436, -0.19695109,  0.61096046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.776807406270977e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43275399, -0.90006232, -0.05110582, -0.02214519, -0.04605861,
        0.99869324, -0.90124002,  0.43332023,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096511, -0.04500116,  0.28188758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68986087,  5.17134017, -2.37313244,  5.17134017, 10.96619342,
       11.49776138, -2.37313244, 11.49776138, 30.74486176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005103356746053167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08773801e-13, -1.08773801e-13,  1.00000000e+00, -1.18317398e-26,
        1.00000000e+00,  1.08773801e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08773801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02778823, -0.07947844,  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:
[-1.35032980e-05, 5.28910551e-06, 7.50823191e-06,-2.52148011e-06,
  3.71477212e-07, 6.64848045e-05, 2.48477174e-05, 2.94269794e-05,
  1.62459493e-06,-6.84858090e-06,-9.97465863e-06,-1.00789489e-05,
  2.39598958e-02, 9.87136874e-03, 4.72371606e-04, 3.61404617e-04,
  1.02793057e-06,-1.31917157e-06,-4.90500055e+00, 2.42378606e-04,
  1.18273847e-02,-6.80333989e-04]


--- Step 1208 ---
qpos:
[ 0.01870871, 0.03012363,-0.009521  ,-0.02557356, 0.00791204, 0.00466568,
 -0.00786323, 0.02713558, 0.01231307, 0.02797421,-0.00834147, 0.02644794,
  1.19535734,-0.00352569, 1.16596116, 0.04506479, 0.05856045,-0.07660485,
  0.17148846, 0.99956126, 0.02860083,-0.0033527 ,-0.00693116]

qacc:
[ -7.46553369, -0.30018565, -3.14561415, 15.50160382,  3.2363155 ,
   2.24700653,-11.5121969 , 28.75030755, -2.80399934,  0.77987445,
  -1.61048992, -0.5516743 ,-14.54304264, -1.4757955 , 18.41683149,
 -22.74768614,  1.19851553, -0.35777032,  0.0654262 ,  6.51782739,
  13.98509027, 22.40648649]

qfrc_actuator:
[ 8.56970778e-05, 8.69005463e-04, 1.06710901e-04, 4.07726627e-06,
 -3.95639389e-05, 8.99564649e-05,-5.12876876e-05, 3.77503254e-05,
 -8.31791311e-05, 8.60351600e-04, 1.78764271e-04, 1.07764025e-05,
  1.74203515e-02, 9.58815136e-03, 2.07960961e-03,-1.89115583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89006443, -0.70651661,  0.54133997, -0.70651661,  0.70232078,
       -0.24502903,  0.54133997, -0.24502903,  0.57027079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.831964958739207e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32900466e-01, -8.99993842e-01, -5.10712299e-02, -2.21376485e-02,
       -4.60238529e-02,  9.98695013e-01, -9.01169857e-01,  4.33466133e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096245, -0.04498517,  0.28184316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68522695,  5.11424892, -2.48319622,  5.11424892, 13.09402246,
       15.25873148, -2.48319622, 15.25873148, 37.1112376 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005097658868231381
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44476913e-14, -1.08895383e-13,  1.00000000e+00, -5.92910216e-27,
        1.00000000e+00,  1.08895383e-13, -1.00000000e+00,  0.00000000e+00,
       -5.44476913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02778991, -0.07947175,  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:
[-4.49724571e-05,-6.49079659e-05, 5.95360018e-06, 3.41943001e-05,
  1.89643101e-05, 6.92548791e-05, 2.78618920e-05, 5.65026463e-05,
 -1.68621428e-05, 3.27173510e-05,-5.33684502e-06,-5.47307934e-06,
  2.57086560e-02, 1.03030375e-02,-4.89776379e-04, 3.61369405e-04,
  2.23141864e-06,-1.66955047e-07,-4.90499881e+00, 2.42835956e-04,
  1.18288002e-02,-6.79755965e-04]


--- Step 1209 ---
qpos:
[ 0.01870853, 0.03012267,-0.00952069,-0.0255728 , 0.00791182, 0.0046655 ,
 -0.0078634 , 0.02713658, 0.01231235, 0.02797375,-0.00834172, 0.02644754,
  1.19520436,-0.00353864, 1.16622283, 0.04506144, 0.05857104,-0.07659268,
  0.17148922, 0.9995623 , 0.02860413,-0.00330136,-0.00679129]

qacc:
[-4.57783730e+00,-3.19452700e+00, 1.09804792e+01,-1.60869575e+01,
  5.09079968e+00, 9.67380744e-01,-5.68976102e+00, 1.62471637e+01,
 -4.63899740e+00, 2.61250020e-01,-3.82877557e+00, 1.46166826e+01,
 -1.12986476e+01,-4.34266684e+00, 1.96641040e+01,-3.32942769e+01,
  1.11384553e+00,-3.52833787e-01, 9.81149198e-04, 7.45850884e+00,
  1.30905159e+01, 2.34611799e+01]

qfrc_actuator:
[ 5.93331091e-05, 8.10103025e-04, 1.26762942e-04,-1.20200348e-05,
 -1.03515087e-05, 8.74947735e-05,-4.51996680e-05, 6.83226581e-05,
 -1.10809601e-04, 8.48213029e-04, 1.95477315e-04, 4.39953425e-05,
  1.74193163e-02, 9.59359447e-03, 2.09522722e-03,-1.84888158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89069046, -0.69252204,  0.56012742, -0.69252204,  0.6732468 ,
       -0.26883978,  0.56012742, -0.26883978,  0.55830632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5827847848070885e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43309336, -0.89990261, -0.05104353, -0.02213547, -0.04599416,
        0.99869643, -0.90107722,  0.43365866,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096724, -0.04497082,  0.28181516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66642862,  5.02751137, -2.6139133 ,  5.02751137, 16.08592216,
       20.04049723, -2.6139133 , 20.04049723, 44.21163506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005074524021957544
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09391839e-13, -1.09391839e-13,  1.00000000e+00, -1.19665743e-26,
        1.00000000e+00,  1.09391839e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09391839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02779062, -0.07946652,  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:
[-2.76984615e-05,-9.25166811e-05, 8.56598796e-06,-1.80041208e-05,
  2.97720677e-05, 4.44693265e-05, 2.57888778e-05, 3.56041945e-05,
 -2.81153048e-05, 4.83695502e-06, 2.26389095e-05, 3.43350402e-05,
  2.72807626e-02, 1.10968805e-02,-1.41506769e-03, 2.38597288e-04,
  1.07405345e-05, 6.99580952e-07,-4.90499882e+00, 2.46761613e-04,
  1.18282980e-02,-6.79355902e-04]


--- Step 1210 ---
qpos:
[ 0.01870802, 0.03012118,-0.00952021,-0.0255726 , 0.00791194, 0.00466568,
 -0.00786346, 0.02713723, 0.0123113 , 0.0279729 ,-0.0083416 , 0.02644793,
  1.19502824,-0.00356638, 1.16649803, 0.0450578 , 0.0585858 ,-0.0765819 ,
  0.17148977, 0.99956324, 0.02862386,-0.00322685,-0.00660193]

qacc:
[ -2.69024247, -2.34381711,  9.67633257,-19.1854548 ,  3.09328161,
  -0.53390656,  4.01145164,-10.27138359, -2.75723761,  0.06083753,
  -4.27639992, 17.55464753, -8.61114301, -5.85192958, 21.12766525,
 -44.22583536,  1.04216862, -0.34772208, -0.05422611,  8.21557841,
  12.34753648, 24.37450381]

qfrc_actuator:
[ 4.39120019e-05, 7.93396822e-04, 1.38343508e-04,-3.95645227e-05,
  6.91867845e-06, 1.03689578e-04,-4.16233750e-05, 5.03787329e-05,
 -1.26773194e-04, 8.05656538e-04, 2.05393042e-04, 8.14461241e-05,
  1.74256805e-02, 9.55822997e-03, 2.05170354e-03,-1.89408476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89108348, -0.67988227,  0.57601204, -0.67988227,  0.64892533,
       -0.28582567,  0.57601204, -0.28582567,  0.55371587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.9964213555813026e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33319980e-01, -8.99794428e-01, -5.10272745e-02, -2.21399802e-02,
       -4.59739494e-02,  9.98697260e-01, -9.00968155e-01,  4.33885219e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097876, -0.0449582 ,  0.28180246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005037826579222526
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.2037738e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.2037738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02779057, -0.07946245,  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:
[-1.62576094e-05,-6.74219753e-05,-7.08791635e-06,-3.15587898e-05,
  1.81292714e-05, 4.79319840e-05, 1.71711655e-05,-1.44556755e-05,
 -1.67908097e-05,-3.36954700e-05, 1.49009078e-05, 3.91131072e-05,
  2.86543945e-02, 1.18489167e-02,-2.26749244e-03, 1.17216910e-04,
  2.69493438e-05, 1.15731140e-06,-4.90500099e+00, 2.54082905e-04,
  1.18253197e-02,-6.79175889e-04]


--- Step 1211 ---
qpos:
[ 0.01870734, 0.03011942,-0.00952031,-0.02557203, 0.00791193, 0.00466633,
 -0.0078635 , 0.02713731, 0.01230973, 0.02797185,-0.00834135, 0.02644841,
  1.19489108,-0.00364307, 1.16673898, 0.04506473, 0.05859191,-0.07657192,
  0.1714902 , 0.99956365, 0.02864153,-0.00319773,-0.00647713]

qacc:
[-1.56886493e+00, 2.07948394e+00,-9.50484435e+00, 1.71535273e+01,
 -1.22858355e+00,-6.18208364e-01, 5.52208443e+00,-1.58105158e+01,
 -4.49636676e+00,-3.92201589e-01, 6.36347897e-01, 9.28401662e-01,
  6.74501422e+01,-1.06582223e+02,-8.83254195e+01, 2.22484555e+02,
 -2.16349963e+00,-2.00597545e-01,-2.79938049e-02,-9.77531484e-01,
 -2.36254221e+01,-3.16115842e+01]

qfrc_actuator:
[ 3.50495371e-05, 7.84292469e-04, 1.09486790e-04,-2.03310460e-05,
 -7.34104765e-07, 1.30867256e-04,-3.95208875e-05, 2.17994948e-05,
 -1.53491085e-04, 7.98451141e-04, 2.11068890e-04, 8.55372555e-05,
  1.74424141e-02, 9.53923865e-03, 2.03092835e-03,-1.79531824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8911448 ,  0.68339712, -0.57193306,  0.68339712,  0.71506707,
       -0.21039352, -0.57193306, -0.21039352,  0.63974768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.057874108034855e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33567646e-01, -8.99675185e-01, -5.10260583e-02, -2.21521050e-02,
       -4.59667583e-02,  9.98697322e-01, -9.00848700e-01,  4.34133181e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099635, -0.04494744,  0.28180407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63727536, -5.56495392,  0.90008964, -5.56495392,  5.73727052,
        0.61823668,  0.90008964,  0.61823668,  9.45962647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005038579161869977
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10172232e-13, -2.20344464e-13,  1.00000000e+00, -2.42758414e-26,
        1.00000000e+00,  2.20344464e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10172232e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09607411, -0.09099957,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.35397578e-06,-4.95771876e-05,-4.47338924e-05, 1.54896677e-05,
 -7.12093192e-06, 5.69079591e-05, 1.36147011e-05,-2.62148619e-05,
 -2.72269257e-05,-2.12746180e-05, 1.91150466e-06, 3.92518805e-06,
  2.98266574e-02, 1.25702820e-02,-2.97064400e-03, 2.28587221e-04,
  5.12616275e-05, 1.13224109e-06,-4.90500565e+00, 2.64700881e-04,
  1.18194336e-02,-6.79251194e-04]


--- Step 1212 ---
qpos:
[ 0.01870621, 0.03011755,-0.00952055,-0.02557197, 0.00791252, 0.00466705,
 -0.00786336, 0.02713744, 0.0123082 , 0.02797075,-0.00834136, 0.0264486 ,
  1.19476777,-0.00371047, 1.16694759, 0.04507425, 0.05858967,-0.07656236,
  0.17149005, 0.99956352, 0.02865927,-0.00321262,-0.00641094]

qacc:
[-3.82780257e+00,-8.29414606e-01, 4.90955640e+00,-1.35216713e+01,
  5.27240967e+00,-3.49941249e-01, 1.16273038e+00,-7.24135786e-01,
  3.00994675e-01, 3.98674905e-02, 1.01733702e+00,-5.67482251e+00,
  6.32868148e+00, 2.24622022e+00,-5.59284561e+01, 1.25619488e+02,
 -2.08662725e+00,-1.03477744e-01,-1.47314600e-01, 9.35805962e-02,
 -2.28306576e+01,-2.86632944e+01]

qfrc_actuator:
[ 1.23617878e-05, 7.97444563e-04, 1.10321638e-04,-4.47522334e-05,
  3.02671737e-05, 1.11127131e-04,-3.82565981e-05, 2.27147668e-05,
 -1.50823292e-04, 7.94667182e-04, 1.96553566e-04, 6.99900875e-05,
  1.74606145e-02, 9.62338433e-03, 2.02761635e-03,-1.69190768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89058997,  0.60425996, -0.65423268,  0.60425996,  0.49885633,
       -0.36181157, -0.65423268, -0.36181157,  0.55641491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.470827375679426e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33815498e-01, -8.99554107e-01, -5.10541073e-02, -2.21769842e-02,
       -4.59859027e-02,  9.98695889e-01, -9.00728758e-01,  4.34381980e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100292, -0.04493372,  0.28178594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65336359,  5.6206412 , -0.60738163,  5.6206412 ,  5.77110094,
        1.08952822, -0.60738163,  1.08952822, 15.73573507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005058425450862741
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.19479962e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.19479962e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09607765, -0.0909761 ,  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:
[-2.29709181e-05,-2.30842874e-05,-1.43564585e-05,-2.77864394e-05,
  3.08193150e-05, 1.37462193e-05, 1.37822512e-05, 3.31362973e-06,
  1.85843935e-06,-1.50981675e-05,-1.85307926e-05,-1.63147885e-05,
  2.78982522e-02, 1.51040107e-02,-1.26541351e-03,-1.97054718e-04,
  2.05615646e-05,-1.53347295e-07,-4.90500282e+00, 2.48479775e-04,
  1.18221991e-02,-6.80042956e-04]


--- Step 1213 ---
qpos:
[ 0.01870516, 0.0301156 ,-0.00952053,-0.02557293, 0.00791347, 0.00466787,
 -0.0078632 , 0.02713793, 0.01230705, 0.02796983,-0.00834194, 0.02644859,
  1.19465322,-0.00376155, 1.16712341, 0.04508449, 0.05857937,-0.07655296,
  0.1714889 , 0.99956283, 0.02867932,-0.00327036,-0.00639954]

qacc:
[ 7.06891100e-01,-2.92991425e+00, 1.45891768e+01,-3.25475738e+01,
  3.22647797e+00, 8.46092484e-01,-4.35484828e+00, 1.05360982e+01,
  3.28706086e+00, 1.41537227e+00,-3.92012142e+00, 1.38535017e+00,
 -2.70562761e+00, 1.68696518e+01,-5.01278865e+01, 1.06123362e+02,
 -2.01596473e+00,-4.03530407e-02,-2.47490380e-01, 1.21133631e+00,
 -2.21924671e+01,-2.67754068e+01]

qfrc_actuator:
[ 1.72212521e-05, 8.06158855e-04, 1.28754372e-04,-9.46246987e-05,
  4.82735707e-05, 1.16713807e-04,-3.76647913e-05, 4.09396780e-05,
 -1.30877290e-04, 8.10612118e-04, 1.70246043e-04, 6.07630704e-05,
  1.74752258e-02, 9.69526382e-03, 2.02519150e-03,-1.67073293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8896774 ,  0.50510103, -0.73239254,  0.50510103,  0.36787793,
       -0.35986365, -0.73239254, -0.35986365,  0.64149424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2823942617127474e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43397261, -0.89947508, -0.05111112, -0.02220985, -0.04603334,
        0.99869297, -0.90065226,  0.43454057,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099845, -0.04491734,  0.28174949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64839961,  5.62321337, -0.53281292,  5.62321337,  5.76655726,
        1.24701495, -0.53281292,  1.24701495, 18.80917487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005052304613672454
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09872930e-13, -1.09872930e-13,  1.00000000e+00,  1.20720608e-26,
        1.00000000e+00,  1.09872930e-13, -1.00000000e+00,  0.00000000e+00,
        1.09872930e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608119, -0.09095787,  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:
[ 4.18990082e-06,-8.28268099e-06, 1.09623019e-05,-5.18928220e-05,
  1.88863492e-05, 1.62454681e-05, 5.23192415e-06, 1.93518697e-05,
  1.99932439e-05, 3.01000828e-06,-3.22623987e-05,-1.08310687e-05,
  2.72201875e-02, 1.47135441e-02, 3.45558883e-04,-3.06513744e-04,
  5.92941397e-06,-1.91937017e-07,-4.90500162e+00, 2.41166229e-04,
  1.18241953e-02,-6.80663090e-04]


--- Step 1214 ---
qpos:
[ 0.01870349, 0.03011371,-0.00952067,-0.02557412, 0.00791395, 0.00466886,
 -0.00786333, 0.0271383 , 0.01230649, 0.02796926,-0.00834325, 0.02644847,
  1.19452227,-0.00380012, 1.16729464, 0.04509159, 0.05857252,-0.07654289,
  0.17148928, 0.99956267, 0.02868362,-0.00330876,-0.00638447]

qacc:
[ -5.351943  ,  0.04544152,  0.9573731 , -4.81000854, -4.24587979,
   0.77692917, -1.90032144,  0.11234103,  5.02174604,  2.24313156,
  -6.81793486,  5.60876538,-21.62391054, 30.8253475 ,  4.44656983,
 -21.49082172,  0.86470098,  0.1668713 ,  0.38126634, -7.93269111,
   9.66542523,  1.58019131]

qfrc_actuator:
[-1.49977724e-05, 8.12212206e-04, 1.21895886e-04,-1.05801035e-04,
  2.29701481e-05, 1.19675760e-04,-5.51307829e-05, 3.37093462e-05,
 -1.00930749e-04, 8.38199882e-04, 1.37283118e-04, 5.53442783e-05,
  1.74876431e-02, 9.74903048e-03, 2.04580610e-03,-1.55603883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88882789,  0.21961397,  0.86126925,  0.21961397,  2.48381469,
       -0.40670369,  0.86126925, -0.40670369,  0.99253276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4769172491087068e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43402389, -0.89944529, -0.05119994, -0.02225118, -0.04611202,
        0.99868842, -0.90062653,  0.4345939 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098318, -0.04489838,  0.28169568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63679444, -5.60318323, -0.61464561, -5.60318323,  5.75341516,
       -1.06312856, -0.61464561, -1.06312856, 15.32840215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005037985507672292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0726297e-06,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0726297e-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([ 0.04626476, -0.09495952,  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:
[-3.20917459e-05, 1.54141841e-06,-8.98875685e-06,-1.21557362e-05,
 -2.47620420e-05, 1.39305273e-05,-1.28095154e-05,-5.98055979e-06,
  3.05323225e-05, 2.21861203e-05,-3.66740829e-05,-6.61459068e-06,
  2.67944174e-02, 1.39524777e-02, 2.00221720e-03,-2.28425936e-04,
  4.21653550e-06, 1.17589473e-06,-4.90500148e+00, 2.41335422e-04,
  1.18261012e-02,-6.81203158e-04]


--- Step 1215 ---
qpos:
[ 0.0187011 , 0.03011214,-0.00952109,-0.02557443, 0.00791446, 0.00466957,
 -0.00786318, 0.0271386 , 0.0123063 , 0.02796928,-0.00834458, 0.02644819,
  1.19438086,-0.00380507, 1.16748244, 0.04509513, 0.05857163,-0.07653434,
  0.17149006, 0.99956263, 0.02869579,-0.00331585,-0.00633231]

qacc:
[ -6.1737565 ,  3.04744163,-13.96274769, 29.47313403,  0.35254189,
  -1.290172  ,  4.32235893, -5.69835806,  3.08526732,  0.51700259,
  -0.10795145, -2.80546769,-32.87158479, 60.96679601, 38.29202534,
 -91.59252049,  1.4891944 , -0.3815731 ,  0.10124647,  3.88874296,
  16.2061545 , 18.07859561]

qfrc_actuator:
[-5.10392723e-05, 8.52068566e-04, 1.17928334e-04,-5.86318047e-05,
  2.56401480e-05, 8.54395195e-05,-4.76413668e-05, 2.92960655e-05,
 -8.30962115e-05, 9.08027426e-04, 1.53972622e-04, 5.22181638e-05,
  1.75060193e-02, 9.82472464e-03, 2.00432697e-03,-1.50593038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862082, -0.77520288,  0.43440472, -0.77520288,  0.78955107,
       -0.17679171,  0.43440472, -0.17679171,  0.57313289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9066211519816405e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34144802e-01, -8.99384263e-01, -5.12468491e-02, -2.22778258e-02,
       -4.61512516e-02,  9.98686017e-01, -9.00567593e-01,  4.34716011e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097301, -0.04487958,  0.28165096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6496684 ,  5.19283995, -2.225571  ,  5.19283995,  8.18921714,
        5.92543222, -2.225571  ,  5.92543222, 19.47525342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005053869319532611
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.49194565e-14, -1.09838913e-13,  1.00000000e+00, -6.03229340e-27,
        1.00000000e+00,  1.09838913e-13, -1.00000000e+00,  0.00000000e+00,
       -5.49194565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02779915, -0.07942055,  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:
[-3.69689625e-05, 3.84081507e-05,-5.14747803e-06, 4.66963602e-05,
  1.97191974e-06,-2.93927985e-05, 8.57220218e-06,-4.37766763e-06,
  1.87365151e-05, 7.44203089e-05, 1.65468309e-05,-3.56993254e-06,
  2.76322812e-02, 1.34036134e-02, 2.18740126e-03,-2.20682013e-05,
  2.06896108e-06, 3.93894736e-09,-4.90500058e+00, 2.41440739e-04,
  1.18265961e-02,-6.81339569e-04]


--- Step 1216 ---
qpos:
[ 0.01869933, 0.03011089,-0.00952162,-0.02557349, 0.00791534, 0.00466983,
 -0.00786227, 0.02713883, 0.01230667, 0.02796985,-0.00834547, 0.0264482 ,
  1.1944488 ,-0.00377221, 1.16767926, 0.04509927, 0.05857964,-0.07652543,
  0.17149025, 0.999563  , 0.02869869,-0.00328076,-0.00628001]

qacc:
[ 5.31306143e+00, 3.31765885e+00,-1.64615915e+01, 3.79489528e+01,
  3.31139473e+00,-2.85778558e+00, 9.59466072e+00,-1.16266324e+01,
  4.77851884e+00, 1.07687519e-01,-5.23985548e-01, 4.32784789e+00,
  1.38075976e+02,-8.70687249e+01, 2.97001826e+00,-1.03011205e+01,
  2.22289932e+00, 9.38994795e-02,-1.50205618e-01,-4.77155958e+00,
  2.10545226e+01,-5.18882336e-01]

qfrc_actuator:
[-1.80195597e-05, 8.76418128e-04, 1.15883237e-04, 4.76564648e-06,
  4.47669080e-05, 6.47890421e-05,-7.86770369e-06, 2.65673759e-05,
 -5.47839482e-05, 9.49561829e-04, 1.82277628e-04, 6.82915193e-05,
  1.75280269e-02, 9.83418799e-03, 1.91852527e-03,-1.42188336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.64821243,  5.32904139, -1.87179636,  5.32904139,  9.42643105,
       10.75666338, -1.87179636, 10.75666338, 36.27264655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005052073765380305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.49389754e-14, -1.09877951e-13,  1.00000000e+00, -6.03658203e-27,
        1.00000000e+00,  1.09877951e-13, -1.00000000e+00,  0.00000000e+00,
       -5.49389754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278004 , -0.0794126 ,  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:
[ 3.19594792e-05, 4.68201420e-05, 6.89690785e-06, 6.57802259e-05,
  1.91723773e-05,-3.55315184e-05, 3.45956690e-05,-3.77956057e-06,
  2.88859744e-05, 8.64370657e-05, 4.56070760e-05, 1.97683291e-05,
  2.81765573e-02, 1.17312641e-02, 1.26932637e-03, 2.39410739e-04,
  3.54825583e-06,-1.35209137e-07,-4.90500084e+00, 2.41791115e-04,
  1.18256899e-02,-6.81612655e-04]


--- Step 1217 ---
qpos:
[ 0.01869866, 0.03010953,-0.00952192,-0.02557246, 0.00791611, 0.00466985,
 -0.00786122, 0.02713905, 0.01230669, 0.02797064,-0.00834641, 0.02644883,
  1.1944527 ,-0.00373432, 1.16789319, 0.04510408, 0.05858929,-0.07651448,
  0.17149121, 0.99956394, 0.02868613,-0.00323232,-0.00621119]

qacc:
[  9.43867205, -0.64776073,  1.63983487, -0.24500009, -1.07095975,
  -0.73823403,  2.28673235, -2.71155237, -3.0048477 ,  1.6762337 ,
  -8.16264731, 18.72223236,-54.84525817, 53.6851529 , 27.10276538,
 -49.36301309,  0.41083518,  0.50608491,  0.19545769, -7.74523921,
   6.86107994,  8.09307112]

qfrc_actuator:
[ 3.76331131e-05, 8.38070066e-04, 1.14940794e-04, 6.17618455e-06,
  3.79127527e-05, 5.25686035e-05,-2.57262758e-06, 2.48770798e-05,
 -7.37852300e-05, 9.20660384e-04, 1.63856125e-04, 9.55153681e-05,
  1.75168282e-02, 9.76853481e-03, 1.88077539e-03,-1.44448207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88880827, -0.22858045, -0.85891275, -0.22858045,  7.45765145,
       -1.74815091, -0.85891275, -1.74815091,  1.35403959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.408044775258058e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34188200e-01, -8.99362497e-01, -5.12611571e-02, -2.22862897e-02,
       -4.61630536e-02,  9.98685283e-01, -9.00546461e-01,  4.34759786e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709781 , -0.04486876,  0.28160576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005034955067936065
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24066369e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24066369e-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([ 0.0462721 , -0.09493055,  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:
[ 5.66016490e-05,-7.86018184e-06, 1.18719260e-05, 4.93556765e-06,
 -6.32293830e-06,-2.51193837e-05, 2.07093025e-06,-2.09340877e-06,
 -1.81255357e-05, 2.97035477e-05, 5.73769268e-06, 3.28903600e-05,
  1.77000847e-02, 9.77720354e-03, 7.77684032e-04, 1.85919932e-04,
  4.84266323e-06, 3.46080100e-07,-4.90500048e+00, 2.45028303e-04,
  1.18262224e-02,-6.81572717e-04]


--- Step 1218 ---
qpos:
[ 0.01869866, 0.03010795,-0.00952213,-0.02557139, 0.00791644, 0.00466977,
 -0.00786045, 0.0271396 , 0.01230578, 0.02797143,-0.00834742, 0.0264498 ,
  1.19444497,-0.00372495, 1.16807832, 0.04511357, 0.05859064,-0.07650331,
  0.17149157, 0.99956439, 0.02867587,-0.00322821,-0.00618864]

qacc:
[ 5.77984132e+00,-4.73110667e-01, 1.13023851e+00,-5.48610226e-01,
 -3.81474987e+00, 1.32562015e+00,-6.36106151e+00, 1.27252637e+01,
 -7.81485026e+00, 9.28834577e-01,-4.74788198e+00, 1.08778218e+01,
  1.26084992e+01,-3.85054017e+01,-5.82256417e+01, 1.38410545e+02,
 -2.07246720e+00, 5.79158390e-02,-1.50901254e-01, 1.21675094e+00,
 -2.28103241e+01,-2.24926923e+01]

qfrc_actuator:
[ 7.06333640e-05, 8.15680927e-04, 1.14351887e-04, 6.55157551e-06,
  1.58164318e-05, 4.53625182e-05,-1.76525722e-05, 4.15428591e-05,
 -1.20486454e-04, 9.02879105e-04, 1.53206273e-04, 1.11230551e-04,
  1.75187530e-02, 9.72871942e-03, 1.86015132e-03,-1.65565511e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88987403,  0.54375203, -0.70442141,  0.54375203,  0.44370656,
       -0.34440246, -0.70442141, -0.34440246,  0.6240253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.57224134707741e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43425474, -0.89933353, -0.05120574, -0.02226554, -0.04611153,
        0.99868813, -0.90051489,  0.43482517,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098785, -0.04486719,  0.28158955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.62943755, -5.57021713, -0.81440057, -5.57021713,  5.85708481,
       -1.55702819, -0.81440057, -1.55702819, 16.27896974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005028901345034975
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10384252e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10384252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09609288, -0.09088964,  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:
[ 3.46507306e-05,-2.40487840e-05,-5.63843204e-07, 5.44898191e-07,
 -2.22847751e-05,-2.09309192e-05,-2.00989305e-05, 1.56176069e-05,
 -4.72225306e-05, 1.39871983e-06,-2.66824559e-06, 1.78264403e-05,
  2.09029782e-02, 9.48433420e-03,-1.02467473e-04,-6.01296986e-05,
  8.24533783e-06, 1.55634502e-06,-4.90499956e+00, 2.47401985e-04,
  1.18273915e-02,-6.81185057e-04]


--- Step 1219 ---
qpos:
[ 0.01869906, 0.03010676,-0.00952319,-0.02556965, 0.00791684, 0.00466931,
 -0.00786005, 0.02714073, 0.01230537, 0.02797171,-0.0083477 , 0.02645062,
  1.19441788,-0.00371855, 1.16823257, 0.04512177, 0.05858399,-0.07649181,
  0.17149095, 0.99956429, 0.02866997,-0.00326722,-0.00621158]

qacc:
[  3.36474553,  4.26784726,-17.35035928, 30.13644364,  0.67903873,
   1.74990842, -9.40163202, 20.32267222,  4.13057132, -3.0233846 ,
  10.40701709,-13.7712834 ,-11.60315445,  6.87282869,-41.06924647,
  78.9351882 , -2.00229112,  0.0794494 , -0.2473316 ,  2.24412644,
 -22.19361245,-22.1267792 ]

qfrc_actuator:
[ 9.00286423e-05, 8.56261662e-04, 7.85231133e-05, 4.18366558e-05,
  2.04393479e-05, 5.63760092e-06,-4.45957866e-05, 6.88716033e-05,
 -9.43389717e-05, 8.56382315e-04, 1.82762698e-04, 1.02307040e-04,
  1.75154888e-02, 9.75369906e-03, 1.86397050e-03,-1.77120114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89085551,  0.42964648, -0.7804021 ,  0.42964648,  0.29631186,
       -0.32732304, -0.7804021 , -0.32732304,  0.71064944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.760909532639571e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43430868, -0.8993085 , -0.05118786, -0.02226051, -0.0460941 ,
        0.99868904, -0.900489  ,  0.43487878,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098681, -0.04486002,  0.28155519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6262501 ,  5.62327349,  0.18299032,  5.62327349,  5.65035359,
       -0.74069771,  0.18299032, -0.74069771, 28.38781409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005024963865064846
  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([ 0.09609424, -0.09087908,  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:
[ 2.04016705e-05, 2.71089581e-05,-4.08291498e-05, 3.42467199e-05,
  3.98246332e-06,-5.49269686e-05,-3.32103647e-05, 2.60384433e-05,
  2.47637434e-05,-4.55403323e-05, 3.01347871e-05,-8.60887481e-06,
  2.14811982e-02, 1.09352814e-02, 1.33776818e-03,-4.09930624e-04,
  5.56299106e-07, 4.51654410e-08,-4.90499975e+00, 2.42546248e-04,
  1.18265832e-02,-6.81045356e-04]


--- Step 1220 ---
qpos:
[ 0.01869969, 0.03010575,-0.00952465,-0.0255675 , 0.0079173 , 0.0046686 ,
 -0.00786003, 0.02714217, 0.01230492, 0.02797128,-0.00834721, 0.0264517 ,
  1.19434806,-0.00371875, 1.16839619, 0.04513248, 0.05858041,-0.07647926,
  0.17149151, 0.99956471, 0.02864955,-0.00328982,-0.00622718]

qacc:
[  1.95743233,  2.21383884, -9.22058707, 16.6765545 ,  0.44978657,
   1.32753032, -6.50997268, 12.56139622, -0.20440099, -2.56846244,
   6.74159915, -3.08242723,-29.39337222, 20.04273365,  8.10156174,
  -4.04336917,  0.76821505,  0.26506452,  0.29851335, -7.29796425,
   8.26548656,  3.45547809]

qfrc_actuator:
[ 1.01268780e-04, 8.63109370e-04, 5.79608141e-05, 6.19046519e-05,
  2.30036784e-05,-4.01804090e-08,-6.06969301e-05, 8.44676606e-05,
 -9.65239199e-05, 8.10932659e-04, 2.17928712e-04, 1.14466325e-04,
  1.75208762e-02, 9.76790729e-03, 1.88367950e-03,-1.80753128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89109455,  0.12942347,  0.88164565,  0.12942347,  2.54973505,
       -0.24348446,  0.88164565, -0.24348446,  0.92683748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.007565036217128e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43430454, -0.89930932, -0.05120849, -0.0222693 , -0.04611277,
        0.99868798, -0.90049078,  0.4348751 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097527, -0.04484787,  0.28150442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625064,  0.25265694, -0.26514901,  0.25265694,  1.26593585,
        0.85729798, -0.26514901,  0.85729798,  1.1831584 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3504877157713582e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54322258e-01, -9.33895756e-01, -4.79004697e-02, -1.69917071e-02,
       -4.47854540e-02,  9.98852114e-01, -9.34968994e-01,  3.54729447e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07106192, -0.0447753 ,  0.28018678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.61767765, -5.598272  , -0.46653276, -5.598272  ,  5.68060769,
       -0.75514409, -0.46653276, -0.75514409, 14.67921062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005014369240840231
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53516884e-07, -1.10704156e-13,  1.00000000e+00,  1.69949570e-20,
        1.00000000e+00,  1.10704156e-13, -1.00000000e+00, -3.00926554e-36,
        1.53516884e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04627596, -0.09490514,  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:
[ 1.18488804e-05, 1.50980864e-05,-1.87858304e-05, 2.04831687e-05,
  2.65859212e-06,-4.21267720e-05,-3.06386821e-05, 1.25973055e-05,
 -1.47449279e-06,-6.50614698e-05, 2.91696444e-05, 1.10799076e-05,
  2.24536604e-02, 1.10977483e-02, 2.89842357e-03,-3.82659668e-04,
  2.52667120e-06,-6.60929040e-09,-4.90500063e+00, 2.43731240e-04,
  1.18262963e-02,-6.80913298e-04]


--- Step 1221 ---
qpos:
[ 0.01870011, 0.0301046 ,-0.00952562,-0.02556584, 0.00791744, 0.00466794,
 -0.00786007, 0.02714337, 0.01230445, 0.02797022,-0.00834654, 0.02645295,
  1.19424092,-0.00369912, 1.16856969, 0.04513239, 0.05858291,-0.07646832,
  0.17149217, 0.99956519, 0.02863778,-0.00328125,-0.00620775]

qacc:
[-1.82155008e+00,-2.58819844e+00, 1.09794969e+01,-2.00452556e+01,
 -2.80148246e+00,-2.01759440e-01, 1.80800376e+00,-5.74462314e+00,
 -1.75128511e-01,-1.00144783e+00, 1.64539116e+00, 1.45448425e+00,
 -4.44945326e+01, 5.83980734e+01, 5.07880519e+01,-1.48560336e+02,
  1.51840976e+00,-4.02155880e-01, 2.26636682e-02, 4.27595769e+00,
  1.61065070e+01, 1.70455801e+01]

qfrc_actuator:
[ 8.98708023e-05, 8.49751089e-04, 8.19586328e-05, 3.73413590e-05,
  6.57494366e-06, 3.24969505e-05,-5.23923196e-05, 7.53155380e-05,
 -9.76389074e-05, 7.66503591e-04, 2.20616108e-04, 1.21179416e-04,
  1.75342555e-02, 9.74496819e-03, 1.86248043e-03,-1.79961521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89163565, -0.79889358,  0.39595854, -0.79889358,  0.79445361,
       -0.19607636,  0.39595854, -0.19607636,  0.49602821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.52500065543132e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34417925e-01, -8.99255372e-01, -5.11941591e-02, -2.22688611e-02,
       -4.60970688e-02,  9.98688719e-01, -9.00436097e-01,  4.34988317e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096866, -0.04483333,  0.28146128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36627672,  0.29968691, -0.21058583,  0.29968691,  0.29217347,
       -0.10545712, -0.21058583, -0.10545712,  0.21619958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.119184982421933e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35438752, -0.93387207, -0.04787935, -0.01698733, -0.04476453,
        0.99885313, -0.93494434,  0.35479443,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105246, -0.04476324,  0.28018804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.62261562,  5.36909773, -1.66931003,  5.36909773,  7.74409826,
        6.82344647, -1.66931003,  6.82344647, 27.56925838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005020472934817444
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10569566e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10569566e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02780374, -0.07937427,  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:
[-1.10432560e-05,-7.86769477e-06, 2.55340362e-05,-2.41678406e-05,
 -1.63671724e-05, 3.21382891e-06,-3.73043845e-06,-1.17741630e-05,
 -1.18320200e-06,-7.43062164e-05,-6.77932065e-06, 5.14730526e-06,
  2.46027823e-02, 1.14045677e-02, 2.40595001e-03,-5.01120125e-04,
  1.03228500e-06,-4.56119999e-07,-4.90500068e+00, 2.43064519e-04,
  1.18262176e-02,-6.80470692e-04]


--- Step 1222 ---
qpos:
[ 0.01869969, 0.03010342,-0.00952657,-0.02556517, 0.00791704, 0.00466738,
 -0.00785978, 0.02714408, 0.012305  , 0.02796863,-0.00834583, 0.02645392,
  1.19409971,-0.00369219, 1.16876324, 0.04512992, 0.05859071,-0.07645899,
  0.17149274, 0.99956567, 0.02863825,-0.00324495,-0.00614719]

qacc:
[-7.11288720e+00,-2.08733312e+00, 1.15809257e+01,-2.86193812e+01,
 -4.76899104e+00,-1.79905778e+00, 8.74498830e+00,-1.80185522e+01,
  8.73734143e+00,-1.38788724e+00, 5.07489827e+00,-9.50630912e+00,
 -1.92194490e+01, 5.72191404e+00, 3.78652079e+01,-8.70384186e+01,
  1.32741963e+00,-4.04985949e-01,-2.18954200e-02, 6.10645746e+00,
  1.44863036e+01, 2.01434147e+01]

qfrc_actuator:
[ 4.74896784e-05, 8.42291761e-04, 7.86940458e-05,-1.32747628e-05,
 -2.09003900e-05, 5.22504423e-05,-2.95968803e-05, 5.17282065e-05,
 -4.48484532e-05, 7.40648837e-04, 2.21848026e-04, 1.06854557e-04,
  1.75268521e-02, 9.71145957e-03, 1.86428418e-03,-1.77059413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89220637, -0.76559789,  0.45813981, -0.76559789,  0.7350416 ,
       -0.2626382 ,  0.45813981, -0.2626382 ,  0.45331141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0222478901278e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43454025, -0.89919752, -0.05117216, -0.02226553, -0.04607424,
        0.99868985, -0.90037715,  0.43511031,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097134, -0.04482195,  0.28143999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.36632701, 0.31855884, 0.18087493, 0.31855884, 0.28045095,
       0.15124582, 0.18087493, 0.15124582, 0.09995125, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.3763941646883576e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35449486, -0.93383244, -0.04785774, -0.01698478, -0.04474238,
        0.99885416, -0.93490369,  0.35490152,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105388, -0.04475292,  0.28018542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.61269937,  5.33319826, -1.74911135,  5.33319826,  9.40471794,
       11.56220666, -1.74911135, 11.56220666, 40.86691032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000500821322379108
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66260347e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.66260347e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02780422, -0.07936715,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27013735e-05,-7.57557503e-06,-2.55969601e-06,-5.05387615e-05,
 -2.79387073e-05, 2.02916017e-05, 2.25986486e-05,-2.38082709e-05,
  5.27274786e-05,-6.85612905e-05,-1.47727328e-05,-1.76455407e-05,
  2.64603063e-02, 1.03789740e-02, 1.91008388e-03, 6.72898413e-05,
  4.65102653e-07, 1.45612731e-07,-4.90499978e+00, 2.42898384e-04,
  1.18269690e-02,-6.80197212e-04]


--- Step 1223 ---
qpos:
[ 0.01869877, 0.03010221,-0.00952754,-0.02556509, 0.00791631, 0.00466706,
 -0.00785958, 0.02714485, 0.01230549, 0.02796708,-0.00834539, 0.026455  ,
  1.19398366,-0.00372306, 1.16891853, 0.04513058, 0.05859113,-0.0764499 ,
  0.1714932 , 0.99956569, 0.02864069,-0.00324789,-0.00613194]

qacc:
[-4.33196594e+00,-1.22979537e+00, 6.85074499e+00,-1.72272442e+01,
 -2.87746525e+00, 6.83849895e-01,-2.28858631e+00, 3.45441744e+00,
 -5.29318952e-01, 1.04317320e+00,-4.14037294e+00, 6.53894537e+00,
  4.84722440e+01,-7.90377188e+01,-7.01758626e+01, 1.53903024e+02,
 -1.84729882e+00,-5.68508190e-02,-2.73422282e-02, 1.03155535e+00,
 -2.02569803e+01,-2.20862422e+01]

qfrc_actuator:
[ 2.27244374e-05, 8.38292007e-04, 7.71015065e-05,-4.33253797e-05,
 -3.68988591e-05, 6.42599938e-05,-3.39834706e-05, 5.53463128e-05,
 -4.95154306e-05, 7.79346325e-04, 2.22280940e-04, 1.15790796e-04,
  1.75399855e-02, 9.69620032e-03, 1.90524807e-03,-1.80403167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89247315,  0.51846631, -0.72643033,  0.51846631,  0.48836121,
       -0.28842192, -0.72643033, -0.28842192,  0.68662128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.240930117007041e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4347112 , -0.89911592, -0.05115406, -0.02226639, -0.04605372,
        0.99869077, -0.90029461,  0.43528109,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098233, -0.04481258,  0.28143712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36635198, -0.3657405 , -0.02115793, -0.3657405 ,  0.36531332,
        0.01795434, -0.02115793,  0.01795434,  0.05598953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.583600596723048e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35463387, -0.93378032, -0.04784491, -0.01698688, -0.04472786,
        0.99885478, -0.93485093,  0.35504047,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07106496, -0.04474338,  0.28017972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59678693, -5.52769398,  0.87671155, -5.52769398,  5.75232747,
        0.98068802,  0.87671155,  0.98068802, 11.78005585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004988492992903966
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95052555e-07, -8.95052666e-07,  1.00000000e+00,  8.01119176e-13,
        1.00000000e+00,  8.95052666e-07, -1.00000000e+00,  0.00000000e+00,
        8.95052555e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09127241, -0.09002898,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60055112e-05,-1.08899830e-05,-5.19552352e-06,-3.14426109e-05,
 -1.67852930e-05, 2.70099892e-05, 1.76731728e-06, 4.80644329e-06,
 -3.14689927e-06,-3.38300370e-06,-1.61529907e-05, 5.14125704e-06,
  2.81761437e-02, 1.09979616e-02, 9.44669291e-04, 1.51475963e-04,
  6.02919672e-06, 5.17775883e-07,-4.90500034e+00, 2.45996391e-04,
  1.18262532e-02,-6.80091180e-04]


--- Step 1224 ---
qpos:
[ 0.01869791, 0.03010119,-0.00952836,-0.02556577, 0.00791574, 0.00466683,
 -0.00785966, 0.02714569, 0.01230593, 0.0279661 ,-0.00834552, 0.02645579,
  1.193882  ,-0.00375471, 1.16905239, 0.04513545, 0.05858474,-0.07644086,
  0.1714933 , 0.99956516, 0.02864767,-0.00328803,-0.00616418]

qacc:
[ 4.67271719e-01,-1.71463527e+00, 9.65234166e+00,-2.30125519e+01,
  1.38628694e+00, 1.04374858e+00,-3.81314830e+00, 5.34470417e+00,
 -5.36385798e-01, 1.72884438e+00,-3.80659891e+00,-8.61159224e-01,
  1.33153688e+01,-1.31157514e+01,-4.54016998e+01, 1.10681587e+02,
 -1.70140327e+00,-1.52542538e-02,-8.97211156e-02, 2.31643995e+00,
 -1.92605415e+01,-2.32138631e+01]

qfrc_actuator:
[ 2.62887872e-05, 8.71913120e-04, 9.43020254e-05,-7.87753392e-05,
 -2.82580515e-05, 5.37074127e-05,-5.43979898e-05, 5.71652076e-05,
 -5.24760871e-05, 8.38672819e-04, 2.04776534e-04, 1.02897324e-04,
  1.75560099e-02, 9.73982221e-03, 1.89434737e-03,-1.79071965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89196049,  0.40372335, -0.79536216,  0.40372335,  0.32248996,
       -0.28906146, -0.79536216, -0.28906146,  0.74523379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8133054166198965e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34865237e-01, -8.99040607e-01, -5.11684751e-02, -2.22805778e-02,
       -4.60628777e-02,  9.98690036e-01, -9.00219863e-01,  4.35435642e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098342, -0.04480018,  0.28141782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36631137, -0.2990298 , -0.21157788, -0.2990298 ,  0.24509208,
        0.17132312, -0.21157788,  0.17132312,  0.12417492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.228981230460917e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54743688e-01, -9.33737950e-01, -4.78576725e-02, -1.69966827e-02,
       -4.47377871e-02,  9.98854165e-01, -9.34809087e-01,  3.55150632e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07106475, -0.04473206,  0.28018031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59182402,  5.59129509, -0.07690943,  5.59129509,  5.59637588,
        0.33091926, -0.07690943,  0.33091926, 29.64956623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004982309448123128
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28215749e-07, -4.28216195e-07,  1.00000000e+00,  1.83368919e-13,
        1.00000000e+00,  4.28216195e-07, -1.00000000e+00, -2.52435490e-29,
        4.28215749e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09127486, -0.09001857,  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:
[ 2.80907326e-06, 2.51614724e-05, 1.32510851e-05,-3.67022691e-05,
  8.17294434e-06, 5.12453457e-06,-1.44508082e-05, 3.13031350e-06,
 -3.05797852e-06, 5.43676218e-05,-2.00036086e-05,-1.34969959e-05,
  2.69343398e-02, 1.29327502e-02, 2.84400707e-03, 8.31887920e-06,
  3.03108059e-07,-1.63634707e-08,-4.90500005e+00, 2.42562314e-04,
  1.18263709e-02,-6.80232635e-04]


--- Step 1225 ---
qpos:
[ 0.01869709, 0.03010013,-0.00952833,-0.02556689, 0.00791493, 0.00466661,
 -0.00785993, 0.02714656, 0.01230667, 0.02796607,-0.00834637, 0.02645603,
  1.19375713,-0.00374832, 1.16920574, 0.0451326 , 0.05858472,-0.07643357,
  0.17149367, 0.99956478, 0.02866045,-0.00329482,-0.00616171]

qacc:
[ 4.49946690e-01,-3.31479580e+00, 1.35867008e+01,-2.24718655e+01,
 -2.09151057e+00, 5.97854840e-01,-2.23152039e+00, 2.95228006e+00,
  2.56415162e+00, 2.16589349e+00,-3.59746579e+00,-5.36912002e+00,
 -4.63978513e+01, 7.71212682e+01, 5.61957406e+01,-1.45676873e+02,
  1.59406201e+00,-4.37232765e-01, 6.54874989e-02, 2.85589758e+00,
  1.71844182e+01, 1.68586844e+01]

qfrc_actuator:
[ 2.87409660e-05, 8.74621890e-04, 1.40362528e-04,-9.93240342e-05,
 -4.06935196e-05, 4.74041337e-05,-6.64502456e-05, 5.78794956e-05,
 -3.66371934e-05, 9.09822702e-04, 1.76912091e-04, 7.72724072e-05,
  1.75631816e-02, 9.79688216e-03, 1.84686405e-03,-1.84047543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89090158, -0.81274049,  0.36490893, -0.81274049,  0.80662042,
       -0.18771453,  0.36490893, -0.18771453,  0.47281589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.8094412808082724e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43494151, -0.89900102, -0.05121574, -0.02230512, -0.04610351,
        0.99868761, -0.90018241,  0.43551307,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097552, -0.04478572,  0.28138318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625582,  0.30239227, -0.2066452 ,  0.30239227,  0.25159478,
       -0.16778814, -0.2066452 , -0.16778814,  0.12072465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8145088135793178e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35484986, -0.93369542, -0.04790036, -0.01701697, -0.04477574,
        0.99885212, -0.93476842,  0.35525765,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105425, -0.04471986,  0.28018662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.60805903, -5.51811825,  1.00034847, -5.51811825,  5.82795987,
        1.21301616,  1.00034847,  1.21301616, 12.29929396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005002472846162981
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54837107e-14,  1.10967421e-13,  1.00000000e+00, -6.15688430e-27,
        1.00000000e+00, -1.10967421e-13, -1.00000000e+00,  0.00000000e+00,
        5.54837107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278079 , -0.07934026,  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:
[ 2.54800341e-06, 1.79958904e-05, 5.16431441e-05,-1.97220325e-05,
 -1.22009611e-05,-6.27848942e-06,-1.26639906e-05, 4.93252297e-07,
  1.57664196e-05, 9.68777883e-05,-1.95530826e-05,-2.42489265e-05,
  2.62222069e-02, 1.30300635e-02, 3.86534305e-03,-2.53182427e-04,
  3.11796225e-06, 7.02225318e-07,-4.90500019e+00, 2.44504019e-04,
  1.18269773e-02,-6.80396072e-04]


--- Step 1226 ---
qpos:
[ 0.018697  , 0.03009886,-0.00952739,-0.02556753, 0.00791364, 0.00466616,
 -0.00786028, 0.02714779, 0.0123069 , 0.02796667,-0.00834753, 0.02645667,
  1.19360841,-0.00374426, 1.16937893, 0.04512579, 0.05859036,-0.07642802,
  0.17149406, 0.99956447, 0.02868296,-0.00327174,-0.00611946]

qacc:
[ 6.25517459e+00,-1.88216873e+00, 4.30703774e+00, 2.53242239e+00,
 -4.28678751e+00, 6.73337093e-01,-4.34782550e+00, 1.09419424e+01,
 -4.32262819e+00, 2.49935394e+00,-9.36525866e+00, 1.62068351e+01,
 -1.84902511e+01, 1.47498524e+01, 4.25700828e+01,-1.03511537e+02,
  1.41384357e+00,-4.33246872e-01, 9.11109827e-03, 4.82975304e+00,
  1.55331925e+01, 1.94374775e+01]

qfrc_actuator:
[ 6.60143405e-05, 8.58940150e-04, 1.85233728e-04,-7.54390831e-05,
 -6.54424414e-05, 2.59624559e-05,-7.34546964e-05, 7.57000452e-05,
 -6.31176952e-05, 9.34197327e-04, 1.60970949e-04, 9.76330817e-05,
  1.75785593e-02, 9.78797987e-03, 1.80115032e-03,-1.98882223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89024094, -0.78464137,  0.4205554 , -0.78464137,  0.75227569,
       -0.25740542,  0.4205554 , -0.25740542,  0.40999281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.05784864572909e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43499716, -0.89897231, -0.05124709, -0.02232167, -0.04613033,
        0.998686  , -0.90015511,  0.43556949,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097696, -0.04477572,  0.2813688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.60919215,  5.36084745, -1.65056087,  5.36084745,  8.04027924,
        7.89591424, -1.65056087,  7.89591424, 31.25428807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005003874787825463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.10936332e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.10936332e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02780946, -0.07933032,  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:
[ 3.73561831e-05, 4.24690018e-06, 5.42812887e-05, 2.60629457e-05,
 -2.50973600e-05,-2.75421891e-05,-9.83969683e-06, 1.71225965e-05,
 -2.59833439e-05, 7.34894484e-05, 8.32868616e-07, 2.33647161e-05,
  2.73972445e-02, 1.11182441e-02, 2.84304028e-03,-1.58501886e-05,
  7.05895541e-08, 9.48890064e-08,-4.90500010e+00, 2.42468565e-04,
  1.18266555e-02,-6.80747385e-04]


--- Step 1227 ---
qpos:
[ 0.01869701, 0.03009795,-0.00952665,-0.02556788, 0.00791171, 0.00466553,
 -0.00786066, 0.02714853, 0.01230681, 0.02796704,-0.00834819, 0.02645725,
  1.19344154,-0.00375453, 1.16955677, 0.04512331, 0.05859647,-0.07642029,
  0.17149528, 0.99956482, 0.02868937,-0.00323886,-0.0060505 ]

qacc:
[  0.86896245,  1.64088349, -6.41834131, 11.59924543, -5.55503823,
  -1.13858016,  5.78598597,-14.1074988 , -2.69589783, -1.802965  ,
   6.21253918, -7.74337427, -4.27083402, -9.55948918, -6.25298125,
  31.78341522,  0.11550714,  0.54384085,  0.20374845, -8.0409365 ,
   5.22504541, 13.24036249]

qfrc_actuator:
[ 7.02267741e-05, 8.85668675e-04, 1.75724061e-04,-6.11318914e-05,
 -9.72341818e-05, 1.34050068e-05,-7.74777225e-05, 5.01745597e-05,
 -7.87964357e-05, 8.77197621e-04, 1.69805811e-04, 9.16055830e-05,
  1.75837757e-02, 9.78241396e-03, 1.75576335e-03,-1.89520226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8896473 , -0.57835038, -0.6760053 , -0.57835038,  2.38196201,
       -1.2767367 , -0.6760053 , -1.2767367 ,  1.98194814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2357215460786394e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43508665, -0.89892739, -0.0512752 , -0.02233854, -0.04615339,
        0.99868456, -0.90011143,  0.43565974,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098698, -0.04476869,  0.28137293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59773   , -3.9529751 ,  3.96340372, -3.9529751 , 12.31231673,
        6.69691913,  3.96340372,  6.69691913, 12.27702802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004989666009049018
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.48736237e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.48736237e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04628648, -0.09484084,  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:
[ 5.30241656e-06, 4.14796435e-05,-1.04168384e-06, 1.68751902e-05,
 -3.25149078e-05,-2.92493557e-05,-1.03242781e-05,-2.67129514e-05,
 -1.64155102e-05,-1.47484233e-05, 2.49326327e-05,-2.39368286e-06,
  2.85937533e-02, 1.12288799e-02, 1.80165644e-03, 2.75114864e-04,
  3.13055087e-06,-3.81514847e-07,-4.90500145e+00, 2.43829607e-04,
  1.18250797e-02,-6.81204051e-04]


--- Step 1228 ---
qpos:
[ 0.01869673, 0.03009781,-0.0095268 ,-0.02556772, 0.00790942, 0.00466474,
 -0.00786054, 0.02714857, 0.0123062 , 0.0279673 ,-0.00834897, 0.02645744,
  1.19325238,-0.00382302, 1.16971893, 0.0451226 , 0.05860172,-0.07640933,
  0.17149676, 0.99956566, 0.02867248,-0.00321369,-0.00600401]

qacc:
[-2.56376770e+00, 4.59979495e+00,-1.70695770e+01, 2.68085093e+01,
 -3.20527662e+00,-3.03640706e+00, 1.34989775e+01,-2.63106005e+01,
 -4.53834034e+00,-5.91938373e-01, 3.59152892e+00,-1.01518295e+01,
  2.39985258e+01,-7.57667241e+01,-3.14917494e+01, 6.98724069e+01,
 -2.11069206e-01, 8.07914029e-01, 6.77010469e-02,-1.16680699e+01,
 -4.23977687e+00,-1.10822675e+01]

qfrc_actuator:
[ 5.49351939e-05, 9.37362238e-04, 1.34336974e-04,-3.48328965e-05,
 -1.15159828e-04, 2.39928156e-05,-4.42072583e-05, 1.71054687e-05,
 -1.05731142e-04, 8.60742087e-04, 1.57318091e-04, 7.00335184e-05,
  1.75832415e-02, 9.79177853e-03, 1.65796876e-03,-2.03591208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88938792, -0.03827499, -0.88856395, -0.03827499,  2.83263024,
       -0.08370537, -0.88856395, -0.08370537,  0.89299353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.801354017666653e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43527998, -0.89883396, -0.05127234, -0.02234722, -0.04614602,
        0.99868471, -0.90001775,  0.43585325,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099684, -0.0447577 ,  0.28137215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59535502, -4.07268411,  3.83682708, -4.07268411, 11.26625022,
        6.01949586,  3.83682708,  6.01949586, 11.9848807 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004986710738540205
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.45366723e-07, -7.45366538e-07,  1.00000000e+00, -5.55571414e-13,
        1.00000000e+00,  7.45366538e-07, -1.00000000e+00,  0.00000000e+00,
       -7.45366723e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06513994, -0.10899985,  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:
[-1.51210661e-05, 7.54227475e-05,-3.23620980e-05, 2.83684165e-05,
 -1.88583621e-05,-9.03139313e-06, 2.50442915e-05,-3.51976650e-05,
 -2.74216923e-05,-1.96682063e-05,-1.25433993e-05,-2.13879742e-05,
  2.95001569e-02, 1.19546960e-02, 1.46819623e-03,-8.27863786e-05,
  7.19821996e-06, 2.66248417e-07,-4.90500077e+00, 2.45803109e-04,
  1.18255065e-02,-6.81278166e-04]


--- Step 1229 ---
qpos:
[ 0.01869695, 0.0300983 ,-0.00952745,-0.02556725, 0.00790831, 0.00466383,
 -0.00785981, 0.02714889, 0.01230561, 0.0279675 ,-0.00834964, 0.02645735,
  1.19308666,-0.00388878, 1.16985092, 0.0451222 , 0.05859916,-0.07639848,
  0.17149736, 0.99956581, 0.028664  ,-0.00323171,-0.00600968]

qacc:
[ 4.33604473e+00, 2.83004115e+00,-1.01870148e+01, 1.57985960e+01,
  1.04244644e+01,-1.34151876e+00, 3.33097372e+00, 6.59603433e-01,
  2.27745032e-01,-9.80398449e-01, 4.55841970e+00,-9.55614123e+00,
  1.82137827e+01,-1.42567719e+01,-4.67623476e+01, 9.60565029e+01,
 -1.95639689e+00,-2.91020490e-02,-2.21993849e-01, 4.26331718e+00,
 -2.23088307e+01,-2.54670702e+01]

qfrc_actuator:
[ 8.15548469e-05, 9.67968430e-04, 1.10106647e-04,-1.94278857e-05,
 -5.37678820e-05, 3.07526834e-05,-6.83923047e-06, 3.31729641e-05,
 -1.03573062e-04, 8.68577590e-04, 1.67965904e-04, 5.72503248e-05,
  1.76015864e-02, 9.85972743e-03, 1.58897510e-03,-2.15662534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8892738 ,  0.42599863, -0.78059788,  0.42599863,  0.34522851,
       -0.29690389, -0.78059788, -0.29690389,  0.72724332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.587170105756879e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43566082, -0.8986513 , -0.05123944, -0.02235238, -0.04610695,
        0.9986864 , -0.89983333,  0.43623386,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100539, -0.04474022,  0.28136509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.58908724,  5.44250391,  1.2716318 ,  5.44250391,  6.36923224,
       -3.33897137,  1.2716318 , -3.33897137, 19.87967415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004978891916244815
  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([ 0.09611008, -0.09077268,  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:
[ 2.62059929e-05, 6.73144826e-05,-1.16533538e-05, 1.80679068e-05,
  6.08533165e-05, 5.39500064e-06, 3.73778573e-05, 1.58642088e-05,
  1.34828405e-06,-6.68300967e-06, 4.30616698e-06,-1.44745605e-05,
  3.06329493e-02, 1.49353025e-02, 2.17932097e-03,-2.93214293e-04,
  3.09989754e-06, 7.55175931e-07,-4.90499927e+00, 2.44226425e-04,
  1.18273029e-02,-6.80910704e-04]


--- Step 1230 ---
qpos:
[ 0.01869715, 0.03009908,-0.00952793,-0.02556764, 0.00790829, 0.00466307,
 -0.00785929, 0.02714977, 0.01230608, 0.02796738,-0.00834954, 0.02645744,
  1.19293488,-0.00394013, 1.16995875, 0.045122  , 0.0585889 ,-0.07638759,
  0.1714967 , 0.99956527, 0.02866448,-0.00329207,-0.00606492]

qacc:
[-2.33785314e-01,-1.88193467e+00, 1.08652175e+01,-2.61750290e+01,
  9.57184252e+00, 1.93234897e+00,-9.00081330e+00, 1.89464391e+01,
  9.09905918e+00,-2.24466760e+00, 6.59449532e+00,-4.45521151e+00,
  2.23544520e+00, 1.08817242e+01,-3.61726766e+01, 7.50155500e+01,
 -1.92181247e+00, 1.26485481e-02,-3.14259372e-01, 4.53391221e+00,
 -2.18471202e+01,-2.41777028e+01]

qfrc_actuator:
[ 7.93784794e-05, 9.68008287e-04, 1.13878675e-04,-6.38134570e-05,
  5.54402585e-07, 3.52449940e-05,-2.05923161e-05, 6.02691940e-05,
 -4.87996011e-05, 8.55484933e-04, 2.10060165e-04, 6.75378418e-05,
  1.76226187e-02, 9.92516511e-03, 1.61901834e-03,-2.08705720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8889018 ,  0.344908  , -0.81925874,  0.344908  ,  0.23851454,
       -0.27381309, -0.81925874, -0.27381309,  0.77362646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7115486679856054e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43592789, -0.8985212 , -0.05124975, -0.02237059, -0.04610958,
        0.99868587, -0.89970352,  0.43650151,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100331, -0.04472109,  0.28134071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.57169024,  5.56587926,  0.25440156,  5.56587926,  5.63218234,
       -1.32346556,  0.25440156, -1.32346556, 34.52689617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004957039526249235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11984484e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.11984484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09611192, -0.09076446,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39049140e-06, 3.60453773e-05, 1.68641160e-05,-4.15567237e-05,
  5.60513797e-05, 1.59549454e-05,-7.48710670e-06, 2.89266013e-05,
  5.48110390e-05,-1.65612265e-05, 4.07483937e-05, 9.86950068e-06,
  2.94818276e-02, 1.48660679e-02, 3.71649541e-03,-2.39469672e-04,
  4.52101073e-07,-1.52624971e-07,-4.90500019e+00, 2.42612448e-04,
  1.18262594e-02,-6.80756157e-04]


--- Step 1231 ---
qpos:
[ 0.01869664, 0.03010026,-0.00952867,-0.02556888, 0.00790858, 0.00466241,
 -0.00785891, 0.02715097, 0.0123072 , 0.02796689,-0.00834887, 0.02645802,
  1.19277149,-0.00394507, 1.17008167, 0.04511251, 0.05858533,-0.07637863,
  0.17149653, 0.99956491, 0.02866955,-0.00331746,-0.00608644]

qacc:
[-6.16556006e+00,-4.86255532e-01, 6.16586888e+00,-2.09380012e+01,
  2.69287182e+00, 1.20125191e+00,-5.42810985e+00, 1.10983373e+01,
  5.59029146e+00,-1.03931044e+00, 9.40524282e-01, 6.89025168e+00,
 -4.29335136e+01, 8.17002906e+01, 5.43927719e+01,-1.48961815e+02,
  1.67093744e+00,-4.84444664e-01, 1.21107840e-01, 2.24236953e+00,
  1.79721873e+01, 1.63400237e+01]

qfrc_actuator:
[ 4.25041691e-05, 9.85305454e-04, 9.84743100e-05,-1.07527769e-04,
  1.47500413e-05, 3.81578384e-05,-2.89222626e-05, 7.58396087e-05,
 -1.67633002e-05, 8.30119979e-04, 2.34808695e-04, 9.13195305e-05,
  1.76399498e-02, 9.95856519e-03, 1.58120811e-03,-2.18738101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861488, -0.83618596,  0.30071491, -0.83618596,  0.84386162,
       -0.12444361,  0.30071491, -0.12444361,  0.5425795 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5611999101016046e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36067300e-01, -8.98450492e-01, -5.13032529e-02, -2.24011706e-02,
       -4.61542123e-02,  9.98683121e-01, -8.99635202e-01,  4.36642306e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099077, -0.04470007,  0.28129909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.58496935, -5.49654512,  0.98988607, -5.49654512,  5.79281655,
        1.15411412,  0.98988607,  1.15411412, 11.99342435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004973739463573768
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.58042411e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.58042411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02781331, -0.07928956,  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:
[-3.69030996e-05, 3.91344482e-05,-7.32333363e-06,-4.23966395e-05,
  1.57932198e-05, 1.15672258e-05,-4.95690818e-06, 1.65542855e-05,
  3.36360747e-05,-2.57623461e-05, 2.66863296e-05, 2.46716313e-05,
  2.88024956e-02, 1.41799432e-02, 4.88440711e-03,-3.50309313e-04,
  8.07471613e-06, 9.76944043e-07,-4.90500096e+00, 2.47439472e-04,
  1.18266468e-02,-6.80716594e-04]


--- Step 1232 ---
qpos:
[ 0.01869602, 0.03010157,-0.00952948,-0.02557062, 0.00790903, 0.00466216,
 -0.00785876, 0.02715197, 0.01230836, 0.02796632,-0.0083485 , 0.02645821,
  1.19282814,-0.00391603, 1.17024739, 0.04509331, 0.05859068,-0.07636942,
  0.17149599, 0.99956503, 0.02866344,-0.00330001,-0.00610493]

qacc:
[-8.04767813e-01,-6.17157797e-01, 4.50554830e+00,-1.29335833e+01,
  1.46550549e+00, 7.36181803e-01,-1.00852136e+00,-2.40639681e+00,
  2.58557274e-01,-1.14781768e-01, 1.86870683e+00,-8.02727577e+00,
  1.46799536e+02,-9.70739788e+01, 8.34862549e+01,-2.20799419e+02,
  2.22889823e+00, 6.26083320e-02,-8.97010079e-02,-5.72338539e+00,
  2.14254680e+01, 9.18016083e-01]

qfrc_actuator:
[ 3.87694939e-05, 9.77210144e-04, 8.96828753e-05,-1.32741292e-04,
  2.29689531e-05, 7.56079545e-05,-3.39824789e-05, 6.67590265e-05,
 -1.61366038e-05, 8.15309114e-04, 2.13552884e-04, 6.95601100e-05,
  1.76568577e-02, 9.95273578e-03, 1.55860831e-03,-2.25595001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.59889847,  5.37668295, -1.56171206,  5.37668295,  7.50527751,
        6.56330702, -1.56171206,  6.56330702, 28.1951388 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004991118481049162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66829794e-13,  1.11219863e-13,  1.00000000e+00,  1.85547868e-26,
        1.00000000e+00, -1.11219863e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66829794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02781556, -0.07927809,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79711390e-06, 1.04178319e-05,-3.07809938e-06,-2.46135824e-05,
  8.67128434e-06, 4.36263227e-05,-2.70861616e-06,-8.43693315e-06,
  1.60158419e-06,-2.26239061e-05,-2.24403857e-05,-2.14627899e-05,
  2.93992905e-02, 1.18534426e-02, 4.10590982e-03, 4.57235641e-05,
  1.29782552e-06, 3.07492413e-07,-4.90500005e+00, 2.43249250e-04,
  1.18269913e-02,-6.80963169e-04]


--- Step 1233 ---
qpos:
[ 0.01869572, 0.03010273,-0.00953029,-0.02557227, 0.00790923, 0.00466228,
 -0.00785871, 0.02715319, 0.01230848, 0.02796585,-0.00834929, 0.02645783,
  1.19282595,-0.0038638 , 1.17045567, 0.04507459, 0.05860161,-0.07636138,
  0.17149539, 0.99956526, 0.02866498,-0.00325327,-0.00608487]

qacc:
[ 2.61507299e+00,-4.90527553e-02,-4.98963600e-01, 2.12070846e+00,
 -2.20738577e+00, 1.24484297e+00,-4.66902904e+00, 8.43736555e+00,
 -8.85930802e+00, 2.23824343e+00,-5.35727081e+00,-2.73606614e+00,
 -6.47815072e+01, 7.97689676e+01, 6.64114173e+01,-1.29791593e+02,
  1.39758872e+00,-2.90767229e-01,-1.67123383e-02, 3.79607736e+00,
  1.52105971e+01, 1.88389699e+01]

qfrc_actuator:
[ 5.45817208e-05, 9.54000776e-04, 8.47827207e-05,-1.29128164e-04,
  9.86510356e-06, 9.79370987e-05,-3.69466641e-05, 7.87849769e-05,
 -6.95002223e-05, 8.06703812e-04, 1.47561466e-04, 3.89071189e-05,
  1.76317776e-02, 9.93499207e-03, 1.58470295e-03,-2.33684690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88869598, -0.7134744 ,  0.52984416, -0.7134744 ,  0.68404115,
       -0.27558289,  0.52984416, -0.27558289,  0.51760321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.196008067316097e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4361484 , -0.89841086, -0.05130784, -0.02240735, -0.04615632,
        0.99868289, -0.89959573,  0.43672362,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099336, -0.0446866 ,  0.28126079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59395812,  5.28263027, -1.84015893,  5.28263027, 10.60772754,
       14.39326231, -1.84015893, 14.39326231, 46.91336917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004984970612703227
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67035542e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.67035542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02781667, -0.07926909,  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:
[ 1.56742406e-05,-1.91071137e-05,-3.98028192e-06, 3.47644250e-06,
 -1.28417343e-05, 4.58123920e-05, 5.42051567e-06, 1.36352171e-05,
 -5.33241047e-05,-2.67918664e-05,-7.41683839e-05,-3.28165127e-05,
  1.83739830e-02, 1.01381526e-02, 1.98945728e-03, 4.49586017e-04,
  8.13588804e-07, 1.00309151e-08,-4.90500026e+00, 2.41995973e-04,
  1.18265498e-02,-6.80829738e-04]


--- Step 1234 ---
qpos:
[ 0.01869526, 0.0301038 ,-0.00953177,-0.02557314, 0.00790894, 0.00466259,
 -0.00785894, 0.02715527, 0.01230728, 0.0279652 ,-0.00835057, 0.02645777,
  1.19277636,-0.00383396, 1.17067962, 0.04506357, 0.05861255,-0.07635113,
  0.17149571, 0.99956611, 0.02865164,-0.00319954,-0.00603611]

qacc:
[-1.32938098e+00, 3.36579104e+00,-1.54579311e+01, 3.01343559e+01,
 -4.43972396e+00, 2.82494193e+00,-1.33054234e+01, 2.84675321e+01,
 -1.13472374e+01, 1.82802289e+00,-8.16881737e+00, 1.45431737e+01,
 -2.20898442e+01,-1.12406884e+00, 8.85903520e-01, 3.28463658e+01,
  4.05922535e-04, 5.50094052e-01, 2.28993260e-01,-7.41535428e+00,
  3.86439869e+00, 1.42671214e+01]

qfrc_actuator:
[ 4.62563977e-05, 9.39706105e-04, 4.66573490e-05,-9.08474058e-05,
 -1.56816529e-05, 9.33129214e-05,-5.64353420e-05, 1.20882530e-04,
 -1.36451572e-04, 8.01670117e-04, 1.26735398e-04, 5.65136052e-05,
  1.76253109e-02, 9.88953738e-03, 1.59056413e-03,-2.20065907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88929584, -0.28597735, -0.84205941, -0.28597735,  3.85283261,
       -1.00646626, -0.84205941, -1.00646626,  1.23110848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.629906318792913e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43615298, -0.89841067, -0.05127226, -0.022392  , -0.04612422,
        0.99868471, -0.89959389,  0.43672741,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100782, -0.04468978,  0.2812606 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.57812157, -4.2012538 ,  3.66945591, -4.2012538 , 12.07215814,
        7.43518835,  3.66945591,  7.43518835, 14.09085863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004965143816650767
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21751681e-08, -6.89504330e-07,  1.00000000e+00, -1.52898745e-14,
        1.00000000e+00,  6.89504330e-07, -1.00000000e+00,  0.00000000e+00,
       -2.21751681e-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([ 0.04750934, -0.09398582,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.87771431e-06,-2.56745950e-05,-4.24422276e-05, 3.73950165e-05,
 -2.58965007e-05, 2.26863662e-05,-8.89019914e-06, 4.45111347e-05,
 -6.85229534e-05,-3.67338153e-05,-3.66132628e-05, 1.32592923e-05,
  2.13079023e-02, 8.93135410e-03,-1.35825805e-04, 5.60987133e-04,
  3.13719590e-06, 2.04089205e-07,-4.90500070e+00, 2.43813520e-04,
  1.18263949e-02,-6.80776002e-04]


--- Step 1235 ---
qpos:
[ 0.01869367, 0.03010477,-0.009534  ,-0.02557318, 0.00790868, 0.00466292,
 -0.00785958, 0.02715788, 0.01230528, 0.02796453,-0.00835168, 0.02645785,
  1.19273435,-0.0038473 , 1.17087788, 0.04506344, 0.05861491,-0.07634072,
  0.17149553, 0.99956644, 0.02864218,-0.00319152,-0.00603064]

qacc:
[-9.71754095e+00, 3.69473956e+00,-1.67831420e+01, 3.22009563e+01,
  3.49740805e-01, 2.21927290e+00,-1.01066426e+01, 1.97928410e+01,
 -6.76375935e+00,-2.32583826e-01, 2.40567069e-01, 1.87292759e+00,
  3.81629725e+01,-7.47105054e+01,-7.44953497e+01, 1.97357394e+02,
 -2.14485248e+00, 4.02010702e-02,-1.23973182e-01, 2.01151479e+00,
 -2.34566866e+01,-2.09889306e+01]

qfrc_actuator:
[-1.17212427e-05, 9.30750198e-04, 7.01764642e-06,-5.02510015e-05,
 -1.28354542e-05, 7.25399231e-05,-8.56204561e-05, 1.44792819e-04,
 -1.75341336e-04, 8.34527347e-04, 1.50560330e-04, 6.69121379e-05,
  1.76470790e-02, 9.86375493e-03, 1.61712697e-03,-1.95938833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89050248,  0.63508839, -0.62422545,  0.63508839,  0.56697391,
       -0.3291587 , -0.62422545, -0.3291587 ,  0.55561567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.371003562043662e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43629165, -0.89834679, -0.05121171, -0.0223726 , -0.04606633,
        0.99868782, -0.89952713,  0.43686489,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102203, -0.04468681,  0.28125501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625445, -0.3662454 , -0.00257414, -0.3662454 ,  0.36623695,
        0.0024899 , -0.00257414,  0.0024899 ,  0.01199443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.344962976413149e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55931344e-01, -9.33283490e-01, -4.79041365e-02, -1.70701813e-02,
       -4.47595264e-02,  9.98851938e-01, -9.34356189e-01,  3.56340445e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07109353, -0.04462678,  0.28016555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6019811 , -5.57303722, -0.56872521, -5.57303722,  5.68431222,
       -0.806777  , -0.56872521, -0.806777  , 13.50772927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004994945655838329
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22269290e-13, -2.22269290e-13,  1.00000000e+00, -4.94036373e-26,
        1.00000000e+00,  2.22269290e-13, -1.00000000e+00,  0.00000000e+00,
       -2.22269290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09611616, -0.09072118,  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:
[-5.82177208e-05,-3.04984626e-05,-4.88683697e-05, 3.87602262e-05,
  2.11667282e-06,-8.03804297e-06,-2.40584137e-05, 2.54373708e-05,
 -4.09151486e-05, 5.33186789e-06, 1.22105478e-05, 7.82262927e-06,
  2.36987257e-02, 1.00236766e-02,-8.97203578e-04, 4.16146487e-04,
  6.11891614e-06, 1.58011191e-06,-4.90500004e+00, 2.46484502e-04,
  1.18270279e-02,-6.80354623e-04]


--- Step 1236 ---
qpos:
[ 0.01869174, 0.03010561,-0.00953614,-0.02557314, 0.00790915, 0.00466293,
 -0.00786009, 0.02716006, 0.01230351, 0.02796376,-0.00835185, 0.02645697,
  1.19268672,-0.00386408, 1.17105174, 0.04506866, 0.05860906,-0.07633004,
  0.17149448, 0.99956621, 0.02863832,-0.0032276 ,-0.00606856]

qacc:
[-2.89730635e+00,-2.40256839e-01, 2.51725597e-01, 1.18453096e+00,
  6.39568809e+00,-1.63041564e+00, 6.97019210e+00,-1.41794872e+01,
  2.05527446e+00,-4.70225831e+00, 2.05715330e+01,-3.84459344e+01,
 -3.61450166e-01,-3.56980320e+00,-5.23475289e+01, 1.30533562e+02,
 -2.05077502e+00, 7.00652167e-02,-2.17362146e-01, 2.86921374e+00,
 -2.26465238e+01,-2.10636042e+01]

qfrc_actuator:
[-2.74411999e-05, 9.42800185e-04, 2.00866458e-05,-4.41196540e-05,
  2.44559574e-05, 4.21901741e-05,-8.48801422e-05, 1.22278850e-04,
 -1.61892576e-04, 8.36761016e-04, 2.00689478e-04, 1.97777223e-05,
  1.76505917e-02, 9.87953249e-03, 1.63264003e-03,-1.80335249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89125661,  0.5454654 , -0.70484455,  0.5454654 ,  0.41831115,
       -0.36600324, -0.70484455, -0.36600324,  0.60801387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.168041487968794e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43642175, -0.89828464, -0.05119336, -0.02237123, -0.04604659,
        0.99868876, -0.89946406,  0.43699475,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102475, -0.0446787 ,  0.28122854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.2056879863282113e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55966621e-01, -9.33271129e-01, -4.78828147e-02, -1.70642571e-02,
       -4.47389659e-02,  9.98852960e-01, -9.34342858e-01,  3.56375398e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07109481, -0.04461986,  0.28016091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.60605421,  5.58328294,  0.50477272,  5.58328294,  5.82510311,
       -2.42289628,  0.50477272, -2.42289628, 32.40567089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004999992089437383
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11022478e-13, -1.11022478e-13,  1.00000000e+00, -1.23259906e-26,
        1.00000000e+00,  1.11022478e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11022478e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09611678, -0.09071235,  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:
[-1.74275455e-05,-1.34621014e-05, 2.11121157e-06, 3.89529396e-06,
  3.73486706e-05,-3.87335713e-05,-3.00540432e-06,-2.32010291e-05,
  1.22463506e-05, 8.08897866e-06, 5.30252602e-05,-4.63261061e-05,
  2.33237177e-02, 1.21995143e-02, 3.98743564e-04, 2.69966491e-05,
  9.41538682e-08, 9.99270902e-08,-4.90499998e+00, 2.42684258e-04,
  1.18261758e-02,-6.80205381e-04]


--- Step 1237 ---
qpos:
[ 0.01869102, 0.03010612,-0.00953748,-0.02557305, 0.00790937, 0.00466265,
 -0.00786001, 0.02716158, 0.01230261, 0.02796321,-0.00835183, 0.02645589,
  1.19263088,-0.00387653, 1.17119935, 0.04507663, 0.05859525,-0.076319  ,
  0.1714922 , 0.99956537, 0.02864136,-0.00330671,-0.00614947]

qacc:
[ 1.03664044e+01,-2.60488653e+00, 8.40874143e+00,-8.56372806e+00,
 -2.14709758e+00,-3.40853760e+00, 1.44226511e+01,-2.67122365e+01,
  7.36231560e+00,-6.81621900e-01, 3.69247362e+00,-7.67191762e+00,
 -7.90511465e+00, 1.03639005e+01,-4.65155903e+01, 1.07737638e+02,
 -1.99148533e+00, 8.78517105e-02,-3.06819977e-01, 3.52252304e+00,
 -2.21015944e+01,-2.08786803e+01]

qfrc_actuator:
[ 3.51115121e-05, 9.32019180e-04, 6.42362151e-05,-4.05091553e-05,
  1.07026885e-05, 4.19130955e-05,-4.87991187e-05, 9.03960719e-05,
 -1.17754985e-04, 8.56228027e-04, 2.12526721e-04, 1.01703850e-05,
  1.76440660e-02, 9.89778458e-03, 1.65298427e-03,-1.69727495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89117429,  0.45183818, -0.76813662,  0.45183818,  0.30571063,
       -0.34438514, -0.76813662, -0.34438514,  0.68859788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.087163374924527e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43647843, -0.89825579, -0.05121639, -0.02238423, -0.04606588,
        0.99868758, -0.89943623,  0.43705203,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101639, -0.0446662 ,  0.28118318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.3043989944915818e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35601908, -0.93325026, -0.04789961, -0.01707277, -0.04475369,
        0.99885216, -0.93432271,  0.3564282 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07108335, -0.04461005,  0.28016402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.59239344,  5.55247771,  0.66697502,  5.55247771,  6.08167078,
       -4.07316826,  0.66697502, -4.07316826, 39.50097345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004983019822538542
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11400623e-13, -1.11400623e-13,  1.00000000e+00, -1.24100988e-26,
        1.00000000e+00,  1.11400623e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11400623e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09611801, -0.09070567,  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:
[ 6.20394354e-05,-1.77115334e-05, 4.17817772e-05, 3.18694158e-06,
 -1.27042940e-05,-2.35385533e-05, 2.69065571e-05,-3.41035123e-05,
  4.44966428e-05, 3.29889545e-05, 1.84470681e-05,-8.32434948e-06,
  2.35978503e-02, 1.23906960e-02, 1.63603185e-03,-1.35156453e-04,
  3.36195891e-06, 2.13592652e-07,-4.90500053e+00, 2.44686899e-04,
  1.18260658e-02,-6.80101513e-04]


--- Step 1238 ---
qpos:
[ 0.01869071, 0.03010654,-0.0095386 ,-0.02557325, 0.00790942, 0.00466208,
 -0.00785948, 0.02716271, 0.01230225, 0.02796324,-0.0083527 , 0.02645543,
  1.19255075,-0.00385694, 1.17136441, 0.04508077, 0.05858813,-0.0763098 ,
  0.17149103, 0.99956478, 0.02864709,-0.00335048,-0.00619395]

qacc:
[  3.53119065, -1.36502402,  5.90154892,-11.2370375 , -1.44291743,
  -2.43219484,  9.73185606,-16.87886769,  4.53343435,  4.51386912,
 -17.58431101, 29.20839927,-42.64509365, 67.90418438, 41.00341743,
 -97.80370525,  1.67165253, -0.45911398,  0.27596598,  1.28673947,
  18.19365677, 17.69021149]

qfrc_actuator:
[ 5.44568991e-05, 9.25545737e-04, 7.30264609e-05,-5.61607375e-05,
  2.51017874e-06, 2.42780517e-05,-2.75375769e-05, 7.10600825e-05,
 -9.14303496e-05, 8.85748725e-04, 1.66247669e-04, 4.04649116e-05,
  1.76532555e-02, 9.91110720e-03, 1.66661947e-03,-1.60296094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8903081 , -0.80225309,  0.38605504, -0.80225309,  0.81756136,
       -0.15117352,  0.38605504, -0.15117352,  0.57615749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.140538735566282e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43644655, -0.89826756, -0.05128166, -0.02241119, -0.04612534,
        0.99868423, -0.89945103,  0.43702157,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099729, -0.04464966,  0.2811202 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36626647,  0.3171867 , -0.18314946,  0.3171867 ,  0.28628945,
       -0.1385079 , -0.18314946, -0.1385079 ,  0.12639207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.38080881624126e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56094414e-01, -9.33218594e-01, -4.79564933e-02, -1.70967104e-02,
       -4.48054432e-02,  9.98849425e-01, -9.34293568e-01,  3.56504599e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105954, -0.04459761,  0.28017479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.62619894, -5.53575164,  1.00477278, -5.53575164,  5.85465616,
        1.25867506,  1.00477278,  1.25867506, 12.56081409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005024900657686349
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10472137e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10472137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02782334, -0.07922063,  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:
[ 2.11450322e-05,-7.59086838e-06, 1.03961014e-05,-1.49030583e-05,
 -8.56143163e-06,-2.67002271e-05, 1.85327924e-05,-2.00798640e-05,
  2.76390795e-05, 5.14569319e-05,-3.74746883e-05, 3.21860803e-05,
  2.40170442e-02, 1.21870954e-02, 2.95891842e-03,-1.79046600e-04,
  1.53737155e-05, 2.05499706e-06,-4.90500137e+00, 2.52209137e-04,
  1.18269732e-02,-6.80082606e-04]


--- Step 1239 ---
qpos:
[ 0.01869028, 0.03010744,-0.00954011,-0.02557402, 0.00790972, 0.00466138,
 -0.00785901, 0.02716327, 0.0123022 , 0.02796345,-0.00835372, 0.02645533,
  1.19244577,-0.00383785, 1.17154545, 0.04508295, 0.05858694,-0.07630228,
  0.1714906 , 0.99956437, 0.02865935,-0.00336268,-0.00619779]

qacc:
[ -0.96555161,  0.60579039,  1.14970044,-10.60604391,  2.16583401,
  -1.20769229,  6.46457109,-16.1785059 ,  2.71289352,  1.38244574,
  -6.12570554, 12.54813332,-20.23395805, 17.81472021, 30.93400424,
 -70.77901035,  1.48337873, -0.41989101,  0.18621594,  3.23854142,
  16.38039517, 19.85198272]

qfrc_actuator:
[ 4.81901396e-05, 9.74812841e-04, 6.08593478e-05,-8.30473527e-05,
  1.54249097e-05, 1.41019285e-05,-3.30139428e-05, 4.14829130e-05,
 -7.58115282e-05, 8.85348557e-04, 1.57117186e-04, 5.84596960e-05,
  1.76682911e-02, 9.89204354e-03, 1.66259070e-03,-1.56348320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88982538, -0.77737936,  0.43297866, -0.77737936,  0.75870312,
       -0.23541976,  0.43297866, -0.23541976,  0.46714759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.50276055661799e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43641851, -0.89827872, -0.05132465, -0.02242859, -0.04616468,
        0.99868202, -0.8994642 ,  0.43699446,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098798, -0.04463731,  0.28107823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.36625127, 0.20784956, 0.3015602 , 0.20784956, 0.29072822,
       0.05205406, 0.3015602 , 0.05205406, 0.33037315, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.8373705644056158e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56198943e-01, -9.33176553e-01, -4.79982586e-02, -1.71166573e-02,
       -4.48425342e-02,  9.98847419e-01, -9.34253356e-01,  3.56609965e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104716, -0.04458791,  0.28018035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65727964,  5.46981037, -1.44429478,  5.46981037,  6.99825266,
        5.07851182, -1.44429478,  5.07851182, 24.89053934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005063252470304536
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64453041e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.64453041e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278264 , -0.07920729,  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:
[-5.65314252e-06, 4.65383617e-05,-1.29619685e-05,-2.71409429e-05,
  1.26621947e-05,-2.21303500e-05,-9.40549161e-06,-3.04730065e-05,
  1.64468081e-05, 2.20319344e-05,-1.99398281e-06, 1.95313602e-05,
  2.52455138e-02, 1.05655321e-02, 2.07965573e-03, 5.11872938e-05,
  4.61128331e-06, 8.32455708e-07,-4.90500021e+00, 2.45498668e-04,
  1.18273802e-02,-6.80422939e-04]


--- Step 1240 ---
qpos:
[ 0.0186891 , 0.03010886,-0.00954159,-0.02557479, 0.00791018, 0.00466072,
 -0.00785867, 0.02716311, 0.01230234, 0.0279636 ,-0.00835418, 0.02645578,
  1.19231711,-0.00383005, 1.17174285, 0.04508336, 0.05859122,-0.07629638,
  0.17149058, 0.99956404, 0.02868116,-0.00334576,-0.00615897]

qacc:
[ -6.53816311,  0.596036  , -1.05940042,  0.46416733,  1.33356564,
  -1.04173972,  6.83241741,-19.10324934,  1.62066664, -0.50408363,
  -0.63495419,  9.25452351,-11.79401782,  0.35261631, 30.12666586,
 -68.97701134,  1.36801934, -0.40608081,  0.10277044,  4.74769156,
  15.19846479, 20.88830593]

qfrc_actuator:
[ 9.15996142e-06, 1.02147354e-03, 7.21582517e-05,-8.07823502e-05,
  2.29054781e-05, 2.61071933e-05,-3.64584877e-05, 6.10291004e-06,
 -6.66136211e-05, 8.84911295e-04, 1.87632758e-04, 8.68295598e-05,
  1.76771085e-02, 9.89102421e-03, 1.65811881e-03,-1.64601029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88944008, -0.75759064,  0.46600437, -0.75759064,  0.72203721,
       -0.27214947,  0.46600437, -0.27214947,  0.4470024 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.893960772479981e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43643422, -0.89826921, -0.05135758, -0.02244382, -0.04619389,
        0.99868033, -0.89945619,  0.43701093,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098751, -0.04462782,  0.28105541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66744027,  5.45305116, -1.54405708,  5.45305116,  7.64883797,
        6.99758006, -1.54405708,  6.99758006, 30.38036224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005075769886806053
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09364988e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09364988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02782823, -0.0791968 ,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91781904e-05, 6.88315528e-05, 1.83847452e-05, 3.28391009e-06,
  7.83433834e-06,-3.59586995e-06,-1.02278792e-05,-3.72481492e-05,
  9.68693344e-06, 1.23181391e-05, 3.55056331e-05, 2.96264494e-05,
  2.64964851e-02, 1.05889700e-02, 1.27266533e-03, 6.57298479e-05,
  1.77069915e-07, 1.89005385e-07,-4.90500003e+00, 2.42566265e-04,
  1.18271939e-02,-6.80790073e-04]


--- Step 1241 ---
qpos:
[ 0.01868711, 0.03011034,-0.00954217,-0.02557553, 0.00791072, 0.00466014,
 -0.00785841, 0.02716218, 0.01230225, 0.02796385,-0.00835456, 0.02645623,
  1.1921677 ,-0.00383528, 1.17195827, 0.04508235, 0.05860056,-0.07629203,
  0.17149069, 0.99956373, 0.02871482,-0.00330184,-0.00607548]

qacc:
[-6.86501078e+00,-2.36202386e+00, 8.39441417e+00,-9.29754261e+00,
  7.54309090e-01,-1.29732136e+00, 8.03964739e+00,-2.14116113e+01,
 -2.00490997e+00,-9.19117338e-02, 5.12573108e-01,-6.79123601e-01,
 -8.35641122e+00,-4.27522840e+00, 3.12175803e+01,-6.98194695e+01,
  1.26414847e+00,-3.85807032e-01, 3.24813372e-02, 5.91588409e+00,
  1.41661493e+01, 2.19190541e+01]

qfrc_actuator:
[-3.10805192e-05, 1.01307642e-03, 1.15013150e-04,-7.91095953e-05,
  2.71210303e-05, 3.35481084e-05,-3.85766650e-05,-3.23817620e-05,
 -7.90174284e-05, 8.84626694e-04, 1.88043110e-04, 8.55926516e-05,
  1.76829829e-02, 9.92957071e-03, 1.62614295e-03,-1.69462374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.889081  , -0.73490505,  0.50037944, -0.73490505,  0.68839403,
       -0.29474805,  0.50037944, -0.29474805,  0.45618585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1778457174906416e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43649846, -0.89823624, -0.05138834, -0.02246061, -0.04621994,
        0.99867875, -0.8994246 ,  0.43707595,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099522, -0.0446208 ,  0.28105047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66074627,  5.40991915, -1.66638024,  5.40991915,  8.61114834,
        9.57850811, -1.66638024,  9.57850811, 36.75746307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005067524294497527
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09542941e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09542941e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02782906, -0.07918858,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13619069e-05, 3.39877521e-05, 5.94538809e-05, 5.32342473e-06,
  4.43890443e-06, 1.74418950e-06,-5.40571881e-06,-3.97168246e-05,
 -1.21179238e-05, 1.52103627e-05, 8.35556195e-06, 1.09540042e-06,
  2.76848836e-02, 1.11914890e-02, 4.18965780e-04, 1.04972613e-04,
  2.45776333e-06,-2.92951771e-07,-4.90500124e+00, 2.43365265e-04,
  1.18256997e-02,-6.81250411e-04]


--- Step 1242 ---
qpos:
[ 0.018685  , 0.03011149,-0.0095417 ,-0.02557621, 0.00791096, 0.00465975,
 -0.00785828, 0.02716112, 0.0123027 , 0.02796412,-0.00835511, 0.026456  ,
  1.19200296,-0.00385259, 1.1721739 , 0.04508448, 0.05860972,-0.07628532,
  0.17149175, 0.9995641 , 0.02873191,-0.00324926,-0.00596076]

qacc:
[ -1.0132116 , -3.22872627, 10.61260281,-10.93155078, -2.63514689,
   0.3930227 , -0.50022095, -1.53722949,  4.60882348, -0.89949268,
   6.09174931,-17.57094596, -3.47195759, -8.21558412, -9.21394161,
  32.58872946, -0.04356373,  0.58762019,  0.23615641, -8.26978142,
   4.72848452, 15.51368471]

qfrc_actuator:
[-3.61953167e-05, 9.71911832e-04, 1.58171963e-04,-7.78306837e-05,
  1.16300673e-05, 5.59567810e-05,-3.99077406e-05,-3.68795231e-05,
 -5.07762076e-05, 8.66544208e-04, 1.70638167e-04, 4.91639218e-05,
  1.76983336e-02, 9.98036444e-03, 1.57159982e-03,-1.70479206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88877743, -0.53526408, -0.70951933, -0.53526408,  2.71140668,
       -1.37499845, -0.70951933, -1.37499845,  1.9260815 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2924229980319311e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43660127, -0.8981843 , -0.0514227 , -0.02248096, -0.04624825,
        0.99867698, -0.89937419,  0.43717967,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101035, -0.04461615,  0.28106178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64074259, -4.12011835,  3.85260973, -4.12011835, 10.40299418,
        5.09292183,  3.85260973,  5.09292183, 11.08729497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005042858427882303
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.77635795e-09, -2.20157484e-13,  1.00000000e+00,  1.93218089e-21,
        1.00000000e+00,  2.20157484e-13, -1.00000000e+00,  0.00000000e+00,
        8.77635795e-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([ 0.04630506, -0.09469743,  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:
[-6.31482686e-06,-9.70512464e-06, 5.76798263e-05, 4.89645107e-06,
 -1.53623330e-05, 2.05872649e-05,-3.00511392e-06,-5.38037846e-06,
  2.78911622e-05,-7.81397890e-06,-1.31950719e-05,-3.54667058e-05,
  2.87374336e-02, 1.18937599e-02,-5.41157643e-04, 1.64282832e-04,
  1.17237553e-05,-8.72778315e-07,-4.90500423e+00, 2.47737021e-04,
  1.18223209e-02,-6.81858478e-04]


--- Step 1243 ---
qpos:
[ 0.01868354, 0.03011248,-0.00954127,-0.02557646, 0.00791067, 0.00465955,
 -0.00785821, 0.02716036, 0.01230383, 0.02796403,-0.008356  , 0.02645574,
  1.19181421,-0.00392673, 1.17236863, 0.04508568, 0.05861764,-0.07627517,
  0.17149317, 0.99956507, 0.02872277,-0.00320337,-0.00586589]

qacc:
[  5.52702179,  0.72719242, -4.68177994, 12.12072653, -4.68903211,
   1.03131222, -4.55001437,  9.60389535,  5.79118155,  0.40578485,
  -2.00615346,  2.29847711, 21.67282893,-72.26762567,-30.82886138,
  56.79701942, -0.31210197,  0.86051599,  0.09127395,-13.1231736 ,
  -3.70497095, -9.78541754]

qfrc_actuator:
[-2.84156444e-06, 9.46949863e-04, 1.47746129e-04,-5.90793904e-05,
 -1.53344159e-05, 6.94378794e-05,-4.06772239e-05,-2.13300229e-05,
 -1.65832846e-05, 8.20073763e-04, 1.42768348e-04, 4.55592639e-05,
  1.77302787e-02, 9.98950317e-03, 1.49382008e-03,-1.99766667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.88677720e-01, -1.21864944e-03, -8.88676885e-01, -1.21864944e-03,
        2.22750367e+00, -1.83594232e-03, -8.88676885e-01, -1.83594232e-03,
        8.88680238e-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: -8.128579196397387e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43680053, -0.89808721, -0.05142627, -0.02249279, -0.04624647,
        0.99867679, -0.89927714,  0.43737928,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710242 , -0.04460721,  0.28106594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64571931, -4.01911323,  3.96495591, -4.01911323, 10.04472148,
        4.45908814,  3.96495591,  4.45908814, 10.16571413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005048998669465177
  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([ 0.06399747, -0.10953775,  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:
[ 3.31598405e-05,-1.83076571e-05,-5.17195119e-06, 2.04252914e-05,
 -2.73935321e-05, 2.41519150e-05, 2.93285309e-06, 1.62266436e-05,
  3.50106036e-05,-5.50770925e-05,-3.23331198e-05,-5.08624025e-06,
  2.95344296e-02, 1.25068634e-02,-6.33216360e-04,-2.86239399e-04,
  1.99015548e-05, 2.99336572e-07,-4.90500304e+00, 2.51344335e-04,
  1.18229888e-02,-6.82126606e-04]


--- Step 1244 ---
qpos:
[ 0.01868283, 0.03011359,-0.0095416 ,-0.02557647, 0.00791006, 0.00465935,
 -0.00785809, 0.02716015, 0.01230467, 0.0279638 ,-0.00835788, 0.0264558 ,
  1.19160231,-0.00403138, 1.17254765, 0.04508351, 0.05862518,-0.07626226,
  0.17149498, 0.99956643, 0.02869338,-0.0031639 ,-0.00579879]

qacc:
[  6.45820625,  2.80164301,-10.83190912, 16.24395927, -2.82086601,
   0.99014588, -5.86358924, 15.35463647, -2.48052228,  3.24142397,
 -13.21335526, 20.52700892,  3.5883832 ,-31.6988309 ,-13.96938023,
  13.02675976, -0.09196922,  0.69151188,  0.09768072,-10.15516164,
  -3.66655673,-13.74605935]

qfrc_actuator:
[ 3.51231763e-05, 9.49423080e-04, 1.05827618e-04,-4.79784843e-05,
 -3.10771252e-05, 5.97418912e-05,-4.11305787e-05, 5.87971484e-06,
 -3.24323768e-05, 8.10185794e-04, 9.10981675e-05, 6.12713779e-05,
  1.77468863e-02, 1.00054867e-02, 1.43061834e-03,-2.12005754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88864913,  0.39252102, -0.79726064,  0.39252102,  2.15040796,
        0.62121072, -0.79726064,  0.62121072,  1.19449424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.092952911160386e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43719686, -0.89789617, -0.05139429, -0.02249916, -0.0462078 ,
        0.99867844, -0.89908437,  0.4377754 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07103626, -0.04459123,  0.28106287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63301581,  5.13880799, -2.30727535,  5.13880799,  9.64289365,
        8.93087699, -2.30727535,  8.93087699, 25.52403668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005033320388442637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.53750076e-08,  5.53748318e-08,  1.00000000e+00, -3.06638173e-15,
        1.00000000e+00, -5.53748318e-08, -1.00000000e+00,  0.00000000e+00,
        5.53750076e-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([ 0.06515959, -0.10884776,  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:
[ 3.89204975e-05,-7.98217367e-06,-4.56459487e-05, 1.05321822e-05,
 -1.65135664e-05, 5.10976368e-06, 5.46263419e-06, 2.86651624e-05,
 -1.48409835e-05,-4.75545599e-05,-6.71939380e-05, 1.21356074e-05,
  3.07516338e-02, 1.53662729e-02, 3.43629551e-04,-3.63330897e-04,
  1.31032953e-05, 1.46047861e-06,-4.90499940e+00, 2.48822982e-04,
  1.18270671e-02,-6.81964318e-04]


--- Step 1245 ---
qpos:
[ 0.01868258, 0.03011472,-0.00954243,-0.0255767 , 0.0079096 , 0.00465926,
 -0.00785802, 0.02716061, 0.01230497, 0.02796385,-0.00836006, 0.0264556 ,
  1.19141494,-0.00412414, 1.1727065 , 0.04508703, 0.05862471,-0.0762497 ,
  0.17149602, 0.99956708, 0.02867315,-0.00316882,-0.00578498]

qacc:
[ 3.93919860e+00, 9.49922015e-01,-2.40681675e+00,-6.48296987e-01,
  1.41065069e+00, 1.66692624e+00,-8.54481555e+00, 2.00792077e+01,
 -4.62836060e+00, 6.90663289e-01,-7.97611197e-01,-3.47816645e+00,
  1.25278544e+01,-6.36510772e-01,-4.76170201e+01, 1.21906941e+02,
 -2.00575612e+00,-8.91193306e-02,-1.93730783e-01, 4.63216158e+00,
 -2.29234774e+01,-2.60212538e+01]

qfrc_actuator:
[ 5.77325311e-05, 9.50401236e-04, 8.12760220e-05,-5.92135362e-05,
 -2.23327177e-05, 7.17591407e-05,-4.14848510e-05, 3.97089014e-05,
 -5.98582056e-05, 8.75448426e-04, 9.69470441e-05, 5.27249765e-05,
  1.77710550e-02, 1.00929883e-02, 1.44568536e-03,-1.81779551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88865702,  0.55179141, -0.69658994,  0.55179141,  0.46610774,
       -0.33471495, -0.69658994, -0.33471495,  0.62351849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.716572588995401e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37724804e-01, -8.97642367e-01, -5.13339789e-02, -2.24998209e-02,
       -4.61403885e-02,  9.98681542e-01, -8.98827433e-01,  4.38302687e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104785, -0.04457043,  0.2810566 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63484349,  5.49752788,  1.23638522,  5.49752788,  6.39966526,
       -3.4007435 ,  1.23638522, -3.4007435 , 20.75608722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005035577034043642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10237915e-13,  1.10237915e-13,  1.00000000e+00,  1.21523979e-26,
        1.00000000e+00, -1.10237915e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10237915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09612809, -0.09060489,  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:
[ 2.37390255e-05,-1.24819277e-05,-3.14673380e-05,-1.29541101e-05,
  8.27548005e-06, 1.72320834e-05, 2.36795071e-06, 3.47963760e-05,
 -2.78782001e-05, 2.53377708e-05,-1.18045706e-05,-1.26677441e-05,
  3.19327367e-02, 1.69809553e-02, 1.14069842e-03, 1.06574791e-04,
  6.62596061e-06, 1.95604638e-06,-4.90499822e+00, 2.46371064e-04,
  1.18287003e-02,-6.81308826e-04]


--- Step 1246 ---
qpos:
[ 0.01868295, 0.03011558,-0.00954319,-0.02557672, 0.00790926, 0.00465906,
 -0.00785757, 0.02716146, 0.01230425, 0.02796433,-0.00836229, 0.02645492,
  1.19124581,-0.00419859, 1.1728442 , 0.04509482, 0.05861639,-0.07623731,
  0.1714959 , 0.99956701, 0.02866261,-0.00321706,-0.00582184]

qacc:
[ 5.31062124e+00,-1.22161459e-01,-1.00514129e+00, 4.80002226e+00,
  9.66389244e-01,-3.69373692e-01,-5.69067554e-01, 6.95810960e+00,
 -8.70940870e+00,-2.64891491e-01, 3.84013888e+00,-1.24804607e+01,
  3.06509950e+00, 1.36835422e+01,-4.40715621e+01, 1.09104314e+02,
 -1.96074771e+00,-3.92471218e-02,-2.90368967e-01, 4.89794403e+00,
 -2.23495087e+01,-2.47159558e+01]

qfrc_actuator:
[ 8.88737428e-05, 9.32764190e-04, 8.49236414e-05,-4.79763476e-05,
 -1.70019242e-05, 6.11856330e-05,-2.39404024e-05, 5.94235264e-05,
 -1.11613998e-04, 9.14416535e-04, 1.01510856e-04, 3.00806009e-05,
  1.78016288e-02, 1.01754629e-02, 1.48204982e-03,-1.62350345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861286,  0.48196253, -0.74655538,  0.48196253,  0.36168994,
       -0.34017182, -0.74655538, -0.34017182,  0.66900414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.214543888219503e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38118158e-01, -8.97451329e-01, -5.13185263e-02, -2.25132431e-02,
       -4.61166459e-02,  9.98682336e-01, -8.98635429e-01,  4.38696212e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104857, -0.04454828,  0.28103154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.61853849,  5.61062886,  0.29802444,  5.61062886,  5.69341071,
       -1.40954948,  0.29802444, -1.40954948, 32.15481491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005015433477819076
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21361330e-13, -2.21361330e-13,  1.00000000e+00, -4.90008384e-26,
        1.00000000e+00,  2.21361330e-13, -1.00000000e+00,  0.00000000e+00,
       -2.21361330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09612978, -0.09059603,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18277605e-05,-3.16921612e-05,-3.25777387e-06, 9.36072830e-06,
  5.57044229e-06, 1.04741664e-06, 2.25985110e-05, 2.12108930e-05,
 -5.25658575e-05, 5.01713050e-05, 7.93222144e-06,-2.22071163e-05,
  3.07370199e-02, 1.64713821e-02, 2.18267643e-03, 1.60829378e-05,
  1.70242372e-07,-1.73435880e-07,-4.90499981e+00, 2.42318429e-04,
  1.18263863e-02,-6.80909601e-04]


--- Step 1247 ---
qpos:
[ 0.018683  , 0.03011604,-0.00954384,-0.02557659, 0.00790898, 0.00465866,
 -0.00785681, 0.02716222, 0.01230291, 0.02796488,-0.00836435, 0.02645435,
  1.19128352,-0.00418629, 1.17301504, 0.04509217, 0.05859889,-0.07622157,
  0.17149334, 0.99956746, 0.02862968,-0.00330662,-0.00585628]

qacc:
[-2.72302441e+00,-5.38612782e-01, 5.47193003e-01, 2.09713506e+00,
  6.00723715e-01,-1.37381366e+00, 4.90670623e+00,-6.95186982e+00,
 -5.23777231e+00,-1.63137023e-01, 2.92012621e-01, 1.21890980e+00,
  1.00281622e+02,-7.04322619e+00, 7.57686266e+01,-2.04793839e+02,
 -2.29529677e+00, 8.33030069e-01,-6.09035698e-01,-1.10748583e+01,
 -2.06825876e+01, 1.84248794e+00]

qfrc_actuator:
[ 7.15345393e-05, 9.04250727e-04, 8.73760541e-05,-4.13543666e-05,
 -1.37311406e-05, 3.72273677e-05,-1.38188961e-05, 5.29169417e-05,
 -1.41766509e-04, 9.01843651e-04, 1.05174705e-04, 3.48095400e-05,
  1.78037734e-02, 1.02437420e-02, 1.47342546e-03,-1.53036707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.58845662,  5.5689632 ,  0.46636503,  5.5689632 ,  5.82487744,
       -2.82315088,  0.46636503, -2.82315088, 39.30029668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004978103664276812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23021275e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.23021275e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09613186, -0.09058932,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64249389e-05,-4.65196051e-05,-4.17318113e-06, 5.33311909e-06,
  3.42765929e-06,-1.77937371e-05, 1.38500926e-05,-5.26969647e-06,
 -3.16772975e-05, 1.61598465e-05, 1.42595316e-05, 6.72874280e-06,
  2.98269604e-02, 1.56258765e-02, 3.23033600e-03,-1.05232489e-04,
  4.59717204e-06,-8.59617247e-08,-4.90500118e+00, 2.45102049e-04,
  1.18256699e-02,-6.80635566e-04]


--- Step 1248 ---
qpos:
[ 0.01868181, 0.03011636,-0.00954484,-0.02557604, 0.00790875, 0.00465845,
 -0.00785635, 0.02716289, 0.01230157, 0.02796535,-0.00836598, 0.02645419,
  1.19145121,-0.00410172, 1.17320004, 0.04509432, 0.05859058,-0.07620554,
  0.17149158, 0.99956838, 0.02858578,-0.0033522 ,-0.00588846]

qacc:
[-1.06659996e+01, 1.72562017e+00,-8.16379574e+00, 1.61265577e+01,
  3.49119637e-01, 9.16241188e-01,-2.52359241e+00, 1.29887466e+00,
 -4.49503590e-02,-4.49613650e-01,-2.99888061e-01, 6.80438762e+00,
  5.18102741e+01, 2.14438620e+01, 4.50242029e+00, 1.03232376e+01,
  2.29779960e+00, 7.64148472e-02, 1.99302051e-01,-5.61389848e+00,
  2.19829596e+01, 5.14529679e-01]

qfrc_actuator:
[ 8.04399391e-06, 9.04949508e-04, 7.12838385e-05,-1.97683791e-05,
 -1.16981360e-05, 5.86443292e-05,-2.59974513e-05, 4.87675951e-05,
 -1.41201866e-04, 8.94030788e-04, 1.25840881e-04, 5.55638372e-05,
  1.77818820e-02, 1.02277348e-02, 1.47628789e-03,-1.46715733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005017859941148645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53135718e-14, -1.10627144e-13,  1.00000000e+00, -6.11918245e-27,
        1.00000000e+00,  1.10627144e-13, -1.00000000e+00,  0.00000000e+00,
       -5.53135718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02783027, -0.07914404,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.39862884e-05,-2.59633026e-05,-2.60270144e-05, 1.95545702e-05,
  2.12386493e-06, 1.41068050e-05,-1.43366647e-05,-4.53787471e-06,
 -3.60259003e-07, 4.44762751e-06, 2.60121265e-05, 2.20768401e-05,
  1.94651798e-02, 1.12735145e-02, 1.57425865e-03, 4.80000777e-04,
  1.15975905e-05,-2.59255018e-06,-4.90500425e+00, 2.47001289e-04,
  1.18252863e-02,-6.79893354e-04]


--- Step 1249 ---
qpos:
[ 0.01868021, 0.03011665,-0.00954585,-0.02557493, 0.0079082 , 0.0046584 ,
 -0.00785608, 0.02716385, 0.01230024, 0.02796555,-0.00836693, 0.02645393,
  1.19154499,-0.00400898, 1.17341435, 0.04509784, 0.05858872,-0.07619065,
  0.17149063, 0.99956941, 0.02854798,-0.00336501,-0.00588927]

qacc:
[ -3.49594955,  1.11826647, -6.4075278 , 16.12127296, -2.81287679,
   1.35577723, -5.70463569, 10.80938086,  0.16993758, -2.44020368,
   8.57426303,-11.03136077,-65.43773375, 65.86267312, 43.83070028,
 -79.93515489,  1.61367672, -0.28797246,  0.20415456,  3.00857928,
  16.84069525, 15.20327665]

qfrc_actuator:
[-1.10757333e-05, 9.23074919e-04, 8.00020378e-05, 1.04607244e-05,
 -2.81615453e-05, 7.14679401e-05,-3.33048310e-05, 6.38177777e-05,
 -1.40321611e-04, 8.71455283e-04, 1.56393114e-04, 5.00818817e-05,
  1.77716679e-02, 1.01231912e-02, 1.47590670e-03,-1.59274247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88937103, -0.726608  ,  0.51285636, -0.726608  ,  0.76800626,
       -0.17194798,  0.51285636, -0.17194798,  0.64575744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7707089813770307e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43814207, -0.89744003, -0.05131188, -0.02251155, -0.04611008,
        0.99868268, -0.89862381,  0.43872001,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098654, -0.04449837,  0.28079302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625955,  0.35991758, -0.06786303,  0.35991758,  0.35657738,
       -0.05135022, -0.06786303, -0.05135022,  0.0939191 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.86957408073501e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35721214, -0.9327913 , -0.0479571 , -0.01715059, -0.0447855 ,
        0.9988494 , -0.93386581,  0.35762362,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.071027  , -0.04446458,  0.28017977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65491054,  5.33009075, -1.88895363,  5.33009075,  8.96070643,
        9.32801731, -1.88895363,  9.32801731, 31.97592663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005060332431160303
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.48493128e-14, -1.09698626e-13,  1.00000000e+00, -6.01689422e-27,
        1.00000000e+00,  1.09698626e-13, -1.00000000e+00,  0.00000000e+00,
       -5.48493128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02783275, -0.07913547,  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:
[-2.09933008e-05,-9.50850517e-07, 8.37535508e-07, 2.86010224e-05,
 -1.63973605e-05, 1.75579643e-05,-6.32073122e-06, 1.50682031e-05,
  8.69050360e-07,-1.37709794e-05, 3.54513725e-05,-3.95894895e-06,
  1.29567781e-02, 7.55557620e-03, 8.60378535e-04, 1.13147622e-04,
  4.29751871e-06,-1.99874936e-06,-4.90500300e+00, 2.45073778e-04,
  1.18252073e-02,-6.78954389e-04]


--- Step 1250 ---
qpos:
[ 0.01867908, 0.03011678,-0.00954641,-0.02557382, 0.00790745, 0.00465822,
 -0.00785573, 0.0271643 , 0.01229963, 0.02796568,-0.00836667, 0.02645287,
  1.19157108,-0.00393382, 1.17364094, 0.04509735, 0.05859252,-0.07617688,
  0.17149017, 0.99957049, 0.02851962,-0.00334872,-0.00585243]

qacc:
[  4.06559364, -1.49101359,  5.04151431, -5.78130248, -1.69121791,
  -1.42086564,  6.90493301,-15.53663052,  6.08804356, -5.19750224,
  21.80212489,-37.78125845,-42.09072646, 21.21742299, 32.78917325,
 -82.7131429 ,  1.41141284, -0.27887377,  0.12118598,  4.68690744,
  15.11568247, 18.38213095]

qfrc_actuator:
[ 1.38419080e-05, 9.16104616e-04, 1.03390018e-04, 1.00635336e-05,
 -3.76267350e-05, 4.35746561e-05,-3.76796157e-05, 3.67902762e-05,
 -1.03767908e-04, 8.93492260e-04, 2.27954423e-04, 1.14425885e-05,
  1.77714811e-02, 1.00362276e-02, 1.41844818e-03,-1.75908646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8918837 , -0.72225015,  0.52326977, -0.72225015,  0.7149515 ,
       -0.24421306,  0.52326977, -0.24421306,  0.55480533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.746478067577543e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38039603e-01, -8.97493546e-01, -5.12507754e-02, -2.24794114e-02,
       -4.60577686e-02,  9.98685815e-01, -8.98674570e-01,  4.38616025e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097654, -0.04449301,  0.28072609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.36680199, 0.16008762, 0.33002372, 0.16008762, 0.20808424,
       0.07699067, 0.33002372, 0.07699067, 0.32945542, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.6808224369573665e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3571412 , -0.93282179, -0.0478923 , -0.01712396, -0.04472631,
        0.99885251, -0.93389343,  0.35755149,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101298, -0.04446264,  0.28017399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66707839,  5.33362451, -1.91526159,  5.33362451, 10.13415629,
       12.43992792, -1.91526159, 12.43992792, 40.30981581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005075324229334016
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09374591e-13, -1.09374591e-13,  1.00000000e+00, -1.19628012e-26,
        1.00000000e+00,  1.09374591e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09374591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02783409, -0.07912876,  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:
[ 2.43042208e-05,-6.10781568e-06, 2.42927273e-05, 1.48351713e-07,
 -9.92542810e-06,-1.87439491e-05,-1.00913461e-06,-2.62024686e-05,
  3.65727520e-05, 2.14899004e-05, 7.29541982e-05,-3.80778987e-05,
  1.66514969e-02, 7.05806149e-03,-6.65561095e-04,-1.22440881e-04,
  2.27023082e-07,-6.25505402e-07,-4.90500057e+00, 2.43215739e-04,
  1.18273747e-02,-6.78146411e-04]


--- Step 1251 ---
qpos:
[ 0.01867792, 0.03011674,-0.00954692,-0.0255727 , 0.00790763, 0.00465773,
 -0.00785565, 0.02716482, 0.01229945, 0.02796586,-0.00836529, 0.02645133,
  1.19154029,-0.00387749, 1.1738861 , 0.04509698, 0.05860076,-0.07616375,
  0.17149001, 0.9995716 , 0.02850262,-0.00330846,-0.00576807]

qacc:
[ -0.31584428, -0.32446153,  0.76018444, -0.42105382,  8.15483962,
   0.43056105, -2.40881869,  4.16318329,  3.80850225, -4.0063238 ,
  16.35724338,-26.24501695,-32.73545902, 11.80340882, 28.89245042,
 -57.06925838,  1.11251611, -0.15869237,  0.07658577,  5.69075396,
  12.68409016, 23.39326486]

qfrc_actuator:
[ 1.12075337e-05, 8.94209664e-04, 9.96227252e-05, 9.38850707e-06,
  1.03664161e-05, 9.24327578e-06,-5.82416330e-05, 3.84420416e-05,
 -8.20150814e-05, 9.06712340e-04, 2.87807744e-04,-1.08244535e-05,
  1.77900624e-02, 9.98227196e-03, 1.35917513e-03,-1.66100883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89566865, -0.76779597,  0.46120675, -0.76779597,  0.78070023,
       -0.19139418,  0.46120675, -0.19139418,  0.57704434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.423705029021505e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.97588725e-01, -7.99776969e-01, -5.69606506e-02, -3.40943974e-02,
       -4.56299001e-02,  9.98376424e-01, -8.01077579e-01,  5.98560534e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098589, -0.04449403,  0.28070697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.336243196184301e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35712958, -0.9328294 , -0.04783071, -0.01710133, -0.04466902,
        0.99885546, -0.93389828,  0.3575388 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101003, -0.04445925,  0.28016558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66172568,  5.26625214, -2.07887614,  5.26625214, 12.46739092,
       17.24025228, -2.07887614, 17.24025228, 49.33509016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005068730984430642
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09516862e-13, -2.19033724e-13,  1.00000000e+00, -2.39878862e-26,
        1.00000000e+00,  2.19033724e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09516862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02783453, -0.07912352,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92928508e-06,-2.02754554e-05,-2.02902033e-06,-9.54692121e-08,
  4.77056721e-05,-4.61462557e-05,-2.54672680e-05, 3.02685339e-07,
  2.28322447e-05, 3.86809039e-05, 7.19563480e-05,-1.95630240e-05,
  2.00531014e-02, 7.88010355e-03,-1.34264325e-03, 1.75433523e-04,
  1.59780739e-06, 6.28277111e-07,-4.90499904e+00, 2.44351262e-04,
  1.18288294e-02,-6.77451842e-04]


--- Step 1252 ---
qpos:
[ 0.01867707, 0.03011676,-0.00954781,-0.02557194, 0.00790838, 0.00465721,
 -0.00785593, 0.02716533, 0.01229885, 0.02796559,-0.00836291, 0.02644996,
  1.19145859,-0.00385231, 1.17414511, 0.04509562, 0.05861329,-0.07615163,
  0.1714899 , 0.99957264, 0.02850014,-0.0032451 ,-0.00563511]

qacc:
[ 2.75204636e+00, 3.95144387e-01, 2.07245858e-01,-5.86189831e+00,
  5.03392788e+00, 9.56222741e-01,-3.44731378e+00, 3.89735982e+00,
 -3.59431231e+00,-3.05295177e+00, 9.31366713e+00,-7.71263907e+00,
 -1.93305100e+01,-1.14639440e+01, 2.41417485e+01,-5.32421869e+01,
  1.07228107e+00,-2.55446601e-01, 1.02218668e-02, 7.27272576e+00,
  1.22831629e+01, 2.39347505e+01]

qfrc_actuator:
[ 2.78677242e-05, 8.98942769e-04, 7.97847333e-05,-9.22793428e-06,
  3.85337203e-05, 2.45260028e-05,-7.04605026e-05, 3.91873279e-05,
 -1.04665140e-04, 8.43523675e-04, 3.22498197e-04,-5.53830482e-06,
  1.78107161e-02, 9.95643035e-03, 1.32443432e-03,-1.76186861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89934087, -0.72335876,  0.53438386, -0.72335876,  0.70048358,
       -0.26917948,  0.53438386, -0.26917948,  0.53497109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010367777885400175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03042265e-01, -8.62596452e-01, -5.36268567e-02, -2.70154495e-02,
       -4.63249959e-02,  9.98561045e-01, -8.63839479e-01,  5.03767164e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100395, -0.04449552,  0.28070807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.463223056793806e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35716989, -0.93281655, -0.0477802 , -0.01708516, -0.04462113,
        0.99885787, -0.93388317,  0.35757829,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101509, -0.04445419,  0.28015558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005045814072544147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10014262e-13, -1.10014262e-13,  1.00000000e+00, -1.21031379e-26,
        1.00000000e+00,  1.10014262e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10014262e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02783428, -0.07911944,  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:
[ 1.65974103e-05,-7.01998363e-06,-2.42735623e-05,-1.95575444e-05,
  2.95079529e-05,-1.57380873e-05,-2.48757839e-05,-2.10981207e-06,
 -2.19672009e-05,-2.75447716e-05, 5.08505546e-05, 9.05175131e-06,
  2.29159230e-02, 8.79489718e-03,-2.31033631e-03, 6.70315243e-05,
  1.00496012e-05, 1.53493700e-06,-4.90499867e+00, 2.48783174e-04,
  1.18289693e-02,-6.76907829e-04]


--- Step 1253 ---
qpos:
[ 0.01867678, 0.03011675,-0.00954862,-0.02557212, 0.00790912, 0.00465658,
 -0.00785578, 0.02716511, 0.01229799, 0.0279653 ,-0.00836079, 0.02644905,
  1.19133363,-0.00385211, 1.17441418, 0.04509048, 0.05862985,-0.07614061,
  0.1714896 , 0.99957354, 0.02851382,-0.00315985,-0.00545186]

qacc:
[ 4.72953656e+00,-2.22246503e+00, 1.18247197e+01,-2.82031925e+01,
 -9.83864024e-02,-2.85190802e+00, 1.30739166e+01,-2.63889114e+01,
 -2.28186862e+00, 1.63464814e+00,-7.74654993e+00, 1.59509878e+01,
 -1.75495366e+01,-7.33733252e+00, 2.69719485e+01,-7.12867132e+01,
  1.00802955e+00,-2.72107187e-01,-4.63547906e-02, 8.09684030e+00,
  1.17008261e+01, 2.47913859e+01]

qfrc_actuator:
[ 5.57599728e-05, 9.01742903e-04, 8.62216621e-05,-5.59910087e-05,
  3.70357894e-05, 3.39249847e-05,-4.19521676e-05, 3.93200039e-06,
 -1.17759637e-04, 8.41502273e-04, 3.06255781e-04, 1.58339015e-05,
  1.78021707e-02, 9.93178504e-03, 1.28819122e-03,-1.99877033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90265816, -0.71475319,  0.55128906, -0.71475319,  0.68466888,
       -0.28262583,  0.55128906, -0.28262583,  0.53623022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011843202291739312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90365177e-01, -8.69897878e-01, -5.31006035e-02, -2.60754750e-02,
       -4.62573637e-02,  9.98589168e-01, -8.71126892e-01,  4.91057978e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710215 , -0.04449187,  0.28070676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.946154955713163e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35725424, -0.93278595, -0.047747  , -0.0170773 , -0.04458859,
        0.99885946, -0.93385105,  0.35766216,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102806, -0.04444774,  0.28014426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005009962610130342
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66202292e-13, -1.10801528e-13,  1.00000000e+00, -1.84154679e-26,
        1.00000000e+00,  1.10801528e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66202292e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278335 , -0.07911628,  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:
[ 2.83759781e-05,-6.95939306e-06, 1.32961358e-06,-4.82845597e-05,
 -6.63750405e-07,-4.59931330e-06, 2.21275595e-05,-3.68321160e-05,
 -1.37496158e-05,-6.55715012e-06,-1.53770003e-05, 2.21265926e-05,
  2.54521634e-02, 1.03262969e-02,-3.04446751e-03,-1.21309182e-04,
  2.60703086e-05, 2.08227778e-06,-4.90500042e+00, 2.56554655e-04,
  1.18265750e-02,-6.76577297e-04]


--- Step 1254 ---
qpos:
[ 0.01867717, 0.03011681,-0.00954913,-0.02557289, 0.00791019, 0.00465596,
 -0.00785533, 0.02716446, 0.01229731, 0.02796569,-0.00835948, 0.02644834,
  1.19122431,-0.00390037, 1.17463463, 0.04508699, 0.05863694,-0.0761302 ,
  0.17148912, 0.99957411, 0.02852231,-0.00312274,-0.00532216]

qacc:
[ 5.85392934e+00,-1.95454100e+00, 9.54541613e+00,-2.01719840e+01,
  2.83678900e+00,-1.69057531e+00, 7.81637477e+00,-1.56240532e+01,
  1.61433789e+00, 3.60065591e+00,-1.24351219e+01, 1.69096635e+01,
  4.87053279e+01,-8.88352392e+01,-8.13344646e+01, 1.70149020e+02,
 -2.36754730e+00,-1.54613852e-01,-4.45415430e-02,-2.53919465e+00,
 -2.48363036e+01,-2.60653603e+01]

qfrc_actuator:
[ 9.00338383e-05, 9.21194591e-04, 1.08108164e-04,-8.34114038e-05,
  5.36009449e-05, 3.98734853e-05,-2.51671453e-05,-1.66911429e-05,
 -1.07357022e-04, 9.11423333e-04, 2.78063724e-04, 2.87544886e-05,
  1.78038776e-02, 9.93190805e-03, 1.22958748e-03,-2.04781783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90512489,  0.69906553, -0.57494213,  0.69906553,  0.64345499,
       -0.31816143, -0.57494213, -0.31816143,  0.51827605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012825336617554908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.52875425, -0.84702663, -0.05445028, -0.02883359, -0.04618936,
        0.99851648, -0.84828507,  0.52953983,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710383 , -0.04448395,  0.28070324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37107149, -0.36935806, -0.0356185 , -0.36935806,  0.36826425,
        0.02911072, -0.0356185 ,  0.02911072,  0.06919808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010821072292324779
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35737864, -0.93273891, -0.04773494, -0.01707892, -0.04457505,
        0.99886004, -0.93380341,  0.3577865 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104817, -0.04444053,  0.28013186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.63328669, -5.56121146,  0.8982461 , -5.56121146,  5.73513117,
        0.6305384 ,  0.8982461 ,  0.6305384 ,  9.53706913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005033654865753967
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20560021e-13, -5.51400053e-14,  1.00000000e+00, -1.21616808e-26,
        1.00000000e+00,  5.51400053e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20560021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09614382, -0.09049687,  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:
[ 3.51012025e-05, 1.37884148e-05, 1.89514851e-05,-2.86115196e-05,
  1.65453287e-05, 6.39002254e-06, 1.72920487e-05,-2.07698444e-05,
  9.99777153e-06, 6.40062835e-05,-3.06946374e-05, 1.25365129e-05,
  2.76152105e-02, 1.15750675e-02,-3.61094455e-03, 1.77164596e-05,
  5.01676943e-05, 2.17846583e-06,-4.90500460e+00, 2.67577979e-04,
  1.18212849e-02,-6.76498803e-04]


--- Step 1255 ---
qpos:
[ 0.01867832, 0.03011691,-0.00954912,-0.02557365, 0.00791109, 0.00465575,
 -0.00785519, 0.02716425, 0.01229746, 0.02796666,-0.00835828, 0.02644776,
  1.19112222,-0.00395444, 1.17482467, 0.04508734, 0.05863544,-0.07612019,
  0.17148821, 0.99957423, 0.02853085,-0.00313083,-0.00524794]

qacc:
[ 6.47435468e+00,-1.39455222e+00, 5.00125164e+00,-5.69237731e+00,
 -1.37923826e+00, 2.26938749e+00,-9.16058452e+00, 1.69062900e+01,
  6.96814235e+00, 1.32446487e+00,-4.16551840e+00, 6.10070630e+00,
  1.16315411e+01,-1.63969017e+01,-5.75027566e+01, 1.33692645e+02,
 -2.14853504e+00,-9.81123438e-02,-1.08542049e-01, 6.11493531e-02,
 -2.33820369e+01,-2.70836656e+01]

qfrc_actuator:
[ 1.27785807e-04, 9.32801624e-04, 1.39020488e-04,-8.14526752e-05,
  4.51695068e-05, 7.91941462e-05,-3.32004550e-05, 6.95482355e-06,
 -6.54572600e-05, 9.52811189e-04, 2.78863785e-04, 3.66619642e-05,
  1.78079929e-02, 1.00158608e-02, 1.21041689e-03,-2.09460252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90524707,  0.5908708 , -0.68581627,  0.5908708 ,  0.48552203,
       -0.36161765, -0.68581627, -0.36161765,  0.59369233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012871915475548646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4883043 , -0.87106429, -0.05297094, -0.02590231, -0.04620597,
        0.99859605, -0.87228893,  0.48899082,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104994, -0.04447537,  0.28069723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37120405, -0.24531522, -0.2785909 , -0.24531522,  0.16864488,
        0.17836494, -0.2785909 ,  0.17836494,  0.21414353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010967048490939619
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3574761 , -0.93270126, -0.04774094, -0.01708573, -0.04457886,
        0.99885975, -0.93376599,  0.35788418,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105397, -0.04442954,  0.28012766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65946366,  5.64033206, -0.46495504,  5.64033206,  5.73266474,
        0.88799637, -0.46495504,  0.88799637, 16.43167591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005065943910227688
  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([ 0.09614634, -0.09047443,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87805924e-05, 2.20230664e-05, 3.51094767e-05, 2.64876473e-06,
 -7.95884140e-06, 4.56004262e-05,-5.29928652e-06, 2.41150655e-05,
  4.22185040e-05, 7.13508505e-05, 1.06551855e-05, 9.82955656e-06,
  2.68380767e-02, 1.40835396e-02,-1.20389831e-03,-1.13142646e-04,
  2.23356947e-05, 4.30467366e-07,-4.90500152e+00, 2.51061418e-04,
  1.18236992e-02,-6.77072185e-04]


--- Step 1256 ---
qpos:
[ 0.01867956, 0.03011691,-0.00954836,-0.02557437, 0.00791155, 0.0046559 ,
 -0.0078552 , 0.027165  , 0.01229776, 0.02796837,-0.00835746, 0.02644727,
  1.19102041,-0.00399756, 1.17497975, 0.04508625, 0.05862572,-0.07611034,
  0.17148646, 0.99957386, 0.02854203,-0.00318264,-0.00522677]

qacc:
[ 8.78528800e-01,-2.17332177e+00, 7.38994940e+00,-7.91860130e+00,
 -3.99482133e+00, 2.91272454e+00,-1.37631605e+01, 3.05031444e+01,
  1.31207822e+00, 2.22936571e+00,-6.93472917e+00, 8.65130498e+00,
 -5.60608159e+00, 1.43404994e+01,-4.67809134e+01, 8.99077486e+01,
 -2.05515313e+00,-4.25464189e-02,-2.08623565e-01, 1.35898164e+00,
 -2.26045627e+01,-2.58976561e+01]

qfrc_actuator:
[ 1.31775365e-04, 9.21943158e-04, 1.75002503e-04,-7.99795150e-05,
  2.20879410e-05, 1.02631101e-04,-3.78993786e-05, 5.64699184e-05,
 -5.86200492e-05, 9.94663632e-04, 2.61181713e-04, 4.15646446e-05,
  1.78084210e-02, 1.00913530e-02, 1.18306407e-03,-2.28487990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.90341809,  0.49719596, -0.75429465,  0.49719596,  0.35638275,
       -0.36058026, -0.75429465, -0.36058026,  0.66574035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012154754121013707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4718047 , -0.8801458 , -0.05238033, -0.02474726, -0.0461657 ,
        0.99862721, -0.88135571,  0.47245328,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105701, -0.04446734,  0.28068903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37075919,  0.07688837, -0.36269899,  0.07688837,  0.020612  ,
       -0.07422752, -0.36269899, -0.07422752,  0.35502374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001046872647920904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35757327, -0.93266233, -0.04777372, -0.01710213, -0.04460768,
        0.99885818, -0.93372848,  0.35798202,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104688, -0.04441627,  0.28013081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.66252842,  5.64836782, -0.40021124,  5.64836782,  5.73190637,
        0.97916343, -0.40021124,  0.97916343, 19.48191851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000506971994035571
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09495499e-13, -5.47477493e-14,  1.00000000e+00,  5.99463210e-27,
        1.00000000e+00,  5.47477493e-14, -1.00000000e+00,  0.00000000e+00,
        1.09495499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09614908, -0.09045701,  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:
[ 5.12563838e-06, 8.82889776e-06, 4.49438620e-05, 3.68194096e-06,
 -2.32926220e-05, 4.88796775e-05, 4.90384860e-06, 5.17561802e-05,
  8.10385959e-06, 8.43419993e-05,-1.31655577e-06, 8.51507519e-06,
  2.64769360e-02, 1.44513521e-02, 2.86103204e-04,-4.95547048e-04,
  6.93004339e-06,-3.52489821e-07,-4.90500082e+00, 2.42626641e-04,
  1.18248400e-02,-6.77487132e-04]


--- Step 1257 ---
qpos:
[ 0.01868118, 0.030117  ,-0.00954776,-0.02557504, 0.00791138, 0.00465646,
 -0.00785554, 0.02716601, 0.01229746, 0.02797051,-0.0083573 , 0.02644691,
  1.19091925,-0.00402999, 1.1751035 , 0.04508549, 0.05860802,-0.07610051,
  0.17148352, 0.99957295, 0.02855782,-0.00327718,-0.00525629]

qacc:
[ 3.28119344e+00, 6.95363694e-01,-2.55776820e+00, 3.79446595e+00,
 -5.51750235e+00, 1.99844678e+00,-7.36746170e+00, 1.18817348e+01,
 -5.21543811e+00, 2.65903652e+00,-9.16197703e+00, 1.19999184e+01,
 -5.19950791e+00, 1.37584389e+01,-4.67331314e+01, 9.74788039e+01,
 -1.99395608e+00,-1.92792269e-03,-3.00124876e-01, 2.34309807e+00,
 -2.20664537e+01,-2.47373428e+01]

qfrc_actuator:
[ 1.51364968e-04, 9.15496979e-04, 1.60333039e-04,-7.88259515e-05,
 -9.42376724e-06, 1.16413344e-04,-5.83773368e-05, 6.75414185e-05,
 -9.02382693e-05, 9.83141069e-04, 2.14966333e-04, 4.46433947e-05,
  1.78229796e-02, 1.01473184e-02, 1.15763176e-03,-2.36224932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89998037,  0.43790306, -0.7862605 ,  0.43790306,  0.27902948,
       -0.34583486, -0.7862605 , -0.34583486,  0.70736972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010668885901980668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4717645 , -0.88016326, -0.05244892, -0.02477764, -0.04622724,
        0.99862361, -0.88137638,  0.47241473,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105924, -0.04445988,  0.28067906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36982477,  0.06183818, -0.36461815,  0.06183818,  0.02656528,
       -0.05821581, -0.36461815, -0.05821581,  0.35995153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.33175665072682e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57683781e-01, -9.32616664e-01, -4.78379645e-02, -1.71304765e-02,
       -4.46656201e-02,  9.98855109e-01, -9.33685632e-01,  3.58093759e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102738, -0.04440104,  0.28014134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.64715966,  5.63896856, -0.30404903,  5.63896856,  5.69936714,
        0.9682527 , -0.30404903,  0.9682527 , 23.60461389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005050775321310541
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29718594e-13,  5.49530990e-14,  1.00000000e+00,  1.81190585e-26,
        1.00000000e+00, -5.49530990e-14, -1.00000000e+00,  0.00000000e+00,
       -3.29718594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09615201, -0.09044355,  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:
[ 1.97394679e-05, 7.92165051e-06,-7.19197277e-06, 3.15769748e-06,
 -3.21589510e-05, 4.43318204e-05,-7.98876537e-06, 1.43420799e-05,
 -3.13452464e-05, 3.56684204e-05,-2.86893325e-05, 6.80847824e-06,
  2.64773356e-02, 1.39603814e-02, 2.00597059e-03,-5.02115035e-04,
  3.83884449e-06, 3.32794403e-07,-4.90500123e+00, 2.41603462e-04,
  1.18259340e-02,-6.77831403e-04]


--- Step 1258 ---
qpos:
[ 0.01868234, 0.03011696,-0.00954723,-0.02557566, 0.00791118, 0.00465718,
 -0.00785597, 0.02716647, 0.01229747, 0.02797239,-0.00835767, 0.02644666,
  1.19080364,-0.00402588, 1.17523867, 0.04507869, 0.05859744,-0.07609267,
  0.17148204, 0.99957222, 0.02857726,-0.00333452,-0.005254  ]

qacc:
[  -4.00573601,   0.10513291,  -0.79291322,   1.71561234,  -0.28232863,
   -0.653548  ,   4.95358071, -14.42177865,   2.65812041,   1.39030381,
   -5.94486922,   9.04840102, -37.7731896 ,  67.43770732,  38.50862784,
 -102.56404276,   1.77939108,  -0.49842607,   0.36601593,   1.77603184,
   19.05618325,  15.36477087]

qfrc_actuator:
[ 1.26733178e-04, 8.93782237e-04, 1.51388461e-04,-7.79041498e-05,
 -1.01348372e-05, 1.06458245e-04,-7.03279539e-05, 3.81271681e-05,
 -7.32163949e-05, 9.21858493e-04, 1.69812358e-04, 4.65623807e-05,
  1.78299954e-02, 1.01519540e-02, 1.17156347e-03,-2.35530149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89563813, -0.8408454 ,  0.30845852, -0.8408454 ,  0.84475909,
       -0.13869419,  0.30845852, -0.13869419,  0.5175634 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.405596586643353e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71811280e-01, -8.80131291e-01, -5.25644978e-02, -2.48348564e-02,
       -4.63277060e-02,  9.98617531e-01, -8.81349730e-01,  4.72464447e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105672, -0.04445307,  0.28066718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36858136,  0.2864593 , -0.2319338 ,  0.2864593 ,  0.25506551,
       -0.14020239, -0.2319338 , -0.14020239,  0.19541868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.547555735576043e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35780854, -0.93256372, -0.04793693, -0.01717199, -0.0447557 ,
        0.99885036, -0.93363707,  0.35822036,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099579, -0.04438401,  0.28015906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.6902588 , -5.60249445,  0.99554061, -5.60249445,  5.94247544,
        1.41937189,  0.99554061,  1.41937189, 13.6779019 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00051038459383701
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08763376e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08763376e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784274, -0.07907585,  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:
[-2.40544062e-05,-1.86423073e-05,-8.09405676e-06, 1.07242991e-06,
 -1.60979186e-06, 1.37700770e-05,-3.28450384e-06,-2.75131656e-05,
  1.61225525e-05,-4.70613275e-05,-4.11093654e-05, 2.58427617e-06,
  2.64516145e-02, 1.34316016e-02, 3.58390431e-03,-5.11808743e-04,
  1.16432737e-05, 2.67222926e-06,-4.90500221e+00, 2.47177738e-04,
  1.18275547e-02,-6.78175425e-04]


--- Step 1259 ---
qpos:
[ 0.01868251, 0.0301169 ,-0.0095463 ,-0.02557631, 0.00791166, 0.0046577 ,
 -0.00785611, 0.02716659, 0.01229802, 0.02797408,-0.00835828, 0.02644608,
  1.1906724 ,-0.00401399, 1.17538534, 0.04506774, 0.05859313,-0.07608648,
  0.17148159, 0.9995716 , 0.02860325,-0.00335888,-0.00521494]

qacc:
[ -8.51290724, -1.1752163 ,  4.331934  , -5.5406696 ,  6.02057646,
  -1.81470827,  7.49552479,-13.64923637,  4.6696288 , -0.29798904,
   2.09866412, -7.48195964,-18.61548634, 23.93662644, 31.03633156,
 -80.61674541,  1.56637475, -0.4130584 ,  0.25890366,  3.24607604,
  17.02734004, 17.89783594]

qfrc_actuator:
[ 7.62654334e-05, 9.16353948e-04, 1.81353170e-04,-7.71278997e-05,
  2.50433874e-05, 8.23492397e-05,-5.95140022e-05, 2.06250747e-05,
 -4.54416536e-05, 9.19986862e-04, 1.60935636e-04, 2.99870653e-05,
  1.78391474e-02, 1.00956633e-02, 1.17976567e-03,-2.25603473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89295117, -0.8193079 ,  0.35510049, -0.8193079 ,  0.80754868,
       -0.19704543,  0.35510049, -0.19704543,  0.43831683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.614424957816029e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71803982e-01, -8.80129946e-01, -5.26524417e-02, -2.48761374e-02,
       -4.64053597e-02,  9.98612898e-01, -8.81352472e-01,  4.72459332e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105629, -0.04444633,  0.28065722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.36775989, 0.21246516, 0.30017644, 0.21246516, 0.30090554,
       0.04731957, 0.30017644, 0.04731957, 0.33426706, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.080178099102897e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57954173e-01, -9.32503543e-01, -4.80203239e-02, -1.72089283e-02,
       -4.48308409e-02,  9.98846359e-01, -9.33580560e-01,  3.58367601e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097651, -0.04437088,  0.28017095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73222336,  5.48962268, -1.64997802,  5.48962268,  7.55374346,
        6.06035834, -1.64997802,  6.06035834, 25.89557109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005155356173469489
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07676656e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07676656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784629, -0.07906373,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11752419e-05, 1.05059467e-05, 2.51501060e-05,-2.79990012e-07,
  3.51385610e-05,-1.82888464e-05, 1.22975413e-05,-1.75626879e-05,
  2.82383932e-05,-3.66275770e-05,-2.35898731e-05,-1.99677348e-05,
  2.71827403e-02, 1.15480203e-02, 3.01897951e-03,-1.11562170e-04,
  3.95318513e-06, 1.30161957e-06,-4.90500121e+00, 2.42802737e-04,
  1.18271474e-02,-6.78783598e-04]


--- Step 1260 ---
qpos:
[ 0.01868276, 0.03011689,-0.00954531,-0.02557693, 0.00791256, 0.00465816,
 -0.00785616, 0.02716684, 0.01229822, 0.02797537,-0.00835865, 0.02644494,
  1.19052603,-0.00401027, 1.17555131, 0.0450571 , 0.05859448,-0.07608184,
  0.17148181, 0.99957101, 0.0286387 ,-0.00335325,-0.00513571]

qacc:
[ 7.11262655e-01,-4.16722815e-02, 8.83663589e-02, 3.36922713e-01,
  3.67892014e+00,-3.85638789e-02,-5.66480562e-01, 2.81555651e+00,
 -3.05659199e+00,-2.30152218e+00, 9.80715811e+00,-1.94524799e+01,
 -7.28615027e+00,-7.26688897e-01, 2.79148655e+01,-5.54391132e+01,
  1.41800549e+00,-3.87378409e-01, 1.68332629e-01, 4.71662464e+00,
  1.55880718e+01, 1.96285330e+01]

qfrc_actuator:
[ 8.20202075e-05, 9.12171299e-04, 1.80968327e-04,-7.63815036e-05,
  4.55481613e-05, 8.55455178e-05,-5.31546063e-05, 2.80306800e-05,
 -6.48335343e-05, 9.00564005e-04, 1.73756829e-04, 2.73069689e-06,
  1.78661841e-02, 1.00702185e-02, 1.18411216e-03,-2.13633833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89113227, -0.79101921,  0.41037219, -0.79101921,  0.763304  ,
       -0.24639734,  0.41037219, -0.24639734,  0.41618531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.045382602488226e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47173363, -0.8801635 , -0.0527219 , -0.02490533, -0.04646852,
        0.99860923, -0.88138931,  0.47239061,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105737, -0.04443855,  0.28064795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.700391666384071e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.358115  , -0.93243785, -0.04809675, -0.01724412, -0.04489919,
        0.99884268, -0.93351823,  0.35852994,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096806, -0.04436032,  0.28017813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.75004531,  5.47492578, -1.75733001,  5.47492578,  8.43297718,
        8.3586195 , -1.75733001,  8.3586195 , 31.79115376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005177185650489108
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0722264e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0722264e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784846, -0.07905421,  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:
[ 4.26544969e-06, 6.84855382e-06, 4.86586535e-06, 2.06247200e-06,
  2.14972230e-05,-5.24883047e-06, 3.48229176e-06, 6.70295164e-06,
 -1.85699233e-05,-4.56745357e-05, 1.64702980e-06,-3.00329806e-05,
  2.79902834e-02, 1.11331526e-02, 2.44594637e-03, 2.15620544e-04,
  2.87004913e-06, 3.96768596e-07,-4.90500166e+00, 2.41516231e-04,
  1.18257746e-02,-6.79431102e-04]


--- Step 1261 ---
qpos:
[ 0.01868273, 0.03011665,-0.00954448,-0.02557749, 0.00791369, 0.00465876,
 -0.00785623, 0.02716716, 0.01229852, 0.02797626,-0.00835915, 0.02644385,
  1.19036612,-0.00401733, 1.17573792, 0.04504695, 0.05860108,-0.07607864,
  0.17148238, 0.99957039, 0.02868569,-0.00331987,-0.00501408]

qacc:
[ -2.38489059,  0.25676227, -1.60357099,  3.08521415,  2.09897986,
   0.36138662, -1.31347771,  2.4000745 ,  0.94924744, -0.08295012,
  -0.73471477,  2.21557462, -4.280579  , -5.75316479, 29.1362258 ,
 -57.44668785,  1.30861442, -0.36140906,  0.08600231,  5.76533869,
  14.50424075, 20.77732837]

qfrc_actuator:
[ 6.75715777e-05, 8.74138518e-04, 1.62556819e-04,-7.57033977e-05,
  5.72408471e-05, 1.05073183e-04,-4.93640374e-05, 3.22923818e-05,
 -5.85782318e-05, 8.70868888e-04, 1.63704046e-04, 4.91563345e-06,
  1.78884930e-02, 1.00583659e-02, 1.17970244e-03,-2.09596386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88983661, -0.76779956,  0.44976997, -0.76779956,  0.72958415,
       -0.27356599,  0.44976997, -0.27356599,  0.42283377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5189261736579145e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71594065e-01, -8.80234750e-01, -5.27808977e-02, -2.49259019e-02,
       -4.65244299e-02,  9.98606117e-01, -8.81463407e-01,  4.72252329e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105977, -0.04442935,  0.2806383 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36667927, -0.26765329,  0.25063002, -0.26765329,  0.19720407,
       -0.18098628,  0.25063002, -0.18098628,  0.17340006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.246558375617817e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35828833, -0.93236728, -0.04817393, -0.01728022, -0.04496801,
        0.99883896, -0.93345105,  0.3587048 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096942, -0.04435172,  0.28018125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.74830713,  5.4308664 , -1.883806  ,  5.4308664 ,  9.68403652,
       11.34640222, -1.883806  , 11.34640222, 38.45910359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005175057794879895
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07266727e-13, -1.07266727e-13,  1.00000000e+00, -1.15061507e-26,
        1.00000000e+00,  1.07266727e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07266727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784953, -0.07904675,  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:
[-1.43230690e-05,-3.31188633e-05,-1.63368363e-05, 1.17882178e-06,
  1.23013602e-05, 1.75900231e-05, 3.36102718e-06, 4.28534490e-06,
  5.69932528e-06,-5.62293314e-05,-2.03311172e-05,-2.98611995e-07,
  2.87687152e-02, 1.15294478e-02, 1.47299269e-03, 2.39300697e-04,
  8.54661874e-06,-3.35702125e-07,-4.90500377e+00, 2.43513061e-04,
  1.18228874e-02,-6.80178765e-04]


--- Step 1262 ---
qpos:
[ 0.01868183, 0.03011611,-0.00954381,-0.02557803, 0.00791462, 0.00465862,
 -0.00785618, 0.02716833, 0.0122989 , 0.02797665,-0.00835949, 0.02644349,
  1.19019593,-0.00403608, 1.17595043, 0.04504019, 0.05861242,-0.07607676,
  0.17148305, 0.99956968, 0.028746  ,-0.00326107,-0.00484692]

qacc:
[-7.39770180e+00, 1.30146867e-01,-1.13353970e+00, 2.03456620e+00,
 -1.85458107e+00, 4.22607951e-01,-6.45704721e+00, 2.13603511e+01,
  6.31476073e-01, 3.73212662e-01,-5.30177766e+00, 1.78044706e+01,
 -1.15262286e+00,-9.31814542e+00, 2.78793628e+01,-4.22624976e+01,
  1.18754587e+00,-3.28349630e-01, 2.26045696e-02, 6.67460564e+00,
  1.33886929e+01, 2.23649813e+01]

qfrc_actuator:
[ 2.35758370e-05, 8.51549423e-04, 1.51265836e-04,-7.51103034e-05,
  4.59053920e-05, 9.95389697e-06,-6.48038337e-05, 7.01864919e-05,
 -5.50143946e-05, 8.52944392e-04, 1.75699176e-04, 4.21309866e-05,
  1.79030406e-02, 1.00782944e-02, 1.19052754e-03,-1.85493291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88899144, -0.73567313,  0.49909   , -0.73567313,  0.68740153,
       -0.29714938,  0.49909   , -0.29714938,  0.45098464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.958754035431071e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47138119, -0.88034551, -0.05283525, -0.02494038, -0.04657833,
        0.99860324, -0.88157686,  0.47204051,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07106325, -0.04441883,  0.28062789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.6550900583694406e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3584738 , -0.93229167, -0.04825748, -0.01731922, -0.04504253,
        0.99883493, -0.93337912,  0.35889193,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097964, -0.04434497,  0.28018083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73096997,  5.35747083, -2.03507326,  5.35747083, 11.56650102,
       15.36243824, -2.03507326, 15.36243824, 46.17364895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005153819929648445
  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([ 0.02784973, -0.07904092,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44240667e-05,-4.44371977e-05,-2.01075212e-05,-1.36659954e-06,
 -1.09800396e-05,-8.44220911e-05,-1.12514170e-05, 3.88452034e-05,
  3.71434159e-06,-5.36016593e-05,-2.13639449e-06, 3.40977880e-05,
  2.94594446e-02, 1.20879971e-02, 4.48445303e-04, 4.55569833e-04,
  2.11416706e-05,-1.13429543e-06,-4.90500778e+00, 2.48800967e-04,
  1.18180491e-02,-6.81072878e-04]


--- Step 1263 ---
qpos:
[ 0.01868111, 0.03011518,-0.00954353,-0.02557853, 0.0079154 , 0.00465701,
 -0.00785536, 0.02717068, 0.01229898, 0.02797662,-0.00835942, 0.02644354,
  1.19001285,-0.00411202, 1.17615814, 0.04504274, 0.05862146,-0.07607116,
  0.17148443, 0.99956976, 0.02877378,-0.00320884,-0.00469831]

qacc:
[  1.44261905,  0.66110797, -3.23473484,  4.75868844, -1.20231578,
  -1.63802277, -1.99727003, 22.42243849, -2.57838842, -0.83486306,
   0.38156811,  6.5819285 , 30.37434507,-79.90186712,-38.60995214,
 117.24705156, -0.57514207,  0.92993559,  0.18189335,-16.28558617,
  -3.6260703 , -9.1157844 ]

qfrc_actuator:
[ 3.35579173e-05, 8.20645892e-04, 1.26572379e-04,-7.45556824e-05,
  3.88617829e-05,-9.98822202e-05,-3.86585348e-05, 1.27458118e-04,
 -7.08239656e-05, 8.42328336e-04, 2.00688253e-04, 6.41770666e-05,
  1.79024732e-02, 1.01047700e-02, 1.19862505e-03,-1.69189188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862207,  0.55944588, -0.69041255,  0.55944588,  1.6284438 ,
        0.59948246, -0.69041255,  0.59948246,  1.3743867 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1174908454016833e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47108933, -0.88049841, -0.0528904 , -0.02495103, -0.04663519,
        0.99860032, -0.88173255,  0.47174963,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07106775, -0.04440735,  0.28061633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71814736, -4.34478735,  3.71753037, -4.34478735,  8.04017447,
        2.71382154,  3.71753037,  2.71382154,  8.88987061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005138095681634924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.40191879e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.40191879e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06408354, -0.10931219,  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:
[ 8.67401565e-06,-5.99631946e-05,-3.63924712e-05,-2.06725615e-06,
 -7.38627856e-06,-1.57707110e-04, 8.66372408e-06, 5.40185413e-05,
 -1.57198007e-05,-3.95774852e-05, 1.48339721e-05, 2.03393278e-05,
  2.99714888e-02, 1.26993444e-02,-8.42664365e-04, 4.48059078e-04,
  4.13484062e-05,-2.13128971e-06,-4.90501402e+00, 2.57311470e-04,
  1.18107227e-02,-6.82154449e-04]


--- Step 1264 ---
qpos:
[ 0.01868086, 0.0301142 ,-0.0095437 ,-0.0255794 , 0.00791609, 0.00465443,
 -0.00785436, 0.02717402, 0.01229921, 0.02797641,-0.0083594 , 0.02644352,
  1.19004561,-0.00410573, 1.17635335, 0.04504438, 0.05862932,-0.07605727,
  0.17148492, 0.99957126, 0.02875086,-0.00315533,-0.0045534 ]

qacc:
[ 4.01385315e+00, 3.85543660e-01, 6.56305458e-02,-5.72942564e+00,
 -7.77016158e-01, 2.60085617e-01,-6.97279140e+00, 2.45456925e+01,
  1.31699019e+00,-2.68510872e-01, 9.69278763e-01,-2.19200322e+00,
  1.13845949e+02,-2.43586439e+01,-2.16732863e+01, 3.55753849e+01,
 -2.94753132e-01, 2.07119185e+00,-2.26676697e-01,-2.53672157e+01,
  4.70549465e-01,-1.79076691e+00]

qfrc_actuator:
[ 5.74878681e-05, 8.38203872e-04, 1.11878260e-04,-9.17976951e-05,
  3.44080075e-05,-1.28751507e-04,-2.37587798e-05, 1.77920262e-04,
 -6.24039445e-05, 8.36229080e-04, 1.97655108e-04, 5.93761022e-05,
  1.79040939e-02, 1.01675969e-02, 1.21224245e-03,-1.74269770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.72609274,  4.97354122, -2.83760917,  4.97354122,  9.53956322,
        6.68395523, -2.83760917,  6.68395523, 17.44121095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005147840712066282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07833856e-13, -1.07833856e-13,  1.00000000e+00, -1.16281404e-26,
        1.00000000e+00,  1.07833856e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07833856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06409207, -0.10929863,  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:
[ 2.41661021e-05,-2.35409368e-05,-3.16231082e-05,-2.11062970e-05,
 -4.72132824e-06,-1.12914655e-04,-1.47364969e-05, 4.50516588e-05,
  7.94361642e-06,-2.43003977e-05,-8.67742521e-06,-5.58745097e-06,
  3.06173378e-02, 1.56234993e-02,-5.93667830e-04,-6.95872778e-05,
  3.13613580e-05,-1.08143746e-07,-4.90500572e+00, 2.53940284e-04,
  1.18193432e-02,-6.82914424e-04]


--- Step 1265 ---
qpos:
[ 0.01868089, 0.03011307,-0.00954405,-0.02558047, 0.00791673, 0.00465149,
 -0.00785401, 0.02717792, 0.01229988, 0.02797591,-0.00835936, 0.02644344,
  1.18999787,-0.00413764, 1.17655248, 0.04504972, 0.05863648,-0.07604031,
  0.17148581, 0.99957326, 0.02870492,-0.00310771,-0.00443547]

qacc:
[  2.4766594 , -0.09321534,  0.88792586, -3.99953115, -0.53495121,
   2.48286144,-11.88843677, 22.81553555,  3.78697207, -0.52131746,
   1.49060163, -2.09229701,-36.98264367, -2.79016968, -3.70233978,
  25.15920714, -0.17487346,  0.76964325,  0.10306006,-11.54200922,
  -3.38253028,-13.35616519]

qfrc_actuator:
[ 7.16658382e-05, 8.31413908e-04, 1.03392996e-04,-1.01571613e-04,
  3.15136368e-05,-1.26703605e-04,-5.08288424e-05, 2.06266723e-04,
 -3.97834588e-05, 8.15004407e-04, 1.95854904e-04, 5.65557857e-05,
  1.78975580e-02, 1.01356801e-02, 1.19275734e-03,-1.87980661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88890243,  0.69978175, -0.54813597,  0.69978175,  0.76883848,
       -0.15328051, -0.54813597, -0.15328051,  0.69321576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7134223593280774e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70577467e-01, -8.80777111e-01, -5.28065264e-02, -2.48842809e-02,
       -4.65757640e-02,  9.98604762e-01, -8.82007721e-01,  4.71234952e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710934 , -0.04439585,  0.28060998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36632499,  0.20507647, -0.30354183,  0.20507647,  0.22081873,
       -0.09830576, -0.30354183, -0.09830576,  0.29990845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3583158759932088e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3587924 , -0.9321659 , -0.04831924, -0.01735685, -0.04509422,
        0.99883194, -0.93325599,  0.35921198,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101314, -0.04432348,  0.2801637 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71391757,  4.7267132 , -3.21045735,  4.7267132 , 21.93577144,
       23.88321739, -3.21045735, 23.88321739, 40.87685747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005132905581002768
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46093416e-07, -2.46093690e-07,  1.00000000e+00, -6.05620369e-14,
        1.00000000e+00,  2.46093690e-07, -1.00000000e+00, -1.26217745e-29,
       -2.46093416e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06524151, -0.10861192,  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:
[ 1.48795948e-05,-2.73400293e-05,-1.79575774e-05,-1.22833566e-05,
 -3.06923740e-06,-6.21351306e-05,-5.06392010e-05, 2.38707852e-05,
  2.28449817e-05,-3.68346827e-05,-8.07979056e-06,-4.27048732e-06,
  1.98220836e-02, 1.14819650e-02, 1.02815292e-05,-1.61472376e-04,
  2.76546061e-05, 2.93848194e-06,-4.90499661e+00, 2.54107404e-04,
  1.18301847e-02,-6.82421592e-04]


--- Step 1266 ---
qpos:
[ 0.01868075, 0.03011155,-0.0095447 ,-0.02558162, 0.00791766, 0.00464968,
 -0.00785443, 0.02718125, 0.01230082, 0.02797521,-0.00835968, 0.0264437 ,
  1.18992565,-0.00416954, 1.17672161, 0.04505426, 0.05863539,-0.07602366,
  0.17148604, 0.99957474, 0.02866353,-0.00310574,-0.00436974]

qacc:
[-1.49932928e+00, 1.71328768e-01,-1.03237417e+00, 5.24154425e-01,
  2.63090667e+00, 2.44850700e+00,-4.17307098e+00,-5.25507156e+00,
  2.26046708e+00, 1.37646970e+00,-6.68872781e+00, 1.30655953e+01,
 -1.77571931e+01, 1.49707624e+01,-4.07905248e+01, 8.09177032e+01,
 -2.06301983e+00,-7.97225468e-02,-1.65090544e-01, 2.30092222e+00,
 -2.35569229e+01,-2.54459962e+01]

qfrc_actuator:
[ 6.22325174e-05, 7.92383582e-04, 8.08082671e-05,-1.06882748e-04,
  4.73122107e-05, 3.56907864e-05,-4.90689121e-05, 1.85876371e-04,
 -2.67464477e-05, 8.02640779e-04, 1.76999632e-04, 7.26734154e-05,
  1.78997018e-02, 1.01522118e-02, 1.16835962e-03,-1.91316687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89029679,  0.54258309, -0.70585548,  0.54258309,  0.42120037,
       -0.3605891 , -0.70585548, -0.3605891 ,  0.61311605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.126733570956072e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70372307e-01, -8.80894061e-01, -5.26834527e-02, -2.48152991e-02,
       -4.64730795e-02,  9.98611263e-01, -8.82119093e-01,  4.71026439e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0711129 , -0.04439133,  0.28061323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36687002,  0.10511253, -0.35148964,  0.10511253,  0.03056102,
       -0.10057278, -0.35148964, -0.10057278,  0.33679385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9006750892268156e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58795947e-01, -9.32170153e-01, -4.82107270e-02, -1.73179510e-02,
       -4.49929191e-02,  9.98837187e-01, -9.33255354e-01,  3.59213646e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101508, -0.04431027,  0.28015447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72153328,  5.47430341, -1.6637143 ,  5.47430341,  8.55422024,
        9.32070358, -1.6637143 ,  9.32070358, 36.39047646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005142249203109878
  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([ 0.09617129, -0.09027758,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.00382823e-06,-5.85004437e-05,-3.08487410e-05,-7.33704967e-06,
  1.56907120e-05, 1.18303694e-04,-1.64644283e-05,-2.43434624e-05,
  1.36932844e-05,-3.47860417e-05,-2.76016527e-05, 1.41768056e-05,
  2.38475549e-02, 1.34083706e-02,-2.14351424e-04,-3.80598997e-04,
  1.76577587e-05, 3.60818877e-06,-4.90499451e+00, 2.51045823e-04,
  1.18334124e-02,-6.81398431e-04]


--- Step 1267 ---
qpos:
[ 0.01868085, 0.03010992,-0.00954576,-0.02558285, 0.00791878, 0.00465059,
 -0.00785665, 0.02718555, 0.01230122, 0.02797447,-0.00836031, 0.02644412,
  1.18984445,-0.0041988 , 1.17687143, 0.04506745, 0.0586258 ,-0.07600705,
  0.17148504, 0.99957578, 0.02862571,-0.00314936,-0.0043478 ]

qacc:
[ 1.98607809e+00, 8.00090283e-01,-2.71574155e+00, 2.01116038e+00,
  1.48707157e+00, 1.06766366e+01,-3.69579871e+01, 5.47205634e+01,
 -4.61276101e+00, 1.18795606e+00,-5.00530269e+00, 8.42662997e+00,
 -7.30441102e+00, 8.19732953e+00,-5.41855590e+01, 1.49265919e+02,
 -2.12649191e+00,-7.49508053e-03,-3.09874781e-01, 1.82575665e+00,
 -2.34034088e+01,-2.12383430e+01]

qfrc_actuator:
[ 7.44855891e-05, 8.05307682e-04, 6.76946784e-05,-1.09566782e-04,
  5.62343464e-05, 2.75193314e-04,-1.00649612e-04, 2.43660958e-04,
 -5.49646031e-05, 8.13378583e-04, 1.66022151e-04, 8.20462962e-05,
  1.79102354e-02, 1.01748883e-02, 1.15457846e-03,-1.97003073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89184907,  0.65513112, -0.60514295,  0.65513112,  0.51007791,
       -0.41330758, -0.60514295, -0.41330758,  0.44439999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.716083883016026e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71700176, -0.69378535, -0.06760446, -0.04858367, -0.04701053,
        0.9977122 , -0.69537623,  0.71864588,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07112683, -0.04438508,  0.28061332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36747216,  0.05273907, -0.36366795,  0.05273907,  0.08977842,
       -0.0402711 , -0.36366795, -0.0402711 ,  0.36163205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.472213009898562e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35883481, -0.93215886, -0.04813978, -0.01729428, -0.04492601,
        0.99884061, -0.93324085,  0.35925132,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100508, -0.04429346,  0.28015348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.71009416,  5.6978351 ,  0.37396592,  5.6978351 ,  5.79309667,
       -1.26464632,  0.37396592, -1.26464632, 24.97855123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005128212748624766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.16493168e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.16493168e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09617245, -0.0902653 ,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19775400e-05,-2.64115800e-05,-2.92205944e-05,-6.39103283e-06,
  9.41101658e-06, 3.01283237e-04,-2.99955458e-05, 6.18077749e-05,
 -2.78305561e-05,-1.37725435e-05,-2.10605011e-05, 7.20433327e-06,
  2.50812663e-02, 1.34313016e-02, 1.26881097e-03,-3.98639914e-04,
  4.31484251e-06,-1.95031066e-07,-4.90499726e+00, 2.42821569e-04,
  1.18298074e-02,-6.80578416e-04]


--- Step 1268 ---
qpos:
[ 0.01868108, 0.03010854,-0.00954721,-0.02558346, 0.00791999, 0.00465618,
 -0.00786271, 0.027198  , 0.01230127, 0.02797383,-0.00836087, 0.02644426,
  1.18974998,-0.00422592, 1.17699161, 0.04508263, 0.05860828,-0.0759905 ,
  0.17148261, 0.99957625, 0.02859559,-0.0032366 ,-0.0043739 ]

qacc:
[ 1.23569861e+00, 2.73540824e+00,-1.19128745e+01, 2.31485993e+01,
  6.57163252e-01, 3.36513571e+01,-1.45398148e+02, 2.88983856e+02,
 -2.91073702e+00,-6.38499379e-01, 3.66338274e+00,-8.73102907e+00,
 -1.02386245e+01, 1.02595040e+01,-4.91209809e+01, 1.09803000e+02,
 -1.98002741e+00,-1.65915855e-02,-3.55813706e-01, 3.86902085e+00,
 -2.24764573e+01,-2.33949433e+01]

qfrc_actuator:
[ 8.16604679e-05, 8.49282009e-04, 6.04861164e-05,-7.51302750e-05,
  6.10322457e-05, 6.47675964e-04,-2.36135482e-04, 6.66582811e-04,
 -7.17307582e-05, 8.37894708e-04, 1.77631341e-04, 6.96482250e-05,
  1.79199635e-02, 1.01986110e-02, 1.14195920e-03,-1.94360286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89177518,  0.50309253, -0.73631574,  0.50309253,  0.32677619,
       -0.38603924, -0.73631574, -0.38603924,  0.62801135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.650664363021755e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44466915e-01, -8.36819956e-01, -5.73422970e-02, -3.12724400e-02,
       -4.80642645e-02,  9.98354577e-01, -8.38199148e-01,  5.45364270e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07113492, -0.0443788 ,  0.28060943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36784669,  0.07798784, -0.35948447,  0.07798784,  0.0624778 ,
       -0.06624781, -0.35948447, -0.06624781,  0.35347466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.251825148878273e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35889547, -0.93213731, -0.04810478, -0.0172846 , -0.04489223,
        0.9988423 , -0.93321771,  0.35931145,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098176, -0.04427353,  0.28016043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.68237273,  5.65887465,  0.51623396,  5.65887465,  5.88789285,
       -2.25287889,  0.51623396, -2.25287889, 30.37807304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005094148334019305
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.17940851e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.17940851e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09617417, -0.09025591,  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:
[ 7.52261790e-06, 2.29744251e-05,-1.64498972e-05, 3.21785046e-05,
  5.16913922e-06, 5.37401460e-04,-7.48019606e-05, 4.35990925e-04,
 -1.75897239e-05, 1.27976509e-05, 6.43616231e-06,-1.35734252e-05,
  2.55395972e-02, 1.33234373e-02, 2.21888838e-03,-8.05253454e-04,
  2.65974237e-06,-2.38577418e-06,-4.90500019e+00, 2.41214131e-04,
  1.18274872e-02,-6.79741462e-04]


--- Step 1269 ---
qpos:
[ 0.01868106, 0.03010755,-0.00954859,-0.0255837 , 0.0079216 , 0.00467324,
 -0.00787755, 0.02721729, 0.01230147, 0.02797288,-0.00836112, 0.02644428,
  1.18962885,-0.00422722, 1.17712439, 0.04509193, 0.05859808,-0.07597619,
  0.17148148, 0.99957675, 0.02857267,-0.00328731,-0.0043718 ]

qacc:
[  -2.23916527,   1.06907338,  -4.57523862,  10.43573439,   2.94366192,
   53.78296662,-198.69461699, 322.79099233,   1.23414787,  -1.50142757,
    5.24952303,  -7.49637988, -39.97435059,  59.36919631,  39.70268305,
 -104.41805814,   1.82784343,  -0.56155572,   0.32432022,   3.56713353,
   18.68217864,  13.55585565]

qfrc_actuator:
[ 6.80295131e-05, 8.93826894e-04, 7.47394963e-05,-5.45989540e-05,
  8.11197159e-05, 1.59398358e-03,-5.43487316e-04, 1.03474104e-03,
 -6.38556303e-05, 7.99545073e-04, 1.84780060e-04, 6.23224195e-05,
  1.79299189e-02, 1.02401662e-02, 1.13166134e-03,-1.88175310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89074806, -0.85853506,  0.23738082, -0.85853506,  0.86112587,
       -0.10713456,  0.23738082, -0.10713456,  0.50327455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.645727320963007e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44505000e-01, -8.36792222e-01, -5.73853862e-02, -3.12982060e-02,
       -4.80989069e-02,  9.98352101e-01, -8.38173447e-01,  5.45403771e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07113752, -0.04437181,  0.28060254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36763877,  0.28060569, -0.23752624,  0.28060569,  0.27879917,
       -0.10495219, -0.23752624, -0.10495219,  0.24365171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.832094076453296e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48154230e-01, -8.92456610e-01, -5.17589132e-02, -2.32271093e-02,
       -4.62545835e-02,  9.98659609e-01, -8.93654456e-01,  4.48755738e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095276, -0.0442458 ,  0.28008248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.69174833, -5.59918223,  1.02232941, -5.59918223,  5.96928283,
        1.52002497,  1.02232941,  1.52002497, 14.01675271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000510567699959219
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17448739e-13, -1.08724369e-13,  1.00000000e+00, -2.36419770e-26,
        1.00000000e+00,  1.08724369e-13, -1.00000000e+00,  0.00000000e+00,
       -2.17448739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784503, -0.07901252,  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:
[-1.33984142e-05, 5.54424891e-05, 1.81196846e-05, 2.15797790e-05,
  2.04067910e-05, 1.24990060e-03,-1.90493908e-04, 3.97057872e-04,
  7.36131783e-06,-3.04216919e-05, 1.01299020e-05,-6.81571880e-06,
  2.62134422e-02, 1.32588666e-02, 3.68795495e-03,-8.43424628e-04,
  1.03659361e-05,-2.43167167e-06,-4.90500368e+00, 2.46053877e-04,
  1.18256784e-02,-6.78980446e-04]


--- Step 1270 ---
qpos:
[ 0.01868191, 0.03010704,-0.00954926,-0.02558445, 0.00792066, 0.00471536,
 -0.00791077, 0.0272356 , 0.01230211, 0.02797147,-0.00836115, 0.0264439 ,
  1.18948438,-0.00421491, 1.17726255, 0.04509326, 0.05859412,-0.07596345,
  0.17148123, 0.99957727, 0.0285581 ,-0.00330629,-0.00433463]

qacc:
[ 7.48483274e+00,-2.41139766e+00, 1.15967925e+01,-2.16978629e+01,
 -2.33707999e+01, 8.25287080e+01,-2.41943305e+02, 2.35709252e+02,
  3.74243148e+00,-2.08969332e+00, 8.26339587e+00,-1.53003865e+01,
 -2.86740890e+01, 3.80746665e+01, 3.43256852e+01,-1.03463599e+02,
  1.56035222e+00,-3.90763149e-01, 2.21083708e-01, 4.16594196e+00,
  1.63723709e+01, 1.70605580e+01]

qfrc_actuator:
[ 1.13273652e-04, 9.38464284e-04, 1.19305486e-04,-7.79055232e-05,
 -4.97225492e-05, 3.56827712e-03,-1.21376931e-03, 1.03077868e-03,
 -4.15437965e-05, 7.59344294e-04, 1.88986076e-04, 4.02329596e-05,
  1.79523428e-02, 1.02323769e-02, 1.12002218e-03,-1.77382743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.89018802, -0.84321502,  0.2853474 , -0.84321502,  0.85385344,
       -0.1073704 ,  0.2853474 , -0.1073704 ,  0.57290343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9914754598850146e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44498226e-01, -8.36795505e-01, -5.74017828e-02, -3.13067889e-02,
       -4.81128843e-02,  9.98351158e-01, -8.38177527e-01,  5.45397501e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07114205, -0.04436352,  0.28059703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36748791,  0.26657496, -0.25295287,  0.26657496,  0.20286406,
       -0.17348921, -0.25295287, -0.17348921,  0.18465591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.50726195989483e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44826557, -0.89240019, -0.05176758, -0.02323678, -0.04625943,
        0.99865916, -0.89359836,  0.44886743,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093626, -0.0442222 ,  0.28001222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72532234,  5.52617831, -1.4968865 ,  5.52617831,  7.69782112,
        7.28203508, -1.4968865 ,  7.28203508, 32.6090068 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000514689605022739
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07853647e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07853647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784715, -0.07900322,  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:
[ 4.48759881e-05, 8.03542750e-05, 5.90237505e-05,-1.98793295e-05,
 -1.29834941e-04, 2.65043103e-03,-4.21891106e-04, 5.06879101e-05,
  2.25137922e-05,-5.53719762e-05,-1.05225172e-06,-2.31729375e-05,
  2.75671508e-02, 1.19598053e-02, 3.04387604e-03,-4.42253985e-04,
  3.13378519e-06,-1.44406268e-06,-4.90500099e+00, 2.42817343e-04,
  1.18272302e-02,-6.78582121e-04]


--- Step 1271 ---
qpos:
[ 0.01868261, 0.03010683,-0.00954955,-0.02558542, 0.0079071 , 0.00480681,
 -0.00798194, 0.02725157, 0.01230267, 0.02797019,-0.00836108, 0.02644285,
  1.18931863,-0.00420976, 1.17741824, 0.04509409, 0.0585956 ,-0.0759521 ,
  0.17148156, 0.99957773, 0.02855458,-0.00329713,-0.00425667]

qacc:
[-1.30976490e+00,-1.11032105e+00, 5.47460683e+00,-1.01817146e+01,
 -1.13043375e+02, 1.66674489e+02,-4.89445947e+02, 4.72937964e+02,
 -7.03261492e-01,-1.47776557e+00, 8.37917234e+00,-2.03170550e+01,
 -1.28035197e+01, 5.03623503e+00, 2.81657133e+01,-5.92228068e+01,
  1.36052294e+00,-3.47387266e-01, 1.44509231e-01, 5.52517437e+00,
  1.46726665e+01, 1.99715397e+01]

qfrc_actuator:
[ 1.04052543e-04, 9.29655296e-04, 1.28128467e-04,-9.12922081e-05,
 -6.94411323e-04, 7.33060158e-03,-2.65677764e-03, 1.00391697e-03,
 -4.64267627e-05, 8.07077534e-04, 2.09137571e-04, 9.62278604e-06,
  1.79669333e-02, 1.01968596e-02, 1.08647205e-03,-1.58054905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88987781, -0.81812551,  0.35007593, -0.81812551,  0.81594829,
       -0.17277287,  0.35007593, -0.17277287,  0.48610856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.577575771015924e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44434741e-01, -8.36837015e-01, -5.73988026e-02, -3.13015081e-02,
       -4.81127648e-02,  9.98351330e-01, -8.38218962e-01,  5.45333816e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07114791, -0.04435367,  0.28059256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.36739573, 0.18393478, 0.31803713, 0.18393478, 0.23224653,
       0.07816269, 0.31803713, 0.07816269, 0.32219082, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.2988527246084054e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48386638e-01, -8.92339426e-01, -5.17665080e-02, -2.32425738e-02,
       -4.62553145e-02,  9.98659215e-01, -8.93537468e-01,  4.48988635e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07092873, -0.04420259,  0.27996642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73667971,  5.49902399, -1.63408361,  5.49902399,  8.82758689,
       10.40153188, -1.63408361, 10.40153188, 40.73995198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005160817136730805
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61344075e-13, -1.07562717e-13,  1.00000000e+00, -1.73546071e-26,
        1.00000000e+00,  1.07562717e-13, -1.00000000e+00,  0.00000000e+00,
       -1.61344075e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278482 , -0.07899592,  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:
[-7.88448691e-06, 4.75041474e-05, 3.20130982e-05,-8.28919293e-06,
 -6.47438552e-04, 5.15826116e-03,-9.45872884e-04, 7.30527460e-05,
 -4.24539660e-06, 1.56205953e-05, 7.79962573e-06,-3.34672320e-05,
  2.87486391e-02, 1.12431528e-02, 2.73922243e-03, 1.49203357e-04,
  1.93126084e-06,-6.47752627e-07,-4.90499957e+00, 2.42153269e-04,
  1.18280177e-02,-6.78280449e-04]


--- Step 1272 ---
qpos:
[ 0.01868319, 0.03010679,-0.00955017,-0.02558682, 0.00787763, 0.0049661 ,
 -0.00809633, 0.02726641, 0.01230212, 0.02796911,-0.0083606 , 0.02644175,
  1.18913381,-0.00421565, 1.17759243, 0.0450945 , 0.05860204,-0.07594205,
  0.17148217, 0.99957809, 0.028564  ,-0.00326204,-0.00413491]

qacc:
[-1.00202824e+00, 2.33483322e-01, 1.33138385e+00,-8.44669797e+00,
 -1.42549806e+02, 2.08412341e+02,-6.07695428e+02, 6.06603730e+02,
 -9.33780543e+00,-9.78992827e-01, 4.09669176e+00,-5.73088363e+00,
 -8.41788608e+00,-2.37592819e+00, 2.89706531e+01,-6.08264399e+01,
  1.24010370e+00,-3.24487875e-01, 6.93672699e-02, 6.48438625e+00,
  1.36079482e+01, 2.14944971e+01]

qfrc_actuator:
[ 9.83334583e-05, 9.06526181e-04, 9.78122748e-05,-1.16553876e-04,
 -1.49429448e-03, 1.20249445e-02,-4.32347146e-03, 1.05382176e-03,
 -1.02786865e-04, 8.36148000e-04, 2.38896766e-04, 9.83681480e-06,
  1.79774779e-02, 1.02132866e-02, 1.04381253e-03,-1.58888477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88961869, -0.80128213,  0.38648203, -0.80128213,  0.79063568,
       -0.20521863,  0.38648203, -0.20521863,  0.46414479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.190713635119562e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44304673e-01, -8.36922571e-01, -5.73849612e-02, -3.12864587e-02,
       -4.81060419e-02,  9.98352125e-01, -8.38303991e-01,  5.45203099e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07115504, -0.0443419 ,  0.28058776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36727579, -0.24768629,  0.27118814, -0.24768629,  0.20275589,
       -0.15026219,  0.27118814, -0.15026219,  0.2300357 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.014613670457339e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44854477, -0.89226002, -0.05176523, -0.02325019, -0.04625005,
        0.99865928, -0.8934579 ,  0.44914695,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07092902, -0.04418582,  0.27994029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73029392,  5.44290156, -1.79195173,  5.44290156, 10.48449084,
       14.44047039, -1.79195173, 14.44047039, 49.59199935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005152991244878335
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.38630366e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.38630366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278484 , -0.07899022,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93206465e-06, 9.69987025e-06,-1.68413545e-05,-2.22781822e-05,
 -8.16447048e-04, 7.38387581e-03,-7.15400493e-04, 2.39595923e-04,
 -5.64822977e-05, 3.80306202e-05, 3.28057847e-05, 5.07319586e-07,
  2.98222066e-02, 1.16169252e-02, 1.81649024e-03, 1.64962610e-04,
  7.34313505e-06,-9.01298835e-09,-4.90499965e+00, 2.44461852e-04,
  1.18273860e-02,-6.78126005e-04]


--- Step 1273 ---
qpos:
[ 0.01868439, 0.03010689,-0.00955057,-0.02558855, 0.00783844, 0.00519965,
 -0.00824008, 0.02728093, 0.01230022, 0.02796836,-0.00836013, 0.02644136,
  1.18893234,-0.00423223, 1.17778337, 0.04509281, 0.05861307,-0.07593322,
  0.17148278, 0.99957828, 0.0285878 ,-0.00320273,-0.0039672 ]

qacc:
[ 5.29075888e+00,-1.08878474e+00, 5.49826802e+00,-1.15205279e+01,
 -8.76731326e+01, 1.79712222e+02,-4.96715482e+02, 4.83063278e+02,
 -1.16051010e+01, 1.95920350e+00,-9.34583606e+00, 2.14636902e+01,
 -6.76757123e+00,-3.50890671e+00, 3.13631975e+01,-7.32111412e+01,
  1.14882666e+00,-3.06597811e-01, 2.32824453e-03, 7.21691300e+00,
  1.27943609e+01, 2.25957639e+01]

qfrc_actuator:
[ 1.30244091e-04, 9.28064922e-04, 1.15565653e-04,-1.30889593e-04,
 -1.97063743e-03, 1.66721575e-02,-5.39382345e-03, 1.13176870e-03,
 -1.71233399e-04, 8.53901619e-04, 2.38554770e-04, 4.59383281e-05,
  1.80074649e-02, 1.02321184e-02, 1.02692389e-03,-1.71806955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88935761, -0.7883896 ,  0.41158086, -0.7883896 ,  0.77107533,
       -0.22657156,  0.41158086, -0.22657156,  0.45535623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7461171563072685e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44102827e-01, -8.37055113e-01, -5.73659365e-02, -3.12644539e-02,
       -4.80976568e-02,  9.98353219e-01, -8.38435834e-01,  5.45000324e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07116314, -0.04432831,  0.28058222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36710571, -0.2713278 ,  0.24728086, -0.2713278 ,  0.20731284,
       -0.175332  ,  0.24728086, -0.175332  ,  0.17472347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5810470520863926e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48735033e-01, -8.92164125e-01, -5.17691459e-02, -2.32618217e-02,
       -4.62485905e-02,  9.98659079e-01, -8.93362053e-01,  4.49337559e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709363 , -0.04417157,  0.27993167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005127969862071258
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08251711e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08251711e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784793, -0.07898578,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17437767e-05, 2.25384949e-05, 1.69221624e-05,-1.49322128e-05,
 -4.96949081e-04, 8.63405549e-03, 3.74545959e-04, 3.74184432e-04,
 -7.00946327e-05, 4.58332495e-05, 1.15831333e-05, 3.88822851e-05,
  3.08045575e-02, 1.21873823e-02, 8.70907596e-04, 5.58194960e-05,
  1.97646268e-05, 3.74928628e-07,-4.90500157e+00, 2.49942336e-04,
  1.18247366e-02,-6.78155009e-04]


--- Step 1274 ---
qpos:
[ 0.01868561, 0.03010709,-0.00955049,-0.0255901 , 0.00779383, 0.00551052,
 -0.00840176, 0.02729503, 0.01229855, 0.02796789,-0.00835963, 0.02644141,
  1.18871755,-0.00425946, 1.17799163, 0.04508908, 0.05862832,-0.07592554,
  0.1714832 , 0.99957825, 0.02862724,-0.0031209 ,-0.00375094]

qacc:
[ 2.58239761e-01,-8.66877194e-01, 2.54334662e+00,-3.86299225e-01,
 -4.95385192e+01, 1.51546945e+02,-3.90162745e+02, 3.54553395e+02,
  1.93378500e+00, 1.20934961e+00,-5.61786798e+00, 1.29535679e+01,
 -4.20571247e+00,-5.69004140e+00, 3.18677691e+01,-7.41327110e+01,
  1.05365456e+00,-2.84152559e-01,-5.01732347e-02, 7.85024577e+00,
  1.19794426e+01, 2.39181064e+01]

qfrc_actuator:
[ 1.30789270e-04, 9.40862262e-04, 1.44002123e-04,-1.20853422e-04,
 -2.23493753e-03, 2.11332829e-02,-6.03192920e-03, 1.17292333e-03,
 -1.57465634e-04, 8.64661581e-04, 2.38168550e-04, 6.73246765e-05,
  1.80336096e-02, 1.02387220e-02, 9.29125837e-04,-1.81139520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88909118, -0.77195423,  0.44110067, -0.77195423,  0.74895269,
       -0.24525127,  0.44110067, -0.24525127,  0.45988586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2013664797607074e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54382542, -0.83723673, -0.05734608, -0.03123766, -0.04809138,
        0.99835436, -0.83861679,  0.54472184,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117194, -0.04431313,  0.28057583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.964446014472314e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48945673e-01, -8.92057400e-01, -5.17820163e-02, -2.32785424e-02,
       -4.62545854e-02,  9.98658411e-01, -8.93255782e-01,  4.49548782e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094985, -0.04415978,  0.27993916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005089604274149118
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09067716e-13, -1.09067716e-13,  1.00000000e+00, -1.18957666e-26,
        1.00000000e+00,  1.09067716e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09067716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02784694, -0.07898234,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47843272e-06, 2.82683753e-05, 3.46637698e-05, 1.12987819e-05,
 -2.75439293e-04, 9.37574757e-03, 1.20340233e-03, 4.31186273e-04,
  1.17234885e-05, 4.04413547e-05, 1.18584020e-05, 2.45120285e-05,
  3.16625738e-02, 1.27291747e-02,-6.78608813e-05, 6.67656988e-05,
  3.95548744e-05, 4.30735865e-07,-4.90500562e+00, 2.58578111e-04,
  1.18196595e-02,-6.78399778e-04]


--- Step 1275 ---
qpos:
[ 0.01868649, 0.0301079 ,-0.00955083,-0.02559152, 0.00774708, 0.0059058 ,
 -0.0085761 , 0.02731269, 0.01229808, 0.0279672 ,-0.00835887, 0.02644142,
  1.18854435,-0.00432077, 1.17815109, 0.04508586, 0.05863412,-0.07591857,
  0.1714834 , 0.99957804, 0.02865851,-0.00308706,-0.00359155]

qacc:
[-3.00616616e+00, 2.27132402e+00,-7.45415559e+00, 9.89466017e+00,
 -2.06931163e+01, 1.54328022e+02,-4.03315954e+02, 4.22830617e+02,
  1.03387008e+01,-1.14108447e+00, 3.77565281e+00,-4.69175717e+00,
  5.90523343e+01,-8.42962490e+01,-7.85054883e+01, 1.59050424e+02,
 -2.36253667e+00,-1.81587180e-01,-5.45486861e-02,-4.07959409e+00,
 -2.48111374e+01,-2.77259802e+01]

qfrc_actuator:
[ 1.12856360e-04, 9.83908496e-04, 1.25235657e-04,-1.14314423e-04,
 -2.33692002e-03, 2.61068382e-02,-6.35711689e-03, 1.42300670e-03,
 -9.54132579e-05, 8.17875031e-04, 2.37723957e-04, 6.21205452e-05,
  1.80524225e-02, 1.02777155e-02, 8.56688817e-04,-1.79365747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88884117,  0.58564805, -0.66862171,  0.58564805,  0.50898874,
       -0.33271406, -0.66862171, -0.33271406,  0.59741578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5217456220957141e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43467929e-01, -8.37469967e-01, -5.73294354e-02, -3.12080369e-02,
       -4.80907746e-02,  9.98355315e-01, -8.38849610e-01,  5.44363235e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118126, -0.04429669,  0.28056841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36665184, -0.35959238, -0.07160232, -0.35959238,  0.35632635,
        0.0518554 , -0.07160232,  0.0518554 ,  0.10622998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.14124706698229e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49166240e-01, -8.91944891e-01, -5.18073304e-02, -2.33013953e-02,
       -4.62714216e-02,  9.98657099e-01, -8.93144296e-01,  4.49770237e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096891, -0.04415034,  0.27996081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70422165, -5.63363644,  0.89458652, -5.63363644,  5.79934698,
        0.59904945,  0.89458652,  0.59904945,  9.47672075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005121002336891389
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.08398996e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.08398996e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09619035, -0.09012925,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78822512e-05, 6.64884565e-05,-8.26913089e-06, 9.17113018e-06,
 -1.06603053e-04, 1.04740701e-02, 1.77288604e-03, 7.01546403e-04,
  6.24079094e-05,-2.06616996e-05, 1.02152643e-05,-2.58469124e-06,
  3.23464488e-02, 1.33005775e-02,-1.01022053e-03, 1.85888940e-04,
  6.74497802e-05, 1.09979620e-07,-4.90501209e+00, 2.70326482e-04,
  1.18117364e-02,-6.78888693e-04]


--- Step 1276 ---
qpos:
[ 0.0186868 , 0.03010916,-0.00955163,-0.02559283, 0.00770153, 0.00639259,
 -0.00875852, 0.02734884, 0.01229837, 0.02796649,-0.00835872, 0.02644175,
  1.18840314,-0.00438016, 1.1782909 , 0.04509032, 0.05863127,-0.07591203,
  0.1714831 , 0.99957756, 0.02868675,-0.00309841,-0.00348898]

qacc:
[-4.88074900e+00, 2.10263699e+00,-7.11721728e+00, 9.47682083e+00,
  8.75096968e+00, 1.81587737e+02,-5.50102124e+02, 8.15843136e+02,
  6.35456704e+00, 2.34895568e+00,-9.78692657e+00, 1.63484414e+01,
  2.54858013e+01,-2.12327618e+01,-5.40129526e+01, 1.42903957e+02,
 -2.16242488e+00,-1.04763502e-01,-1.23087791e-01,-1.51493555e+00,
 -2.34073826e+01,-2.77440775e+01]

qfrc_actuator:
[ 8.42014118e-05, 9.91291375e-04, 9.66160607e-05,-1.09898320e-04,
 -2.27160867e-03, 3.14918490e-02,-6.42163402e-03, 2.43374052e-03,
 -5.87233008e-05, 8.07965540e-04, 2.01487094e-04, 7.67700910e-05,
  1.80730251e-02, 1.03460744e-02, 8.74030627e-04,-1.72877663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861575,  0.43093127, -0.77713332,  0.43093127,  0.32654228,
       -0.31167758, -0.77713332, -0.31167758,  0.71578618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8196020170748808e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54320261, -0.83764071, -0.0573495 , -0.03120375, -0.04811747,
        0.99835416, -0.8390216 ,  0.54409811,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118583, -0.04428224,  0.28055934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36638162, -0.20019042, -0.30685385, -0.20019042,  0.11333803,
        0.16508479, -0.30685385,  0.16508479,  0.25868086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7988468419935447e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44936899, -0.89183999, -0.05185502, -0.02333343, -0.04630868,
        0.99865462, -0.89304147,  0.44997437,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097519, -0.04413702,  0.27995598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.72770949,  5.70586659, -0.49974232,  5.70586659,  5.7990262 ,
        0.81426692, -0.49974232,  0.81426692, 15.02469747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005149822980226038
  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([ 0.09619341, -0.09010311,  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:
[-2.91548623e-05, 4.32160502e-05,-1.55911623e-05, 7.15794049e-06,
  6.58388617e-05, 1.16260671e-02, 2.33907378e-03, 1.53405474e-03,
  3.85117363e-05,-1.94279663e-05,-3.93399121e-05, 1.40643883e-05,
  3.02884091e-02, 1.50747770e-02, 1.44459397e-03, 2.24501161e-04,
  3.37165545e-05,-4.68416202e-07,-4.90500641e+00, 2.51326517e-04,
  1.18174962e-02,-6.80091754e-04]


--- Step 1277 ---
qpos:
[ 0.01868642, 0.03011072,-0.00955302,-0.02559371, 0.00765988, 0.00697261,
 -0.00894377, 0.02742728, 0.01229943, 0.02796609,-0.00835999, 0.02644158,
  1.18846197,-0.00435643, 1.17845475, 0.04508382, 0.05861902,-0.07590254,
  0.17148114, 0.99957775, 0.02868544,-0.0031516 ,-0.00339503]

qacc:
[-5.94973930e+00, 2.97818282e+00,-1.18298299e+01, 2.00408899e+01,
  3.25702983e+01, 2.18122692e+02,-7.77574712e+02, 1.44532221e+03,
  6.62323392e+00, 3.30291563e+00,-9.06664969e+00, 2.37260451e+00,
  9.83085502e+01,-8.77896624e+00, 6.38829903e+01,-1.82692771e+02,
 -2.35049455e+00, 7.34645355e-01,-4.16965533e-01,-1.47177457e+01,
 -2.10902092e+01,-3.66052780e+00]

qfrc_actuator:
[ 4.94710418e-05, 9.94956959e-04, 6.22858829e-05,-8.90402780e-05,
 -2.07290264e-03, 3.66212973e-02,-6.34702865e-03, 4.61235391e-03,
 -1.95189027e-05, 8.20069814e-04, 1.26801367e-04, 4.97302291e-05,
  1.80834169e-02, 1.04097007e-02, 8.69811823e-04,-1.80276056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.72773459,  5.7106801 , -0.44167445,  5.7106801 ,  5.79879519,
        0.91878616, -0.44167445,  0.91878616, 17.60728481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000514985375435123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07791704e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07791704e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09619661, -0.09008278,  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:
[-3.55674559e-05, 2.48737079e-05,-2.70787153e-05, 2.23113304e-05,
  2.04480052e-04, 1.21641261e-02, 2.81367518e-03, 2.78685881e-03,
  4.03262969e-05,-6.24581734e-06,-8.30530707e-05,-2.89609251e-05,
  2.86994634e-02, 1.50444934e-02, 2.42074198e-03,-2.34217696e-04,
  1.37921794e-05,-3.67347771e-07,-4.90500381e+00, 2.40969911e-04,
  1.18211732e-02,-6.81041207e-04]


--- Step 1278 ---
qpos:
[ 0.01868529, 0.03011248,-0.00955564,-0.02559392, 0.00762404, 0.0076431 ,
 -0.00912581, 0.0275691 , 0.01230062, 0.02796611,-0.00836286, 0.02644108,
  1.18853627,-0.0043126 , 1.17860878, 0.04510718, 0.05859817,-0.07589203,
  0.17147764, 0.99957792, 0.028676  ,-0.00324746,-0.00333496]

qacc:
[-6.54659113e+00, 5.06785724e+00,-2.04420392e+01, 3.36506298e+01,
  4.96852158e+01, 2.40965380e+02,-9.53425276e+02, 1.97871996e+03,
  9.44988750e-01, 4.37321534e+00,-1.34226217e+01, 1.00890132e+01,
  8.25621540e-01, 1.67580393e+01,-1.04490940e+02, 3.45191098e+02,
 -2.15013150e+00, 2.58247215e-01,-3.85976839e-01,-4.04547473e+00,
 -2.18207570e+01,-1.63100775e+01]

qfrc_actuator:
[ 1.14463673e-05, 9.78590932e-04,-1.06569657e-05,-5.86835410e-05,
 -1.77957937e-03, 4.12750518e-02,-6.10219074e-03, 7.81556834e-03,
 -1.46452697e-05, 8.45057108e-04, 4.78379492e-05, 3.38789037e-05,
  1.80554288e-02, 1.03707562e-02, 8.49432367e-04,-1.87348193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36625228,  0.22321458, -0.29037215,  0.22321458,  0.45488466,
        0.06813339, -0.29037215,  0.06813339,  0.41862771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.421963076346857e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44930901, -0.89186316, -0.05197608, -0.02338493, -0.04641829,
        0.99864833, -0.8930703 ,  0.44991715,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094423, -0.04410748,  0.27982618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.70894476, -5.69960157,  0.32648463, -5.69960157,  5.75884803,
        0.87118574,  0.32648463,  0.87118574, 20.9176596 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005126801727480673
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08276376e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08276376e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09619993, -0.09006703,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90556571e-05,-7.14389333e-06,-7.03669468e-05, 3.09224226e-05,
  3.03155556e-04, 1.21376392e-02, 3.19569733e-03, 3.87501795e-03,
  6.05635671e-06, 3.14476973e-06,-9.14659715e-05,-1.95536847e-05,
  1.86713772e-02, 1.08505154e-02, 1.19636914e-03, 2.42600603e-04,
  1.40215434e-05,-2.07520690e-06,-4.90500098e+00, 2.35084520e-04,
  1.18260730e-02,-6.81234988e-04]


--- Step 1279 ---
qpos:
[ 0.01868336, 0.03011383,-0.00955912,-0.02559441, 0.00759337, 0.00840849,
 -0.0093043 , 0.02779418, 0.01230116, 0.02796665,-0.00836686, 0.0264407 ,
  1.18859383,-0.00426489, 1.1787616 , 0.0451189 , 0.0585865 ,-0.07588368,
  0.17147564, 0.99957804, 0.02867333,-0.00329988,-0.0032703 ]

qacc:
[-6.81185603e+00, 1.30687917e+00,-4.29158051e+00, 1.27086114e+00,
  4.39940250e+01, 2.86802893e+02,-1.19236088e+03, 2.55810235e+03,
 -5.49605662e+00, 4.07847258e+00,-1.40186397e+01, 1.73955314e+01,
 -1.66193184e+01, 1.84506795e+01, 3.46436661e+01,-1.21017790e+02,
  2.29668156e+00,-5.40641434e-01, 3.77420238e-01, 3.32236005e+00,
  2.17884178e+01, 1.66422905e+00]

qfrc_actuator:
[-2.82110358e-05, 9.14686574e-04,-7.03920750e-05,-7.62856951e-05,
 -1.52172489e-03, 4.65319827e-02,-5.70687547e-03, 1.20393492e-02,
 -4.77704979e-05, 8.95292089e-04, 2.57028291e-06, 4.25131381e-05,
  1.80404515e-02, 1.03000554e-02, 8.48167600e-04,-1.92541501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36625145, -0.05237646,  0.36248701, -0.05237646,  0.84958476,
        0.06983778,  0.36248701,  0.06983778,  0.37634245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.952605416066956e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49046532e-01, -8.91991615e-01, -5.20400833e-02, -2.34001262e-02,
       -4.64823016e-02,  9.98644997e-01, -8.93201907e-01,  4.49655817e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07090579, -0.0440891 ,  0.27969519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.75674787, -5.64591866,  1.12416568, -5.64591866,  6.76793206,
        5.07848962,  1.12416568,  5.07848962, 31.26254285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005185388437457389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.35265119e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.35265119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785258, -0.07896087,  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:
[-4.07993284e-05,-8.11511020e-05,-6.87939622e-05,-1.97361489e-05,
  2.70423175e-04, 1.28481122e-02, 3.42416451e-03, 4.92848867e-03,
 -3.29449323e-05, 3.23016745e-05,-5.65251457e-05, 5.23109126e-06,
  1.78828608e-02, 9.77476504e-03, 1.68293669e-03,-1.30276864e-03,
  1.52861019e-05,-3.09092718e-06,-4.90500261e+00, 2.33632313e-04,
  1.18275977e-02,-6.81140032e-04]


--- Step 1280 ---
qpos:
[ 0.01868097, 0.0301146 ,-0.00956266,-0.02559548, 0.00756635, 0.00929076,
 -0.00948817, 0.02813941, 0.01230165, 0.02796731,-0.00837129, 0.02644008,
  1.18863623,-0.00421771, 1.1789152 , 0.04511619, 0.0585835 ,-0.07587726,
  0.17147454, 0.99957809, 0.02867822,-0.00331134,-0.00319811]

qacc:
[-3.94646326e+00,-1.78460566e+00, 7.71000524e+00,-1.72804772e+01,
  3.00473543e+01, 4.16779909e+02,-1.76926207e+03, 3.77112865e+03,
 -4.97410264e-01, 8.78461364e-01,-1.89704347e+00,-1.61064497e+00,
 -1.25953711e+01, 1.09524569e+01, 4.56449977e+01,-1.56066009e+02,
  2.16535979e+00,-4.85107394e-01, 2.24305705e-01, 3.71839816e+00,
  2.05902730e+01, 3.16238494e+00]

qfrc_actuator:
[-5.07587295e-05, 8.93804729e-04,-6.88226088e-05,-1.04243864e-04,
 -1.34009434e-03, 5.40985059e-02,-5.29391322e-03, 1.82149317e-02,
 -4.97268333e-05, 8.89404509e-04,-2.23136540e-05, 3.00257408e-05,
  1.80356230e-02, 1.02362116e-02, 8.52623685e-04,-1.98978679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36626151, -0.00092379,  0.36626035, -0.00092379,  0.67039826,
        0.0007671 ,  0.36626035,  0.0007671 ,  0.36626345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.342986507971537e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48839860e-01, -8.92093305e-01, -5.20798948e-02, -2.34072982e-02,
       -4.65232612e-02,  9.98642921e-01, -8.93305591e-01,  4.49449799e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088226, -0.04407801,  0.2796047 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80036266,  4.98545721, -2.96469617,  4.98545721, 20.42782684,
       24.59766286, -2.96469617, 24.59766286, 47.16399279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005238676131613801
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.29820415e-14, -1.05964083e-13,  1.00000000e+00, -5.61419344e-27,
        1.00000000e+00,  1.05964083e-13, -1.00000000e+00,  0.00000000e+00,
       -5.29820415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785477, -0.07895692,  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:
[-2.37619549e-05,-8.13290550e-05,-2.43168871e-05,-3.41891121e-05,
  1.93465458e-04, 1.56436550e-02, 3.65182370e-03, 6.93873800e-03,
 -2.91189093e-06, 7.42222523e-07,-2.49495485e-05,-1.29470979e-05,
  1.87147287e-02, 9.51518428e-03, 1.74462390e-03,-7.86091280e-04,
  8.30689790e-06,-1.43887408e-06,-4.90500083e+00, 2.37431017e-04,
  1.18273205e-02,-6.81029971e-04]


--- Step 1281 ---
qpos:
[ 0.01867936, 0.03011472,-0.00956619,-0.02559653, 0.0075431 , 0.010301  ,
 -0.0096726 , 0.02861659, 0.01230211, 0.02796814,-0.00837548, 0.02643892,
  1.1886646 ,-0.00417202, 1.17907464, 0.04509831, 0.05858853,-0.0758725 ,
  0.17147385, 0.99957807, 0.02869129,-0.00328464,-0.00311417]

qacc:
[ 6.72027661e+00,-8.71579629e-01, 1.76290653e+00,-9.44524460e-01,
  3.08764222e+01, 4.42276808e+02,-1.88878488e+03, 4.07926267e+03,
 -2.32466197e-01,-1.57980452e+00, 8.26795608e+00,-1.82148733e+01,
 -1.13677697e+01, 9.14414070e+00, 5.53136120e+01,-1.79240491e+02,
  2.00989225e+00,-4.13588180e-01, 1.01166121e-01, 4.05112608e+00,
  1.92527391e+01, 5.30721287e+00]

qfrc_actuator:
[-9.79685936e-06, 8.63569798e-04,-6.64233579e-05,-1.02488346e-04,
 -1.15149589e-03, 6.16238915e-02,-4.86283836e-03, 2.49233340e-02,
 -5.10618013e-05, 9.21041606e-04, 2.92537928e-07, 5.17103396e-06,
  1.80426699e-02, 1.01793610e-02, 8.60377295e-04,-1.98316849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36630874, -0.00084904,  0.36630775, -0.00084904,  0.67900877,
        0.00072479,  0.36630775,  0.00072479,  0.36631042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2023808823934232e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44868881, -0.89216815, -0.05209942, -0.02340822, -0.04654466,
        0.9986419 , -0.89338144,  0.449299  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087263, -0.04407364,  0.27955181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005258314298141886
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05568340e-13,  1.05568340e-13,  1.00000000e+00,  1.11446744e-26,
        1.00000000e+00, -1.05568340e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05568340e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785576, -0.07895387,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02448834e-05,-8.21837288e-05,-1.85373240e-05,-3.22354447e-06,
  1.99130318e-04, 1.72944994e-02, 4.34342655e-03, 7.63784088e-03,
 -1.42115157e-06, 2.63735282e-05, 1.92846042e-05,-2.59281314e-05,
  1.94794893e-02, 9.48449737e-03, 1.71060306e-03,-5.89302014e-05,
  6.55973706e-06,-4.08795675e-07,-4.90500050e+00, 2.41351034e-04,
  1.18265840e-02,-6.81052195e-04]


--- Step 1282 ---
qpos:
[ 0.01867825, 0.03011423,-0.00956941,-0.02559757, 0.00752401, 0.01143681,
 -0.00984923, 0.02919876, 0.01230255, 0.02796889,-0.00837873, 0.02643779,
  1.18867982,-0.00412681, 1.17924579, 0.04506596, 0.05860084,-0.07586901,
  0.17147318, 0.99957796, 0.02871301,-0.00322309,-0.00301264]

qacc:
[ 4.33789733e+00,-1.64335421e+00, 4.68123887e+00,-4.65501396e+00,
  3.47398071e+01, 3.60177853e+02,-1.48683998e+03, 3.19905133e+03,
 -1.36813333e-01,-2.61904933e+00, 9.01231550e+00,-9.72756978e+00,
 -1.16466567e+01, 1.04057695e+01, 6.18912255e+01,-1.89535180e+02,
  1.81871981e+00,-3.16192728e-01, 7.09670213e-03, 4.30168084e+00,
  1.76794014e+01, 8.27872580e+00]

qfrc_actuator:
[ 1.49543333e-05, 8.45768869e-04,-4.58303706e-05,-1.01027676e-04,
 -9.42527214e-04, 6.78240620e-02,-4.51232798e-03, 3.01517982e-02,
 -5.20301091e-05, 9.21832986e-04, 5.08866524e-05, 8.80326084e-06,
  1.80466334e-02, 1.01278593e-02, 8.74951731e-04,-1.74990549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36643885, -0.00357528,  0.36642141, -0.00357528,  0.72641519,
        0.0035124 ,  0.36642141,  0.0035124 ,  0.36647312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.154312128055283e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44858706, -0.89221913, -0.05210247, -0.02340428, -0.04655005,
        0.99864174, -0.89343264,  0.44919719,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087571, -0.04407532,  0.27953259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005251079297897421
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.5857069e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.5857069e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785579, -0.07895151,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58996315e-05,-6.76652661e-05, 1.26697958e-06,-2.75347164e-06,
  2.20183545e-04, 1.70603290e-02, 4.71145800e-03, 6.26559960e-03,
 -1.00236836e-06, 1.84343481e-05, 5.75624066e-05, 4.93532005e-06,
  2.01839714e-02, 9.50600178e-03, 1.43031189e-03, 9.32652584e-04,
  9.73622870e-06, 4.94558332e-08,-4.90500149e+00, 2.45882658e-04,
  1.18252620e-02,-6.81211379e-04]


--- Step 1283 ---
qpos:
[ 0.01867711, 0.03011335,-0.0095719 ,-0.02559865, 0.00751553, 0.01268517,
 -0.01001515, 0.02986985, 0.01230401, 0.02796903,-0.00838051, 0.0264371 ,
  1.18868274,-0.00408155, 1.1794328 , 0.04501996, 0.05861964,-0.07586637,
  0.17147225, 0.99957774, 0.02874379,-0.00313008,-0.00288717]

qacc:
[-3.05882286e-01,-2.67068843e+00, 8.86557533e+00,-1.02659859e+01,
  9.13997161e+01, 3.01671985e+02,-1.23554376e+03, 2.67478538e+03,
  8.74198714e+00,-4.06036975e+00, 1.14670438e+01,-5.92573289e+00,
 -1.15070148e+01, 1.08593290e+01, 6.55655770e+01,-1.93469358e+02,
  1.62132781e+00,-2.13961626e-01,-6.50999334e-02, 4.51740027e+00,
  1.60873835e+01, 1.15012213e+01]

qfrc_actuator:
[ 1.21923178e-05, 8.53393283e-04, 3.13783412e-06,-9.97349939e-05,
 -4.03702167e-04, 7.24524645e-02,-4.37807528e-03, 3.45019872e-02,
  4.82344549e-07, 8.68796229e-04, 1.17491948e-04, 2.91598446e-05,
  1.80385231e-02, 1.00791706e-02, 9.08857246e-04,-1.46405889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36670756, -0.01253125,  0.36649339, -0.01253125,  0.80096706,
        0.01484833,  0.36649339,  0.01484833,  0.36721526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3516822771451775e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48524409e-01, -8.92251185e-01, -5.20929601e-02, -2.33967313e-02,
       -4.65431999e-02,  9.98642240e-01, -8.93464295e-01,  4.49134226e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088997, -0.04408222,  0.27954212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005222903764667414
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.31420391e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.31420391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785508, -0.07894973,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02577843e-06,-2.99994504e-05, 3.50996314e-05,-1.60437699e-06,
  5.50602464e-04, 1.53699402e-02, 4.44287986e-03, 5.36277854e-03,
  5.24857917e-05,-3.06119740e-05, 7.77061473e-05, 2.32425408e-05,
  2.08337246e-02, 9.48095091e-03, 8.75526136e-04, 1.94125226e-03,
  1.77887842e-05, 7.43335303e-08,-4.90500376e+00, 2.51710699e-04,
  1.18231372e-02,-6.81503296e-04]


--- Step 1284 ---
qpos:
[ 0.01867594, 0.0301125 ,-0.00957428,-0.02559902, 0.00750013, 0.01402412,
 -0.0101661 , 0.03063078, 0.01230574, 0.02796917,-0.00838217, 0.02643667,
  1.18861718,-0.00409173, 1.17963565, 0.04498711, 0.0586352 ,-0.07585892,
  0.17147214, 0.99957837, 0.02874238,-0.00304733,-0.00276975]

qacc:
[-2.04580730e-01, 1.22188122e+00,-7.21854547e+00, 1.91232488e+01,
 -6.15241178e+01, 2.62894151e+02,-1.14266788e+03, 2.60637968e+03,
  2.33405025e+00, 1.92238957e-01,-1.84197646e+00, 6.28255450e+00,
 -1.56868423e+01,-3.73219566e+01,-1.65368473e+01, 9.15208715e+01,
 -8.08395107e-01, 1.20411212e+00, 2.04053356e-01,-1.60939919e+01,
 -5.29091267e+00,-3.82629622e+00]

qfrc_actuator:
[ 1.10161291e-05, 8.76321215e-04, 1.53149013e-05,-6.30059235e-05,
 -7.75724415e-04, 7.54437535e-02,-4.21982472e-03, 3.88673689e-02,
  1.30417863e-05, 8.72789224e-04, 1.21778224e-04, 4.13947903e-05,
  1.80501926e-02, 1.00318133e-02, 8.94982853e-04,-1.37247397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88885515,  0.81500575, -0.354724  ,  0.81500575,  0.84636885,
       -0.09761556, -0.354724  , -0.09761556,  0.66457587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5675548320773234e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42016871e-01, -8.38394214e-01, -5.75573917e-02, -3.12488817e-02,
       -4.83359155e-02,  9.98342199e-01, -8.39786413e-01,  5.42916919e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07123764, -0.04432071,  0.28052739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36717288, -0.35245754,  0.10290581, -0.35245754,  0.36448417,
       -0.00920895,  0.10290581, -0.00920895,  0.33563175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.757048147257442e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48491309e-01, -8.92268885e-01, -5.20747797e-02, -2.33868176e-02,
       -4.65278352e-02,  9.98643188e-01, -8.93481171e-01,  4.49100654e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07091386, -0.04409345,  0.27957552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80867495, -4.4773034 ,  3.70060251, -4.4773034 ,  9.48264882,
        4.4450858 ,  3.70060251,  4.4450858 , 11.1867175 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005248814883522801
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11518800e-13, -1.05759400e-13,  1.00000000e+00, -2.23701013e-26,
        1.00000000e+00,  1.05759400e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11518800e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06420453, -0.10907859,  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:
[-1.24145828e-06, 1.33996697e-05, 1.02916768e-05, 3.66380342e-05,
 -3.51373875e-04, 1.26890806e-02, 4.05172381e-03, 5.27817533e-03,
  1.40827798e-05, 3.96208492e-06, 8.35830535e-06, 1.40674440e-05,
  2.14594117e-02, 9.42959438e-03, 6.53608277e-05, 2.71485415e-03,
  3.08235804e-05,-1.49464854e-07,-4.90500727e+00, 2.59590728e-04,
  1.18199293e-02,-6.81919989e-04]


--- Step 1285 ---
qpos:
[ 0.01867821, 0.03011207,-0.00957835,-0.02559853, 0.00745697, 0.01543579,
 -0.01030266, 0.0314722 , 0.01230623, 0.02796954,-0.00838525, 0.02643647,
  1.18855439,-0.00412721, 1.17984159, 0.04497993, 0.05864057,-0.07585147,
  0.1714719 , 0.99957884, 0.02873747,-0.00301543,-0.00268583]

qacc:
[ 2.94724503e+01, 6.99687550e+00,-2.78922898e+01, 4.53447993e+01,
 -2.43625291e+02, 2.22032585e+02,-9.91285917e+02, 2.30693883e+03,
 -1.06230881e+01, 4.77553584e+00,-1.74791536e+01, 2.34341513e+01,
  2.12235200e+01,-4.25105750e+01,-7.50909645e+01, 2.64786271e+02,
 -2.54677177e+00,-1.88519930e-03,-3.37503195e-02,-1.73088154e+00,
 -2.59033990e+01,-1.60028204e+01]

qfrc_actuator:
[ 1.88318456e-04, 8.72636889e-04,-8.30013176e-05,-2.34855853e-05,
 -2.19581428e-03, 7.76427275e-02,-4.07348384e-03, 4.27615736e-02,
 -5.12903275e-05, 8.57387220e-04, 3.61785841e-05, 4.87470345e-05,
  1.80632528e-02, 1.00229885e-02, 8.62523569e-04,-1.31227846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88954829,  0.7704421 , -0.44465169,  0.7704421 ,  0.70402407,
       -0.32145536, -0.44465169, -0.32145536,  0.33256684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.077180642864663e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54182519, -0.83852418, -0.05746879, -0.03118959, -0.04826875,
        0.9983473 , -0.8399123 ,  0.54272215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07125323, -0.04431631,  0.28052733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36778779, -0.36648465,  0.03093315, -0.36648465,  0.36560875,
       -0.02581652,  0.03093315, -0.02581652,  0.0619231 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.135879272160908e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44872969, -0.89215234, -0.05201792, -0.02337363, -0.04647082,
        0.99864615, -0.89336182,  0.44933803,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093397, -0.04409238,  0.27958979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84863093, -2.79359165, -5.13831972, -2.79359165, 23.28452649,
       -9.47951371, -5.13831972, -9.47951371, 11.00243447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005297477992755317
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09575769e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09575769e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09620961, -0.08996193,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77274075e-04, 7.56536178e-06,-9.29737930e-05, 4.11718910e-05,
 -1.42605539e-03, 1.03092035e-02, 3.43352927e-03, 4.67652902e-03,
 -6.39199183e-05,-1.08309627e-05,-8.32449273e-05, 8.08913676e-06,
  2.48956103e-02, 1.21929475e-02,-7.62623943e-04, 2.11641877e-03,
  2.48488037e-05, 2.77550873e-06,-4.90500152e+00, 2.56780906e-04,
  1.18254064e-02,-6.81933151e-04]


--- Step 1286 ---
qpos:
[ 0.01868742, 0.0301114 ,-0.00958194,-0.02559798, 0.00739781, 0.0169139 ,
 -0.01043341, 0.03237894, 0.01230561, 0.02796881,-0.00838549, 0.02643692,
  1.18849948,-0.00416846, 1.18004038, 0.04499082, 0.05863686,-0.07584394,
  0.17147128, 0.999579  , 0.02873426,-0.00303067,-0.00264246]

qacc:
[ 5.95118241e+01,-1.66062281e+00, 5.01161093e+00,-4.37199220e+00,
 -1.40515908e+02, 2.06317668e+02,-8.83491681e+02, 1.95513739e+03,
 -9.43436052e+00,-8.01954428e+00, 2.37401334e+01,-1.61229499e+01,
  1.18031946e+01,-1.62902014e+01,-6.61716564e+01, 2.13948007e+02,
 -2.27186748e+00, 2.10135042e-02,-9.43611104e-02, 8.55057252e-01,
 -2.41409008e+01,-1.96001320e+01]

qfrc_actuator:
[ 5.40261852e-04, 8.70350144e-04,-5.05846321e-05,-1.82412188e-05,
 -2.97843406e-03, 8.01645948e-02,-4.13496566e-03, 4.59381619e-02,
 -1.07094566e-04, 8.30099226e-04, 1.99935162e-04, 8.86094736e-05,
  1.80998291e-02, 1.00648192e-02, 8.83398269e-04,-1.23543499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88980324,  0.64242281, -0.61566447,  0.64242281,  0.53249661,
       -0.37283609, -0.61566447, -0.37283609,  0.50076275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.470693951762186e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54168637, -0.83861664, -0.05742831, -0.03115956, -0.04823995,
        0.99834963, -0.84000295,  0.54258183,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07126474, -0.04431193,  0.28052275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36801796, -0.31027071, -0.19791237, -0.31027071,  0.26208815,
        0.16606803, -0.19791237,  0.16606803,  0.10767018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.577185499201878e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44894932, -0.89204309, -0.05199649, -0.02337541, -0.04644594,
        0.99864727, -0.89325142,  0.44955745,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094011, -0.04408406,  0.27956842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86776657,  5.86528665,  0.17057844,  5.86528665,  5.88297463,
       -0.52292435,  0.17057844, -0.52292435, 23.84835744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005320742810499268
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04329702e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04329702e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09621018, -0.08994893,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57119365e-04,-1.53789394e-05, 2.39950160e-05, 3.15449437e-06,
 -8.20036429e-04, 9.14441240e-03, 2.63598421e-03, 3.82349363e-03,
 -5.76820154e-05,-5.01912746e-05, 1.51581083e-04, 3.66846204e-05,
  2.47936723e-02, 1.35006932e-02,-9.00966966e-04, 9.08854001e-04,
  9.58567766e-06, 7.65396250e-07,-4.90499969e+00, 2.46255613e-04,
  1.18258242e-02,-6.82039348e-04]


--- Step 1287 ---
qpos:
[ 0.01870182, 0.03010988,-0.0095815 ,-0.02559755, 0.00733938, 0.01845521,
 -0.01056475, 0.03335617, 0.01230259, 0.02796631,-0.00837944, 0.02643838,
  1.18844492,-0.00419695, 1.18021254, 0.04500661, 0.05862442,-0.07583615,
  0.1714698 , 0.99957883, 0.02873415,-0.00309142,-0.00263858]

qacc:
[ 4.46159039e+01,-1.27287365e+01, 4.40627531e+01,-5.16389700e+01,
  5.29220147e+00, 2.30202422e+02,-9.97238012e+02, 2.17154232e+03,
 -2.01318972e+01,-1.78183222e+01, 5.59533034e+01,-4.73452233e+01,
 -6.77997561e+00, 1.69534044e+01,-5.35382600e+01, 1.31690427e+02,
 -2.18155604e+00, 6.41938079e-02,-2.13319139e-01, 1.55348726e+00,
 -2.33036499e+01,-1.90833420e+01]

qfrc_actuator:
[ 7.96841797e-04, 8.87143021e-04, 1.83043759e-04,-1.53492834e-05,
 -2.91767641e-03, 8.29638801e-02,-4.31831190e-03, 4.94305224e-02,
 -2.28417838e-04, 7.96924545e-04, 5.45118155e-04, 1.47455825e-04,
  1.81339773e-02, 1.01631322e-02, 8.67850220e-04,-1.25777394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88944945,  0.51208214, -0.72724976,  0.51208214,  0.36069213,
       -0.37231663, -0.72724976, -0.37231663,  0.62728821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9102918261613547e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41612529e-01, -8.38663496e-01, -5.74404733e-02, -3.11619305e-02,
       -4.82528969e-02,  9.98348933e-01, -8.40050476e-01,  5.42508247e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07127202, -0.04430857,  0.28051472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.21473916524353e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49091514e-01, -8.91970508e-01, -5.20136968e-02, -2.33905720e-02,
       -4.64575699e-02,  9.98646372e-01, -8.93179542e-01,  4.49700241e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093389, -0.04407078,  0.27951799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86186771,  5.85553961,  0.27230304,  5.85553961,  5.91141391,
       -1.06542965,  0.27230304, -1.06542965, 28.77261294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005313573796577459
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08940925e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08940925e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09621151, -0.08993901,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66985786e-04, 1.34445006e-05, 2.33541394e-04, 3.11675928e-06,
  4.02750427e-05, 8.56675962e-03, 2.14474437e-03, 4.04481728e-03,
 -1.23042886e-04,-2.83525832e-05, 3.54766827e-04, 6.26576563e-05,
  2.44332214e-02, 1.38882346e-02,-5.62289267e-04,-1.72776551e-05,
  2.50378346e-06,-3.54350180e-07,-4.90499994e+00, 2.41146221e-04,
  1.18257152e-02,-6.82094250e-04]


--- Step 1288 ---
qpos:
[ 0.01871987, 0.03010776,-0.00957798,-0.02559497, 0.00729007, 0.0200491 ,
 -0.01069512, 0.03441373, 0.01229539, 0.0279637 ,-0.00837098, 0.02644025,
  1.18838972,-0.00421224, 1.18035332, 0.04502451, 0.05860354,-0.075828  ,
  0.17146706, 0.99957828, 0.02873839,-0.0031964 ,-0.00267343]

qacc:
[ 3.14851590e+01,-5.02170097e+00, 7.66006540e+00, 2.49087725e+01,
  7.84275051e+01, 2.31912290e+02,-1.06544466e+03, 2.41543339e+03,
 -3.56349188e+01,-5.96640880e+00, 1.94489195e+01,-1.63168696e+01,
 -7.79658629e+00, 1.82306239e+01,-5.19442057e+01, 1.16122043e+02,
 -2.11091597e+00, 9.19263196e-02,-3.15826340e-01, 2.18362128e+00,
 -2.26600705e+01,-1.87292765e+01]

qfrc_actuator:
[ 9.77427459e-04, 8.62832520e-04, 3.38371591e-04, 9.27939873e-05,
 -2.44997693e-03, 8.49298981e-02,-4.51745904e-03, 5.34005898e-02,
 -4.40593868e-04, 7.96831711e-04, 6.57265999e-04, 1.63821664e-04,
  1.81404343e-02, 1.02968756e-02, 8.21807392e-04,-1.36920711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88882169,  0.44216023, -0.77103718,  0.44216023,  0.27078736,
       -0.35441897, -0.77103718, -0.35441897,  0.68557602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.455508335056505e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41601960e-01, -8.38665839e-01, -5.75058910e-02, -3.11969290e-02,
       -4.83081683e-02,  9.98345167e-01, -8.40055991e-01,  5.42499706e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07127433, -0.04430603,  0.28050428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36730875,  0.05333465, -0.36341592,  0.05333465,  0.02315733,
       -0.05050741, -0.36341592, -0.05050741,  0.35989632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.094323242542234e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44911491, -0.8919555 , -0.05206912, -0.02341678, -0.04650642,
        0.99864348, -0.89316709,  0.44972497,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07091559, -0.0440531 ,  0.27944269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.83618011,  5.8203195 ,  0.4299758 ,  5.8203195 ,  5.99763707,
       -2.18554407,  0.4299758 , -2.18554407, 35.42055378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000528232650690505
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05088451e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05088451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09621344, -0.08993152,  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:
[ 1.88365095e-04, 3.16714778e-05, 1.86961765e-04, 1.16847109e-04,
  4.71618094e-04, 7.31633697e-03, 1.95584384e-03, 4.48474284e-03,
 -2.15813523e-04, 5.99834584e-05, 1.52112906e-04, 2.86388093e-05,
  2.44220532e-02, 1.33849606e-02, 7.20096542e-04,-3.75226492e-04,
  4.47322460e-06,-6.28924453e-08,-4.90500120e+00, 2.41627545e-04,
  1.18259661e-02,-6.82134325e-04]


--- Step 1289 ---
qpos:
[ 0.0187396 , 0.0301055 ,-0.00957346,-0.02558966, 0.00724779, 0.02169262,
 -0.01082968, 0.03554237, 0.012285  , 0.02796195,-0.00836286, 0.02644236,
  1.18831191,-0.00423948, 1.18048724, 0.04506062, 0.05858221,-0.07581525,
  0.17146509, 0.99957849, 0.02871379,-0.00330865,-0.0027217 ]

qacc:
[ 1.44736426e+01, 2.61087684e+00,-2.11934268e+01, 6.71579039e+01,
  5.99968004e+01, 2.23475934e+02,-1.00191162e+03, 2.20228662e+03,
 -2.71209811e+01, 2.64208732e+00,-8.70121123e+00, 1.27467710e+01,
 -8.00427666e+00,-4.64513236e+00,-6.50104615e+01, 2.13264921e+02,
 -1.10492547e-01, 1.14890309e+00, 1.93070338e-01,-1.44402565e+01,
 -3.86785054e+00,-6.55362496e+00]

qfrc_actuator:
[ 0.00105861, 0.0008317 , 0.00037506, 0.00022638,-0.00210184, 0.0870204 ,
 -0.00490493, 0.05690915,-0.00059801, 0.0008334 , 0.00063097, 0.00017265,
  0.01815698, 0.01039307, 0.00078016,-0.00146224, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36667256,  0.19777983,  0.30875865,  0.19777983,  0.69559196,
       -0.21069409,  0.30875865, -0.21069409,  0.50163571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.221104996752793e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49015292e-01, -8.92000119e-01, -5.21637419e-02, -2.34542497e-02,
       -4.65934989e-02,  9.98638545e-01, -8.93216192e-01,  4.49627439e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088559, -0.04403126,  0.27934435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84119162, -4.86316593, -3.23560452, -4.86316593,  9.66089383,
       -5.74107421, -3.23560452, -5.74107421, 14.47011902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005288426386243633
  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([ 0.06421823, -0.10903803,  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:
[ 8.66743583e-05, 3.02293058e-05, 7.02548025e-05, 1.43666306e-04,
  3.63977091e-04, 6.71945981e-03, 1.50035287e-03, 3.97135372e-03,
 -1.63731104e-04, 1.02655878e-04, 5.75016290e-06, 1.72113925e-05,
  2.44698588e-02, 1.28212294e-02, 2.24421903e-03,-5.73864242e-04,
  1.47114099e-05, 1.74158830e-06,-4.90500319e+00, 2.47261352e-04,
  1.18267989e-02,-6.82201043e-04]


--- Step 1290 ---
qpos:
[ 0.01875843, 0.03010358,-0.00956937,-0.02558344, 0.00720829, 0.02338373,
 -0.01097319, 0.03671998, 0.01227315, 0.02796128,-0.00835602, 0.02644426,
  1.1882394 ,-0.0042564 , 1.18061533, 0.04508173, 0.05857004,-0.07580551,
  0.17146463, 0.99957868, 0.02869583,-0.00337569,-0.0027604 ]

qacc:
[-7.75482140e+00, 3.54807457e+00,-1.57715694e+01, 3.18390928e+01,
  2.30171990e+01, 1.88622866e+02,-7.88034800e+02, 1.61457389e+03,
 -1.25387394e+01, 4.57346469e+00,-1.32608994e+01, 1.06805056e+01,
 -3.64131840e+00, 1.29685864e+01, 3.72400087e+01,-1.41726949e+02,
  2.28663286e+00,-7.52564115e-01, 3.75420998e-01, 3.27355449e+00,
  2.27477916e+01, 4.12104404e+00]

qfrc_actuator:
[ 0.00100966, 0.00083176, 0.00034141, 0.00026726,-0.00196903, 0.08900772,
 -0.00554264, 0.05930129,-0.00066864, 0.00087328, 0.00055889, 0.0001592 ,
  0.01819223, 0.01043335, 0.00075604,-0.00149018, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36641097, -0.10019164,  0.35244664, -0.10019164,  0.90882671,
        0.15419504,  0.35244664,  0.15419504,  0.41024471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.989121569536937e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49054509e-01, -8.91977233e-01, -5.22174696e-02, -2.34805238e-02,
       -4.66404238e-02,  9.98635737e-01, -8.93195786e-01,  4.49667975e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085332, -0.04400284,  0.27923346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.90153404, -3.9078766 ,  4.42228499, -3.9078766 , 17.06362389,
        9.86369487,  4.42228499,  9.86369487, 14.61786565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005361735861050126
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17660257e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.17660257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786294, -0.0789134 ,  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:
[-4.64267793e-05, 3.76145282e-05,-1.38513980e-05, 4.73732270e-05,
  1.45423348e-04, 6.16447432e-03, 1.05226621e-03, 2.80334905e-03,
 -7.53997370e-05, 9.90797352e-05,-4.96561175e-05,-8.52789701e-06,
  2.56355702e-02, 1.34599904e-02, 2.56020845e-03,-1.51369471e-03,
  1.85200586e-05,-1.56487618e-06,-4.90500553e+00, 2.49912098e-04,
  1.18256133e-02,-6.81641470e-04]


--- Step 1291 ---
qpos:
[ 0.01877274, 0.03010222,-0.00956629,-0.02557745, 0.00716966, 0.02511118,
 -0.01112028, 0.03793604, 0.01226158, 0.0279618 ,-0.00835294, 0.02644545,
  1.18817071,-0.00426456, 1.18074481, 0.045087  , 0.05856649,-0.07579841,
  0.17146504, 0.99957882, 0.02868547,-0.00340033,-0.00278771]

qacc:
[-3.88562128e+01, 3.17268999e+00,-9.12887371e+00, 6.15824616e+00,
  6.85969537e+00, 1.37106359e+02,-5.81497712e+02, 1.22575130e+03,
  2.23155706e+00, 1.06433306e+01,-3.27064962e+01, 2.56692513e+01,
 -4.16901022e+00, 1.21674120e+01, 5.04911345e+01,-1.72515610e+02,
  2.15923591e+00,-6.61942096e-01, 2.19933008e-01, 3.75938893e+00,
  2.13625755e+01, 5.07486759e+00]

qfrc_actuator:
[ 0.00077801, 0.00085011, 0.00028433, 0.00025324,-0.00192847, 0.0900987 ,
 -0.00600451, 0.06115929,-0.00065215, 0.00086131, 0.00033614, 0.000115  ,
  0.01821571, 0.01047584, 0.00071065,-0.0016129 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36631827,  0.00424845,  0.36629363,  0.00424845,  0.78030318,
       -0.0048016 ,  0.36629363, -0.0048016 ,  0.36637396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.296061116520049e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44912164, -0.89194185, -0.05224454, -0.02349624, -0.04666281,
        0.99863432, -0.89316162,  0.44973584,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07083548, -0.04398342,  0.27916261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.93800037,  5.43946831, -2.38160301,  5.43946831, 10.2749425 ,
        9.90537011, -2.38160301,  9.90537011, 28.56139588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005405922842486172
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.13429000e-14,  1.02685800e-13,  1.00000000e+00,  5.27218677e-27,
        1.00000000e+00, -1.02685800e-13, -1.00000000e+00,  0.00000000e+00,
       -5.13429000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786624, -0.07890499,  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:
[-2.32984439e-04, 3.84810214e-05,-4.94318206e-05,-1.19793503e-05,
  4.67682914e-05, 4.81336292e-03, 1.01730574e-03, 2.20699865e-03,
  1.43256226e-05, 3.26928050e-05,-2.08779048e-04,-4.18558311e-05,
  2.53938043e-02, 1.29864362e-02, 2.80458366e-03,-8.86747509e-04,
  7.50698371e-06,-6.28854467e-07,-4.90500231e+00, 2.46076095e-04,
  1.18267516e-02,-6.81384749e-04]


--- Step 1292 ---
qpos:
[ 0.01878002, 0.03010135,-0.00956451,-0.02557165, 0.00713322, 0.0268621 ,
 -0.01126591, 0.03918858, 0.0122503 , 0.02796315,-0.00835423, 0.0264455 ,
  1.18810479,-0.00426578, 1.18088149, 0.04507551, 0.05857108,-0.07579364,
  0.17146582, 0.99957888, 0.02868357,-0.00338525,-0.00280116]

qacc:
[-6.03219042e+01, 3.99372066e+00,-1.23085947e+01, 1.05656255e+01,
  1.83565085e+01, 1.01952319e+02,-4.72535797e+02, 1.08406298e+03,
  2.30211549e+00, 1.09303885e+01,-3.25924265e+01, 1.92596846e+01,
 -4.10726966e+00, 1.05797772e+01, 6.18133029e+01,-1.99721889e+02,
  2.03130908e+00,-5.80660008e-01, 9.06487591e-02, 4.19890308e+00,
  2.00632297e+01, 6.33860917e+00]

qfrc_actuator:
[ 4.22985881e-04, 8.61329198e-04, 2.13961331e-04, 2.42580854e-04,
 -1.81819981e-03, 9.04665619e-02,-6.23840384e-03, 6.29185160e-02,
 -6.37789399e-04, 8.53209398e-04, 9.70042098e-05, 5.29250865e-05,
  1.82054347e-02, 1.05348483e-02, 6.68021092e-04,-1.87440630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36629724,  0.00300363,  0.36628493,  0.00300363,  0.79818541,
       -0.0035416 ,  0.36628493, -0.0035416 ,  0.36632629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.078583051552061e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49213202e-01, -8.91895464e-01, -5.22492169e-02, -2.35031415e-02,
       -4.66645798e-02,  9.98634077e-01, -8.93115391e-01,  4.49827632e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07083114, -0.04397227,  0.27912837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.94618967,  5.37893931, -2.53459732,  5.37893931, 12.31979773,
       13.52611348, -2.53459732, 13.52611348, 34.65139781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005415834835048733
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.02497866e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.02497866e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786803, -0.07889841,  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:
[-3.61799559e-04, 2.18885883e-05,-6.89638383e-05,-1.09684906e-05,
  1.13191686e-04, 3.30052307e-03, 9.40776801e-04, 2.03735263e-03,
  1.48057915e-05,-3.48280089e-05,-2.59602995e-04,-6.87300577e-05,
  2.51921648e-02, 1.26075930e-02, 2.68977284e-03,-3.56590893e-04,
  1.73546936e-06,-1.09708191e-07,-4.90500055e+00, 2.43396268e-04,
  1.18275164e-02,-6.81236947e-04]


--- Step 1293 ---
qpos:
[ 0.01878126, 0.03010092,-0.00956505,-0.0255656 , 0.0071008 , 0.02862895,
 -0.01141044, 0.04047373, 0.01223755, 0.02796459,-0.00835777, 0.02644441,
  1.18804063,-0.00426047, 1.18103133, 0.04504748, 0.05858313,-0.07579079,
  0.17146656, 0.99957886, 0.02869078,-0.00333357,-0.0027965 ]

qacc:
[-5.18893011e+01, 7.68444407e+00,-2.74441441e+01, 3.49850652e+01,
  3.41797884e+01, 8.49791712e+01,-4.10221187e+02, 9.61091746e+02,
 -1.25387825e+01, 4.10808767e+00,-9.60370057e+00,-6.65528797e+00,
 -4.94311396e+00, 1.10776573e+01, 6.99626484e+01,-2.15369084e+02,
  1.86748706e+00,-4.78449964e-01,-9.77695437e-03, 4.52935681e+00,
  1.85625846e+01, 8.51013630e+00]

qfrc_actuator:
[ 1.22509471e-04, 8.50362268e-04, 8.30391466e-05, 2.51727634e-04,
 -1.61449783e-03, 9.07006942e-02,-6.41012297e-03, 6.44985582e-02,
 -7.13596033e-04, 8.65068388e-04,-7.84154496e-06,-1.41268082e-06,
  1.81908407e-02, 1.05665849e-02, 6.31810300e-04,-1.94565054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36631622,  0.00124097,  0.36631412,  0.00124097,  0.82119621,
       -0.001541  ,  0.36631412, -0.001541  ,  0.36632144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2765563495832409e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44932617, -0.89183936, -0.05223554, -0.02350288, -0.0466494 ,
        0.99863479, -0.89305857,  0.44994043,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07083936, -0.04396871,  0.27912746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.93179007,  5.27850102, -2.70620775,  5.27850102, 15.32791242,
       18.3272853 , -2.70620775, 18.3272853 , 41.67944999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005398403481072928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02828830e-13, -1.02828830e-13,  1.00000000e+00, -1.05737682e-26,
        1.00000000e+00,  1.02828830e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02828830e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786863, -0.07889328,  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:
[-3.11008632e-04,-1.35917311e-05,-1.35291198e-04, 7.48294858e-06,
  2.08036970e-04, 2.29679725e-03, 6.74779751e-04, 1.78725029e-03,
 -7.53682589e-05,-6.42516401e-05,-1.46406432e-04,-6.61534541e-05,
  2.50387755e-02, 1.22928893e-02, 2.29056803e-03, 4.09529625e-04,
  5.00322116e-07,-3.67579968e-08,-4.90500011e+00, 2.42103722e-04,
  1.18278122e-02,-6.81214013e-04]


--- Step 1294 ---
qpos:
[ 0.01877786, 0.03010082,-0.00956834,-0.02555978, 0.00707211, 0.03040867,
 -0.01155501, 0.0417889 , 0.01222399, 0.02796619,-0.00836284, 0.02644331,
  1.18797751,-0.00424927, 1.18119838, 0.04500346, 0.0586019 ,-0.07578938,
  0.17146696, 0.99957874, 0.02870754,-0.00324874,-0.00276814]

qacc:
[-3.99836203e+01, 7.70270100e+00,-2.56618827e+01, 2.54928429e+01,
  3.15440002e+01, 7.88508932e+01,-3.83258755e+02, 8.93361276e+02,
 -6.95288545e+00, 4.46270897e+00,-1.55462465e+01, 1.76501989e+01,
 -5.24026676e+00, 1.08030187e+01, 7.43799010e+01,-2.22045164e+02,
  1.67799822e+00,-3.60982374e-01,-8.53454224e-02, 4.77364331e+00,
  1.69237826e+01, 1.13546998e+01]

qfrc_actuator:
[-1.07908068e-04, 8.43695188e-04,-6.49152853e-05, 2.36890941e-04,
 -1.42846547e-03, 9.11190265e-02,-6.50926729e-03, 6.59781133e-02,
 -7.53103591e-04, 9.07054803e-04,-6.79791130e-05, 2.61019264e-06,
  1.81789733e-02, 1.05263158e-02, 5.56047924e-04,-1.86075042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36638725, -0.00543206,  0.36634698, -0.00543206,  0.87201656,
        0.00749729,  0.36634698,  0.00749729,  0.36649842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8368964791336013e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44945445, -0.89177635, -0.05220756, -0.02349696, -0.04662104,
        0.99863626, -0.89299417,  0.45006823,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708589 , -0.04397188,  0.27915569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.89984108,  5.1452591 , -2.88694189,  5.1452591 , 19.69692581,
       24.58988735, -2.88694189, 24.58988735, 49.72522677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005359682422509393
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03571717e-13, -1.03571717e-13,  1.00000000e+00, -1.07271006e-26,
        1.00000000e+00,  1.03571717e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03571717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786829, -0.07888931,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39479220e-04,-4.19930013e-05,-1.67156150e-04,-1.99523084e-05,
  1.92810866e-04, 1.85341842e-03, 4.98327216e-04, 1.62956637e-03,
 -4.17315050e-05,-2.70958131e-05,-9.37145581e-05,-5.07605131e-06,
  2.49387049e-02, 1.19253403e-02, 1.55497136e-03, 1.32061731e-03,
  3.27530394e-06,-3.56096361e-07,-4.90500092e+00, 2.42629287e-04,
  1.18274881e-02,-6.81321837e-04]


--- Step 1295 ---
qpos:
[ 0.01877068, 0.03010081,-0.00957346,-0.02555388, 0.00704657, 0.03219847,
 -0.01169847, 0.04313142, 0.01221145, 0.02796825,-0.00836978, 0.02644294,
  1.18791471,-0.00423292, 1.18138556, 0.04494424, 0.0586266 ,-0.07578893,
  0.17146678, 0.9995785 , 0.02873418,-0.00313417,-0.00271005]

qacc:
[-3.24308329e+01, 5.50974285e+00,-1.97684804e+01, 2.41370380e+01,
  2.65172558e+01, 6.64146179e+01,-3.32997395e+02, 7.96995641e+02,
  8.53585635e+00, 7.33251165e+00,-2.83629070e+01, 4.36720394e+01,
 -5.38427021e+00, 1.02892983e+01, 7.62261602e+01,-2.22280419e+02,
  1.48481179e+00,-2.40613930e-01,-1.42110920e-01, 4.94540002e+00,
  1.53008549e+01, 1.44152200e+01]

qfrc_actuator:
[-2.95263766e-04, 8.57282514e-04,-1.50727344e-04, 2.43560324e-04,
 -1.27210422e-03, 9.14847787e-02,-6.51089863e-03, 6.73336628e-02,
 -6.99888863e-04, 9.49269493e-04,-1.54375436e-04, 4.09763564e-05,
  1.81474407e-02, 1.04231338e-02, 5.72881793e-04,-1.69383863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36654881, -0.01781977,  0.3661154 , -0.01781977,  0.93844306,
        0.02783555,  0.3661154 ,  0.02783555,  0.36790364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7092454686862987e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44959186, -0.89170932, -0.05216939, -0.02348692, -0.04658337,
        0.99863825, -0.89292526,  0.45020492,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07088828, -0.04398079,  0.27920841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005304921758954306
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23204241e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.23204241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02786724, -0.07888624,  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:
[-1.94338708e-04,-4.53158997e-05,-1.15722705e-04,-1.29507344e-06,
  1.62576506e-04, 1.50915810e-03, 4.76847778e-04, 1.47729220e-03,
  5.19847064e-05, 7.43342850e-06,-1.03680930e-04, 3.38729040e-05,
  2.48550564e-02, 1.15277870e-02, 7.07822933e-04, 2.28691390e-03,
  9.86857637e-06,-9.14605268e-07,-4.90500292e+00, 2.45611647e-04,
  1.18262945e-02,-6.81556779e-04]


--- Step 1296 ---
qpos:
[ 0.01876096, 0.03010078,-0.00957947,-0.0255473 , 0.00702413, 0.03399791,
 -0.01184149, 0.04450078, 0.01219929, 0.02797068,-0.00837863, 0.0264427 ,
  1.18780653,-0.00424366, 1.18158617, 0.04489875, 0.0586465 ,-0.07578234,
  0.17146697, 0.99957924, 0.02872545,-0.00303514,-0.00264334]

qacc:
[-2.17984921e+01, 3.85255712e+00,-1.64891773e+01, 2.93529108e+01,
  2.60491249e+01, 6.66570639e+01,-3.32526182e+02, 7.89095997e+02,
  3.26418324e+00, 6.10767002e+00,-2.16243021e+01, 2.66939376e+01,
 -1.69444298e+01,-1.01549953e+01,-2.11153318e+01, 1.03953603e+02,
 -1.20333990e+00, 1.53350867e+00, 9.05080044e-02,-1.76595407e+01,
 -7.69027528e+00, 4.59227233e+00]

qfrc_actuator:
[-4.20293729e-04, 8.83144925e-04,-1.81306453e-04, 2.80648753e-04,
 -1.11670055e-03, 9.19764187e-02,-6.49066029e-03, 6.86764862e-02,
 -6.81299034e-04, 9.55743168e-04,-2.55571501e-04, 4.59540012e-05,
  1.81147862e-02, 1.03160955e-02, 6.39066386e-04,-1.54313826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36685303,  0.0507305 , -0.36332845,  0.0507305 ,  2.25692573,
        0.26390539, -0.36332845,  0.26390539,  0.40370137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8469523783112715e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49732666e-01, -8.91640915e-01, -5.21249337e-02, -2.34741969e-02,
       -4.65399913e-02,  9.98640572e-01, -8.92854687e-01,  4.50344878e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07092598, -0.04399445,  0.27928101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84716163, -4.48627559,  3.75001739, -4.48627559, 10.54202073,
        5.61662243,  3.75001739,  5.61662243, 12.56652144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005295690564123823
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04823253e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04823253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06422511, -0.10899999,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30699963e-04,-2.34313330e-05,-5.41735174e-05, 3.11270932e-05,
  1.60641396e-04, 1.43112519e-03, 4.19500462e-04, 1.44602222e-03,
  2.01194196e-05,-9.34895865e-06,-1.11215992e-04, 2.37507207e-06,
  2.48052257e-02, 1.11632322e-02,-2.35438790e-04, 3.19661844e-03,
  2.05411594e-05,-1.54142295e-06,-4.90500612e+00, 2.51639243e-04,
  1.18239259e-02,-6.81912642e-04]


--- Step 1297 ---
qpos:
[ 0.01875016, 0.0301009 ,-0.0095851 ,-0.02554079, 0.00700443, 0.03580692,
 -0.01198544, 0.04590422, 0.01218642, 0.02797274,-0.00838785, 0.02644217,
  1.18770826,-0.00428268, 1.18178285, 0.0448761 , 0.05865561,-0.07577556,
  0.17146711, 0.9995798 , 0.02871463,-0.00298894,-0.00259952]

qacc:
[-9.26609811e+00,-9.47199606e-01, 3.91467797e+00,-5.64627483e+00,
  2.26815076e+01, 8.52634590e+01,-4.29512293e+02, 1.01339742e+03,
 -6.10487773e+00,-6.08830368e-02, 7.67191048e-01,-5.02370541e+00,
  2.90801596e+01,-5.21117807e+01,-7.75204647e+01, 2.56849213e+02,
 -2.69414148e+00, 5.02488132e-02,-1.41552251e-02,-1.00479575e+00,
 -2.67332202e+01,-1.06807837e+01]

qfrc_actuator:
[-4.72149279e-04, 9.34182141e-04,-1.43470530e-04, 2.82118847e-04,
 -9.80845129e-04, 9.25222359e-02,-6.51033869e-03, 7.03917995e-02,
 -7.18774516e-04, 9.22923417e-04,-2.76094290e-04, 3.12047816e-05,
  1.80962133e-02, 1.02901694e-02, 6.44201322e-04,-1.69129571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88879702,  0.79464909, -0.39811177,  0.79464909,  0.73965717,
       -0.29768989, -0.39811177, -0.29768989,  0.29459454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3670222390129786e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54161374, -0.8386634 , -0.05743046, -0.03115655, -0.04824445,
        0.99834951, -0.84004989,  0.54250915,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07134018, -0.04426769,  0.28046724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36740479, -0.36327288,  0.05494628, -0.36327288,  0.36134314,
       -0.0400761 ,  0.05494628, -0.0400761 ,  0.10244493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.319706859175182e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50068758e-01, -8.91476313e-01, -5.20393765e-02, -2.34530757e-02,
       -4.64548162e-02,  9.98645034e-01, -8.92685872e-01,  4.50679414e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095566, -0.0439954 ,  0.27932167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.892487  , -4.24155203, -4.09031044, -4.24155203, 14.36387068,
       -8.78461798, -4.09031044, -8.78461798, 15.0019213 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005350760346498895
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07488834e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07488834e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09622091, -0.08987895,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.56664961e-05, 2.81203860e-05, 2.74724578e-05,-7.95111384e-07,
  1.41034063e-04, 1.42806986e-03, 3.55141767e-04, 1.81249269e-03,
 -3.68856190e-05,-6.09348257e-05,-3.60079174e-05,-1.89401626e-05,
  2.70550695e-02, 1.24912072e-02,-9.05600026e-04, 2.36133530e-03,
  1.69920142e-05, 3.05290701e-06,-4.90500214e+00, 2.51906964e-04,
  1.18263347e-02,-6.81644272e-04]


--- Step 1298 ---
qpos:
[ 0.01873985, 0.03010082,-0.00958871,-0.02553473, 0.00698685, 0.03762551,
 -0.0121309 , 0.04736174, 0.01217354, 0.02797316,-0.00839339, 0.02644169,
  1.18762774,-0.00432923, 1.18197097, 0.04487101, 0.05865545,-0.07576853,
  0.17146705, 0.99958002, 0.02870773,-0.00299065,-0.00259101]

qacc:
[ 4.31246153e+00,-6.84985534e+00, 2.59463904e+01,-3.68498335e+01,
  1.75464990e+01, 1.28098102e+02,-6.66610900e+02, 1.59748430e+03,
  1.04023490e-01,-1.23487694e+01, 4.06498695e+01,-4.43807489e+01,
  2.08497838e+01,-2.57981767e+01,-6.73866554e+01, 2.13699033e+02,
 -2.31904027e+00, 6.00539699e-02,-4.77199815e-02, 1.96944762e+00,
 -2.44471003e+01,-1.69715237e+01]

qfrc_actuator:
[-4.45036465e-04, 9.46925709e-04,-2.99713844e-05, 2.62677382e-04,
 -8.75334181e-04, 9.31855403e-02,-6.49951736e-03, 7.31292576e-02,
 -7.17928628e-04, 8.67124475e-04,-7.14681672e-05, 4.04979667e-05,
  1.80880725e-02, 1.03071920e-02, 6.29761915e-04,-1.89135044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88898848,  0.66655796, -0.5882185 ,  0.66655796,  0.57215031,
       -0.35903497, -0.5882185 , -0.35903497,  0.48213692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9510932443792725e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54154326, -0.83871349, -0.05736359, -0.0311161 , -0.04819097,
        0.99835335, -0.84009683,  0.54243646,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07135269, -0.04425985,  0.2804639 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36764313, -0.34954813, -0.11391916, -0.34954813,  0.33417259,
        0.10270059, -0.11391916,  0.10270059,  0.05251792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.841201284731819e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45037389, -0.89132484, -0.05199416, -0.02344853, -0.04640646,
        0.99864739, -0.89253208,  0.4509839 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096988, -0.04398873,  0.27932334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.91683194,  5.85639838,  0.84350356,  5.85639838,  6.49362228,
       -4.00462329,  0.84350356, -4.00462329, 33.72070902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005380282710064216
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06350314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.06350314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09622052, -0.08987077,  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:
[ 2.55035971e-05, 3.41702050e-05, 1.22726295e-04,-1.73003079e-05,
  1.10117229e-04, 1.54584923e-03, 3.89587658e-04, 2.83931777e-03,
 -2.58181525e-07,-9.81429769e-05, 1.87021924e-04, 5.08355370e-06,
  2.65514797e-02, 1.39234413e-02,-7.27537478e-04, 1.01851666e-03,
  4.72136569e-06, 1.17863338e-06,-4.90500004e+00, 2.45259894e-04,
  1.18259903e-02,-6.81502101e-04]


--- Step 1299 ---
qpos:
[ 0.01873099, 0.03010064,-0.00959   ,-0.02552967, 0.00697137, 0.03945293,
 -0.01227568, 0.04887334, 0.01216112, 0.02797251,-0.00839426, 0.02644118,
  1.1875581 ,-0.00436548, 1.18213948, 0.0448751 , 0.05864647,-0.07576113,
  0.17146633, 0.99957985, 0.02870594,-0.00303832,-0.00261862]

qacc:
[ 1.24153550e+01,-8.73585629e+00, 3.51414326e+01,-5.61058100e+01,
  1.72167037e+01, 1.20907029e+02,-6.42337961e+02, 1.56993903e+03,
  4.02688178e+00,-1.45452296e+01, 4.99163697e+01,-5.70970968e+01,
  3.15657307e+00, 6.01615384e+00,-5.67919913e+01, 1.56541730e+02,
 -2.20402194e+00, 9.39674338e-02,-1.65491160e-01, 2.57252824e+00,
 -2.34795018e+01,-1.73928500e+01]

qfrc_actuator:
[-3.71686325e-04, 9.54718077e-04, 9.16170380e-05, 2.13354542e-04,
 -7.70768407e-04, 9.37024615e-02,-6.43392787e-03, 7.58427710e-02,
 -6.94515161e-04, 8.87720226e-04, 1.93335124e-04, 4.62329858e-05,
  1.80957792e-02, 1.03050333e-02, 6.36092341e-04,-1.73583466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88886577,  0.54140104, -0.70495906,  0.54140104,  0.40323392,
       -0.37296008, -0.70495906, -0.37296008,  0.6024364 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.60148147921736e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41528896e-01, -8.38723416e-01, -5.73540419e-02, -3.11100813e-02,
       -4.81834927e-02,  9.98353902e-01, -8.40106313e-01,  5.42421776e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07136089, -0.04425377,  0.28045713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36752401, -0.24801575, -0.27122332, -0.24801575,  0.18475479,
        0.16713034, -0.27122332,  0.16713034,  0.21469439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.586730992263415e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50586459e-01, -8.91217509e-01, -5.19922490e-02, -2.34587316e-02,
       -4.63991580e-02,  9.98647488e-01, -8.92424524e-01,  4.51196708e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097108, -0.04397742,  0.27929408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.91447783,  5.83414091,  0.9715183 ,  5.83414091,  6.87728919,
       -5.78185421,  0.9715183 , -5.78185421, 40.63554522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005377429597106104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03229899e-13,  2.06459797e-13,  1.00000000e+00,  2.13128240e-26,
        1.00000000e+00, -2.06459797e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03229899e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09622111, -0.08986467,  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:
[ 7.41038079e-05, 5.15793239e-05, 1.43201364e-04,-4.39550635e-05,
  1.08268535e-04, 1.51600175e-03, 5.08242396e-04, 2.84145948e-03,
  2.33594707e-05, 4.57323771e-06, 2.67789609e-04, 8.10923545e-06,
  2.56711683e-02, 1.42987489e-02,-2.95951160e-04, 2.95626498e-04,
  7.17277867e-08,-2.52046803e-08,-4.90499995e+00, 2.42242972e-04,
  1.18254637e-02,-6.81406416e-04]


--- Step 1300 ---
qpos:
[ 0.01872342, 0.03010054,-0.00958947,-0.02552523, 0.0069576 , 0.0412863 ,
 -0.01241743, 0.05041267, 0.01214838, 0.02797177,-0.00839185, 0.02644071,
  1.18749563,-0.00438836, 1.18228385, 0.04488514, 0.05862892,-0.07575325,
  0.17146449, 0.99957929, 0.02870979,-0.00313073,-0.00268156]

qacc:
[ 1.11492019e+01,-6.24299513e+00, 2.49732728e+01,-3.85520928e+01,
  1.41586597e+01, 5.63851899e+01,-3.06687393e+02, 7.77180176e+02,
 -2.56421003e+00,-9.18398170e+00, 3.24217354e+01,-3.69139370e+01,
 -1.87985424e+00, 1.32403217e+01,-5.33082813e+01, 1.35508194e+02,
 -2.14311247e+00, 1.20456943e-01,-2.81337786e-01, 2.82296852e+00,
 -2.28649105e+01,-1.70294387e+01]

qfrc_actuator:
[-3.07240628e-04, 9.59524752e-04, 1.81438896e-04, 1.82341259e-04,
 -6.85337646e-04, 9.37379162e-02,-6.40808339e-03, 7.71888500e-02,
 -7.11275221e-04, 9.18735312e-04, 3.67513661e-04, 4.98959241e-05,
  1.81076485e-02, 1.03120648e-02, 6.66837112e-04,-1.52540644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8886271 ,  0.45183623, -0.76518112,  0.45183623,  0.29298238,
       -0.3517257 , -0.76518112, -0.3517257 ,  0.68093456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.848578347746732e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54157211, -0.83869225, -0.05740173, -0.03113852, -0.0482219 ,
        0.99835116, -0.8400774 ,  0.54246655,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0713644 , -0.0442494 ,  0.28044772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36711657,  0.00616204, -0.36706486,  0.00616204,  0.00412075,
       -0.00609373, -0.36706486, -0.00609373,  0.36701428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.609983966224043e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50670030e-01, -8.91172895e-01, -5.20326419e-02, -2.34813605e-02,
       -4.64329789e-02,  9.98645385e-01, -8.92381729e-01,  4.51281342e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095982, -0.04396209,  0.27923758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.89082717,  5.77026866,  1.18568306,  5.77026866,  7.73103648,
       -8.9555991 ,  1.18568306, -8.9555991 , 49.47432317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005348746116968506
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03783485e-13, -1.03783485e-13,  1.00000000e+00, -1.07710118e-26,
        1.00000000e+00,  1.03783485e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03783485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09622248, -0.08986021,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66200428e-05, 6.14071634e-05, 1.16602630e-04,-2.47158553e-05,
  8.90810372e-05, 1.04200312e-03, 4.76788109e-04, 1.47674947e-03,
 -1.60874137e-05, 8.92395112e-05, 2.08392737e-04, 1.32836209e-05,
  2.51389643e-02, 1.37921166e-02, 7.11616305e-04, 4.59419367e-05,
  3.68226111e-06, 3.10782499e-07,-4.90500073e+00, 2.44194386e-04,
  1.18255808e-02,-6.81361416e-04]


--- Step 1301 ---
qpos:
[ 0.01871737, 0.03009978,-0.0095866 ,-0.02552045, 0.00694532, 0.04312169,
 -0.01255618, 0.05196   , 0.0121352 , 0.02797102,-0.00838635, 0.02644063,
  1.18741308,-0.00441996, 1.18242118, 0.04491265, 0.05861044,-0.07574081,
  0.17146328, 0.99957945, 0.02868579,-0.00323331,-0.00275603]

qacc:
[ 1.31430284e+01,-6.74517182e+00, 2.12924397e+01,-1.85719108e+01,
  1.21388385e+01, 1.07095631e+01,-6.80850342e+01, 2.00143272e+02,
 -3.71111157e+00,-7.81447752e+00, 2.61693713e+01,-2.42310117e+01,
 -8.28640110e+00,-1.40660178e+00,-6.29096683e+01, 2.05731258e+02,
 -2.34181103e-01, 1.13832548e+00, 1.59198849e-01,-1.39338992e+01,
 -5.28372832e+00,-5.56938912e+00]

qfrc_actuator:
[-2.30815020e-04, 8.91389255e-04, 2.87294966e-04, 1.97833770e-04,
 -6.11854380e-04, 9.34660856e-02,-6.42646307e-03, 7.75416481e-02,
 -7.33801807e-04, 9.19938349e-04, 5.22348970e-04, 7.00103418e-05,
  1.81272840e-02, 1.03351580e-02, 6.38784295e-04,-1.67302438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36659617,  0.15629506,  0.33160912,  0.15629506,  0.75845919,
       -0.18469412,  0.33160912, -0.18469412,  0.45364679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9157892814881693e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50619609e-01, -8.91193579e-01, -5.21149999e-02, -2.35159970e-02,
       -4.65077531e-02,  9.98641090e-01, -8.92406278e-01,  4.51232794e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07093644, -0.04394283,  0.27915556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85278054, -4.96102102, -3.10536801, -4.96102102,  9.03353334,
       -5.08145296, -3.10536801, -5.08145296, 13.97072176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005302525210571858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.22383957e-07, -3.22384097e-07,  1.00000000e+00, -1.03931461e-13,
        1.00000000e+00,  3.22384097e-07, -1.00000000e+00, -1.26217745e-29,
       -3.22383957e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06535177, -0.10829831,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.83835818e-05,-1.07385710e-05, 1.32034598e-04, 2.16623305e-05,
  7.64657720e-05, 4.04351534e-04, 2.83395503e-04, 4.35426006e-04,
 -2.29762648e-05, 9.46758548e-05, 1.99365553e-04, 3.14032890e-05,
  2.48003102e-02, 1.31468111e-02, 1.88820284e-03,-3.99743094e-04,
  1.50031270e-05, 2.20479416e-06,-4.90500217e+00, 2.50827612e-04,
  1.18264694e-02,-6.81386149e-04]


--- Step 1302 ---
qpos:
[ 0.01871228, 0.03009839,-0.00958226,-0.02551546, 0.00693436, 0.04495485,
 -0.01269201, 0.05350686, 0.01212254, 0.02797014,-0.00837848, 0.02644121,
  1.18733619,-0.0044424 , 1.18255445, 0.04492487, 0.05860083,-0.07573141,
  0.1714633 , 0.9995796 , 0.02866801,-0.00329136,-0.00281791]

qacc:
[   8.32733302,  -4.53352915,  14.03541638, -12.28751682,  10.85738604,
  -12.08316441,  40.72437995, -51.78894446,   4.52080847,  -5.49039094,
   16.57497078,  -9.01784515,  -2.65216031,  11.05654952,  40.64500293,
 -150.01007119,   2.21872189,  -0.75862383,   0.30623374,   3.07129459,
   22.44400683,   5.64306744]

qfrc_actuator:
[-1.83452987e-04, 8.33453770e-04, 3.48253777e-04, 2.05011045e-04,
 -5.45986785e-04, 9.30291863e-02,-6.41929655e-03, 7.74846499e-02,
 -7.06271546e-04, 8.85465980e-04, 6.28955740e-04, 9.96228081e-05,
  1.81537730e-02, 1.03846452e-02, 5.69456773e-04,-1.83633844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36638504, -0.08659839,  0.35600381, -0.08659839,  0.91712945,
        0.1339693 ,  0.35600381,  0.1339693 ,  0.39897325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8220232748490777e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45069021, -0.89115522, -0.05216038, -0.02354022, -0.04654636,
        0.99863872, -0.89236999,  0.45130456,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07090979, -0.04391687,  0.27905858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.87619375, -4.08658119,  4.22250011, -4.08658119, 14.30960615,
        8.16194757,  4.22250011,  8.16194757, 13.77541473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005330980397801055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20646739e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.20646739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02787333, -0.07884313,  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:
[ 4.96346946e-05,-3.57138143e-05, 7.57195733e-05, 1.16899950e-05,
  6.83119936e-05,-2.01997307e-04, 1.17306346e-04,-2.86770034e-05,
  2.68831972e-05, 6.09121140e-05, 1.51738115e-04, 4.11670691e-05,
  2.58302047e-02, 1.36332647e-02, 2.16797217e-03,-1.43727647e-03,
  2.00778816e-05,-6.04707370e-07,-4.90500545e+00, 2.53587967e-04,
  1.18241461e-02,-6.80821525e-04]


--- Step 1303 ---
qpos:
[ 0.0187078 , 0.03009683,-0.00957782,-0.02551073, 0.00692463, 0.04678291,
 -0.01282547, 0.05505578, 0.0121103 , 0.02796917,-0.00836946, 0.02644257,
  1.1872635 ,-0.00445634, 1.18269142, 0.04492146, 0.05859957,-0.07572465,
  0.17146397, 0.99957971, 0.02865758,-0.00330785,-0.00286531]

qacc:
[ 5.22170567e+00,-1.06723284e+00, 4.57684143e+00,-9.15371502e+00,
  9.97881580e+00,-9.14390139e+00, 1.41184863e+01, 2.15248421e+01,
  3.68891004e+00,-1.74108161e+00, 2.74344897e+00, 8.95293085e+00,
 -3.78487776e+00, 1.16091550e+01, 5.32214102e+01,-1.77185176e+02,
  2.08757840e+00,-6.60052366e-01, 1.64826512e-01, 3.63720211e+00,
  2.09883982e+01, 6.62935259e+00]

qfrc_actuator:
[-0.00015358, 0.00081739, 0.00034671, 0.00018944,-0.00048513, 0.09262097,
 -0.00636241, 0.0775776 ,-0.000685  , 0.00084746, 0.00067059, 0.00013452,
  0.01818811, 0.01043557, 0.00053926,-0.00193004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36631346,  0.00896596,  0.36620372,  0.00896596,  0.80436982,
       -0.01072516,  0.36620372, -0.01072516,  0.36657605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2496876159537619e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50791276e-01, -8.91103000e-01, -5.21791905e-02, -2.35540106e-02,
       -4.65604607e-02,  9.98637738e-01, -8.92318572e-01,  4.51406210e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07089704, -0.0438996 ,  0.27900014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.90375182,  5.44978319, -2.27027502,  5.44978319,  9.49236161,
        8.61443885, -2.27027502,  8.61443885, 26.58266675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005364425563350456
  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([ 0.02787662, -0.07883362,  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:
[ 3.13024887e-05,-1.98773502e-05, 7.66517216e-07,-1.42667938e-05,
  6.28854545e-05,-5.66535018e-04, 5.26375017e-06, 8.05166049e-05,
  2.20769526e-05, 2.90690059e-05, 7.42327025e-05, 4.35404941e-05,
  2.55810802e-02, 1.32265626e-02, 2.33818416e-03,-7.67160949e-04,
  9.09074249e-06,-1.85743162e-07,-4.90500237e+00, 2.47860800e-04,
  1.18255485e-02,-6.80609246e-04]


--- Step 1304 ---
qpos:
[ 0.01870337, 0.03009538,-0.00957378,-0.02550692, 0.00691604, 0.04860629,
 -0.01295773, 0.05660885, 0.01209808, 0.02796859,-0.00836115, 0.02644405,
  1.18719398,-0.00446308, 1.18283784, 0.04490208, 0.05860607,-0.07572012,
  0.17146485, 0.99957976, 0.02865539,-0.00328583,-0.00289513]

qacc:
[ 4.01963020e-01,-6.22961233e-01, 6.30779380e+00,-2.15920207e+01,
  9.28534986e+00,-1.02805736e+00,-2.28437257e+01, 9.61451807e+01,
  2.02856053e-02, 2.78524527e+00,-9.74755204e+00, 1.28980984e+01,
 -4.03971118e+00, 1.07813197e+01, 6.27689979e+01,-1.98259408e+02,
  1.94043005e+00,-5.58648959e-01, 5.00110517e-02, 4.09755381e+00,
  1.95098342e+01, 8.21926249e+00]

qfrc_actuator:
[-0.00015198, 0.00082622, 0.00032619, 0.00014287,-0.0004277 , 0.09246448,
 -0.00627632, 0.07779368,-0.00068536, 0.00084284, 0.00062026, 0.0001367 ,
  0.01821642, 0.01044885, 0.00051601,-0.00201103, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36630255,  0.00581777,  0.36625634,  0.00581777,  0.82442718,
       -0.00727705,  0.36625634, -0.00727705,  0.36641814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1373856502578462e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45091676, -0.8910397 , -0.05217603, -0.02355914, -0.04655433,
        0.9986379 , -0.89225503,  0.45153179,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07089722, -0.04389031,  0.27897664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.90533245,  5.39337305, -2.40509426,  5.39337305, 11.14893431,
       11.75866636, -2.40509426, 11.75866636, 32.27389324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005366342353101822
  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([ 0.02787842, -0.07882617,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50291490e-06,-2.71200912e-06,-2.50654758e-05,-4.76971404e-05,
  5.91741865e-05,-5.36956556e-04,-5.08217993e-05, 1.86285362e-04,
  3.04371244e-07, 2.87375461e-05,-3.37876443e-05, 6.81575555e-06,
  2.53990432e-02, 1.28153975e-02, 2.12732742e-03,-6.72106041e-05,
  3.20877729e-06,-3.07498380e-08,-4.90500068e+00, 2.43799246e-04,
  1.18265789e-02,-6.80488574e-04]


--- Step 1305 ---
qpos:
[ 0.01869831, 0.03009401,-0.00957004,-0.02550336, 0.00690787, 0.05042766,
 -0.01308966, 0.0581696 , 0.01208698, 0.02796882,-0.00835479, 0.02644524,
  1.18712644,-0.00446206, 1.18299988, 0.04486778, 0.05861957,-0.07571732,
  0.17146558, 0.99957973, 0.02866207,-0.0032289 ,-0.00290224]

qacc:
[-5.46328594e+00, 4.72507496e-01,-5.26715888e-01,-3.21054026e+00,
  3.29230927e+00, 1.22010217e+01,-7.97828620e+01, 2.13614581e+02,
  9.51306792e+00, 5.89615252e+00,-1.82512797e+01, 1.56633561e+01,
 -5.62143902e+00, 1.27691900e+01, 6.87575203e+01,-2.05694387e+02,
  1.75141862e+00,-4.31606387e-01,-3.61680307e-02, 4.41559939e+00,
  1.77916891e+01, 1.08360109e+01]

qfrc_actuator:
[-0.00018479, 0.00083203, 0.00031249, 0.0001317 ,-0.00040825, 0.0926382 ,
 -0.00615473, 0.078205  ,-0.00062742, 0.00087558, 0.00051615, 0.00011958,
  0.01822509, 0.01045519, 0.00051758,-0.00181149, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 3.66332749e-01,  8.39623743e-04,  3.66331787e-01,  8.39623743e-04,
        8.57448806e-01, -1.12562632e-03,  3.66331787e-01, -1.12562632e-03,
        3.66335329e-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: -1.4267292237905295e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45106162, -0.89096758, -0.05215533, -0.02355733, -0.04653204,
        0.99863898, -0.89218186,  0.45167636,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07090923, -0.04388822,  0.2789843 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.88636146,  5.30318769, -2.55449634,  5.30318769, 13.58349759,
       15.9794152 , -2.55449634, 15.9794152 , 39.05996079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005343326028995898
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.19443797e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.19443797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02787905, -0.07882035,  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:
[-3.27293895e-05,-2.91803294e-06,-1.90256433e-05,-1.30941127e-05,
  2.11003121e-05,-1.97115570e-04,-1.24229193e-05, 3.82908233e-04,
  5.79591648e-05, 4.20020896e-05,-1.02199303e-04,-1.69477270e-05,
  2.52488038e-02, 1.24615846e-02, 1.65390950e-03, 9.30769896e-04,
  1.67751110e-06,-1.87477710e-07,-4.90500026e+00, 2.41622745e-04,
  1.18271161e-02,-6.80476643e-04]


--- Step 1306 ---
qpos:
[ 0.01869323, 0.03009274,-0.00956629,-0.02549963, 0.00689999, 0.05224994,
 -0.01322127, 0.0597423 , 0.01207769, 0.02796944,-0.00835049, 0.02644593,
  1.18706035,-0.00445523, 1.18317986, 0.04481836, 0.05863944,-0.07571584,
  0.17146588, 0.99957961, 0.02867822,-0.00314007,-0.00288208]

qacc:
[-8.15043886e-02, 4.25994884e-01,-1.95649733e+00, 4.52005672e+00,
  2.31642583e+00, 2.48625832e+01,-1.37229279e+02, 3.42414440e+02,
  1.54018769e+01, 5.19966578e+00,-1.57218037e+01, 1.01210575e+01,
 -4.84309145e+00, 1.03666155e+01, 7.27889194e+01,-2.15002603e+02,
  1.58971593e+00,-3.30715706e-01,-1.06962237e-01, 4.73444865e+00,
  1.63434490e+01, 1.31525369e+01]

qfrc_actuator:
[-1.84308812e-04, 8.53777365e-04, 3.20724945e-04, 1.41467606e-04,
 -3.93555307e-04, 9.30092351e-02,-6.01144953e-03, 7.88347743e-02,
 -5.35641586e-04, 8.59143447e-04, 3.99064747e-04, 9.12588012e-05,
  1.82219649e-02, 1.04539338e-02, 5.27825271e-04,-1.84663783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36642384, -0.01071869,  0.36626704, -0.01071869,  0.93375048,
        0.01660264,  0.36626704,  0.01660264,  0.36690972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0670420471776978e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51217252e-01, -8.90890759e-01, -5.21214723e-02, -2.35501179e-02,
       -4.64977400e-02,  9.98640752e-01, -8.92103348e-01,  4.51831402e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709316 , -0.04389233,  0.2790182 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85165474,  5.18589112, -2.71079258,  5.18589112, 17.11058813,
       21.53894145, -2.71079258, 21.53894145, 47.05680116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005301156002333468
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23575907e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.23575907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02787877, -0.07881583,  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:
[-4.76115476e-07, 1.56296623e-05, 4.80217270e-06, 8.71968217e-06,
  1.52744375e-05, 2.06652395e-04, 9.09996589e-05, 6.21071932e-04,
  9.35102179e-05,-1.48868318e-05,-1.21681133e-04,-3.04097767e-05,
  2.51465607e-02, 1.20725268e-02, 8.80715103e-04, 1.64035438e-03,
  3.97278939e-06,-5.76389781e-07,-4.90500104e+00, 2.41834188e-04,
  1.18269644e-02,-6.80576949e-04]


--- Step 1307 ---
qpos:
[ 0.01868855, 0.03009206,-0.00956295,-0.02549655, 0.00689303, 0.05407778,
 -0.01335341, 0.06133999, 0.01206854, 0.02796979,-0.00834829, 0.02644671,
  1.18702434,-0.00443475, 1.18333734, 0.04478704, 0.05864761,-0.07571287,
  0.17146557, 0.9995797 , 0.02868099,-0.00310386,-0.00286015]

qacc:
[ 3.31623975e+00, 5.86651447e-01, 1.70771801e+00,-1.24870220e+01,
  7.08315353e+00, 6.01451036e+01,-3.09181761e+02, 7.37973152e+02,
  1.13461412e+00, 5.69930952e+00,-2.12341825e+01, 2.63839027e+01,
  1.67805226e+01,-3.11224184e+00,-8.89020266e+01, 2.60698774e+02,
 -2.92476032e+00, 3.74694583e-01,-1.55407625e-01,-6.61197695e+00,
 -2.62963966e+01, 1.66612822e+00]

qfrc_actuator:
[-1.64234400e-04, 9.02772084e-04, 3.06402917e-04, 1.10241731e-04,
 -3.46259735e-04, 9.37805868e-02,-5.83751771e-03, 8.01386299e-02,
 -5.31204107e-04, 7.95535624e-04, 2.75062253e-04, 9.20418603e-05,
  1.82170652e-02, 1.04647080e-02, 5.05220637e-04,-1.96314575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36661782, -0.10326485,  0.35177407, -0.10326485,  0.82032227,
        0.13318697,  0.35177407,  0.13318697,  0.40571545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0054799093540267e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45137981, -0.89081092, -0.0520785 , -0.02353913, -0.04645514,
        0.99864299, -0.8920214 ,  0.45199317,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096308, -0.04390181,  0.27907461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82973236, -5.77256454,  0.81441886, -5.77256454,  6.08881154,
        1.83634171,  0.81441886,  1.83634171, 18.84564048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005274475768743819
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05244869e-13, -2.10489738e-13,  1.00000000e+00, -2.21529650e-26,
        1.00000000e+00,  2.10489738e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05244869e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623087, -0.08984183,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00648949e-05, 5.91093853e-05,-1.02329849e-05,-3.02335949e-05,
  4.78251204e-05, 8.64264620e-04, 2.25988956e-04, 1.32063327e-03,
  7.18798259e-06,-9.84421462e-05,-1.43189719e-04,-4.67524250e-06,
  2.50689734e-02, 1.17922922e-02,-4.20875934e-05, 2.27978721e-03,
  1.01761996e-05,-1.11503620e-06,-4.90500299e+00, 2.44848820e-04,
  1.18258650e-02,-6.80794357e-04]


--- Step 1308 ---
qpos:
[ 0.01868449, 0.03009175,-0.00955977,-0.0254935 , 0.00688704, 0.05591392,
 -0.0134857 , 0.06297246, 0.01205883, 0.02796975,-0.00834793, 0.02644785,
  1.18701841,-0.00440243, 1.18347061, 0.04477589, 0.05864524,-0.07570837,
  0.17146438, 0.99957989, 0.02867474,-0.0031165 ,-0.00284566]

qacc:
[ 5.32437052e+00, 8.51881179e-01,-2.18922452e+00, 1.50811034e+00,
  7.31748756e+00, 8.28300749e+01,-4.25915340e+02, 1.02077958e+03,
 -4.85582346e+00, 5.37038676e+00,-2.13666581e+01, 3.06275631e+01,
  1.82449935e+01,-6.13397175e+00,-9.78679226e+01, 2.88060092e+02,
 -2.63166349e+00, 3.80969148e-01,-2.16863639e-01,-4.45273050e+00,
 -2.45292122e+01,-3.00255105e+00]

qfrc_actuator:
[-0.0001328 , 0.00091433, 0.00029671, 0.00010841,-0.0002979 , 0.09455634,
 -0.00569774, 0.08191786,-0.00056047, 0.00077515, 0.00018329, 0.0001099 ,
  0.01822977, 0.01047255, 0.00049253,-0.00174734, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36678521, -0.00252166, -0.36677654, -0.00252166,  0.52296885,
       -0.00107379, -0.36677654, -0.00107379,  0.36679259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.624511427481852e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51442250e-01, -8.90780639e-01, -5.20552419e-02, -2.35318399e-02,
       -4.64327549e-02,  9.98644207e-01, -8.91989993e-01,  4.52055143e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097518, -0.04390321,  0.27908115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85505523,  5.79976096,  0.80277301,  5.79976096,  6.64706099,
       -5.72197131,  0.80277301, -5.72197131, 47.19434489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005305291416069641
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04633557e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04633557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623093, -0.08983612,  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:
[ 3.20429169e-05, 4.12074176e-05, 1.77774843e-07,-2.60591847e-07,
  5.01244840e-05, 1.29403207e-03, 3.68372392e-04, 1.84239499e-03,
 -2.90822516e-05,-1.05283497e-04,-1.29948940e-04, 8.58095431e-06,
  2.35773777e-02, 1.11180843e-02, 1.06733283e-03, 1.59011469e-03,
  2.18691882e-06, 1.27256772e-07,-4.90500046e+00, 2.43589414e-04,
  1.18259759e-02,-6.80861398e-04]


--- Step 1309 ---
qpos:
[ 0.01868083, 0.0300914 ,-0.00955635,-0.0254891 , 0.00688098, 0.05776036,
 -0.01361739, 0.06462792, 0.01204885, 0.0279691 ,-0.00834814, 0.02644843,
  1.18704257,-0.00435946, 1.183578  , 0.04478597, 0.05863355,-0.07570232,
  0.17146217, 0.99958001, 0.02866375,-0.00317416,-0.00284847]

qacc:
[ 3.51692360e+00, 2.08050391e+00,-1.32128386e+01, 3.63442914e+01,
 -5.89834369e-01, 5.91485178e+01,-2.88040872e+02, 6.76845237e+02,
 -2.35543480e+00,-3.60780084e-01, 2.47286880e+00,-1.06772250e+01,
  1.92334459e+01,-8.14620710e+00,-1.03592727e+02, 3.04295139e+02,
 -2.33286282e+00, 3.87322416e-01,-2.55864622e-01,-2.33062301e+00,
 -2.27570874e+01,-7.99850654e+00]

qfrc_actuator:
[-1.12681760e-04, 9.03426516e-04, 3.07480487e-04, 1.77120845e-04,
 -3.02567591e-04, 9.52409869e-02,-5.61412445e-03, 8.30749132e-02,
 -5.73810664e-04, 7.63171243e-04, 1.64696968e-04, 8.44427454e-05,
  1.82413147e-02, 1.04217194e-02, 4.97401223e-04,-1.50123394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36687996,  0.00282404, -0.36686909,  0.00282404,  0.50112969,
        0.00103341, -0.36686909,  0.00103341,  0.36688791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.93177208427692e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45140085, -0.89080163, -0.05205514, -0.02352964, -0.04643376,
        0.99864421, -0.892011  ,  0.45201368,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097013, -0.04389795,  0.2790445 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85523104,  5.76387702,  1.03026801,  5.76387702,  7.48836927,
       -9.13665938,  1.03026801, -9.13665938, 56.9706499 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000530550520594017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04629341e-13, -1.04629341e-13,  1.00000000e+00, -1.09472990e-26,
        1.00000000e+00,  1.04629341e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04629341e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623181, -0.08983194,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10600851e-05, 1.21524896e-05, 1.92535445e-05, 7.04664691e-05,
 -2.69617533e-06, 1.49466124e-03, 4.36400265e-04, 1.25361549e-03,
 -1.42229236e-05,-9.73714999e-05,-5.60623252e-05,-3.42987727e-05,
  2.20852019e-02, 1.04749011e-02, 2.28024810e-03, 8.26792923e-04,
  4.18970814e-07,-1.66847492e-07,-4.90499997e+00, 2.42194026e-04,
  1.18262994e-02,-6.80760834e-04]


--- Step 1310 ---
qpos:
[ 0.0186771 , 0.03009111,-0.00955309,-0.02548389, 0.00687457, 0.05962123,
 -0.0137488 , 0.0662958 , 0.01203878, 0.02796785,-0.00834807, 0.02644829,
  1.18705531,-0.0043166 , 1.18369235, 0.0447822 , 0.05863051,-0.07569818,
  0.17146098, 0.99958008, 0.0286602 ,-0.00319066,-0.00284352]

qacc:
[-6.47862677e-01, 2.16583478e+00,-1.10099329e+01, 2.51366325e+01,
 -2.88714127e+00, 4.38057779e+01,-1.80783213e+02, 3.84088660e+02,
 -6.88235693e-01,-3.02918291e+00, 1.26527457e+01,-2.49833004e+01,
 -1.02432064e+01, 9.35864103e+00, 5.28718467e+01,-1.68422893e+02,
  2.16144208e+00,-4.79011964e-01, 2.53288865e-01, 3.67363946e+00,
  2.06977029e+01, 3.27836818e+00]

qfrc_actuator:
[-1.17149141e-04, 8.97040980e-04, 2.94678125e-04, 2.15773082e-04,
 -3.20662030e-04, 9.62739720e-02,-5.49389345e-03, 8.37145008e-02,
 -5.77653954e-04, 7.56602351e-04, 1.89463783e-04, 5.15161065e-05,
  1.82457443e-02, 1.03853892e-02, 4.81878120e-04,-1.38809014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36688359, -0.0342941 ,  0.36527727, -0.0342941 ,  0.8340061 ,
        0.04385585,  0.36527727,  0.04385585,  0.371001  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.943059640266779e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45125096, -0.89087603, -0.05208135, -0.0235337 , -0.04646108,
        0.99864285, -0.89208673,  0.45186421,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709502 , -0.04388747,  0.2789715 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85273618, -5.74469779,  1.11936057, -5.74469779,  6.73943748,
        4.55066143,  1.11936057,  4.55066143, 29.20729713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005302471260438119
  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([ 0.02788149, -0.07880386,  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:
[-3.85640332e-06, 7.38514151e-06,-5.52604163e-06, 4.11940498e-05,
 -1.77279231e-05, 1.94356085e-03, 5.02281351e-04, 7.35555770e-04,
 -4.29296842e-06,-7.40821594e-05,-3.43966108e-06,-3.97074756e-05,
  2.05852288e-02, 9.90515494e-03, 3.55624551e-03,-1.21853302e-04,
  4.05647993e-06,-6.94897033e-07,-4.90500116e+00, 2.42660517e-04,
  1.18265250e-02,-6.80542214e-04]


--- Step 1311 ---
qpos:
[ 0.01867335, 0.03009086,-0.00954994,-0.02547895, 0.00686799, 0.06149733,
 -0.01387904, 0.06797255, 0.01202908, 0.0279666 ,-0.00834775, 0.02644803,
  1.1870575 ,-0.00427497, 1.18381794, 0.0447637 , 0.05863546,-0.07569567,
  0.17146029, 0.99958006, 0.02866477,-0.00316894,-0.00282632]

qacc:
[-2.14227774e-01,-1.81661631e-01, 1.87886632e+00,-6.40811719e+00,
 -1.44821155e+00, 3.50629201e+01,-1.33183910e+02, 2.73317244e+02,
  3.21196549e+00,-9.57039807e-01, 3.92671680e+00,-6.48067660e+00,
 -9.08478321e+00, 7.44224892e+00, 6.18377180e+01,-1.90774811e+02,
  1.99952247e+00,-4.04973397e-01, 1.27896963e-01, 4.02683039e+00,
  1.92846490e+01, 5.56009053e+00]

qfrc_actuator:
[-1.18292961e-04, 8.93296050e-04, 2.85785683e-04, 2.00892048e-04,
 -3.28740787e-04, 9.71704085e-02,-5.38710539e-03, 8.41692655e-02,
 -5.58130022e-04, 8.06781666e-04, 2.21884987e-04, 4.99935692e-05,
  1.82432343e-02, 1.03465157e-02, 4.52095344e-04,-1.43465954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36701189, -0.01357835,  0.36676063, -0.01357835,  0.71047261,
        0.01271574,  0.36676063,  0.01271574,  0.36748266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.323175079153187e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45115614, -0.89092375, -0.05208661, -0.02353114, -0.04646828,
        0.99864257, -0.89213476,  0.45176938,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094408, -0.04388389,  0.27893529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005324472185919832
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04256627e-13,  1.04256627e-13,  1.00000000e+00,  1.08694443e-26,
        1.00000000e+00, -1.04256627e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04256627e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02788277, -0.07880073,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25852100e-06, 9.78510793e-07,-6.66488163e-06,-1.39711993e-05,
 -8.02963207e-06, 2.04888653e-03, 5.71546291e-04, 5.62087261e-04,
  1.93700063e-05, 6.35127936e-06, 1.53248562e-05,-5.58790425e-06,
  2.11535478e-02, 9.87116549e-03, 3.17692586e-03, 5.23304478e-04,
  3.54133012e-07,-9.75610169e-08,-4.90500008e+00, 2.42431211e-04,
  1.18266845e-02,-6.80481281e-04]


--- Step 1312 ---
qpos:
[ 0.01866961, 0.03009039,-0.00954652,-0.02547422, 0.00686102, 0.06338553,
 -0.01400626, 0.06965564, 0.01202004, 0.02796567,-0.00834641, 0.02644766,
  1.18702689,-0.00424514, 1.1839481 , 0.04474069, 0.05864313,-0.07569102,
  0.17146106, 0.99958045, 0.02865806,-0.0031315 ,-0.00279728]

qacc:
[ 1.44993881e-01,-1.48448593e+00, 5.74760403e+00,-9.62662361e+00,
 -2.96290736e+00, 2.05720594e+01,-7.68305932e+01, 1.72584140e+02,
  5.59510325e+00,-2.67377066e+00, 1.06302455e+01,-1.44800363e+01,
 -1.83197164e+01, 5.38079414e+00, 2.13873532e+01,-6.27472555e+01,
  6.80429157e-01, 5.33393173e-01, 3.63234016e-01,-5.64832032e+00,
  8.00800665e+00, 5.71712306e+00]

qfrc_actuator:
[-1.17463126e-04, 8.73366336e-04, 2.97009526e-04, 1.90149727e-04,
 -3.48607437e-04, 9.76410527e-02,-5.28939141e-03, 8.44762061e-02,
 -5.25011472e-04, 8.72897042e-04, 2.94321626e-04, 4.92587830e-05,
  1.82528716e-02, 1.02717728e-02, 4.45074472e-04,-1.35759286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36727848, -0.00875957,  0.36717401, -0.00875957,  0.96421072,
        0.01424085,  0.36717401,  0.01424085,  0.36761822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.0211669951894014e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51109840e-01, -8.90947870e-01, -5.20749928e-02, -2.35234588e-02,
       -4.64591407e-02,  9.98643177e-01, -8.92158371e-01,  4.51722747e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095052, -0.04388648,  0.27893186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86297488, -4.49507582,  3.76414238, -4.49507582, 23.51045652,
       21.07432712,  3.76414238, 21.07432712, 31.02958352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005314919548998822
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91665039e-14,  9.12104111e-07,  1.00000000e+00, -3.57239292e-20,
        1.00000000e+00, -9.12104111e-07, -1.00000000e+00,  6.01853108e-36,
        3.91665039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04500828, -0.0929906 ,  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:
[ 7.90955650e-07,-2.13846953e-05, 1.00806331e-05,-1.12198007e-05,
 -1.94619307e-05, 1.68828785e-03, 5.86541314e-04, 4.17731451e-04,
  3.36848778e-05, 7.26114277e-05, 7.54436375e-05,-4.11373325e-08,
  2.16908386e-02, 9.85712976e-03, 2.60527153e-03, 1.33685096e-03,
  9.56047569e-07,-5.59446394e-09,-4.90500024e+00, 2.43084070e-04,
  1.18263936e-02,-6.80550895e-04]


--- Step 1313 ---
qpos:
[ 0.01866591, 0.03008995,-0.00954336,-0.0254693 , 0.00685387, 0.0652837 ,
 -0.01413017, 0.07133909, 0.01201182, 0.02796493,-0.00834385, 0.02644728,
  1.18700342,-0.00423975, 1.18407704, 0.04473892, 0.05864149,-0.07568571,
  0.17146128, 0.99958056, 0.02865334,-0.00314116,-0.00279693]

qacc:
[ 3.24200539e-01, 1.17116649e+00,-4.91874962e+00, 8.55511559e+00,
 -1.39922684e+00, 4.68417018e+00, 9.07265410e-01,-7.27138372e+00,
  6.95658769e+00,-3.20491318e+00, 1.17591545e+01,-1.38657567e+01,
  2.39679710e+01,-4.39089929e+01,-6.82620250e+01, 2.31238137e+02,
 -2.32865416e+00, 1.65919456e-01,-1.38217970e-01, 1.01777864e+00,
 -2.39447665e+01,-1.36718869e+01]

qfrc_actuator:
[-1.15479279e-04, 8.79480463e-04, 2.84458245e-04, 1.99689828e-04,
 -3.57508292e-04, 9.80130241e-02,-5.18169014e-03, 8.44804039e-02,
 -4.84164041e-04, 8.77233675e-04, 3.54386994e-04, 4.90364990e-05,
  1.82668523e-02, 1.02575799e-02, 4.35929190e-04,-1.31719939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88866525,  0.62461492, -0.6321251 ,  0.62461492,  0.49966665,
       -0.38437698, -0.6321251 , -0.38437698,  0.508855  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.310922661773898e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41866263e-01, -8.38501176e-01, -5.74171629e-02, -3.11638352e-02,
       -4.82239149e-02,  9.98350274e-01, -8.39886760e-01,  5.42761671e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07144549, -0.04423313,  0.2804003 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36774857, -0.34340926, -0.13156402, -0.34340926,  0.3269098 ,
        0.10659764, -0.13156402,  0.10659764,  0.08950672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0574267314095555e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45118116, -0.89091411, -0.0520347 , -0.02350892, -0.04642133,
        0.99864528, -0.89212269,  0.45179322,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096088, -0.04388663,  0.27893475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86844438, -5.83109111, -0.66107183, -5.83109111,  6.09228799,
       -1.97444875, -0.66107183, -1.97444875, 23.28438931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005321566417640505
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04313555e-13,  1.04313555e-13,  1.00000000e+00,  1.08813178e-26,
        1.00000000e+00, -1.04313555e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04313555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623411, -0.08981449,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99656220e-06,-4.26387863e-06,-1.61558883e-05, 8.73835904e-06,
 -8.99951454e-06, 1.38439494e-03, 5.18711050e-04, 9.72040217e-05,
  4.18562104e-05, 6.05253799e-05, 8.43406693e-05, 5.49576514e-06,
  2.33438732e-02, 1.04321703e-02, 2.36517348e-03, 1.60199893e-03,
  2.63774050e-06, 6.22918294e-07,-4.90500017e+00, 2.44199338e-04,
  1.18265551e-02,-6.80335532e-04]


--- Step 1314 ---
qpos:
[ 0.01866192, 0.03009001,-0.00954116,-0.02546467, 0.00684667, 0.06718956,
 -0.01425072, 0.07302001, 0.0120038 , 0.0279638 ,-0.00834022, 0.02644699,
  1.18698206,-0.00423566, 1.18419467, 0.04474823, 0.0586312 ,-0.07567971,
  0.17146062, 0.9995803 , 0.02865308,-0.00319558,-0.00282976]

qacc:
[ -2.54766517,  2.74077861, -7.59250317,  3.80005214, -0.38533391,
  -4.4265962 , 41.18352658,-95.97969058,  1.82828117, -3.33501004,
  10.77893348,-10.72312552,  3.90742581, -5.1472516 ,-50.54565225,
 151.82672626, -2.16202287,  0.17339244, -0.21966697,  2.24707079,
 -22.84053161,-15.95323991]

qfrc_actuator:
[-1.30585145e-04, 9.18819537e-04, 2.40324739e-04, 1.85582710e-04,
 -3.59878917e-04, 9.82698168e-02,-5.06949343e-03, 8.43419037e-02,
 -4.74604671e-04, 8.09014605e-04, 3.88665597e-04, 4.90550130e-05,
  1.82597222e-02, 1.02793255e-02, 4.31191922e-04,-1.37601289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88867268,  0.43255194, -0.77629759,  0.43255194,  0.28164442,
       -0.3382353 , -0.77629759, -0.3382353 ,  0.70020844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.808033391271031e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54186506, -0.83850179, -0.05741965, -0.03116512, -0.04822605,
        0.99835013, -0.83988749,  0.54276054,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07145121, -0.04423307,  0.28039688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36783039, -0.09553575, -0.35520715, -0.09553575,  0.03597337,
        0.08925555, -0.35520715,  0.08925555,  0.34382441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.219951735110619e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51211901e-01, -8.90898455e-01, -5.20361688e-02, -2.35111916e-02,
       -4.64218346e-02,  9.98645201e-01, -8.92107081e-01,  4.51824032e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0709583 , -0.04388045,  0.27890495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.8595582 ,   5.6968117 ,   1.3714076 ,   5.6968117 ,
         8.62604448, -11.4919528 ,   1.3714076 , -11.4919528 ,
        53.59700057,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005310766336050765
  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([ 0.09623493, -0.08981035,  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:
[-1.50516503e-05, 3.39728920e-05,-4.67404878e-05,-1.46948340e-05,
 -2.21313591e-06, 1.07114454e-03, 4.40842659e-04,-6.71269876e-05,
  1.08048700e-05,-1.67292587e-05, 5.73288583e-05, 5.63091767e-06,
  2.29793819e-02, 1.16760414e-02, 2.41903676e-03, 4.80480646e-04,
  1.13830521e-07,-5.62699271e-08,-4.90500004e+00, 2.42600029e-04,
  1.18263680e-02,-6.80268423e-04]


--- Step 1315 ---
qpos:
[ 0.01865778, 0.03009046,-0.00953954,-0.02546025, 0.0068395 , 0.06910097,
 -0.01436788, 0.07469874, 0.01199527, 0.02796249,-0.00833641, 0.0264464 ,
  1.18695751,-0.00422147, 1.18432172, 0.04474447, 0.05862924,-0.07567585,
  0.17146072, 0.99958003, 0.02865903,-0.00320965,-0.00284876]

qacc:
[  -1.31268994,   1.70804082,  -4.40440533,   1.27634527,   0.21614837,
   -6.61358826,  43.39006862, -90.48708037,  -4.35552784,  -1.33729633,
    5.73179174, -11.18536855, -10.86462848,  19.29592141,  54.46281849,
 -168.09141627,   2.08099848,  -0.53588088,   0.19190719,   3.06365846,
   20.37236742,   6.32895627]

qfrc_actuator:
[-1.37876385e-04, 9.42096034e-04, 2.13533962e-04, 1.75436543e-04,
 -3.58391321e-04, 9.84558099e-02,-4.93821331e-03, 8.42270561e-02,
 -5.01293363e-04, 7.86522587e-04, 3.89384070e-04, 3.13788152e-05,
  1.82507739e-02, 1.02915177e-02, 4.56679829e-04,-1.36841420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36752416, -0.05921764,  0.36272204, -0.05921764,  0.79366952,
        0.06957207,  0.36272204,  0.06957207,  0.37888243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5870646011814056e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45114974, -0.89092741, -0.05207932, -0.0235275 , -0.04646194,
        0.99864295, -0.89213809,  0.4517628 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094375, -0.04386924,  0.2788475 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.87613357, -5.78416261,  1.03557167, -5.78416261,  6.20101434,
        1.81461431,  1.03557167,  1.81461431, 16.01162157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005330907306123206
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04130776e-13, -1.04130776e-13,  1.00000000e+00, -1.08432184e-26,
        1.00000000e+00,  1.04130776e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04130776e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278849 , -0.07878464,  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:
[-7.71884782e-06, 3.19603184e-05,-2.60713497e-05,-1.06088989e-05,
  1.77390042e-06, 8.01750713e-04, 3.79831773e-04,-6.28001735e-05,
 -2.63800573e-05,-1.97861709e-05, 4.48160215e-06,-1.63068453e-05,
  2.28652182e-02, 1.17532772e-02, 3.00746484e-03,-6.63607668e-05,
  4.88147871e-06, 5.38211429e-07,-4.90500088e+00, 2.45227637e-04,
  1.18266561e-02,-6.80251407e-04]


--- Step 1316 ---
qpos:
[ 0.01865392, 0.03009131,-0.00953801,-0.02545637, 0.0068324 , 0.07102157,
 -0.01448468, 0.07638403, 0.0119858 , 0.02796139,-0.0083325 , 0.02644555,
  1.18692989,-0.00420146, 1.1844599 , 0.04472597, 0.05863497,-0.07567375,
  0.17146113, 0.99957973, 0.02867205,-0.00318635,-0.00285035]

qacc:
[ 2.47149089e+00,-3.60954521e-01, 4.26957525e+00,-1.36531011e+01,
  3.88818683e-01, 2.46079792e+01,-9.77213933e+01, 2.03611103e+02,
 -8.04007850e+00,-5.06548364e-01, 3.32356933e+00,-8.06781200e+00,
 -8.01115789e+00, 1.29548429e+01, 6.17194088e+01,-1.90427548e+02,
  1.92452774e+00,-4.41278785e-01, 7.50925900e-02, 3.51686993e+00,
  1.89389141e+01, 8.15203777e+00]

qfrc_actuator:
[-1.22751615e-04, 9.73392180e-04, 2.14913432e-04, 1.49960734e-04,
 -3.54647654e-04, 9.92374727e-02,-4.79686425e-03, 8.45886263e-02,
 -5.49092940e-04, 8.26917315e-04, 4.05942478e-04, 2.11954374e-05,
  1.82464611e-02, 1.02870897e-02, 4.56238903e-04,-1.37225571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36744514, -0.00448198,  0.36741781, -0.00448198,  0.80493968,
        0.00533681,  0.36741781,  0.00533681,  0.36751024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.411580169067032e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51118006e-01, -8.90942294e-01, -5.20996539e-02, -2.35350551e-02,
       -4.64809113e-02,  9.98641891e-01, -8.92153936e-01,  4.51731506e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094198, -0.04386521,  0.27882362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8824648 ,  5.48837978, -2.11685605,  5.48837978, 10.82036034,
       12.80249835, -2.11685605, 12.80249835, 39.07554525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005338595529531531
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03980815e-13, -1.03980815e-13,  1.00000000e+00, -1.08120098e-26,
        1.00000000e+00,  1.03980815e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03980815e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02788601, -0.07877827,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49085152e-05, 4.32942411e-05, 4.37271600e-06,-2.52294154e-05,
  4.07493649e-06, 1.23413628e-03, 3.26799943e-04, 4.00042492e-04,
 -4.85802280e-05, 2.95252249e-05, 1.24235683e-05,-1.11983845e-05,
  2.30201458e-02, 1.12431909e-02, 2.53398404e-03, 5.83080195e-04,
  6.34553561e-07, 1.69397968e-07,-4.90499992e+00, 2.42977847e-04,
  1.18269333e-02,-6.80460100e-04]


--- Step 1317 ---
qpos:
[ 0.01865028, 0.03009213,-0.00953601,-0.02545316, 0.0068254 , 0.07295454,
 -0.01460134, 0.07808727, 0.01197651, 0.02796036,-0.00832813, 0.02644527,
  1.18689893,-0.00417695, 1.18461303, 0.04469285, 0.05864768,-0.07567299,
  0.17146147, 0.99957937, 0.02869284,-0.00312893,-0.00282964]

qacc:
[ 1.82752227e+00,-2.69686593e+00, 1.23722710e+01,-2.46079019e+01,
  5.28185934e-01, 5.27507146e+01,-2.39809336e+02, 5.39992168e+02,
  1.62806280e+00,-2.83967734e-02,-2.19907561e+00, 1.13013792e+01,
 -7.52665756e+00, 1.14019117e+01, 6.70081347e+01,-2.00866227e+02,
  1.74478440e+00,-3.33077483e-01,-1.52260692e-02, 3.86673027e+00,
  1.73828603e+01, 1.06464532e+01]

qfrc_actuator:
[-1.12309112e-04, 9.56096249e-04, 2.32930597e-04, 1.15691560e-04,
 -3.49603664e-04, 1.00246413e-01,-4.63004239e-03, 8.55299711e-02,
 -5.37912412e-04, 8.33707388e-04, 4.32004204e-04, 5.10829948e-05,
  1.82397073e-02, 1.02551875e-02, 4.50398828e-04,-1.25180907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36754335, -0.00826659,  0.36745037, -0.00826659,  0.84221305,
        0.01067873,  0.36745037,  0.01067873,  0.36778359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.628836900676312e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45111603, -0.89094317, -0.05210175, -0.0235359 , -0.04648283,
        0.99864178, -0.89215491,  0.45172957,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095182, -0.04386756,  0.27882989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86793999,  5.3961736 , -2.30521805,  5.3961736 , 13.4498804 ,
       17.74819816, -2.30521805, 17.74819816, 47.41383999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000532095353877618
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56488355e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.56488355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02788611, -0.07877329,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08879271e-05, 6.69690975e-06, 2.65913944e-05,-3.27694179e-05,
  5.58865795e-06, 1.71174004e-03, 4.50928819e-04, 1.00547390e-03,
  9.76606188e-06, 2.53360049e-05, 3.32645750e-05, 3.13605495e-05,
  2.31662459e-02, 1.09202011e-02, 1.96909486e-03, 1.43948989e-03,
  6.62445692e-07,-3.80775717e-07,-4.90500022e+00, 2.42402213e-04,
  1.18266592e-02,-6.80756114e-04]


--- Step 1318 ---
qpos:
[ 0.0186468 , 0.03009279,-0.00953401,-0.02544999, 0.00681851, 0.07489842,
 -0.01471603, 0.07980983, 0.01196847, 0.02795918,-0.0083242 , 0.02644578,
  1.18687892,-0.00417336, 1.1847683 , 0.04468469, 0.05865021,-0.07567143,
  0.17146148, 0.99957888, 0.02871086,-0.00312097,-0.00282975]

qacc:
[ 1.32177784e+00,-3.21475797e-01, 1.00497969e+00,-1.59869865e+00,
  7.16460571e-01, 4.85643472e+01,-2.33506846e+02, 5.55841178e+02,
  1.05570883e+01, 2.62470526e+00,-1.30254554e+01, 2.75998023e+01,
  2.46133488e+01,-4.12427841e+01,-7.45332868e+01, 2.60459598e+02,
 -2.54574556e+00, 1.98557314e-01,-8.41502100e-02,-1.34438669e+00,
 -2.50224154e+01,-9.69375181e+00]

qfrc_actuator:
[-1.04713831e-04, 9.27651596e-04, 2.24912959e-04, 1.11997474e-04,
 -3.43834222e-04, 1.00816780e-01,-4.51887580e-03, 8.65033831e-02,
 -4.74346641e-04, 7.84901760e-04, 3.92362573e-04, 8.65380723e-05,
  1.82262989e-02, 1.02057954e-02, 4.56552555e-04,-1.15751089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8886505 ,  0.75367993, -0.47081447,  0.75367993,  0.67020744,
       -0.3496837 , -0.47081447, -0.3496837 ,  0.32887675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.205167117989595e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41920602e-01, -8.38462300e-01, -5.74720091e-02, -3.11968305e-02,
       -4.82678941e-02,  9.98347118e-01, -8.39850474e-01,  5.42817816e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07147294, -0.04423417,  0.28038174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36781257, -0.36756501, -0.01349254, -0.36756501,  0.36741833,
        0.01074002, -0.01349254,  0.01074002,  0.07523211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.184924956038414e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51138069e-01, -8.90932703e-01, -5.20899360e-02, -2.35316999e-02,
       -4.64717176e-02,  9.98642398e-01, -8.92143879e-01,  4.51751368e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097191, -0.04387541,  0.27886199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8753422 , -5.81750059,  0.82239461, -5.81750059,  6.16725141,
        2.06492354,  0.82239461,  2.06492354, 20.48231277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005329946130995245
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04149554e-13, -2.08299108e-13,  1.00000000e+00, -2.16942592e-26,
        1.00000000e+00,  2.08299108e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04149554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623675, -0.08979113,  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:
[ 7.90993037e-06,-2.06556970e-05,-4.53005137e-06,-3.13869183e-06,
  6.50427311e-06, 1.59133965e-03, 5.29952670e-04, 1.07400161e-03,
  6.38595655e-05,-2.64613536e-05,-2.92740404e-05, 3.82931121e-05,
  2.33199129e-02, 1.06456414e-02, 1.22521590e-03, 2.26487827e-03,
  4.68345169e-06,-1.04884173e-06,-4.90500171e+00, 2.44001410e-04,
  1.18256224e-02,-6.81144161e-04]


--- Step 1319 ---
qpos:
[ 0.01864308, 0.03009348,-0.00953244,-0.02544722, 0.00681174, 0.07685356,
 -0.01482969, 0.0815478 , 0.01196125, 0.0279582 ,-0.00832139, 0.02644568,
  1.18687333,-0.00417341, 1.18491811, 0.04469413, 0.05864374,-0.07566907,
  0.17146096, 0.9995781 , 0.02873077,-0.00315867,-0.00286043]

qacc:
[-1.95825236e+00, 4.07817025e-01, 3.27232348e-01,-6.71852085e+00,
  7.25248399e-01, 4.36078954e+01,-1.98638214e+02, 4.54320767e+02,
  6.98985211e+00, 2.13961517e+00,-4.68815398e+00,-4.20128104e+00,
  1.53731971e+01,-1.73229581e+01,-6.24653178e+01, 2.04210923e+02,
 -2.25055247e+00, 2.01071294e-01,-1.33397241e-01, 9.63975364e-01,
 -2.32593975e+01,-1.46255110e+01]

qfrc_actuator:
[-1.16606426e-04, 9.28170046e-04, 2.01543191e-04, 9.07838481e-05,
 -3.37686933e-04, 1.01422298e-01,-4.46074800e-03, 8.72744353e-02,
 -4.33733856e-04, 7.91682868e-04, 3.31756243e-04, 5.38713532e-05,
  1.82237084e-02, 1.02227797e-02, 4.54539552e-04,-1.21916560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862627,  0.55513227, -0.69389106,  0.55513227,  0.41758131,
       -0.37684915, -0.69389106, -0.37684915,  0.5871364 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7372390413355767e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54192122, -0.83846041, -0.05749371, -0.03120868, -0.04828607,
        0.99834587, -0.83984963,  0.54281912,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0714785 , -0.04423491,  0.28037638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36769475, -0.27089382, -0.24862817, -0.27089382,  0.20320483,
        0.17922065, -0.24862817,  0.17922065,  0.17242417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9480474774927604e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45112247, -0.89093917, -0.05211434, -0.02354194, -0.04649389,
        0.99864112, -0.8921515 ,  0.45173632,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097726, -0.04387591,  0.2788551 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.88441094,  5.82128947,  0.85958188,  5.82128947,  6.73620229,
       -5.76853013,  0.85958188, -5.76853013, 44.95024561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005340958249271527
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07869632e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07869632e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962372 , -0.08978546,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16737356e-05,-1.21425539e-05,-2.83373471e-05,-2.23285039e-05,
  6.86898666e-06, 1.57796921e-03, 4.63954086e-04, 8.70480557e-04,
  4.24768038e-05,-1.24299440e-05,-6.83972120e-05,-3.40798799e-05,
  2.27694900e-02, 1.17086149e-02, 1.11317839e-03, 9.54127688e-04,
  8.11035072e-08,-1.82263642e-07,-4.90500013e+00, 2.42226450e-04,
  1.18261708e-02,-6.81610010e-04]


--- Step 1320 ---
qpos:
[ 0.01863925, 0.03009384,-0.00953047,-0.02544474, 0.00680579, 0.07881938,
 -0.0149416 , 0.08329862, 0.01195354, 0.02795775,-0.00831956, 0.02644514,
  1.18683299,-0.00418465, 1.18506739, 0.04471786, 0.05863594,-0.07566151,
  0.1714611 , 0.99957813, 0.02872096,-0.00320558,-0.00289842]

qacc:
[-9.57140600e-01,-2.11085392e+00, 8.12173202e+00,-1.34839731e+01,
  5.40641188e+00, 3.55503851e+01,-1.60294299e+02, 3.71264781e+02,
 -4.21979490e+00, 2.56233575e+00,-6.23429471e+00,-2.52536287e-01,
 -1.87640986e+01, 5.69079499e+00,-4.30038544e+01, 1.51571648e+02,
 -3.31383302e-01, 1.29933398e+00, 1.67146343e-01,-1.48642884e+01,
 -4.74546725e+00,-3.47568751e+00]

qfrc_actuator:
[-1.22120251e-04, 9.10435436e-04, 2.22656222e-04, 7.71945750e-05,
 -2.95860809e-04, 1.01990951e-01,-4.36326299e-03, 8.79202726e-02,
 -4.60231428e-04, 8.49279384e-04, 2.94942546e-04, 3.46761321e-05,
  1.82322278e-02, 1.02706760e-02, 4.42906907e-04,-1.27049737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36728639,  0.13610746,  0.34113642,  0.13610746,  0.81285296,
       -0.17777326,  0.34113642, -0.17777326,  0.43821481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.040386124373218e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45101936, -0.89098771, -0.05217708, -0.02356497, -0.04655255,
        0.99863785, -0.89220302,  0.45163455,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096978, -0.04387132,  0.2788163 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.89162426, -4.94433427, -3.20387188, -4.94433427,  9.86199005,
       -6.12721619, -3.20387188, -6.12721619, 15.34737222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005349713416661905
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0376472e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0376472e-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([ 0.06423648, -0.10888086,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86049587e-06,-3.13749562e-05, 1.43142786e-05,-1.55343731e-05,
  4.25697356e-05, 1.51083267e-03, 4.85205933e-04, 7.38384189e-04,
 -2.52519548e-05, 3.50513630e-05,-4.90152997e-05,-2.27648036e-05,
  2.20567733e-02, 1.19385536e-02, 1.37115507e-03, 2.19693403e-05,
  2.62558410e-06, 1.22002372e-06,-4.90499977e+00, 2.43849204e-04,
  1.18272341e-02,-6.82084854e-04]


--- Step 1321 ---
qpos:
[ 0.01863608, 0.03009434,-0.0095282 ,-0.02544216, 0.00680175, 0.0807917 ,
 -0.01504929, 0.08506069, 0.01194523, 0.02795736,-0.00831841, 0.02644511,
  1.18676993,-0.00420104, 1.18520832, 0.04473629, 0.05863164,-0.07565265,
  0.17146285, 0.99957855, 0.02869919,-0.00323518,-0.00293436]

qacc:
[ 5.60478759e+00,-4.58623302e-01, 1.41393763e+00,-8.80881508e-02,
  1.28802007e+01, 1.98802241e+01,-1.05780952e+02, 2.88462148e+02,
 -5.14913901e+00, 2.98177943e+00,-1.26409161e+01, 2.23663697e+01,
 -1.43079795e+01, 7.70889729e+00, 4.58571563e+00,-3.20292228e+01,
  8.74360382e-01, 3.25385767e-01, 4.00922033e-01,-6.00242714e+00,
  8.66163637e+00, 8.00368621e-01]

qfrc_actuator:
[-8.83239503e-05, 9.53099432e-04, 2.52056123e-04, 8.59754996e-05,
 -1.97859158e-04, 1.02125241e-01,-4.22555940e-03, 8.84696163e-02,
 -4.90504651e-04, 8.30439303e-04, 2.54965741e-04, 5.91454651e-05,
  1.82513204e-02, 1.02928749e-02, 4.19930815e-04,-1.35486786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36714062,  0.08293924, -0.35764971,  0.08293924,  1.22918968,
        0.19990983, -0.35764971,  0.19990983,  0.41349986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6733541227601346e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45106245, -0.89096455, -0.0522    , -0.0235776 , -0.04657184,
        0.99863665, -0.8921809 ,  0.45167824,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095882, -0.04385844,  0.27876057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.88033801, -2.31474512,  5.40558324, -2.31474512, 42.96354038,
       15.87953752,  5.40558324, 15.87953752, 12.68017448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005336013196847619
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40597872e-07, -1.04031136e-13,  1.00000000e+00,  1.46265562e-20,
        1.00000000e+00,  1.04031136e-13, -1.00000000e+00,  3.00926554e-36,
        1.40597872e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04645378, -0.09413521,  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:
[ 3.36110044e-05, 2.73790825e-05, 2.41168150e-05, 7.62062962e-06,
  1.00028085e-04, 1.03724318e-03, 5.09431382e-04, 6.37118892e-04,
 -3.09985136e-05,-1.03766572e-05,-3.95830898e-05, 2.38300927e-05,
  2.38131038e-02, 1.25204888e-02, 1.37207004e-03,-7.77620052e-04,
  4.53861826e-06,-1.22236612e-08,-4.90500112e+00, 2.44793567e-04,
  1.18260694e-02,-6.81861069e-04]


--- Step 1322 ---
qpos:
[ 0.01863402, 0.0300952 ,-0.00952601,-0.02543914, 0.00679996, 0.08276638,
 -0.01515254, 0.08682843, 0.01193731, 0.0279564 ,-0.00831747, 0.02644542,
  1.18670605,-0.00421465, 1.18535429, 0.04473811, 0.0586353 ,-0.0756462 ,
  0.17146467, 0.99957888, 0.02868676,-0.00322555,-0.0029555 ]

qacc:
[ 9.59230505e+00, 1.52853941e+00,-6.60659950e+00, 1.38837670e+01,
  1.48904271e+01, 2.30060716e+00,-2.75900324e+01, 1.16725109e+02,
  3.33537754e+00, 5.62006954e-01,-4.55456340e+00, 1.12740960e+01,
 -3.95668064e+00, 6.55795568e+00, 5.80280195e+01,-1.91362105e+02,
  1.98989514e+00,-6.04659678e-01, 1.86485776e-02, 4.63800933e+00,
  1.98289796e+01, 6.81613064e+00]

qfrc_actuator:
[-3.16621859e-05, 9.78416257e-04, 2.50853112e-04, 1.07896594e-04,
 -8.53381447e-05, 1.01963324e-01,-4.12013712e-03, 8.87267364e-02,
 -4.69477962e-04, 7.66004138e-04, 2.30918321e-04, 7.35391334e-05,
  1.82502953e-02, 1.02803354e-02, 4.22825820e-04,-1.40967120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36717534,  0.02306828,  0.36644997,  0.02306828,  1.68638821,
       -0.08304536,  0.36644997, -0.08304536,  0.3724031 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.763360971412197e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45120675, -0.89089206, -0.05219012, -0.02358067, -0.04655922,
        0.99863717, -0.89210785,  0.45182251,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095294, -0.04384502,  0.27871646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005334204524424235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.20332047e-14, -1.04066409e-13,  1.00000000e+00, -5.41490879e-27,
        1.00000000e+00,  1.04066409e-13, -1.00000000e+00,  0.00000000e+00,
       -5.20332047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789282, -0.07874094,  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:
[ 5.76450773e-05, 4.59053927e-05, 7.64930639e-06, 2.40633638e-05,
  1.16520955e-04, 4.76597257e-04, 3.78673364e-04, 3.23438439e-04,
  2.01142402e-05,-7.74293544e-05,-3.02578377e-05, 1.30412044e-05,
  2.49473044e-02, 1.27656408e-02, 1.78961382e-03,-5.67555705e-04,
  2.89776781e-06,-4.66784337e-07,-4.90500135e+00, 2.43887121e-04,
  1.18256881e-02,-6.81395029e-04]


--- Step 1323 ---
qpos:
[ 0.01863266, 0.03009614,-0.00952399,-0.02543585, 0.00679954, 0.08473885,
 -0.01525185, 0.08859911, 0.0119304 , 0.02795444,-0.00831684, 0.02644527,
  1.18664083,-0.00422385, 1.18551298, 0.04472462, 0.0586462 ,-0.07564171,
  0.17146622, 0.99957909, 0.0286842 ,-0.00318013,-0.00295684]

qacc:
[ 5.96257655e+00, 1.19099717e+00,-5.28555637e+00, 1.03948860e+01,
  9.09264822e+00,-7.90569972e+00, 1.16092196e+01, 3.43649481e+01,
  8.55467402e+00,-1.42095692e+00, 5.06237603e+00,-1.17377032e+01,
 -5.79998984e+00, 9.77761374e+00, 6.56460317e+01,-2.01155993e+02,
  1.81015649e+00,-4.86405738e-01,-6.64825254e-02, 4.90931398e+00,
  1.81934497e+01, 9.36638094e+00]

qfrc_actuator:
[ 2.48606187e-06, 9.57548409e-04, 2.31543188e-04, 1.19587420e-04,
 -1.84512257e-05, 1.01536455e-01,-4.05375950e-03, 8.88451069e-02,
 -4.18423370e-04, 6.74811947e-04, 1.98494966e-04, 4.63412241e-05,
  1.82573504e-02, 1.02233256e-02, 4.08383939e-04,-1.25579621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3673462 ,  0.00960115,  0.36722071,  0.00960115,  0.80759348,
       -0.01151046,  0.36722071, -0.01151046,  0.36764715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1833853931397886e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45137956, -0.89080604, -0.0521641 , -0.02357791, -0.04653144,
        0.99863853, -0.8920205 ,  0.45199494,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07095948, -0.0438389 ,  0.27870635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85800927,  5.10841604, -2.86711671,  5.10841604, 16.91383002,
       19.6984419 , -2.86711671, 19.6984419 , 40.9552329 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005308883242832463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56844148e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.56844148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789335, -0.07873598,  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:
[ 3.58372529e-05, 7.37529389e-06,-8.09692430e-06, 1.43739461e-05,
  7.13706763e-05,-1.42434035e-04, 1.96807938e-04, 1.50037674e-04,
  5.16162491e-05,-1.40177361e-04,-5.17024125e-05,-3.13122208e-05,
  2.49953596e-02, 1.25696928e-02, 1.52026428e-03, 4.15622731e-04,
  7.33640238e-07, 6.45145191e-08,-4.90500040e+00, 2.42099010e-04,
  1.18264102e-02,-6.81146684e-04]


--- Step 1324 ---
qpos:
[ 0.01863172, 0.03009736,-0.00952227,-0.0254328 , 0.00679993, 0.08670529,
 -0.01534762, 0.09037196, 0.01192415, 0.02795178,-0.00831673, 0.02644477,
  1.18655101,-0.0042394 , 1.18567719, 0.04470594, 0.05865916,-0.07563541,
  0.17146864, 0.99957968, 0.02867163,-0.00312104,-0.00294117]

qacc:
[  3.59198405,  0.68143786, -0.85592788, -3.15246612,  5.4048328 ,
 -13.41739435, 27.04376995,  9.45949743,  5.67008041, -0.20833109,
   0.84207126, -5.48177246,-15.71242529,  8.12930659, 24.79928765,
 -72.77835956,  0.51520074,  0.45064604,  0.21683062, -5.00146873,
   7.05543898,  8.32207596]

qfrc_actuator:
[ 2.31017938e-05, 9.80105640e-04, 2.19260877e-04, 1.07362660e-04,
  2.10249802e-05, 1.00989734e-01,-3.97657014e-03, 8.89339611e-02,
 -3.85625646e-04, 6.56983057e-04, 1.78972695e-04, 3.03575634e-05,
  1.82693294e-02, 1.01724042e-02, 3.66690236e-04,-1.14888925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36766901,  0.00794168,  0.36758323,  0.00794168,  1.14603902,
       -0.01681679,  0.36758323, -0.01681679,  0.36803234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8950188589393325e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45157052, -0.89071149, -0.05212593, -0.02357058, -0.04649237,
        0.99864052, -0.89192404,  0.45218525,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.070977  , -0.04383918,  0.27872519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82161628, -4.26399267,  3.96353159, -4.26399267, 23.80163471,
       19.34301899,  3.96353159, 19.34301899, 26.63096002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005264589330557578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05442510e-13,  1.25794074e-07,  1.00000000e+00,  1.32640429e-20,
        1.00000000e+00, -1.25794074e-07, -1.00000000e+00, -1.50463277e-36,
       -1.05442510e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04501814, -0.09293179,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16566960e-05, 2.55764223e-05,-1.13009314e-05,-1.19243851e-05,
  4.21095434e-05,-6.53399248e-04, 5.13734740e-05, 8.43628260e-05,
  3.42607567e-05,-1.08178799e-04,-5.59228486e-05,-2.43893633e-05,
  2.50736961e-02, 1.22986676e-02, 8.39738382e-04, 1.28743251e-03,
  2.49116042e-06, 1.32486668e-07,-4.90500067e+00, 2.42258157e-04,
  1.18265281e-02,-6.81044380e-04]


--- Step 1325 ---
qpos:
[ 0.01863138, 0.03009868,-0.00952064,-0.02543026, 0.00680113, 0.08867214,
 -0.01544542, 0.09216325, 0.01191799, 0.02794887,-0.00831715, 0.02644437,
  1.18647625,-0.00427203, 1.18583299, 0.04470492, 0.05866249,-0.07562867,
  0.17147035, 0.99957995, 0.02866219,-0.00311022,-0.00295295]

qacc:
[ 5.13896719e+00,-6.81099105e-01, 4.73129920e+00,-1.33995512e+01,
  5.11421336e+00, 4.39795645e+01,-2.33375438e+02, 5.53897411e+02,
  8.15698256e-01, 1.38007028e+00,-5.80358823e+00, 8.54925575e+00,
  2.52820539e+01,-3.83031650e+01,-6.79620925e+01, 2.14918832e+02,
 -2.40833946e+00, 1.11145793e-01,-1.79631994e-01, 1.59842621e+00,
 -2.45108039e+01,-1.30359745e+01]

qfrc_actuator:
[ 5.33478210e-05, 9.75229341e-04, 2.11381269e-04, 8.12051750e-05,
  6.18176701e-05, 1.01529751e-01,-3.87632067e-03, 8.99100685e-02,
 -3.81598707e-04, 6.83276714e-04, 1.67524431e-04, 3.89270769e-05,
  1.82810784e-02, 1.01696326e-02, 3.19487282e-04,-1.18067670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8887213 ,  0.70788584, -0.53732969,  0.70788584,  0.61908506,
       -0.35522266, -0.53732969, -0.35522266,  0.42074588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.049789052177828e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54210855, -0.83834402, -0.05742498, -0.03118203, -0.04822146,
        0.99834982, -0.83972972,  0.5430046 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07152434, -0.04421591,  0.28035372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3682127 , -0.36145776, -0.07020598, -0.36145776,  0.35738366,
        0.05575365, -0.07020598,  0.05575365,  0.08116322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.928292609501088e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51852755e-01, -8.90572049e-01, -5.20625909e-02, -2.35565720e-02,
       -4.64284535e-02,  9.98643824e-01, -8.91781462e-01,  4.52466379e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099718, -0.04383731,  0.27874721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.81844638, -5.7847794 , -0.62501644, -5.7847794 ,  6.01104436,
       -1.782572  , -0.62501644, -1.782572  , 22.31686966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005260726644208819
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05519931e-13, -1.05519931e-13,  1.00000000e+00,  1.11344558e-26,
        1.00000000e+00,  1.05519931e-13, -1.00000000e+00,  0.00000000e+00,
        1.05519931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624483, -0.08976736,  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:
[ 3.08807801e-05, 6.52060084e-06,-4.44271527e-06,-2.56997241e-05,
  4.21732313e-05, 1.14945584e-04,-5.12295175e-05, 9.43454605e-04,
  4.98907811e-06,-4.67092591e-05,-4.15029557e-05, 1.52812512e-06,
  2.63146429e-02, 1.26134329e-02, 5.13513696e-04, 1.51439674e-03,
  4.42184959e-06, 1.19677380e-06,-4.90500087e+00, 2.43807859e-04,
  1.18264600e-02,-6.80661405e-04]


--- Step 1326 ---
qpos:
[ 0.0186314 , 0.03009986,-0.00951901,-0.02542803, 0.00680213, 0.09064869,
 -0.01554685, 0.09398694, 0.01191228, 0.02794551,-0.00831742, 0.02644405,
  1.18641669,-0.00430411, 1.18597991, 0.04471817, 0.05865703,-0.07562144,
  0.1714711 , 0.9995798 , 0.02865889,-0.00314481,-0.00299872]

qacc:
[ 3.13831650e+00,-8.15335730e-01, 3.93405367e+00,-9.15334749e+00,
 -1.47973805e+00, 8.93797073e+01,-4.35965636e+02, 9.92608190e+02,
  3.77044820e+00,-8.82430340e-01, 1.90729763e+00,-3.63458030e-01,
  1.30603439e+01,-1.14369784e+01,-5.72306594e+01, 1.79095488e+02,
 -2.19519860e+00, 1.20560551e-01,-2.37430912e-01, 3.09045484e+00,
 -2.31757831e+01,-1.63405454e+01]

qfrc_actuator:
[ 7.12720352e-05, 9.53964631e-04, 2.06052984e-04, 6.47984110e-05,
  4.98205693e-05, 1.02859786e-01,-3.72257985e-03, 9.16144279e-02,
 -3.59026641e-04, 6.64853842e-04, 1.78898984e-04, 4.41690280e-05,
  1.83113093e-02, 1.02267785e-02, 2.86010318e-04,-1.10341788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88876269,  0.54466528, -0.70230966,  0.54466528,  0.41800522,
       -0.3650886 , -0.70230966, -0.3650886 ,  0.60562393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.233345957977046e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42129111e-01, -8.38332629e-01, -5.73971329e-02, -3.11680394e-02,
       -4.81973462e-02,  9.98351426e-01, -8.39716965e-01,  5.43024327e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07153311, -0.04421012,  0.28035002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3683251 , -0.22475085, -0.29180547, -0.22475085,  0.14006217,
        0.17580988, -0.29180547,  0.17580988,  0.23291495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.122919417851416e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52064317e-01, -8.90465816e-01, -5.20430975e-02, -2.35587532e-02,
       -4.64054862e-02,  9.98644840e-01, -8.91674177e-01,  4.52677768e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100372, -0.04382975,  0.27873586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.80920879,   5.6290406 ,   1.4355517 ,   5.6290406 ,
         9.22370854, -13.38883008,   1.4355517 , -13.38883008,
        58.30907232,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005249465840937995
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05746285e-13, -1.05746285e-13,  1.00000000e+00, -1.11822768e-26,
        1.00000000e+00,  1.05746285e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05746285e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624575, -0.08976367,  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:
[ 1.88213028e-05,-1.96970055e-05,-5.45895782e-06,-1.67952304e-05,
 -1.03603123e-05, 1.35020508e-03, 1.77992196e-04, 1.71774388e-03,
  2.26940143e-05,-5.29573809e-05,-3.29968613e-06, 1.84087362e-06,
  2.55920363e-02, 1.35256870e-02, 8.97308338e-04, 7.08215679e-04,
  3.42239796e-07, 7.78622916e-08,-4.90500020e+00, 2.42364101e-04,
  1.18259544e-02,-6.80459168e-04]


--- Step 1327 ---
qpos:
[ 0.0186313 , 0.030101  ,-0.00951751,-0.02542567, 0.00680297, 0.09263769,
 -0.01564834, 0.09583646, 0.01190688, 0.02794178,-0.00831672, 0.02644339,
  1.18636431,-0.00432351, 1.1861055 , 0.04473751, 0.05864307,-0.07561363,
  0.1714705 , 0.99957922, 0.02866197,-0.00322358,-0.00307824]

qacc:
[-1.11733708e+00, 5.78861018e-01,-2.67522598e+00, 5.11879607e+00,
 -1.09385425e+00, 6.94841806e+01,-3.32105650e+02, 7.67505371e+02,
  2.71724462e+00,-3.89765098e+00, 1.46209119e+01,-2.18508327e+01,
 -1.47375180e+00, 1.22482839e+01,-4.95987090e+01, 1.28477575e+02,
 -2.12722133e+00, 1.46716643e-01,-3.38884410e-01, 3.20308644e+00,
 -2.25530557e+01,-1.62515644e+01]

qfrc_actuator:
[ 6.40446827e-05, 9.58567570e-04, 2.02206004e-04, 7.19995345e-05,
  4.23477055e-05, 1.03837762e-01,-3.58757540e-03, 9.29355262e-02,
 -3.43462776e-04, 6.73168919e-04, 2.38991287e-04, 2.96372536e-05,
  1.83201200e-02, 1.02735607e-02, 2.93069368e-04,-1.05317866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88863974,  0.4657038 , -0.75683589,  0.4657038 ,  0.30632843,
       -0.3583136 , -0.75683589, -0.3583136 ,  0.66815865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2544458849865774e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42203667e-01, -8.38282314e-01, -5.74277428e-02, -3.11890050e-02,
       -4.82202407e-02,  9.98349665e-01, -8.39668047e-01,  5.43099963e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07153763, -0.04420616,  0.28034313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36801796, -0.00427266, -0.36799315, -0.00427266,  0.01581501,
        0.00408933, -0.36799315,  0.00408933,  0.36797048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.577180514331978e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52162792e-01, -8.90414354e-01, -5.20680990e-02, -2.35752360e-02,
       -4.64251568e-02,  9.98643537e-01, -8.91623809e-01,  4.52776968e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099799, -0.04381807,  0.27869557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005215886811280601
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12854125e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.12854125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624731, -0.0897611 ,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69066602e-06,-8.31827568e-06,-9.20710705e-06, 5.82984273e-06,
 -7.49324289e-06, 1.76899761e-03, 4.69199004e-04, 1.41025781e-03,
  1.62001879e-05,-2.17866027e-05, 4.88467458e-05,-1.68728362e-05,
  2.48409298e-02, 1.35453806e-02, 1.34578242e-03, 4.39071616e-05,
  4.02630697e-06, 3.02343787e-07,-4.90500050e+00, 2.44960507e-04,
  1.18260452e-02,-6.80352884e-04]


--- Step 1328 ---
qpos:
[ 0.01863042, 0.03010197,-0.00951549,-0.02542293, 0.00680372, 0.09463919,
 -0.01574862, 0.09770131, 0.01190033, 0.02793825,-0.00831555, 0.02644252,
  1.18631578,-0.00433033, 1.18623582, 0.04474355, 0.05863746,-0.07560839,
  0.17147075, 0.99957871, 0.02866913,-0.0032606 ,-0.00313992]

qacc:
[-6.63067777e+00,-9.05987287e-01, 1.29401255e+00, 4.61254660e+00,
 -7.06529439e-01, 4.45391700e+01,-1.99128087e+02, 4.52000343e+02,
 -9.79398773e+00,-1.47658198e+00, 6.58871566e+00,-1.12088845e+01,
 -6.76173739e+00, 1.78574818e+01, 4.80082191e+01,-1.56072647e+02,
  2.08898050e+00,-6.45437271e-01, 2.12183637e-01, 2.00849195e+00,
  2.11261773e+01, 8.31449556e+00]

qfrc_actuator:
[ 2.43229617e-05, 9.60896604e-04, 2.34882573e-04, 9.30523534e-05,
  3.76198129e-05, 1.04509108e-01,-3.51920422e-03, 9.37007472e-02,
 -4.03164474e-04, 7.15385934e-04, 2.74193839e-04, 2.13901565e-05,
  1.83162519e-02, 1.03017848e-02, 2.61980957e-04,-1.26520444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36740145, -0.12478401,  0.34556154, -0.12478401,  0.77464839,
        0.14705892,  0.34556154,  0.14705892,  0.42050517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.312031735088294e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52126105e-01, -8.90429009e-01, -5.21360347e-02, -2.36041641e-02,
       -4.64866599e-02,  9.98639992e-01, -8.91641648e-01,  4.52741837e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098028, -0.04380246,  0.27862943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80601207, -5.71986242,  0.99646878, -5.71986242,  6.0611334 ,
        1.46443013,  0.99646878,  1.46443013, 14.21203449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005245567469391588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05824873e-13, -1.05824873e-13,  1.00000000e+00, -1.11989038e-26,
        1.00000000e+00,  1.05824873e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05824873e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789724, -0.07870137,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99250796e-05,-4.04054746e-06, 2.99905539e-05, 2.04808027e-05,
 -4.49472894e-06, 1.74301661e-03, 5.14061305e-04, 8.76278355e-04,
 -5.92466089e-05, 3.95179373e-05, 3.61657336e-05,-7.81244109e-06,
  2.44773297e-02, 1.29403598e-02, 2.37902913e-03,-4.72874262e-04,
  1.50372030e-05, 2.09319047e-06,-4.90500139e+00, 2.51931255e-04,
  1.18269655e-02,-6.80341638e-04]


--- Step 1329 ---
qpos:
[ 0.01862907, 0.03010274,-0.00951302,-0.02542029, 0.00680406, 0.09664985,
 -0.01584603, 0.09957341, 0.01189277, 0.02793498,-0.00831374, 0.02644188,
  1.18627033,-0.00432874, 1.18637403, 0.0447346 , 0.0586397 ,-0.07560537,
  0.17147136, 0.99957822, 0.0286818 ,-0.00325863,-0.00318219]

qacc:
[-4.01182001e+00,-1.69140637e+00, 6.12694178e+00,-8.54860010e+00,
 -2.45748234e+00, 1.89638190e+01,-8.04171030e+01, 1.93887445e+02,
 -8.59136877e+00,-9.44245574e-01, 2.93384297e+00,-1.69080192e-01,
 -4.77502012e+00, 1.24171628e+01, 5.75178246e+01,-1.83082480e+02,
  1.96256758e+00,-5.50554584e-01, 9.00411903e-02, 2.72333977e+00,
  1.97750305e+01, 9.13200403e+00]

qfrc_actuator:
[ 1.30713079e-06, 9.44261275e-04, 2.53360898e-04, 8.66033007e-05,
  1.67906634e-05, 1.04778420e-01,-3.45655042e-03, 9.40438317e-02,
 -4.53428384e-04, 7.42005054e-04, 3.12313831e-04, 3.46710490e-05,
  1.83154707e-02, 1.03494021e-02, 2.22403058e-04,-1.42235598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36710936,  0.00742394,  0.36703429,  0.00742394,  0.85428324,
       -0.00985398,  0.36703429, -0.00985398,  0.36730868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.590810027482721e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45211852, -0.8904305 , -0.05217637, -0.02362208, -0.0465228 ,
        0.99863789, -0.89164502,  0.4527352 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097512, -0.04379449,  0.27859684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82222535,  5.55904114, -1.73071361,  5.55904114,  7.86441267,
        6.55949274, -1.73071361,  6.55949274, 26.89127449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000526533142229238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05427649e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05427649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02789956, -0.07869064,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41884507e-05,-1.18997448e-05, 2.20074728e-05,-5.19657537e-06,
 -2.04681952e-05, 1.31235952e-03, 4.89842318e-04, 4.44105876e-04,
 -5.19993623e-05, 5.59283183e-05, 5.04924647e-05, 1.60821223e-05,
  2.42841339e-02, 1.23590437e-02, 2.10016989e-03, 3.46197772e-05,
  6.09118021e-06, 8.95053871e-07,-4.90499980e+00, 2.45994387e-04,
  1.18275503e-02,-6.80691131e-04]


--- Step 1330 ---
qpos:
[ 0.0186278 , 0.0301033 ,-0.00951055,-0.02541806, 0.0068045 , 0.0986655 ,
 -0.01594003, 0.10145197, 0.01188536, 0.02793175,-0.00831134, 0.02644178,
  1.18622682,-0.00431981, 1.18652538, 0.04471081, 0.05864917,-0.0756041 ,
  0.17147195, 0.99957772, 0.02870107,-0.00322078,-0.00320166]

qacc:
[ 6.79639356e-01,-1.13668742e+00, 5.36073561e+00,-1.22781950e+01,
  5.51250411e-01, 1.02916337e+01,-5.42675661e+01, 1.56557801e+02,
  1.25101210e+00,-4.80860057e-01,-5.55379529e-01, 9.06068356e+00,
 -5.22160064e+00, 1.19535987e+01, 6.48734930e+01,-1.97487107e+02,
  1.80441106e+00,-4.40337845e-01,-5.16135737e-03, 3.27432827e+00,
  1.82674405e+01, 1.08720611e+01]

qfrc_actuator:
[ 6.07194287e-06, 9.16332469e-04, 2.45446028e-04, 6.39906797e-05,
  2.21484292e-05, 1.04787088e-01,-3.38171169e-03, 9.43486206e-02,
 -4.44452163e-04, 7.23612787e-04, 3.34074210e-04, 6.05089797e-05,
  1.83111463e-02, 1.03900507e-02, 2.09232596e-04,-1.41531344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36701795,  0.00447787,  0.36699063,  0.00447787,  0.86738149,
       -0.00610524,  0.36699063, -0.00610524,  0.36709244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3402932915477504e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45213887, -0.89041912, -0.05219424, -0.02363125, -0.04653818,
        0.99863695, -0.89163446,  0.45275599,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098163, -0.04379349,  0.27859505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.81629557,  5.51069456, -1.86052134,  5.51069456,  8.88741095,
        9.09636374, -1.86052134,  9.09636374, 32.75889557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005258105339168567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27862677e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.27862677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02790064, -0.07868223,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04961023e-06,-3.03271151e-05,-7.88329541e-06,-2.24737282e-05,
  4.93426847e-06, 7.87018184e-04, 3.95018953e-04, 3.78086597e-04,
  7.45908561e-06, 2.40585789e-05, 4.01015185e-05, 3.03001009e-05,
  2.41257099e-02, 1.19796458e-02, 1.69035326e-03, 7.90300131e-04,
  1.98403750e-06,-1.54846662e-07,-4.90499941e+00, 2.42338593e-04,
  1.18277316e-02,-6.81076555e-04]


--- Step 1331 ---
qpos:
[ 0.01862659, 0.03010352,-0.00950787,-0.02541578, 0.00680533, 0.10068407,
 -0.01603066, 0.10333281, 0.01187777, 0.02792842,-0.00830886, 0.0264424 ,
  1.18618445,-0.00430501, 1.18669339, 0.04467222, 0.05866521,-0.07560418,
  0.17147221, 0.9995772 , 0.02872784,-0.00315007,-0.00319435]

qacc:
[ 5.85002709e-01,-9.41435496e-01, 2.45871657e+00,-1.54925890e+00,
  2.39784483e+00,-8.86056033e-01,-8.07318926e-01, 3.25217183e+01,
 -1.52917941e+00, 1.11305058e+00,-7.11623293e+00, 1.92645217e+01,
 -5.02107563e+00, 1.04934429e+01, 6.99084236e+01,-2.07649849e+02,
  1.64532941e+00,-3.36365214e-01,-8.06202350e-02, 3.74029835e+00,
  1.68201668e+01, 1.28988993e+01]

qfrc_actuator:
[ 9.39194582e-06, 8.99481082e-04, 2.57461131e-04, 6.75302965e-05,
  4.28881967e-05, 1.04817412e-01,-3.26575471e-03, 9.44507864e-02,
 -4.53940345e-04, 6.96108537e-04, 3.28069243e-04, 9.34747677e-05,
  1.82993616e-02, 1.04064556e-02, 2.00497679e-04,-1.44592649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36707539, -0.00388044,  0.36705487, -0.00388044,  0.91767944,
        0.00582089,  0.36705487,  0.00582089,  0.36713692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4993321919719215e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45218073, -0.89039785, -0.05219443, -0.02363353, -0.04653724,
        0.99863694, -0.89161317,  0.45279792,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099868, -0.04379865,  0.27862019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79304717,  5.43459312, -2.00613886,  5.43459312, 10.44417585,
       12.59982169, -2.00613886, 12.59982169, 39.92573143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005229748791062555
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06144967e-13,  1.06144967e-13,  1.00000000e+00,  1.12667540e-26,
        1.00000000e+00, -1.06144967e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06144967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02790075, -0.07867565,  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:
[ 3.42396888e-06,-3.64489256e-05, 3.96387780e-06, 1.51915635e-06,
  2.11830988e-05, 4.92299763e-04, 3.13593317e-04, 1.48400634e-04,
 -9.27170913e-06,-4.39990295e-06, 4.95458274e-06, 3.59743682e-05,
  2.40164562e-02, 1.16283755e-02, 1.02168022e-03, 1.50110304e-03,
  2.08740015e-06,-1.15077537e-06,-4.90500019e+00, 2.41125185e-04,
  1.18273029e-02,-6.81519884e-04]


--- Step 1332 ---
qpos:
[ 0.01862578, 0.03010368,-0.00950549,-0.02541278, 0.00680607, 0.10270564,
 -0.01611841, 0.10520839, 0.01187012, 0.02792543,-0.00830716, 0.02644306,
  1.18610087,-0.00431329, 1.18686979, 0.04464699, 0.05867742,-0.07559828,
  0.17147274, 0.99957762, 0.02872109,-0.00309389,-0.0031807 ]

qacc:
[ 3.36916385e+00, 2.24370935e+00,-1.11293982e+01, 2.40245950e+01,
 -5.30270570e-01,-1.48421339e+01, 8.06560106e+01,-1.77803397e+02,
 -4.99064837e-01, 2.71689234e+00,-9.23969595e+00, 1.10799976e+01,
 -1.62531835e+01,-7.15182871e+00,-2.74165380e+01, 1.15279301e+02,
 -9.57839098e-01, 1.49394260e+00, 6.65940114e-02,-1.67275771e+01,
 -7.22165346e+00, 3.43136829e+00]

qfrc_actuator:
[ 2.95782438e-05, 9.07238463e-04, 2.45711476e-04, 1.04210049e-04,
  3.70031661e-05, 1.04985071e-01,-3.12644122e-03, 9.41844498e-02,
 -4.56487790e-04, 7.16497262e-04, 2.87922009e-04, 9.48336927e-05,
  1.82937546e-02, 1.04246135e-02, 1.88308826e-04,-1.31571012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36727405, -0.01548924,  0.36694729, -0.01548924,  0.9681481 ,
        0.02536354,  0.36694729,  0.02536354,  0.36834467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.010367502590037e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45223879, -0.89036912, -0.05218141, -0.02363065, -0.0465241 ,
        0.99863762, -0.8915838 ,  0.45285575,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102507, -0.04380915,  0.27866853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79979358, -4.31507199,  3.87527538, -4.31507199, 13.10173868,
        8.13062703,  3.87527538,  8.13062703, 14.85314786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005237981820752774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11956258e-13, -1.05978129e-13,  1.00000000e+00, -2.24627276e-26,
        1.00000000e+00,  1.05978129e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11956258e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06423212, -0.10882344,  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:
[ 2.02692616e-05,-1.17801836e-05,-1.87747976e-05, 3.52744509e-05,
 -4.84504057e-06, 4.38057556e-04, 2.58055650e-04,-2.40011994e-04,
 -2.83055551e-06, 2.05563029e-05,-3.91998816e-05, 2.04136999e-06,
  2.39535096e-02, 1.13530804e-02, 1.73582190e-04, 2.37076122e-03,
  6.23199955e-06,-2.10389013e-06,-4.90500213e+00, 2.42669875e-04,
  1.18260349e-02,-6.82035348e-04]


--- Step 1333 ---
qpos:
[ 0.01862522, 0.03010377,-0.00950352,-0.02540969, 0.0068064 , 0.10473264,
 -0.01620528, 0.10707897, 0.01186319, 0.02792309,-0.00830641, 0.02644336,
  1.18604903,-0.00431028, 1.18701997, 0.04464148, 0.05867852,-0.0755911 ,
  0.1714722 , 0.99957813, 0.0287048 ,-0.00308917,-0.00317034]

qacc:
[ 2.11872558e+00, 1.23879939e+00,-4.91168426e+00, 7.04963900e+00,
 -2.42244875e+00,-5.49214683e+00, 5.09480176e+01,-1.42366894e+02,
  6.07650046e+00, 2.76011237e+00,-7.08451896e+00, 1.88349677e+00,
  2.00576898e+01,-8.22278610e+00,-9.96003480e+01, 2.89456361e+02,
 -2.77752729e+00, 3.20915693e-01,-2.67651363e-01,-4.69786028e+00,
 -2.57790716e+01,-8.89680681e-01]

qfrc_actuator:
[ 4.17780646e-05, 8.94109068e-04, 2.20139363e-04, 1.06836098e-04,
  1.54805125e-05, 1.05464664e-01,-3.00948319e-03, 9.39521719e-02,
 -4.19418363e-04, 7.65226317e-04, 2.45863916e-04, 7.76024526e-05,
  1.83062756e-02, 1.04526700e-02, 1.63540102e-04,-1.18224984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36767622,  0.02987035, -0.36646087,  0.02987035,  1.15955856,
        0.06454661, -0.36646087,  0.06454661,  0.37293744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.909931663588688e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45247627, -0.89025153, -0.05212911, -0.0236193 , -0.04647121,
        0.99864035, -0.8914636 ,  0.45309232,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104446, -0.04380808,  0.27868814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.8175353 ,  -3.06727982,  -4.94322885,  -3.06727982,
        41.60337378, -22.20515854,  -4.94322885, -22.20515854,
        19.59586456,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005259616299038844
  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([ 0.09624898, -0.08973715,  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:
[ 1.27821597e-05,-2.21149176e-05,-2.91334530e-05, 2.14597958e-06,
 -2.15796365e-05, 6.91436413e-04, 2.04184925e-04,-2.17761443e-04,
  3.69874460e-05, 5.22760418e-05,-4.25636663e-05,-1.76669219e-05,
  2.60253581e-02, 1.25350534e-02,-2.74377197e-04, 1.83533308e-03,
  3.99313574e-06, 7.11998103e-07,-4.90500087e+00, 2.43237817e-04,
  1.18260265e-02,-6.81819378e-04]


--- Step 1334 ---
qpos:
[ 0.01862412, 0.03010353,-0.00950147,-0.0254073 , 0.00680645, 0.10677452,
 -0.01629643, 0.10895638, 0.01185606, 0.02792111,-0.00830614, 0.0264438 ,
  1.18600765,-0.00432266, 1.18715814, 0.04465094, 0.05867081,-0.07558342,
  0.17147099, 0.99957823, 0.02869422,-0.0031302 ,-0.00319445]

qacc:
[-4.61139682e+00,-2.11408549e+00, 9.81128694e+00,-2.16044636e+01,
 -1.75534234e+00, 4.55557952e+01,-1.62416198e+02, 2.75459601e+02,
 -1.64796688e+00, 2.12985246e+00,-7.50596423e+00, 1.04783054e+01,
  2.04907144e+01,-3.25415391e+01,-6.48062515e+01, 1.96984846e+02,
 -2.20253680e+00, 1.24499535e-01,-1.66786936e-01, 2.87779976e+00,
 -2.33592186e+01,-1.65835772e+01]

qfrc_actuator:
[ 1.36686106e-05, 8.68490173e-04, 2.22017081e-04, 7.16250108e-05,
  2.68789843e-06, 1.06944400e-01,-2.94059033e-03, 9.43635181e-02,
 -4.30340051e-04, 7.77254953e-04, 2.20897809e-04, 8.51138817e-05,
  1.83245927e-02, 1.04437733e-02, 1.50015041e-04,-1.30707672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862844,  0.5264796 , -0.71587689,  0.5264796 ,  0.39271149,
       -0.36471376, -0.71587689, -0.36471376,  0.62040584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0202829705718795e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42495278e-01, -8.38092758e-01, -5.74404217e-02, -3.12126917e-02,
       -4.82200158e-02,  9.98348936e-01, -8.39478791e-01,  5.43392454e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07158521, -0.04418866,  0.28031452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36794582, -0.23798848, -0.28061648, -0.23798848,  0.1575938 ,
        0.17839778, -0.28061648,  0.17839778,  0.21664815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.442171953126774e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45260492, -0.89018774, -0.05210164, -0.02361353, -0.04644332,
        0.99864179, -0.89139844,  0.45322049,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104561, -0.0437999 ,  0.27866165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.82093209,   5.60907476,   1.55612683,   5.60907476,
         9.3641171 , -12.77144592,   1.55612683, -12.77144592,
        51.85573708,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005263755669373676
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0545921e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0545921e-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([ 0.09624926, -0.0897327 ,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77464583e-05,-4.39371375e-05,-6.23435189e-06,-3.71359492e-05,
 -1.34876465e-05, 1.82290478e-03, 2.02518586e-04, 4.35267995e-04,
 -9.82265236e-06, 3.17785554e-05,-2.00123264e-05, 7.93507398e-06,
  2.44572832e-02, 1.19619614e-02, 1.02115173e-03, 7.24208514e-04,
  9.82973131e-08, 9.11833353e-08,-4.90499989e+00, 2.42347144e-04,
  1.18261525e-02,-6.81453923e-04]


--- Step 1335 ---
qpos:
[ 0.018622  , 0.03010315,-0.00949947,-0.0254057 , 0.00680634, 0.10883689,
 -0.01639151, 0.11085115, 0.01184887, 0.02791943,-0.00830646, 0.02644434,
  1.18600487,-0.00431463, 1.18726738, 0.0446796 , 0.05865464,-0.07557447,
  0.17146861, 0.99957809, 0.02868418,-0.00321426,-0.00324569]

qacc:
[-8.73262400e+00,-1.64520555e+00, 9.00122095e+00,-2.26625338e+01,
 -1.17406165e+00, 7.35474559e+01,-2.95331033e+02, 5.84248421e+02,
 -6.65058035e-01, 2.25180071e+00,-7.86606491e+00, 1.03127417e+01,
  1.93354166e+01, 6.93048954e-01,-1.01754534e+02, 2.91741522e+02,
 -2.11448954e+00, 3.17859904e-01,-2.94656169e-01, 3.03794199e-01,
 -2.18887905e+01,-1.29392970e+01]

qfrc_actuator:
[-3.79389265e-05, 8.71166524e-04, 2.22261614e-04, 3.21993303e-05,
 -4.84744972e-06, 1.08568806e-01,-2.89573459e-03, 9.52932213e-02,
 -4.33929641e-04, 7.85050820e-04, 1.88351916e-04, 8.93589951e-05,
  1.83418333e-02, 1.04348663e-02, 1.37573496e-04,-1.57227087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36778418,  0.01132641, -0.36760973,  0.01132641,  2.14384096,
        0.05472203, -0.36760973,  0.05472203,  0.36947022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.128699686329906e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52657463e-01, -8.90159966e-01, -5.21196294e-02, -2.36244484e-02,
       -4.64579510e-02,  9.98640848e-01, -8.91371475e-01,  4.53273530e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07103473, -0.04378682,  0.27860698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005242381534765472
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05889186e-13, -2.11778372e-13,  1.00000000e+00, -2.24250393e-26,
        1.00000000e+00,  2.11778372e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05889186e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625033, -0.08972952,  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:
[-5.24314637e-05,-2.47971348e-05,-1.09069147e-05,-4.22537021e-05,
 -7.52879120e-06, 2.62738385e-03, 4.34332478e-04, 1.01462777e-03,
 -3.87209073e-06, 2.18145100e-05,-2.81597437e-05, 5.07080151e-06,
  2.39512834e-02, 1.27228783e-02, 1.60586102e-03,-2.90455144e-04,
  2.83542673e-06,-2.11714388e-07,-4.90500085e+00, 2.43768379e-04,
  1.18257820e-02,-6.81204072e-04]


--- Step 1336 ---
qpos:
[ 0.01861894, 0.03010313,-0.00949832,-0.02540426, 0.00680683, 0.1109157 ,
 -0.01648483, 0.11276677, 0.01184237, 0.02791773,-0.00830674, 0.02644423,
  1.18599582,-0.00430511, 1.18737972, 0.04469273, 0.05864765,-0.07556831,
  0.17146739, 0.99957794, 0.02867992,-0.00325405,-0.00328851]

qacc:
[-8.16157977e+00, 2.55244638e+00,-7.75045023e+00, 6.22194461e+00,
  3.08661090e+00, 5.94491699e+01,-2.67635862e+02, 6.11069922e+02,
  5.98560645e+00,-1.50178825e+00, 8.01340381e+00,-1.92177756e+01,
 -7.18984947e+00, 8.10411372e+00, 5.20848173e+01,-1.74322084e+02,
  2.29248704e+00,-6.99738390e-01, 2.91619841e-01, 2.82675284e+00,
  2.22549456e+01, 3.56496841e+00]

qfrc_actuator:
[-8.51978330e-05, 9.08511903e-04, 1.86139320e-04, 2.61382325e-05,
  2.62755532e-05, 1.09345291e-01,-2.81067652e-03, 9.63431642e-02,
 -3.97653921e-04, 7.72463724e-04, 1.87058234e-04, 5.61241561e-05,
  1.83395420e-02, 1.03785619e-02, 1.17086764e-04,-1.80761833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36752059, -0.04069037,  0.36526111, -0.04069037,  0.85915791,
        0.05476878,  0.36526111,  0.05476878,  0.37362188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5792534075937396e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52558909e-01, -8.90207176e-01, -5.21691247e-02, -2.36417960e-02,
       -4.65046562e-02,  9.98638264e-01, -8.91421056e-01,  4.53176015e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101055, -0.04377076,  0.27852122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.81557664, -5.72329461,  1.03190624, -5.72329461,  6.18511497,
        2.04958226,  1.03190624,  2.04958226, 17.18324031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00052572290618913
  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([ 0.02790506, -0.07864691,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87944926e-05, 1.93926733e-05,-4.40671178e-05,-8.32752591e-06,
  3.16277559e-05, 2.30125029e-03, 6.88959413e-04, 1.18847478e-03,
  3.61651200e-05,-5.94866840e-06,-6.56059115e-08,-3.31736564e-05,
  2.20193881e-02, 1.16464486e-02, 3.02995274e-03,-1.48575162e-03,
  1.19018286e-05, 3.25988777e-07,-4.90500275e+00, 2.48680780e-04,
  1.18258799e-02,-6.80927849e-04]


--- Step 1337 ---
qpos:
[ 0.01861601, 0.0301038 ,-0.00949813,-0.02540293, 0.00680836, 0.1130069 ,
 -0.01657468, 0.11469896, 0.01183567, 0.02791564,-0.00830632, 0.02644408,
  1.18598072,-0.00429388, 1.18750206, 0.04469017, 0.05864913,-0.07556453,
  0.1714668 , 0.99957777, 0.02868252,-0.00325291,-0.00331918]

qacc:
[ 1.20932718e+00, 3.35586212e+00,-1.01299341e+01, 9.08270155e+00,
  5.60167238e+00, 4.05270040e+01,-1.89936305e+02, 4.59743614e+02,
 -1.70930472e+00,-2.54791401e+00, 8.55119325e+00,-1.02322816e+01,
 -7.55112080e+00, 8.76566667e+00, 6.28219356e+01,-1.96989151e+02,
  2.12013054e+00,-5.92894953e-01, 1.58026850e-01, 3.38798290e+00,
  2.06442707e+01, 5.46898762e+00]

qfrc_actuator:
[-7.62528025e-05, 9.66216019e-04, 1.46760951e-04, 2.20127853e-05,
  7.99078603e-05, 1.09750918e-01,-2.72336947e-03, 9.71530037e-02,
 -4.09216846e-04, 7.47853439e-04, 2.21869625e-04, 5.43647656e-05,
  1.83281798e-02, 1.03045675e-02, 1.00583138e-04,-1.76723917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36746609,  0.00604013,  0.36741645,  0.00604013,  0.73630662,
       -0.00606354,  0.36741645, -0.00606354,  0.36756577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.458661692881643e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45251969, -0.89022577, -0.05219204, -0.02365016, -0.04652611,
        0.99863707, -0.89144075,  0.45313728,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100093, -0.04376259,  0.27847538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84492475,  5.50676312, -1.95926143,  5.50676312,  9.17453619,
        9.35831285, -1.95926143,  9.35831285, 32.14769946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005292969084823851
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0487715e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0487715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0279073 , -0.07863889,  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:
[ 7.53052146e-06, 5.90671520e-05,-4.10999605e-05,-4.98507788e-06,
  5.57692137e-05, 1.80741784e-03, 6.60957083e-04, 9.46521550e-04,
 -1.05085110e-05,-2.93149662e-05, 3.24419179e-05,-2.66033457e-06,
  2.23210559e-02, 1.14975184e-02, 2.85628087e-03,-6.69827146e-04,
  4.19097009e-06, 2.86343247e-07,-4.90500066e+00, 2.44974631e-04,
  1.18266176e-02,-6.80960861e-04]


--- Step 1338 ---
qpos:
[ 0.01861391, 0.03010459,-0.00949824,-0.02540164, 0.00681054, 0.11510785,
 -0.01666153, 0.11664192, 0.01182923, 0.02791343,-0.00830556, 0.0264439 ,
  1.18595991,-0.00428089, 1.18763974, 0.04467191, 0.05865837,-0.0755627 ,
  0.17146642, 0.99957755, 0.02869294,-0.00321416,-0.00333315]

qacc:
[ 7.01654078e+00, 9.17408242e-01,-2.94892864e+00, 2.84095849e+00,
  3.34928686e+00, 2.65458078e+01,-1.20966571e+02, 2.94041151e+02,
  2.21217107e+00,-1.18941386e+00, 4.12206448e+00,-5.09227776e+00,
 -7.59684277e+00, 8.96766811e+00, 7.07788830e+01,-2.13327513e+02,
  1.94037679e+00,-4.87048742e-01, 5.04351065e-02, 3.86939173e+00,
  1.90441602e+01, 7.80003990e+00]

qfrc_actuator:
[-3.42997584e-05, 9.46893765e-04, 1.23634553e-04, 1.90789445e-05,
  1.10841640e-04, 1.10055758e-01,-2.65488519e-03, 9.76727179e-02,
 -3.95600025e-04, 7.51910220e-04, 2.42174779e-04, 5.34002852e-05,
  1.83222330e-02, 1.02724063e-02, 8.57369772e-05,-1.75032842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36758302,  0.00092285,  0.36758186,  0.00092285,  0.77389934,
       -0.0010201 ,  0.36758186, -0.0010201 ,  0.36758558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.714228469376611e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45252944, -0.89022074, -0.05219331, -0.02365124, -0.04652698,
        0.998637  , -0.89143577,  0.45314708,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100457, -0.04376153,  0.27846494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84886085,  5.44904867, -2.12533335,  5.44904867, 10.94787791,
       13.07314551, -2.12533335, 13.07314551, 39.36652341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005297757671047232
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23911763e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.23911763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0279083 , -0.07863262,  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:
[ 4.21923762e-05, 4.98773941e-06,-1.61718520e-05,-1.92859985e-06,
  3.40381092e-05, 1.41386063e-03, 5.28142814e-04, 6.29530491e-04,
  1.32909222e-05,-5.70271686e-06, 1.81670369e-05,-1.14679348e-06,
  2.26175006e-02, 1.13797550e-02, 2.33924667e-03, 1.30941572e-04,
  1.11037369e-06,-5.77313299e-08,-4.90499991e+00, 2.42381266e-04,
  1.18270135e-02,-6.81088034e-04]


--- Step 1339 ---
qpos:
[ 0.01861199, 0.0301047 ,-0.00949772,-0.0254    , 0.00681273, 0.11721799,
 -0.01674638, 0.11859427, 0.01182335, 0.02791105,-0.00830451, 0.02644336,
  1.18593379,-0.00426594, 1.18779697, 0.04463819, 0.05867464,-0.0755624 ,
  0.1714659 , 0.99957726, 0.02871198,-0.00314112,-0.00332522]

qacc:
[ 1.53376996e+00,-1.95654451e+00, 4.24170147e+00, 1.11063208e+00,
  6.28479805e-02, 2.57319514e+01,-1.13329547e+02, 2.64565538e+02,
  4.76521159e+00,-1.75127033e+00, 7.39058124e+00,-1.37372952e+01,
 -7.65101397e+00, 9.28532579e+00, 7.62682233e+01,-2.23466128e+02,
  1.75681618e+00,-3.82567021e-01,-3.44438389e-02, 4.28435701e+00,
  1.74680595e+01, 1.04358717e+01]

qfrc_actuator:
[-2.65315445e-05, 8.81660398e-04, 1.45490663e-04, 3.45716303e-05,
  1.10395239e-04, 1.10510850e-01,-2.56309436e-03, 9.81417895e-02,
 -3.67255699e-04, 7.37552349e-04, 2.53848357e-04, 3.51605788e-05,
  1.83197217e-02, 1.02823633e-02, 8.70218021e-05,-1.74120853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36786953, -0.00611718,  0.36781867, -0.00611718,  0.82692862,
        0.00763459,  0.36781867,  0.00763459,  0.3679965 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.296199033436617e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45257826, -0.89019684, -0.05217764, -0.02364668, -0.04651173,
        0.99863782, -0.8914111 ,  0.45319559,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102011, -0.0437668 ,  0.27848537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.83270631,  5.3550848 , -2.31160761,  5.3550848 , 13.65343523,
       18.11755008, -2.31160761, 18.11755008, 47.80393742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005278097214301836
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05172658e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05172658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02790832, -0.07862773,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.99765642e-06,-6.58755839e-05, 2.08174483e-05, 1.51034260e-05,
  1.56922663e-06, 1.30265929e-03, 4.42724177e-04, 5.51250114e-04,
  2.87252155e-05,-1.37873999e-05, 1.27038595e-05,-1.78759675e-05,
  2.28997019e-02, 1.13015119e-02, 1.57092253e-03, 9.24675710e-04,
  2.01320405e-06,-6.71461094e-07,-4.90500038e+00, 2.41474958e-04,
  1.18268925e-02,-6.81318755e-04]


--- Step 1340 ---
qpos:
[ 0.01860948, 0.03010444,-0.0094967 ,-0.02539892, 0.00681525, 0.11934113,
 -0.01683162, 0.1205552 , 0.0118175 , 0.02790878,-0.0083037 , 0.02644262,
  1.18585533,-0.00428763, 1.18795699, 0.04460911, 0.05868848,-0.07555727,
  0.17146638, 0.99957766, 0.02870472,-0.00308097,-0.00332474]

qacc:
[-4.96402331e+00,-3.03801807e+00, 1.24599458e+01,-2.25277324e+01,
  1.48158729e+00, 3.57731102e+01,-1.38361632e+02, 2.76452110e+02,
  3.38491847e-01, 3.79728688e-01,-2.68021030e-01,-3.06578396e+00,
 -1.60407922e+01,-1.96030845e+01,-9.59409081e+00, 4.02257364e+01,
 -6.09918240e-01, 1.20797188e+00, 2.50353561e-01,-1.31437151e+01,
 -6.59025884e+00,-3.49518234e+00]

qfrc_actuator:
[-5.67105343e-05, 8.78390561e-04, 1.75775207e-04, 7.50561933e-06,
  1.26988126e-04, 1.11461065e-01,-2.47528364e-03, 9.85953002e-02,
 -3.65983033e-04, 7.47735197e-04, 2.42503993e-04, 2.46377828e-05,
  1.83194430e-02, 1.02811777e-02, 1.02379950e-04,-1.73072854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.888653  ,  0.76442377, -0.45316714,  0.76442377,  0.98883689,
        0.16899492, -0.45316714,  0.16899492,  1.17372164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.4065028573849605e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54275176, -0.83792228, -0.05750458, -0.03126244, -0.04826424,
        0.99834524, -0.83931114,  0.54365137,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07161891, -0.04419119,  0.2802937 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36834584, -0.36568614,  0.04418486, -0.36568614,  0.37218434,
        0.03176849,  0.04418486,  0.03176849,  0.63127065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.158243013439127e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45265619, -0.89015886, -0.0521495 , -0.02363796, -0.04648459,
        0.99863929, -0.89137176,  0.45327297,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104614, -0.04377757,  0.27853217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84435795, -4.49896652,  3.73039141, -4.49896652, 13.80593518,
        9.60190648,  3.73039141,  9.60190648, 17.42455185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005292279428217218
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70031028e-08,  9.70030274e-08,  1.00000000e+00, -9.40959465e-15,
        1.00000000e+00, -9.70030274e-08, -1.00000000e+00,  0.00000000e+00,
        9.70031028e-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([ 0.06534686, -0.10811963,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99423896e-05,-3.51648831e-05, 1.97561907e-05,-2.88771046e-05,
  1.70689055e-05, 1.71424800e-03, 4.02420535e-04, 5.26417348e-04,
  2.10409823e-06, 4.39715002e-06,-1.32366722e-05,-1.10201832e-05,
  2.31652881e-02, 1.12018500e-02, 6.05941627e-04, 1.70742727e-03,
  6.61554446e-06,-1.46833573e-06,-4.90500204e+00, 2.42874409e-04,
  1.18260142e-02,-6.81657750e-04]


--- Step 1341 ---
qpos:
[ 0.01860732, 0.03010421,-0.00949576,-0.02539818, 0.00681861, 0.1214819 ,
 -0.01691817, 0.12251906, 0.01181207, 0.02790642,-0.00830355, 0.02644216,
  1.18579117,-0.00431747, 1.18811088, 0.04459734, 0.05869261,-0.07555153,
  0.17146667, 0.99957772, 0.02870072,-0.00306916,-0.00335094]

qacc:
[ 2.97205174e+00,-4.08779420e-01, 2.95677372e+00,-8.74927792e+00,
  4.12199161e+00, 3.29498830e+01,-9.58384931e+01, 1.34999728e+02,
  3.43936412e+00, 2.27110372e+00,-9.45284317e+00, 1.53894325e+01,
  1.83860001e+01,-2.40084025e+01,-6.29155123e+01, 2.03648697e+02,
 -2.42510019e+00, 1.49207055e-01,-4.57703231e-02, 1.67681349e+00,
 -2.45374013e+01,-1.26476069e+01]

qfrc_actuator:
[-3.79610420e-05, 8.94505047e-04, 1.75475918e-04,-8.83754814e-06,
  1.71256451e-04, 1.12718614e-01,-2.40602699e-03, 9.87702392e-02,
 -3.45154249e-04, 7.19186356e-04, 2.00014177e-04, 3.64999790e-05,
  1.83196001e-02, 1.03288847e-02, 6.30769850e-05,-1.78659802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.8889252 ,  0.71202753, -0.5321699 ,  0.71202753,  0.62585063,
       -0.35198595, -0.5321699 , -0.35198595,  0.41797845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7793968141356062e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54275501, -0.83792547, -0.05742745, -0.03122056, -0.04819946,
        0.99834968, -0.8393106 ,  0.54365221,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07163163, -0.04418494,  0.28029362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36894508, -0.35766752, -0.09052305, -0.35766752,  0.35067509,
        0.07218696, -0.09052305,  0.07218696,  0.08372567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.111355958334806e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45292631, -0.89002478, -0.05209274, -0.02362625, -0.04642686,
        0.99864225, -0.89123485,  0.45354211,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710682 , -0.04377814,  0.27856146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.87675871,  5.57842157,  1.8486497 ,  5.57842157,  8.57665688,
       -8.1471196 ,  1.8486497 , -8.1471196 , 30.46122584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005331666551718767
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08231894e-13,  1.04115947e-13,  1.00000000e+00,  2.16802609e-26,
        1.00000000e+00, -1.04115947e-13, -1.00000000e+00,  0.00000000e+00,
       -2.08231894e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624994, -0.08970949,  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:
[ 1.78645971e-05,-7.12880379e-07,-6.13550367e-06,-1.77299368e-05,
  4.56295541e-05, 2.24187806e-03, 4.62853825e-04, 2.63501082e-04,
  2.08865005e-05,-2.92397677e-05,-4.35804978e-05, 1.13818500e-05,
  2.57810616e-02, 1.30820407e-02, 4.23801268e-04, 1.41920865e-03,
  4.35300716e-06, 5.54349552e-07,-4.90500117e+00, 2.42221447e-04,
  1.18258091e-02,-6.81452526e-04]


--- Step 1342 ---
qpos:
[ 0.01860574, 0.03010388,-0.00949484,-0.02539694, 0.00682316, 0.12364103,
 -0.01700361, 0.12447793, 0.01180727, 0.02790372,-0.00830322, 0.02644147,
  1.18574168,-0.00434354, 1.18825548, 0.0445995 , 0.0586878 ,-0.07554518,
  0.17146643, 0.99957737, 0.02870247,-0.0031031 ,-0.0034093 ]

qacc:
[ 5.02960367e+00, 9.10150881e-01,-5.57342194e+00, 1.43430496e+01,
  5.74064749e+00, 1.09326569e+01, 1.70517222e+01,-1.18092316e+02,
  5.43677135e+00,-1.39307196e+00, 5.22205560e+00,-9.06168840e+00,
  1.04484916e+01,-6.21356032e+00,-5.65209430e+01, 1.76298342e+02,
 -2.23384212e+00, 1.55920482e-01,-1.34661920e-01, 2.90428769e+00,
 -2.33184753e+01,-1.54209259e+01]

qfrc_actuator:
[-8.30265206e-06, 8.86490731e-04, 1.74978334e-04, 1.67711492e-05,
  2.31465510e-04, 1.13795684e-01,-2.29355493e-03, 9.85317144e-02,
 -3.12972972e-04, 7.03053123e-04, 2.10353334e-04, 2.58830306e-05,
  1.83212322e-02, 1.03743323e-02, 1.29828853e-05,-1.64827916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88898766,  0.56098677, -0.68963244,  0.56098677,  0.43496861,
       -0.36932526, -0.68963244, -0.36932526,  0.58855722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9489677370382677e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5427998 , -0.83789783, -0.0574073 , -0.03121214, -0.04818091,
        0.99835084, -0.83928194,  0.54369644,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07164007, -0.04418017,  0.28028989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36905063, -0.22356233, -0.29362945, -0.22356233,  0.13943367,
        0.17482478, -0.29362945,  0.17482478,  0.23594329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.267597631437763e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45310676, -0.8899337 , -0.05207955, -0.02362966, -0.04641033,
        0.99864294, -0.89114303,  0.45372249,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07107646, -0.04377311,  0.27855645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005337095183911289
  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([ 0.09625042, -0.08970649,  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:
[ 3.01793679e-05,-1.04305790e-05,-2.02233300e-06, 2.50170840e-05,
  6.31576835e-05, 2.35704536e-03, 6.13146024e-04,-1.30522051e-04,
  3.27775837e-05,-4.09241037e-05,-6.54368103e-07,-1.31523894e-05,
  2.50677834e-02, 1.35355955e-02, 6.77370044e-04, 6.90970221e-04,
  1.02943535e-06,-6.91318300e-08,-4.90500019e+00, 2.41847908e-04,
  1.18255537e-02,-6.81355388e-04]


--- Step 1343 ---
qpos:
[ 0.0186035 , 0.03010376,-0.00949408,-0.02539508, 0.00682941, 0.12581912,
 -0.01708853, 0.12645197, 0.01180254, 0.02790116,-0.00830271, 0.02644025,
  1.1857    ,-0.00435678, 1.18837952, 0.0446086 , 0.05867435,-0.07553812,
  0.17146517, 0.99957659, 0.02871017,-0.00318153,-0.0034998 ]

qacc:
[-5.72475868e+00, 2.01672899e+00,-9.35082310e+00, 2.00319012e+01,
  8.20360048e+00, 5.45713101e+01,-2.21427137e+02, 4.66697220e+02,
  6.69030948e-01,-1.42820268e+00, 7.62870250e+00,-1.72682675e+01,
 -1.05924547e+00, 1.20040295e+01,-5.10551515e+01, 1.35153362e+02,
 -2.16182747e+00, 1.76864885e-01,-2.53116996e-01, 3.01093290e+00,
 -2.26876046e+01,-1.54380138e+01]

qfrc_actuator:
[-4.34874211e-05, 9.17382736e-04, 1.74316018e-04, 4.90916855e-05,
  3.18319214e-04, 1.14987465e-01,-2.15705849e-03, 9.93300563e-02,
 -3.09878666e-04, 7.47921607e-04, 2.34079733e-04, 2.16803469e-06,
  1.83338524e-02, 1.04097701e-02, 2.08285486e-05,-1.52125053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88876489,  0.47769035, -0.74947646,  0.47769035,  0.3197426 ,
       -0.36267512, -0.74947646, -0.36267512,  0.65760833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2423547542963468e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42895461e-01, -8.37833246e-01, -5.74453750e-02, -3.12384189e-02,
       -4.82092553e-02,  9.98348651e-01, -8.39219089e-01,  5.43793454e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07164427, -0.04417732,  0.28028307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36867942, -0.02066716, -0.36809969, -0.02066716,  0.01487328,
        0.01986464, -0.36809969,  0.01986464,  0.36756411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.703720778492882e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45316749, -0.88990097, -0.05211044, -0.02364688, -0.04643622,
        0.99864133, -0.8911117 ,  0.45378403,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07107213, -0.04376377,  0.2785214 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005315703172124736
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04428614e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04428614e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625167, -0.08970446,  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:
[-3.43099902e-05, 2.57266459e-05,-2.20942921e-06, 3.22861155e-05,
  9.07492994e-05, 2.54967872e-03, 6.65603634e-04, 9.08719023e-04,
  4.03364339e-06, 2.13765467e-05, 1.47603875e-05,-2.57428276e-05,
  2.43468039e-02, 1.33834155e-02, 1.14696913e-03, 1.21067065e-04,
  5.46438049e-06, 5.74138837e-07,-4.90500014e+00, 2.45310753e-04,
  1.18259711e-02,-6.81350895e-04]


--- Step 1344 ---
qpos:
[ 0.0186012 , 0.0301041 ,-0.00949342,-0.02539393, 0.00683701, 0.12801558,
 -0.01717244, 0.12845462, 0.01179824, 0.0278991 ,-0.00830243, 0.02643943,
  1.18562935,-0.00438244, 1.18850037, 0.0446341 , 0.05866006,-0.07552625,
  0.17146445, 0.99957657, 0.0286887 ,-0.00326964,-0.00359836]

qacc:
[-5.23075668e-01,-5.78250871e-01, 5.89922954e+00,-1.82162159e+01,
  6.34380145e+00, 7.98356519e+01,-3.68439251e+02, 8.43130110e+02,
  3.55059070e+00, 2.13213150e+00,-8.34280246e+00, 1.52740508e+01,
 -1.30954028e+01,-4.94451495e-01,-5.37569940e+01, 1.82582921e+02,
 -2.12007417e-01, 1.20049232e+00, 1.32415933e-01,-1.45891116e+01,
 -5.00672041e+00,-3.84181640e+00]

qfrc_actuator:
[-4.55495484e-05, 9.53594228e-04, 1.73716445e-04, 1.41167518e-05,
  3.84658507e-04, 1.16044856e-01,-2.04150559e-03, 1.00785596e-01,
 -2.88427469e-04, 7.93528127e-04, 2.30244893e-04, 2.42520509e-05,
  1.83425032e-02, 1.04286233e-02, 4.88105307e-05,-1.39956900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36794222,  0.0796174 ,  0.35922492,  0.0796174 ,  0.86341218,
       -0.10981429,  0.35922492, -0.10981429,  0.39228109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.435353911183354e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45309241, -0.88993489, -0.05218399, -0.02367643, -0.04650372,
        0.99863749, -0.89114909,  0.45371059,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105556, -0.04375029,  0.27845931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84629655, -5.01014753, -3.01290641, -5.01014753,  8.52523865,
       -4.45479989, -3.01290641, -4.45479989, 13.25416181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005294638113048644
  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([ 0.06422571, -0.10876276,  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:
[-3.05504480e-06, 5.15100911e-05, 5.55085745e-06,-3.33248768e-05,
  7.16856660e-05, 2.57759991e-03, 7.26523778e-04, 1.59614819e-03,
  2.15696190e-05, 5.95819366e-05, 1.52973598e-06, 2.30160009e-05,
  2.39647614e-02, 1.27607235e-02, 2.20117764e-03,-1.04253187e-04,
  1.70629706e-05, 2.69625712e-06,-4.90500078e+00, 2.52927135e-04,
  1.18271620e-02,-6.81437032e-04]


--- Step 1345 ---
qpos:
[ 0.01859924, 0.03010463,-0.00949293,-0.02539351, 0.0068457 , 0.1302266 ,
 -0.01725275, 0.13046789, 0.01179388, 0.02789765,-0.00830234, 0.0264399 ,
  1.18555924,-0.00440152, 1.18862442, 0.04464578, 0.05865416,-0.0755173 ,
  0.17146472, 0.99957658, 0.02867272,-0.00331445,-0.00367985]

qacc:
[ 2.88808113e+00,-7.68337536e-01, 6.18355356e+00,-1.86989703e+01,
  5.10283648e+00, 3.08208119e+01,-1.26207997e+02, 2.91771484e+02,
 -4.76712631e-01, 3.97370159e+00,-1.84551346e+01, 4.06248897e+01,
 -5.19094669e+00, 1.09579369e+01, 4.70687056e+01,-1.56643982e+02,
  2.10006801e+00,-7.27196568e-01, 2.48921263e-01, 2.69167962e+00,
  2.18987157e+01, 7.90102016e+00]

qfrc_actuator:
[-2.80782019e-05, 9.39404883e-04, 1.55393826e-04,-2.46611597e-05,
  4.38369151e-04, 1.16517547e-01,-1.97471143e-03, 1.01284519e-01,
 -2.91838857e-04, 8.39168105e-04, 2.27974188e-04, 9.08488306e-05,
  1.83518016e-02, 1.04399055e-02, 5.60945178e-05,-1.25784909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36758595, -0.09517086,  0.35505202, -0.09517086,  0.92564793,
        0.14958721,  0.35505202,  0.14958721,  0.40768245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.720473294769824e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45315967, -0.88989859, -0.05221898, -0.02369587, -0.04653309,
        0.99863566, -0.89111437,  0.45377878,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07103584, -0.04372919,  0.27838153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.87305931, -3.9376541 ,  4.35748848, -3.9376541 , 14.03546697,
        7.37597772,  4.35748848,  7.37597772, 12.53837788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005327173151747772
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04203767e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04203767e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792031, -0.07857553,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73994683e-05, 1.43178155e-05,-8.16520971e-06,-3.70336779e-05,
  5.81340895e-05, 2.04977667e-03, 7.14482810e-04, 6.56130771e-04,
 -2.76537057e-06, 8.03278613e-05, 1.10389714e-05, 6.96550298e-05,
  2.54221443e-02, 1.33938087e-02, 2.36465937e-03,-7.84017193e-04,
  2.18675823e-05, 2.21930101e-07,-4.90500483e+00, 2.55345951e-04,
  1.18235515e-02,-6.80919625e-04]


--- Step 1346 ---
qpos:
[ 0.01859681, 0.03010477,-0.00949216,-0.02539282, 0.00685531, 0.13244897,
 -0.01733026, 0.13248006, 0.01178917, 0.02789646,-0.00830157, 0.02644115,
  1.18548907,-0.00441363, 1.18875858, 0.04464385, 0.05865602,-0.07551077,
  0.17146549, 0.9995766 , 0.02866355,-0.00331951,-0.00374133]

qacc:
[-3.96791785e+00,-7.51849144e-01, 8.23928351e-01, 3.60125543e+00,
  4.27648045e+00, 4.98695488e+00, 8.47234884e+00,-3.98284601e+01,
 -2.97867340e+00, 6.09989870e-02,-2.97788815e+00, 1.51358582e+01,
 -6.29228047e+00, 1.24120921e+01, 5.67157728e+01,-1.75320002e+02,
  1.94179432e+00,-6.07572684e-01, 1.25911082e-01, 3.36248988e+00,
  2.01673997e+01, 9.41595199e+00]

qfrc_actuator:
[-5.25181989e-05, 8.95059341e-04, 1.62063916e-04,-1.21509981e-05,
  4.84220204e-04, 1.16813401e-01,-1.95794210e-03, 1.01198256e-01,
 -3.09862611e-04, 8.49019463e-04, 2.62192563e-04, 1.29845426e-04,
  1.83438981e-02, 1.04858628e-02, 3.98495717e-05,-1.13368570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36746588,  0.00470519,  0.36743576,  0.00470519,  0.84100249,
       -0.00606387,  0.36743576, -0.00606387,  0.36754353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.458189646102007e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45326878, -0.88984249, -0.05222785, -0.02370561, -0.04653808,
        0.99863519, -0.89105862,  0.45388825,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102923, -0.04371585,  0.27833975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.89161156,  5.42540388, -2.29697181,  5.42540388,  9.24500621,
        7.92065463, -2.29697181,  7.92065463, 24.60004766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005349698005095715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03765018e-13, -1.03765018e-13,  1.00000000e+00, -1.07671791e-26,
        1.00000000e+00,  1.03765018e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03765018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792386, -0.0785649 ,  0.06199039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39283191e-05,-3.96246605e-05, 7.32875568e-06, 1.21159523e-05,
  4.94894382e-05, 1.53453541e-03, 5.21307516e-04, 2.95779334e-05,
 -1.80846294e-05, 6.00722781e-05, 5.45916113e-05, 4.41777918e-05,
  2.53869084e-02, 1.31110358e-02, 2.18658962e-03, 3.10079599e-05,
  1.08945961e-05, 8.28576484e-08,-4.90500213e+00, 2.48038294e-04,
  1.18251050e-02,-6.80777996e-04]


--- Step 1347 ---
qpos:
[ 0.01859411, 0.03010473,-0.00949111,-0.02539167, 0.00686541, 0.13467813,
 -0.01740552, 0.13449846, 0.01178497, 0.02789559,-0.00830029, 0.02644182,
  1.18541853,-0.0044192 , 1.18890756, 0.04462842, 0.05866499,-0.07550621,
  0.17146637, 0.9995766 , 0.02866225,-0.0032883 ,-0.00377893]

qacc:
[-2.34051865e+00,-6.47676148e-02,-2.04967730e+00, 9.71787783e+00,
  2.22982739e+00, 1.53642817e+01,-6.76170861e+01, 1.65490105e+02,
  4.35366074e+00,-2.18540985e+00, 1.08159157e+01,-2.17758661e+01,
 -6.47742954e+00, 1.22702954e+01, 6.33817580e+01,-1.88524735e+02,
  1.77461724e+00,-4.90309566e-01, 2.69475090e-02, 3.90934870e+00,
  1.84821808e+01, 1.14077237e+01]

qfrc_actuator:
[-6.59327847e-05, 9.04135356e-04, 1.83339818e-04, 1.26732288e-05,
  5.07329184e-04, 1.16911775e-01,-1.93630067e-03, 1.01496201e-01,
 -2.83076974e-04, 8.55245686e-04, 2.82008648e-04, 9.90206347e-05,
  1.83363598e-02, 1.05318495e-02, 1.94007560e-05,-1.01475017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36752656, -0.00255428,  0.36751769, -0.00255428,  0.87813896,
        0.0035488 ,  0.36751769,  0.0035488 ,  0.36755123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.592303750419973e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53408617e-01, -8.89771946e-01, -5.22159990e-02, -2.37075254e-02,
       -4.65237981e-02,  9.98635814e-01, -8.90987418e-01,  4.54027996e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07103449, -0.0437095 ,  0.27832966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8864432 ,  5.37114125, -2.40853798,  5.37114125, 10.71402512,
       10.76571126, -2.40853798, 10.76571126, 29.89443326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005343425252317818
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55830245e-13, -1.03886830e-13,  1.00000000e+00, -1.61887103e-26,
        1.00000000e+00,  1.03886830e-13, -1.00000000e+00,  0.00000000e+00,
       -1.55830245e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792587, -0.07855657,  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:
[-1.41279016e-05,-1.10655295e-05, 1.44051635e-05, 2.36151265e-05,
  2.61986716e-05, 9.81863212e-04, 3.74251864e-04, 3.72867700e-04,
  2.62693687e-05, 5.29989584e-05, 4.04755604e-05,-2.55037724e-05,
  2.53821337e-02, 1.28086217e-02, 1.65793240e-03, 8.29547185e-04,
  4.78010975e-06,-1.02236725e-07,-4.90500069e+00, 2.43095865e-04,
  1.18263087e-02,-6.80699647e-04]


--- Step 1348 ---
qpos:
[ 0.01859162, 0.03010503,-0.00949033,-0.02538992, 0.00687606, 0.13691119,
 -0.0174786 , 0.13652599, 0.01178113, 0.02789498,-0.00829926, 0.02644218,
  1.18534787,-0.00442085, 1.18907297, 0.04459854, 0.05868049,-0.07550324,
  0.17146703, 0.99957656, 0.02866978,-0.00322375,-0.00378916]

qacc:
[ 1.73820429e+00, 2.45938487e+00,-1.06788096e+01, 2.13437255e+01,
  2.46481687e+00, 1.77008111e+01,-9.36307688e+01, 2.43728921e+02,
  3.00345706e+00, 3.85263859e-01, 4.23740763e-01,-5.60681788e+00,
 -4.64163900e+00, 8.35391387e+00, 6.84285705e+01,-2.03134657e+02,
  1.63188078e+00,-3.96910253e-01,-5.61432460e-02, 4.39386596e+00,
  1.70719271e+01, 1.31865612e+01]

qfrc_actuator:
[-5.49838731e-05, 9.45207596e-04, 1.77762246e-04, 4.45831573e-05,
  5.34612241e-04, 1.16980440e-01,-1.87681151e-03, 1.01946792e-01,
 -2.65631439e-04, 8.41382297e-04, 2.57576729e-04, 8.06007159e-05,
  1.83450475e-02, 1.05044927e-02, 3.29227782e-05,-1.12439167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36775446, -0.01156266,  0.36757264, -0.01156266,  0.93718271,
        0.01791239,  0.36757264,  0.01791239,  0.36831793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0692692327630725e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53570018e-01, -8.89691297e-01, -5.21884513e-02, -2.37034185e-02,
       -4.64949718e-02,  9.98637254e-01, -8.90905375e-01,  4.54188962e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105032, -0.04370932,  0.27834698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86271514,  5.2879252 , -2.53165478,  5.2879252 , 12.82913372,
       14.55091772, -2.53165478, 14.55091772, 36.25554956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005314603845958249
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.22251073e-14, -2.08900429e-13,  1.00000000e+00, -1.09098473e-26,
        1.00000000e+00,  2.08900429e-13, -1.00000000e+00,  0.00000000e+00,
       -5.22251073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792669, -0.07855006,  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:
[ 1.05305867e-05, 3.88608427e-05,-5.28289503e-06, 3.23907030e-05,
  2.89752525e-05, 6.27197973e-04, 2.91676394e-04, 5.03527690e-04,
  1.82326338e-05, 2.30526307e-05,-9.39295767e-06,-1.52488898e-05,
  2.54086984e-02, 1.24546414e-02, 9.27893671e-04, 1.39463191e-03,
  2.89469584e-06,-3.88073832e-07,-4.90500042e+00, 2.40787469e-04,
  1.18269572e-02,-6.80704075e-04]


--- Step 1349 ---
qpos:
[ 0.01858927, 0.0301052 ,-0.00948947,-0.02538707, 0.00688696, 0.13915066,
 -0.0175511 , 0.13855415, 0.01177718, 0.02789456,-0.00829856, 0.02644337,
  1.18527729,-0.00442034, 1.18925647, 0.04455368, 0.05870196,-0.07550151,
  0.1714672 , 0.99957645, 0.02868697,-0.00312856,-0.00376832]

qacc:
[ 1.29905498e+00, 1.86473764e+00,-1.15108950e+01, 3.04067446e+01,
  1.06840046e+00, 8.12353403e+00,-1.93059626e+01, 2.44418049e+01,
 -9.09533865e-01, 2.84397615e+00,-1.32691650e+01, 2.79484960e+01,
 -3.40608429e+00, 5.72895569e+00, 7.23887745e+01,-2.13656277e+02,
  1.49454364e+00,-3.12846550e-01,-1.22143845e-01, 4.81946654e+00,
  1.57741991e+01, 1.50697440e+01]

qfrc_actuator:
[-4.75382496e-05, 9.16271482e-04, 1.74269977e-04, 9.81691122e-05,
  5.46396893e-04, 1.17475277e-01,-1.79544094e-03, 1.01986489e-01,
 -2.71590600e-04, 8.50908442e-04, 2.42655773e-04, 1.22849765e-04,
  1.83634618e-02, 1.04686330e-02, 2.88688760e-05,-1.32932894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36816055, -0.0187773 ,  0.36768139, -0.0187773 ,  0.99466358,
        0.03199519,  0.36768139,  0.03199519,  0.36979453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.836068342316778e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53748766e-01, -8.89602424e-01, -5.21496480e-02, -2.36950807e-02,
       -4.64556663e-02,  9.98639281e-01, -8.90814572e-01,  4.54367031e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07107562, -0.04371459,  0.27838843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82480153,  5.17513256, -2.67325941,  5.17513256, 15.87644248,
       19.45885768, -2.67325941, 19.45885768, 43.49498332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005268469955944932
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10729687e-13, -1.05364843e-13,  1.00000000e+00, -2.22035005e-26,
        1.00000000e+00,  1.05364843e-13, -1.00000000e+00,  0.00000000e+00,
       -2.10729687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792658, -0.07854499,  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:
[ 7.76285409e-06,-6.92213876e-06, 4.98940501e-06, 5.56914668e-05,
  1.35284163e-05, 8.43450001e-04, 2.34625034e-04, 7.71752992e-05,
 -5.41615853e-06, 1.98270725e-05,-1.18540089e-05, 4.26119282e-05,
  2.54326616e-02, 1.22226788e-02, 9.97574136e-05, 1.91154989e-03,
  5.14786939e-06,-7.90078472e-07,-4.90500132e+00, 2.41354358e-04,
  1.18267999e-02,-6.80807923e-04]


--- Step 1350 ---
qpos:
[ 0.01858772, 0.03010497,-0.00948819,-0.02538393, 0.00689825, 0.14139807,
 -0.01762306, 0.14058079, 0.0117725 , 0.02789428,-0.00829802, 0.02644505,
  1.18521663,-0.00444111, 1.18944168, 0.04453443, 0.05871217,-0.07549916,
  0.17146723, 0.99957624, 0.02869963,-0.00308621,-0.0037615 ]

qacc:
[ 6.85821040e+00,-1.13257383e+00, 2.06010603e+00, 2.50324953e+00,
  1.67460317e+00, 5.87857641e+00, 6.08610009e-01,-3.34289516e+01,
 -6.22841067e+00, 1.69260669e+00,-7.82097011e+00, 1.64892916e+01,
  2.40576885e+01,-4.09287475e+01,-7.70591541e+01, 2.68436415e+02,
 -2.81430726e+00, 1.56703911e-01,-3.26847440e-02,-2.18063108e+00,
 -2.66128381e+01,-6.23644805e+00]

qfrc_actuator:
[-6.71763091e-06, 8.81166971e-04, 1.89538617e-04, 1.10771519e-04,
  5.66711522e-04, 1.18061978e-01,-1.70021428e-03, 1.01926521e-01,
 -3.09027688e-04, 8.56681381e-04, 2.33611044e-04, 1.47228070e-04,
  1.83823728e-02, 1.04811177e-02, 0.00000000e+00,-1.21233001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88876095,  0.84404203, -0.27836861,  0.84404203,  0.81336291,
       -0.22861456, -0.27836861, -0.22861456,  0.19557828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2261842923168153e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43496251e-01, -8.37444176e-01, -5.74375926e-02, -3.12687378e-02,
       -4.81803183e-02,  9.98349099e-01, -8.38829000e-01,  5.44394993e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07169337, -0.04414801,  0.28025614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36877015, -0.3627655 ,  0.06627684, -0.3627655 ,  0.36027159,
       -0.04651677,  0.06627684, -0.04651677,  0.11416116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.845383211976684e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53939830e-01, -8.89507643e-01, -5.21035930e-02, -2.36840666e-02,
       -4.64095830e-02,  9.98641685e-01, -8.90717517e-01,  4.54557262e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07110934, -0.04372467,  0.27845085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84454981, -5.78529596,  0.83012839, -5.78529596,  6.08716214,
        1.69080369,  0.83012839,  1.69080369, 17.62802795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000529251287402624
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04886190e-13, -2.09772381e-13,  1.00000000e+00, -2.20022258e-26,
        1.00000000e+00,  2.09772381e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04886190e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09625967, -0.08969126,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10399595e-05,-3.55727884e-05, 1.63640336e-05, 1.35546548e-05,
  2.13228240e-05, 1.02599971e-03, 2.71296310e-04,-2.35724004e-05,
 -3.75907260e-05, 1.62278556e-05,-4.94461558e-06, 2.56432856e-05,
  2.54471817e-02, 1.21268903e-02,-8.37342673e-04, 2.77683326e-03,
  1.16398016e-05,-1.29997874e-06,-4.90500341e+00, 2.45023011e-04,
  1.18255767e-02,-6.81025324e-04]


--- Step 1351 ---
qpos:
[ 0.01858702, 0.03010462,-0.00948619,-0.02538176, 0.00690937, 0.14365166,
 -0.01769292, 0.1426109 , 0.01176775, 0.02789366,-0.00829733, 0.02644636,
  1.18517334,-0.00446862, 1.18962417, 0.04453763, 0.05871249,-0.0754962 ,
  0.17146694, 0.99957576, 0.02871325,-0.00309248,-0.00378028]

qacc:
[ 7.28096347e+00,-4.19120437e+00, 1.87254162e+01,-3.64123052e+01,
 -7.55733946e-01, 9.39838028e+00,-3.60985610e+01, 8.77036666e+01,
 -5.66586033e-01,-1.62024099e+00, 6.71302548e+00,-1.31504274e+01,
  2.00172360e+01,-2.41781087e+01,-7.34864454e+01, 2.47789358e+02,
 -2.47542233e+00, 1.51571985e-01,-8.15442772e-02, 5.32506969e-01,
 -2.46690120e+01,-1.21049814e+01]

qfrc_actuator:
[ 3.56687006e-05, 8.95934794e-04, 2.33438408e-04, 6.36503202e-05,
  5.56393423e-04, 1.18397897e-01,-1.57911287e-03, 1.02110453e-01,
 -3.11426933e-04, 8.06915095e-04, 2.28072012e-04, 1.25382413e-04,
  1.83847162e-02, 1.04919305e-02, 0.00000000e+00,-1.02551923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88883079,  0.76586596, -0.45107596,  0.76586596,  0.69502766,
       -0.3290515 , -0.45107596, -0.3290515 ,  0.33014586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4868234839530313e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43487555e-01, -8.37451487e-01, -5.74132839e-02, -3.12549605e-02,
       -4.81602805e-02,  9.98350497e-01, -8.38835148e-01,  5.44385521e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07170326, -0.04414431,  0.2802519 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36885796, -0.36629587, -0.04339959, -0.36629587,  0.36440654,
        0.03757027, -0.04339959,  0.03757027,  0.05176201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.980019671413833e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54093305e-01, -8.89429840e-01, -5.20944295e-02, -2.36878960e-02,
       -4.63973401e-02,  9.98642163e-01, -8.90639183e-01,  4.54710728e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07112663, -0.04372633,  0.27846925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.87336558,  5.85028204,  0.52021468,  5.85028204,  6.17222903,
       -3.36098836,  0.52021468, -3.36098836, 43.67070324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005327545197495592
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08392981e-13,  1.04196490e-13,  1.00000000e+00,  2.17138172e-26,
        1.00000000e+00, -1.04196490e-13, -1.00000000e+00,  0.00000000e+00,
       -2.08392981e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962598 , -0.08968506,  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:
[ 4.35675265e-05,-1.15868549e-06, 3.90177868e-05,-4.78248641e-05,
 -8.79766873e-06, 8.80288781e-04, 3.35790842e-04, 2.27395525e-04,
 -3.49704324e-06,-4.06417557e-05,-1.91868662e-06,-2.08259193e-05,
  2.49536194e-02, 1.32023608e-02,-9.25951752e-04, 1.68290027e-03,
  2.26965371e-06,-5.48252127e-07,-4.90500074e+00, 2.42651587e-04,
  1.18256664e-02,-6.81344757e-04]


--- Step 1352 ---
qpos:
[ 0.01858614, 0.03010436,-0.00948406,-0.02537982, 0.00691995, 0.1459139 ,
 -0.01776344, 0.1446582 , 0.01176335, 0.02789273,-0.0082964 , 0.02644739,
  1.18514601,-0.00448741, 1.18978907, 0.04455262, 0.0587038 ,-0.07549255,
  0.17146601, 0.99957491, 0.02873055,-0.00314435,-0.00383055]

qacc:
[-1.50303904e+00,-6.90386369e-01, 3.59172417e+00,-7.74767753e+00,
 -2.38015542e+00, 4.82463227e+01,-2.26535072e+02, 5.14377934e+02,
  3.01565334e+00,-1.67721879e+00, 6.53311432e+00,-1.15003273e+01,
  8.38197368e+00,-1.60422182e-02,-6.21084280e+01, 1.78556530e+02,
 -2.25106808e+00, 1.73887052e-01,-1.61395160e-01, 1.88176773e+00,
 -2.32334538e+01,-1.50858678e+01]

qfrc_actuator:
[ 2.53688986e-05, 9.05015628e-04, 2.40791571e-04, 5.28403179e-05,
  5.28104148e-04, 1.19114512e-01,-1.49752013e-03, 1.03004417e-01,
 -2.93173761e-04, 7.95253358e-04, 2.42137445e-04, 1.11975317e-04,
  1.84027200e-02, 1.04957208e-02, 0.00000000e+00,-1.12346619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88868061,  0.58690723, -0.66730287,  0.58690723,  0.45339878,
       -0.38283973, -0.66730287, -0.38283973,  0.55196483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.306467351839665e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43518575e-01, -8.37429354e-01, -5.74424505e-02, -3.12726757e-02,
       -4.81835540e-02,  9.98348819e-01, -8.38814389e-01,  5.44417507e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07170915, -0.04414242,  0.28024409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36847679, -0.27891013, -0.24079927, -0.27891013,  0.22899919,
        0.16155247, -0.24079927,  0.16155247,  0.18135571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.377300298946053e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45416114, -0.88939339, -0.05212532, -0.02370552, -0.04642302,
        0.99864055, -0.89060412,  0.45477939,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07112974, -0.04372218,  0.2784511 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8753582 ,  5.8318718 ,  0.71351616,  5.8318718 ,  6.5772278 ,
       -5.73667954,  0.71351616, -5.73667954, 52.76368633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005329965568404288
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04149174e-13,  1.04149174e-13,  1.00000000e+00,  1.08470505e-26,
        1.00000000e+00, -1.04149174e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04149174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626076, -0.0896805 ,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03144273e-06, 1.44457707e-05, 1.02395451e-05,-1.04511897e-05,
 -2.85279359e-05, 1.20332136e-03, 2.82714726e-04, 9.38318827e-04,
  1.81363709e-05,-3.56826366e-05, 4.70489458e-06,-1.56243142e-05,
  2.41029346e-02, 1.35444265e-02,-7.93910207e-04, 4.61271958e-04,
  3.85940113e-07, 1.12286587e-07,-4.90499976e+00, 2.42389833e-04,
  1.18261664e-02,-6.81683263e-04]


--- Step 1353 ---
qpos:
[ 0.01858445, 0.03010394,-0.00948259,-0.02537758, 0.00693077, 0.14819043,
 -0.01783706, 0.14673129, 0.01175921, 0.02789211,-0.00829588, 0.02644821,
  1.18509179,-0.00451347, 1.18994696, 0.04458158, 0.05869349,-0.07548402,
  0.17146575, 0.9995748 , 0.02871935,-0.00320746,-0.00388883]

qacc:
[-6.92611724e+00, 2.23452166e+00,-9.45049267e+00, 1.55544108e+01,
  8.48716945e-01, 8.01021179e+01,-3.64853604e+02, 7.99242969e+02,
  2.13439257e+00, 1.12795004e+00,-2.54389379e+00,-6.12681395e-01,
 -1.49632686e+01, 5.81881082e+00,-5.17913366e+01, 1.68001881e+02,
 -4.04050074e-01, 1.21999885e+00, 1.69743611e-01,-1.42448125e+01,
 -5.78711965e+00,-3.79676418e+00]

qfrc_actuator:
[-1.58595438e-05, 8.57253858e-04, 1.91017668e-04, 6.34631446e-05,
  5.42731353e-04, 1.20338653e-01,-1.45547054e-03, 1.04344814e-01,
 -2.80674675e-04, 8.42080864e-04, 2.32308744e-04, 1.03687068e-04,
  1.84242960e-02, 1.05357843e-02, 0.00000000e+00,-1.28407123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36778673,  0.1181817 ,  0.34828173,  0.1181817 ,  0.79323988,
       -0.14436812,  0.34828173, -0.14436812,  0.41677486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.133768298739932e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45410322, -0.8894188 , -0.05219633, -0.02373488, -0.04648777,
        0.99863684, -0.89063288,  0.45472308,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111994, -0.04371372,  0.27840285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85552294, -4.94693788, -3.13288278, -4.94693788,  9.31238943,
       -5.45852016, -3.13288278, -5.45852016, 14.47472834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005305860153134103
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61690485e-08,  3.61689896e-08,  1.00000000e+00, -1.30819794e-15,
        1.00000000e+00, -3.61689896e-08, -1.00000000e+00,  1.97215226e-31,
        3.61690485e-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([ 0.0653383 , -0.10805306,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14883195e-05,-3.80367028e-05,-4.59157823e-05, 1.13840917e-05,
  1.33187292e-05, 1.91057546e-03, 3.27736977e-04, 1.41053172e-03,
  1.30172324e-05, 2.71889554e-05,-1.71680106e-05,-9.96256679e-06,
  2.33264389e-02, 1.31490184e-02, 8.26609157e-05,-2.89799410e-04,
  5.98107555e-06, 1.79625978e-06,-4.90499975e+00, 2.46015447e-04,
  1.18272930e-02,-6.82064142e-04]


--- Step 1354 ---
qpos:
[ 0.01858229, 0.03010287,-0.00948149,-0.02537519, 0.00694134, 0.15048414,
 -0.01791162, 0.14882743, 0.01175524, 0.02789191,-0.00829589, 0.02644926,
  1.18500908,-0.00455656, 1.19009405, 0.04462221, 0.05868239,-0.07547098,
  0.1714659 , 0.99957535, 0.02868276,-0.00327924,-0.00395916]

qacc:
[-4.12626998e+00, 4.99064626e-01,-3.67395040e+00, 7.42093314e+00,
 -1.12937748e+00, 7.22233947e+01,-3.19771263e+02, 7.01388330e+02,
  1.52949574e+00, 2.51822024e+00,-9.16672539e+00, 1.37661702e+01,
 -9.48060245e+00,-7.86478956e+00,-5.10123411e+01, 1.55809948e+02,
 -1.97832650e-01, 1.12569713e+00, 9.94750096e-02,-1.27004098e+01,
 -4.55855501e+00,-5.85838545e+00]

qfrc_actuator:
[-3.94398397e-05, 7.93350737e-04, 1.60957703e-04, 6.87708319e-05,
  5.29285128e-04, 1.21556409e-01,-1.36341958e-03, 1.05529262e-01,
 -2.71669140e-04, 8.70232505e-04, 2.08694502e-04, 1.16262106e-04,
  1.84299939e-02, 1.05746000e-02, 0.00000000e+00,-1.31163802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36745395,  0.08070726, -0.35848116,  0.08070726,  1.17852687,
        0.18260228, -0.35848116,  0.18260228,  0.40856443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.4314307676046874e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54168720e-01, -8.89383341e-01, -5.22307063e-02, -2.37539761e-02,
       -4.65166132e-02,  9.98635045e-01, -8.90598968e-01,  4.54789487e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07110605, -0.04369757,  0.27833702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.84584927,  5.82541483,  0.4883603 ,  5.82541483,  6.16275991,
       -3.78027436,  0.4883603 , -3.78027436, 50.93892142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005294093940177019
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09709733e-13, -1.04854866e-13,  1.00000000e+00, -2.19890860e-26,
        1.00000000e+00,  1.04854866e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09709733e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06422219, -0.10871072,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48019106e-05,-9.41848413e-05,-4.31909286e-05, 2.30698493e-06,
 -1.21035091e-05, 2.32860797e-03, 5.45353625e-04, 1.29542804e-03,
  9.39665507e-06, 3.93884540e-05,-2.04627444e-05, 1.29493077e-05,
  2.46759509e-02, 1.35511912e-02, 4.29997598e-04,-1.01670268e-03,
  9.15025495e-06, 2.32606508e-07,-4.90500195e+00, 2.47617931e-04,
  1.18254274e-02,-6.81801399e-04]


--- Step 1355 ---
qpos:
[ 0.01858055, 0.03010151,-0.00948064,-0.02537281, 0.00695134, 0.15279686,
 -0.01798584, 0.15093647, 0.01175142, 0.02789182,-0.00829581, 0.02645046,
  1.18492785,-0.00459465, 1.19024207, 0.0446468 , 0.05867965,-0.07546104,
  0.17146672, 0.99957581, 0.02865541,-0.0033081 ,-0.00401542]

qacc:
[ 3.62428545e+00, 2.82984829e-01,-1.55062536e+00, 2.02382877e+00,
 -2.46652537e+00, 5.04153980e+01,-1.96567929e+02, 4.01865374e+02,
  1.18654129e+00, 1.49733527e-01,-9.25855848e-01, 3.10819212e+00,
 -3.39454909e+00, 7.95953487e+00, 5.02576398e+01,-1.72971880e+02,
  2.08995848e+00,-7.73803027e-01, 1.69405899e-01, 4.55561732e+00,
  2.16752795e+01, 6.40157481e+00]

qfrc_actuator:
[-1.69282339e-05, 8.09086633e-04, 1.60455128e-04, 7.09062128e-05,
  4.99379683e-04, 1.22708472e-01,-1.27780074e-03, 1.06186521e-01,
 -2.64790378e-04, 8.69196819e-04, 2.12600830e-04, 1.23244058e-04,
  1.84379285e-02, 1.06253502e-02, 0.00000000e+00,-1.35142616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36734661, -0.11750569,  0.34804589, -0.11750569,  0.91609407,
        0.18526566,  0.34804589,  0.18526566,  0.42989517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1843461814609535e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54372108e-01, -8.89279379e-01, -5.22319227e-02, -2.37651687e-02,
       -4.65122619e-02,  9.98634981e-01, -8.90494921e-01,  4.54993182e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07108965, -0.04367447,  0.27825914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86048756, -4.12572819,  4.16217266, -4.12572819, 13.50638518,
        7.57894926,  4.16217266,  7.57894926, 13.37307465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005311896112963344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04503458e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04503458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02793983, -0.07849915,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17593924e-05,-4.57340944e-05,-2.51969980e-05,-3.35041728e-06,
 -2.99367491e-05, 2.53599667e-03, 6.47739178e-04, 7.91215728e-04,
  7.16795610e-06, 1.73142310e-05, 9.96586397e-06, 8.21083205e-06,
  2.61076621e-02, 1.44546139e-02, 9.67207482e-04,-1.64052782e-03,
  1.31377040e-05,-1.67366944e-06,-4.90500503e+00, 2.49847021e-04,
  1.18230923e-02,-6.80931384e-04]


--- Step 1356 ---
qpos:
[ 0.01857874, 0.0301005 ,-0.00948013,-0.02537085, 0.0069609 , 0.15512758,
 -0.01805873, 0.15304895, 0.01174771, 0.0278915 ,-0.00829548, 0.02645142,
  1.18484767,-0.0046265 , 1.19039921, 0.04465573, 0.05868472,-0.07545378,
  0.17146776, 0.99957618, 0.02863818,-0.00329724,-0.00405458]

qacc:
[-5.48920843e-01, 5.97051398e-01, 3.18725795e-01,-7.23635676e+00,
 -1.85927396e+00, 2.70695133e+01,-7.61406433e+01, 1.19125117e+02,
  9.70167432e-01,-1.45811998e+00, 5.75268978e+00,-1.00602167e+01,
 -4.97799475e+00, 1.06096973e+01, 6.13734485e+01,-1.94003658e+02,
  1.94990155e+00,-6.71621557e-01, 5.43114524e-02, 5.00672664e+00,
  2.01175531e+01, 7.96302869e+00]

qfrc_actuator:
[-2.07307583e-05, 8.72510095e-04, 1.59962981e-04, 5.34881204e-05,
  4.77783934e-04, 1.23581628e-01,-1.23245932e-03, 1.06350857e-01,
 -2.59217444e-04, 8.33044095e-04, 2.14850993e-04, 1.09118850e-04,
  1.84402082e-02, 1.06857830e-02, 0.00000000e+00,-1.42877556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36739684,  0.01367153,  0.36714238,  0.01367153,  0.8027015 ,
       -0.01620973,  0.36714238, -0.01620973,  0.36800045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3014179202925385e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54605149e-01, -8.89161365e-01, -5.22132649e-02, -2.37688408e-02,
       -4.64894315e-02,  9.98635957e-01, -8.90375876e-01,  4.55226097e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07108657, -0.04365968,  0.27821919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.86616313,  5.0409498 , -3.00011583,  5.0409498 , 13.48073845,
       12.79440335, -3.00011583, 12.79440335, 27.36398147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005318794353274675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.21839608e-14, -1.04367922e-13,  1.00000000e+00, -5.44633153e-27,
        1.00000000e+00,  1.04367922e-13, -1.00000000e+00,  0.00000000e+00,
       -5.21839608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02794288, -0.07849165,  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:
[-3.18018852e-06, 3.25492663e-05,-1.31553617e-05,-2.03179016e-05,
 -2.26390602e-05, 2.37192808e-03, 6.45184723e-04, 3.00724298e-04,
  5.78849259e-06,-2.40700186e-05, 7.33144430e-06,-1.28823025e-05,
  2.60358802e-02, 1.42655007e-02, 9.17084852e-04,-9.17032937e-04,
  5.36244214e-06,-5.30764416e-07,-4.90500231e+00, 2.45040888e-04,
  1.18248200e-02,-6.80451627e-04]


--- Step 1357 ---
qpos:
[ 0.01857656, 0.03009974,-0.00947937,-0.02536949, 0.00696945, 0.15747529,
 -0.01813017, 0.1551645 , 0.0117441 , 0.02789065,-0.00829525, 0.02645261,
  1.1847683 ,-0.0046516 , 1.19057135, 0.04464942, 0.05869692,-0.07544876,
  0.17146865, 0.99957645, 0.02863171,-0.00325004,-0.00407226]

qacc:
[-3.22229174e+00,-1.62492465e+00, 8.79028184e+00,-1.97316847e+01,
 -4.01158724e+00, 2.46509512e+01,-6.80136358e+01, 1.05599258e+02,
  8.24634084e-01, 2.45505919e-02,-2.08538700e+00, 6.62471001e+00,
 -5.81477838e+00, 1.19296783e+01, 6.88319091e+01,-2.07297228e+02,
  1.78604206e+00,-5.57865324e-01,-3.58358621e-02, 5.34464361e+00,
  1.84849858e+01, 1.01980322e+01]

qfrc_actuator:
[-4.00060757e-05, 8.92999003e-04, 1.77430443e-04, 2.47497069e-05,
  4.25761613e-04, 1.24440625e-01,-1.15913742e-03, 1.06507795e-01,
 -2.54457115e-04, 7.76115262e-04, 1.98176432e-04, 1.18155253e-04,
  1.84231025e-02, 1.07310480e-02, 0.00000000e+00,-1.39834463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3675954 ,  0.00845695,  0.3674981 ,  0.00845695,  0.83924588,
       -0.01085373,  0.3674981 , -0.01085373,  0.36784516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.740601118226371e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54857449e-01, -8.89034336e-01, -5.21790281e-02, -2.37663955e-02,
       -4.64522273e-02,  9.98637747e-01, -8.90247078e-01,  4.55477925e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07109569, -0.04365247,  0.27821287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.85064976,  4.94865891, -3.12103791,  4.94865891, 16.56081248,
       16.98183224, -3.12103791, 16.98183224, 32.77672305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005299933663269196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04739332e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04739332e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02794451, -0.07848579,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93529794e-05, 3.51339733e-05, 2.18702872e-05,-2.81984111e-05,
 -5.26799079e-05, 2.24391078e-03, 6.21825789e-04, 2.76598768e-04,
  4.92144416e-06,-6.94305711e-05,-2.11954858e-05, 8.00476176e-06,
  2.59656936e-02, 1.39999578e-02, 4.58504724e-04,-1.03930089e-04,
  2.20856883e-06, 3.39576347e-08,-4.90500096e+00, 2.42094832e-04,
  1.18260659e-02,-6.80122587e-04]


--- Step 1358 ---
qpos:
[ 0.01857451, 0.03009907,-0.00947834,-0.02536846, 0.00697731, 0.15984138,
 -0.01820069, 0.15728207, 0.01174057, 0.02788947,-0.00829554, 0.02645356,
  1.18468997,-0.0046712 , 1.19076135, 0.04462749, 0.05871567,-0.07544558,
  0.17146911, 0.9995766 , 0.02863661,-0.00316954,-0.0040642 ]

qacc:
[ 1.12745124e+00,-1.33315228e+00, 6.34008335e+00,-1.26513871e+01,
 -2.81041290e+00, 2.58426997e+01,-6.51287575e+01, 8.42061254e+01,
  7.14072263e-01, 5.49256325e-01,-1.54752318e+00,-1.57285528e+00,
 -4.96022347e+00, 1.01115543e+01, 7.41744784e+01,-2.20012912e+02,
  1.63583933e+00,-4.60037008e-01,-1.08944150e-01, 5.65444028e+00,
  1.70404345e+01, 1.23666061e+01]

qfrc_actuator:
[-3.27209778e-05, 8.87698721e-04, 1.87452477e-04, 7.31962277e-06,
  3.91725412e-04, 1.25533476e-01,-1.05193860e-03, 1.06623764e-01,
 -2.50212842e-04, 7.60371188e-04, 1.70379589e-04, 1.05209960e-04,
  1.84050006e-02, 1.07641916e-02, 0.00000000e+00,-1.52819710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 3.67955832e-01,  5.09159724e-04,  3.67955480e-01,  5.09159724e-04,
        9.00903191e-01, -7.37467831e-04,  3.67955480e-01, -7.37467831e-04,
        3.67956853e-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: -6.461084429570927e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45511978, -0.88890275, -0.05213341, -0.02375926, -0.04640464,
        0.99864013, -0.89011319,  0.45573952,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111569, -0.04365202,  0.27823563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.8187766 ,  4.82914922, -3.24614832,  4.82914922, 20.83225325,
       22.33487569, -3.24614832, 22.33487569, 39.04536919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005261129065255443
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27559299e-14, -1.05511860e-13,  1.00000000e+00, -5.56637628e-27,
        1.00000000e+00,  1.05511860e-13, -1.00000000e+00,  0.00000000e+00,
       -5.27559299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02794501, -0.07848123,  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:
[ 6.73501266e-06, 1.76717330e-05, 1.89963349e-05,-1.57201094e-05,
 -3.66458419e-05, 2.39972213e-03, 6.25359395e-04, 2.28844449e-04,
  4.36268977e-06,-5.85895181e-05,-4.44717180e-05,-1.65004512e-05,
  2.59063783e-02, 1.36956878e-02,-2.94477999e-04, 5.27167719e-04,
  3.09236052e-06, 9.53544392e-08,-4.90500090e+00, 2.41430929e-04,
  1.18266458e-02,-6.79950641e-04]


--- Step 1359 ---
qpos:
[ 0.01857257, 0.03009835,-0.00947741,-0.02536726, 0.00698469, 0.16222408,
 -0.01826887, 0.1593952 , 0.01173643, 0.02788801,-0.00829566, 0.02645429,
  1.1846285 ,-0.00469653, 1.19093792, 0.04461915, 0.05872434,-0.07544177,
  0.1714695 , 0.99957646, 0.02864267,-0.00313811,-0.00408078]

qacc:
[ 8.83838782e-01, 5.57707875e-01,-2.80191247e+00, 5.95997095e+00,
 -1.88567798e+00, 6.35740977e+00, 2.74931063e+01,-1.19102071e+02,
 -5.19943166e+00,-1.28292737e+00, 4.94062433e+00,-8.72619198e+00,
  1.88938141e+01,-2.22314392e+01,-6.24030969e+01, 1.86228102e+02,
 -2.52041553e+00, 1.57525263e-01,-1.62258989e-02, 6.48302479e-01,
 -2.48752135e+01,-1.16156454e+01]

qfrc_actuator:
[-2.76085343e-05, 8.66980395e-04, 1.75138343e-04, 1.44047870e-05,
  3.68581148e-04, 1.26314629e-01,-9.59953892e-04, 1.06395443e-01,
 -2.81810911e-04, 7.69337797e-04, 1.89639446e-04, 9.72095663e-05,
  1.84128811e-02, 1.08063728e-02, 0.00000000e+00,-1.57020858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88862593,  0.76457673, -0.45285592,  0.76457673,  0.70276073,
       -0.31380447, -0.45285592, -0.31380447,  0.35881594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6917442822825736e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43990032e-01, -8.37126794e-01, -5.73896902e-02, -3.12709586e-02,
       -4.81217591e-02,  9.98351854e-01, -8.38508779e-01,  5.44888087e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07176443, -0.04410848,  0.28021041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36850338, -0.36558868, -0.04625647, -0.36558868,  0.36405329,
        0.03517132, -0.04625647,  0.03517132,  0.09052634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.420969326348573e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45538651, -0.88876924, -0.0520803 , -0.0237489 , -0.04635027,
        0.9986429 , -0.88997703,  0.45600535,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07114536, -0.04365756,  0.27828366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79726267, -5.74703891,  0.76144487, -5.74703891,  6.05668047,
        1.95796734,  0.76144487,  1.95796734, 20.57510803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005234893620931075
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06040648e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06040648e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09627383, -0.08966923,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31565290e-06,-7.56733675e-06,-6.87326551e-06, 8.18990086e-06,
 -2.47312055e-05, 2.17318497e-03, 6.40849466e-04,-1.09681057e-04,
 -3.14918991e-05,-3.36563298e-05, 1.12005518e-06,-1.23707921e-05,
  2.58622132e-02, 1.34633994e-02,-1.19114112e-03, 1.26566518e-03,
  7.93088483e-06,-2.37857122e-07,-4.90500213e+00, 2.43460526e-04,
  1.18262857e-02,-6.79940211e-04]


--- Step 1360 ---
qpos:
[ 0.0185707 , 0.03009767,-0.00947665,-0.02536599, 0.00699174, 0.16461831,
 -0.01833347, 0.16150127, 0.01173194, 0.02788643,-0.00829564, 0.02645455,
  1.18458544,-0.0047186 , 1.19110454, 0.04462569, 0.05872374,-0.0754373 ,
  0.17146947, 0.99957593, 0.02865278,-0.0031531 ,-0.00412776]

qacc:
[ 6.49715455e-01, 6.90568111e-01,-2.68227241e+00, 4.15349764e+00,
 -1.28396398e+00,-9.07660243e+00, 8.34125567e+01,-2.17298263e+02,
 -2.95138061e+00,-1.51374162e+00, 7.17729726e+00,-1.54655923e+01,
  1.38513434e+01,-9.63894411e+00,-6.06469856e+01, 1.88785164e+02,
 -2.31568888e+00, 1.62788808e-01,-1.05373792e-01, 2.07116387e+00,
 -2.36319639e+01,-1.45351559e+01]

qfrc_actuator:
[-2.38245600e-05, 8.72616328e-04, 1.67432693e-04, 1.80726893e-05,
  3.52027650e-04, 1.26601386e-01,-8.96654155e-04, 1.06019456e-01,
 -2.98746950e-04, 7.75477491e-04, 2.01144991e-04, 7.44924821e-05,
  1.84348886e-02, 1.08274966e-02, 0.00000000e+00,-1.31618767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88865799,  0.66313476, -0.59157866,  0.66313476,  0.56186823,
       -0.36631755, -0.59157866, -0.36631755,  0.47803145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.789268919838736e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5440199 , -0.83710904, -0.05736547, -0.03125944, -0.04810036,
        0.99835325, -0.83848983,  0.54491725,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07177427, -0.04410438,  0.28020659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36863582, -0.31024137, -0.19910465, -0.31024137,  0.26711278,
        0.15819141, -0.19910465,  0.15819141,  0.12214475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.6346884585505e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55559802e-01, -8.88681161e-01, -5.20678479e-02, -2.37522372e-02,
       -4.63345660e-02,  9.98643550e-01, -8.89888250e-01,  4.56178586e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07116053, -0.04365727,  0.27829592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.81521507,  5.78499299,  0.59210006,  5.78499299,  6.36846905,
       -5.40545531,  0.59210006, -5.40545531, 58.62811516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005256788348771552
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11197969e-13, -2.11197969e-13,  1.00000000e+00, -4.46045823e-26,
        1.00000000e+00,  2.11197969e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11197969e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09627439, -0.08966495,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93727182e-06, 3.55831144e-07,-9.83516841e-06, 3.26259243e-06,
 -1.74681108e-05, 1.54029259e-03, 5.55431104e-04,-2.73122466e-04,
 -1.78756102e-05,-1.29512001e-05, 4.27723304e-06,-2.43589828e-05,
  2.50407644e-02, 1.37716966e-02,-5.22681818e-04, 8.39629237e-04,
  1.49743655e-06,-4.11882667e-07,-4.90500024e+00, 2.41844985e-04,
  1.18262634e-02,-6.80094124e-04]


--- Step 1361 ---
qpos:
[ 0.01856958, 0.03009752,-0.00947621,-0.02536508, 0.00699853, 0.16702563,
 -0.01839847, 0.1636119 , 0.01172763, 0.02788495,-0.00829581, 0.0264535 ,
  1.18455499,-0.00472792, 1.19125216, 0.04464084, 0.0587143 ,-0.0754321 ,
  0.17146857, 0.99957498, 0.02866766,-0.00321296,-0.00420616]

qacc:
[  6.40644024,  0.82317042, -0.41627392, -5.73168239, -1.03085903,
  27.65580172,-92.16374103,160.32848808,  1.49108736, -2.07179061,
  13.09778746,-35.59142863,  2.8534368 ,  8.49294844,-54.07457102,
 148.4627867 , -2.21229985,  0.18547043, -0.21820076,  2.43678153,
 -22.86457756,-15.06608036]

qfrc_actuator:
[ 1.46531147e-05, 9.29501913e-04, 1.62611371e-04, 1.97022664e-06,
  3.39478918e-04, 1.27424325e-01,-8.52731320e-04, 1.06269360e-01,
 -2.89152870e-04, 7.79857571e-04, 1.90200295e-04, 7.78095902e-06,
  1.84379984e-02, 1.08115359e-02, 0.00000000e+00,-1.13982186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861454,  0.52690101, -0.71554953,  0.52690101,  0.38336821,
       -0.37204245, -0.71554953, -0.37204245,  0.6146579 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4455135973160058e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54409762, -0.83705634, -0.05739744, -0.03128138, -0.04812423,
        0.99835141, -0.83843858,  0.5449961 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07177992, -0.04410245,  0.28019976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36835143, -0.07584569, -0.36045833, -0.07584569,  0.0162326 ,
        0.07409094, -0.36045833,  0.07409094,  0.35276161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.167733238479933e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45561572, -0.88865076, -0.05209741, -0.02376868, -0.04635936,
        0.99864201, -0.88985919,  0.45623528,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07116255, -0.04365242,  0.27827603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000524966161626117
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.11484683e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.11484683e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09627566, -0.0896619 ,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85939253e-05, 5.52130365e-05,-5.84830640e-06,-1.63667870e-05,
 -1.32104656e-05, 1.69762030e-03, 3.89174091e-04, 3.19662266e-04,
  9.06118020e-06,-2.98694075e-06,-1.39222541e-05,-6.75898565e-05,
  2.41239133e-02, 1.35933837e-02,-2.85725112e-05, 2.70767892e-04,
  2.77279256e-06, 2.96562440e-07,-4.90499949e+00, 2.43702642e-04,
  1.18268216e-02,-6.80309049e-04]


--- Step 1362 ---
qpos:
[ 0.01856927, 0.03009776,-0.00947581,-0.02536472, 0.00700478, 0.16944923,
 -0.01846508, 0.1657331 , 0.01172347, 0.02788286,-0.0082953 , 0.02645238,
  1.18450639,-0.00473412, 1.19139497, 0.04465205, 0.05870845,-0.07542578,
  0.17146946, 0.99957454, 0.02866817,-0.0032543 ,-0.00427627]

qacc:
[ 6.98226928e+00,-5.11313854e-01, 4.85402643e+00,-1.45197156e+01,
 -2.05855694e+00, 4.74358631e+01,-1.81226836e+02, 3.50920541e+02,
  1.29797128e+00,-2.81762281e+00, 9.18144897e+00,-1.10195131e+01,
 -1.64949447e+01, 1.71127641e+01, 6.00343214e+00,-2.86476399e+01,
  8.98169461e-01, 2.76637465e-01, 4.47507275e-01,-7.21355782e+00,
  9.34793175e+00, 3.90238882e+00]

qfrc_actuator:
[ 5.54912633e-05, 9.45626654e-04, 1.59734195e-04,-2.55880032e-05,
  3.11635712e-04, 1.28580546e-01,-8.00138438e-04, 1.06832754e-01,
 -2.81777383e-04, 7.29768430e-04, 2.19315591e-04, 4.46747495e-06,
  1.84456048e-02, 1.07802853e-02, 0.00000000e+00,-1.34701634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36774306, -0.06465047,  0.36201557, -0.06465047,  0.8251538 ,
        0.0816866 ,  0.36201557,  0.0816866 ,  0.38233104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.046315764274947e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45553564, -0.88868767, -0.05216809, -0.02379683, -0.04642435,
        0.99863832, -0.88989943,  0.45615678,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07115197, -0.04364341,  0.27822726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.79808694, -5.78976258, -0.31058243, -5.78976258,  5.82600638,
       -0.52046383, -0.31058243, -0.52046383, 15.50038088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005235899440215703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98788021e-14,  7.74123808e-07,  1.00000000e+00, -1.53886540e-20,
        1.00000000e+00, -7.74123808e-07, -1.00000000e+00,  0.00000000e+00,
        1.98788021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04505256, -0.09270007,  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:
[ 4.19829172e-05, 4.51059759e-05, 7.23381458e-06,-2.57194253e-05,
 -2.82040100e-05, 2.10942615e-03, 4.30166208e-04, 6.45678324e-04,
  7.63849645e-06,-5.74842611e-05, 2.44616877e-05,-5.23381626e-06,
  2.35004695e-02, 1.29250744e-02, 9.19041602e-04,-3.67184570e-04,
  1.13300779e-05, 2.29887333e-06,-4.90499955e+00, 2.49613614e-04,
  1.18280590e-02,-6.80589011e-04]


--- Step 1363 ---
qpos:
[ 0.01856877, 0.03009781,-0.00947466,-0.02536433, 0.00701097, 0.17188825,
 -0.01853089, 0.1678543 , 0.01171977, 0.02788002,-0.00829404, 0.02645124,
  1.18446034,-0.00473484, 1.19154256, 0.04464742, 0.05871035,-0.07542183,
  0.17147062, 0.99957412, 0.02867491,-0.00325645,-0.00432638]

qacc:
[-1.66080470e+00,-2.28254509e+00, 7.65670217e+00,-8.18888746e+00,
 -2.94146508e-01, 1.81912660e+01,-3.52702056e+01, 2.26145036e+01,
  4.00345819e+00,-3.15404200e+00, 9.85892981e+00,-1.07975405e+01,
 -3.04868678e+00, 8.15782971e+00, 5.53218593e+01,-1.82477485e+02,
  1.94027044e+00,-5.90462573e-01, 6.73819087e-02, 3.05999652e+00,
  1.98854356e+01, 9.41829283e+00]

qfrc_actuator:
[ 4.41223309e-05, 9.19467546e-04, 1.93378837e-04,-2.41849602e-05,
  3.10504934e-04, 1.29377984e-01,-7.58732505e-04, 1.06830797e-01,
 -2.58023609e-04, 6.83159849e-04, 2.53933146e-04, 2.96987054e-06,
  1.84688762e-02, 1.07798992e-02, 0.00000000e+00,-1.50895791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36748333,  0.02194634,  0.36682742,  0.02194634,  2.28457548,
       -0.11469467,  0.36682742, -0.11469467,  0.37434522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.497104987546525e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55548312e-01, -8.88679259e-01, -5.22006814e-02, -2.38123978e-02,
       -4.64529962e-02,  9.98636615e-01, -8.89892525e-01,  4.56170247e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07114612, -0.0436341 ,  0.27818843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.81324032,   5.38123707,   2.19910223,   5.38123707,
        13.00816081, -17.60608137,   2.19910223, -17.60608137,
        48.8955929 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005254381151741511
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28236814e-14, -1.05647363e-13,  1.00000000e+00, -5.58068264e-27,
        1.00000000e+00,  1.05647363e-13, -1.00000000e+00,  0.00000000e+00,
       -5.28236814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02795479, -0.07843759,  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:
[-1.01301472e-05,-5.41947955e-07, 4.29520015e-05, 3.07975139e-06,
 -2.40962706e-06, 2.00269164e-03, 5.20036133e-04, 1.05579596e-04,
  2.39506755e-05,-7.38638590e-05, 2.55916425e-05,-3.21159914e-06,
  2.44310577e-02, 1.27689155e-02, 1.15633294e-03,-3.32870202e-04,
  7.98255801e-06, 7.55199312e-07,-4.90500035e+00, 2.46911518e-04,
  1.18266626e-02,-6.80690828e-04]


--- Step 1364 ---
qpos:
[ 0.01856813, 0.03009767,-0.00947308,-0.02536321, 0.00701677, 0.17434124,
 -0.01859589, 0.16997659, 0.01171604, 0.02787752,-0.00829337, 0.02645005,
  1.18441573,-0.00472931, 1.1917023 , 0.04462786, 0.05871942,-0.0754198 ,
  0.17147168, 0.99957371, 0.02868894,-0.00322255,-0.00435323]

qacc:
[-1.11506444e+00, 3.47210235e-02,-3.56050638e+00, 1.55945657e+01,
 -1.43632860e+00, 1.83430024e+01,-4.30229147e+01, 4.96371233e+01,
 -2.96011629e-01, 2.00983875e+00,-6.25131887e+00, 5.94809572e+00,
 -4.80440008e+00, 1.05105448e+01, 6.36195994e+01,-1.95363277e+02,
  1.78785999e+00,-4.79663912e-01,-2.45543290e-02, 3.60685920e+00,
  1.83654320e+01, 1.11005211e+01]

qfrc_actuator:
[ 3.76199860e-05, 9.03861865e-04, 2.12652991e-04, 1.19875683e-05,
  2.89631088e-04, 1.30061007e-01,-7.25787087e-04, 1.06886520e-01,
 -2.60324400e-04, 7.45547671e-04, 2.38240028e-04, 2.53698324e-06,
  1.84683810e-02, 1.08121735e-02, 0.00000000e+00,-1.50600781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36742928,  0.0112852 ,  0.36725593,  0.0112852 ,  0.85835571,
       -0.01508541,  0.36725593, -0.01508541,  0.36789283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.375652267429334e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45559297, -0.88865571, -0.05221191, -0.02381987, -0.04646178,
        0.99863603, -0.88986946,  0.45621523,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07115189, -0.0436318 ,  0.27818146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.80445648,  5.4118023 , -2.09859736,  5.4118023 ,  9.60433247,
        9.79901055, -2.09859736,  9.79901055, 31.07386205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005243670149471108
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05863164e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05863164e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02795624, -0.07842907,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.80103280e-06,-6.92404404e-06, 2.45447530e-05, 3.76923033e-05,
 -2.04118915e-05, 1.82357581e-03, 4.81781941e-04, 1.51200455e-04,
 -1.63290965e-06, 2.63186895e-05,-2.78934939e-05,-2.77091475e-06,
  2.43023056e-02, 1.25272450e-02, 9.14547323e-04, 4.61201605e-04,
  2.92323701e-06,-7.24327341e-08,-4.90499960e+00, 2.42669083e-04,
  1.18271852e-02,-6.80958548e-04]


--- Step 1365 ---
qpos:
[ 0.01856674, 0.03009731,-0.00947148,-0.02536164, 0.00702195, 0.17680424,
 -0.01865848, 0.17210741, 0.01171197, 0.0278757 ,-0.00829288, 0.02644913,
  1.18434728,-0.00472971, 1.19186511, 0.04460359, 0.05873025,-0.07541566,
  0.17147377, 0.9995738 , 0.02868952,-0.00317665,-0.00436348]

qacc:
[  -6.53691588,   0.64113891,  -4.59893355,  12.61373932,  -2.16857618,
   23.85872238,-100.95479919, 234.79555214,  -2.94453191,   1.94451986,
   -6.80886124,  11.38020301, -15.2780009 ,   8.02244604,  19.69758203,
  -60.27224823,   0.44326824,   0.52762088,   0.2570725 ,  -6.73444852,
    6.20562815,   8.14640989]

qfrc_actuator:
[-1.45370747e-06, 8.76919409e-04, 2.05571272e-04, 3.28070972e-05,
  2.57267292e-04, 1.30439888e-01,-6.45011685e-04, 1.07313076e-01,
 -2.77946723e-04, 8.19273206e-04, 2.46668085e-04, 2.05427349e-05,
  1.84642872e-02, 1.08433287e-02, 0.00000000e+00,-1.61172617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36754359,  0.00677553,  0.36748113,  0.00677553,  1.08113516,
       -0.01315703,  0.36748113, -0.01315703,  0.36778618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6293628694327966e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55659901e-01, -8.88621710e-01, -5.22064291e-02, -2.38208605e-02,
       -4.64551165e-02,  9.98636315e-01, -8.89835165e-01,  4.56282126e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07116815, -0.04363575,  0.27820214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.78012775, -3.48165351,  4.61388834, -3.48165351, 37.44161736,
       23.89185178,  4.61388834, 23.89185178, 23.80898831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005213972484516435
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35456807e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.35456807e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04647545, -0.09386511,  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:
[-3.92782527e-05,-2.41474713e-05,-4.20318086e-06, 2.21009635e-05,
 -3.32357835e-05, 1.41286663e-03, 4.89363525e-04, 5.13949741e-04,
 -1.76672607e-05, 8.26353415e-05, 1.03533364e-05, 1.81206339e-05,
  2.42264598e-02, 1.22457891e-02, 3.04132139e-04, 1.10132631e-03,
  2.14774126e-06,-9.16294337e-07,-4.90500004e+00, 2.40949377e-04,
  1.18270891e-02,-6.81297480e-04]


--- Step 1366 ---
qpos:
[ 0.01856523, 0.03009666,-0.00947017,-0.02536014, 0.00702702, 0.17927433,
 -0.01871825, 0.17424661, 0.01170771, 0.02787432,-0.00829165, 0.02644771,
  1.18431177,-0.00471546, 1.19199976, 0.04459657, 0.05873046,-0.07541012,
  0.17147451, 0.99957392, 0.02868258,-0.00318026,-0.00437902]

qacc:
[-9.72252701e-01, 2.39376200e-01,-1.09537066e+00, 4.37012523e-01,
 -3.62659303e-01, 1.85177604e+01,-8.68225596e+01, 2.19385356e+02,
 -1.51734325e+00,-2.52536499e+00, 1.19809651e+01,-2.22081976e+01,
  1.87070046e+01,-3.93455333e+00,-9.47977548e+01, 2.68917615e+02,
 -2.65609671e+00, 3.50342370e-01,-3.36770481e-01,-3.65428088e+00,
 -2.48339846e+01,-1.92502563e+00]

qfrc_actuator:
[-6.12900103e-06, 8.43272270e-04, 1.82925090e-04, 2.66420933e-05,
  2.53905164e-04, 1.30670164e-01,-5.55198329e-04, 1.07723456e-01,
 -2.86684945e-04, 8.46082938e-04, 2.87136277e-04,-3.95813783e-06,
  1.84762335e-02, 1.08479771e-02, 0.00000000e+00,-1.50284927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.277589980113682e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45582699, -0.88853807, -0.05217142, -0.02381357, -0.04641951,
        0.99863814, -0.88974978,  0.4564486 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118634, -0.04363693,  0.2782237 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77247812, -5.70715705, -0.86594574, -5.70715705,  6.31909034,
       -3.60253726, -0.86594574, -3.60253726, 29.5155893 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005204625007404068
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0665735e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0665735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09628059, -0.08965037,  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:
[-5.82996103e-06,-4.70905292e-05,-2.74014525e-05,-6.91827580e-06,
 -5.32871723e-06, 1.05132064e-03, 4.26968829e-04, 4.87626321e-04,
 -9.23421430e-06, 7.59783805e-05, 5.94540846e-05,-2.02437648e-05,
  2.54293925e-02, 1.25462559e-02, 1.48055912e-04, 1.44515396e-03,
  2.66851455e-06,-1.81183462e-07,-4.90500070e+00, 2.41579069e-04,
  1.18262481e-02,-6.81248678e-04]


--- Step 1367 ---
qpos:
[ 0.01856471, 0.03009561,-0.00946879,-0.02535908, 0.00703136, 0.18175122,
 -0.01877679, 0.17639304, 0.01170339, 0.02787337,-0.00829044, 0.02644606,
  1.18430921,-0.00468865, 1.19210373, 0.04460711, 0.05872132,-0.07540315,
  0.17147385, 0.99957391, 0.02867256,-0.00322928,-0.00441115]

qacc:
[ 8.49643403e+00,-1.63345701e+00, 6.88970675e+00,-1.42952756e+01,
 -2.46371850e+00, 2.02038157e+01,-8.86043213e+01, 2.04176470e+02,
 -6.20926106e-01, 1.93151326e-01, 1.09335962e+00,-5.28329867e+00,
  2.03085159e+01,-7.27614502e+00,-9.96619716e+01, 2.80153583e+02,
 -2.33627227e+00, 3.56137726e-01,-3.49649015e-01,-1.46782185e+00,
 -2.29422266e+01,-7.63059521e+00]

qfrc_actuator:
[ 4.49954169e-05, 8.23522458e-04, 1.86733155e-04, 4.63694072e-06,
  2.14416216e-04, 1.31023216e-01,-4.96843583e-04, 1.08085375e-01,
 -2.90119060e-04, 8.44703774e-04, 2.74971860e-04,-1.77880423e-05,
  1.84829012e-02, 1.07652729e-02, 0.00000000e+00,-1.48056547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36802676,  0.01058741, -0.36787443,  0.01058741,  0.51801959,
        0.00431679, -0.36787443,  0.00431679,  0.36815099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.593451878635149e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45587142, -0.88851579, -0.05216266, -0.02381188, -0.04641053,
        0.9986386 , -0.88972706,  0.45649289,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118717, -0.04363169,  0.27820132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005192873568270473
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06898715e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06898715e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09628141, -0.08964767,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09399165e-05,-5.20301607e-05,-9.54113798e-06,-2.51083375e-05,
 -3.95734502e-05, 9.57717526e-04, 3.12230792e-04, 4.21094494e-04,
 -3.68340677e-06, 5.25440920e-05, 1.01534336e-05,-8.90768833e-06,
  2.37895371e-02, 1.17317037e-02, 1.55331212e-03, 6.04708723e-04,
  3.43845441e-07,-2.06018249e-08,-4.90500015e+00, 2.42477416e-04,
  1.18261083e-02,-6.81067504e-04]


--- Step 1368 ---
qpos:
[ 0.0185648 , 0.03009408,-0.0094668 ,-0.02535798, 0.00703452, 0.18423653,
 -0.01883545, 0.17854717, 0.01169975, 0.02787248,-0.00828924, 0.02644499,
  1.18429898,-0.00466416, 1.19221641, 0.04460324, 0.05872059,-0.07539847,
  0.17147369, 0.99957387, 0.02866985,-0.00323774,-0.00443178]

qacc:
[ 5.31960156e+00,-2.24758985e+00, 6.87079574e+00,-6.65746128e+00,
 -3.86290163e+00, 2.70988041e+01,-1.11937635e+02, 2.36282875e+02,
  5.81131853e+00, 1.28724208e+00,-6.94047005e+00, 1.70096178e+01,
 -5.92504118e+00, 3.59408283e+00, 5.68644693e+01,-1.79366047e+02,
  2.10114818e+00,-5.71195411e-01, 1.23894239e-01, 3.58487916e+00,
  2.04556687e+01, 5.15296373e+00]

qfrc_actuator:
[ 7.52845843e-05, 8.12331588e-04, 2.23932646e-04, 9.02831794e-06,
  1.53925597e-04, 1.31624917e-01,-4.39157624e-04, 1.08487026e-01,
 -2.54901434e-04, 8.26247301e-04, 2.67211637e-04, 1.02146886e-05,
  1.84852143e-02, 1.07328998e-02, 0.00000000e+00,-1.57071363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.36802769, -0.04902842,  0.3647473 , -0.04902842,  0.8352673 ,
        0.06280518,  0.3647473 ,  0.06280518,  0.37646981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.59518157612406e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45579033, -0.88855618, -0.05218322, -0.02381706, -0.04643098,
        0.99863753, -0.88976847,  0.45641218,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0711731 , -0.04362161,  0.27814268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76290261, -5.65802634,  1.09443339, -5.65802634,  6.40430906,
        3.31595748,  1.09443339,  3.31595748, 22.90581421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005192917515601109
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.34489052e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.34489052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0279587 , -0.07840578,  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:
[ 3.17587142e-05,-4.32921599e-05, 2.44020295e-05, 1.33958420e-06,
 -6.31478840e-05, 1.12728395e-03, 2.75762743e-04, 4.51567694e-04,
  3.51257586e-05, 1.26512650e-05, 4.03238454e-06, 3.04348444e-05,
  2.21441849e-02, 1.10712968e-02, 3.08528887e-03,-3.64182197e-04,
  4.27211621e-06,-1.09346861e-07,-4.90500113e+00, 2.44748544e-04,
  1.18261010e-02,-6.80822958e-04]


--- Step 1369 ---
qpos:
[ 0.01856492, 0.03009215,-0.00946525,-0.02535643, 0.00703593, 0.1867327 ,
 -0.01889481, 0.18070753, 0.0116969 , 0.02787173,-0.00828814, 0.02644427,
  1.1842815 ,-0.00464034, 1.19234485, 0.04458532, 0.05872762,-0.07539572,
  0.17147362, 0.99957378, 0.02867542,-0.00320866,-0.00443669]

qacc:
[ 1.51002907e-01, 1.60932925e+00,-8.38016830e+00, 1.71180311e+01,
 -5.67196204e+00, 2.89454086e+01,-1.07717909e+02, 2.05960295e+02,
  6.77280503e+00, 1.13620447e+00,-5.26959411e+00, 1.12844580e+01,
 -7.07030870e+00, 6.22941437e+00, 6.62904967e+01,-1.96960672e+02,
  1.93939413e+00,-4.83723739e-01, 2.22700406e-02, 4.07687187e+00,
  1.90032620e+01, 7.30419152e+00]

qfrc_actuator:
[ 7.52966485e-05, 7.71015767e-04, 1.91836984e-04, 2.89464168e-05,
  6.38116070e-05, 1.32424724e-01,-3.81007575e-04, 1.08820382e-01,
 -2.14970370e-04, 8.33238525e-04, 2.62076803e-04, 2.70924406e-05,
  1.84767332e-02, 1.07583287e-02, 0.00000000e+00,-1.61460522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 3.68218432e-01,  2.40830397e-04,  3.68218353e-01,  2.40830397e-04,
        7.66929267e-01, -2.60773772e-04,  3.68218353e-01, -2.60773772e-04,
        3.68218602e-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: -6.938349929116518e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45576648, -0.88856841, -0.05218329, -0.02381584, -0.04643168,
        0.99863752, -0.88978072,  0.4563883 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117222, -0.04361845,  0.27811999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76805929,  5.24255547, -2.40543553,  5.24255547, 13.52623857,
       16.90865736, -2.40543553, 16.90865736, 42.61983643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005199223257782298
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.33840811e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.33840811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02795975, -0.07840039,  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:
[ 9.24094418e-07,-6.03864923e-05,-3.79943164e-05, 1.89301062e-05,
 -9.45441303e-05, 1.41368267e-03, 3.07670328e-04, 3.89790370e-04,
  4.09624765e-05, 1.62241394e-05,-9.78260582e-07, 1.81512440e-05,
  2.25191888e-02, 1.12121043e-02, 2.64759171e-03, 3.12129609e-04,
  6.19101762e-07, 1.18937395e-08,-4.90500008e+00, 2.42737772e-04,
  1.18265485e-02,-6.80820820e-04]


--- Step 1370 ---
qpos:
[ 0.018564  , 0.0300902 ,-0.00946451,-0.02535501, 0.00703393, 0.18924638,
 -0.01895754, 0.18288287, 0.01169455, 0.0278709 ,-0.00828704, 0.02644447,
  1.18422283,-0.00461602, 1.19249034, 0.04457239, 0.05873531,-0.07539049,
  0.17147481, 0.99957419, 0.02866791,-0.00317172,-0.00441906]

qacc:
[-8.90127223e+00, 1.98566841e+00,-6.51136384e+00, 5.40635523e+00,
 -1.08704561e+01, 6.28546167e+01,-2.51434625e+02, 4.96460790e+02,
  4.27569135e+00, 1.81522274e+00,-1.05102377e+01, 2.65069639e+01,
 -3.34985176e+01, 2.96405853e+01, 1.24133125e+01,-1.63108669e+00,
  1.65520190e-01, 6.19485607e-01, 3.15728223e-01,-6.51982760e+00,
  4.22085374e+00, 1.11739551e+01]

qfrc_actuator:
[ 2.19890293e-05, 7.82736855e-04, 1.54462969e-04, 2.22539453e-05,
 -1.14038775e-04, 1.33887911e-01,-3.21950854e-04, 1.09625981e-01,
 -1.90349888e-04, 8.19903001e-04, 2.58612361e-04, 7.28076511e-05,
  1.84620133e-02, 1.07467015e-02, 0.00000000e+00,-1.50107228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88861285, -0.64057462,  0.61587089, -0.64057462,  3.51466987,
        2.73139306,  0.61587089,  2.73139306,  3.72956718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.15472732921208e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44611661e-01, -8.36715791e-01, -5.74875956e-02, -3.13602779e-02,
       -4.81804589e-02,  9.98346221e-01, -8.38101826e-01,  5.45513821e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07183363, -0.04409699,  0.28016598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36860127, -0.06115211, -0.36349322, -0.06115211,  2.2636341 ,
       -0.31880994, -0.36349322, -0.31880994,  0.42223611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.579531955822163e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55787406e-01, -8.88558619e-01, -5.21672430e-02, -2.38095924e-02,
       -4.64168563e-02,  9.98638362e-01, -8.89770164e-01,  4.56408869e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118331, -0.04362156,  0.2781288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.75667132, -4.29775988,  3.82995101, -4.29775988, 28.38981546,
       25.3976666 ,  3.82995101, 25.3976666 , 34.25653262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000518529478283031
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18268434e-07, -1.12630904e-06,  1.00000000e+00, -3.58468614e-13,
        1.00000000e+00,  1.12630904e-06, -1.00000000e+00,  0.00000000e+00,
       -3.18268434e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04764837, -0.09307179,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32967954e-05,-2.90349336e-05,-5.38695875e-05,-1.02264638e-05,
 -1.84674400e-04, 2.24076153e-03, 3.69317305e-04, 8.74054932e-04,
  2.58254247e-05,-3.66588861e-06, 3.87386217e-07, 4.67284529e-05,
  2.28664099e-02, 1.12331744e-02, 1.85780851e-03, 1.12769386e-03,
  1.04649978e-06,-2.41183765e-07,-4.90500026e+00, 2.42187349e-04,
  1.18264994e-02,-6.80937639e-04]


--- Step 1371 ---
qpos:
[ 0.01856279, 0.03008876,-0.0094643 ,-0.02535343, 0.00702812, 0.19178244,
 -0.0190227 , 0.18507524, 0.01169252, 0.02787013,-0.00828605, 0.02644554,
  1.18417888,-0.00461795, 1.19261871, 0.04457386, 0.05873377,-0.07538468,
  0.17147522, 0.99957423, 0.0286636 ,-0.00318191,-0.00443115]

qacc:
[-2.49278779e+00, 2.48523420e+00,-8.55409345e+00, 1.18268064e+01,
 -1.19395986e+01, 7.08721657e+01,-2.78971176e+02, 5.53504159e+02,
  2.67081240e+00, 2.16857805e+00,-1.13510259e+01, 2.67293514e+01,
  3.14731409e+01,-5.18274100e+01,-7.16101347e+01, 2.07600101e+02,
 -2.30598912e+00, 1.44891910e-01,-1.96246145e-01, 1.65843545e+00,
 -2.39695007e+01,-1.41810267e+01]

qfrc_actuator:
[ 8.74585771e-06, 8.61574691e-04, 1.49986960e-04, 3.55083857e-05,
 -3.06663212e-04, 1.35525119e-01,-2.41653544e-04, 1.10526159e-01,
 -1.74940105e-04, 8.30029577e-04, 2.56102506e-04, 1.17359088e-04,
  1.84681695e-02, 1.07119434e-02, 0.00000000e+00,-1.28875718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.88870414,  0.64093617, -0.61562641,  0.64093617,  0.52643055,
       -0.37716746, -0.61562641, -0.37716746,  0.4960305 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.634771754260299e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54458463, -0.83673696, -0.0574355 , -0.03133021, -0.04813787,
        0.99834922, -0.83812052,  0.5454851 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07184374, -0.04409437,  0.28016579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36915715, -0.33509705, -0.15487726, -0.33509705,  0.31418544,
        0.11893843, -0.15487726,  0.11893843,  0.11181842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.422249509579136e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55902110e-01, -8.88502169e-01, -5.21264069e-02, -2.37968909e-02,
       -4.63774760e-02,  9.98640495e-01, -8.89711736e-01,  4.56522755e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07119483, -0.04362   ,  0.27813288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76303099, -5.73568868, -0.56071521, -5.73568868,  5.86683288,
       -1.06181414, -0.56071521, -1.06181414, 16.62457933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005193074522346491
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06894579e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06894579e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09628298, -0.08963421,  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:
[-1.47987887e-05, 5.10812831e-05,-1.74470109e-05, 9.95036372e-06,
 -2.06351758e-04, 2.90991316e-03, 5.85218777e-04, 1.01530360e-03,
  1.61625203e-05, 1.01773873e-05,-1.60953777e-06, 4.53145907e-05,
  2.49314487e-02, 1.11726367e-02, 1.00213901e-03, 1.08967323e-03,
  1.96969468e-06, 5.31872077e-07,-4.90500026e+00, 2.43435974e-04,
  1.18264209e-02,-6.80698083e-04]


--- Step 1372 ---
qpos:
[ 0.01856212, 0.03008761,-0.00946415,-0.02535137, 0.00702219, 0.19413387,
 -0.01922625, 0.18722946, 0.01169035, 0.02787003,-0.00828561, 0.02644641,
  1.18413742,-0.00462362, 1.19273192, 0.0445864 , 0.05872271,-0.07537846,
  0.17147415, 0.99957393, 0.02866209,-0.00323947,-0.00446656]

qacc:
[ 4.62333506e+00, 1.54442763e+00,-7.03833040e+00, 1.53866166e+01,
 -7.51877175e-01, 6.41360733e+01,-4.21049864e+02, 1.13360350e+02,
 -1.25802665e+00, 1.98959161e+00,-4.91951970e+00, 1.63401280e+00,
  6.09389042e+00,-9.30056704e+00,-5.64421779e+01, 1.63694951e+02,
 -2.38070105e+00, 1.04775500e-01,-3.67302026e-01, 1.47242765e+00,
 -2.40075891e+01,-1.09830188e+01]

qfrc_actuator:
[ 3.69608663e-05, 8.73638191e-04, 1.47530347e-04, 6.04844493e-05,
 -4.53131093e-04, 1.36598000e-01,-1.83701972e-04, 1.10818190e-01,
 -1.82822254e-04, 8.89636767e-04, 2.36508161e-04, 1.07624873e-04,
  1.84779767e-02, 1.06898599e-02, 0.00000000e+00,-1.22385384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21719248,  0.04099941,  0.21328765,  0.04099941,  1.78703416,
       -0.30176425,  0.21328765, -0.30176425,  0.27519939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023449446744313208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92255975e-01,  1.23433766e-01, -1.38631015e-02,  1.23421721e-01,
        9.92352813e-01,  1.72436134e-03,  1.39699322e-02, -4.33680869e-19,
       -9.99902416e-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([ 0.1011088 , -0.07833692,  0.11473316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.88868694,  0.46922817, -0.75471147,  0.46922817,  0.31139454,
       -0.35892108, -0.75471147, -0.35892108,  0.66553427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.683943607181729e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54460423, -0.83672397, -0.05743897, -0.03133323, -0.04814004,
        0.99834902, -0.83810767,  0.54550484,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07184931, -0.04409237,  0.28016196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36915706, -0.06387619, -0.36358873, -0.06387619,  0.02137077,
        0.06109998, -0.36358873,  0.06109998,  0.35842286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.422114086451018e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45596421, -0.88847013, -0.05212927, -0.02380144, -0.04637836,
        0.99864035, -0.88967979,  0.45658501,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07119347, -0.04361274,  0.27810596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.75265452, -5.49604765, -1.69896861, -5.49604765,  6.53400566,
       -2.52761767, -1.69896861, -2.52761767, 13.92932543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005180379328099116
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07156538e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07156538e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09628364, -0.08963044,  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:
[ 2.78058504e-05, 3.74948379e-05, 6.30144583e-06, 2.67532757e-05,
 -1.61945665e-04, 2.76945168e-03, 7.32000999e-04, 4.45672081e-04,
 -7.40760290e-06, 6.69209432e-05,-1.61301162e-05,-8.47583601e-06,
  2.42056013e-02, 1.24635772e-02, 1.85540423e-03, 4.34040700e-04,
  3.20337720e-07,-1.79188648e-08,-4.90500010e+00, 2.42693495e-04,
  1.18262226e-02,-6.80621663e-04]


--- Step 1373 ---
qpos:
[ 0.01856145, 0.03008654,-0.00946391,-0.02534935, 0.00701819, 0.19624903,
 -0.01955872, 0.18934811, 0.01168706, 0.02786991,-0.00828517, 0.0264472 ,
  1.18409809,-0.00462001, 1.1928551 , 0.04458728, 0.05871977,-0.07537445,
  0.17147362, 0.99957362, 0.02866801,-0.00325737,-0.00448445]

qacc:
[-8.74385742e-03,-2.24642913e-01, 1.16264772e+00,-2.17705360e+00,
  5.81009091e+00,-2.50166248e+01,-2.13584754e+02,-2.44357392e+01,
 -9.46883378e+00,-1.79140090e-01, 9.64041626e-01,-2.30584106e+00,
 -5.98561467e+00, 1.41494773e+01, 5.06518336e+01,-1.54339508e+02,
  2.03005645e+00,-5.54416895e-01, 1.33672711e-01, 3.65512569e+00,
  2.00928156e+01, 8.17406598e+00]

qfrc_actuator:
[ 3.60805840e-05, 8.63416687e-04, 1.46033915e-04, 5.65980921e-05,
 -6.09577599e-04, 1.37477102e-01, 3.32659608e-05, 1.10793716e-01,
 -2.39852291e-04, 8.54034434e-04, 2.24908262e-04, 1.01565583e-04,
  1.84852194e-02, 1.07166352e-02, 0.00000000e+00,-1.21432209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2992931 ,  0.09010565,  0.2854073 ,  0.09010565,  0.88594224,
       -0.18521041,  0.2854073 , -0.18521041,  0.35776568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005483011088113399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92266894e-01,  1.23760616e-01, -9.47209854e-03,  1.23754978e-01,
        9.92312103e-01,  1.18135489e-03,  9.54548323e-03,  2.16840434e-19,
       -9.99954441e-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([ 0.10087484, -0.07834199,  0.11486897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36858114,  0.08526153,  0.35858406,  0.08526153,  0.96706764,
       -0.1423038 ,  0.35858406, -0.1423038 ,  0.40241711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.547194481531685e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45593456, -0.8884827 , -0.05217443, -0.02382057, -0.0464193 ,
        0.99863799, -0.88969447,  0.4565564 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117857, -0.04359947,  0.27804689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76427204, -5.66752712,  1.05165038, -5.66752712,  6.23840991,
        2.55521159,  1.05165038,  2.55521159, 19.53475243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005194592308463003
  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([ 0.02796168, -0.07837993,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51312001e-08, 1.32392998e-05, 7.95588665e-06,-1.54544163e-06,
 -3.12456032e-04, 1.27931854e-02, 7.83829261e-03, 2.32113010e-03,
 -5.72226869e-05,-1.88752957e-06,-6.41699862e-08,-3.91731666e-06,
  2.40882470e-02, 1.26779927e-02, 2.61172030e-03,-1.10442422e-04,
  5.53674437e-06, 5.16648221e-07,-4.90500103e+00, 2.45503271e-04,
  1.18265512e-02,-6.80576142e-04]


--- Step 1374 ---
qpos:
[ 0.01856044, 0.03008557,-0.0094634 ,-0.02534741, 0.00701688, 0.19812395,
 -0.0200087 , 0.19143503, 0.01168311, 0.02786909,-0.00828423, 0.02644797,
  1.18406043,-0.00461012, 1.19299247, 0.0445758 , 0.0587244 ,-0.07537229,
  0.17147314, 0.99957329, 0.02868219,-0.00323823,-0.00448164]

qacc:
[-2.99404483e+00,-7.77526446e-01, 3.30474582e+00,-5.15997130e+00,
  8.04041917e+00,-5.44089741e+01,-1.32637136e+02,-5.42319032e+01,
 -5.58106540e+00,-2.34446822e+00, 7.11516751e+00,-7.77890681e+00,
 -4.55821438e+00, 1.02767260e+01, 5.88739706e+01,-1.74429199e+02,
  1.89124093e+00,-4.61324782e-01, 1.15700957e-02, 4.08136168e+00,
  1.88219491e+01, 9.80160743e+00]

qfrc_actuator:
[ 1.80680907e-05, 8.75413121e-04, 1.62742603e-04, 5.34869843e-05,
 -7.74023878e-04, 1.38471921e-01, 3.91551997e-04, 1.10485481e-01,
 -2.72088864e-04, 7.79469991e-04, 2.35516239e-04, 9.76590046e-05,
  1.84855398e-02, 1.07434313e-02, 0.00000000e+00,-1.18421072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40555497,  0.1008653 ,  0.39281169,  0.1008653 ,  1.29576371,
       -0.2285858 ,  0.39281169, -0.2285858 ,  0.46425071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008287437540652558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92263681e-01,  1.24028954e-01, -5.44119680e-03,  1.24027089e-01,
        9.92278599e-01,  6.80117408e-04,  5.48353739e-03,  0.00000000e+00,
       -9.99984965e-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([ 0.10066912, -0.07834685,  0.11499156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36832737, -0.00207666,  0.36832151, -0.00207666,  0.93742313,
        0.00320865,  0.36832151,  0.00320865,  0.36834546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.126794398763953e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45592805, -0.88848457, -0.05219935, -0.02383164, -0.04644163,
        0.99863668, -0.88969751,  0.45655047,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0711758 , -0.04359357,  0.2780205 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77769285,  5.20898678, -2.49963825,  5.20898678, 13.39484367,
       15.87335205, -2.49963825, 15.87335205, 38.85611169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005210997668838591
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06526916e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06526916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02796293, -0.07837345,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80069875e-05, 2.10102323e-05, 2.03753524e-05,-2.30162769e-06,
 -5.74134373e-04, 2.55232249e-02, 1.46179998e-02, 3.78339828e-03,
 -3.39151361e-05,-7.58341560e-05, 1.00679629e-05,-4.06668234e-06,
  2.39815584e-02, 1.22400969e-02, 2.11035743e-03, 5.01920936e-04,
  7.34671365e-07, 2.14323091e-07,-4.90499997e+00, 2.42960049e-04,
  1.18269104e-02,-6.80796206e-04]


--- Step 1375 ---
qpos:
[ 0.01855921, 0.03008457,-0.00946264,-0.02534515, 0.00702824, 0.19978721,
 -0.0205638 , 0.19349468, 0.0116795 , 0.02786795,-0.008283  , 0.02644865,
  1.18400107,-0.00460598, 1.19313123, 0.0445637 , 0.0587307 ,-0.07536778,
  0.1714737 , 0.99957351, 0.0286871 ,-0.00320089,-0.00442707]

qacc:
[-1.77498706e+00,-1.05232913e-01,-9.93273939e-01, 5.99177529e+00,
  3.71700442e+01,-4.21044137e+01,-1.40411076e+02,-1.02354268e+01,
  2.84767681e+00,-1.40273445e+00, 4.78063499e+00,-6.55522992e+00,
 -1.33592044e+01, 6.37316759e+00, 4.69051926e+00,-1.16647252e+01,
  4.17866074e-01, 5.87639136e-01, 2.61071206e-01,-4.60434437e+00,
  9.82481284e+00, 2.56248878e+01]

qfrc_actuator:
[ 7.87798424e-06, 8.65182999e-04, 1.72401164e-04, 6.86426094e-05,
 -9.09275380e-04, 1.39900967e-01, 8.21510697e-04, 1.10549976e-01,
 -2.53952746e-04, 7.88742917e-04, 2.58961905e-04, 9.50206790e-05,
  1.84710199e-02, 1.07162884e-02, 0.00000000e+00,-1.15412652e-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,  0.09286623,  0.4205418 ,  0.09286623,  0.68922758,
       -0.05709529,  0.4205418 , -0.05709529,  0.44328143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010759762963405755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92251645e-01,  1.24231568e-01, -1.78599752e-03,  1.24231367e-01,
        9.92253253e-01,  2.23609519e-04,  1.79994120e-03,  0.00000000e+00,
       -9.99998380e-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([ 0.10049116, -0.07835153,  0.11510079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36831322,  0.00499139,  0.3682794 ,  0.00499139,  1.13291267,
       -0.01036283,  0.3682794 , -0.01036283,  0.36845367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.102610621947554e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45594334, -0.88847621, -0.05220814, -0.02383646, -0.04644903,
        0.99863623, -0.88968955,  0.45656599,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118417, -0.04359429,  0.27802336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76896311, -4.11807405,  4.04009919, -4.11807405, 25.3452903 ,
       19.9541549 ,  4.04009919, 19.9541549 , 26.10823787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005200328249368366
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46775029e-13,  1.17966122e-06,  1.00000000e+00,  1.73144810e-19,
        1.00000000e+00, -1.17966122e-06, -1.00000000e+00, -2.40741243e-35,
       -1.46775029e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04505954, -0.0926325 ,  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:
[-1.07061148e-05, 5.64985606e-06, 1.64304752e-05, 1.67129226e-05,
 -8.43341038e-04, 3.88978423e-02, 2.09018498e-02, 5.42840568e-03,
  1.71132233e-05,-3.12358052e-05, 8.87463986e-06,-5.62024119e-06,
  2.38830444e-02, 1.18993292e-02, 1.39859103e-03, 1.15001431e-03,
  4.74256014e-07,-3.13697666e-07,-4.90500024e+00, 2.42444848e-04,
  1.18265800e-02,-6.81120150e-04]


--- Step 1376 ---
qpos:
[ 0.01855821, 0.03008324,-0.00946212,-0.02534301, 0.00705652, 0.20128325,
 -0.02120518, 0.19553069, 0.01167648, 0.02786695,-0.00828196, 0.02644892,
  1.18390235,-0.00463423, 1.19327145, 0.0445737 , 0.05873181,-0.07535812,
  0.17147396, 0.99957498, 0.02865843,-0.00316403,-0.00430719]

qacc:
[ 1.99065089e+00, 8.92129654e-03,-2.40419592e-01,-9.54432753e-01,
  4.90846609e+01,-2.85273537e+01,-1.19283531e+02,-3.02380949e+01,
  5.01650536e+00,-1.34728981e-01, 2.42653656e+00,-9.22148050e+00,
 -7.59273487e+00,-2.34511682e+01,-6.49096341e+01, 2.29740440e+02,
 -1.29776095e+00, 1.28648029e+00,-7.55183156e-02,-1.66905690e+01,
  6.20596740e-01, 3.27054830e+01]

qfrc_actuator:
[ 2.01319704e-05, 8.06205874e-04, 1.42234424e-04, 5.88951330e-05,
 -1.05583227e-03, 1.41551520e-01, 1.34684125e-03, 1.10988355e-01,
 -2.24072818e-04, 8.12696487e-04, 2.54611926e-04, 7.54671959e-05,
  1.84709423e-02, 1.06840327e-02, 0.00000000e+00,-1.07761035e-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,  0.04506302, -0.42830931,  0.04506302,  1.70133023,
        0.13368758, -0.42830931,  0.13368758,  0.44473881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001290359731489799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92242360e-01,  1.24310158e-01,  1.44343120e-03,  1.24310027e-01,
        9.92243410e-01, -1.80835831e-04, -1.45471483e-03,  0.00000000e+00,
       -9.99998942e-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([ 0.10033656, -0.0783564 ,  0.1151971 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.457931426508549e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56047062e-01, -8.88423932e-01, -5.21918988e-02, -2.38344467e-02,
       -4.64318151e-02,  9.98637074e-01, -8.89636440e-01,  4.56669469e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07119344, -0.04359182,  0.27802432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76576858, -4.51963272,  3.58008482, -4.51963272, 12.6196682 ,
        8.65261874,  3.58008482,  8.65261874, 16.68915748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005196422374258855
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05709088e-06, -1.05709093e-06,  1.00000000e+00, -1.11744119e-12,
        1.00000000e+00,  1.05709093e-06, -1.00000000e+00,  2.01948392e-28,
       -1.05709088e-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([ 0.0653313 , -0.10795088,  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:
[ 1.19445415e-05,-5.16864306e-05,-2.63986073e-05,-8.61548165e-06,
 -1.62428850e-03, 5.10721893e-02, 2.66655751e-02, 7.22430573e-03,
  3.03686289e-05, 8.09824402e-06,-9.91060240e-06,-2.06975220e-05,
  2.49674545e-02, 1.21536932e-02, 1.32671413e-03, 1.25661156e-03,
  5.37343998e-06, 3.22141141e-07,-4.90500068e+00, 2.45446387e-04,
  1.18258948e-02,-6.81121919e-04]


--- Step 1377 ---
qpos:
[ 0.01855737, 0.0300816 ,-0.00946194,-0.02534134, 0.00708376, 0.20262633,
 -0.02192922, 0.19754627, 0.01167418, 0.02786643,-0.00828119, 0.02644892,
  1.18379556,-0.00467398, 1.19338582, 0.0445911 , 0.058722  ,-0.07534915,
  0.17147237, 0.9995762 , 0.0286284 ,-0.00318319,-0.00420705]

qacc:
[   1.32061327,  -0.43897627,   2.99818982, -10.47624142,  -3.02242223,
  -13.25265773,-159.21981921,  47.11002263,   6.17454828,   0.78189336,
   -0.71657376,  -3.99909602,   3.36365536, -14.10206302, -61.11520096,
  157.14569427,  -2.72744875,  -0.17228529,  -0.46291352,  -0.58726271,
  -28.28399819,  -9.06350371]

qfrc_actuator:
[ 2.77427827e-05, 7.89311038e-04, 1.24073180e-04, 3.44991347e-05,
 -1.25400264e-03, 1.43712526e-01, 1.97036473e-03, 1.11214515e-01,
 -1.87536612e-04, 8.62896810e-04, 2.51703245e-04, 6.38694580e-05,
  1.84819018e-02, 1.07131758e-02, 0.00000000e+00,-1.15547823e-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, -0.09919616,  0.41909386, -0.09919616,  2.15252961,
        0.40754958,  0.41909386,  0.40754958,  0.52713708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014737106708656504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92243283e-01,  1.24239557e-01,  4.21902798e-03,  1.24238434e-01,
        9.92252252e-01, -5.28263017e-04, -4.25197118e-03,  0.00000000e+00,
       -9.99990960e-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([ 0.10019914, -0.07836161,  0.11528176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.88861692,  0.47156027, -0.75317392,  0.47156027,  0.3102651 ,
       -0.3621046 , -0.75317392, -0.3621046 ,  0.66190416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.122106505814212e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54439767, -0.83686008, -0.05741414, -0.03130777, -0.04812699,
        0.99835045, -0.83824281,  0.54529717,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07187782, -0.04407752,  0.28014221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36894455,  0.01457453, -0.36865657,  0.01457453,  0.00969325,
       -0.0142027 , -0.36865657, -0.0142027 ,  0.36838306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.110558108167731e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45636667, -0.88826341, -0.05213037, -0.02382296, -0.04636855,
        0.99864029, -0.88947284,  0.45698804,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07119374, -0.04357636,  0.27799106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77046341, -4.82168308, -3.1701136 , -4.82168308,  7.94599103,
       -3.30893653, -3.1701136 , -3.30893653, 10.80329355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005202162351010814
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13415682e-13, -1.06707841e-13,  1.00000000e+00, -2.27731266e-26,
        1.00000000e+00,  1.06707841e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13415682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09628139, -0.08959546,  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:
[ 7.94559632e-06,-5.15734585e-05,-3.23802288e-05,-2.76932899e-05,
 -2.66963541e-03, 6.15437907e-02, 3.15890640e-02, 8.62618835e-03,
  3.74289111e-05, 5.18193205e-05,-3.17803707e-06,-1.19989592e-05,
  2.69463189e-02, 1.38033146e-02, 1.25057419e-03, 7.28955740e-05,
  1.78095936e-05, 1.93781572e-06,-4.90499627e+00, 2.49563059e-04,
  1.18308373e-02,-6.80360466e-04]


--- Step 1378 ---
qpos:
[ 0.01855698, 0.03007992,-0.00946185,-0.02534002, 0.00711085, 0.2038388 ,
 -0.02272597, 0.19954352, 0.01167165, 0.02786623,-0.00828043, 0.02644878,
  1.1837161 ,-0.00469993, 1.19346422, 0.04462825, 0.05870139,-0.07534011,
  0.17146845, 0.99957737, 0.02859267,-0.00325575,-0.00411671]

qacc:
[ 3.79311078e+00,-5.29164566e-01, 3.29328021e+00,-9.24329016e+00,
 -4.15107863e-01,-7.15191982e+00,-1.47187216e+02, 3.98406027e+01,
 -1.99182691e+00, 2.14577974e-01, 4.40254460e-01,-3.01062181e+00,
  1.54685736e+01,-2.13497672e+00,-1.13753338e+02, 3.18866142e+02,
 -2.70301675e+00, 1.63139945e-02,-5.82184431e-01,-2.75442378e+00,
 -2.68378594e+01,-4.12396485e+00]

qfrc_actuator:
[ 5.03050877e-05, 8.15511876e-04, 1.31057422e-04, 1.94793098e-05,
 -1.43642461e-03, 1.46374434e-01, 2.70144064e-03, 1.11408376e-01,
 -2.00637098e-04, 8.75185224e-04, 2.49805079e-04, 5.70790881e-05,
  1.84874316e-02, 1.07712083e-02, 0.00000000e+00,-1.39112556e-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,  0.15600984,  0.40142305,  0.15600984,  0.83400011,
       -0.1567497 ,  0.40142305, -0.1567497 ,  0.49159286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016289570169481322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92237550e-01,  1.24188151e-01,  6.47662866e-03,  1.24185505e-01,
        9.92258688e-01, -8.10595609e-04, -6.52715743e-03,  0.00000000e+00,
       -9.99978698e-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([ 0.10007792, -0.07836579,  0.11535455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36861119,  0.14466246, -0.33903832,  0.14466246,  0.21167132,
       -0.06696384, -0.33903832, -0.06696384,  0.34003875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.59541515021868e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45661395, -0.88813736, -0.05211269, -0.02382776, -0.0463462 ,
        0.99864121, -0.88934579,  0.45723524,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117811, -0.04355297,  0.27792151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.76285499,  5.54591163,  1.56632112,  5.54591163,  7.77224246,
       -7.11468752,  1.56632112, -7.11468752, 30.95400367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005192859274551626
  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([ 0.09627951, -0.0895858 ,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27829994e-05,-1.04529553e-05,-8.59969366e-06,-1.88881279e-05,
 -2.79919510e-03, 7.18086553e-02, 3.64413290e-02, 9.83717402e-03,
 -1.19848994e-05, 4.01110740e-05, 7.99245494e-06,-4.91574541e-06,
  2.73547872e-02, 1.44368351e-02, 2.54065719e-03,-5.33327204e-04,
  1.15628751e-05,-1.88983300e-06,-4.90499688e+00, 2.40115497e-04,
  1.18305455e-02,-6.79884432e-04]


--- Step 1379 ---
qpos:
[ 0.01855582, 0.03007825,-0.00946147,-0.02533893, 0.00713549, 0.20491986,
 -0.02360984, 0.20151817, 0.01166933, 0.02786567,-0.00827937, 0.02644828,
  1.1836467 ,-0.00471946, 1.19354456, 0.04465131, 0.05869022,-0.07533391,
  0.17146576, 0.99957821, 0.02857052,-0.00328867,-0.00403944]

qacc:
[  -6.5149172 ,  -1.25671493,   5.45628239,  -9.82247433,  -7.11060214,
   23.23114389,-238.84451735,  80.19135648,   1.78945623,  -2.10205885,
    8.30261277, -14.74281432,   2.51464809,   4.08583676,  45.49753474,
 -155.01714007,   2.36207724,  -0.70870889,   0.30859235,   6.69226193,
   19.64976072,  -7.11891498]

qfrc_actuator:
[ 1.04780846e-05, 8.31927109e-04, 1.53022115e-04, 1.01547712e-05,
 -1.64539537e-03, 1.49428984e-01, 3.50241198e-03, 1.12192503e-01,
 -1.89593008e-04, 8.11431695e-04, 2.48378491e-04, 3.53903329e-05,
  1.85027853e-02, 1.08081313e-02, 0.00000000e+00,-1.57697900e-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,  0.13193245,  0.40996752,  0.13193245,  1.06748107,
       -0.20493234,  0.40996752, -0.20493234,  0.49662303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001759149379150164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99223049,  0.12413886,  0.00825873,  0.12413456,  0.99226486,
       -0.00103322, -0.00832311,  0.        , -0.99996536])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09997033, -0.0783692 ,  0.1154168 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36797615, -0.00657479,  0.36791741, -0.00657479,  1.00395992,
        0.01136522,  0.36791741,  0.01136522,  0.36817925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.499289882877522e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56729272e-01, -8.88077196e-01, -5.21273967e-02, -2.38405205e-02,
       -4.63561762e-02,  9.98640443e-01, -8.89286232e-01,  4.57351067e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07114503, -0.04352347,  0.27781053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.82063546,  5.81907912, -0.13459309,  5.81907912,  5.84810848,
        1.18778528, -0.13459309,  1.18778528, 57.17406267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005263394221072387
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05466452e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05466452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02795021, -0.07837835,  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:
[-3.91606007e-05, 8.05115491e-06, 1.81083012e-05,-1.04376814e-05,
 -3.00105861e-03, 8.13549054e-02, 4.08686023e-02, 1.15326303e-02,
  1.07065601e-05,-3.98963772e-05, 7.66500002e-06,-1.97898759e-05,
  2.60035895e-02, 1.37847956e-02, 4.33787179e-03,-1.70717623e-03,
  1.52158667e-05,-5.74464703e-06,-4.90499861e+00, 2.33131028e-04,
  1.18315104e-02,-6.79274479e-04]


--- Step 1380 ---
qpos:
[ 0.01855316, 0.03007681,-0.00946097,-0.02533729, 0.00715795, 0.20588132,
 -0.02457323, 0.2034719 , 0.01166785, 0.02786468,-0.008278  , 0.02644822,
  1.18358542,-0.00473099, 1.19363572, 0.04466088, 0.05868763,-0.07533021,
  0.17146382, 0.99957877, 0.02856105,-0.00328503,-0.00396986]

qacc:
[-1.28895345e+01, 1.13471003e+00,-5.90150057e+00, 1.50675414e+01,
 -6.28035495e+00, 2.10950403e+01,-2.15691616e+02, 6.54564631e+01,
  7.17390793e+00,-5.02334912e-01,-9.09550229e-01, 8.43315851e+00,
 -5.42020571e-01, 8.33565641e+00, 5.70305869e+01,-1.75751222e+02,
  2.14396040e+00,-6.24639236e-01, 1.86101699e-01, 6.25241264e+00,
  1.81838828e+01,-4.39228167e+00]

qfrc_actuator:
[-6.57566069e-05, 8.60193848e-04, 1.65874225e-04, 3.97635217e-05,
 -1.85016894e-03, 1.52630148e-01, 4.37105892e-03, 1.13005090e-01,
 -1.46657429e-04, 7.91377595e-04, 2.64661243e-04, 5.82978451e-05,
  1.85246042e-02, 1.07987385e-02, 0.00000000e+00,-1.52948451e-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,  0.15731529,  0.40091326,  0.15731529,  1.7272344 ,
       -0.5087606 ,  0.40091326, -0.5087606 ,  0.63030711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018728852905303861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92220775e-01,  1.24097711e-01,  9.88393320e-03,  1.24091555e-01,
        9.92270003e-01, -1.23612876e-03, -9.96093117e-03, -2.16840434e-19,
       -9.99950389e-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([ 0.09987987, -0.07837216,  0.11547184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36764132, -0.00949632,  0.36751865, -0.00949632,  0.7171607 ,
        0.00903124,  0.36751865,  0.00903124,  0.36787468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8374243195416246e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45684848, -0.88801576, -0.05212935, -0.02384764, -0.04635471,
        0.99864034, -0.88922481,  0.45747049,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07112704, -0.04350423,  0.27774312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005310526659617482
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.22652034e-14, -1.04530407e-13,  1.00000000e+00, -5.46330298e-27,
        1.00000000e+00,  1.04530407e-13, -1.00000000e+00,  0.00000000e+00,
       -5.22652034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02794858, -0.07838164,  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:
[-7.73687241e-05, 3.61055484e-05, 1.63994770e-05, 3.03790063e-05,
 -3.08274978e-03, 9.10937719e-02, 4.60864052e-02, 1.34706542e-02,
  4.32354011e-05,-4.16237423e-05, 8.29336591e-06, 2.10769593e-05,
  2.55223347e-02, 1.34547402e-02, 4.23925286e-03,-9.55389103e-04,
  7.96838613e-06,-2.03721206e-06,-4.90499858e+00, 2.39417593e-04,
  1.18295241e-02,-6.78618040e-04]


--- Step 1381 ---
qpos:
[ 0.01855029, 0.03007578,-0.00946099,-0.02533494, 0.00717917, 0.20673095,
 -0.02560751, 0.20540668, 0.01166655, 0.02786379,-0.00827693, 0.02644841,
  1.18353092,-0.00473473, 1.19374322, 0.04465716, 0.05869274,-0.07532862,
  0.17146222, 0.99957909, 0.02856353,-0.00324801,-0.00390175]

qacc:
[-1.77528390e+00, 3.42408414e+00,-1.43817548e+01, 2.70844424e+01,
 -3.55970530e+00, 1.12988864e+01,-1.74353354e+02, 3.93741582e+01,
  1.53650657e+00, 1.45290059e+00,-6.08430695e+00, 1.08480902e+01,
 -1.71906394e+00, 9.26511477e+00, 6.46936564e+01,-1.90525240e+02,
  1.92515029e+00,-5.27335124e-01, 8.43409326e-02, 5.91055012e+00,
  1.66887265e+01,-1.22668106e+00]

qfrc_actuator:
[-7.40265212e-05, 8.77596994e-04, 1.37811047e-04, 7.42917070e-05,
 -1.98070789e-03, 1.55746995e-01, 5.34307455e-03, 1.13629092e-01,
 -1.38559639e-04, 8.15495462e-04, 2.55949255e-04, 7.17990297e-05,
  1.85341381e-02, 1.07574049e-02, 0.00000000e+00,-1.42571338e-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,  0.13521127,  0.40889785,  0.13521127,  2.12650694,
       -0.56076552,  0.40889785, -0.56076552,  0.61610309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001971540679962408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99221019,  0.1240556 ,  0.01136397,  0.12404746,  0.99227527,
       -0.00142074, -0.01145244,  0.        , -0.99993442])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09980496, -0.07837478,  0.11552025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36751529, -0.0125707 ,  0.36730024, -0.0125707 ,  0.75562086,
        0.01328276,  0.36730024,  0.01328276,  0.36796989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.567643923655258e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56968244e-01, -8.87954687e-01, -5.21200261e-02, -2.38496125e-02,
       -4.63432098e-02,  9.98640828e-01, -8.89163213e-01,  4.57590188e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07112266, -0.04349412,  0.27771358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005328312028618082
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56272242e-13, -1.04181495e-13,  1.00000000e+00, -1.62806758e-26,
        1.00000000e+00,  1.04181495e-13, -1.00000000e+00,  0.00000000e+00,
       -1.56272242e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02794658, -0.0783843 ,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05101997e-05, 4.23049546e-05,-1.75221042e-05, 3.72351733e-05,
 -3.10410793e-03, 1.00162471e-01, 5.10304841e-02, 1.51370262e-02,
  9.34839706e-06, 3.48803025e-06,-1.55668395e-05, 1.24117684e-05,
  2.51261147e-02, 1.30134321e-02, 3.69684325e-03,-1.77652231e-04,
  5.63630075e-06,-1.13310618e-07,-4.90499921e+00, 2.43699638e-04,
  1.18279790e-02,-6.78275495e-04]


--- Step 1382 ---
qpos:
[ 0.01854804, 0.03007505,-0.0094613 ,-0.02533219, 0.00720004, 0.20748595,
 -0.02670886, 0.20732321, 0.01166466, 0.02786345,-0.00827646, 0.02644804,
  1.18348266,-0.00473109, 1.19386927, 0.04463989, 0.05870456,-0.0753288 ,
  0.17146072, 0.99957919, 0.02857717,-0.00318153,-0.0038304 ]

qacc:
[ 5.23502012e+00, 2.04176694e+00,-8.38443493e+00, 1.54986853e+01,
 -1.14635928e+00, 2.47989077e+01,-1.92466799e+02, 5.08385735e+01,
 -4.98959475e+00, 1.27032880e+00,-1.02840673e+00,-8.31094114e+00,
 -2.02525506e+00, 9.21280141e+00, 6.87624135e+01,-1.99940981e+02,
  1.67633184e+00,-4.41775805e-01, 2.68153200e-02, 5.52776207e+00,
  1.47940419e+01, 1.17604216e+00]

qfrc_actuator:
[-4.22147091e-05, 8.88203506e-04, 1.21282185e-04, 9.36448811e-05,
 -2.15554232e-03, 1.58622538e-01, 6.40028070e-03, 1.15069473e-01,
 -1.68794818e-04, 8.65780404e-04, 2.32718112e-04, 4.41659433e-05,
  1.85361277e-02, 1.07471825e-02, 0.00000000e+00,-1.44274637e-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,  0.09762121,  0.41946351,  0.09762121,  2.59760674,
       -0.50430767,  0.41946351, -0.50430767,  0.54804024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020560898353987654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92200694e-01,  1.24001495e-01,  1.27047926e-02,  1.23991331e-01,
        9.92282031e-01, -1.58766684e-03, -1.28036105e-02, -2.16840434e-19,
       -9.99918030e-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([ 0.0997443 , -0.0783772 ,  0.11556249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36755125, -0.01773661,  0.36712305, -0.01773661,  0.80997029,
        0.02137435,  0.36712305,  0.02137435,  0.3685839 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6459457410735505e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57086712e-01, -8.87894800e-01, -5.21014538e-02, -2.38472717e-02,
       -4.63235267e-02,  9.98641797e-01, -8.89102382e-01,  4.57708373e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07113029, -0.043492  ,  0.27771649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005322842516072429
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04288547e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04288547e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02794428, -0.07838645,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15222564e-05, 3.22759098e-05,-8.65096605e-06, 2.12813836e-05,
 -3.21706640e-03, 1.08606374e-01, 5.56298038e-02, 1.75213182e-02,
 -2.99613869e-05, 4.95705178e-05,-2.40027180e-05,-2.77821458e-05,
  2.47882750e-02, 1.26140460e-02, 2.87815141e-03, 4.69687844e-04,
  7.31325492e-06, 5.18338147e-07,-4.90500052e+00, 2.47034400e-04,
  1.18265393e-02,-6.78205170e-04]


--- Step 1383 ---
qpos:
[ 0.01854757, 0.03007407,-0.009461  ,-0.02532923, 0.00722169, 0.20815216,
 -0.02787107, 0.20922315, 0.01166278, 0.02786343,-0.00827627, 0.02644768,
  1.18344017,-0.00472017, 1.19401499, 0.04460919, 0.05872206,-0.07533038,
  0.17145918, 0.99957909, 0.02860115,-0.0030897 ,-0.00375133]

qacc:
[ 1.52762794e+01,-1.60116161e+00, 4.25936899e+00,-1.20721340e+00,
  2.07729673e+00, 1.85571177e+01,-1.66063676e+02, 3.91140774e+01,
 -3.99281239e-02, 1.23971539e+00,-3.89387601e+00, 4.49691775e+00,
 -2.35855865e+00, 9.42926954e+00, 7.00390403e+01,-2.02014627e+02,
  1.42147682e+00,-3.51876238e-01,-1.10679437e-02, 5.13397328e+00,
  1.27970493e+01, 3.47989490e+00]

qfrc_actuator:
[ 4.84169304e-05, 8.59173054e-04, 1.47174227e-04, 1.03920990e-04,
 -2.32183164e-03, 1.60937012e-01, 7.49763357e-03, 1.16633751e-01,
 -1.68080966e-04, 8.77998121e-04, 2.18957035e-04, 4.58316365e-05,
  1.85387230e-02, 1.07174154e-02, 0.00000000e+00,-1.42017663e-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,  0.0591083 ,  0.42659788,  0.0591083 ,  3.21760428,
       -0.38614997,  0.42659788, -0.38614997,  0.4841773 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021282328232727684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92193535e-01,  1.23928031e-01,  1.39223727e-02,  1.23915833e-01,
        9.92291209e-01, -1.73877610e-03, -1.40305311e-02, -2.16840434e-19,
       -9.99901567e-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([ 0.09969606, -0.07837952,  0.11559928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36773115, -0.02656096,  0.36677066, -0.02656096,  0.87988846,
        0.03708963,  0.36677066,  0.03708963,  0.37041713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.022247344903882e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45720024, -0.88783784, -0.05207602, -0.02384152, -0.04629788,
        0.99864312, -0.88904416,  0.45782144,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07114824, -0.04349674,  0.2777466 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005298859379338217
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04760567e-13, -1.04760567e-13,  1.00000000e+00, -1.09747764e-26,
        1.00000000e+00,  1.04760567e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04760567e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.0783882 ,  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:
[ 9.15630832e-05,-1.18156443e-05, 3.22359913e-05, 1.17684229e-05,
 -3.36536024e-03, 1.15633370e-01, 6.00803433e-02, 1.99945743e-02,
 -1.46160072e-07, 3.37804525e-05,-7.44062878e-06, 2.42022356e-06,
  2.44793612e-02, 1.22153751e-02, 1.94771878e-03, 1.16915110e-03,
  1.18357215e-05, 2.75416408e-07,-4.90500245e+00, 2.50169101e-04,
  1.18249387e-02,-6.78372188e-04]


--- Step 1384 ---
qpos:
[ 0.01854818, 0.03007287,-0.00946034,-0.02532615, 0.00724377, 0.20875301,
 -0.02906998, 0.2111148 , 0.01166057, 0.02786323,-0.00827632, 0.02644776,
  1.18343373,-0.00469602, 1.1941348 , 0.04460784, 0.05872512,-0.0753311 ,
  0.17145638, 0.99957948, 0.02860419,-0.00306017,-0.00364775]

qacc:
[ 9.37210260e+00,-1.08321628e+00, 2.93178967e+00,-1.34915624e+00,
  1.18636292e+00,-9.65817779e-01,-8.64747326e+01, 4.77099109e+01,
 -2.74276100e+00, 1.32510389e+00,-6.90328104e+00, 1.49084749e+01,
  2.28524501e+01,-9.04974245e+00,-1.28409140e+02, 3.90601422e+02,
 -3.60992059e+00, 2.15913505e-01,-3.14280642e-01,-1.03231733e+01,
 -3.08246172e+01, 1.31762908e+01]

qfrc_actuator:
[ 1.01919041e-04, 8.42294834e-04, 1.62227655e-04, 1.08769614e-04,
 -2.44849062e-03, 1.63621461e-01, 8.65744441e-03, 1.17354875e-01,
 -1.84649106e-04, 8.31879884e-04, 1.93033171e-04, 6.47105008e-05,
  1.85361718e-02, 1.07085754e-02, 0.00000000e+00,-1.33303986e-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,  0.01472443,  0.43042157,  0.01472443,  3.64095951,
       -0.10982172,  0.43042157, -0.10982172,  0.43443028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002188521435005154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99219017,  0.12382733,  0.01501511,  0.12381315,  0.99230378,
       -0.0018737 , -0.01513157,  0.        , -0.99988551])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09965923, -0.0783818 ,  0.11563091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36805687, -0.11069347,  0.35101684, -0.11069347,  0.78787238,
        0.13238919,  0.35101684,  0.13238919,  0.40980592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.648852151445105e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57303975e-01, -8.87786162e-01, -5.20461798e-02, -2.38332266e-02,
       -4.62685870e-02,  9.98644679e-01, -8.88991030e-01,  4.57924609e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117473, -0.04350723,  0.27779867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.91447916, -5.86036222,  0.79825957, -5.86036222,  6.22418383,
        2.27367344,  0.79825957,  2.27367344, 22.60648062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005377431204434818
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09689603e-13, -5.16149339e-14,  1.00000000e+00, -1.59846084e-26,
        1.00000000e+00,  5.16149339e-14, -1.00000000e+00,  0.00000000e+00,
       -3.09689603e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626911, -0.08953648,  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:
[ 5.61667656e-05,-1.62649798e-05, 1.69886451e-05, 5.67840208e-06,
 -3.53130805e-03, 1.22742555e-01, 6.42845802e-02, 2.15423740e-02,
 -1.65603658e-05,-2.86682940e-05,-1.97820008e-05, 2.01161619e-05,
  2.41874639e-02, 1.18424828e-02, 9.62367846e-04, 1.92721441e-03,
  1.84333551e-05,-4.77326058e-07,-4.90500491e+00, 2.53653277e-04,
  1.18229831e-02,-6.78746710e-04]


--- Step 1385 ---
qpos:
[ 0.0185484 , 0.03007191,-0.00945994,-0.0253234 , 0.0072654 , 0.2093053 ,
 -0.0303025 , 0.2129987 , 0.01165784, 0.02786255,-0.00827651, 0.0264481 ,
  1.183465  ,-0.00466081, 1.19422238, 0.04463564, 0.05871543,-0.07533099,
  0.17145225, 0.9995801 , 0.02859357,-0.00308758,-0.003535  ]

qacc:
[-3.41572291e+00, 3.59331623e-01, 5.67287112e-01,-6.00731244e+00,
 -1.32470981e+00, 1.37321188e+01,-1.08869333e+02, 6.19848976e+01,
 -4.47948374e+00, 3.06956623e-01,-3.09070215e+00, 8.12100797e+00,
  2.59968109e+01,-1.38824433e+01,-1.37464348e+02, 4.08058591e+02,
 -3.18688441e+00, 2.06404597e-01,-3.31200566e-01,-6.70351134e+00,
 -2.83497423e+01, 5.41803922e+00]

qfrc_actuator:
[ 7.98616158e-05, 8.68283217e-04, 1.53027688e-04, 9.26267454e-05,
 -2.62234022e-03, 1.67072564e-01, 9.85491218e-03, 1.17834733e-01,
 -2.11266996e-04, 7.86649355e-04, 1.77643644e-04, 7.57460912e-05,
  1.85276005e-02, 1.07211696e-02, 0.00000000e+00,-1.28007326e-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,  0.04290488,  0.42853087,  0.04290488,  2.0103434 ,
       -0.15815794,  0.42853087, -0.15815794,  0.44650826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002231490151512136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99219932,  0.12366765,  0.01571076,  0.12365215,  0.99232369,
       -0.00195794, -0.0158323 ,  0.        , -0.99987466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0996277 , -0.0783842 ,  0.11565549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36816236,  0.10951733, -0.35149605,  0.10951733,  3.22624766,
        0.89050754, -0.35149605,  0.89050754,  0.64562212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.839285043196924e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45730833, -0.88778463, -0.05203405, -0.02382788, -0.04625769,
        0.99864531, -0.88898894,  0.45792868,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117679, -0.04350689,  0.27778506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.95479368,  5.94946691,  0.25181606,  5.94946691,  6.01371782,
       -1.39215594,  0.25181606, -1.39215594, 38.84620479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000542624453336707
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02301234e-13, -1.02301234e-13,  1.00000000e+00, -1.04655425e-26,
        1.00000000e+00,  1.02301234e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02301234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626779, -0.08952813,  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:
[-2.04246822e-05, 2.06914386e-05,-1.02738704e-05,-1.61490164e-05,
 -3.72663422e-03, 1.29449994e-01, 6.73196656e-02, 2.24341046e-02,
 -2.71142999e-05,-6.44913545e-05,-2.30507557e-05, 9.51469325e-06,
  2.23766604e-02, 1.11928908e-02, 2.25503777e-03, 5.12262903e-04,
  1.41048196e-05, 4.39879824e-07,-4.90500049e+00, 2.47778270e-04,
  1.18248903e-02,-6.78948437e-04]


--- Step 1386 ---
qpos:
[ 0.01854835, 0.03007145,-0.00945951,-0.02532126, 0.00728532, 0.2098193 ,
 -0.03156242, 0.21487618, 0.0116555 , 0.02786139,-0.00827631, 0.02644853,
  1.18347333,-0.00462653, 1.19427389, 0.04466854, 0.05869336,-0.07533075,
  0.1714464 , 0.99958071, 0.02857698,-0.00317163,-0.00342169]

qacc:
[-2.28835248e+00,-6.86374513e-01, 5.98383779e+00,-1.70005822e+01,
 -4.80043885e+00, 1.26747264e+01,-9.11281707e+01, 5.01102380e+01,
  3.35306124e+00,-1.53344009e+00, 4.14248683e+00,-2.78825851e+00,
 -1.52346597e+01, 1.13932720e+01,-6.77853224e+01, 1.61890331e+02,
 -3.09736280e+00, 3.28955249e-02,-4.33371812e-01,-2.88750136e+00,
 -2.83126202e+01, 1.09794432e+00]

qfrc_actuator:
[ 6.67775583e-05, 9.19621437e-04, 1.65252166e-04, 6.42844420e-05,
 -2.84154525e-03, 1.70371644e-01, 1.10865672e-02, 1.18314627e-01,
 -1.90323673e-04, 7.77825117e-04, 2.04078944e-04, 8.20775676e-05,
  1.85246211e-02, 1.06902618e-02, 0.00000000e+00,-1.29465801e-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,  0.04896296,  0.42788102,  0.04896296,  2.43452605,
       -0.22930336,  0.42788102, -0.22930336,  0.45691282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022602841632208825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99221674,  0.12348159,  0.01606997,  0.1234654 ,  0.99234686,
       -0.00199965, -0.01619391,  0.        , -0.99986887])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09960021, -0.07838648,  0.11567428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36803186,  0.08129275, -0.35894142,  0.08129275,  0.07692601,
       -0.06592941, -0.35894142, -0.06592941,  0.35310023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.602883265641231e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45720079, -0.88783932, -0.05204597, -0.02382775, -0.04627117,
        0.99864469, -0.88904425,  0.45782128,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07115766, -0.0434981 ,  0.27771674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.96720575,  5.96471579,  0.17236615,  5.96471579,  6.00206934,
       -1.20645143,  0.17236615, -1.20645143, 47.71635453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005441253994391548
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04038081e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.04038081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626749, -0.08952185,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36688910e-05, 6.01113548e-05, 1.46748483e-05,-2.81304312e-05,
 -3.92312992e-03, 1.35166692e-01, 7.02356251e-02, 2.32989882e-02,
  2.01238350e-05,-4.92338936e-05, 1.06114917e-05, 2.95714943e-06,
  2.04881618e-02, 1.06091337e-02, 3.86510569e-03,-9.60520620e-04,
  1.58528627e-05,-1.94120366e-06,-4.90499896e+00, 2.38695160e-04,
  1.18272486e-02,-6.78953621e-04]


--- Step 1387 ---
qpos:
[ 0.0185485 , 0.03007158,-0.00945875,-0.02531951, 0.0072989 , 0.21026396,
 -0.03286213, 0.21674426, 0.01165308, 0.02785986,-0.00827557, 0.02644901,
  1.1834891 ,-0.00458747, 1.19432012, 0.04468502, 0.05868003,-0.07533254,
  0.17144268, 0.99958098, 0.02857232,-0.00321865,-0.00333469]

qacc:
[   1.61170798,  -0.95400788,   6.18490287, -13.91561733, -17.55354059,
    0.20650189, -93.58753422,  43.49228851,  -0.62305164,  -1.93036981,
    5.99292775,  -5.8216203 ,   1.80921587,   3.09601496,  41.8928066 ,
 -157.90668981,   2.18572815,  -0.50726085,   0.53480948,   5.86003667,
   18.14921094, -13.69757671]

qfrc_actuator:
[ 7.68579420e-05, 9.68066704e-04, 1.90150118e-04, 4.67920110e-05,
 -3.08652594e-03, 1.73198126e-01, 1.23637230e-02, 1.18476770e-01,
 -1.94808110e-04, 7.73283805e-04, 2.37382407e-04, 8.56483890e-05,
  1.85237725e-02, 1.06763064e-02, 0.00000000e+00,-1.44390282e-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,  0.06755263,  0.42534243,  0.06755263,  2.81622358,
       -0.37887168,  0.42534243, -0.37887168,  0.49084553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022768195655317423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99223708,  0.12331134,  0.01612102,  0.12329506,  0.99236803,
       -0.00200319, -0.016245  ,  0.        , -0.99986804])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09957572, -0.07838824,  0.11568802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36735138, -0.21322539,  0.29913537, -0.21322539,  1.4220805 ,
        0.75181689,  0.29913537,  0.75181689,  0.90325073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1955960331825244e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45701849, -0.88793024, -0.05209596, -0.02384119, -0.04632048,
        0.99864208, -0.88913761,  0.45763993,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111998, -0.04347885,  0.27760562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.96871351,  5.90563893, -0.86543046,  5.90563893,  6.51181244,
        3.70607034, -0.86543046,  3.70607034, 31.25868678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005443076681880682
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01984878e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01984878e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02793776, -0.07841525,  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:
[ 9.70419464e-06, 8.38877005e-05, 3.81432866e-05,-1.49629915e-05,
 -4.08258883e-03, 1.39900193e-01, 7.28874379e-02, 2.37799065e-02,
 -3.91534222e-06,-2.97161252e-05, 2.45499658e-05, 1.88557025e-06,
  2.16342787e-02, 1.06403562e-02, 5.66701477e-03,-1.36537713e-03,
  2.34345426e-05,-5.36326923e-06,-4.90500057e+00, 2.28949437e-04,
  1.18288339e-02,-6.78873989e-04]


--- Step 1388 ---
qpos:
[ 0.01854841, 0.03007196,-0.00945811,-0.02531757, 0.00730628, 0.21065393,
 -0.03419811, 0.21860313, 0.01165028, 0.02785854,-0.00827494, 0.0264495 ,
  1.18350957,-0.00454235, 1.19437141, 0.04468585, 0.05867478,-0.07533617,
  0.17144044, 0.99958099, 0.02857828,-0.00323103,-0.00326802]

qacc:
[  -1.93581593,   1.08346634,  -4.21321229,   7.64266917, -17.26405778,
   10.05321186,-101.41392961,  38.06264684,  -3.24528723,   0.62599074,
   -1.88804275,   2.12718654,  -1.75638387,   7.55761635,  55.07344619,
 -181.18094094,   2.02039838,  -0.45822922,   0.37079496,   5.22217657,
   17.04447257, -10.67114019]

qfrc_actuator:
[ 6.49843603e-05, 9.43467024e-04, 1.69078600e-04, 5.35858102e-05,
 -3.39492528e-03, 1.76710545e-01, 1.36737781e-02, 1.19004127e-01,
 -2.14238806e-04, 8.06894165e-04, 2.38981999e-04, 8.75730807e-05,
  1.85063163e-02, 1.06672055e-02, 0.00000000e+00,-1.61894300e-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,  0.15850659,  0.40044375,  0.15850659,  3.63997942,
       -1.27033112,  0.40044375, -1.27033112,  0.93350516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022871060807099527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92255276e-01,  1.23159744e-01,  1.61599920e-02,  1.23143414e-01,
        9.92386859e-01, -2.00552885e-03, -1.62839641e-02,  4.33680869e-19,
       -9.99867407e-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([ 0.09956042, -0.07838983,  0.11569888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36699053, -0.01970978,  0.36646087, -0.01970978,  0.76928723,
        0.02163718,  0.36646087,  0.02163718,  0.36815426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2622471680016354e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45684751, -0.88801613, -0.05213157, -0.02384861, -0.04635671,
        0.99864023, -0.88922528,  0.45746957,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07109701, -0.04346924,  0.27753771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.0245794 , -5.91990508, -1.11815952, -5.91990508,  7.68909831,
       -8.81251177, -1.11815952, -8.81251177, 52.68092152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005510525840523028
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01473155e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.01473155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0279378 , -0.07842324,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15639827e-05, 2.95319921e-05, 4.19277240e-07, 1.14073755e-05,
 -4.07439646e-03, 1.46874403e-01, 7.61928622e-02, 2.47745284e-02,
 -1.95609415e-05, 2.21813328e-05,-1.44389594e-06, 1.53775175e-06,
  2.12447390e-02, 1.03922692e-02, 5.93021842e-03,-7.19092625e-04,
  1.16699671e-05,-1.91938533e-06,-4.90500041e+00, 2.37149274e-04,
  1.18271484e-02,-6.78595443e-04]


--- Step 1389 ---
qpos:
[ 0.01854853, 0.03007212,-0.00945777,-0.02531514, 0.00730801, 0.21100918,
 -0.03557019, 0.2204521 , 0.01164762, 0.0278577 ,-0.00827474, 0.02644999,
  1.18353304,-0.00449062, 1.19443404, 0.04467163, 0.05867671,-0.07534133,
  0.17143923, 0.99958079, 0.0285936 ,-0.00321227,-0.00321556]

qacc:
[   1.74031241,   1.54676867,  -7.97603327,  17.0021664 , -15.78553085,
   34.59694217,-147.65936452,  57.10202595,   1.11277678,   1.85764483,
   -5.68673504,   6.05180442,  -3.76712707,   9.89429571,  62.74060828,
 -194.16522265,   1.79645962,  -0.38621778,   0.25494288,   4.61054762,
   15.37245552,  -7.56628571]

qfrc_actuator:
[ 7.57811157e-05, 8.92900923e-04, 1.38500226e-04, 7.45182406e-05,
 -3.73895926e-03, 1.80629864e-01, 1.50159575e-02, 1.20091497e-01,
 -2.06797562e-04, 8.45223575e-04, 2.22008494e-04, 8.85252390e-05,
  1.85108294e-02, 1.06400530e-02, 0.00000000e+00,-1.62615129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002292670140338273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92269418e-01,  1.23040317e-01,  1.62013309e-02,  1.23023920e-01,
        9.92401673e-01, -2.00867949e-03, -1.63253764e-02, -4.33680869e-19,
       -9.99866732e-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([ 0.09955281, -0.07839113,  0.1157075 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36682599, -0.02127735,  0.36620838, -0.02127735,  0.78309095,
        0.02418573,  0.36620838,  0.02418573,  0.36823122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.759850040756355e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45668861, -0.88809659, -0.05215322, -0.02385024, -0.04638022,
        0.99863909, -0.88930686,  0.45731096,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07108755, -0.04346823,  0.27750787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  6.05074394,  -5.83203036,  -1.61211789,  -5.83203036,
         9.2722019 , -11.65401162,  -1.61211789, -11.65401162,
        48.21053261,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005542062089610722
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00163351e-13, -1.00163351e-13,  1.00000000e+00, -1.00326970e-26,
        1.00000000e+00,  1.00163351e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00163351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02793703, -0.0784296 ,  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:
[ 1.04673282e-05,-3.35064763e-05,-2.40484424e-05, 2.24273553e-05,
 -4.10765691e-03, 1.53525604e-01, 7.93548646e-02, 2.63208170e-02,
  6.87179844e-06, 5.05249238e-05,-1.25112607e-05, 1.88342184e-06,
  2.10143527e-02, 1.00607244e-02, 5.67633083e-03, 5.55651939e-05,
  5.67545160e-06,-3.54197958e-07,-4.90500056e+00, 2.41981916e-04,
  1.18261666e-02,-6.78620528e-04]


--- Step 1390 ---
qpos:
[ 0.01854947, 0.03007169,-0.00945731,-0.02531246, 0.00730506, 0.21133478,
 -0.03697497, 0.22229175, 0.01164575, 0.02785661,-0.00827416, 0.02645053,
  1.18355824,-0.00443222, 1.19451217, 0.04464309, 0.05868488,-0.07534771,
  0.17143867, 0.9995804 , 0.02861713,-0.0031662 ,-0.00317122]

qacc:
[ 7.03167694e+00,-6.00985292e-01,-8.20635310e-02, 4.72824801e+00,
 -1.30839216e+01, 3.29251991e+01,-1.34606156e+02, 4.53835901e+01,
  6.83121207e+00,-1.33561716e+00, 4.01809571e+00,-3.55215233e+00,
 -4.97914707e+00, 1.10731208e+01, 6.67219939e+01,-1.98960825e+02,
  1.55807417e+00,-3.00662113e-01, 1.64123755e-01, 4.04819749e+00,
  1.35462376e+01,-4.45699427e+00]

qfrc_actuator:
[ 1.17594385e-04, 8.44872307e-04, 1.37948318e-04, 8.58149355e-05,
 -4.13796181e-03, 1.84227129e-01, 1.63562608e-02, 1.21164196e-01,
 -1.65841507e-04, 7.97246007e-04, 2.29755008e-04, 8.88988591e-05,
  1.85231825e-02, 1.05991086e-02, 0.00000000e+00,-1.50923827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00229530665503557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99228042,  0.12294314,  0.0162648 ,  0.12292663,  0.99241372,
       -0.00201493, -0.01638913,  0.        , -0.99986569])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09955106, -0.07839228,  0.11571468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3667896 , -0.02853626,  0.36567785, -0.02853626,  0.8228437 ,
        0.03558892,  0.36567785,  0.03558892,  0.36956684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.639342057102739e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45654009, -0.88817241, -0.05216237, -0.02384668, -0.04639233,
        0.99863862, -0.8893832 ,  0.45716246,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07108994, -0.04347461,  0.27751037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  6.05278788,  -5.65422634,  -2.16008463,  -5.65422634,
        13.39600584, -19.22156928,  -2.16008463, -19.22156928,
        56.36706802,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005544524337611073
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00118870e-13, -1.00118870e-13,  1.00000000e+00, -1.00237882e-26,
        1.00000000e+00,  1.00118870e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00118870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0279356 , -0.07843469,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21053185e-05,-7.07837247e-05,-9.66988068e-06, 9.45983968e-06,
 -4.22433519e-03, 1.58857212e-01, 8.25083784e-02, 2.78869170e-02,
  4.11732968e-05,-2.22067266e-05, 1.67106262e-05, 2.14208121e-06,
  2.08769880e-02, 9.68864624e-03, 5.10815861e-03, 9.24995331e-04,
  4.02095306e-06,-1.20374979e-07,-4.90500111e+00, 2.44522327e-04,
  1.18255260e-02,-6.78894599e-04]


--- Step 1391 ---
qpos:
[ 0.01855056, 0.03007087,-0.00945692,-0.02530968, 0.00729924, 0.21162778,
 -0.0384064 , 0.22412391, 0.01164439, 0.02785502,-0.00827332, 0.02645111,
  1.18358467,-0.00436597, 1.19460364, 0.04460115, 0.05869767,-0.07535476,
  0.17143879, 0.99957988, 0.02864726,-0.00309956,-0.0031276 ]

qacc:
[ 1.28544359e+00,-1.14504858e-01,-7.74984005e-01, 2.93788553e+00,
 -8.04655827e+00, 1.59629822e+01,-8.75338383e+01, 2.28995783e+01,
  4.32791982e+00,-1.29415881e+00, 3.49639539e+00,-2.85889498e+00,
 -6.01922666e+00, 1.29685950e+01, 6.09012985e+01,-1.83025730e+02,
  1.15710666e+00,-1.70037358e-01, 1.69954393e-01, 3.26448005e+00,
  1.02783297e+01,-6.69895260e-01]

qfrc_actuator:
[ 1.24063695e-04, 8.34334738e-04, 1.37364062e-04, 9.13684308e-05,
 -4.62191937e-03, 1.87657755e-01, 1.77419660e-02, 1.21752142e-01,
 -1.41001488e-04, 7.51306347e-04, 2.33939900e-04, 8.88772223e-05,
  1.85242670e-02, 1.05294244e-02, 0.00000000e+00,-1.36583513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002295290351208085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99228975,  0.12285707,  0.01634619,  0.12284041,  0.99242437,
       -0.00202357, -0.01647096,  0.        , -0.99986434])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09955441, -0.07839339,  0.11572059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36685476, -0.04294276,  0.36433273, -0.04294276,  0.80971528,
        0.05219859,  0.36433273,  0.05219859,  0.37300725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.852473900989931e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45639954, -0.88824473, -0.0521609 , -0.02383866, -0.0463948 ,
        0.99863869, -0.88945555,  0.45702169,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07110245, -0.04348715,  0.27753949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005523609274435527
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06374573e-07, -9.06374598e-07,  1.00000000e+00, -8.21514889e-13,
        1.00000000e+00,  9.06374598e-07, -1.00000000e+00, -1.00974196e-28,
       -9.06374573e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03077683, -0.07889926,  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:
[ 7.67202693e-06,-5.16952730e-05,-1.60760961e-05, 2.36460337e-06,
 -4.47470871e-03, 1.63771480e-01, 8.55369365e-02, 2.89389143e-02,
  2.60362968e-05,-5.47740073e-05, 1.73139202e-06,-3.55526858e-07,
  2.07908327e-02, 9.28416590e-03, 4.33170745e-03, 1.78357573e-03,
  5.31956237e-06,-6.94841932e-07,-4.90500206e+00, 2.45849981e-04,
  1.18249262e-02,-6.79365938e-04]


--- Step 1392 ---
qpos:
[ 0.01855171, 0.03006946,-0.00945592,-0.02530652, 0.0072946 , 0.21191218,
 -0.03984055, 0.22595545, 0.01164299, 0.02785342,-0.00827263, 0.02645199,
  1.18364667,-0.00429065, 1.19466586, 0.0445914 , 0.05869553,-0.07536045,
  0.17143714, 0.9995799 , 0.02865605,-0.00309574,-0.00304583]

qacc:
[ 6.26423196e-01,-1.74135796e+00, 3.50475048e+00, 2.34054010e+00,
  3.27567735e+00,-5.01912412e+00, 3.98993735e+00,-4.00917931e+00,
 -3.13280203e-01, 1.05658901e+00,-5.07755459e+00, 1.06471103e+01,
  2.57121441e+01,-1.54520964e+01,-1.42245717e+02, 4.31124160e+02,
 -3.73599027e+00, 3.40427607e-01,-4.43088352e-01,-1.05132672e+01,
 -3.08824160e+01, 2.00041731e+01]

qfrc_actuator:
[ 1.27420778e-04, 8.10822465e-04, 1.72405453e-04, 1.11278580e-04,
 -5.06801382e-03, 1.90932176e-01, 1.91974575e-02, 1.22015640e-01,
 -1.43609867e-04, 7.77929711e-04, 2.35960905e-04, 1.06361973e-04,
  1.85398776e-02, 1.04564002e-02, 0.00000000e+00,-1.34373517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022918465526961945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92299579e-01,  1.22767913e-01,  1.64190442e-02,  1.22751110e-01,
        9.92435408e-01, -2.03109620e-03, -1.65441943e-02,  4.33680869e-19,
       -9.99863135e-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([ 0.09956251, -0.07839453,  0.11572497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36701558,  0.04121991, -0.36469351,  0.04121991,  0.83721882,
        0.05314527, -0.36469351,  0.05314527,  0.37302239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.333600858856873e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45625622, -0.88831886, -0.05215234, -0.02382726, -0.04639104,
        0.99863914, -0.88952938,  0.45687797,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07112219, -0.04350413,  0.27758724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.07627721, -6.06558857,  0.36024999, -6.06558857,  6.19808012,
        2.05081576,  0.36024999,  2.05081576, 40.60620108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005572807869925617
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.96107394e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.96107394e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626231, -0.0895019 ,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56484288e-06,-5.56205242e-05, 2.24638781e-05, 1.71809153e-05,
 -4.77701497e-03, 1.68677238e-01, 8.83342038e-02, 2.95757505e-02,
 -1.86797896e-06,-3.61306729e-06,-9.08738819e-06, 1.51894808e-05,
  2.07452459e-02, 8.81723674e-03, 3.66306233e-03, 2.47588305e-03,
  8.16271995e-06,-1.51270350e-06,-4.90500324e+00, 2.46842659e-04,
  1.18241160e-02,-6.79980029e-04]


--- Step 1393 ---
qpos:
[ 0.01855256, 0.03006727,-0.00945408,-0.02530349, 0.00728964, 0.2121989 ,
 -0.04127679, 0.22778627, 0.01164192, 0.02785203,-0.00827123, 0.02645299,
  1.18371355,-0.00422274, 1.19470431, 0.04460359, 0.0586798 ,-0.0753654 ,
  0.17143365, 0.9995801 , 0.02865354,-0.00315144,-0.0029454 ]

qacc:
[-2.64828904e+00,-3.61237735e+00, 1.19331322e+01,-1.48689436e+01,
 -8.97957355e-01, 7.39434801e+00,-1.88308893e+01, 7.76298872e+00,
  2.78096900e+00,-1.51468679e+00, 5.30431349e+00,-4.63516517e+00,
  1.16994679e+01,-1.79255035e+01,-1.02555128e+02, 3.05427021e+02,
 -3.39347918e+00, 1.85327280e-01,-4.60971534e-01,-5.53093287e+00,
 -2.94953887e+01, 1.01933776e+01]

qfrc_actuator:
[ 1.11177846e-04, 7.62135771e-04, 2.10415782e-04, 1.03989507e-04,
 -5.54754960e-03, 1.93800134e-01, 2.06460527e-02, 1.22790695e-01,
 -1.26842286e-04, 8.30051626e-04, 2.90250572e-04, 1.16313941e-04,
  1.85557433e-02, 1.03947699e-02, 0.00000000e+00,-1.52340930e-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, -0.11476523,  0.41510057, -0.11476523,  3.73437754,
        0.91339401,  0.41510057,  0.91339401,  0.68320463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022795269346438437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92323471e-01,  1.22601061e-01,  1.62206250e-02,  1.22584685e-01,
        9.92456034e-01, -2.00378230e-03, -1.63439230e-02,  4.33680869e-19,
       -9.99866429e-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([ 0.0995692 , -0.07839623,  0.11572607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36702756, -0.00461728, -0.36699852, -0.00461728,  0.081396  ,
        0.00359359, -0.36699852,  0.00359359,  0.36698235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3673165118454e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45602024, -0.88843941, -0.05216274, -0.02381969, -0.04640661,
        0.9986386 , -0.88965058,  0.45664191,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111615, -0.04350919,  0.2775654 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000559283750457551
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92540033e-14, -1.98508007e-13,  1.00000000e+00, -1.97027144e-26,
        1.00000000e+00,  1.98508007e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92540033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626152, -0.08949931,  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:
[-1.61572049e-05,-7.43837507e-05, 2.98804576e-05,-8.56514375e-06,
 -5.31533086e-03, 1.71978022e-01, 8.99285759e-02, 3.03803132e-02,
  1.67070862e-05, 4.89179727e-05, 5.29569344e-05, 9.77817585e-06,
  1.89830412e-02, 8.30100454e-03, 5.12405447e-03, 6.86687052e-04,
  8.32300366e-06,-1.95434533e-07,-4.90500087e+00, 2.43252517e-04,
  1.18246889e-02,-6.80274155e-04]


--- Step 1394 ---
qpos:
[ 0.01855355, 0.0300652 ,-0.00945294,-0.02530128, 0.00728303, 0.21249772,
 -0.04271422, 0.22961631, 0.01164141, 0.02785053,-0.00826926, 0.02645347,
  1.18374626,-0.0041709 , 1.19472098, 0.04462199, 0.05865097,-0.07537027,
  0.17142801, 0.99958022, 0.02864718,-0.00326629,-0.00283781]

qacc:
[ 1.20288760e+00, 4.31167093e-01, 2.11647473e+00,-1.51145827e+01,
 -4.64101889e+00, 1.76667900e+01,-3.64343785e+01, 1.55090717e+01,
  4.74317265e+00,-2.80837770e+00, 1.20172814e+01,-2.19597018e+01,
 -1.44758243e+01,-2.72932027e+00,-5.03862164e+01, 1.30897736e+02,
 -3.27737832e+00, 1.74097858e-02,-5.36558914e-01,-1.82796037e+00,
 -2.94617790e+01, 4.43749061e+00]

qfrc_actuator:
[ 1.19035142e-04, 7.87520613e-04, 1.78726857e-04, 6.29746370e-05,
 -6.25916353e-03, 1.96327962e-01, 2.20909533e-02, 1.24157073e-01,
 -9.87949206e-05, 7.90748515e-04, 3.04078104e-04, 8.63121345e-05,
  1.85519394e-02, 1.03173254e-02, 0.00000000e+00,-1.52498720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022605700739661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92355575e-01,  1.22396502e-01,  1.57958846e-02,  1.22380999e-01,
        9.92481283e-01, -1.94800754e-03, -1.59155491e-02, -2.16840434e-19,
       -9.99873340e-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([ 0.09957385, -0.07839814,  0.11572472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36674505,  0.02823639, -0.36565644,  0.02823639,  0.04640274,
       -0.02473719, -0.36565644, -0.02473719,  0.36483481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.486073396149519e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55720214e-01, -8.88590791e-01, -5.22062560e-02, -2.38239343e-02,
       -4.64533457e-02,  9.98636324e-01, -8.89804196e-01,  4.56342517e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07108844, -0.04350287,  0.27748752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005582731382626771
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94336776e-14, -9.94336776e-14,  1.00000000e+00, -9.88705624e-27,
        1.00000000e+00,  9.94336776e-14, -1.00000000e+00,  0.00000000e+00,
       -9.94336776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09626172, -0.08949762,  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:
[ 7.36412614e-06,-1.03623905e-05,-4.36707229e-05,-4.33380286e-05,
 -6.01130482e-03, 1.74391979e-01, 9.14868592e-02, 3.17811671e-02,
  2.85490958e-05,-5.55626457e-07, 3.07891476e-05,-2.58859806e-05,
  1.87348798e-02, 8.59301723e-03, 6.31194486e-03,-4.12358793e-04,
  1.58294065e-05,-2.39783670e-06,-4.90500094e+00, 2.34434766e-04,
  1.18263441e-02,-6.80481530e-04]


--- Step 1395 ---
qpos:
[ 0.01855462, 0.03006373,-0.00945303,-0.02529959, 0.00726518, 0.21278561,
 -0.04417701, 0.23144052, 0.0116402 , 0.02784885,-0.00826758, 0.0264533 ,
  1.18378917,-0.0041082 , 1.19472857, 0.04462426, 0.05863009,-0.07537694,
  0.1714255 , 0.99958008, 0.02864883,-0.00334887,-0.00277466]

qacc:
[ 6.90821698e-01, 3.15419024e+00,-7.86957965e+00, 2.27939737e-01,
 -3.14109290e+01, 4.42497136e+01,-1.53319221e+02, 9.76219549e+01,
 -5.91552331e+00,-7.69340567e-01, 5.12225576e+00,-1.56455500e+01,
  6.39182743e-02, 1.00322531e+01, 3.56301360e+01,-1.43608649e+02,
  1.98760504e+00,-4.45826021e-01, 7.83219405e-01, 3.89387073e+00,
  1.54992141e+01,-2.26924664e+01]

qfrc_actuator:
[ 1.23269038e-04, 8.39006595e-04, 1.24166362e-04, 3.79653606e-05,
 -7.09081253e-03, 1.99528645e-01, 2.35335779e-02, 1.25612305e-01,
 -1.35350024e-04, 7.50080781e-04, 2.75747455e-04, 5.06870650e-05,
  1.85556507e-02, 1.02597566e-02, 0.00000000e+00,-1.37725321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002236560750803274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99239222,  0.12217806,  0.0151727 ,  0.12216379,  0.9925082 ,
       -0.00186776, -0.01528723,  0.        , -0.99988314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09957575, -0.07840007,  0.11572153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36630433, -0.13353538, -0.341097  , -0.13353538,  0.57058953,
       -0.0799752 , -0.341097  , -0.0799752 ,  0.39761366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.156492599418473e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55375118e-01, -8.88762448e-01, -5.22954323e-02, -2.38466691e-02,
       -4.65419017e-02,  9.98631658e-01, -8.89980246e-01,  4.55999081e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710415 , -0.04348447,  0.27736335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.18226167,  6.10942989, -0.9461637 ,  6.10942989,  6.71572239,
        3.44458458, -0.9461637 ,  3.44458458, 28.42412941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005700165837040638
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46077727e-13, -1.94770303e-13,  1.00000000e+00, -2.84516031e-26,
        1.00000000e+00,  1.94770303e-13, -1.00000000e+00,  0.00000000e+00,
       -1.46077727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02793107, -0.07847491,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45337662e-06, 3.48723168e-05,-6.35740984e-05,-2.78111762e-05,
 -6.76061339e-03, 1.76990111e-01, 9.29981878e-02, 3.32739738e-02,
 -3.57208139e-05,-3.56891603e-05,-2.55569392e-05,-3.50907072e-05,
  2.04471034e-02, 9.33738597e-03, 7.40038541e-03,-5.75592000e-04,
  2.96816752e-05,-5.32525659e-06,-4.90500402e+00, 2.24080297e-04,
  1.18276614e-02,-6.80680411e-04]


--- Step 1396 ---
qpos:
[ 0.01855504, 0.03006232,-0.00945396,-0.02529783, 0.00723801, 0.21306572,
 -0.04566323, 0.23325938, 0.0116389 , 0.02784732,-0.00826641, 0.02645302,
  1.18397948,-0.0040125 , 1.19482479, 0.04461208, 0.05861578,-0.07538292,
  0.17142555, 0.99958002, 0.02864652,-0.00340483,-0.00274922]

qacc:
[-5.57223677e+00, 2.56281366e+00,-9.30246868e+00, 1.18096651e+01,
 -2.60775095e+01, 4.39363251e+01,-1.48166410e+02, 9.52788349e+01,
 -7.37347384e-01, 1.44065776e+00,-4.39871423e+00, 3.29583591e+00,
  8.83122508e+01,-4.38945927e+01, 1.69514088e+02,-4.14474125e+02,
  1.64335336e+00, 1.69809865e-01, 6.40037240e-01,-2.08324901e+00,
  1.27577510e+01,-1.92190940e+01]

qfrc_actuator:
[ 8.98232696e-05, 8.16871928e-04, 7.44594127e-05, 4.03568599e-05,
 -7.77119137e-03, 2.03435268e-01, 2.49994921e-02, 1.26877671e-01,
 -1.38630271e-04, 7.79717456e-04, 2.58239748e-04, 4.75161418e-05,
  1.85611078e-02, 1.02113762e-02, 0.00000000e+00,-1.36859914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022138920449530624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92416703e-01,  1.22043923e-01,  1.46413074e-02,  1.22030643e-01,
        9.92524700e-01, -1.80034068e-03, -1.47515799e-02,  2.16840434e-19,
       -9.99891190e-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([ 0.09958121, -0.07840144,  0.1157186 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.24668599, -6.18204479, -0.89633034, -6.18204479,  6.79980412,
       -3.8148893 , -0.89633034, -3.8148893 , 32.5582092 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777425183111085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.8041428e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.8041428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02793133, -0.07848482,  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:
[-3.32956961e-05,-1.69066371e-05,-5.12834382e-05, 1.14277860e-06,
 -6.87865558e-03, 1.81445700e-01, 9.57421229e-02, 3.48292704e-02,
 -4.34146657e-06, 2.92130675e-06,-2.92413532e-05,-6.26595458e-06,
  1.99427260e-02, 8.74513384e-03, 7.85449200e-03, 2.39945554e-04,
  1.30713324e-05,-1.65040090e-06,-4.90500255e+00, 2.34756370e-04,
  1.18273301e-02,-6.80534528e-04]


--- Step 1397 ---
qpos:
[ 0.01855541, 0.03006048,-0.00945528,-0.02529603, 0.00720039, 0.21334203,
 -0.04717139, 0.23507283, 0.01163792, 0.02784611,-0.00826562, 0.02645303,
  1.18425584,-0.0038749 , 1.19495688, 0.0446107 , 0.05860766,-0.07538832,
  0.17142747, 0.9995801 , 0.02863919,-0.00343559,-0.00275956]

qacc:
[  -0.51180947,   0.62883938,  -3.29429361,   5.11341013, -29.25045462,
   44.96350845,-144.09889669,  85.28883328,   2.66624842,   2.06165292,
   -7.91388057,  13.09628928,  38.27406555,   5.50536537,  18.68635755,
    7.82358858,   1.54578432,   0.14607565,   0.46607008,  -2.61114562,
   12.07541214, -18.23447654]

qfrc_actuator:
[ 8.77257220e-05, 7.68611764e-04, 4.55037412e-05, 4.10450921e-05,
 -8.30497813e-03, 2.07606892e-01, 2.64875795e-02, 1.27995469e-01,
 -1.22277232e-04, 8.15772321e-04, 2.47580445e-04, 6.35389118e-05,
  1.85282678e-02, 1.00887696e-02, 0.00000000e+00,-1.31436333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021921981117332566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92459913e-01,  1.21748641e-01,  1.41629803e-02,  1.21736246e-01,
        9.92560965e-01, -1.73724704e-03, -1.42691288e-02, -2.16840434e-19,
       -9.99898191e-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([ 0.0995893 , -0.07840496,  0.11571562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.27530738, -6.15034412, -1.24609385, -6.15034412,  7.62601376,
       -6.66668008, -1.24609385, -6.66668008, 39.18003328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005811723106220884
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43273734e-13, -9.55158224e-14,  1.00000000e+00, -1.36849085e-26,
        1.00000000e+00,  9.55158224e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43273734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02793059, -0.07849273,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06666179e-06,-6.82120715e-05,-3.86997656e-05,-1.78506965e-06,
 -6.94645872e-03, 1.86008914e-01, 9.84112237e-02, 3.62134341e-02,
  1.62244647e-05, 3.14164090e-05,-1.38706475e-05, 1.50155825e-05,
  1.25407657e-02, 6.97213206e-03, 3.41824945e-03, 1.01535804e-03,
  4.54674484e-06,-6.28719293e-07,-4.90500101e+00, 2.40440827e-04,
  1.18281007e-02,-6.80399494e-04]


--- Step 1398 ---
qpos:
[ 0.01855541, 0.03005815,-0.00945635,-0.02529461, 0.00715262, 0.21361447,
 -0.04869826, 0.23688153, 0.01163645, 0.02784484,-0.00826456, 0.02645322,
  1.18449257,-0.00373561, 1.19509489, 0.04459843, 0.05860466,-0.0753944 ,
  0.17143079, 0.99958011, 0.0286345 ,-0.00344503,-0.0027933 ]

qacc:
[  -3.18429408,  -2.12425166,   8.31416626, -15.12441027, -28.39823694,
   37.19225671,-119.33609119,  67.0525438 ,  -4.12867342,  -0.4430968 ,
    0.65273429,   2.31040392, -33.56865537,  30.88984322,  44.01734985,
 -135.95163334,   1.28228425,  -0.17097581,   0.35229253,   1.25762995,
   10.32405727, -12.00831877]

qfrc_actuator:
[ 6.86030875e-05, 7.58411388e-04, 6.44015782e-05, 2.29519604e-05,
 -8.76370357e-03, 2.11776896e-01, 2.79791127e-02, 1.28778381e-01,
 -1.47767469e-04, 8.02190095e-04, 2.58853911e-04, 7.29850217e-05,
  1.84886420e-02, 9.91726625e-03, 0.00000000e+00,-1.41201296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002171808423299898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99246439,  0.12175653,  0.01377594,  0.1217448 ,  0.99256   ,
       -0.00168988, -0.0138792 ,  0.        , -0.99990368])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09960017, -0.0784054 ,  0.11571319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36636236,  0.36385433,  0.04279496,  0.36385433,  0.366947  ,
       -0.00497078,  0.04279496, -0.00497078,  0.40862525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6621779379152503e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45410722, -0.88940524, -0.05239233, -0.02382446, -0.0466621 ,
        0.99862658, -0.89062845,  0.45473176,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096849, -0.043495  ,  0.27713314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  6.27460269,  -6.03319782,  -1.72370618,  -6.03319782,
         9.54780947, -11.45665329,  -1.72370618, -11.45665329,
        46.37439261,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005810878795784874
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55297007e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.55297007e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792903, -0.07849906,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92273031e-05,-5.63369401e-05, 1.44869579e-08,-2.23841895e-05,
 -6.88269165e-03, 1.90373112e-01, 1.01010389e-01, 3.72652531e-02,
 -2.50065390e-05, 1.80141589e-06, 1.65773723e-05, 1.06047930e-05,
  8.19978157e-03, 4.70376960e-03, 1.61895736e-03, 3.76588999e-04,
  1.30487407e-06,-1.66655520e-07,-4.90500041e+00, 2.43138130e-04,
  1.18281380e-02,-6.80190810e-04]


--- Step 1399 ---
qpos:
[ 0.01855517, 0.0300556 ,-0.00945704,-0.02529346, 0.00709478, 0.21388611,
 -0.05024188, 0.23868556, 0.0116347 , 0.02784302,-0.00826313, 0.02645394,
  1.18469682,-0.00360535, 1.19523012, 0.04457021, 0.05860631,-0.07540117,
  0.17143504, 0.99958005, 0.02863249,-0.00343494,-0.00284591]

qacc:
[  -1.95191407,  -1.94303131,   7.62985313, -12.75684275, -28.19988213,
   36.03286384,-109.81160257,  54.06884974,  -2.48336639,  -0.70350916,
   -0.70994458,   9.40892291, -20.48060018,   9.83879908,  45.42882079,
 -162.08470092,   1.16102076,  -0.17174858,   0.23001823,   1.27673611,
    9.49640873,  -9.70885149]

qfrc_actuator:
[ 5.73555367e-05, 7.71260341e-04, 9.37730468e-05, 1.17635008e-05,
 -9.08475390e-03, 2.15911999e-01, 2.94959992e-02, 1.29628168e-01,
 -1.62184103e-04, 7.41327274e-04, 2.65028449e-04, 9.62091276e-05,
  1.84638104e-02, 9.77539026e-03, 0.00000000e+00,-1.79647049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002152373333875062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92462368e-01,  1.21809505e-01,  1.34496255e-02,  1.21798321e-01,
        9.92553497e-01, -1.65058329e-03, -1.35505295e-02, -2.16840434e-19,
       -9.99908187e-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([ 0.09961317, -0.07840566,  0.11571101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36678707, -0.03303282,  0.36529658, -0.03303282,  0.70126304,
        0.03024579,  0.36529658,  0.03024579,  0.36952212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6308148410507095e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45366904, -0.88963   , -0.05237237, -0.02379238, -0.04665607,
        0.99862763, -0.89085258,  0.4542925 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096239, -0.04351269,  0.27709323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  6.25096717,  -5.81461278,  -2.29453019,  -5.81461278,
        13.82275909, -19.18782256,  -2.29453019, -19.18782256,
        54.87519488,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005782556284193024
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91995196e-13, -9.59975978e-14,  1.00000000e+00, -1.84310776e-26,
        1.00000000e+00,  9.59975978e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91995196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792682, -0.07850414,  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:
[-1.18183934e-05,-1.95225351e-05, 1.70007086e-05,-1.40306703e-05,
 -6.69651874e-03, 1.94705409e-01, 1.03472914e-01, 3.83517992e-02,
 -1.51534113e-05,-5.59569622e-05, 8.95692562e-06, 2.40820611e-05,
  1.01564567e-02, 4.47476166e-03, 1.32179861e-03, 5.35725502e-04,
  1.53554326e-06, 8.68047582e-09,-4.90500021e+00, 2.43231474e-04,
  1.18280262e-02,-6.80088098e-04]


--- Step 1400 ---
qpos:
[ 0.01855515, 0.03005322,-0.00945784,-0.02529247, 0.0070276 , 0.2141659 ,
 -0.05180346, 0.2404843 , 0.01163278, 0.02784121,-0.00826155, 0.02645486,
  1.1848712 ,-0.00348731, 1.19536696, 0.04452817, 0.05861178,-0.07540855,
  0.17143994, 0.99957993, 0.02863352,-0.0034086 ,-0.00291126]

qacc:
[ 1.80672463e+00, 2.25800073e-01, 2.18923762e-01,-2.95976761e+00,
 -2.62766777e+01, 4.98505859e+01,-1.39180173e+02, 6.74494846e+01,
 -1.35905423e+00, 2.20296365e-02,-9.71537544e-01, 4.45139539e+00,
 -1.63237587e+01, 3.40505305e+00, 4.50569390e+01,-1.52156851e+02,
  9.55656359e-01,-1.53740983e-01, 1.64096548e-01, 1.47911636e+00,
  7.94142041e+00,-6.61062273e+00]

qfrc_actuator:
[ 6.85912302e-05, 7.97882671e-04, 9.36840147e-05, 4.75359931e-06,
 -9.26596354e-03, 2.19758357e-01, 3.10336394e-02, 1.31336514e-01,
 -1.69954085e-04, 7.76878453e-04, 2.85690237e-04, 1.09550342e-04,
  1.84326614e-02, 9.64357787e-03, 0.00000000e+00,-1.93526587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021340819332009006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99242994,  0.12210024,  0.01320398,  0.12208944,  0.99251777,
       -0.00162436, -0.01330352,  0.        , -0.9999115 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09962812, -0.07840356,  0.11570944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36752487, -0.34344644,  0.13083988, -0.34344644,  0.44287722,
        0.19779515,  0.13083988,  0.19779515,  0.88672466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.588618590123402e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45330092, -0.8898195 , -0.05234056, -0.02375859, -0.04663758,
        0.99862929, -0.89104085,  0.45392312,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07096499, -0.04353282,  0.2770791 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000573283134455968
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84151267e-14, -9.68302535e-14,  1.00000000e+00, -4.68804900e-27,
        1.00000000e+00,  9.68302535e-14, -1.00000000e+00,  0.00000000e+00,
       -4.84151267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792412, -0.07850823,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08929494e-05, 1.87106165e-05,-2.47665161e-06,-7.52557997e-06,
 -6.37453506e-03, 1.98596156e-01, 1.05859470e-01, 4.02924773e-02,
 -8.23943749e-06, 7.17855404e-06, 1.10413043e-05, 1.17213919e-05,
  1.17493673e-02, 4.79167061e-03, 1.45867586e-03, 1.19482076e-03,
  3.49510224e-06,-2.58063491e-07,-4.90500018e+00, 2.42022524e-04,
  1.18279605e-02,-6.80063175e-04]


--- Step 1401 ---
qpos:
[ 0.01855491, 0.03005114,-0.00945899,-0.02529158, 0.00695245, 0.21445192,
 -0.05338177, 0.24227821, 0.01163112, 0.02784047,-0.00825994, 0.02645547,
  1.18501301,-0.00338964, 1.19551904, 0.04448135, 0.05862007,-0.07541659,
  0.17144537, 0.99957969, 0.02863926,-0.00337006,-0.0029813 ]

qacc:
[  -1.81603973,   1.19790565,  -3.31807746,   2.10140244, -22.4435559 ,
   44.83176232,-126.99462305,  62.90670684,   2.24372329,   0.68728504,
    0.94541334,  -7.32144525, -13.04405613,  -6.77420533,  37.44974944,
  -97.20766403,   0.70389284,  -0.16427235,   0.13332271,   2.32930895,
    6.03623816,  -2.52680438]

qfrc_actuator:
[ 5.74626300e-05, 8.14696695e-04, 7.62672726e-05, 2.50588946e-07,
 -9.37771517e-03, 2.23138782e-01, 3.25916242e-02, 1.33171929e-01,
 -1.55999713e-04, 9.05445106e-04, 3.15111466e-04, 9.93015340e-05,
  1.84039806e-02, 9.52459978e-03, 0.00000000e+00,-1.74490308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021174247623104363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99241901,  0.12221123,  0.01299688,  0.12220075,  0.99250411,
       -0.00160036, -0.01309504,  0.        , -0.99991426])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09964364, -0.07840382,  0.11570824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36852962, -0.32545534,  0.17289564, -0.32545534,  0.35313533,
       -0.02897791,  0.17289564, -0.02897791,  0.31398217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.463811117081673e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45300013, -0.88997499, -0.05230102, -0.02372484, -0.04661039,
        0.99863137, -0.89119471,  0.45362098,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07097481, -0.04355461,  0.27708595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005666495674260391
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46945717e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.46945717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02792104, -0.07851154,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07960868e-05, 2.65400314e-05,-1.40832729e-05,-3.92972478e-06,
 -6.01907027e-03, 2.01572692e-01, 1.08325888e-01, 4.23913992e-02,
  1.37103567e-05, 1.35400014e-04, 3.26685152e-05,-9.33262255e-06,
  1.32132909e-02, 5.28097737e-03, 1.37607784e-03, 2.07555735e-03,
  5.96759898e-06,-7.67542477e-07,-4.90500021e+00, 2.40258207e-04,
  1.18279743e-02,-6.80109965e-04]


--- Step 1402 ---
qpos:
[ 0.01855352, 0.03004899,-0.00945965,-0.02529076, 0.00687098, 0.21473624,
 -0.05497262, 0.24406853, 0.0116293 , 0.02784076,-0.00825806, 0.02645593,
  1.18512388,-0.00331341, 1.19569167, 0.04443459, 0.05863046,-0.0754253 ,
  0.17145116, 0.9995793 , 0.02865115,-0.00332206,-0.00304879]

qacc:
[ -9.98088046, -1.61853485,  5.96091749, -7.97934628,-17.78437655,
  25.30321831,-77.99216737, 35.47895327, -1.41228562,  0.33044229,
   1.43343117, -5.12732486,-10.98943588, -9.51376505, 30.55931353,
 -62.06288862,  0.52681638, -0.16532405,  0.08893388,  3.06113727,
   4.77726586,  1.1300736 ]

qfrc_actuator:
[-2.25315785e-06, 8.07686440e-04, 1.01996391e-04,-2.75536055e-06,
 -9.40992355e-03, 2.26628883e-01, 3.41855299e-02, 1.34197606e-01,
 -1.64877226e-04, 9.64490622e-04, 3.32109251e-04, 9.31026481e-05,
  1.84047295e-02, 9.46188021e-03, 0.00000000e+00,-1.52033241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021017019268831046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92406385e-01,  1.22331277e-01,  1.28306908e-02,  1.22321054e-01,
        9.92489324e-01, -1.58147272e-03, -1.29277872e-02, -2.16840434e-19,
       -9.99916433e-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([ 0.09965992, -0.07840424,  0.1157074 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3696188 , -0.30980166,  0.2015961 , -0.30980166,  0.32913394,
       -0.06221488,  0.2015961 , -0.06221488,  0.27401043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.061214617985918e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52775009e-01, -8.90091868e-01, -5.22614353e-02, -2.36950526e-02,
       -4.65811346e-02,  9.98633437e-01, -8.91309899e-01,  4.53394601e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07099036, -0.04357677,  0.2771078 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000558751804460994
  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([ 0.02791768, -0.07851423,  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:
[-6.00128278e-05, 4.83741519e-06, 2.93765182e-05,-2.42771760e-06,
 -5.65280495e-03, 2.04755938e-01, 1.10767428e-01, 4.36574076e-02,
 -8.42974038e-06, 1.41116717e-04, 4.86538250e-05, 5.48111784e-07,
  1.48428495e-02, 6.23542325e-03, 6.12242334e-04, 2.53854145e-03,
  7.58444423e-06,-1.35461654e-06,-4.90500013e+00, 2.38743537e-04,
  1.18281875e-02,-6.80252466e-04]


--- Step 1403 ---
qpos:
[ 0.01855245, 0.03004688,-0.00945974,-0.02529   , 0.00678493, 0.21501714,
 -0.05657239, 0.24585604, 0.01162739, 0.02784135,-0.00825561, 0.02645605,
  1.18520804,-0.003257  , 1.19588518, 0.04438976, 0.0586425 ,-0.07543465,
  0.17145711, 0.99957875, 0.02867031,-0.00326627,-0.00310772]

qacc:
[ 2.83841184e+00,-1.65481913e+00, 6.25203148e+00,-8.28143623e+00,
 -1.28657743e+01, 1.45665232e+01,-4.64556392e+01, 1.36098635e+01,
 -7.67936877e-01,-1.92330236e+00, 8.88623746e+00,-1.60248518e+01,
 -8.64599407e+00,-1.01144720e+01, 2.51970640e+01,-4.28743133e+01,
  4.11009262e-01,-1.62200217e-01, 3.79256503e-02, 3.64481095e+00,
  4.02044346e+00, 4.15427153e+00]

qfrc_actuator:
[ 1.64339274e-05, 8.22140439e-04, 1.35151238e-04,-4.84497769e-06,
 -9.39286503e-03, 2.30421006e-01, 3.57857396e-02, 1.34649367e-01,
 -1.69377498e-04, 9.28162873e-04, 3.41395120e-04, 7.15319607e-05,
  1.84135092e-02, 9.40661711e-03, 0.00000000e+00,-1.33140636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020858784316245354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92394143e-01,  1.22445824e-01,  1.26840383e-02,  1.22435824e-01,
        9.92475199e-01, -1.56488296e-03, -1.27802068e-02,  2.16840434e-19,
       -9.99918330e-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([ 0.09967728, -0.07840491,  0.11570655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37060925, -0.29698206,  0.22170447, -0.29698206,  0.3155013 ,
       -0.07381932,  0.22170447, -0.07381932,  0.2717253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010295084827656091
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45261658, -0.89017445, -0.05222714, -0.02367118, -0.0465548 ,
        0.99863523, -0.891391  ,  0.45323514,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101033, -0.04359873,  0.27714044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005499570084893934
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04686279e-14, -1.00937256e-13,  1.00000000e+00, -5.09416480e-27,
        1.00000000e+00,  1.00937256e-13, -1.00000000e+00,  0.00000000e+00,
       -5.04686279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02791412, -0.07851644,  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:
[ 1.69461975e-05, 2.31896586e-05, 3.77228648e-05,-9.06215537e-07,
 -5.31964045e-03, 2.08637449e-01, 1.13006016e-01, 4.42874997e-02,
 -4.69733660e-06, 5.26168854e-05, 4.44192698e-05,-1.38350223e-05,
  1.63980056e-02, 7.25047629e-03,-4.17939677e-04, 2.72469029e-03,
  8.02943595e-06,-1.95000307e-06,-4.90499998e+00, 2.37807360e-04,
  1.18284806e-02,-6.80517343e-04]


--- Step 1404 ---
qpos:
[ 0.01855299, 0.03004516,-0.00945983,-0.02528927, 0.00669564, 0.2152997 ,
 -0.05818022, 0.24764066, 0.01162613, 0.02784171,-0.00825271, 0.02645564,
  1.18527279,-0.00321595, 1.19609447, 0.04434534, 0.05865581,-0.07544463,
  0.17146306, 0.99957804, 0.0286972 ,-0.00320418,-0.0031548 ]

qacc:
[ 1.38110092e+01, 4.03709042e-01,-6.22781273e-01,-1.86700602e-01,
 -9.16063413e+00, 1.87476011e+01,-5.13551596e+01, 1.22309377e+01,
  5.56368629e+00,-2.66934306e+00, 1.12736055e+01,-2.09201921e+01,
 -5.73678255e+00,-8.64125379e+00, 2.21658323e+01,-4.35085126e+01,
  3.17669555e-01,-1.56688662e-01, 3.51260080e-03, 3.87039050e+00,
  3.33796644e+00, 5.82167358e+00]

qfrc_actuator:
[ 9.88872775e-05, 8.49377988e-04, 1.36987961e-04,-6.36435547e-06,
 -9.34546657e-03, 2.33917418e-01, 3.73911213e-02, 1.35609566e-01,
 -1.35753386e-04, 8.70449775e-04, 3.45644588e-04, 4.09990222e-05,
  1.84065385e-02, 9.34503801e-03, 0.00000000e+00,-1.36105900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002069718990763751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92383818e-01,  1.22543296e-01,  1.25498152e-02,  1.22533498e-01,
        9.92463168e-01, -1.54957460e-03, -1.26451193e-02, -2.16840434e-19,
       -9.99920047e-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([ 0.09969557, -0.07840589,  0.11570564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37136862, -0.28970831,  0.23234402, -0.28970831,  0.31504288,
       -0.07023221,  0.23234402, -0.07023221,  0.28379651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011145483681756624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45251006, -0.8902301 , -0.05220166, -0.02365403, -0.04653493,
        0.99863656, -0.89144553,  0.45312787,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07103371, -0.04362036,  0.27718109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005405906061459603
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.02686119e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.02686119e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02791044, -0.07851825,  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:
[ 8.29603944e-05, 4.80420360e-05, 1.12651825e-05, 7.63664056e-07,
 -5.04360217e-03, 2.12309274e-01, 1.15068547e-01, 4.53873285e-02,
  3.35078697e-05,-1.97647313e-05, 2.00731289e-05,-2.70176135e-05,
  1.77265684e-02, 8.17902801e-03,-1.46553041e-03, 2.59739824e-03,
  7.60746070e-06,-2.53581771e-06,-4.90499995e+00, 2.37535128e-04,
  1.18286493e-02,-6.80928702e-04]


--- Step 1405 ---
qpos:
[ 0.01855348, 0.03004353,-0.00945952,-0.02528822, 0.00662096, 0.21559544,
 -0.05979025, 0.24942435, 0.01162529, 0.02784172,-0.00825018, 0.02645459,
  1.18531521,-0.00318619, 1.1962861 , 0.04430447, 0.05866521,-0.07545127,
  0.17146984, 0.99957762, 0.02872085,-0.00314764,-0.00312738]

qacc:
[ -0.41206103, -0.29769633, -0.11061598,  5.06099054, 40.90283836,
  21.45210433,-47.21095576, 23.95765015,  3.5167462 , -0.73054491,
   4.59957865,-14.70558181, -8.75343349, -3.17649022,-36.49733976,
  90.55149418, -0.9758161 ,  0.83283707,  0.20588653, -1.49452975,
  -1.71295756, 37.31435567]

qfrc_actuator:
[ 9.39187806e-05, 8.48434188e-04, 1.55880259e-04, 1.02067002e-05,
 -9.27936848e-03, 2.37072912e-01, 3.90200718e-02, 1.37053548e-01,
 -1.15465461e-04, 8.18067695e-04, 3.11257253e-04, 5.40719895e-06,
  1.83957478e-02, 9.28313272e-03, 0.00000000e+00,-1.62761487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002053651088292519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9923761 ,  0.12261785,  0.0124314 ,  0.12260823,  0.99245396,
       -0.0015359 , -0.01252592,  0.        , -0.99992155])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971427, -0.07840723,  0.11570485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.88865964, 0.81336199, 0.35799194, 0.81336199, 0.77228542,
       0.26440364, 0.35799194, 0.26440364, 0.2879314 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.911032475347748e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54246155, -0.83810692, -0.05755219, -0.03127168, -0.04831497,
        0.9983425 , -0.83949839,  0.54336217,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07195124, -0.04429424,  0.28006503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37185666, -0.34648384,  0.13500491, -0.34648384,  0.37115486,
       -0.00180112,  0.13500491, -0.00180112,  0.36723416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011657815653066988
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45243416, -0.89026956, -0.05218654, -0.02364319, -0.04652348,
        0.99863735, -0.89148434,  0.45305151,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105954, -0.04364187,  0.27722789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005305933074133127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37314936e-13,  7.53619207e-07,  1.00000000e+00,  1.03483173e-19,
        1.00000000e+00, -7.53619207e-07, -1.00000000e+00,  1.20370622e-35,
       -1.37314936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04503454, -0.09273317,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52928737e-06, 2.83693617e-05, 3.02442162e-05, 1.90314628e-05,
 -4.81553358e-03, 2.15386047e-01, 1.17112084e-01, 4.69744540e-02,
  2.12680791e-05,-6.04842474e-05,-3.69722499e-05,-3.62780706e-05,
  1.86860748e-02, 8.88425599e-03,-2.25756625e-03, 2.30989725e-03,
  6.96628204e-06,-3.10052036e-06,-4.90500015e+00, 2.37821966e-04,
  1.18285007e-02,-6.81498750e-04]


--- Step 1406 ---
qpos:
[ 0.01855356, 0.03004186,-0.00945887,-0.02528695, 0.00656555, 0.21594322,
 -0.06139419, 0.25120692, 0.01162504, 0.0278417 ,-0.00824881, 0.02645349,
  1.18530926,-0.00321677, 1.19647876, 0.04429192, 0.05866538,-0.07545425,
  0.17147649, 0.99957811, 0.02872271,-0.00310131,-0.00299939]

qacc:
[-3.48061095e+00,-5.74742159e-01, 1.05461833e+00, 2.14630488e+00,
  5.39032617e+01, 4.92554825e+01,-7.14282196e+01, 4.04349631e+00,
  5.03482168e+00, 3.06188113e+00,-1.07298878e+01, 1.15806646e+01,
  4.69703948e+00,-5.94544127e+01,-8.58464117e+01, 2.98682407e+02,
 -2.30886733e+00, 9.18914105e-01,-3.37487840e-02,-1.07269518e+01,
 -3.69558256e+00, 5.04526393e+01]

qfrc_actuator:
[ 7.30180279e-05, 8.30698147e-04, 1.66852428e-04, 1.95310562e-05,
 -9.21860605e-03, 2.41591664e-01, 4.06427816e-02, 1.38573980e-01,
 -8.54494847e-05, 8.22351105e-04, 2.54332640e-04, 2.60325085e-06,
  1.83836254e-02, 9.22310631e-03, 0.00000000e+00,-1.57805283e-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, -0.4258508 ,  0.06427004, -0.4258508 ,  0.50158149,
        0.46983457,  0.06427004,  0.46983457,  3.54377909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002035331477925413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9923867 ,  0.122549  ,  0.01226286,  0.12253965,  0.99246246,
       -0.00151421, -0.012356  ,  0.        , -0.99992366])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09973077, -0.07840969,  0.1157039 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.88874917,  0.79854373, -0.39013201,  0.79854373,  0.74561076,
       -0.2929836 , -0.39013201, -0.2929836 ,  0.28905417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1765211172433972e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42419172e-01, -8.38135762e-01, -5.75316072e-02, -3.12580199e-02,
       -4.82992963e-02,  9.98343685e-01, -8.39526282e-01,  5.43319080e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07195995, -0.04430148,  0.28006124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3721981 , -0.3656624 , -0.06944374, -0.3656624 ,  0.36090833,
        0.05944734, -0.06944374,  0.05944734,  0.05917269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012002574446198153
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52383309e-01, -8.90295889e-01, -5.21782678e-02, -2.36367758e-02,
       -4.65174640e-02,  9.98637786e-01, -8.91510316e-01,  4.53000393e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07107695, -0.04365562,  0.27725122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.81501406, -4.70173814,  3.42170236, -4.70173814,  7.74683711,
        2.65450503,  3.42170236,  2.65450503,  9.46255152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005256543335590392
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19633243e-06, -1.19633259e-06,  1.00000000e+00, -1.43121148e-12,
        1.00000000e+00,  1.19633259e-06, -1.00000000e+00, -2.01948392e-28,
       -1.19633243e-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([ 0.06534852, -0.10800785,  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:
[-2.09619653e-05, 5.23931333e-06, 2.12273333e-05, 1.19565507e-05,
 -5.48522604e-03, 2.19250253e-01, 1.18856557e-01, 4.85409503e-02,
  3.06240408e-05,-3.87543154e-05,-7.52566580e-05,-7.38561684e-06,
  1.97893500e-02, 9.38798540e-03,-1.37869835e-03, 2.18124044e-03,
  5.02868716e-06,-1.11645218e-06,-4.90500197e+00, 2.44360139e-04,
  1.18253196e-02,-6.81820945e-04]


--- Step 1407 ---
qpos:
[ 0.01855408, 0.03004044,-0.00945818,-0.02528559, 0.0065103 , 0.21634841,
 -0.0629998 , 0.25298721, 0.0116248 , 0.02784173,-0.00824828, 0.02645267,
  1.1853041 ,-0.00325264, 1.1966528 , 0.04430297, 0.05865164,-0.07545809,
  0.17147982, 0.99957848, 0.02872086,-0.00312332,-0.00286638]

qacc:
[ 3.75496288e+00, 3.90104939e-01,-1.28757637e+00, 2.52796281e+00,
  1.40403983e-01, 7.54393726e+01,-1.48803105e+02, 6.69725101e+01,
  1.21684114e-01, 3.01297651e+00,-1.18630699e+01, 1.81622972e+01,
  6.88639360e+00,-1.17813006e+01,-9.95884622e+01, 3.06939401e+02,
 -3.47848892e+00,-2.19317519e-01,-8.28302584e-01,-1.74423293e+00,
 -3.40826913e+01, 3.49254975e+00]

qfrc_actuator:
[ 9.61932877e-05, 8.56261582e-04, 1.72970211e-04, 2.44889072e-05,
 -9.17154531e-03, 2.46529193e-01, 4.22188203e-02, 1.40087574e-01,
 -8.54487131e-05, 8.42696086e-04, 2.20321407e-04, 1.91511468e-05,
  1.83845049e-02, 9.25327525e-03, 0.00000000e+00,-1.25848984e-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, -0.42716862, -0.05483162, -0.42716862,  0.47951287,
       -0.38048687, -0.05483162, -0.38048687,  3.39487659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002015214205567402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.992422  ,  0.12228549,  0.01203504,  0.1222765 ,  0.99249497,
       -0.00148284, -0.01212605,  0.        , -0.99992648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09974004, -0.07841371,  0.11570395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.88870015,  0.63165167, -0.62514329,  0.63165167,  0.48098096,
       -0.41196397, -0.62514329, -0.41196397,  0.47244722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.422948274921208e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42207346e-01, -8.38275801e-01, -5.74880446e-02, -3.12220753e-02,
       -4.82706669e-02,  9.98346195e-01, -8.39664442e-01,  5.43105537e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0719675 , -0.04430256,  0.28005446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37197661, -0.16570769, -0.33302786, -0.16570769,  0.07883481,
        0.14586122, -0.33302786,  0.14586122,  0.29939912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011780143479922231
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45254737, -0.89021372, -0.05215752, -0.02363592, -0.04649462,
        0.99863887, -0.89142707,  0.45316418,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710801 , -0.04365337,  0.27722876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.77924212, -4.95404122, -2.97609057, -4.95404122,  6.43617603,
       -1.0935412 , -2.97609057, -1.0935412 ,  7.59956582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005212890539570553
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.1297647e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.1297647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09624631, -0.08957988,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25692774e-05, 3.34317802e-05, 1.02377969e-05, 6.14972498e-06,
 -6.40131796e-03, 2.21588762e-01, 1.20138565e-01, 5.01092279e-02,
  8.89878374e-07,-1.71915947e-05,-5.15562778e-05, 1.21375558e-05,
  2.22086863e-02, 1.24353945e-02,-1.43337041e-03, 1.08420155e-03,
  2.24408469e-05, 1.16631775e-06,-4.90500066e+00, 2.51443945e-04,
  1.18250086e-02,-6.81651127e-04]


--- Step 1408 ---
qpos:
[ 0.01855523, 0.03003933,-0.00945778,-0.02528349, 0.00647716, 0.21680139,
 -0.06459803, 0.25476666, 0.01162422, 0.02784165,-0.00824817, 0.02645205,
  1.18529207,-0.00328584, 1.19679155, 0.04434121, 0.05862949,-0.07545756,
  0.17148302, 0.99957971, 0.02869606,-0.00315391,-0.00264358]

qacc:
[ 5.29164613e+00, 2.75455675e+00,-1.24039140e+01, 2.56586407e+01,
  6.19870529e+01, 4.07029985e+01,-5.03921843e+01,-1.04954634e+01,
 -2.92985927e+00, 1.43853192e+00,-6.14939799e+00, 1.02655420e+01,
 -3.46654799e+00, 3.89387903e+00,-1.34206747e+02, 3.94212215e+02,
 -2.10229527e+00, 1.09522992e+00,-3.33742941e-02,-1.13320336e+01,
 -3.03379077e+00, 4.50349402e+01]

qfrc_actuator:
[ 1.27379292e-04, 8.72021459e-04, 1.58590922e-04, 6.23763815e-05,
 -9.10355013e-03, 2.50289331e-01, 4.37899329e-02, 1.41172617e-01,
 -1.03117596e-04, 8.37106943e-04, 2.00206997e-04, 2.92333669e-05,
  1.83958263e-02, 9.27115314e-03, 0.00000000e+00,-1.12084146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019955788629497304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99245935,  0.12201693,  0.01167497,  0.12200849,  0.99252802,
       -0.00143527, -0.01176286,  0.        , -0.99993082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09974291, -0.07841777,  0.11570417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3705678 ,  0.32162458,  0.1840601 ,  0.32162458,  0.45212724,
       -0.14251607,  0.1840601 , -0.14251607,  0.61959879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010246533787784612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52604566e-01, -8.90182853e-01, -5.21880679e-02, -2.36527901e-02,
       -4.65203176e-02,  9.98637274e-01, -8.91397584e-01,  4.53222184e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07106142, -0.04364076,  0.277152  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.73481489,  4.88232028,  3.0084964 ,  4.88232028,  9.71624147,
       -6.46123416,  3.0084964 , -6.46123416, 16.22038987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005158532138439679
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08078562e-07,  1.08078683e-07,  1.00000000e+00, -1.16809885e-14,
        1.00000000e+00, -1.08078683e-07, -1.00000000e+00,  0.00000000e+00,
        1.08078562e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06534881, -0.10801413,  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:
[ 3.18582108e-05, 3.68790322e-05,-5.99668967e-06, 3.97903842e-05,
 -6.34109731e-03, 2.22478561e-01, 1.21803163e-01, 5.13073053e-02,
 -1.76467197e-05,-2.53383512e-05,-2.96008492e-05, 7.79829803e-06,
  2.21795045e-02, 1.27190504e-02,-5.05960100e-04, 4.07609131e-05,
  2.18443519e-05,-1.73654852e-06,-4.90499995e+00, 2.38295179e-04,
  1.18257914e-02,-6.81938185e-04]


--- Step 1409 ---
qpos:
[ 0.01855673, 0.03003825,-0.00945768,-0.02528125, 0.00646743, 0.21729192,
 -0.06618681, 0.25654587, 0.01162447, 0.02784095,-0.00824813, 0.02645229,
  1.18524566,-0.00332678, 1.19687843, 0.0443895 , 0.0586002 ,-0.07545341,
  0.17148609, 0.99958158, 0.02865319,-0.00319032,-0.00234245]

qacc:
[ 3.12684291e+00, 1.14637291e+00,-4.59334203e+00, 7.32657431e+00,
  6.57431588e+01, 2.27432978e+01,-8.68313801e+00,-3.67904448e+01,
  7.05776471e+00, 1.12685718e+00,-8.86450505e+00, 2.43267997e+01,
 -1.83808360e+01, 7.38066572e+00,-1.06044336e+02, 2.61934920e+02,
 -1.78348278e+00, 9.05617907e-01,-3.21396245e-02,-8.90644621e+00,
 -1.80414891e+00, 3.92611120e+01]

qfrc_actuator:
[ 1.45263549e-04, 8.46226546e-04, 1.32220717e-04, 6.60617709e-05,
 -9.04500772e-03, 2.53613735e-01, 4.54029708e-02, 1.42071002e-01,
 -6.00249009e-05, 7.80590327e-04, 1.88345611e-04, 7.09193918e-05,
  1.84034236e-02, 9.29354751e-03, 0.00000000e+00,-1.28289236e-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, -0.42291502, -0.08137829, -0.42291502,  0.53955566,
       -0.56585064, -0.08137829, -0.56585064,  3.37134367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001974337387696631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92544837e-01,  1.21360136e-01,  1.12456273e-02,  1.21352347e-01,
        9.92608542e-01, -1.37493362e-03, -1.13293679e-02, -2.16840434e-19,
       -9.99935821e-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([ 0.09973876, -0.07842553,  0.11570517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36954067,  0.16745135, -0.32942427,  0.16745135,  0.22303683,
       -0.07447012, -0.32942427, -0.07447012,  0.33168637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.956375548165809e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45271351, -0.89012702, -0.0521954 , -0.02366182, -0.04652396,
        0.99863689, -0.89134202,  0.45333145,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102784, -0.04361695,  0.27703216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.69142255,   5.28159228,   2.12063049,   5.28159228,
        13.02549131, -18.26605867,   2.12063049, -18.26605867,
        51.18443744,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005105276543773823
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08732898e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08732898e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06423763, -0.10868199,  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:
[ 1.88267439e-05,-4.66923848e-06,-1.81142391e-05, 5.82705590e-06,
 -7.38784827e-03, 2.23412144e-01, 1.23056874e-01, 5.22460007e-02,
  4.25669331e-05,-7.64714595e-05,-2.04704188e-05, 3.97296548e-05,
  2.25306536e-02, 1.26079807e-02, 1.25574482e-03,-1.48145443e-03,
  5.92062346e-05,-5.35137605e-06,-4.90499405e+00, 2.33522624e-04,
  1.18327209e-02,-6.81545178e-04]


--- Step 1410 ---
qpos:
[ 0.01855741, 0.03003701,-0.00945749,-0.02527968, 0.00645439, 0.2177797 ,
 -0.06779222, 0.25832144, 0.0116249 , 0.02783947,-0.00824814, 0.02645339,
  1.18521073,-0.00334791, 1.19692961, 0.0444162 , 0.05857613,-0.07545168,
  0.17149084, 0.99958277, 0.0286265 ,-0.00322264,-0.00210433]

qacc:
[  -7.12374521,  -1.8287512 ,   9.06269242, -20.66371066,  -9.46225174,
   34.89877581,-113.58299732,  75.53832756,   1.46181134,   0.8803947 ,
   -8.28798326,  23.88294963,  -3.92044184,  21.1259912 ,  13.20324229,
 -121.2527544 ,   1.30422004,  -0.60689396,   0.42087603,   7.99451072,
    1.15421949, -31.57571748]

qfrc_actuator:
[ 1.01914299e-04, 8.31164850e-04, 1.34292620e-04, 3.17942021e-05,
 -9.03779353e-03, 2.57040629e-01, 4.70006436e-02, 1.43016915e-01,
 -5.25181616e-05, 7.29581843e-04, 1.81254657e-04, 1.13073266e-04,
  1.84061834e-02, 9.34576841e-03, 0.00000000e+00,-1.40546262e-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,  0.42114359,  0.0900978 ,  0.42114359,  0.50244639,
       -0.33548825,  0.0900978 , -0.33548825,  1.998844  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001951446302887951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99262338,  0.12075788,  0.01078704,  0.12075075,  0.99268199,
       -0.00131222, -0.01086657,  0.        , -0.99994096])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972923, -0.07843192,  0.11570716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36859453,  0.06292563, -0.36318355,  0.06292563,  0.23200316,
       -0.02366599, -0.36318355, -0.02366599,  0.36449413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.568716319046515e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45289862, -0.89003342, -0.05218573, -0.02366709, -0.04651042,
        0.9986374 , -0.89124784,  0.45351658,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07098231, -0.0435822 ,  0.27688247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.67206703,  4.33644718, -3.6561688 ,  4.33644718,  7.4948546 ,
        2.16194121, -3.6561688 ,  2.16194121,  8.23626589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005081466603767543
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63863572e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.63863572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02785138, -0.07858932,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27988969e-05,-2.11296324e-05,-9.17635918e-07,-3.49846005e-05,
 -8.55140774e-03, 2.24958836e-01, 1.24191484e-01, 5.32029272e-02,
  8.72554706e-06,-9.62577976e-05,-2.40282062e-05, 3.89408914e-05,
  2.42518445e-02, 1.30485721e-02, 3.84736634e-03,-2.10685249e-03,
  1.06773062e-04,-9.55356189e-06,-4.90498578e+00, 2.28743344e-04,
  1.18425385e-02,-6.80754886e-04]


--- Step 1411 ---
qpos:
[ 0.0185579 , 0.03003563,-0.00945727,-0.02527853, 0.00643608, 0.21825923,
 -0.06941039, 0.26009427, 0.01162506, 0.02783788,-0.00824822, 0.02645455,
  1.18519944,-0.00334418, 1.19695714, 0.04443075, 0.05855677,-0.075452  ,
  0.17149673, 0.99958349, 0.02861094,-0.00324951,-0.00192394]

qacc:
[ -1.54136802, -1.13472115,  5.511232  ,-12.65933097,-14.86344288,
  18.85375624,-70.96686905, 47.61672325, -2.20089409,  0.21252639,
  -1.23181563,  2.56014258,  2.26165382, 20.36767756,  2.18234703,
 -57.57092378,  1.17740595, -0.51155979,  0.2845412 ,  5.46333075,
   1.91207948,-28.94802311]

qfrc_actuator:
[ 9.38857402e-05, 8.22712445e-04, 1.35400357e-04, 1.10059882e-05,
 -9.00850517e-03, 2.60536546e-01, 4.86113835e-02, 1.43906073e-01,
 -6.60369205e-05, 7.71049796e-04, 1.94786930e-04, 1.19655112e-04,
  1.84031511e-02, 9.39140931e-03, 0.00000000e+00,-1.15719180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001931926936700885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9926832 ,  0.1202999 ,  0.01039221,  0.12029331,  0.9927376 ,
       -0.00125933, -0.01046823,  0.        , -0.99994521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972237, -0.07843687,  0.11570951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36782618, -0.30228864, -0.20956544, -0.30228864,  0.76520316,
       -0.57319826, -0.20956544, -0.57319826,  1.19463867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.211693660226604e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45297918, -0.88999207, -0.05219167, -0.023674  , -0.04651356,
        0.99863709, -0.89120671,  0.4535974 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07094541, -0.04355611,  0.27676726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.65166573, -4.93527022,  2.753985  , -4.93527022,  8.66781911,
        5.40508824,  2.753985  ,  5.40508824, 15.33783722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005056332168666827
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64678119e-13, -1.09785412e-13,  1.00000000e+00, -1.80792552e-26,
        1.00000000e+00,  1.09785412e-13, -1.00000000e+00,  0.00000000e+00,
       -1.64678119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0278366 , -0.07860827,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27820016e-06,-2.19334410e-05,-4.56998109e-06,-2.24054251e-05,
 -8.35631126e-03, 2.28589647e-01, 1.26642386e-01, 5.42727625e-02,
 -1.33015454e-05,-1.55989826e-05,-7.94828422e-06, 2.38386231e-06,
  2.36748945e-02, 1.21035818e-02, 5.63110735e-03,-7.79939507e-04,
  6.75922003e-05,-6.00718141e-06,-4.90499314e+00, 2.32862643e-04,
  1.18343082e-02,-6.79973267e-04]


--- Step 1412 ---
qpos:
[ 0.0185583 , 0.03003444,-0.00945718,-0.02527801, 0.00641113, 0.21872688,
 -0.07103754, 0.26186519, 0.01162506, 0.02783677,-0.00824841, 0.02645468,
  1.18520737,-0.00331835, 1.19696938, 0.04443466, 0.05854159,-0.07545414,
  0.17150333, 0.99958387, 0.02860353,-0.00327026,-0.00179468]

qacc:
[ -0.87225584, -0.6559661 ,  5.40909794,-16.35788162,-18.70823516,
   5.3821072 ,-33.6056892 , 22.34881386, -1.4087114 , -1.2238148 ,
   9.67432526,-27.87937822,  0.27945747, 19.71878781, 10.04247954,
 -66.9279981 ,  1.04593581, -0.45607671,  0.17674253,  3.99417848,
   2.33243645,-25.65849823]

qfrc_actuator:
[ 8.89784399e-05, 8.53794778e-04, 1.35960858e-04,-1.94302226e-05,
 -8.96270213e-03, 2.63814191e-01, 5.03037583e-02, 1.44672968e-01,
 -7.40581759e-05, 8.32135321e-04, 2.02986723e-04, 6.98405481e-05,
  1.84004615e-02, 9.40238977e-03, 0.00000000e+00,-9.53495943e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019147457250833836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92730499e-01,  1.19937754e-01,  1.00544075e-02,  1.19931603e-01,
        9.92781414e-01, -1.21467126e-03, -1.01275138e-02,  2.16840434e-19,
       -9.99948715e-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([ 0.09971818, -0.07844098,  0.1157121 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36731914,  0.01735397,  0.36690897,  0.01735397,  1.77790178,
       -0.06671741,  0.36690897, -0.06671741,  0.37047473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.119194239911615e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45296099, -0.89000063, -0.05220356, -0.02367846, -0.04652464,
        0.99863646, -0.89121584,  0.45357946,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07091615, -0.04353845,  0.27668028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.61911307, -4.98599641,  2.59119112, -4.98599641,  9.18234199,
        6.85640146,  2.59119112,  6.85640146, 18.81227076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005016143770961434
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53324962e-14, -1.10664992e-13,  1.00000000e+00, -6.12337027e-27,
        1.00000000e+00,  1.10664992e-13, -1.00000000e+00,  0.00000000e+00,
       -5.53324962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02782418, -0.07862329,  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:
[-5.18025484e-06, 1.69545640e-05,-5.29656560e-06,-3.19693792e-05,
 -8.04751903e-03, 2.32277712e-01, 1.28981954e-01, 5.51751522e-02,
 -8.42147520e-06, 5.08745908e-05, 4.09877324e-06,-5.07099463e-05,
  2.24901539e-02, 1.08718901e-02, 6.81333408e-03, 3.14613571e-05,
  3.92148464e-05,-3.44672764e-06,-4.90499707e+00, 2.36558990e-04,
  1.18301686e-02,-6.79497229e-04]


--- Step 1413 ---
qpos:
[ 0.01855725, 0.03003348,-0.00945716,-0.02527788, 0.00637819, 0.21919435,
 -0.07267436, 0.26363343, 0.01162461, 0.02783618,-0.0082486 , 0.02645419,
  1.18523168,-0.00327517, 1.19697033, 0.04442788, 0.05853012,-0.07545795,
  0.17151033, 0.99958402, 0.02860205,-0.00328467,-0.00171124]

qacc:
[-12.36740496, -0.2847385 ,  3.11198849, -9.80855392,-22.57914153,
  21.08909227,-63.81733118, 31.09189713, -3.76907432, -0.57425517,
   5.66443531,-16.69393794,  1.03703971, 14.86591895, 15.93976161,
 -79.27418636,  0.9262974 , -0.41561658,  0.09866536,  2.88274443,
   2.52152684,-22.99673647]

qfrc_actuator:
[ 1.49260869e-05, 8.72800781e-04, 1.36349391e-04,-3.75152738e-05,
 -8.93900544e-03, 2.67606896e-01, 5.19931881e-02, 1.45775080e-01,
 -9.65245523e-05, 8.68947056e-04, 2.08044280e-04, 4.05263063e-05,
  1.83975247e-02, 9.36763643e-03, 0.00000000e+00,-9.86228960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018991390304679166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92764996e-01,  1.19676387e-01,  9.75830068e-03,  1.19670606e-01,
        9.92812954e-01, -1.17629224e-03, -9.82894173e-03, -2.16840434e-19,
       -9.99951695e-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([ 0.09971661, -0.0784442 ,  0.1157147 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36699902,  0.00250868,  0.36699045,  0.00250868,  1.58817413,
       -0.00834774,  0.36699045, -0.00834774,  0.36705609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2865810359975246e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52866552e-01, -8.90047905e-01, -5.22169820e-02, -2.36796292e-02,
       -4.65391058e-02,  9.98635763e-01, -8.91263800e-01,  4.53485214e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07089387, -0.04352809,  0.27661775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.57780117, -5.04914068,  2.37024141, -5.04914068,  9.59662962,
        8.56099725,  2.37024141,  8.56099725, 23.81462689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004964740804495604
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67716161e-13,  1.11810774e-13,  1.00000000e+00,  1.87524738e-26,
        1.00000000e+00, -1.11810774e-13, -1.00000000e+00,  0.00000000e+00,
       -1.67716161e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02781363, -0.0786352 ,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.41922691e-05, 2.60620464e-05, 2.14343894e-06,-1.81634858e-05,
 -7.69153312e-03, 2.36662769e-01, 1.31130280e-01, 5.63713751e-02,
 -2.26973806e-05, 6.39740005e-05, 1.43319819e-05,-2.79761627e-05,
  2.15264420e-02, 9.73181119e-03, 7.57784444e-03, 5.30758261e-04,
  2.03641877e-05,-1.73508368e-06,-4.90499908e+00, 2.39406890e-04,
  1.18281897e-02,-6.79249361e-04]


--- Step 1414 ---
qpos:
[ 0.01855567, 0.0300327 ,-0.00945718,-0.02527692, 0.00633646, 0.21966985,
 -0.07432155, 0.26539841, 0.01162459, 0.02783557,-0.00824852, 0.0264541 ,
  1.18526797,-0.00322082, 1.19696881, 0.04441284, 0.05852176,-0.07546327,
  0.17151752, 0.99958397, 0.02860526,-0.00329341,-0.00166718]

qacc:
[-4.59373883e+00, 2.05753362e+00,-1.04726846e+01, 2.46731065e+01,
 -2.48184568e+01, 3.26198282e+01,-8.66700606e+01, 3.83950907e+01,
  3.61999899e+00, 4.23004913e-02,-1.90812809e+00, 8.42043326e+00,
  1.46248153e+00, 9.01630038e+00, 2.15143512e+01,-8.02256764e+01,
  7.77246327e-01,-3.79438518e-01, 5.00682021e-02, 2.28326657e+00,
  2.26778192e+00,-1.97743332e+01]

qfrc_actuator:
[-1.04697781e-05, 8.84443258e-04, 1.36607817e-04, 5.06564710e-06,
 -8.92456123e-03, 2.71612915e-01, 5.36496210e-02, 1.46991096e-01,
 -7.40573439e-05, 8.37692763e-04, 2.11148187e-04, 5.90063784e-05,
  1.84099804e-02, 9.33684811e-03, 0.00000000e+00,-9.43494923e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018858953059651888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99278789,  0.11950595,  0.00951511,  0.11950046,  0.99283348,
       -0.00114532, -0.00958379,  0.        , -0.99995407])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971656, -0.07844669,  0.11571777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36680643, -0.31837904, -0.18215856, -0.31837904,  0.47487811,
       -0.18888904, -0.18215856, -0.18888904,  0.69694909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6955734010556174e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45271692, -0.89012332, -0.05222899, -0.02367727, -0.04655379,
        0.99863513, -0.89133988,  0.45333566,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087795, -0.04352406,  0.27657684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.53100901, -5.11996293,  2.09237671, -5.11996293,  9.70935784,
       10.22425409,  2.09237671, 10.22425409, 30.54935384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004905057692662362
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13171250e-13, -2.26342501e-13,  1.00000000e+00, -2.56154638e-26,
        1.00000000e+00,  2.26342501e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13171250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02780457, -0.07864467,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75450932e-05, 2.58924693e-05, 5.29130329e-06, 4.34222707e-05,
 -7.27714921e-03, 2.40675754e-01, 1.33279800e-01, 5.77201208e-02,
  2.18222896e-05, 6.29707951e-06, 1.71264726e-05, 2.11767120e-05,
  2.07199916e-02, 8.83227913e-03, 8.14166196e-03, 1.10740007e-03,
  8.61064600e-06,-6.87512287e-07,-4.90499995e+00, 2.41360757e-04,
  1.18274407e-02,-6.79169518e-04]


--- Step 1415 ---
qpos:
[ 0.01855449, 0.03003205,-0.00945721,-0.02527476, 0.00628553, 0.22016058,
 -0.07598109, 0.26715945, 0.01162484, 0.02783491,-0.0082486 , 0.02645392,
  1.18531276,-0.00316107, 1.19697317, 0.0443932 , 0.05851573,-0.07546998,
  0.17152487, 0.99958376, 0.02861256,-0.00329836,-0.00165591]

qacc:
[ 3.40026761e+00, 2.65841378e+00,-1.42715679e+01, 3.48670245e+01,
 -2.60645341e+01, 4.60882437e+01,-1.17893204e+02, 5.49356312e+01,
  2.29192245e+00, 2.07076043e-01,-4.29676682e-01,-8.74258040e-01,
  2.39971208e+00, 3.08123406e+00, 2.25454632e+01,-6.63418697e+01,
  5.83753938e-01,-3.46351438e-01, 4.00468780e-02, 1.98526264e+00,
  1.43488106e+00,-1.64471834e+01]

qfrc_actuator:
[ 1.07513895e-05, 8.91640383e-04, 1.36797876e-04, 6.52398070e-05,
 -8.87618525e-03, 2.75472506e-01, 5.53440907e-02, 1.48951711e-01,
 -6.08235367e-05, 8.19207639e-04, 1.95071412e-04, 5.21390415e-05,
  1.84261513e-02, 9.28994116e-03, 0.00000000e+00,-8.35865598e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018753788362080395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9928007 ,  0.11941422,  0.00932803,  0.11940895,  0.99284452,
       -0.00112193, -0.00939526,  0.        , -0.99995586])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971722, -0.07844863,  0.11572157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36668553, -0.34516377, -0.12377499, -0.34516377,  0.37117985,
       -0.01253304, -0.12377499, -0.01253304,  0.40163564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.270097571521869e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45253295, -0.89021625, -0.05223943, -0.02367238, -0.04656797,
        0.99863459, -0.89143342,  0.45315169,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086763, -0.04352516,  0.2765537 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.48107645, -5.19978117,  1.7333421 , -5.19978117,  9.3081733 ,
       11.48074934,  1.7333421 , 11.48074934, 39.92170093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048394992754531574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29408656e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.29408656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02779672, -0.0786522 ,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04278375e-05, 2.46496959e-05, 7.70169950e-06, 6.23124822e-05,
 -6.78990671e-03, 2.44132435e-01, 1.35502925e-01, 5.98428044e-02,
  1.38725379e-05,-1.04892888e-05,-1.19281843e-05,-5.59225834e-06,
  2.01367295e-02, 8.22632340e-03, 8.26522004e-03, 1.62853928e-03,
  2.48005534e-06,-1.60804413e-07,-4.90500021e+00, 2.42421668e-04,
  1.18273058e-02,-6.79223872e-04]


--- Step 1416 ---
qpos:
[ 0.01855391, 0.03003175,-0.00945724,-0.02527331, 0.00622508, 0.22067443,
 -0.07765605, 0.26891568, 0.01162491, 0.02783438,-0.00824868, 0.02645362,
  1.18536469,-0.00309924, 1.19698694, 0.04437149, 0.05851126,-0.07547796,
  0.17153242, 0.99958341, 0.02862351,-0.00330169,-0.00167177]

qacc:
[ 5.20957224e+00,-1.01089918e+00, 7.23139945e+00,-1.96795274e+01,
 -2.70429246e+01, 6.31751854e+01,-1.59719692e+02, 7.93677494e+01,
 -1.60343017e+00,-1.01573455e-01, 1.09632356e+00,-3.19608057e+00,
  3.57931927e+00,-9.26962122e-01, 2.00231166e+01,-5.02672473e+01,
  3.90343987e-01,-3.16813937e-01, 4.86387484e-02, 1.78013713e+00,
  4.21933823e-01,-1.35913957e+01]

qfrc_actuator:
[ 4.14726139e-05, 9.13892582e-04, 1.36930234e-04, 2.87539647e-05,
 -8.80351630e-03, 2.79642141e-01, 5.70497393e-02, 1.51343310e-01,
 -7.08975946e-05, 8.43907651e-04, 2.03309269e-04, 4.81471398e-05,
  1.84284577e-02, 9.21690361e-03, 0.00000000e+00,-7.78429492e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018677102747428043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99280503,  0.11938855,  0.00919442,  0.11938343,  0.99284761,
       -0.00110562, -0.00926066,  0.        , -0.99995712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971792, -0.07845017,  0.11572623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36659554, -0.35664589, -0.08482926, -0.35664589,  0.36327792,
        0.0139482 , -0.08482926,  0.0139482 ,  0.30795341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.913163471503903e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45232948, -0.89031903, -0.05225001, -0.02366655, -0.04658281,
        0.99863404, -0.89153684,  0.4529482 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086181, -0.04353019,  0.2765438 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.42953099, -5.26811098,  1.31408275, -5.26811098,  8.31485406,
       11.56715749,  1.31408275, 11.56715749, 51.80185369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004769686228227876
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16383235e-13, -1.16383235e-13,  1.00000000e+00, -1.35450573e-26,
        1.00000000e+00,  1.16383235e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16383235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02778984, -0.0786582 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13238565e-05, 4.03245611e-05, 8.33131683e-06,-3.39544911e-05,
 -6.25720980e-03, 2.47538764e-01, 1.37835148e-01, 6.24299401e-02,
 -9.67235030e-06, 1.61615489e-05, 4.41723117e-06,-4.96143574e-06,
  1.97148103e-02, 7.88200772e-03, 7.97151969e-03, 1.91573335e-03,
  2.08836085e-07, 2.20914720e-08,-4.90500013e+00, 2.42816250e-04,
  1.18274941e-02,-6.79391207e-04]


--- Step 1417 ---
qpos:
[ 0.01855336, 0.03003204,-0.0094576 ,-0.0252737 , 0.0061551 , 0.22119992,
 -0.07934397, 0.27066817, 0.01162381, 0.02783398,-0.00824837, 0.02645291,
  1.18542362,-0.00303627, 1.19701149, 0.04434925, 0.05850783,-0.07548707,
  0.17154012, 0.99958293, 0.02863789,-0.00330467,-0.00170933]

qacc:
[ 2.20822997e-01,-2.09461678e+00, 1.63445003e+01,-4.80294954e+01,
 -2.69884319e+01, 4.34064323e+01,-1.15987074e+02, 5.98650198e+01,
 -9.83813586e+00,-1.71920133e+00, 8.16106680e+00,-1.60916823e+01,
  4.12620526e+00,-2.26455497e+00, 1.72684486e+01,-3.78315557e+01,
  2.58945188e-01,-2.84643963e-01, 3.67495180e-02, 1.67888953e+00,
 -1.29890417e-01,-1.08547902e+01]

qfrc_actuator:
[ 4.20186122e-05, 9.44907075e-04, 1.19266367e-04,-6.43044079e-05,
 -8.74777330e-03, 2.83539997e-01, 5.87346257e-02, 1.52877534e-01,
 -1.30112125e-04, 8.58861834e-04, 2.26024605e-04, 2.81866342e-05,
  1.84275855e-02, 9.16484881e-03, 0.00000000e+00,-7.34031684e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001863052656261639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92802230e-01,  1.19418210e-01,  9.11175237e-03,  1.19413181e-01,
        9.92844042e-01, -1.09595174e-03, -9.17742565e-03,  2.16840434e-19,
       -9.99957887e-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([ 0.09971798, -0.07845144,  0.11573188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36651544, -0.36226053, -0.05568556, -0.36226053,  0.3643174 ,
        0.01429932, -0.05568556,  0.01429932,  0.27349169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.553652574411985e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52112127e-01, -8.90428681e-01, -5.22626907e-02, -2.36609320e-02,
       -4.65998835e-02,  9.98633372e-01, -8.91647231e-01,  4.52730842e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085931, -0.04353821,  0.27654312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046966947034006445
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.90959757e-14, -1.18191951e-13,  1.00000000e+00, -6.98466869e-27,
        1.00000000e+00,  1.18191951e-13, -1.00000000e+00,  0.00000000e+00,
       -5.90959757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02778372, -0.07866299,  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:
[ 1.47460224e-06, 5.38512213e-05,-9.48421478e-06,-9.17085489e-05,
 -5.72525097e-03, 2.50277825e-01, 1.40301620e-01, 6.42035437e-02,
 -5.94943416e-05, 2.47091023e-05, 2.64342664e-05,-1.92092217e-05,
  1.93563448e-02, 7.72450328e-03, 7.50064515e-03, 2.06421932e-03,
  2.58470713e-07, 4.24877578e-08,-4.90499983e+00, 2.42910749e-04,
  1.18278789e-02,-6.79653200e-04]


--- Step 1418 ---
qpos:
[ 0.01855248, 0.03003242,-0.00945802,-0.02527446, 0.00607572, 0.22172043,
 -0.08103966, 0.27241878, 0.01162167, 0.02783361,-0.00824771, 0.02645128,
  1.18549038,-0.00297146, 1.19704573, 0.04432651, 0.05850515,-0.0754972 ,
  0.17154785, 0.99958232, 0.02865553,-0.00330765,-0.00176391]

qacc:
[-2.86287730e+00,-4.30697863e-01, 3.29391294e+00,-9.70905879e+00,
 -2.64722890e+01, 1.11426097e+01,-4.09219314e+01, 2.26757541e+01,
 -8.90913509e+00,-2.81302402e+00, 1.39849408e+01,-3.04055779e+01,
  4.37626722e+00,-1.87813734e+00, 1.55779029e+01,-3.42392760e+01,
  1.87598665e-01,-2.53765750e-01, 1.02647090e-02, 1.60553859e+00,
 -2.45836682e-01,-8.51215638e+00]

qfrc_actuator:
[ 2.47960530e-05, 9.27538560e-04, 1.09004538e-04,-8.33761862e-05,
 -8.69836679e-03, 2.86673429e-01, 6.04107338e-02, 1.53773907e-01,
 -1.82263250e-04, 8.50167515e-04, 2.39307539e-04,-1.87599663e-05,
  1.84032599e-02, 9.14324622e-03, 0.00000000e+00,-7.86946163e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018598669486763247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99279394,  0.11949145,  0.00905407,  0.11948648,  0.99283523,
       -0.00108969, -0.00911941,  0.        , -0.99995842])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0997181 , -0.07845253,  0.11573797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36643978, -0.36418532, -0.04058532, -0.36418532,  0.36526327,
        0.01055725, -0.04058532,  0.01055725,  0.27170616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1596270772695374e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51880955e-01, -8.90545081e-01, -5.22786870e-02, -2.36560919e-02,
       -4.66202791e-02,  9.98632534e-01, -8.91764538e-01,  4.52499733e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085921, -0.04354858,  0.27654876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046218566714943676
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20105739e-13, -1.20105739e-13,  1.00000000e+00, -1.44253886e-26,
        1.00000000e+00,  1.20105739e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20105739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02777823, -0.07866683,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71571042e-05, 6.85592126e-06,-3.47866038e-06,-1.88791178e-05,
 -5.19916207e-03, 2.52826269e-01, 1.42634520e-01, 6.52852167e-02,
 -5.38887246e-05, 9.74879629e-06, 2.09822439e-05,-4.53428367e-05,
  1.89824251e-02, 7.64466461e-03, 6.96121434e-03, 2.03740425e-03,
  1.53301069e-06, 9.84668648e-09,-4.90499941e+00, 2.42938209e-04,
  1.18283771e-02,-6.79999170e-04]


--- Step 1419 ---
qpos:
[ 0.01855105, 0.03003252,-0.00945814,-0.02527508, 0.00598701, 0.22223391,
 -0.08274076, 0.27416808, 0.01161962, 0.02783331,-0.00824718, 0.02644948,
  1.18556662,-0.002904  , 1.19708588, 0.04430161, 0.05850308,-0.07550825,
  0.17155553, 0.99958159, 0.02867623,-0.00331058,-0.00183214]

qacc:
[-4.65345599e+00,-9.55197970e-01, 2.26546657e+00,-8.29224670e-02,
 -2.62382643e+01, 3.10122874e+00,-1.88653314e+01, 9.39081433e+00,
  6.76589767e-01, 9.29802890e-02, 5.14337796e-01,-3.33856689e+00,
  5.22833093e+00,-1.90857951e+00, 1.50046729e+01,-4.04947293e+01,
  1.51275083e-01,-2.29899945e-01,-1.45681946e-02, 1.50717629e+00,
 -1.68894975e-01,-6.82909697e+00]

qfrc_actuator:
[-2.73752745e-06, 8.99157251e-04, 1.20817653e-04,-7.65377335e-05,
 -8.63133276e-03, 2.89786229e-01, 6.20993484e-02, 1.54624527e-01,
 -1.76565276e-04, 8.45073529e-04, 2.29044221e-04,-2.79779368e-05,
  1.83858386e-02, 9.10326172e-03, 0.00000000e+00,-1.02233841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018563459168287038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9927817 ,  0.11959771,  0.00899335,  0.11959281,  0.99282243,
       -0.00108336, -0.00905837,  0.        , -0.99995897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971932, -0.07845351,  0.11574379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36637239, -0.3636318 , -0.04472854, -0.3636318 ,  0.36523979,
        0.00920776, -0.04472854,  0.00920776,  0.29151564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7347112681817065e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45163266, -0.89066988, -0.05229833, -0.023652  , -0.04664438,
        0.99863151, -0.89189042,  0.45225156,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086089, -0.04356102,  0.27655904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004546526760899894
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.10478659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.10478659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02777327, -0.07866991,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80308377e-05,-2.60846204e-05, 1.21513259e-05, 6.64668281e-06,
 -4.66230515e-03, 2.56185061e-01, 1.44722272e-01, 6.62293486e-02,
  4.12117795e-06, 2.73218647e-06,-7.23395646e-06,-8.95185440e-06,
  1.85737434e-02, 7.51185889e-03, 6.47543292e-03, 1.82650834e-03,
  3.28516434e-06,-3.94779409e-08,-4.90499893e+00, 2.42944479e-04,
  1.18289366e-02,-6.80423797e-04]


--- Step 1420 ---
qpos:
[ 0.01854931, 0.03003243,-0.00945784,-0.02527563, 0.00588921, 0.22275932,
 -0.08445102, 0.27591454, 0.01161798, 0.02783313,-0.0082474 , 0.02644832,
  1.1856525 ,-0.00283406, 1.19713102, 0.04427487, 0.05850126,-0.07552012,
  0.17156318, 0.99958075, 0.02869989,-0.00331446,-0.00191074]

qacc:
[-2.72384033e+00,-1.25280208e+00, 3.83395069e+00,-3.19848788e+00,
 -2.57270659e+01, 3.50951803e+01,-8.96897407e+01, 4.33846579e+01,
  3.62780038e+00, 3.54912759e+00,-1.50978410e+01, 2.71306770e+01,
  5.52746765e+00,-2.34681958e+00, 1.26053029e+01,-3.41094659e+01,
  6.48219485e-02,-2.05148126e-01,-7.33316108e-03, 1.46292988e+00,
 -6.18118113e-01,-5.17228632e+00]

qfrc_actuator:
[-1.83609310e-05, 9.00013844e-04, 1.45513751e-04,-7.22742481e-05,
 -8.53228238e-03, 2.93813842e-01, 6.38139555e-02, 1.56264476e-01,
 -1.54618202e-04, 8.42101227e-04, 1.87247878e-04, 2.81951062e-06,
  1.83721287e-02, 9.03294473e-03, 0.00000000e+00,-1.17005893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018522562916702115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92766336e-01,  1.19730235e-01,  8.92597518e-03,  1.19725396e-01,
        9.92806462e-01, -1.07645261e-03, -8.99064976e-03,  2.16840434e-19,
       -9.99959583e-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([ 0.09972162, -0.07845445,  0.11574931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36631882, -0.36393301, -0.0417402 , -0.36393301,  0.36507158,
        0.01087471, -0.0417402 ,  0.01087471,  0.27150217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3013330105470684e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51363404e-01, -8.90805003e-01, -5.23213639e-02, -2.36483400e-02,
       -4.66720594e-02,  9.98630299e-01, -8.92026812e-01,  4.51982484e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086396, -0.04357544,  0.27657328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044717064092880676
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24138631e-13,  1.24138631e-13,  1.00000000e+00,  1.54103997e-26,
        1.00000000e+00, -1.24138631e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24138631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02776875, -0.07867239,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64501390e-05,-1.09414535e-05, 2.10394435e-05, 3.69938527e-06,
 -4.09701508e-03, 2.60562249e-01, 1.46717240e-01, 6.79330344e-02,
  2.20687839e-05,-3.31867015e-06,-4.24336449e-05, 3.04929427e-05,
  1.80857754e-02, 7.30779928e-03, 6.17956197e-03, 1.78739498e-03,
  5.15892927e-06,-1.01388073e-07,-4.90499842e+00, 2.42913150e-04,
  1.18295250e-02,-6.80922060e-04]


--- Step 1421 ---
qpos:
[ 0.01854773, 0.03003227,-0.00945728,-0.02527613, 0.00578301, 0.22330614,
 -0.08617314, 0.27765732, 0.01161697, 0.02783286,-0.00824835, 0.0264479 ,
  1.18574625,-0.00276298, 1.19718465, 0.04424991, 0.05849917,-0.07553268,
  0.1715709 , 0.99957979, 0.02872668,-0.00332119,-0.00199529]

qacc:
[ 1.47288059e+00,-7.30469022e-01, 2.24585363e+00,-1.72972875e+00,
 -2.38240380e+01, 5.32300797e+01,-1.32375437e+02, 6.73806976e+01,
  5.27064868e+00, 3.46033077e+00,-1.56934915e+01, 2.99239453e+01,
  5.11810528e+00,-3.23439452e+00, 6.83200896e+00,-6.41833930e+00,
 -7.02852248e-02,-1.71935209e-01, 1.77241144e-02, 1.56162547e+00,
 -1.50629994e+00,-2.93816826e+00]

qfrc_actuator:
[-9.09272709e-06, 9.00675575e-04, 1.59965152e-04,-6.95365372e-05,
 -8.42827230e-03, 2.98161152e-01, 6.55323090e-02, 1.58184810e-01,
 -1.23302128e-04, 8.22566512e-04, 1.44956699e-04, 3.91396285e-05,
  1.83496399e-02, 8.94353573e-03, 0.00000000e+00,-9.98358060e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018492783298023204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99275049,  0.1198651 ,  0.00887859,  0.11986031,  0.99279019,
       -0.00107196, -0.00894307,  0.        , -0.99996001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972353, -0.07845566,  0.11575529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36627883, -0.36602708, -0.01357773, -0.36602708,  0.36607219,
        0.00557061, -0.01357773,  0.00557061,  0.21610678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.43164985718986e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45107115, -0.89095142, -0.05234871, -0.02364541, -0.04670419,
        0.99862887, -0.89217471,  0.45169048,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086777, -0.04359146,  0.27658978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000439776801355124
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89338607e-13,  1.26225738e-13,  1.00000000e+00,  2.38994053e-26,
        1.00000000e+00, -1.26225738e-13, -1.00000000e+00,  0.00000000e+00,
       -1.89338607e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0277646 , -0.07867439,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.78412768e-06,-9.52089697e-07, 1.49120914e-05, 3.07100161e-06,
 -3.53809638e-03, 2.64310213e-01, 1.48903011e-01, 6.99943784e-02,
  3.19615473e-05,-2.88347484e-05,-4.71434019e-05, 3.53053729e-05,
  1.75819851e-02, 7.09299466e-03, 5.92894389e-03, 2.05063657e-03,
  6.85435390e-06,-1.08731237e-07,-4.90499791e+00, 2.42959140e-04,
  1.18301160e-02,-6.81489347e-04]


--- Step 1422 ---
qpos:
[ 0.01854594, 0.03003216,-0.00945687,-0.02527658, 0.00566894, 0.22386092,
 -0.08790399, 0.27939772, 0.011616  , 0.02783217,-0.0082494 , 0.02644792,
  1.18584935,-0.00269012, 1.19724302, 0.04422599, 0.05849659,-0.07554582,
  0.17157867, 0.99957872, 0.02875658,-0.00333124,-0.00208303]

qacc:
[-1.90649208e+00, 6.00579476e-01,-2.22788867e+00, 3.25797202e+00,
 -2.22727827e+01, 2.96316141e+01,-7.98029318e+01, 4.39375502e+01,
  3.37561924e-01, 6.14520014e-01,-4.83878591e+00, 1.28649364e+01,
  5.98653830e+00,-3.45649579e+00, 3.47499671e+00,-2.83424684e+00,
 -1.19382780e-01,-1.47384018e-01, 1.38862212e-02, 1.55353484e+00,
 -1.70330194e+00,-1.55321775e+00]

qfrc_actuator:
[-2.07569985e-05, 9.01181217e-04, 1.50500729e-04,-6.77246127e-05,
 -8.31834927e-03, 3.01869415e-01, 6.72592944e-02, 1.59423228e-01,
 -1.22233527e-04, 7.93256128e-04, 1.38154990e-04, 6.06491176e-05,
  1.83536486e-02, 8.86077677e-03, 0.00000000e+00,-1.06394902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018479767285032177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99273058,  0.12003215,  0.00884769,  0.12002739,  0.99277   ,
       -0.00106974, -0.00891212,  0.        , -0.99996029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972433, -0.07845678,  0.1157619 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625356, -0.36579719, -0.01827812, -0.36579719,  0.36587252,
        0.00762581, -0.01827812,  0.00762581,  0.21363945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0016480751606527e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50756228e-01, -8.91108784e-01, -5.23828030e-02, -2.36443365e-02,
       -4.67429503e-02,  9.98627079e-01, -8.92333888e-01,  4.51375932e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087144, -0.04360838,  0.27660548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004324971214155482
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.41751684e-14, -1.28350337e-13,  1.00000000e+00, -8.23690449e-27,
        1.00000000e+00,  1.28350337e-13, -1.00000000e+00,  0.00000000e+00,
       -6.41751684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02776074, -0.07867602,  0.06199223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14093234e-05, 3.19304753e-06,-7.72051940e-06, 2.34705457e-06,
 -3.00832923e-03, 2.66945055e-01, 1.51233573e-01, 7.14159785e-02,
  1.99441548e-06,-5.36302639e-05,-1.73300643e-05, 1.93318440e-05,
  1.71918345e-02, 6.95213677e-03, 5.50348869e-03, 1.89579609e-03,
  7.92505854e-06, 2.67755906e-08,-4.90499747e+00, 2.43208347e-04,
  1.18306803e-02,-6.82128078e-04]


--- Step 1423 ---
qpos:
[ 0.01854436, 0.03003229,-0.00945642,-0.02527635, 0.00554773, 0.22440989,
 -0.08963925, 0.28113726, 0.01161436, 0.02783096,-0.0082499 , 0.02644782,
  1.186079  ,-0.00259747, 1.19735646, 0.04422072, 0.05849383,-0.07555808,
  0.17158643, 0.99957776, 0.02878166,-0.00334328,-0.00217705]

qacc:
[ 1.87375951e+00, 1.62164575e+00,-8.19464684e+00, 1.97258360e+01,
 -2.00576821e+01, 2.76582776e+00,-1.71417725e+01, 1.26315118e+01,
 -5.67506575e+00,-2.45279865e+00, 8.29153361e+00,-1.09006599e+01,
  8.49102232e+01,-5.44212011e+01, 1.95113226e+01, 3.75371668e+01,
 -4.73977787e-02, 2.23258401e-01,-5.07556615e-03,-2.41571553e+00,
 -1.08784600e+00,-3.09806564e+00]

qfrc_actuator:
[-9.15157712e-06, 9.36996749e-04, 1.62500288e-04,-3.09810852e-05,
 -8.20203681e-03, 3.05145872e-01, 6.90285703e-02, 1.60075131e-01,
 -1.56732730e-04, 7.76196805e-04, 1.70056107e-04, 5.55323633e-05,
  1.83465120e-02, 8.79865689e-03, 0.00000000e+00,-1.23638405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001846874869188824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92709839e-01,  1.20206023e-01,  8.81406332e-03,  1.20201286e-01,
        9.92748967e-01, -1.06724211e-03, -8.87844119e-03, -2.16840434e-19,
       -9.99960586e-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([ 0.09972491, -0.07845807,  0.11576861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004253806272936367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95746401e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.95746401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02775715, -0.07867734,  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:
[ 1.12742855e-05, 3.61086757e-05, 1.17890782e-05, 3.66599742e-05,
 -2.49803963e-03, 2.69819912e-01, 1.53449261e-01, 7.21852945e-02,
 -3.44627723e-05,-4.97662234e-05, 1.93765766e-05,-7.63486690e-06,
  1.67177076e-02, 6.79944761e-03, 5.26524893e-03, 1.67098989e-03,
  8.53376114e-06, 2.33913064e-07,-4.90499709e+00, 2.43498793e-04,
  1.18312063e-02,-6.82841561e-04]


--- Step 1424 ---
qpos:
[ 0.01854362, 0.03003244,-0.00945572,-0.02527601, 0.00541976, 0.22497478,
 -0.09138256, 0.28287423, 0.01161267, 0.02782956,-0.00825015, 0.02644798,
  1.18630243,-0.00248309, 1.19745847, 0.04421019, 0.05849054,-0.07557039,
  0.17159416, 0.99957675, 0.02880757,-0.00335835,-0.00227206]

qacc:
[ 7.22179253e+00,-4.94523048e-01, 1.31215011e+00, 1.35884433e-01,
 -1.91525985e+01, 3.77631446e+01,-9.26891315e+01, 4.61304612e+01,
 -4.71636271e-01,-4.02699625e-01,-5.53813884e-02, 4.38436126e+00,
 -1.94394990e+01, 3.62810121e+01, 8.91256780e-01,-2.34795218e+01,
 -1.31038866e-01,-1.52347667e-02,-7.35263692e-03, 4.10804305e-01,
 -1.53109276e+00,-4.55497032e-01]

qfrc_actuator:
[ 3.38166503e-05, 9.22784379e-04, 1.69503242e-04,-2.71871700e-05,
 -8.11499265e-03, 3.09895840e-01, 7.08046301e-02, 1.61297700e-01,
 -1.58622579e-04, 7.84502079e-04, 1.89065570e-04, 7.03278794e-05,
  1.83164780e-02, 8.69470911e-03, 0.00000000e+00,-1.36668078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018447584715758352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92687813e-01,  1.20391682e-01,  8.76067670e-03,  1.20386994e-01,
        9.92726469e-01, -1.06244029e-03, -8.82486462e-03, -2.16840434e-19,
       -9.99961060e-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([ 0.09972622, -0.07845939,  0.11577492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625499, -0.2312792 , -0.2839941 , -0.2312792 ,  0.6513359 ,
       -0.23216427, -0.2839941 , -0.23216427,  0.55532499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5376452452031777e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44996658, -0.89150359, -0.05245392, -0.02363505, -0.04682732,
        0.99862335, -0.89273258,  0.45058689,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087477, -0.04364988,  0.27661093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041836440189627067
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32686125e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32686125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02775376, -0.07867843,  0.06199249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33064300e-05, 9.98199064e-06, 1.71748012e-05, 6.45969781e-06,
 -2.05448021e-03, 2.74857256e-01, 1.55455342e-01, 7.34498278e-02,
 -2.92271513e-06,-1.58166242e-05, 1.08717851e-05, 1.31898261e-05,
  1.03620012e-02, 5.70625826e-03, 2.50667889e-03, 6.06979507e-04,
  1.00495228e-05, 2.86632694e-07,-4.90499732e+00, 2.43740245e-04,
  1.18307777e-02,-6.83436260e-04]


--- Step 1425 ---
qpos:
[ 0.01854272, 0.03003216,-0.00945498,-0.02527556, 0.00528563, 0.22557446,
 -0.09313908, 0.28460677, 0.01161131, 0.02782786,-0.00825041, 0.0264487 ,
  1.18651907,-0.00236599, 1.19754825, 0.04419563, 0.05848638,-0.07558282,
  0.17160194, 0.99957568, 0.02883497,-0.0033778 ,-0.0023658 ]

qacc:
[-1.43283003e+00,-4.52038410e-01, 3.17720673e-01, 1.89900258e+00,
 -1.75979642e+01, 7.27681196e+01,-1.72976224e+02, 8.56748922e+01,
  2.85962444e+00, 7.50507711e-01,-5.60839523e+00, 1.54306204e+01,
 -6.82049771e+00, 8.16712245e+00,-5.40244543e+00,-6.14751056e+00,
 -2.17452076e-01,-2.76758413e-02, 1.58387611e-02, 7.58391281e-01,
 -2.16491559e+00, 6.90511061e-01]

qfrc_actuator:
[ 2.38824164e-05, 8.60934314e-04, 1.55519417e-04,-2.51087603e-05,
 -7.98977065e-03, 3.15368489e-01, 7.25546729e-02, 1.63148763e-01,
 -1.41291415e-04, 7.54656653e-04, 1.82670932e-04, 9.67337592e-05,
  1.83014013e-02, 8.55579414e-03, 0.00000000e+00,-1.38422326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018436914913883993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99266527,  0.1205806 ,  0.00871706,  0.12057595,  0.99270354,
       -0.00105883, -0.00878114,  0.        , -0.99996145])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972656, -0.0784609 ,  0.11578171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3662914 , -0.36026082, -0.06619312, -0.36026082,  0.36391051,
        0.01295817, -0.06619312,  0.01295817,  0.2957656 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0098194346940004e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44946477, -0.89175483, -0.05248571, -0.02362304, -0.04686899,
        0.99862168, -0.89298565,  0.45008513,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087402, -0.04367385,  0.27660232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004115677671474305
  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([ 0.02775056, -0.07867933,  0.06199261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.67101651e-06,-5.24412572e-05,-9.59506572e-06, 3.22149646e-06,
 -1.59123324e-03, 2.79530486e-01, 1.57618274e-01, 7.54281902e-02,
  1.72342889e-05,-3.58324270e-05,-7.84903075e-06, 2.63640495e-05,
  1.06573746e-02, 4.47819395e-03, 3.07585883e-03, 8.52471256e-04,
  1.03393372e-05, 4.77529326e-07,-4.90499722e+00, 2.44025532e-04,
  1.18309662e-02,-6.84057618e-04]


--- Step 1426 ---
qpos:
[ 0.01854239, 0.03003151,-0.0094544 ,-0.02527474, 0.00514613, 0.22620004,
 -0.09490886, 0.28633546, 0.01160947, 0.0278262 ,-0.00825084, 0.026449  ,
  1.18672816,-0.00225238, 1.1976309 , 0.04418137, 0.05848088,-0.07559536,
  0.17160994, 0.99957452, 0.02886448,-0.00340352,-0.00245565]

qacc:
[ 4.95818454e+00, 7.36707640e-01,-4.93642242e+00, 1.19834572e+01,
 -1.53593877e+01, 6.23439578e+01,-1.55366385e+02, 8.51220548e+01,
 -4.02401036e+00,-2.98910616e-01, 2.91624728e+00,-9.84858013e+00,
 -3.17783463e+00,-5.93733103e-01,-1.12696498e+01, 2.44319231e+01,
 -3.34967183e-01,-2.77214871e-02, 5.23372531e-02, 1.06629781e+00,
 -3.07951514e+00, 2.03906536e+00]

qfrc_actuator:
[ 5.38897432e-05, 8.41944294e-04, 1.46803355e-04,-6.35796515e-06,
 -7.83953997e-03, 3.19634015e-01, 7.43152374e-02, 1.65379816e-01,
 -1.66054349e-04, 7.73120135e-04, 1.78942428e-04, 7.64536010e-05,
  1.82849229e-02, 8.42397117e-03, 0.00000000e+00,-1.20899298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018452899091005097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99264237,  0.12076985,  0.00870452,  0.1207652 ,  0.99268053,
       -0.001059  , -0.00876871,  0.        , -0.99996155])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972459, -0.07846266,  0.11578966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36634262, -0.3620579 , -0.05586581, -0.3620579 ,  0.36199574,
        0.02817146, -0.05586581,  0.02817146,  0.18376765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.509293516033364e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44894417, -0.89201481, -0.05252346, -0.0236127 , -0.04691647,
        0.99861969, -0.89324777,  0.44956471,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07087192, -0.04369713,  0.27659285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004049885202418446
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05602684e-13,  1.37068456e-13,  1.00000000e+00,  2.81816425e-26,
        1.00000000e+00, -1.37068456e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05602684e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02774754, -0.07868008,  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:
[ 2.97366632e-05,-5.01580783e-05,-2.06223743e-05, 1.62348087e-05,
 -1.13299168e-03, 2.82051810e-01, 1.60049328e-01, 7.78797863e-02,
 -2.42762945e-05,-2.00095577e-06,-1.11654906e-05,-2.15724174e-05,
  1.09802669e-02, 4.20793465e-03, 3.68544949e-03, 1.22805283e-03,
  1.01941910e-05, 7.79018093e-07,-4.90499714e+00, 2.44423617e-04,
  1.18312062e-02,-6.84715868e-04]


--- Step 1427 ---
qpos:
[ 0.01854312, 0.03003079,-0.00945433,-0.02527405, 0.00500154, 0.22684064,
 -0.09669084, 0.28806123, 0.01160701, 0.02782467,-0.00825081, 0.02644866,
  1.18693219,-0.00214214, 1.19770462, 0.04416736, 0.05847381,-0.07560804,
  0.17161824, 0.99957328, 0.02889625,-0.00343651,-0.00254123]

qacc:
[ 9.00639915e+00, 1.03776613e+00,-3.25112959e+00, 1.68300567e+00,
 -1.44647233e+01, 4.70800202e+01,-1.25736933e+02, 7.83374339e+01,
 -5.33722611e+00,-2.44782804e+00, 1.16984256e+01,-2.37021922e+01,
 -1.19546412e+00,-2.22580272e+00,-1.39770932e+01, 2.97260452e+01,
 -3.93992424e-01,-3.68487419e-02, 7.51065664e-02, 1.14646662e+00,
 -3.56625581e+00, 2.23237104e+00]

qfrc_actuator:
[ 1.07183453e-04, 8.48786192e-04, 1.23688663e-04,-1.34157925e-05,
 -7.70812514e-03, 3.23383275e-01, 7.60874307e-02, 1.67520494e-01,
 -1.97648904e-04, 8.02585474e-04, 2.12486792e-04, 4.66599878e-05,
  1.82625901e-02, 8.33703402e-03, 0.00000000e+00,-1.29359984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018482789949544355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99262006,  0.12095337,  0.00870024,  0.12094873,  0.99265819,
       -0.00106011, -0.00876459,  0.        , -0.99996159])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09972094, -0.07846468,  0.11579826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36637634, -0.35215223, -0.10109612, -0.35215223,  0.35050686,
        0.0552788 , -0.10109612,  0.0552788 ,  0.17382147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7624330757616187e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44841408, -0.89227863, -0.05257053, -0.02360601, -0.04697252,
        0.99861721, -0.89351417,  0.449035  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086785, -0.04371911,  0.27657996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003986066355496781
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39262988e-13, -1.39262988e-13,  1.00000000e+00, -1.93941799e-26,
        1.00000000e+00,  1.39262988e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39262988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02774465, -0.0786807 ,  0.06199284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41442041e-05,-2.47436879e-05,-3.54540532e-05,-9.60551794e-06,
 -7.32537252e-04, 2.84500776e-01, 1.62493372e-01, 8.02112899e-02,
 -3.23115010e-05, 2.51656339e-05, 3.10322134e-05,-3.06808960e-05,
  1.13352243e-02, 4.29342577e-03, 4.04028162e-03, 1.12879054e-03,
  9.63725217e-06, 1.23324408e-06,-4.90499714e+00, 2.44938974e-04,
  1.18314632e-02,-6.85426299e-04]


--- Step 1428 ---
qpos:
[ 0.01854344, 0.0300301 ,-0.00945491,-0.02527346, 0.0048523 , 0.22748061,
 -0.09848102, 0.28978577, 0.01160454, 0.02782291,-0.00824965, 0.02644761,
  1.1871329 ,-0.0020347 , 1.19776903, 0.0441533 , 0.05846515,-0.07562091,
  0.17162681, 0.99957194, 0.02893058,-0.00347668,-0.00262184]

qacc:
[-3.45633339e+00, 1.65642611e+00,-5.45607580e+00, 4.86108299e+00,
 -1.31104053e+01, 1.90292206e+01,-6.31670011e+01, 5.21670404e+01,
 -9.27255683e-02,-4.87932405e+00, 1.99529340e+01,-3.37648368e+01,
 -2.15571280e-01,-2.54958564e+00,-1.36799877e+01, 2.77079270e+01,
 -3.95962204e-01,-4.70729755e-02, 6.89334441e-02, 1.29859022e+00,
 -3.51443375e+00, 2.57881960e+00]

qfrc_actuator:
[ 8.49810178e-05, 8.53215781e-04, 9.23482394e-05,-1.78381870e-05,
 -7.55063641e-03, 3.26823297e-01, 7.78531167e-02, 1.68684433e-01,
 -1.97492494e-04, 7.85302145e-04, 2.67829861e-04, 1.15548701e-05,
  1.82474443e-02, 8.27830152e-03, 0.00000000e+00,-1.42767799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018513677544009087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99259874,  0.12112945,  0.00868308,  0.12112481,  0.99263672,
       -0.00105958, -0.00874749,  0.        , -0.99996174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971644, -0.07846694,  0.11580699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36637694, -0.33088651, -0.1573092 , -0.33088651,  0.32449126,
        0.08810297, -0.1573092 ,  0.08810297,  0.18105985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7666178188230874e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44786953, -0.8925487 , -0.05262791, -0.02360315, -0.04703815,
        0.99861419, -0.89378732,  0.44849106,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07086139, -0.0437398 ,  0.27656284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039239310050138976
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.41468214e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.41468214e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0277419 , -0.07868123,  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:
[-2.06294269e-05,-1.71003271e-05,-4.11465617e-05,-6.89793494e-06,
 -3.20718018e-04, 2.87184085e-01, 1.64879369e-01, 8.15203164e-02,
 -7.87306315e-07, 1.92183320e-06, 6.33192268e-05,-3.35450390e-05,
  1.15731050e-02, 4.40099959e-03, 4.48513022e-03, 9.81577819e-04,
  9.21815053e-06, 1.77322046e-06,-4.90499721e+00, 2.45472478e-04,
  1.18317422e-02,-6.86195761e-04]


--- Step 1429 ---
qpos:
[ 0.01854315, 0.03002916,-0.00945551,-0.02527294, 0.00469892, 0.22811163,
 -0.10027577, 0.29151033, 0.01160243, 0.02782103,-0.00824783, 0.02644652,
  1.18733071,-0.00193115, 1.19782484, 0.04413857, 0.05845498,-0.07563404,
  0.17163561, 0.99957049, 0.02896793,-0.00352358,-0.00269667]

qacc:
[ -5.25330435, -0.39397194,  1.22050082, -2.15653305,-11.62011507,
   0.73081055,-19.47573704, 32.22998443,  3.13703311, -2.15834345,
   7.62661004, -9.39622577,  0.80724272, -4.40011948,-10.84209144,
  19.14606539, -0.37797428, -0.06325575,  0.05509289,  1.53417188,
  -3.27927256,  2.98755061]

qfrc_actuator:
[ 5.40175241e-05, 8.38381789e-04, 9.19161160e-05,-2.06727092e-05,
 -7.39366099e-03, 3.30069658e-01, 7.96512749e-02, 1.69457087e-01,
 -1.78646703e-04, 7.75762874e-04, 2.99898075e-04, 9.08457517e-06,
  1.82259856e-02, 8.16625478e-03, 0.00000000e+00,-1.60898390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018530274697155914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99257893,  0.12129539,  0.00863055,  0.12129081,  0.99261646,
       -0.00105463, -0.00869475,  0.        , -0.9999622 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09971217, -0.0784694 ,  0.11581523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36634524, -0.29573405, -0.21621797, -0.29573405,  0.27883847,
        0.11968817, -0.21621797,  0.11968817,  0.2026407 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.530509782565861e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47306806e-01, -8.92826836e-01, -5.26959334e-02, -2.36040451e-02,
       -4.71138033e-02,  9.98610604e-01, -8.94069052e-01,  4.47929157e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07085251, -0.04375933,  0.2765414 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038637025805261793
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43673458e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43673458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773925, -0.07868168,  0.06199306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15659864e-05,-3.31675511e-05,-9.25618773e-06,-5.12226068e-06,
  6.85637716e-05, 2.90455934e-01, 1.67097179e-01, 8.23535205e-02,
  1.88176394e-05, 3.22157218e-06, 3.91103593e-05,-8.46665796e-07,
  1.17182239e-02, 4.42662230e-03, 4.94990594e-03, 8.02688218e-04,
  8.83107839e-06, 2.33630647e-06,-4.90499735e+00, 2.45841167e-04,
  1.18320383e-02,-6.87035483e-04]


--- Step 1430 ---
qpos:
[ 0.0185425 , 0.03002809,-0.0094559 ,-0.02527248, 0.00454192, 0.22873679,
 -0.10207401, 0.29323517, 0.01160091, 0.0278192 ,-0.00824572, 0.02644644,
  1.1875248 ,-0.00183316, 1.19787388, 0.04412272, 0.05844327,-0.07564749,
  0.17164463, 0.99956893, 0.02900886,-0.00357727,-0.00276481]

qacc:
[ -3.15937296, -0.92455503,  3.34000316, -4.80315223,-10.16789258,
   2.33029242,-20.28960032, 33.31359967,  5.01079003,  1.37254411,
  -9.09814723, 26.23630094,  1.13476924, -6.11455968, -6.82124666,
   8.81458524, -0.38563907, -0.08202112,  0.05530722,  1.80695055,
  -3.28736406,  3.4297722 ]

qfrc_actuator:
[ 3.59224396e-05, 8.47759637e-04, 1.09663062e-04,-2.25441425e-05,
 -7.25339016e-03, 3.33368174e-01, 8.14863098e-02, 1.70526778e-01,
 -1.48961771e-04, 7.88625717e-04, 3.18003628e-04, 6.13248660e-05,
  1.82114709e-02, 8.00669480e-03, 0.00000000e+00,-1.78249048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018525812988582477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.992561  ,  0.12144895,  0.00853358,  0.12144446,  0.99259768,
       -0.00104412, -0.00859722,  0.        , -0.99996304])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09970863, -0.07847206,  0.11582271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36629431, -0.2576643 , -0.26034714, -0.2576643 ,  0.22764099,
        0.13722452, -0.26034714,  0.13722452,  0.23048387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0446826036077717e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44672692, -0.89311244, -0.05277515, -0.02360898, -0.04719992,
        0.99860642, -0.8943588 ,  0.44735034,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0708413 , -0.04377779,  0.27651593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000380569991041399
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18794778e-13, -1.45863186e-13,  1.00000000e+00, -3.19141034e-26,
        1.00000000e+00,  1.45863186e-13, -1.00000000e+00,  0.00000000e+00,
       -2.18794778e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773671, -0.07868206,  0.06199317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90223963e-05,-1.12703085e-05, 9.59793324e-06,-3.70784218e-06,
  4.15982851e-04, 2.94196594e-01, 1.69170044e-01, 8.34205800e-02,
  3.02320614e-05, 2.27560889e-05, 2.35591281e-05, 5.37164901e-05,
  1.18482000e-02, 4.46032061e-03, 5.37797986e-03, 6.62105891e-04,
  8.43176879e-06, 2.90676795e-06,-4.90499755e+00, 2.45972369e-04,
  1.18323450e-02,-6.87957723e-04]


--- Step 1431 ---
qpos:
[ 0.01854128, 0.03002691,-0.00945636,-0.02527204, 0.00438225, 0.22936501,
 -0.10387628, 0.29495996, 0.01160009, 0.02781781,-0.0082441 , 0.026447  ,
  1.18771652,-0.00173875, 1.19792039, 0.04410944, 0.0584298 ,-0.07566119,
  0.17165391, 0.99956725, 0.0290535 ,-0.00363858,-0.00282433]

qacc:
[ -4.77763152,  0.07048061, -0.39716013,  0.41741797, -7.50229279,
  14.69998419,-45.79286651, 46.52779729,  6.05037337,  3.26509325,
 -13.47241994, 24.87619315,  0.87590594, -4.11862857,-11.66178247,
  35.04688047, -0.43955678, -0.06227846,  0.06651541,  1.88335906,
  -3.68008048,  4.41601011]

qfrc_actuator:
[ 7.79742502e-06, 8.36145282e-04, 1.02581684e-04,-2.38074055e-05,
 -7.12200264e-03, 3.37071277e-01, 8.32732223e-02, 1.71685671e-01,
 -1.13140975e-04, 8.14793245e-04, 2.92348227e-04, 9.20881246e-05,
  1.82013013e-02, 7.87508932e-03, 0.00000000e+00,-1.52452088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018504389500535378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99254504,  0.12158873,  0.00839824,  0.12158438,  0.99258057,
       -0.00102876, -0.00846102,  0.        , -0.9999642 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0997055 , -0.07847493,  0.11582961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625297, -0.27472383, -0.24221489, -0.27472383,  0.2430708 ,
        0.1397151 , -0.24221489,  0.1397151 ,  0.20778597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.747777041698638e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.446132  , -0.89340436, -0.0528667 , -0.02361856, -0.04729748,
        0.99860158, -0.89465547,  0.44675675,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07082779, -0.04379512,  0.27648632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037499853648127746
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.48030314e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.48030314e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773427, -0.07868239,  0.06199327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86797706e-05,-1.60551914e-05,-8.33778051e-06,-1.48277427e-06,
  7.28629648e-04, 2.98187574e-01, 1.71141797e-01, 8.45645453e-02,
  3.67085081e-05, 4.61087298e-05,-1.62002940e-05, 3.35970095e-05,
  1.20240634e-02, 4.60422764e-03, 5.71622043e-03, 9.76460315e-04,
  8.09102673e-06, 3.52629454e-06,-4.90499785e+00, 2.45895416e-04,
  1.18326415e-02,-6.88974382e-04]


--- Step 1432 ---
qpos:
[ 0.01854043, 0.03002536,-0.00945653,-0.02527126, 0.00422293, 0.22999662,
 -0.105681  , 0.29668535, 0.01159972, 0.02781687,-0.0082431 , 0.02644793,
  1.18800055,-0.00163301, 1.19803094, 0.04410342, 0.05841406,-0.07567362,
  0.17166358, 0.99956562, 0.02909579,-0.00370965,-0.00287181]

qacc:
[ 3.11847969e+00,-6.26019099e-01, 1.25073256e-01, 5.44480917e+00,
  9.33916704e-01, 1.20662270e+01,-3.84419305e+01, 4.76301636e+01,
  3.69202048e+00, 3.05494328e+00,-1.16444685e+01, 1.87839202e+01,
  6.22553376e+01,-4.20364922e+01, 6.85889032e+01,-1.11824859e+02,
 -5.67503438e-01, 3.19473410e-01, 9.89050980e-02,-1.14047616e+00,
 -4.70725907e+00, 6.16047451e+00]

qfrc_actuator:
[ 2.72475579e-05, 8.11959820e-04, 1.16317924e-04,-6.98538143e-06,
 -6.97770908e-03, 3.40939556e-01, 8.50686934e-02, 1.72383471e-01,
 -9.17515365e-05, 8.30780807e-04, 2.58855884e-04, 1.09945162e-04,
  1.81777742e-02, 7.79601324e-03, 0.00000000e+00,-1.24170261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018474622830167765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92531323e-01,  1.21711745e-01,  8.23552028e-03,  1.21707556e-01,
        9.92565490e-01, -1.00986742e-03, -8.29720594e-03,  2.16840434e-19,
       -9.99965578e-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([ 0.09970203, -0.07847803,  0.1158363 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000369666657661305
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25248139e-13, -1.50165426e-13,  1.00000000e+00, -3.38244829e-26,
        1.00000000e+00,  1.50165426e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25248139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02773192, -0.07868268,  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:
[ 1.86133457e-05,-3.49078422e-05, 9.36274099e-06, 1.58213877e-05,
  1.00587724e-03, 3.01898250e-01, 1.73148505e-01, 8.52635905e-02,
  2.24786822e-05, 3.99054709e-05,-2.48070407e-05, 1.99228559e-05,
  1.21194049e-02, 4.70241465e-03, 5.84116900e-03, 1.13038646e-03,
  7.84687450e-06, 4.21933338e-06,-4.90499838e+00, 2.45551558e-04,
  1.18327971e-02,-6.90089676e-04]


--- Step 1433 ---
qpos:
[ 0.0185405 , 0.03002323,-0.00945583,-0.02527029, 0.00406503, 0.23064061,
 -0.10748974, 0.29841083, 0.01159926, 0.02781562,-0.00824216, 0.02644843,
  1.18833636,-0.00150395, 1.19816902, 0.04410929, 0.0583958 ,-0.07568476,
  0.17167374, 0.99956405, 0.02913578,-0.00379158,-0.00290678]

qacc:
[  8.00850143, -2.82392156,  8.1230888 , -5.81851423,  3.85974862,
  26.98647566,-72.12910325, 67.20528307, -0.7160576 , -1.1227892 ,
   5.22927076,-12.30766205, 24.38469882,  0.43931048,  3.52416368,
  44.03573259, -0.62944553,  0.32189337,  0.12025354, -1.10690841,
  -5.24659264,  6.41426173]

qfrc_actuator:
[ 7.45470296e-05, 7.80528421e-04, 1.59952577e-04, 2.59573826e-06,
 -6.79210878e-03, 3.44816602e-01, 8.68870829e-02, 1.73957916e-01,
 -9.67822523e-05, 7.69479428e-04, 2.38728985e-04, 8.45578687e-05,
  1.81484488e-02, 7.69948490e-03, 0.00000000e+00,-1.03845655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001843449133452188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92520719e-01,  1.21811486e-01,  8.03643515e-03,  1.21807493e-01,
        9.92553254e-01, -9.86274644e-04, -8.09672944e-03,  0.00000000e+00,
       -9.99967221e-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([ 0.09969799, -0.07848136,  0.11584272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036454387593606863
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61378189e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.61378189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772966, -0.07868293,  0.06199345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78335473e-05,-4.82751987e-05, 3.81438656e-05, 8.72004268e-06,
  1.17414751e-03, 3.05599746e-01, 1.75099138e-01, 8.68072963e-02,
 -4.35920584e-06,-4.32292746e-05,-1.42539500e-05,-2.41509950e-05,
  7.47662887e-03, 4.03959198e-03, 2.63438309e-03, 9.69266930e-04,
  8.05953994e-06, 4.54207795e-06,-4.90499952e+00, 2.44799484e-04,
  1.18322377e-02,-6.91160055e-04]


--- Step 1434 ---
qpos:
[ 0.0185408 , 0.030021  ,-0.00945532,-0.02526921, 0.00390932, 0.23131226,
 -0.10930706, 0.30013508, 0.01159875, 0.02781341,-0.0082408 , 0.02644799,
  1.18870548,-0.00135828, 1.19832017, 0.0441189 , 0.0583746 ,-0.07569461,
  0.17168457, 0.99956252, 0.02917339,-0.00388635,-0.00292961]

qacc:
[   1.89951533,   0.63386387,  -2.96485197,   5.39244586,   5.94271202,
   56.57666202,-142.1707516 , 107.20983069,  -0.45000798,  -4.37420217,
   17.7351837 , -34.02918996,  14.59730782,   2.66418292,   7.3704818 ,
    0.79239329,  -0.73699537,   0.32001059,   0.1666906 ,  -1.15364283,
   -6.2492945 ,   6.26103848]

qfrc_actuator:
[ 8.45860504e-05, 7.80629623e-04, 1.49831888e-04, 7.84654354e-06,
 -6.63618677e-03, 3.49114648e-01, 8.86507701e-02, 1.76413659e-01,
 -9.95664068e-05, 6.80121035e-04, 2.44060450e-04, 3.38748965e-05,
  1.81212938e-02, 7.55818770e-03, 0.00000000e+00,-1.05026096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018392030781810935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92513154e-01,  1.21887785e-01,  7.81065908e-03,  1.21884011e-01,
        9.92543887e-01, -9.59175658e-04, -7.86933372e-03, -1.08420217e-19,
       -9.99969036e-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([ 0.09969268, -0.0784849 ,  0.11584921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003596125918950699
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54363758e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.54363758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772747, -0.07868316,  0.06199354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14199809e-05,-1.85591116e-05,-1.50789756e-05, 4.67247033e-06,
  1.25949345e-03, 3.09273936e-01, 1.77073935e-01, 8.92570533e-02,
 -2.92837668e-06,-1.17481769e-04,-6.18734044e-06,-5.34990925e-05,
  4.86134945e-03, 2.73025660e-03, 1.25280654e-03, 3.61589797e-04,
  9.01314741e-06, 4.78198714e-06,-4.90500074e+00, 2.43707032e-04,
  1.18317998e-02,-6.92194518e-04]


--- Step 1435 ---
qpos:
[ 0.01854122, 0.03001914,-0.00945575,-0.02526773, 0.00375657, 0.23200796,
 -0.11113351, 0.30185848, 0.01159786, 0.02781085,-0.00823966, 0.0264476 ,
  1.18909638,-0.00120201, 1.19847742, 0.04412971, 0.05835009,-0.0757032 ,
  0.17169618, 0.99956103, 0.02920852,-0.0039956 ,-0.00294067]

qacc:
[   0.9803399 ,   3.92500905, -14.89633656,  22.82873315,   8.05418855,
   53.96165288,-141.29770237, 115.97669664,  -3.19454694,   0.27628488,
   -1.84704827,   3.32719672,   9.77149275,   1.28542335,   4.93922559,
   -5.2250445 ,  -0.82446032,   0.31780399,   0.19743219,  -1.19631729,
   -7.06114399,   6.09827954]

qfrc_actuator:
[ 9.03570682e-05, 8.17153855e-04, 1.08166393e-04, 2.82454198e-05,
 -6.49942299e-03, 3.53325491e-01, 9.04055532e-02, 1.78476329e-01,
 -1.18749790e-04, 6.98980232e-04, 2.46467638e-04, 3.97132070e-05,
  1.80845873e-02, 7.42293056e-03, 0.00000000e+00,-1.08118282e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018359782883191453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92508268e-01,  1.21942579e-01,  7.57269825e-03,  1.21939030e-01,
        9.92537157e-01, -9.30377618e-04, -7.62963704e-03,  0.00000000e+00,
       -9.99970894e-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([ 0.09968501, -0.07848866,  0.11585628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035480748980662447
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56454282e-13, -1.56454282e-13,  1.00000000e+00, -2.44779425e-26,
        1.00000000e+00,  1.56454282e-13, -1.00000000e+00,  0.00000000e+00,
       -1.56454282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772533, -0.07868337,  0.06199363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10408487e-06, 2.33076207e-05,-4.71769899e-05, 1.91744792e-05,
  1.28643264e-03, 3.12094640e-01, 1.79267390e-01, 9.13798709e-02,
 -1.93134463e-05,-5.03455930e-05,-2.44630348e-05,-4.48617594e-07,
  3.15956688e-03, 1.76280656e-03, 5.93803641e-04, 1.42522026e-04,
  1.10779575e-05, 4.96687814e-06,-4.90500208e+00, 2.42334624e-04,
  1.18315359e-02,-6.93191499e-04]


--- Step 1436 ---
qpos:
[ 1.85413572e-02, 3.00174735e-02,-9.45664673e-03,-2.52663816e-02,
  3.60638466e-03, 2.32712637e-01,-1.12966144e-01, 3.03582560e-01,
  1.15970862e-02, 2.78088331e-02,-8.23928499e-03, 2.64479005e-02,
  1.18945431e+00,-1.04767139e-03, 1.19860308e+00, 4.41460662e-02,
  5.83223192e-02,-7.57112966e-02, 1.71708560e-01, 9.99559478e-01,
  2.92442942e-02,-4.11922326e-03,-2.94149137e-03]

qacc:
[-2.40621827e+00, 1.29671138e+00,-3.75379704e+00, 2.27364122e+00,
  7.09466496e+00, 2.93694461e+01,-8.91743932e+01, 9.84343539e+01,
  9.96981496e-01, 4.24502052e+00,-1.70049857e+01, 2.97005532e+01,
 -2.26134243e+01, 1.68213689e+01,-6.19742311e+01, 1.52461034e+02,
 -8.17238514e-01, 1.22178343e-01, 1.90138594e-01, 3.67771652e-01,
 -7.03845926e+00, 5.32545787e+00]

qfrc_actuator:
[ 7.58294319e-05, 8.21826863e-04, 8.39015500e-05, 2.19099410e-05,
 -6.37578509e-03, 3.56961750e-01, 9.22122256e-02, 1.79965970e-01,
 -1.11926486e-04, 7.82533679e-04, 2.29836659e-04, 7.88465092e-05,
  1.80473151e-02, 7.25516424e-03, 0.00000000e+00,-8.02982399e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001833171340208845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92506107e-01,  1.21976173e-01,  7.31034874e-03,  1.21972865e-01,
        9.92533029e-01, -8.98396666e-04, -7.36534557e-03,  0.00000000e+00,
       -9.99972875e-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([ 0.09967524, -0.07849258,  0.11586369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625198, -0.25232422, -0.26546751, -0.25232422,  0.1972865 ,
        0.16060001, -0.26546751,  0.16060001,  0.21360327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2623487252271602e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42192832e-01, -8.95327617e-01, -5.34224460e-02, -2.36568045e-02,
       -4.78989909e-02,  9.98572002e-01, -8.96607972e-01,  4.42825186e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07068841, -0.04388066,  0.27605253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003501020544393746
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58557057e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58557057e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772325, -0.07868356,  0.06199371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43345197e-05, 8.85334915e-06,-2.45752559e-05,-6.59492418e-06,
  1.26264935e-03, 3.14521719e-01, 1.81539653e-01, 9.29108010e-02,
  6.23335367e-06, 5.03979402e-05,-3.00419227e-05, 3.61252788e-05,
  2.03410049e-03, 1.06312598e-03, 2.84129144e-04, 3.59683281e-04,
  1.43076446e-05, 5.04120410e-06,-4.90500357e+00, 2.40585925e-04,
  1.18314597e-02,-6.94152562e-04]


--- Step 1437 ---
qpos:
[ 1.85409756e-02, 3.00157099e-02,-9.45685982e-03,-2.52658497e-02,
  3.45856600e-03, 2.33411972e-01,-1.14800762e-01, 3.05309083e-01,
  1.15964042e-02, 2.78076271e-02,-8.23932183e-03, 2.64482571e-02,
  1.18977273e+00,-9.10111170e-04, 1.19870010e+00, 4.41620618e-02,
  5.82913839e-02,-7.57193750e-02, 1.71721646e-01, 9.99557808e-01,
  2.92824779e-02,-4.25678996e-03,-2.93342717e-03]

qacc:
[-4.43709288e+00,-3.71060521e+00, 1.65160523e+01,-3.17294071e+01,
  6.61301864e+00, 2.79355272e+00,-2.96735366e+01, 7.57670368e+01,
  7.17094150e-01, 2.35369067e+00,-7.09163290e+00, 8.19880199e+00,
 -1.82663783e+01,-1.19844992e-01,-4.03449031e+01, 8.17070297e+01,
 -7.90614233e-01, 4.71057556e-03, 1.77650227e-01, 1.24348780e+00,
 -6.83362187e+00, 4.63943383e+00]

qfrc_actuator:
[ 4.94720305e-05, 8.25186794e-04, 1.23235860e-04,-1.78656369e-05,
 -6.27857842e-03, 3.60098938e-01, 9.40685076e-02, 1.80915331e-01,
 -1.07597232e-04, 8.50903019e-04, 2.20163021e-04, 8.40436262e-05,
  1.80244983e-02, 7.09391989e-03, 0.00000000e+00,-8.23461962e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018293366343760473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92506599e-01,  1.21990183e-01,  7.00325811e-03,  1.21987147e-01,
        9.92531307e-01, -8.60757475e-04, -7.05595688e-03,  0.00000000e+00,
       -9.99975106e-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([ 0.0996645 , -0.07849662,  0.11587083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36625381, -0.17173881, -0.32349287, -0.17173881,  0.10884742,
        0.13665423, -0.32349287,  0.13665423,  0.29370558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.101528053856293e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4412484 , -0.89578539, -0.05355735, -0.02366606, -0.04804485,
        0.99856477, -0.89707289,  0.4418826 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07064362, -0.04389182,  0.27591449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003455351067546131
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40979065e-13,  1.60652710e-13,  1.00000000e+00,  3.87139397e-26,
        1.00000000e+00, -1.60652710e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40979065e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02772122, -0.07868374,  0.0619938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67648128e-05, 3.01504249e-06, 3.79353170e-05,-4.03719317e-05,
  1.23121788e-03, 3.17202829e-01, 1.83715186e-01, 9.38253300e-02,
  4.52338323e-06, 9.19624306e-05,-1.69602765e-06, 7.02304318e-06,
  3.65888994e-03, 9.94213611e-04, 1.86230375e-03, 6.12777781e-05,
  1.83065826e-05, 5.42523067e-06,-4.90500512e+00, 2.38615708e-04,
  1.18316279e-02,-6.95148861e-04]


--- Step 1438 ---
qpos:
[ 1.85402807e-02, 3.00139572e-02,-9.45607467e-03,-2.52658351e-02,
  3.31551641e-03, 2.34111400e-01,-1.16636567e-01, 3.07038460e-01,
  1.15954353e-02, 2.78065635e-02,-8.23920294e-03, 2.64483743e-02,
  1.19013594e+00,-7.74034654e-04, 1.19883487e+00, 4.41703031e-02,
  5.82567036e-02,-7.57261992e-02, 1.71735579e-01, 9.99556153e-01,
  2.93180798e-02,-4.41082810e-03,-2.91404288e-03]

qacc:
[  -2.65728185,  -3.83632149,  15.88417309, -26.43310269,  13.29990188,
    8.40434525, -40.86196352,  88.06369015,  -2.44412218,  -0.73499375,
    3.91270491,  -8.41802928,  33.77978967, -29.28000366,  76.86491021,
 -193.3447771 ,  -0.936232  ,   0.3135393 ,   0.2117054 ,  -1.24233114,
   -8.07009364,   5.90422288]

qfrc_actuator:
[ 3.41220703e-05, 8.45718059e-04, 1.82018514e-04,-4.14513927e-05,
 -6.16254544e-03, 3.63693013e-01, 9.59350640e-02, 1.82000050e-01,
 -1.22531819e-04, 8.20909496e-04, 2.14622288e-04, 6.92305730e-05,
  1.79961535e-02, 6.96997083e-03, 0.00000000e+00,-8.95188510e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001823223387330207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92509642e-01,  1.21986047e-01,  6.63438968e-03,  1.21983321e-01,
        9.92531815e-01, -8.15392470e-04, -6.68430934e-03,  0.00000000e+00,
       -9.99977660e-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([ 0.09965379, -0.07850072,  0.1158772 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034113537866831134
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.62724697e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.62724697e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771924, -0.0786839 ,  0.06199388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61229542e-05, 2.83806664e-05, 6.27041251e-05,-2.29259561e-05,
  1.22900712e-03, 3.21056401e-01, 1.85690180e-01, 9.47864595e-02,
 -1.47738886e-05, 2.14258356e-05, 1.35024146e-05,-1.07924394e-05,
  5.60574843e-03, 1.70608068e-03, 3.29350873e-03, 7.52149744e-06,
  2.28673508e-05, 6.06043593e-06,-4.90500677e+00, 2.36480585e-04,
  1.18319032e-02,-6.96218508e-04]


--- Step 1439 ---
qpos:
[ 1.85394067e-02, 3.00127356e-02,-9.45510645e-03,-2.52654239e-02,
  3.17779240e-03, 2.34823255e-01,-1.18475382e-01, 3.08770097e-01,
  1.15949846e-02, 2.78048792e-02,-8.23853092e-03, 2.64494214e-02,
  1.19052297e+00,-6.30164649e-04, 1.19898439e+00, 4.41848209e-02,
  5.82180540e-02,-7.57317914e-02, 1.71750437e-01, 9.99554504e-01,
  2.93509292e-02,-4.58241137e-03,-2.88424754e-03]

qacc:
[ -1.54009315,  1.01043859, -4.2497576 , 10.4174401 , 14.765469  ,
  28.09139921,-84.54790627,113.14927888,  4.44637511, -0.46092551,
  -3.48786948, 19.16930482, 13.1563824 , -4.09267011,  2.03944435,
  22.7618566 , -0.99233074,  0.30800999,  0.23119023, -1.32720702,
  -8.62004949,  5.46648771]

qfrc_actuator:
[ 2.53779709e-05, 8.94236595e-04, 1.98622464e-04,-1.97930385e-05,
 -6.02081461e-03, 3.67664441e-01, 9.77545269e-02, 1.83590659e-01,
 -9.54275485e-05, 7.49995441e-04, 2.28909490e-04, 1.13697364e-04,
  1.79530005e-02, 6.80655575e-03, 0.00000000e+00,-7.77094695e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001815157150775591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92515688e-01,  1.21959595e-01,  6.20212613e-03,  1.21957214e-01,
        9.92535066e-01, -7.62097801e-04, -6.24877281e-03,  0.00000000e+00,
       -9.99980476e-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([ 0.0996425 , -0.07850488,  0.11588294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003368927882411443
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47160906e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.47160906e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771732, -0.07868405,  0.06199395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.20083103e-06, 7.64084213e-05, 2.94076553e-05, 2.45993689e-05,
  1.13226560e-03, 3.25015890e-01, 1.87578506e-01, 9.62330927e-02,
  2.66751573e-05,-5.65773266e-05, 2.00130763e-05, 4.56444024e-05,
  3.32417171e-03, 1.61556093e-03, 1.40109748e-03, 5.12147994e-04,
  2.91648473e-05, 5.76719404e-06,-4.90500878e+00, 2.33313721e-04,
  1.18322070e-02,-6.97263949e-04]


--- Step 1440 ---
qpos:
[ 1.85394688e-02, 3.00119757e-02,-9.45420625e-03,-2.52643850e-02,
  3.04584130e-03, 2.35544088e-01,-1.20316659e-01, 3.10504701e-01,
  1.15952065e-02, 2.78031823e-02,-8.23844836e-03, 2.64513401e-02,
  1.19092491e+00,-4.80774260e-04, 1.19914106e+00, 4.41995884e-02,
  5.81751453e-02,-7.57361727e-02, 1.71766326e-01, 9.99552846e-01,
  2.93808440e-02,-4.77291539e-03,-2.84497089e-03]

qacc:
[  8.02186473,  2.07785887, -9.19400993, 19.84267141, 16.02158761,
  23.41451037,-77.40942657,119.83094577,  5.71662521,  3.4145155 ,
 -15.89858365, 31.95812274,  7.65082448, -1.42402616,  9.41817949,
 -18.524805  , -1.06477313,  0.30271812,  0.25783029, -1.4174932 ,
  -9.32127545,  5.0229263 ]

qfrc_actuator:
[ 7.38464890e-05, 9.05765004e-04, 1.90335072e-04, 1.05521507e-05,
 -5.84837660e-03, 3.70820258e-01, 9.95480316e-02, 1.85519762e-01,
 -6.15430771e-05, 7.61751095e-04, 2.01375860e-04, 1.57153392e-04,
  1.79172146e-02, 6.64628260e-03, 0.00000000e+00,-8.75585111e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018063437518151201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92524208e-01,  1.21913713e-01,  5.72212814e-03,  1.21911687e-01,
        9.92540703e-01, -7.02848644e-04, -5.76513197e-03,  0.00000000e+00,
       -9.99983381e-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([ 0.09962968, -0.07850907,  0.11588856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003327891385603715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34028891e-14, -1.66805778e-13,  1.00000000e+00, -1.39120838e-26,
        1.00000000e+00,  1.66805778e-13, -1.00000000e+00,  0.00000000e+00,
       -8.34028891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771545, -0.07868419,  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:
[ 4.82276533e-05, 6.14135424e-05, 1.19697583e-05, 3.51132514e-05,
  1.03845314e-03, 3.27542752e-01, 1.89531956e-01, 9.80479886e-02,
  3.46398784e-05,-1.37340808e-05,-3.51681930e-05, 4.26109723e-05,
  2.09798919e-03, 1.06370302e-03, 6.59514097e-04, 9.86732014e-05,
  3.67777821e-05, 5.29329918e-06,-4.90501097e+00, 2.29765511e-04,
  1.18327574e-02,-6.98269926e-04]


--- Step 1441 ---
qpos:
[ 1.85397669e-02, 3.00115025e-02,-9.45354449e-03,-2.52636460e-02,
  2.92006363e-03, 2.36264769e-01,-1.22158068e-01, 3.12243645e-01,
  1.15954881e-02, 2.78020085e-02,-8.23893948e-03, 2.64530035e-02,
  1.19133648e+00,-3.28561538e-04, 1.19930102e+00, 4.42133219e-02,
  5.81277448e-02,-7.57393643e-02, 1.71783315e-01, 9.99551165e-01,
  2.94076501e-02,-4.98344554e-03,-2.79712244e-03]

qacc:
[  2.01310142,  0.42345608,  0.29719009, -5.30639908, 17.18784278,
   7.87246987,-45.3863294 ,115.59147623,  0.48221925,  1.76808528,
  -4.22414155,  0.33697064,  5.45064757, -2.02543195,  7.65377677,
 -20.4753648 , -1.12294917,  0.29739971,  0.27513816, -1.50436824,
  -9.88713463,  4.58555957]

qfrc_actuator:
[ 8.45885062e-05, 8.94956445e-04, 1.67290741e-04,-7.53824031e-06,
 -5.67784447e-03, 3.73485187e-01, 1.01362122e-01, 1.87206533e-01,
 -5.94573487e-05, 8.22748667e-04, 1.85176325e-04, 1.46431166e-04,
  1.78857947e-02, 6.48705033e-03, 0.00000000e+00,-9.76241398e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001796318175374732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92535000e-01,  1.21849877e-01,  5.18481708e-03,  1.21848214e-01,
        9.92548542e-01, -6.36512267e-04, -5.22374158e-03,  0.00000000e+00,
       -9.99986356e-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([ 0.09961553, -0.07851327,  0.11589386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003287952045434306
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44159989e-14, -1.68831998e-13,  1.00000000e+00, -1.42521217e-26,
        1.00000000e+00,  1.68831998e-13, -1.00000000e+00,  0.00000000e+00,
       -8.44159989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771363, -0.07868432,  0.0619941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21680537e-05, 2.75399896e-05,-7.67730406e-06,-1.43677482e-05,
  9.20349333e-04, 3.29750906e-01, 1.91478464e-01, 9.95851085e-02,
  3.09151950e-06, 4.79478878e-05,-2.18803742e-05,-1.17004315e-05,
  1.32209844e-03, 6.26181823e-04, 2.96861631e-04,-1.55676009e-05,
  4.59125573e-05, 4.63194263e-06,-4.90501343e+00, 2.25837450e-04,
  1.18335638e-02,-6.99233276e-04]


--- Step 1442 ---
qpos:
[ 1.85398473e-02, 3.00112513e-02,-9.45281112e-03,-2.52638327e-02,
  2.80072162e-03, 2.36994050e-01,-1.24000504e-01, 3.13986767e-01,
  1.15957927e-02, 2.78013812e-02,-8.23969768e-03, 2.64541550e-02,
  1.19175402e+00,-1.75156914e-04, 1.19946220e+00, 4.42278304e-02,
  5.80756294e-02,-7.57413966e-02, 1.71801475e-01, 9.99549446e-01,
  2.94311092e-02,-5.21508654e-03,-2.74198379e-03]

qacc:
[ -1.87008963, -1.80984705, 10.78263273,-27.0646573 , 17.8519661 ,
  21.20820511,-75.19062583,135.93026018,  0.17868932,  0.41447888,
   1.73124968,-10.5666674 ,  3.90578444, -2.26928023, -0.80157187,
   4.8297014 , -1.1787351 ,  0.28985401,  0.29241805, -1.62449802,
 -10.44827631,  3.96216271]

qfrc_actuator:
[ 7.30201980e-05, 9.06241192e-04, 1.71095138e-04,-5.40133049e-05,
 -5.54667081e-03, 3.77086052e-01, 1.03204972e-01, 1.88869614e-01,
 -5.83543398e-05, 8.59502861e-04, 1.75997272e-04, 1.21733089e-04,
  1.78409543e-02, 6.34668511e-03, 0.00000000e+00,-9.52745010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001784115781557178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92547922e-01,  1.21769056e-01,  4.57385271e-03,  1.21767763e-01,
        9.92558460e-01, -5.61129394e-04, -4.60814440e-03,  0.00000000e+00,
       -9.99989382e-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([ 0.09960067, -0.07851741,  0.11589844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003249017484832639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70855194e-13,  3.20353489e-14,  1.00000000e+00,  5.47340574e-27,
        1.00000000e+00, -3.20353489e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70855194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771184, -0.07868445,  0.06199417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12025651e-05, 2.44950710e-05, 8.04503873e-06,-4.58439916e-05,
  7.42823439e-04, 3.33351343e-01, 1.93337249e-01, 1.01029941e-01,
  1.20785750e-06, 5.85923524e-05,-2.35864607e-06,-2.36281772e-05,
  7.95842625e-04, 3.42242799e-04, 1.28574780e-04, 5.85831028e-05,
  5.65618484e-05, 3.75959536e-06,-4.90501616e+00, 2.21559913e-04,
  1.18346301e-02,-7.00150012e-04]


--- Step 1443 ---
qpos:
[ 1.85404779e-02, 3.00112419e-02,-9.45180429e-03,-2.52642463e-02,
  2.68799486e-03, 2.37734176e-01,-1.25843633e-01, 3.15734432e-01,
  1.15961086e-02, 2.78007406e-02,-8.24034233e-03, 2.64550473e-02,
  1.19217520e+00,-2.17095252e-05, 1.19962384e+00, 4.42436795e-02,
  5.80186211e-02,-7.57423014e-02, 1.71820843e-01, 9.99547671e-01,
  2.94509775e-02,-5.46871208e-03,-2.68088973e-03]

qacc:
[ 4.72457964e+00,-9.21622661e-01, 4.68875439e+00,-9.20780197e+00,
  1.83267224e+01, 2.38300216e+01,-8.16497590e+01, 1.45918219e+02,
  9.95552842e-02,-8.68720545e-01, 4.16548999e+00,-8.82132369e+00,
  2.91022559e+00,-2.48540787e+00,-3.58154631e+00, 1.30383287e+01,
 -1.22322005e+00, 2.81868995e-01, 3.02290452e-01,-1.74812169e+00,
 -1.09047476e+01, 3.30916350e+00]

qfrc_actuator:
[ 1.01682951e-04, 9.30731904e-04, 1.90794090e-04,-6.35157133e-05,
 -5.44184384e-03, 3.80920240e-01, 1.05083778e-01, 1.90321628e-01,
 -5.78281880e-05, 8.28220466e-04, 1.70953363e-04, 1.06760840e-04,
  1.77986956e-02, 6.21814162e-03, 0.00000000e+00,-8.91657735e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017706040114923317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92562386e-01,  1.21674568e-01,  3.89989638e-03,  1.21673629e-01,
        9.92570048e-01, -4.78070248e-04, -3.92908933e-03,  5.42101086e-20,
       -9.99992281e-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([ 0.09958439, -0.07852147,  0.11590267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032109639368960163
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45760042e-13, -1.08050013e-14,  1.00000000e+00, -3.73593770e-27,
        1.00000000e+00,  1.08050013e-14, -1.00000000e+00,  0.00000000e+00,
       -3.45760042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02771009, -0.07868457,  0.06199424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83465311e-05, 3.78836299e-05, 2.41578819e-05,-9.06826755e-06,
  5.25869490e-04, 3.36747319e-01, 1.95276636e-01, 1.02271760e-01,
  5.80538363e-07, 1.34630296e-08, 5.96502421e-06,-1.30022539e-05,
  4.55094682e-04, 1.51556438e-04, 6.36300325e-05, 7.99111755e-05,
  6.87679892e-05, 2.67410435e-06,-4.90501919e+00, 2.17096166e-04,
  1.18359804e-02,-7.01011666e-04]


--- Step 1444 ---
qpos:
[ 1.85404127e-02, 3.00118725e-02,-9.45105120e-03,-2.52644406e-02,
  2.58206652e-03, 2.38479308e-01,-1.27684769e-01, 3.17487813e-01,
  1.15957393e-02, 2.77998205e-02,-8.24086596e-03, 2.64554426e-02,
  1.19259878e+00, 1.30217425e-04, 1.19978583e+00, 4.42595427e-02,
  5.79566814e-02,-7.57421083e-02, 1.71841383e-01, 9.99545824e-01,
  2.94670537e-02,-5.74453476e-03,-2.61499963e-03]

qacc:
[ -5.98785821,  2.01837649, -6.8717331 , 10.57260917, 18.86916645,
  11.2375036 ,-53.02198344,138.69549958, -5.83366154, -1.7194385 ,
   7.71262571,-16.3223652 ,  2.92158475, -3.8721551 ,  0.22494891,
  -0.60655963, -1.23285853,  0.27448877,  0.29289608, -1.85124873,
 -11.02820103,  2.73407656]

qfrc_actuator:
[ 6.50403880e-05, 9.80790290e-04, 1.84294016e-04,-5.11629082e-05,
 -5.35557873e-03, 3.84604697e-01, 1.06948729e-01, 1.91094634e-01,
 -9.31508669e-05, 7.91962682e-04, 1.68116749e-04, 7.98234096e-05,
  1.77633081e-02, 6.04410564e-03, 0.00000000e+00,-8.97654561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001756010550714588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92577908e-01,  1.21569249e-01,  3.16461498e-03,  1.21568632e-01,
        9.92582952e-01, -3.87594676e-04, -3.18826248e-03,  0.00000000e+00,
       -9.99994917e-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([ 0.09956647, -0.07852543,  0.11590663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031738240662554373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20245848e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20245848e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770838, -0.07868468,  0.06199431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58048977e-05, 7.58410146e-05, 3.97319866e-06, 1.46313906e-05,
  2.81379110e-04, 3.39881010e-01, 1.97185421e-01, 1.02816255e-01,
 -3.53078620e-05,-3.55453488e-05,-2.53567220e-06,-2.69825905e-05,
  2.38599440e-04,-2.72017688e-05, 3.64361566e-05, 5.90703816e-06,
  8.24963431e-05, 1.36785374e-06,-4.90502253e+00, 2.12568868e-04,
  1.18376146e-02,-7.01810222e-04]


--- Step 1445 ---
qpos:
[ 1.85395641e-02, 3.00132438e-02,-9.45046063e-03,-2.52645054e-02,
  2.48299764e-03, 2.39232854e-01,-1.29522837e-01, 3.19247279e-01,
  1.15952936e-02, 2.77988787e-02,-8.24153713e-03, 2.64558433e-02,
  1.19302398e+00, 2.79487977e-04, 1.19994792e+00, 4.42755896e-02,
  5.78897908e-02,-7.57408521e-02, 1.71863061e-01, 9.99543890e-01,
  2.94790972e-02,-6.04269687e-03,-2.54570431e-03]

qacc:
[ -6.7390281 ,  1.71346367, -5.21152949,  7.14121519, 19.01208982,
  13.40644389,-55.72827375,143.31437643, -0.65455387,  0.39606283,
  -1.47393045,  1.81550195,  3.08734567, -5.0497306 , -0.68878904,
   1.97383946, -1.23769777,  0.26575367,  0.28437064, -1.9751655 ,
 -11.12000118,  2.04243704]

qfrc_actuator:
[ 2.57457393e-05, 1.02794177e-03, 1.80244987e-04,-4.38049946e-05,
 -5.30103265e-03, 3.88555866e-01, 1.08802958e-01, 1.91794546e-01,
 -9.60329649e-05, 8.06249045e-04, 1.66551615e-04, 8.15536180e-05,
  1.77373481e-02, 5.84432028e-03, 0.00000000e+00,-8.89853842e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001739861569667682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92594141e-01,  1.21454920e-01,  2.36073549e-03,  1.21454576e-01,
        9.92596949e-01, -2.88861395e-04, -2.37834248e-03,  5.42101086e-20,
       -9.99997172e-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([ 0.09954725, -0.07852924,  0.11591013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003137995655403819
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.53800052e-13,  3.31687548e-14,  1.00000000e+00,  1.17351072e-26,
        1.00000000e+00, -3.31687548e-14, -1.00000000e+00,  0.00000000e+00,
       -3.53800052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770671, -0.07868478,  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:
[-4.03150030e-05, 9.09644778e-05, 1.25959872e-05, 1.10262452e-05,
 -4.01114342e-06, 3.43573022e-01, 1.98948956e-01, 1.03229052e-01,
 -3.93206358e-06,-7.24585729e-06,-1.01364408e-05,-4.02180581e-07,
  9.24381557e-05,-1.53539109e-04, 1.50883602e-05, 1.20379349e-05,
  9.74222548e-05,-1.66527696e-07,-4.90502611e+00, 2.08085927e-04,
  1.18395124e-02,-7.02538283e-04]


--- Step 1446 ---
qpos:
[ 1.85389404e-02, 3.00147482e-02,-9.44969810e-03,-2.52637358e-02,
  2.39077202e-03, 2.39992964e-01,-1.31356023e-01, 3.21013617e-01,
  1.15955054e-02, 2.77981263e-02,-8.24181475e-03, 2.64565411e-02,
  1.19345006e+00, 4.26097779e-04, 1.20010977e+00, 4.42939630e-02,
  5.78179158e-02,-7.57385656e-02, 1.71885857e-01, 9.99541850e-01,
  2.94868743e-02,-6.36340633e-03,-2.47433525e-03]

qacc:
[ 1.93299312e+00, 1.41063031e+00,-8.29552562e+00, 2.23542910e+01,
  1.89715881e+01, 7.58382912e+00,-4.18665287e+01, 1.41975086e+02,
  5.61426049e+00,-2.48825377e-01,-2.31041890e-02, 4.41777187e+00,
  2.68637182e+00,-4.77667467e+00,-7.66154288e+00, 2.56749802e+01,
 -1.24613086e+00, 2.57583541e-01, 2.79534962e-01,-2.09568294e+00,
 -1.12437129e+01, 1.38149470e+00]

qfrc_actuator:
[ 3.84837083e-05, 1.00198177e-03, 1.77676849e-04,-3.93681618e-06,
 -5.23279312e-03, 3.92093570e-01, 1.10666635e-01, 1.92589965e-01,
 -6.20329248e-05, 8.50715818e-04, 2.01474798e-04, 1.00180900e-04,
  1.77276812e-02, 5.68408731e-03, 0.00000000e+00,-7.67433919e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017226401983139574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92610526e-01,  1.21334696e-01,  1.49515656e-03,  1.21334558e-01,
        9.92611652e-01, -1.82764696e-04, -1.50628552e-03,  0.00000000e+00,
       -9.99998866e-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([ 0.09952641, -0.07853288,  0.11591337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003103785090412675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57699709e-13, -1.11781159e-14,  1.00000000e+00, -3.99840881e-27,
        1.00000000e+00,  1.11781159e-14, -1.00000000e+00,  0.00000000e+00,
       -3.57699709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0277051 , -0.07868487,  0.06199443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15890709e-05, 2.79121154e-05, 1.81315704e-05, 4.44109004e-05,
 -2.78750281e-04, 3.46680970e-01, 2.00668205e-01, 1.03718796e-01,
  3.38790371e-05, 3.83420402e-05, 3.21816922e-05, 1.79609925e-05,
  2.45694381e-06,-1.83483394e-04, 6.02528957e-06, 1.24331053e-04,
  1.13453917e-04,-1.91279763e-06,-4.90502994e+00, 2.03867361e-04,
  1.18416716e-02,-7.03184997e-04]


--- Step 1447 ---
qpos:
[ 1.85388187e-02, 3.00161013e-02,-9.44875566e-03,-2.52628026e-02,
  2.30524196e-03, 2.40757230e-01,-1.33182949e-01, 3.22787624e-01,
  1.15964679e-02, 2.77975011e-02,-8.24135062e-03, 2.64570940e-02,
  1.19387633e+00, 5.70543108e-04, 1.20027158e+00, 4.43139903e-02,
  5.77409260e-02,-7.57352808e-02, 1.71909811e-01, 9.99539681e-01,
  2.94901297e-02,-6.70732644e-03,-2.40228529e-03]

qacc:
[  4.31542116, -0.37456917,  0.34224476,  2.3228115 , 18.56519029,
   2.23303887,-30.76600128,144.52919964,  6.41953077, -2.21605261,
   8.73532484,-12.49897271,  1.74528806, -3.49756801, -5.2493573 ,
  17.85327981, -1.27866904,  0.24957778,  0.28969415, -2.22703023,
 -11.59598025,  0.69672434]

qfrc_actuator:
[ 6.39936791e-05, 9.67971541e-04, 1.75727784e-04, 1.42289506e-06,
 -5.14131248e-03, 3.94937863e-01, 1.12515186e-01, 1.93901038e-01,
 -2.43594933e-05, 8.59830526e-04, 2.40056256e-04, 9.31472391e-05,
  1.77064943e-02, 5.56640532e-03, 0.00000000e+00,-6.84974587e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017042736107559884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92626592e-01,  1.21211090e-01,  5.66504597e-04,  1.21211070e-01,
        9.92626753e-01, -6.91766966e-05, -5.70712602e-04,  0.00000000e+00,
       -9.99999837e-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([ 0.099504  , -0.07853633,  0.11591632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030713848416555334
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.90722424e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.90722424e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770354, -0.07868496,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58491232e-05,-1.28149640e-05, 7.55728266e-06, 8.03975969e-06,
 -5.29446520e-04, 3.49187677e-01, 2.02281388e-01, 1.04684920e-01,
  3.86757433e-05, 3.80145456e-05, 5.10961920e-05,-3.92811172e-06,
 -6.28087900e-05,-1.70609041e-04, 1.43995360e-05, 8.95182819e-05,
  1.30647974e-04,-3.86574015e-06,-4.90503404e+00, 2.00013130e-04,
  1.18440718e-02,-7.03742446e-04]


--- Step 1448 ---
qpos:
[ 1.85386595e-02, 3.00167801e-02,-9.44752939e-03,-2.52620964e-02,
  2.22604494e-03, 2.41526384e-01,-1.35003845e-01, 3.24569755e-01,
  1.15971861e-02, 2.77964290e-02,-8.24010601e-03, 2.64576301e-02,
  1.19430243e+00, 7.12970887e-04, 1.20043389e+00, 4.43311796e-02,
  5.76585071e-02,-7.57310327e-02, 1.71935067e-01, 9.99537354e-01,
  2.94885439e-02,-7.07599456e-03,-2.33121213e-03]

qacc:
[-3.01443830e-01,-2.15145806e+00, 7.33361114e+00,-1.12123866e+01,
  1.75363791e+01, 4.54672274e+00,-3.93292587e+01, 1.59874276e+02,
 -2.05064030e+00,-2.80258182e+00, 9.21296976e+00,-1.04278008e+01,
  9.93859268e-01,-2.58206970e+00, 9.21527070e+00,-3.14194954e+01,
 -1.35729070e+00, 2.40819241e-01, 3.25316021e-01,-2.39072491e+00,
 -1.23890513e+01,-1.07215301e-01]

qfrc_actuator:
[ 6.12944978e-05, 8.93857009e-04, 1.74073413e-04,-1.35852131e-05,
 -5.03847678e-03, 3.97135106e-01, 1.14351330e-01, 1.96174804e-01,
 -3.80960363e-05, 7.94462627e-04, 2.62574425e-04, 8.87928607e-05,
  1.76730997e-02, 5.45706931e-03, 0.00000000e+00,-8.39781210e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016845550495550744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92641848e-01,  1.21086650e-01, -4.29445421e-04,  1.21086639e-01,
        9.92641941e-01,  5.23855637e-05,  4.32628729e-04,  0.00000000e+00,
       -9.99999906e-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([ 0.09948014, -0.07853955,  0.11591889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030406515513348165
  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([ 0.02770203, -0.07868504,  0.06199455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95650997e-06,-7.94281515e-05,-3.12200947e-06,-1.51470045e-05,
 -7.61410219e-04, 3.51167441e-01, 2.03813141e-01, 1.06573739e-01,
 -1.25923998e-05,-3.36910698e-05, 3.65283113e-05,-1.03607293e-06,
 -1.05877741e-04,-1.74171069e-04, 1.27793566e-05,-1.48934609e-04,
  1.49393228e-04,-6.02675222e-06,-4.90503853e+00, 1.96627625e-04,
  1.18466981e-02,-7.04202537e-04]


--- Step 1449 ---
qpos:
[ 1.85388141e-02, 3.00169839e-02,-9.44663971e-03,-2.52615569e-02,
  2.15273511e-03, 2.42298985e-01,-1.36818700e-01, 3.26360681e-01,
  1.15973897e-02, 2.77950504e-02,-8.23853829e-03, 2.64577795e-02,
  1.19472797e+00, 8.53498992e-04, 1.20059656e+00, 4.43440657e-02,
  5.75703042e-02,-7.57258536e-02, 1.71961775e-01, 9.99534835e-01,
  2.94818078e-02,-7.47112517e-03,-2.26269315e-03]

qacc:
[ 2.68899464e+00,-3.57694317e-02,-8.89629463e-02,-1.89881186e+00,
  1.62919031e+01, 3.80666425e+00,-4.20857954e+01, 1.74533948e+02,
 -4.37264113e+00,-2.09586517e+00, 8.53310599e+00,-1.55340145e+01,
  5.29717863e-01,-2.03968568e+00, 1.34753564e+01,-4.65400866e+01,
 -1.44602151e+00, 2.32757820e-01, 3.63027065e-01,-2.54928051e+00,
 -1.32694684e+01,-8.68334683e-01]

qfrc_actuator:
[ 7.75137522e-05, 8.67274046e-04, 1.54667358e-04,-2.27364548e-05,
 -4.93114374e-03, 3.99030490e-01, 1.16160005e-01, 1.98667609e-01,
 -6.42313707e-05, 7.73691553e-04, 2.75119196e-04, 6.82231858e-05,
  1.76217562e-02, 5.35345976e-03, 0.00000000e+00,-1.06210658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001663449372905882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92655687e-01,  1.20964661e-01, -1.49615227e-03,  1.20964524e-01,
        9.92656814e-01,  1.82320365e-04,  1.50722006e-03, -2.71050543e-20,
       -9.99998864e-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([ 0.09945474, -0.0785425 ,  0.11592105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030109287360166603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76548315e-13, -1.84365543e-13,  1.00000000e+00,  5.09859803e-26,
        1.00000000e+00,  1.84365543e-13, -1.00000000e+00,  0.00000000e+00,
        2.76548315e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02770056, -0.07868511,  0.0619946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61317657e-05,-7.23322599e-05,-3.67427878e-05,-1.29606140e-05,
 -9.70749398e-04, 3.52808583e-01, 2.05328815e-01, 1.08658816e-01,
 -2.65197986e-05,-3.20893439e-05, 1.00467612e-05,-2.07706430e-05,
 -1.47700863e-04,-1.79338201e-04,-1.61927856e-05,-2.30299448e-04,
  1.70536146e-04,-8.40992217e-06,-4.90504365e+00, 1.93882317e-04,
  1.18495422e-02,-7.04554866e-04]


--- Step 1450 ---
qpos:
[ 1.85395062e-02, 3.00170882e-02,-9.44616785e-03,-2.52615196e-02,
  2.08490956e-03, 2.43070192e-01,-1.38625766e-01, 3.28161531e-01,
  1.15969333e-02, 2.77938167e-02,-8.23729117e-03, 2.64576679e-02,
  1.19515291e+00, 9.91422966e-04, 1.20075883e+00, 4.43568549e-02,
  5.74761151e-02,-7.57197715e-02, 1.71989987e-01, 9.99532089e-01,
  2.94696769e-02,-7.89369718e-03,-2.19803025e-03]

qacc:
[ 4.60114102e+00,-7.01272049e-03, 1.93420017e+00,-9.85724722e+00,
  1.51994601e+01,-5.05791941e+00,-2.45386962e+01, 1.77830617e+02,
 -5.63980298e+00, 5.61339175e-01,-6.02947985e-01,-3.52774663e+00,
  1.30928630e+00,-3.47849432e+00,-4.69951067e-01, 4.01485879e-01,
 -1.49651374e+00, 2.25743204e-01, 3.75950362e-01,-2.67618821e+00,
 -1.37781156e+01,-1.50273732e+00]

qfrc_actuator:
[ 1.04747899e-04, 8.87032969e-04, 1.42869807e-04,-4.60955404e-05,
 -4.85870493e-03, 4.01081542e-01, 1.17967528e-01, 2.00400289e-01,
 -9.74378718e-05, 7.97469451e-04, 2.64072475e-04, 5.60537258e-05,
  1.75596831e-02, 5.20071732e-03, 0.00000000e+00,-1.05605326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016406729039936442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92667505e-01,  1.20848042e-01, -2.64101989e-03,  1.20847614e-01,
        9.92671018e-01,  3.21518485e-04,  2.66051879e-03,  5.42101086e-20,
       -9.99996461e-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([ 0.09942789, -0.07854517,  0.11592269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002981566771649985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86181144e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.86181144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769912, -0.07868518,  0.06199466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76793466e-05,-2.88458204e-05,-3.17250555e-05,-2.79839078e-05,
 -1.19269442e-03, 3.54677169e-01, 2.06842660e-01, 1.09950297e-01,
 -3.39976617e-05, 7.04115879e-06,-1.71577362e-05,-1.36008353e-05,
 -1.82022125e-04,-2.39514994e-04,-3.79800741e-05,-1.00004127e-05,
  1.94559715e-04,-1.10389402e-05,-4.90504954e+00, 1.91891513e-04,
  1.18525773e-02,-7.04790690e-04]


--- Step 1451 ---
qpos:
[ 1.85405199e-02, 3.00168159e-02,-9.44583824e-03,-2.52607105e-02,
  2.02212717e-03, 2.43855593e-01,-1.40426949e-01, 3.29971627e-01,
  1.15960819e-02, 2.77927410e-02,-8.23678936e-03, 2.64574391e-02,
  1.19557716e+00, 1.12657608e-03, 1.20092071e+00, 4.43708954e-02,
  5.73757685e-02,-7.57128154e-02, 1.72019741e-01, 9.99529079e-01,
  2.94519051e-02,-8.34455151e-03,-2.13855656e-03]

qacc:
[  2.76068836,  1.48436636, -9.27357493, 23.12629038, 13.8750786 ,
  18.69946325,-76.0100431 ,206.0421295 , -3.39219247,  2.05731967,
  -6.52586431,  5.55922407,  1.44494264, -3.7816328 , -4.52153948,
  14.60046366, -1.53939225,  0.21849811,  0.38557145, -2.80465381,
 -14.21824288, -2.15467661]

qfrc_actuator:
[ 1.20488961e-04, 8.63401028e-04, 1.35853221e-04,-6.56677479e-06,
 -4.80915463e-03, 4.04578660e-01, 1.19770194e-01, 2.01974037e-01,
 -1.16783130e-04, 7.94390136e-04, 2.21632684e-04, 4.89532276e-05,
  1.75124996e-02, 5.05546475e-03, 0.00000000e+00,-9.86468202e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016157379877860026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92676741e-01,  1.20738929e-01, -3.87287729e-03,  1.20738010e-01,
        9.92684296e-01,  4.71053142e-04,  3.90141892e-03,  5.42101086e-20,
       -9.99992389e-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([ 0.09939987, -0.07854752,  0.11592361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029524564169747247
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76033671e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.76033671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276977 , -0.07868525,  0.06199471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65391701e-05,-4.75145137e-05,-1.78583187e-05, 3.66485344e-05,
 -1.41739035e-03, 3.58233855e-01, 2.08264110e-01, 1.11026199e-01,
 -2.03411932e-05,-3.25185029e-06,-4.35682615e-05,-7.65557915e-06,
 -1.98981085e-04,-2.56915377e-04,-2.12475111e-05, 6.35255869e-05,
  2.21124981e-04,-1.39146679e-05,-4.90505611e+00, 1.90771906e-04,
  1.18557653e-02,-7.04902126e-04]


--- Step 1452 ---
qpos:
[ 0.0185424 , 0.03001621,-0.00944561,-0.02525944, 0.00196388, 0.24466988,
 -0.14222509, 0.3317901 , 0.011595  , 0.02779177,-0.00823655, 0.0264571 ,
  1.19600054, 0.00125944, 1.20108283, 0.04438261, 0.05726904,-0.07570501,
  0.1720511 , 0.99952576, 0.02942825,-0.00882478,-0.00208554]

qacc:
[ 7.47149569e+00, 7.77129841e-01,-5.36148060e+00, 1.37184941e+01,
  1.23716899e+01, 4.34129209e+01,-1.31774210e+02, 2.37133704e+02,
 -1.93471148e+00, 6.40193035e-01,-1.60444672e+00, 2.03261950e-02,
  6.86330800e-01,-2.58345861e+00, 7.29924810e+00,-2.52415762e+01,
 -1.59628970e+00, 2.11963228e-01, 4.01827619e-01,-2.93000094e+00,
 -1.47846269e+01,-2.77045373e+00]

qfrc_actuator:
[ 1.64840507e-04, 8.49556766e-04, 1.31596781e-04, 1.63637893e-05,
 -4.75733738e-03, 4.08786364e-01, 1.21533232e-01, 2.03804191e-01,
 -1.27812783e-04, 8.10630639e-04, 2.14167914e-04, 4.48547705e-05,
  1.74742796e-02, 4.95141974e-03, 0.00000000e+00,-1.11085786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015902490136199988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92682691e-01,  1.20641394e-01, -5.17000514e-03,  1.20639758e-01,
        9.92696154e-01,  6.28305675e-04,  5.20804389e-03,  0.00000000e+00,
       -9.99986438e-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([ 0.09936946, -0.07854957,  0.11592446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002923520915396466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49388645e-14,  9.49388645e-14,  1.00000000e+00,  9.01338800e-27,
        1.00000000e+00, -9.49388645e-14, -1.00000000e+00,  0.00000000e+00,
       -9.49388645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276963 , -0.07868531,  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:
[ 4.48164769e-05,-4.25263340e-05,-1.50054385e-05, 2.09892439e-05,
 -1.61773145e-03, 3.61721210e-01, 2.09741063e-01, 1.12392501e-01,
 -1.16281642e-05, 5.11811054e-06,-1.37605108e-05,-5.89183053e-06,
 -2.02524012e-04,-2.24708611e-04,-5.98871309e-06,-1.24341807e-04,
  2.50320516e-04,-1.70352372e-05,-4.90506338e+00, 1.90733350e-04,
  1.18590743e-02,-7.04878983e-04]


--- Step 1453 ---
qpos:
[ 0.01854446, 0.03001538,-0.00944545,-0.02525862, 0.00190973, 0.24550458,
 -0.14401865, 0.3336181 , 0.01159346, 0.02779123,-0.00823658, 0.02645667,
  1.19642307, 0.00138998, 1.20124526, 0.04439006, 0.05715578,-0.07569638,
  0.17208408, 0.9995221 , 0.02939856,-0.00933507,-0.00203981]

qacc:
[ 1.48185439e+00,-1.03762926e+00, 5.12402440e+00,-1.24955401e+01,
  1.11930004e+01, 3.04149863e+01,-1.06566086e+02, 2.36271839e+02,
 -4.01456229e+00, 1.16601862e+00,-2.96431532e+00, 1.57958667e+00,
  5.86345620e-01,-2.47228584e+00, 1.32404433e+01,-4.58866846e+01,
 -1.63247793e+00, 2.07802422e-01, 4.03124967e-01,-3.01182809e+00,
 -1.51348493e+01,-3.17164052e+00]

qfrc_actuator:
[ 1.72422831e-04, 8.41690356e-04, 1.29013047e-04,-6.16522405e-06,
 -4.70567156e-03, 4.12370394e-01, 1.23308486e-01, 2.05217269e-01,
 -1.51616856e-04, 8.56203383e-04, 2.09746720e-04, 4.25976282e-05,
  1.74308271e-02, 4.83722241e-03, 0.00000000e+00,-1.33080218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001565615443018322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92684762e-01,  1.20559229e-01, -6.51419454e-03,  1.20556633e-01,
        9.92706136e-01,  7.91116565e-04,  6.56205729e-03,  0.00000000e+00,
       -9.99978469e-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([ 0.09933558, -0.07855134,  0.11592584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028945536437202657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91777932e-13, -9.58889661e-14,  1.00000000e+00, -1.83893876e-26,
        1.00000000e+00,  9.58889661e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91777932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769492, -0.07868538,  0.06199482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87456529e-06,-3.38211125e-05,-1.24909044e-05,-2.44644035e-05,
 -1.79291539e-03, 3.63849198e-01, 2.11371986e-01, 1.13384822e-01,
 -2.41453758e-05, 4.53654134e-05,-5.25411464e-06,-2.62595268e-06,
 -2.02227231e-04,-2.26622147e-04,-2.19180816e-05,-2.28852029e-04,
  2.82686566e-04,-2.04215524e-05,-4.90507150e+00, 1.91886904e-04,
  1.18624714e-02,-7.04713781e-04]


--- Step 1454 ---
qpos:
[ 0.0185459 , 0.03001444,-0.00944512,-0.02525775, 0.00185925, 0.24634675,
 -0.14580441, 0.33545734, 0.01159233, 0.02779097,-0.00823663, 0.02645588,
  1.196845  , 0.00151757, 1.20140728, 0.04439714, 0.0570359 ,-0.07568692,
  0.17211863, 0.99951803, 0.02936272,-0.00987578,-0.00200203]

qacc:
[-5.26247228e+00,-4.88560553e-01, 1.38816753e+00,-9.08728821e-01,
  1.00864809e+01, 8.42420378e+00,-6.04344617e+01, 2.26463968e+02,
  3.53899272e+00,-3.35827484e-01, 3.29654744e+00,-9.86532098e+00,
  1.52286664e+00,-3.95810808e+00, 3.38568708e-01,-2.47557126e+00,
 -1.65285350e+00, 2.04392943e-01, 3.96224147e-01,-3.07679256e+00,
 -1.53313873e+01,-3.50026905e+00]

qfrc_actuator:
[ 1.40540773e-04, 8.55190248e-04, 1.45186797e-04,-1.99487225e-06,
 -4.67322203e-03, 4.15204347e-01, 1.25106063e-01, 2.06357858e-01,
 -1.29494095e-04, 8.65757774e-04, 2.07274398e-04, 2.37131557e-05,
  1.73949163e-02, 4.68237853e-03, 0.00000000e+00,-1.33892488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015409359732852736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92682555e-01,  1.20493248e-01, -7.91977083e-03,  1.20489413e-01,
        9.92714147e-01,  9.61282673e-04,  7.97789661e-03,  1.08420217e-19,
       -9.99968176e-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([ 0.09929883, -0.0785528 ,  0.11592737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002865691222734279
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93709465e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93709465e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769356, -0.07868545,  0.06199487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16314410e-05,-9.01688694e-06, 6.80721912e-06, 1.81262500e-06,
 -1.96522561e-03, 3.65650697e-01, 2.12947759e-01, 1.14047653e-01,
  2.14289841e-05, 3.37329477e-05, 6.16766957e-06,-1.71703387e-05,
 -1.95481037e-04,-2.67463602e-04,-4.05405523e-05,-2.48109515e-05,
  3.18055694e-04,-2.40856194e-05,-4.90508040e+00, 1.94133440e-04,
  1.18659271e-02,-7.04405846e-04]


--- Step 1455 ---
qpos:
[ 0.0185473 , 0.03001381,-0.00944484,-0.02525654, 0.00181188, 0.24719187,
 -0.14758062, 0.33730892, 0.01159147, 0.02779067,-0.00823631, 0.02645522,
  1.19726652, 0.00164173, 1.20156881, 0.04440602, 0.05690927,-0.07567667,
  0.1721548 , 0.99951351, 0.02932055,-0.01044762,-0.00197312]

qacc:
[-4.25910588e-01, 1.20691059e+00,-5.17892895e+00, 1.10034987e+01,
  8.60555802e+00,-1.40161938e-01,-4.32133387e+01, 2.29311157e+02,
  2.34826995e+00,-8.16585610e-01, 2.23660570e+00,-3.74259931e-01,
  2.15304376e+00,-4.99676349e+00,-6.38122562e+00, 2.07135030e+01,
 -1.68986306e+00, 1.99962317e-01, 4.00982291e-01,-3.16551164e+00,
 -1.56950970e+01,-3.94057923e+00]

qfrc_actuator:
[ 1.38955621e-04, 8.99236082e-04, 1.54669614e-04, 1.78912783e-05,
 -4.67126351e-03, 4.17539760e-01, 1.26911995e-01, 2.07897507e-01,
 -1.16017705e-04, 8.53669119e-04, 2.23576677e-04, 3.06753765e-05,
  1.73688640e-02, 4.50469611e-03, 0.00000000e+00,-1.23989349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015149483107211132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92675613e-01,  1.20443610e-01, -9.40550447e-03,  1.20438205e-01,
        9.92720170e-01,  1.14114022e-03,  9.47447705e-03,  2.16840434e-19,
       -9.99955116e-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([ 0.0992601 , -0.07855392,  0.11592852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002837207007856113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93481324e-13,  9.78271079e-14,  1.00000000e+00,  2.87104291e-26,
        1.00000000e+00, -9.78271079e-14, -1.00000000e+00,  0.00000000e+00,
       -2.93481324e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769223, -0.07868553,  0.06199492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50788152e-06, 4.04999014e-05, 8.52671563e-06, 1.97713923e-05,
 -2.14657122e-03, 3.67599335e-01, 2.14371411e-01, 1.15023331e-01,
  1.41159920e-05, 7.32887649e-06, 2.34392764e-05, 8.28841484e-06,
 -1.91525450e-04,-3.00093119e-04,-2.39839926e-05, 9.18580985e-05,
  3.56244843e-04,-2.80243605e-05,-4.90509001e+00, 1.97506843e-04,
  1.18694184e-02,-7.03951959e-04]


--- Step 1456 ---
qpos:
[ 0.01854866, 0.03001349,-0.00944472,-0.02525544, 0.00176712, 0.24804438,
 -0.14934694, 0.3391732 , 0.01159009, 0.02779055,-0.00823615, 0.02645501,
  1.19768751, 0.00176271, 1.20173048, 0.04441362, 0.05677574,-0.07566563,
  0.17219258, 0.99950848, 0.02927194,-0.01105121,-0.00195375]

qacc:
[-2.68889302e-01, 6.75765518e-01,-1.35468501e+00,-4.67760561e-01,
  7.16953927e+00, 5.21268836e+00,-5.50812748e+01, 2.42344736e+02,
 -4.44860747e+00, 1.60314552e+00,-7.24853473e+00, 1.50535921e+01,
  1.64724773e+00,-4.24634786e+00, 3.85146395e+00,-1.36385019e+01,
 -1.72314593e+00, 1.96878792e-01, 4.04339812e-01,-3.23417468e+00,
 -1.60152842e+01,-4.27442914e+00]

qfrc_actuator:
[ 1.37476461e-04, 9.07981296e-04, 1.42509890e-04, 1.13776175e-05,
 -4.65301213e-03, 4.20216671e-01, 1.28682546e-01, 2.09369198e-01,
 -1.43258956e-04, 8.64311209e-04, 2.15251828e-04, 5.27836299e-05,
  1.73434062e-02, 4.35047836e-03, 0.00000000e+00,-1.30936676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014872274512925023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92663332e-01,  1.20411706e-01, -1.09786718e-02,  1.20404343e-01,
        9.92724041e-01,  1.33164963e-03,  1.10591376e-02,  2.16840434e-19,
       -9.99938846e-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([ 0.09921967, -0.07855468,  0.11592912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028090775839925697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96420175e-13,  9.88067249e-14,  1.00000000e+00,  2.92883067e-26,
        1.00000000e+00, -9.88067249e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96420175e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02769093, -0.0786856 ,  0.06199498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53781341e-06, 3.40114072e-05,-2.06094307e-06,-4.10175780e-06,
 -2.28420082e-03, 3.70115228e-01, 2.15670793e-01, 1.15875933e-01,
 -2.68267770e-05, 1.99480473e-05,-3.63742113e-06, 2.33953061e-05,
 -1.96057961e-04,-2.84932021e-04,-3.37992684e-06,-6.80352495e-05,
  3.97826951e-04,-3.22466580e-05,-4.90510048e+00, 2.02282515e-04,
  1.18729138e-02,-7.03342258e-04]


--- Step 1457 ---
qpos:
[ 0.01855   , 0.03001324,-0.00944463,-0.02525475, 0.00172458, 0.24890503,
 -0.15110208, 0.34105082, 0.01158875, 0.02779024,-0.00823595, 0.02645544,
  1.19810776, 0.00188103, 1.20189212, 0.04442033, 0.05663528,-0.07565381,
  0.17223194, 0.99950289, 0.02921684,-0.01168672,-0.00194415]

qacc:
[-2.43599534e-01,-6.94173055e-01, 4.34548277e+00,-1.14738805e+01,
  6.12824114e+00, 3.88634383e+00,-5.15701844e+01, 2.47391055e+02,
  2.52710748e-01, 9.63741690e-01,-6.50360628e+00, 1.77077603e+01,
  1.15310344e+00,-3.35008150e+00, 2.51384336e+00,-9.19228579e+00,
 -1.73390348e+00, 1.96340719e-01, 3.94805130e-01,-3.25622577e+00,
 -1.61045718e+01,-4.37971426e+00]

qfrc_actuator:
[ 1.36061625e-04, 8.95417204e-04, 1.35272202e-04,-1.06595063e-05,
 -4.60796545e-03, 4.23004115e-01, 1.30409968e-01, 2.10368767e-01,
 -1.40987563e-04, 8.35139173e-04, 2.10290771e-04, 8.36193365e-05,
  1.73130044e-02, 4.22922399e-03, 0.00000000e+00,-1.35332745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001458271584167817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99264515,  0.12039933, -0.01263316,  0.12038959,  0.99272554,
        0.00153217,  0.01272573,  0.        , -0.99991902])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09917715, -0.07855509,  0.11592937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002781275052818194
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99588858e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99588858e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768965, -0.07868569,  0.06199503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44685427e-06, 5.85640251e-06,-6.10322223e-07,-2.07343227e-05,
 -2.36933247e-03, 3.72520255e-01, 2.16910755e-01, 1.16238989e-01,
  1.49054165e-06,-1.77762506e-05,-4.79254972e-07, 3.20212628e-05,
 -1.99880873e-04,-2.48738223e-04,-1.37742135e-05,-4.92492433e-05,
  4.42919741e-04,-3.67684738e-05,-4.90511182e+00, 2.08423219e-04,
  1.18763938e-02,-7.02575416e-04]


--- Step 1458 ---
qpos:
[ 0.01855165, 0.03001337,-0.00944448,-0.02525437, 0.00168392, 0.24976817,
 -0.15284346, 0.34294302, 0.01158812, 0.02778957,-0.00823567, 0.02645592,
  1.19852709, 0.00199738, 1.20205355, 0.04442744, 0.05648787,-0.07564119,
  0.17227283, 0.99949666, 0.02915524,-0.0123542 ,-0.00194439]

qacc:
[ 2.71575390e+00,-3.00523392e-01, 3.10909431e+00,-8.88843013e+00,
  5.23389535e+00,-7.99174355e+00,-2.53829915e+01, 2.43754357e+02,
  6.20526351e+00,-6.28437199e-01, 1.34815753e+00,-4.59217826e-01,
  6.46969451e-01,-2.35265468e+00,-1.63193728e+00, 5.03871471e+00,
 -1.73876600e+00, 1.96710325e-01, 3.82850249e-01,-3.26309248e+00,
 -1.61325738e+01,-4.41050645e+00]

qfrc_actuator:
[ 1.52448107e-04, 9.41193271e-04, 1.48656638e-04,-2.39117531e-05,
 -4.56525553e-03, 4.25232814e-01, 1.32141769e-01, 2.11274610e-01,
 -1.03597594e-04, 8.00116094e-04, 2.07207667e-04, 8.38092398e-05,
  1.72796737e-02, 4.14623568e-03, 0.00000000e+00,-1.32859334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014282631400471077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99262064,  0.12040706, -0.01436649,  0.12039445,  0.9927246 ,
        0.0017425 ,  0.01447178,  0.        , -0.99989528])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09913238, -0.07855518,  0.11592936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002754020957591724
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01564012e-13,  2.01564012e-13,  1.00000000e+00,  4.06280508e-26,
        1.00000000e+00, -2.01564012e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01564012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768841, -0.07868578,  0.06199508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63478052e-05, 4.80387627e-05, 1.38004070e-05,-1.34277883e-05,
 -2.43779333e-03, 3.74327630e-01, 2.18090078e-01, 1.16475551e-01,
  3.74254792e-05,-4.36863370e-05,-5.70727013e-06, 3.36742890e-08,
 -1.96311862e-04,-2.01250499e-04,-1.61296649e-05, 1.92507558e-05,
  4.91034498e-04,-4.15970618e-05,-4.90512386e+00, 2.15629526e-04,
  1.18798634e-02,-7.01658391e-04]


--- Step 1459 ---
qpos:
[ 0.01855279, 0.03001392,-0.00944422,-0.02525416, 0.00164482, 0.25063104,
 -0.15456883, 0.34485082, 0.01158761, 0.02778901,-0.00823616, 0.02645604,
  1.19894559, 0.00211172, 1.202215  , 0.04443376, 0.05633348,-0.07562779,
  0.17231521, 0.99948973, 0.02908715,-0.0130537 ,-0.00195448]

qacc:
[-4.34406342e+00,-8.38527536e-02, 1.84869870e+00,-5.31931568e+00,
  4.38433808e+00,-1.56594817e+01,-7.70388946e+00, 2.43058561e+02,
  8.97098355e-01, 1.59133115e+00,-3.97569582e+00,-9.16314317e-01,
  6.50186649e-01,-2.34210059e+00, 2.32361114e+00,-8.31786091e+00,
 -1.74303957e+00, 1.97494842e-01, 3.72357793e-01,-3.26471623e+00,
 -1.61540675e+01,-4.41462756e+00]

qfrc_actuator:
[ 1.25923498e-04, 9.68380788e-04, 1.56596501e-04,-3.18257996e-05,
 -4.52449457e-03, 4.27217438e-01, 1.33904655e-01, 2.12206414e-01,
 -9.91037813e-05, 8.15092817e-04, 1.69691394e-04, 6.59556954e-05,
  1.72446297e-02, 4.05109057e-03, 0.00000000e+00,-1.37009957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013967503197251563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92589324e-01,  1.20434546e-01, -1.61849924e-02,  1.20418539e-01,
        9.92721270e-01,  1.96352418e-03,  1.63036624e-02,  4.33680869e-19,
       -9.99867086e-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([ 0.09908573, -0.07855492,  0.11592889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027275543779435585
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05279805e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.05279805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276872 , -0.07868588,  0.06199513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60321384e-05, 5.63188391e-05, 1.90901503e-05,-5.64376928e-06,
 -2.49108693e-03, 3.76173979e-01, 2.19171527e-01, 1.16676541e-01,
  5.57456993e-06,-1.05994631e-05,-4.72407865e-05,-1.99243717e-05,
 -1.84760807e-04,-1.99421229e-04,-9.40727180e-06,-4.34216239e-05,
  5.42038104e-04,-4.67388075e-05,-4.90513654e+00, 2.23792263e-04,
  1.18833241e-02,-7.00594098e-04]


--- Step 1460 ---
qpos:
[ 0.01855224, 0.03001438,-0.00944364,-0.025254  , 0.0016069 , 0.25151016,
 -0.15627992, 0.34677346, 0.01158681, 0.02778876,-0.00823699, 0.02645624,
  1.19936337, 0.00222375, 1.20237646, 0.04443885, 0.05617203,-0.0756136 ,
  0.17235908, 0.99948203, 0.02901252,-0.0137856 ,-0.00197467]

qacc:
[-1.46188302e+01,-1.11921297e+00, 4.05094616e+00,-5.35185756e+00,
  3.23910611e+00, 8.53632323e+00,-5.86075599e+01, 2.68044830e+02,
 -2.45929289e+00, 1.51707891e+00,-5.15832086e+00, 6.81925583e+00,
  9.05416925e-01,-2.82115951e+00, 3.62115007e+00,-1.29168818e+01,
 -1.76458957e+00, 1.97190967e-01, 3.73791446e-01,-3.29141750e+00,
 -1.63490432e+01,-4.53766382e+00]

qfrc_actuator:
[ 3.88430819e-05, 9.30961342e-04, 1.61195323e-04,-3.65531904e-05,
 -4.50308695e-03, 4.30300055e-01, 1.35678430e-01, 2.13501987e-01,
 -1.14019788e-04, 8.59733554e-04, 1.65592218e-04, 7.31555479e-05,
  1.72032560e-02, 3.93171891e-03, 0.00000000e+00,-1.43256132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013635943193089947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99255071,  0.12048165, -0.01809042,  0.12046164,  0.99271555,
        0.00219556,  0.01822317,  0.        , -0.99983394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09903728, -0.07855433,  0.11592791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002702036558511617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05441896e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.05441896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768604, -0.07868599,  0.06199517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.78219094e-05,-2.26155588e-06, 1.83764433e-05,-1.76694707e-06,
 -2.54768058e-03, 3.79255492e-01, 2.20150670e-01, 1.17189809e-01,
 -1.47557203e-05, 2.81270541e-05,-1.27855634e-05, 4.72499866e-06,
 -1.84718182e-04,-2.20338712e-04,-1.38176182e-05,-6.71313630e-05,
  5.95931042e-04,-5.22013321e-05,-4.90514984e+00, 2.32866715e-04,
  1.18867758e-02,-6.99384128e-04]


--- Step 1461 ---
qpos:
[ 0.01855098, 0.03001435,-0.00944274,-0.02525419, 0.00156981, 0.25241551,
 -0.15797807, 0.34871052, 0.01158653, 0.0277884 ,-0.00823717, 0.02645617,
  1.19978048, 0.00233321, 1.20253779, 0.04444347, 0.05600345,-0.07559862,
  0.17240445, 0.99947349, 0.02893134,-0.01455024,-0.00200504]

qacc:
[-5.94517960e+00,-2.23705741e+00, 8.52836285e+00,-1.47361149e+01,
  2.25937687e+00, 2.39106147e+01,-9.21285373e+01, 2.86533369e+02,
  4.42792923e+00,-2.55931547e+00, 1.00848798e+01,-1.58719409e+01,
  1.18762890e+00,-3.32030184e+00, 1.08577939e+00,-4.42878233e+00,
 -1.78527148e+00, 1.98064240e-01, 3.73068777e-01,-3.30013260e+00,
 -1.65254224e+01,-4.56624340e+00]

qfrc_actuator:
[ 5.59405634e-06, 8.72877676e-04, 1.63520380e-04,-5.71789969e-05,
 -4.47577684e-03, 4.33847532e-01, 1.37418564e-01, 2.14744052e-01,
 -8.69721840e-05, 8.50936589e-04, 1.99177113e-04, 5.95954146e-05,
  1.71634308e-02, 3.79891763e-03, 0.00000000e+00,-1.45358397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013305425708415224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92504528e-01,  1.20550455e-01, -2.00586463e-02,  1.20525843e-01,
        9.92707201e-01,  2.43584304e-03,  2.02060046e-02, -4.33680869e-19,
       -9.99795838e-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([ 0.09898577, -0.07855346,  0.11592715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000267732455195957
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03669074e-13, -1.03669074e-13,  1.00000000e+00, -1.07472768e-26,
        1.00000000e+00,  1.03669074e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03669074e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768491, -0.07868611,  0.06199522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58115867e-05,-5.56812290e-05, 4.05163875e-06,-2.01201856e-05,
 -2.57905783e-03, 3.81975465e-01, 2.21182624e-01, 1.17687507e-01,
  2.66233958e-05, 4.50414901e-06, 3.79956784e-05,-1.27027785e-05,
 -1.88227335e-04,-2.39468859e-04,-1.82197248e-05,-2.75220281e-05,
  6.53353741e-04,-5.80008837e-05,-4.90516390e+00, 2.43120157e-04,
  1.18901906e-02,-6.98021534e-04]


--- Step 1462 ---
qpos:
[ 0.01855003, 0.03001385,-0.00944207,-0.02525425, 0.00153328, 0.25334224,
 -0.15966214, 0.35066277, 0.01158692, 0.02778736,-0.00823663, 0.026456  ,
  1.20019683, 0.00244   , 1.20269871, 0.04445011, 0.05582767,-0.07558283,
  0.17245128, 0.99946401, 0.02884363,-0.01534779,-0.0020454 ]

qacc:
[ 2.57191568e+00, 3.10338162e-01,-2.57457389e+00, 5.63636111e+00,
  1.56254880e+00, 1.60904679e+01,-7.68445050e+01, 2.87076136e+02,
  5.75789118e+00,-3.10382764e+00, 1.01259875e+01,-1.23308407e+01,
  1.37477979e+00,-3.65375658e+00,-6.90102230e+00, 2.28766293e+01,
 -1.79627232e+00, 2.00328196e-01, 3.65366092e-01,-3.28349904e+00,
 -1.65986833e+01,-4.47144301e+00]

qfrc_actuator:
[ 2.20683466e-05, 8.38334665e-04, 1.46613255e-04,-5.15161694e-05,
 -4.44505611e-03, 4.36805324e-01, 1.39098632e-01, 2.15770977e-01,
 -5.31878845e-05, 7.74856405e-04, 2.19004450e-04, 5.16575985e-05,
  1.71139041e-02, 3.65924195e-03, 0.00000000e+00,-1.34349241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012986217049420652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99245058,  0.12064204, -0.02207588,  0.1206122 ,  0.99269608,
        0.00268287,  0.02223831,  0.        , -0.9997527 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09893044, -0.07855233,  0.11592706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026533300673999005
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09213139e-13, -1.04606570e-13,  1.00000000e+00, -2.18850688e-26,
        1.00000000e+00,  1.04606570e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09213139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768382, -0.07868625,  0.06199527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54112607e-05,-6.57214079e-05,-2.86112767e-05, 3.02744870e-06,
 -2.59007304e-03, 3.83605971e-01, 2.22220951e-01, 1.17991332e-01,
  3.45642555e-05,-6.62335394e-05, 2.50032273e-05,-6.67712325e-06,
 -2.04238443e-04,-2.52463190e-04,-1.53114098e-05, 1.05352155e-04,
  7.14345048e-04,-6.41588289e-05,-4.90517870e+00, 2.54388263e-04,
  1.18935803e-02,-6.96510916e-04]


--- Step 1463 ---
qpos:
[ 0.01854928, 0.03001307,-0.00944169,-0.02525425, 0.00149709, 0.25428504,
 -0.16133057, 0.35263113, 0.01158771, 0.02778556,-0.00823544, 0.02645575,
  1.20061217, 0.00254452, 1.20285953, 0.04445799, 0.0556447 ,-0.07556624,
  0.17249952, 0.99945352, 0.02874946,-0.01617823,-0.00209553]

qacc:
[ 1.74997637e+00, 5.39286017e-01,-2.68046327e+00, 4.21489949e+00,
  9.60437754e-01, 6.68474783e+00,-5.73609313e+01, 2.85417065e+02,
  3.46251644e+00,-2.94966440e+00, 9.40440324e+00,-1.12306643e+01,
  8.34935825e-01,-2.78714753e+00,-4.01369495e+00, 1.35326417e+01,
 -1.79911147e+00, 2.02733315e-01, 3.53836210e-01,-3.26132351e+00,
 -1.65949243e+01,-4.36040793e+00]

qfrc_actuator:
[ 3.21546892e-05, 8.35838518e-04, 1.36340778e-04,-4.81780833e-05,
 -4.43010732e-03, 4.39403656e-01, 1.40754110e-01, 2.16644516e-01,
 -3.34755841e-05, 7.30034600e-04, 2.48007044e-04, 4.70170766e-05,
  1.70639153e-02, 3.55208252e-03, 0.00000000e+00,-1.28131154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012673587610586956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92388489e-01,  1.20755574e-01, -2.41490975e-02,  1.20719837e-01,
        9.92682271e-01,  2.93763495e-03,  2.43271167e-02,  4.33680869e-19,
       -9.99704052e-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([ 0.09887161, -0.07855094,  0.11592743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002630119757940502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16589108e-13, -1.05529703e-13,  1.00000000e+00, -3.34095545e-26,
        1.00000000e+00,  1.05529703e-13, -1.00000000e+00,  0.00000000e+00,
       -3.16589108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768277, -0.0786864 ,  0.06199531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05144212e-05,-4.50077108e-05,-2.72667270e-05,-4.07397491e-07,
 -2.60344051e-03, 3.85118106e-01, 2.23177952e-01, 1.18102585e-01,
  2.06992933e-05,-7.69363197e-05, 1.81749540e-05,-6.74357836e-06,
 -2.15690977e-04,-2.27492118e-04, 1.20231379e-06, 6.53088869e-05,
  7.78580701e-04,-7.06861200e-05,-4.90519411e+00, 2.66391715e-04,
  1.18969736e-02,-6.94860748e-04]


--- Step 1464 ---
qpos:
[ 0.01854866, 0.0300125 ,-0.00944194,-0.02525495, 0.00146105, 0.25523986,
 -0.16298184, 0.35461643, 0.01158873, 0.02778375,-0.00823446, 0.02645507,
  1.20102654, 0.00264685, 1.20302053, 0.04446488, 0.05545451,-0.07554882,
  0.17254915, 0.99944193, 0.02864888,-0.01704163,-0.00215507]

qacc:
[ 1.06259438e+00, 6.20666664e-01, 1.11033622e+00,-1.22170604e+01,
  5.00369790e-01,-9.59640556e-01,-4.14696364e+01, 2.85408440e+02,
  1.95492598e+00,-3.71829420e-01, 3.10702582e+00,-1.02766709e+01,
  6.31755050e-01,-2.48197104e+00, 3.18551517e+00,-1.09709105e+01,
 -1.80599123e+00, 2.06190878e-01, 3.45344167e-01,-3.22660128e+00,
 -1.66229145e+01,-4.17526963e+00]

qfrc_actuator:
[ 3.83836196e-05, 8.70328654e-04, 1.12449013e-04,-8.17082580e-05,
 -4.38910656e-03, 4.41676555e-01, 1.42440878e-01, 2.17632076e-01,
 -2.22059807e-05, 7.57564395e-04, 2.46798323e-04, 2.66262957e-05,
  1.70190235e-02, 3.44733468e-03, 0.00000000e+00,-1.33665857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012362747058468502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99231783,  0.12089014, -0.02628497,  0.12084775,  0.99266589,
        0.00320107,  0.02647917,  0.        , -0.99964937])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09880966, -0.07854931,  0.11592807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026078120968751894
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06432421e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06432421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768176, -0.07868657,  0.06199535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52281933e-06, 3.70329684e-06,-3.65545774e-05,-3.64078413e-05,
 -2.57892801e-03, 3.86569702e-01, 2.24086471e-01, 1.18282724e-01,
  1.18448297e-05,-1.19669258e-05,-1.50881243e-05,-2.31889831e-05,
 -2.10481597e-04,-2.20894860e-04, 2.91490977e-06,-5.26440749e-05,
  8.45772631e-04,-7.75777113e-05,-4.90521003e+00, 2.79059331e-04,
  1.19003791e-02,-6.93074485e-04]


--- Step 1465 ---
qpos:
[ 0.01854777, 0.03001197,-0.00944252,-0.02525535, 0.001425  , 0.25620531,
 -0.16461496, 0.3566193 , 0.01158953, 0.02778254,-0.00823416, 0.02645479,
  1.20143982, 0.00274754, 1.20318145, 0.04447172, 0.05525704,-0.07553056,
  0.17260014, 0.99942915, 0.02854197,-0.01793816,-0.0022236 ]

qacc:
[-2.28339592e+00, 1.56064951e+00,-6.74461990e+00, 1.23500763e+01,
  1.07139280e-01,-4.30394773e+00,-3.48416951e+01, 2.89232113e+02,
 -1.88744431e+00, 3.53856039e+00,-1.31487018e+01, 2.07580284e+01,
  2.37545869e-01,-1.67508525e+00,-5.29896267e-02,-1.14395523e-01,
 -1.81854287e+00, 2.10114103e-01, 3.40614784e-01,-3.18857802e+00,
 -1.67020847e+01,-3.96582958e+00]

qfrc_actuator:
[ 2.45415729e-05, 8.73367556e-04, 9.85942732e-05,-6.56273572e-05,
 -4.33242441e-03, 4.43663054e-01, 1.44085406e-01, 2.18751774e-01,
 -3.37431941e-05, 8.28079898e-04, 2.28046665e-04, 5.04299812e-05,
  1.69772237e-02, 3.38037547e-03, 0.00000000e+00,-1.33651882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012050216953939676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92238179e-01,  1.21044658e-01, -2.84883768e-02,  1.20994799e-01,
        9.92647062e-01,  3.47390927e-03,  2.86994017e-02, -4.33680869e-19,
       -9.99588087e-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([ 0.09874484, -0.07854743,  0.11592884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002586430662817746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21936822e-13,  2.14624548e-13,  1.00000000e+00,  6.90955450e-26,
        1.00000000e+00, -2.14624548e-13, -1.00000000e+00,  0.00000000e+00,
       -3.21936822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02768079, -0.07868675,  0.06199539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36455149e-05,-3.96953133e-06,-1.88400946e-05, 1.42690022e-05,
 -2.52962053e-03, 3.87936676e-01, 2.24877612e-01, 1.18552618e-01,
 -1.11973353e-05, 5.97761672e-05,-2.38725591e-05, 2.23205756e-05,
 -2.03406422e-04,-1.79873174e-04,-1.00937811e-05,-3.66209698e-06,
  9.16024062e-04,-8.48627948e-05,-4.90522644e+00, 2.92170656e-04,
  1.19038256e-02,-6.91159804e-04]


--- Step 1466 ---
qpos:
[ 0.01854707, 0.03001185,-0.00944317,-0.02525597, 0.00138889, 0.25718487,
 -0.16622951, 0.35863997, 0.01159019, 0.02778133,-0.00823388, 0.02645483,
  1.2018522 , 0.00284672, 1.20334226, 0.04447883, 0.05505231,-0.07551144,
  0.17265244, 0.99941509, 0.02842883,-0.01886773,-0.00230055]

qacc:
[ 1.58119261e+00, 3.03011127e-01, 6.29059963e-01,-4.57274285e+00,
 -4.65877269e-02,-6.82024523e-01,-4.18652127e+01, 2.96075286e+02,
 -1.22931396e+00, 7.37263522e-01,-3.98047082e+00, 9.56005898e+00,
  3.49891291e-01,-1.67450167e+00,-1.04144419e+00, 3.23905954e+00,
 -1.81742837e+00, 2.14792074e-01, 3.28662996e-01,-3.13330549e+00,
 -1.66478015e+01,-3.68123430e+00]

qfrc_actuator:
[ 3.45030789e-05, 9.28644405e-04, 1.08459574e-04,-7.37490628e-05,
 -4.26624048e-03, 4.45971369e-01, 1.45678976e-01, 2.19570538e-01,
 -4.08560679e-05, 7.99497828e-04, 2.17083469e-04, 6.45816538e-05,
  1.69533028e-02, 3.31865555e-03, 0.00000000e+00,-1.32139675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011735107234080435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99214914,  0.12121819, -0.03076078,  0.12115997,  0.99262589,
        0.00375647,  0.0309893 ,  0.        , -0.99951972])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09867721, -0.07854531,  0.1159297 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025658908897961685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16342602e-13,  1.08171301e-13,  1.00000000e+00,  2.34020608e-26,
        1.00000000e+00, -1.08171301e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16342602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767987, -0.07868696,  0.06199543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.56503707e-06, 4.98020206e-05, 7.23413801e-06,-8.66150193e-06,
 -2.46320336e-03, 3.89694504e-01, 2.25567460e-01, 1.18489798e-01,
 -7.42393170e-06, 9.09920348e-07,-7.71143399e-07, 1.63249717e-05,
 -1.72183740e-04,-1.61507992e-04,-9.88788793e-06, 1.25557920e-05,
  9.89545939e-04,-9.25681897e-05,-4.90524335e+00, 3.05615622e-04,
  1.19073321e-02,-6.89121831e-04]


--- Step 1467 ---
qpos:
[ 0.01854683, 0.03001221,-0.00944378,-0.0252567 , 0.00135278, 0.25818308,
 -0.16782511, 0.36067853, 0.01159041, 0.0277797 ,-0.0082335 , 0.02645474,
  1.20226407, 0.00294375, 1.20350302, 0.04448571, 0.05484036,-0.07549143,
  0.17270598, 0.99939964, 0.02830959,-0.01982999,-0.0023852 ]

qacc:
[ 4.02084761e+00, 2.69428961e-01, 4.02226873e-01,-2.70492099e+00,
  7.27614281e-02, 4.20990355e+00,-5.08266627e+01, 3.01713541e+02,
 -3.69739348e+00,-1.12825329e+00, 3.78891002e+00,-5.94628049e+00,
  1.03678163e+00,-2.81578765e+00, 4.98598001e-01,-2.14024683e+00,
 -1.80281012e+00, 2.20152844e-01, 3.09633930e-01,-3.06195889e+00,
 -1.64619321e+01,-3.32701158e+00]

qfrc_actuator:
[ 5.84023784e-05, 9.61608016e-04, 1.14682789e-04,-7.82444528e-05,
 -4.19430078e-03, 4.48749080e-01, 1.47305292e-01, 2.20094974e-01,
 -6.30535300e-05, 7.47329141e-04, 2.10413306e-04, 5.51113949e-05,
  1.69294782e-02, 3.20735739e-03, 0.00000000e+00,-1.33307902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001142186254911235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99205055,  0.12140998, -0.03309573,  0.12134248,  0.99260245,
        0.0040481 ,  0.03334238,  0.        , -0.99944399])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09860647, -0.07854299,  0.11593085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002546239676596146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36024556e-13, -2.86141115e-13,  1.00000000e+00, -1.24764553e-25,
        1.00000000e+00,  2.86141115e-13, -1.00000000e+00,  0.00000000e+00,
       -4.36024556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767898, -0.07868718,  0.06199547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41966100e-05, 6.19544283e-05, 1.71109962e-05,-2.27868652e-06,
 -2.38837381e-03, 3.91746729e-01, 2.26268156e-01, 1.18121501e-01,
 -2.24190404e-05,-5.10795258e-05,-6.00049442e-06,-9.13780090e-06,
 -1.51469362e-04,-1.98574575e-04,-7.60963285e-06,-1.32475609e-05,
  1.06572301e-03,-1.00687562e-04,-4.90526058e+00, 3.19103508e-04,
  1.19109379e-02,-6.86970810e-04]


--- Step 1468 ---
qpos:
[ 0.01854689, 0.03001211,-0.00944364,-0.02525671, 0.00131672, 0.25919763,
 -0.16940052, 0.36273555, 0.01159037, 0.027778  ,-0.00823306, 0.02645485,
  1.20267529, 0.00303871, 1.20366372, 0.04449239, 0.05462125,-0.07547053,
  0.17276069, 0.99938273, 0.02818437,-0.02082463,-0.00247692]

qacc:
[ 2.51176489e+00,-1.22029253e+00, 4.51933332e-01, 1.10610438e+01,
  2.40838199e-01,-1.00633090e+00,-3.91941766e+01, 3.00570210e+02,
 -2.28473618e+00, 1.35879399e-01,-1.44774624e+00, 4.75478486e+00,
  8.65291013e-01,-2.58854501e+00, 4.22413759e-01,-1.87297102e+00,
 -1.79088267e+00, 2.25081254e-01, 2.92608880e-01,-2.99914237e+00,
 -1.63050420e+01,-3.01736218e+00]

qfrc_actuator:
[ 7.25535382e-05, 8.92193137e-04, 1.36383919e-04,-4.50797322e-05,
 -4.13668871e-03, 4.51141403e-01, 1.48943464e-01, 2.20684149e-01,
 -7.62006953e-05, 7.70187535e-04, 2.23942340e-04, 6.72964627e-05,
  1.68897322e-02, 3.10305801e-03, 0.00000000e+00,-1.34270311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011116241969061351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91942357e-01,  1.21619111e-01, -3.54845308e-02,  1.21541368e-01,
        9.92576844e-01,  4.34787201e-03,  3.57499079e-02, -8.67361738e-19,
       -9.99360768e-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([ 0.09853224, -0.07854048,  0.11593254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025276562227304067
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39230230e-13, -2.88244839e-13,  1.00000000e+00, -1.26605847e-25,
        1.00000000e+00,  2.88244839e-13, -1.00000000e+00,  0.00000000e+00,
       -4.39230230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767814, -0.07868742,  0.0619955 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48768519e-05,-3.13293469e-05, 3.65291220e-05, 3.63661133e-05,
 -2.33043432e-03, 3.93186128e-01, 2.26962299e-01, 1.17813773e-01,
 -1.38265524e-05,-7.28918680e-06, 1.93841251e-06, 9.61459260e-06,
 -1.65451332e-04,-1.96909038e-04,-9.12185555e-06,-1.22880589e-05,
  1.14385243e-03,-1.09209351e-04,-4.90527792e+00, 3.32317652e-04,
  1.19146858e-02,-6.84718034e-04]


--- Step 1469 ---
qpos:
[ 0.01854677, 0.03001172,-0.0094435 ,-0.02525595, 0.00128051, 0.26023816,
 -0.17095787, 0.36481046, 0.01159017, 0.02777571,-0.00823226, 0.02645549,
  1.2030857 , 0.00313193, 1.20382423, 0.04449988, 0.05439482,-0.07544873,
  0.17281662, 0.99936423, 0.02805315,-0.02185234,-0.00257582]

qacc:
[-1.49826456e+00, 1.20970386e+00,-8.12291879e+00, 2.17044432e+01,
 -3.31578619e-01, 1.56204929e+01,-7.70229112e+01, 3.21413878e+02,
 -1.32000627e+00,-6.45904106e-01,-1.05284713e+00, 1.01475618e+01,
  6.11409067e-01,-2.11899882e+00,-2.85757657e+00, 9.37847966e+00,
 -1.82938949e+00, 2.26648114e-01, 3.04657473e-01,-3.01262776e+00,
 -1.66491623e+01,-3.06400618e+00]

qfrc_actuator:
[ 6.30956835e-05, 8.68611680e-04, 1.31149124e-04,-7.85203324e-06,
 -4.12323171e-03, 4.53634647e-01, 1.50544420e-01, 2.22369582e-01,
 -8.39102541e-05, 7.13623649e-04, 2.31848080e-04, 9.22025107e-05,
  1.68511161e-02, 3.02148042e-03, 0.00000000e+00,-1.29776508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010816838673242968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99182429,  0.12184414, -0.03792854,  0.12175515,  0.99254925,
        0.00465606,  0.03821326,  0.        , -0.99926961])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09845465, -0.07853781,  0.11593472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002510257789769821
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42274506e-13, -1.38210783e-14,  1.00000000e+00, -6.11271059e-27,
        1.00000000e+00,  1.38210783e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42274506e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767734, -0.07868769,  0.06199554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03809119e-06,-3.19919846e-05,-5.94930177e-06, 3.78576505e-05,
 -2.31943135e-03, 3.94841239e-01, 2.27556318e-01, 1.18572553e-01,
 -8.12296988e-06,-5.97761432e-05, 6.98655477e-06, 2.48510219e-05,
 -1.71200246e-04,-1.77000764e-04,-9.83737789e-06, 4.21147794e-05,
  1.22396777e-03,-1.18136096e-04,-4.90529534e+00, 3.45280261e-04,
  1.19185755e-02,-6.82365849e-04]


--- Step 1470 ---
qpos:
[ 0.01854654, 0.03001187,-0.00944376,-0.02525517, 0.00124391, 0.26131309,
 -0.17249976, 0.36690262, 0.01159022, 0.02777288,-0.00823132, 0.02645643,
  1.20349534, 0.00322361, 1.20398479, 0.04450683, 0.05416087,-0.07542601,
  0.17287383, 0.99934401, 0.02791586,-0.022914  ,-0.00268218]

qacc:
[-9.90601741e-01, 1.87194057e+00,-5.69597339e+00, 6.20163517e+00,
 -1.06547037e+00, 3.18065186e+01,-1.15454514e+02, 3.43565377e+02,
  2.17488533e+00,-4.92362134e-01,-5.82421504e-01, 6.03831233e+00,
  3.97787875e-01,-1.71192593e+00, 1.64941562e+00,-5.82880553e+00,
 -1.87882058e+00, 2.27524030e-01, 3.19046709e-01,-3.04067468e+00,
 -1.70974222e+01,-3.18302019e+00]

qfrc_actuator:
[ 5.75737839e-05, 9.43555627e-04, 1.27950710e-04,-4.03689011e-06,
 -4.13609411e-03, 4.56580566e-01, 1.52117094e-01, 2.24262152e-01,
 -7.06083819e-05, 6.80945759e-04, 2.36062039e-04, 1.06570842e-04,
  1.68238669e-02, 2.95404379e-03, 0.00000000e+00,-1.32755147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010532712771104036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99169625,  0.12208618, -0.04041675,  0.12198491,  0.9925195 ,
        0.00497152,  0.04072137,  0.        , -0.99917054])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09837301, -0.07853499,  0.11593778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002493494620850606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45247812e-13, -2.92193877e-13,  1.00000000e+00,  1.30098684e-25,
        1.00000000e+00,  2.92193877e-13, -1.00000000e+00,  0.00000000e+00,
        4.45247812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767657, -0.07868797,  0.06199557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79680658e-06, 5.74544909e-05,-9.22707049e-06, 2.97605571e-06,
 -2.32505647e-03, 3.96465162e-01, 2.28227750e-01, 1.19567775e-01,
  1.30352193e-05,-6.35284302e-05,-6.39715423e-06, 1.25342673e-05,
 -1.57956271e-04,-1.58726542e-04,-4.02706344e-06,-2.96429707e-05,
  1.30864745e-03,-1.27536347e-04,-4.90531345e+00, 3.59107776e-04,
  1.19224669e-02,-6.79886580e-04]


--- Step 1471 ---
qpos:
[ 0.01854659, 0.03001277,-0.00944389,-0.02525545, 0.00120681, 0.26241739,
 -0.17402589, 0.36901257, 0.01158974, 0.02777016,-0.0082309 , 0.0264575 ,
  1.20390441, 0.00331322, 1.20414534, 0.04451303, 0.05391936,-0.07540237,
  0.17293227, 0.99932197, 0.02777256,-0.02400979,-0.00279578]

qacc:
[ 2.39256949e+00,-1.55104214e+00, 1.14219157e+01,-3.04957001e+01,
 -1.27075449e+00, 2.54594167e+01,-1.04691606e+02, 3.45548349e+02,
 -4.54333966e+00, 1.83522357e+00,-6.85746624e+00, 9.76298439e+00,
  8.96368045e-01,-2.60925985e+00, 2.15460460e+00,-7.81894279e+00,
 -1.89192988e+00, 2.30430384e-01, 3.09378311e-01,-3.01864351e+00,
 -1.71849460e+01,-3.07944343e+00]

qfrc_actuator:
[ 7.21739059e-05, 1.00588826e-03, 1.44128928e-04,-5.53257409e-05,
 -4.14668091e-03, 4.59424236e-01, 1.53632676e-01, 2.25331597e-01,
 -9.83054055e-05, 7.16055574e-04, 2.20378053e-04, 1.14632094e-04,
  1.67874856e-02, 2.84233134e-03, 0.00000000e+00,-1.36562872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010270984002184122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99155806,  0.12234645, -0.04294142,  0.12223188,  0.99248745,
        0.0052935 ,  0.04326646,  0.        , -0.99906357])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09828674, -0.07853204,  0.11594205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002476800674277857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.72373257e-13,  4.20233286e-14,  1.00000000e+00,  2.82553623e-26,
        1.00000000e+00, -4.20233286e-14, -1.00000000e+00,  0.00000000e+00,
       -6.72373257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767584, -0.07868829,  0.0619956 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44511203e-05, 9.26767404e-05, 2.70110258e-05,-4.90914522e-05,
 -2.31553757e-03, 3.97565311e-01, 2.28971992e-01, 1.19771469e-01,
 -2.73450050e-05,-1.10590033e-06,-2.91413934e-05, 5.36298215e-06,
 -1.55987774e-04,-1.94708994e-04,-9.95953124e-06,-4.13292748e-05,
  1.39865080e-03,-1.37441232e-04,-4.90533239e+00, 3.74091516e-04,
  1.19263219e-02,-6.77273202e-04]


--- Step 1472 ---
qpos:
[ 1.85468081e-02, 3.00140396e-02,-9.44426900e-03,-2.52559304e-02,
  1.16938499e-03, 2.63507003e-01,-1.75527259e-01, 3.71144640e-01,
  1.15882447e-02, 2.77677790e-02,-8.23083669e-03, 2.64586124e-02,
  1.20431288e+00, 3.40077481e-03, 1.20430549e+00, 4.45213856e-02,
  5.36702899e-02,-7.53777829e-02, 1.72991851e-01, 9.99297978e-01,
  2.76233991e-02,-2.51395645e-02,-2.91576638e-03]

qacc:
[ 1.48736852e+00, 7.64333167e-01,-1.21133272e+00,-2.00068583e+00,
 -5.68755395e-01,-4.60950529e+01, 4.64208447e+01, 2.98001312e+02,
 -8.69573166e+00, 1.59538674e+00,-5.19166522e+00, 6.29658064e+00,
  1.08515606e+00,-2.84000952e+00,-7.26286526e+00, 2.42233045e+01,
 -1.89015008e+00, 2.36912930e-01, 2.83458910e-01,-2.93233194e+00,
 -1.70963239e+01,-2.64785554e+00]

qfrc_actuator:
[ 8.07468954e-05, 9.89221426e-04, 1.18309657e-04,-6.75963880e-05,
 -4.13789991e-03, 4.61700749e-01, 1.55107508e-01, 2.26396804e-01,
 -1.49918788e-04, 7.55899835e-04, 2.11103101e-04, 1.18965651e-04,
  1.67562870e-02, 2.74070607e-03, 0.00000000e+00,-1.24848093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010026158937823948
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99140917,  0.12262402, -0.04551056,  0.12249503,  0.9924532 ,
        0.00562312,  0.04585663,  0.        , -0.99894803])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09819625, -0.07852897,  0.11594728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024601799890866527
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.41024111e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.41024111e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767513, -0.07868863,  0.06199563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.02468529e-06, 3.86083195e-05,-5.05912835e-06,-8.32586912e-06,
 -2.28217992e-03, 3.98348074e-01, 2.29659294e-01, 1.19943929e-01,
 -5.24226649e-05, 3.35162581e-05,-1.28820875e-05, 3.38600497e-06,
 -1.58425762e-04,-1.94069742e-04,-1.34410817e-05, 1.12597576e-04,
  1.49216911e-03,-1.47810410e-04,-4.90535167e+00, 3.89462396e-04,
  1.19302392e-02,-6.74547104e-04]


--- Step 1473 ---
qpos:
[ 1.85467874e-02, 3.00154978e-02,-9.44459840e-03,-2.52562016e-02,
  1.13178133e-03, 2.64583418e-01,-1.77001423e-01, 3.73299682e-01,
  1.15868292e-02, 2.77659613e-02,-8.23098262e-03, 2.64586953e-02,
  1.20472065e+00, 3.48661802e-03, 1.20446561e+00, 4.45303781e-02,
  5.34136425e-02,-7.53522268e-02, 1.73052509e-01, 9.99271919e-01,
  2.74684762e-02,-2.63032888e-02,-3.04151050e-03]

qacc:
[-2.09043431e+00, 5.44305631e-01,-2.43596992e+00, 5.76644811e+00,
 -1.73646193e-01,-4.91669854e+01, 5.66337991e+01, 2.97941363e+02,
  6.77471755e-01,-8.11224623e-01, 8.32234127e+00,-2.62691482e+01,
  6.52398879e-01,-2.11525990e+00,-2.05205425e+00, 6.91612523e+00,
 -1.89367768e+00, 2.42284835e-01, 2.69960976e-01,-2.87142496e+00,
 -1.70790365e+01,-2.33959055e+00]

qfrc_actuator:
[ 6.79439808e-05, 9.96245558e-04, 1.20867129e-04,-5.68997342e-05,
 -4.08196100e-03, 4.63438487e-01, 1.56578106e-01, 2.27572281e-01,
 -1.44172033e-04, 7.98302347e-04, 2.05734206e-04, 6.78339060e-05,
  1.67282215e-02, 2.66369077e-03, 0.00000000e+00,-1.21833483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009754987907010528
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99124714,  0.12291286, -0.04818224,  0.12276792,  0.99241747,
        0.00596747,  0.04855038,  0.        , -0.99882074])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09810471, -0.07852567,  0.11595163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002444109468870137
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81366591e-13, -1.84536785e-13,  1.00000000e+00, -1.25737200e-25,
        1.00000000e+00,  1.84536785e-13, -1.00000000e+00,  0.00000000e+00,
       -6.81366591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767445, -0.07868899,  0.06199566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25294745e-05, 2.71741219e-05, 9.61028776e-06, 1.20111425e-05,
 -2.20992717e-03, 4.00794612e-01, 2.29892814e-01, 1.20009609e-01,
  4.21432871e-06, 5.86890251e-05, 1.10043508e-07,-5.00706994e-05,
 -1.56029610e-04,-1.69995066e-04, 3.01307094e-06, 3.39331485e-05,
  1.58808325e-03,-1.58675583e-04,-4.90537092e+00, 4.04031966e-04,
  1.19343872e-02,-6.71742187e-04]


--- Step 1474 ---
qpos:
[ 1.85462686e-02, 3.00172557e-02,-9.44493920e-03,-2.52563528e-02,
  1.09419481e-03, 2.65653478e-01,-1.78446665e-01, 3.75478051e-01,
  1.15854933e-02, 2.77643815e-02,-8.23138999e-03, 2.64585556e-02,
  1.20512753e+00, 3.57089750e-03, 1.20462602e+00, 4.45373193e-02,
  5.31494511e-02,-7.53256825e-02, 1.73114175e-01, 9.99243676e-01,
  2.73078931e-02,-2.75007461e-02,-3.17246909e-03]

qacc:
[-4.27916610e+00, 6.83680437e-01,-2.35377294e+00, 4.21026575e+00,
  3.22567235e-01,-4.43598421e+01, 5.12119773e+01, 3.01287455e+02,
  6.66087676e-01, 5.85798700e-01,-6.94949563e-01,-2.91158511e+00,
  1.93624393e-01,-1.50589835e+00, 6.57896491e+00,-2.25142665e+01,
 -1.88598241e+00, 2.47068961e-01, 2.52193189e-01,-2.81526888e+00,
 -1.69631855e+01,-2.07092085e+00]

qfrc_actuator:
[ 4.26639556e-05, 1.01751560e-03, 1.22504591e-04,-5.04966431e-05,
 -4.03324800e-03, 4.65176901e-01, 1.58069309e-01, 2.28466927e-01,
 -1.40206593e-04, 7.88629784e-04, 1.84942135e-04, 5.54937342e-05,
  1.66754372e-02, 2.58417189e-03, 0.00000000e+00,-1.32849474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009461063648565609
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99107154,  0.12321201, -0.05095108,  0.12304951,  0.99238037,
        0.00632599,  0.05134229,  0.        , -0.99868112])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09801189, -0.07852218,  0.11595524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002428618990859971
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28570852e-13, -7.14283913e-14,  1.00000000e+00,  1.63264483e-26,
        1.00000000e+00,  7.14283913e-14, -1.00000000e+00,  0.00000000e+00,
        2.28570852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276738 , -0.07868939,  0.06199569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56407584e-05, 3.89119666e-05, 8.83692736e-06, 8.13154186e-06,
 -2.15219351e-03, 4.03167923e-01, 2.30023858e-01, 1.19752211e-01,
  4.10566490e-06, 2.10880526e-05,-1.03667695e-05,-1.07920192e-05,
 -1.73765606e-04,-1.65225960e-04, 4.07375579e-07,-1.08963849e-04,
  1.68679290e-03,-1.70043311e-04,-4.90539023e+00, 4.18114352e-04,
  1.19387222e-02,-6.68853373e-04]


--- Step 1475 ---
qpos:
[ 1.85451059e-02, 3.00191293e-02,-9.44571107e-03,-2.52567181e-02,
  1.05686661e-03, 2.66724112e-01,-1.79861223e-01, 3.77680015e-01,
  1.15838708e-02, 2.77627249e-02,-8.23190086e-03, 2.64582994e-02,
  1.20553340e+00, 3.65384833e-03, 1.20478660e+00, 4.45415546e-02,
  5.28778010e-02,-7.52981340e-02, 1.73176756e-01, 9.99213133e-01,
  2.71417372e-02,-2.87314719e-02,-3.30819585e-03]

qacc:
[-5.53882284e+00, 9.27234004e-01,-2.16234576e+00,-9.58936885e-01,
  9.27792004e-01,-3.97203176e+01, 4.68728170e+01, 3.02085785e+02,
 -2.44487355e+00,-4.73849551e-02, 5.21587682e-01,-2.32444098e+00,
 -1.08310117e-01,-1.02105613e+00, 8.40772161e+00,-2.91061973e+01,
 -1.86467891e+00, 2.51046655e-01, 2.28511527e-01,-2.76574603e+00,
 -1.67272257e+01,-1.85505774e+00]

qfrc_actuator:
[ 1.02497180e-05, 9.93889317e-04, 8.81249721e-05,-6.44189599e-05,
 -4.00674851e-03, 4.66967412e-01, 1.59524776e-01, 2.29023755e-01,
 -1.55093297e-04, 7.65562744e-04, 1.72786711e-04, 4.82790319e-05,
  1.66238406e-02, 2.52143964e-03, 0.00000000e+00,-1.46714696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009153658425429953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99088227,  0.1235212 , -0.05380373,  0.12333951,  0.99234193,
        0.00669719,  0.05421895,  0.        , -0.99852907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09791714, -0.07851851,  0.11595853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002413789814318945
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19900331e-13, -4.16829838e-13,  1.00000000e+00, -3.83441906e-25,
        1.00000000e+00,  4.16829838e-13, -1.00000000e+00,  0.00000000e+00,
       -9.19900331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767319, -0.0786898 ,  0.06199572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31536943e-05, 2.39514172e-07,-2.49879735e-05,-1.17938895e-05,
 -2.12654100e-03, 4.05250964e-01, 2.30033314e-01, 1.19139096e-01,
 -1.47635438e-05,-1.38188813e-05,-9.42765049e-06,-6.87541101e-06,
 -1.81079319e-04,-1.51101236e-04,-1.75739582e-05,-1.45935833e-04,
  1.78771246e-03,-1.81878989e-04,-4.90540941e+00, 4.31722770e-04,
  1.19432360e-02,-6.65882928e-04]


--- Step 1476 ---
qpos:
[ 1.85439086e-02, 3.00204416e-02,-9.44659606e-03,-2.52568356e-02,
  1.02027928e-03, 2.67801654e-01,-1.81243361e-01, 3.79905793e-01,
  1.15813932e-02, 2.77607017e-02,-8.23211340e-03, 2.64576235e-02,
  1.20593833e+00, 3.73537827e-03, 1.20494674e+00, 4.45467549e-02,
  5.25988087e-02,-7.52695591e-02, 1.73240147e-01, 9.99180180e-01,
  2.69701917e-02,-2.99948328e-02,-3.44775992e-03]

qacc:
[-2.91858607e-01, 8.56460299e-02,-2.42456960e+00, 7.30200376e+00,
  2.15141616e+00,-3.58451685e+01, 4.43143325e+01, 3.00837351e+02,
 -7.27538950e+00,-2.16822920e+00, 8.82475111e+00,-1.63225726e+01,
  3.06149116e-01,-1.57578002e+00,-3.61481140e+00, 1.15830370e+01,
 -1.83556569e+00, 2.56582229e-01, 2.02575939e-01,-2.66110875e+00,
 -1.64003568e+01,-1.40081989e+00]

qfrc_actuator:
[ 9.40512303e-06, 9.25636820e-04, 6.80645861e-05,-5.47450266e-05,
 -3.97607253e-03, 4.68536259e-01, 1.60927715e-01, 2.29332787e-01,
 -1.98709664e-04, 7.34678675e-04, 1.83512533e-04, 2.63699338e-05,
  1.65783260e-02, 2.45141714e-03, 0.00000000e+00,-1.40838777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008841153129029246
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90469844e-01,  1.25558601e-01, -5.66085298e-02,  1.25354034e-01,
        9.92086205e-01,  7.16438529e-03,  5.70600917e-02,  8.67361738e-19,
       -9.98370746e-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([ 0.09782232, -0.07849455,  0.1159633 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023998032425069649
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31315427e-13, -1.44572142e-14,  1.00000000e+00,  3.34417668e-27,
        1.00000000e+00,  1.44572142e-14, -1.00000000e+00,  0.00000000e+00,
        2.31315427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767261, -0.07869025,  0.06199575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81414985e-06,-7.38502178e-05,-2.35060454e-05, 8.58995607e-06,
 -2.10876676e-03, 4.06765589e-01, 2.29901731e-01, 1.18264563e-01,
 -4.40592595e-05,-4.07975055e-05, 6.49708188e-06,-2.29555998e-05,
 -1.75811753e-04,-1.56006327e-04,-2.93996679e-05, 4.72513647e-05,
  1.89007389e-03,-1.94130002e-04,-4.90542827e+00, 4.44922980e-04,
  1.19479081e-02,-6.62831355e-04]


--- Step 1477 ---
qpos:
[ 1.85433997e-02, 3.00209354e-02,-9.44757886e-03,-2.52564576e-02,
  9.84699857e-04, 2.68891943e-01,-1.82591725e-01, 3.82155522e-01,
  1.15787563e-02, 2.77580446e-02,-8.23149101e-03, 2.64566878e-02,
  1.20634251e+00, 3.81512466e-03, 1.20510662e+00, 4.45532357e-02,
  5.23125403e-02,-7.52399474e-02, 1.73304276e-01, 9.99144699e-01,
  2.67932937e-02,-3.12904736e-02,-3.59099346e-03]

qacc:
[ 5.91744686e+00, 2.00608349e-01,-4.39044225e+00, 1.37315421e+01,
  2.81200170e+00,-3.17528894e+01, 4.03802136e+01, 3.00453321e+02,
 -1.32205678e+00,-3.70367588e+00, 1.30910029e+01,-1.84589081e+01,
  7.24266197e-01,-2.26319712e+00,-4.37312985e+00, 1.44836880e+01,
 -1.81902269e+00, 2.59220933e-01, 1.84603951e-01,-2.63934930e+00,
 -1.62233374e+01,-1.32201884e+00]

qfrc_actuator:
[ 4.49033975e-05, 8.66744580e-04, 5.64502170e-05,-3.12898337e-05,
 -3.94347653e-03, 4.70231830e-01, 1.62302883e-01, 2.29945055e-01,
 -2.05622777e-04, 6.99424783e-04, 2.25359303e-04, 1.37466873e-05,
  1.65418169e-02, 2.35989158e-03, 0.00000000e+00,-1.34028616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008534839199417648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90256150e-01,  1.25864425e-01, -5.95894625e-02,  1.25637156e-01,
        9.92047452e-01,  7.56031722e-03,  6.00671495e-02,  8.67361738e-19,
       -9.98194339e-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([ 0.09772184, -0.07849087,  0.11596716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023868528904562314
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32570476e-13, -2.47106130e-13,  1.00000000e+00, -5.74695903e-26,
        1.00000000e+00,  2.47106130e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32570476e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767207, -0.07869072,  0.06199577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54170259e-05,-1.04709187e-04,-2.94681722e-05, 1.96469641e-05,
 -2.11320273e-03, 4.08089619e-01, 2.29655189e-01, 1.17682330e-01,
 -8.22536579e-06,-5.76557704e-05, 3.34523040e-05,-1.45856884e-05,
 -1.64871601e-04,-1.77761941e-04,-1.16147121e-05, 6.62272179e-05,
  1.99302607e-03,-2.06793906e-04,-4.90544656e+00, 4.56709096e-04,
  1.19528852e-02,-6.59728060e-04]


--- Step 1478 ---
qpos:
[ 1.85429752e-02, 3.00211637e-02,-9.44891221e-03,-2.52562005e-02,
  9.50253634e-04, 2.70000649e-01,-1.83905740e-01, 3.84429238e-01,
  1.15767457e-02, 2.77548378e-02,-8.23009314e-03, 2.64559466e-02,
  1.20674613e+00, 3.89280614e-03, 1.20526664e+00, 4.45584472e-02,
  5.20189174e-02,-7.52092948e-02, 1.73369141e-01, 9.99106551e-01,
  2.66110017e-02,-3.26187257e-02,-3.73814429e-03]

qacc:
[ 7.17761051e-01, 3.78556845e-01,-1.35145016e+00, 1.89781978e-02,
  3.09984947e+00,-2.60701237e+01, 3.09719360e+01, 3.04562889e+02,
  5.37192907e+00,-2.50409644e+00, 7.03473388e+00,-4.48318595e+00,
  8.55858558e-01,-2.54537127e+00, 3.95173659e+00,-1.37605733e+01,
 -1.83862317e+00, 2.60214627e-01, 1.84083308e-01,-2.66172320e+00,
 -1.63956690e+01,-1.44048487e+00]

qfrc_actuator:
[ 4.82402418e-05, 8.84960710e-04, 4.99334132e-05,-3.54177451e-05,
 -3.92804454e-03, 4.72598425e-01, 1.63647064e-01, 2.31439707e-01,
 -1.73115083e-04, 6.79715644e-04, 2.67470092e-04, 2.44555150e-05,
  1.65160528e-02, 2.25639517e-03, 0.00000000e+00,-1.40930154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000824145091375725
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90029378e-01,  1.26178778e-01, -6.26158648e-02,  1.25927168e-01,
        9.92007518e-01,  7.96444901e-03,  6.31203531e-02, -1.73472348e-18,
       -9.98005922e-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([ 0.09761768, -0.07848711,  0.11597188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023749305524596587
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33737998e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.33737998e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767157, -0.07869121,  0.0619958 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33209732e-06,-4.55743151e-05,-3.10883600e-05,-9.24905562e-06,
 -2.14815488e-03, 4.09791919e-01, 2.29309426e-01, 1.17975399e-01,
  3.22376918e-05,-4.55858474e-05, 3.38403036e-05, 9.11811598e-06,
 -1.53279843e-04,-1.93311795e-04,-1.84997313e-06,-6.76861872e-05,
  2.09759570e-03,-2.19857823e-04,-4.90546452e+00, 4.68444568e-04,
  1.19579540e-02,-6.56539423e-04]


--- Step 1479 ---
qpos:
[ 1.85425941e-02, 3.00213613e-02,-9.45020877e-03,-2.52560532e-02,
  9.17074694e-04, 2.71133187e-01,-1.85184949e-01, 3.86726918e-01,
  1.15751401e-02, 2.77514286e-02,-8.22887880e-03, 2.64557067e-02,
  1.20714925e+00, 3.96809054e-03, 1.20542664e+00, 4.45627902e-02,
  5.17178769e-02,-7.51775967e-02, 1.73434725e-01, 9.99065590e-01,
  2.64232817e-02,-3.39798446e-02,-3.88942442e-03]

qacc:
[ 3.73907575e-01,-3.70011391e-01, 1.72115884e+00,-3.65200246e+00,
  3.40709654e+00,-2.05042192e+01, 2.17447824e+01, 3.07836044e+02,
  3.45126507e+00, 1.27067517e+00,-7.04695546e+00, 1.61774460e+01,
  1.16060809e+00,-3.11897788e+00, 2.43784382e+00,-8.93182457e+00,
 -1.85438239e+00, 2.61359592e-01, 1.79560880e-01,-2.68003013e+00,
 -1.65296424e+01,-1.54222910e+00]

qfrc_actuator:
[ 5.03615113e-05, 9.13710996e-04, 6.45196200e-05,-3.79248271e-05,
 -3.90568678e-03, 4.75161586e-01, 1.64976322e-01, 2.32815076e-01,
 -1.53181930e-04, 6.69502721e-04, 2.56206860e-04, 4.88132281e-05,
  1.64807680e-02, 2.12895843e-03, 0.00000000e+00,-1.45203386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007967637088033501
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89789480e-01,  1.26502764e-01, -6.56798044e-02,  1.26225166e-01,
        9.91966255e-01,  8.37596719e-03,  6.62117326e-02, -1.73472348e-18,
       -9.97805596e-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([ 0.09750935, -0.07848327,  0.11597776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023636482634933897
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.34853688e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.34853688e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767111, -0.07869173,  0.06199582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23384048e-06,-3.54152584e-06, 1.03733059e-06,-5.71222869e-06,
 -2.18244370e-03, 4.11406369e-01, 2.28919357e-01, 1.18147206e-01,
  2.08519472e-05,-2.82176168e-05,-1.61766022e-05, 2.37564879e-05,
 -1.60692502e-04,-2.18697666e-04,-1.31770425e-05,-4.78291903e-05,
  2.20611964e-03,-2.33409503e-04,-4.90548265e+00, 4.81014657e-04,
  1.19629882e-02,-6.53242877e-04]


--- Step 1480 ---
qpos:
[ 1.85425863e-02, 3.00212729e-02,-9.45096053e-03,-2.52559403e-02,
  8.85439134e-04, 2.72295478e-01,-1.86428581e-01, 3.89048434e-01,
  1.15737856e-02, 2.77484248e-02,-8.22834650e-03, 2.64553715e-02,
  1.20755157e+00, 4.04150387e-03, 1.20558660e+00, 4.45662328e-02,
  5.14094920e-02,-7.51448434e-02, 1.73500936e-01, 9.99021691e-01,
  2.62301661e-02,-3.53734384e-02,-4.04470040e-03]

qacc:
[ 3.22426067e+00,-1.97828173e+00, 6.63807413e+00,-7.88021553e+00,
  4.06992884e+00,-1.52628022e+01, 1.49982422e+01, 3.06368070e+02,
  2.11397612e+00, 2.24193743e+00,-6.82074946e+00, 5.97043599e+00,
  5.66400165e-01,-2.13877301e+00, 2.57434042e+00,-9.29903286e+00,
 -1.83610398e+00, 2.63830755e-01, 1.56756420e-01,-2.66120312e+00,
 -1.63355237e+01,-1.48105656e+00]

qfrc_actuator:
[ 6.95133132e-05, 8.95395218e-04, 9.15205379e-05,-3.94222114e-05,
 -3.86200828e-03, 4.77829906e-01, 1.66246924e-01, 2.33328190e-01,
 -1.40822794e-04, 7.18118030e-04, 2.31320670e-04, 4.54704249e-05,
  1.64397862e-02, 2.04157350e-03, 0.00000000e+00,-1.49664192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007719688491933294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89536474e-01,  1.26837400e-01, -6.87738396e-02,  1.26532168e-01,
        9.91923522e-01,  8.79412055e-03,  6.93338126e-02,  1.73472348e-18,
       -9.97593516e-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([ 0.0973964 , -0.07847935,  0.11598509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002352719975499129
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35944574e-13,  4.71889148e-13,  1.00000000e+00,  1.11339684e-25,
        1.00000000e+00, -4.71889148e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35944574e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767067, -0.07869228,  0.06199584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92165277e-05,-2.03168197e-05, 2.62124235e-05,-1.72225521e-06,
 -2.20211566e-03, 4.12854007e-01, 2.28447169e-01, 1.17457813e-01,
  1.29507919e-05, 3.06243087e-05,-3.18617118e-05,-4.64517383e-06,
 -1.76359625e-04,-1.87377727e-04,-1.53931901e-05,-4.98742462e-05,
  2.31842595e-03,-2.47450010e-04,-4.90550085e+00, 4.94376216e-04,
  1.19679872e-02,-6.49839791e-04]


--- Step 1481 ---
qpos:
[ 1.85424634e-02, 3.00209167e-02,-9.45105293e-03,-2.52562019e-02,
  8.55611904e-04, 2.73492624e-01,-1.87635959e-01, 3.91393585e-01,
  1.15722452e-02, 2.77459203e-02,-8.22849833e-03, 2.64546411e-02,
  1.20795288e+00, 4.11371842e-03, 1.20574684e+00, 4.45660787e-02,
  5.10938970e-02,-7.51110277e-02, 1.73567657e-01, 9.98974736e-01,
  2.60316812e-02,-3.67988422e-02,-4.20391771e-03]

qacc:
[-9.62188605e-01,-2.96684090e+00, 1.16434707e+01,-1.89743112e+01,
  4.70004730e+00,-1.09329348e+01, 1.02158950e+01, 3.02567829e+02,
 -1.61511698e+00, 1.76166902e+00,-3.64981648e+00,-2.46954692e+00,
 -2.63724556e-01,-7.42636506e-01, 1.12923927e+01,-3.89072186e+01,
 -1.80255020e+00, 2.65582293e-01, 1.27513159e-01,-2.64733423e+00,
 -1.60060251e+01,-1.46276289e+00]

qfrc_actuator:
[ 6.30309157e-05, 8.84612739e-04, 1.25447537e-04,-5.80977318e-05,
 -3.84182562e-03, 4.80421598e-01, 1.67485392e-01, 2.33421007e-01,
 -1.50768871e-04, 7.48245418e-04, 1.98832627e-04, 2.59033630e-05,
  1.64007570e-02, 1.99640511e-03, 0.00000000e+00,-1.68401734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007505087003482079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89270730e-01,  1.27183160e-01, -7.18878693e-02,  1.26848684e-01,
        9.91879249e-01,  9.21778170e-03,  7.24764324e-02, -1.73472348e-18,
       -9.97370125e-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([ 0.09727831, -0.07847538,  0.11599423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023422702651917926
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18498604e-13,  7.10991623e-13,  1.00000000e+00,  8.42515146e-26,
        1.00000000e+00, -7.10991623e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18498604e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02767025, -0.07869286,  0.06199586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.92948224e-06,-1.67849511e-05, 3.29084648e-05,-1.86711975e-05,
 -2.25909280e-03, 4.13927499e-01, 2.27903528e-01, 1.16354238e-01,
 -9.56321118e-06, 4.05756302e-05,-3.02195394e-05,-1.94420740e-05,
 -1.75145534e-04,-1.40111701e-04,-1.69917601e-05,-1.93097553e-04,
  2.43221654e-03,-2.61894720e-04,-4.90551858e+00, 5.07754612e-04,
  1.19730481e-02,-6.46351043e-04]


--- Step 1482 ---
qpos:
[ 1.85419192e-02, 3.00204713e-02,-9.45052298e-03,-2.52563607e-02,
  8.27723075e-04, 2.74726696e-01,-1.88807097e-01, 3.93762179e-01,
  1.15699082e-02, 2.77438648e-02,-8.22935953e-03, 2.64536903e-02,
  1.20835340e+00, 4.18424134e-03, 1.20590669e+00, 4.45660089e-02,
  5.07711569e-02,-7.50761459e-02, 1.73634814e-01, 9.98924597e-01,
  2.58278121e-02,-3.82557251e-02,-4.36724364e-03]

qacc:
[-3.59493916e+00,-1.63842787e+00, 5.24829979e+00,-4.40933019e+00,
  4.99254814e+00,-8.64216717e+00, 6.86059833e+00, 3.00873245e+02,
 -6.82105232e+00, 2.13544343e+00,-5.79914508e+00, 2.76166098e+00,
  5.46270015e-01,-1.99615173e+00,-9.10273152e-01, 2.15930612e+00,
 -1.78625575e+00, 2.66531182e-01, 1.08908239e-01,-2.65734154e+00,
 -1.58468130e+01,-1.55010374e+00]

qfrc_actuator:
[ 4.15069802e-05, 8.96199123e-04, 1.63197714e-04,-5.12210142e-05,
 -3.81887013e-03, 4.82488742e-01, 1.68707425e-01, 2.33855905e-01,
 -1.91514020e-04, 7.67024068e-04, 1.62058380e-04, 1.46923538e-05,
  1.63576209e-02, 1.90563227e-03, 0.00000000e+00,-1.66995439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000733050857276021
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98899268,  0.1275406 , -0.07501248,  0.12717532,  0.99183335,
        0.00964591,  0.07563013,  0.        , -0.99713594])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09715469, -0.07847137,  0.1160055 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002332546331266505
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18992602e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18992602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766987, -0.07869346,  0.06199588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17018419e-05, 8.21060859e-06, 3.76967749e-05, 6.93490177e-06,
 -2.32655197e-03, 4.14219762e-01, 2.27308841e-01, 1.15602726e-01,
 -4.10176277e-05, 3.44792200e-05,-3.27561110e-05,-1.08885245e-05,
 -1.67844022e-04,-1.72058288e-04,-3.46378279e-05,-4.25572932e-08,
  2.54647545e-03,-2.76669034e-04,-4.90553562e+00, 5.21253337e-04,
  1.19781374e-02,-6.42774807e-04]


--- Step 1483 ---
qpos:
[ 1.85407762e-02, 3.00202245e-02,-9.45019952e-03,-2.52564157e-02,
  8.01738961e-04, 2.75997088e-01,-1.89942887e-01, 3.96154055e-01,
  1.15674452e-02, 2.77421754e-02,-8.23095200e-03, 2.64526250e-02,
  1.20875328e+00, 4.25280545e-03, 1.20606570e+00, 4.45710721e-02,
  5.04412118e-02,-7.50401956e-02, 1.73702393e-01, 9.98871119e-01,
  2.56185022e-02,-3.97443413e-02,-4.53503893e-03]

qacc:
[-5.14641153e+00, 1.06354543e+00,-3.83052091e+00, 5.78892484e+00,
  4.87758671e+00,-7.46040151e+00, 2.29353855e+00, 3.03841737e+02,
 -1.10250088e+00, 2.29437203e+00,-6.99116667e+00, 5.90460103e+00,
  1.23830142e+00,-2.97986623e+00,-1.69146110e+01, 5.70216393e+01,
 -1.80123866e+00, 2.67131258e-01, 1.05640896e-01,-2.69053164e+00,
 -1.59830893e+01,-1.72569635e+00]

qfrc_actuator:
[ 1.13105289e-05, 9.03382577e-04, 1.49757168e-04,-4.70931828e-05,
 -3.77735171e-03, 4.84260648e-01, 1.69887355e-01, 2.35001613e-01,
 -1.96795732e-04, 7.78844139e-04, 1.23011303e-04, 8.47833860e-06,
  1.63280148e-02, 1.80622174e-03, 0.00000000e+00,-1.39524987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007198520128801266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98870239,  0.12791031, -0.07814438,  0.12751265,  0.99178574,
        0.01007826,  0.0787916 ,  0.        , -0.99689111])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09702537, -0.07846732,  0.11601905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023235216557070115
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38909550e-13,  2.38909550e-13,  1.00000000e+00,  5.70777729e-26,
        1.00000000e+00, -2.38909550e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38909550e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766952, -0.07869409,  0.0619959 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08268672e-05, 1.98617265e-05,-6.86128414e-06, 5.91980858e-06,
 -2.38196012e-03, 4.14111465e-01, 2.26671868e-01, 1.15571262e-01,
 -6.47822619e-06, 2.39331284e-05,-3.63007206e-05,-6.07186022e-06,
 -1.57816941e-04,-1.87953879e-04,-1.90014886e-05, 2.69594911e-04,
  2.66235332e-03,-2.91815269e-04,-4.90555218e+00, 5.35387399e-04,
  1.19831729e-02,-6.39098088e-04]


--- Step 1484 ---
qpos:
[ 1.85396248e-02, 3.00199630e-02,-9.44994448e-03,-2.52564024e-02,
  7.77582918e-04, 2.77302424e-01,-1.91044492e-01, 3.98569042e-01,
  1.15656272e-02, 2.77403006e-02,-8.23307469e-03, 2.64515516e-02,
  1.20915260e+00, 4.31972433e-03, 1.20622494e+00, 4.45763210e-02,
  5.01039893e-02,-7.50031725e-02, 1.73770378e-01, 9.98814142e-01,
  2.54037044e-02,-4.12649954e-02,-4.70760144e-03]

qacc:
[-7.48660295e-02, 3.12619010e-01,-1.43004990e+00, 2.72998474e+00,
  4.65730355e+00,-6.57047648e+00,-2.64819567e+00, 3.07957905e+02,
  5.48613919e+00, 1.20923746e+00,-4.65104032e+00, 5.51279952e+00,
  6.61566016e-01,-2.04045773e+00,-3.36180303e-01, 1.42375347e+00,
 -1.81936767e+00, 2.68192418e-01, 1.01501975e-01,-2.71813348e+00,
 -1.61438741e+01,-1.86942165e+00]

qfrc_actuator:
[ 1.17616964e-05, 8.89919579e-04, 1.41687348e-04,-4.46567700e-05,
 -3.72543721e-03, 4.85983271e-01, 1.71010668e-01, 2.36191787e-01,
 -1.63398726e-04, 7.33134303e-04, 8.29061754e-05, 5.24472094e-06,
  1.63171930e-02, 1.73807770e-03, 0.00000000e+00,-1.39530587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007107663749626732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98839943,  0.12829287, -0.08128664,  0.1278612 ,  0.99173633,
        0.01051539,  0.08196396,  0.        , -0.99663529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09689048, -0.07846322,  0.11603484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023148130220257412
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79616718e-13,  2.39808359e-13,  1.00000000e+00,  1.15016098e-25,
        1.00000000e+00, -2.39808359e-13, -1.00000000e+00,  0.00000000e+00,
       -4.79616718e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766919, -0.07869475,  0.06199592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39682684e-07,-3.52202757e-06,-4.60630411e-06, 3.16613330e-06,
 -2.42529451e-03, 4.13982596e-01, 2.26022056e-01, 1.15592257e-01,
  3.32099157e-05,-4.00128187e-05,-3.98041484e-05,-3.57270392e-06,
 -1.36598483e-04,-1.59157531e-04, 1.90014385e-05, 1.20252335e-05,
  2.78202786e-03,-3.07449766e-04,-4.90556867e+00, 5.50694993e-04,
  1.19880773e-02,-6.35306943e-04]


--- Step 1485 ---
qpos:
[ 1.85391768e-02, 3.00196306e-02,-9.44975260e-03,-2.52563528e-02,
  7.55141399e-04, 2.78641550e-01,-1.92112941e-01, 4.01006944e-01,
  1.15642235e-02, 2.77381800e-02,-8.23516476e-03, 2.64517984e-02,
  1.20955114e+00, 4.38570613e-03, 1.20638437e+00, 4.45805520e-02,
  4.97594801e-02,-7.49650749e-02, 1.73838712e-01, 9.98753511e-01,
  2.51833735e-02,-4.28177011e-02,-4.88527990e-03]

qacc:
[ 6.03532756e+00, 1.46043323e-01,-8.29648700e-01, 1.63219956e+00,
  4.34743512e+00,-5.78804018e+00,-6.70557560e+00, 3.10492712e+02,
  3.53865862e+00, 2.29521700e+00,-1.42414845e+01, 3.72335705e+01,
 -6.73257261e-02,-7.49662974e-01, 3.36451847e+00,-1.13693362e+01,
 -1.82167127e+00, 2.68605449e-01, 8.73158307e-02,-2.74696843e+00,
 -1.61602872e+01,-2.04226421e+00]

qfrc_actuator:
[ 4.80033543e-05, 8.81955231e-04, 1.36784495e-04,-4.32412178e-05,
 -3.72122820e-03, 4.87787437e-01, 1.72122540e-01, 2.36973435e-01,
 -1.43020301e-04, 7.42074882e-04, 9.55155762e-05, 7.47493829e-05,
  1.62910294e-02, 1.70691612e-03, 0.00000000e+00,-1.45080845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007055395346287393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98808324,  0.1286886 , -0.08444376,  0.1282212 ,  0.99168505,
        0.01095806,  0.08515179,  0.        , -0.99636799])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09675019, -0.07845905,  0.11605277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023060752803283346
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.81433991e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.81433991e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766888, -0.07869544,  0.06199594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62282387e-05,-1.07396776e-05,-6.08680317e-06, 1.16727339e-06,
 -2.51250761e-03, 4.14002254e-01, 2.25418086e-01, 1.15213041e-01,
  2.13316769e-05,-2.17091976e-05,-6.36190199e-07, 6.63527385e-05,
 -1.34259598e-04,-1.09036734e-04, 4.58071295e-06,-5.36392709e-05,
  2.90573936e-03,-3.23606401e-04,-4.90558507e+00, 5.67096708e-04,
  1.19928583e-02,-6.31403603e-04]


--- Step 1486 ---
qpos:
[ 1.85391670e-02, 3.00192390e-02,-9.45014045e-03,-2.52569423e-02,
  7.34341584e-04, 2.80013520e-01,-1.93149045e-01, 4.03467533e-01,
  1.15634198e-02, 2.77358989e-02,-8.23685166e-03, 2.64528384e-02,
  1.20994897e+00, 4.45052082e-03, 1.20654385e+00, 4.45837572e-02,
  4.94077592e-02,-7.49258989e-02, 1.73907295e-01, 9.98689087e-01,
  2.49575008e-02,-4.44020762e-02,-5.06824014e-03]

qacc:
[ 3.74163396e+00, 2.17945168e-01, 1.78978934e+00,-1.18570328e+01,
  4.14029001e+00,-5.32844631e+00,-9.11461234e+00, 3.10564274e+02,
  5.13078536e+00, 2.84082697e-01,-4.68687946e+00, 1.79070433e+01,
  1.48424713e-01,-1.14342599e+00, 3.12721164e+00,-1.09383042e+01,
 -1.80293351e+00, 2.69628220e-01, 6.20806615e-02,-2.75541187e+00,
 -1.59762043e+01,-2.12945463e+00]

qfrc_actuator:
[ 6.95054119e-05, 8.59599394e-04, 9.82986640e-05,-7.79387990e-05,
 -3.72850753e-03, 4.89538945e-01, 1.73197148e-01, 2.37199125e-01,
 -1.12727743e-04, 7.48434936e-04, 1.21650297e-04, 1.15561275e-04,
  1.62503742e-02, 1.64463606e-03, 0.00000000e+00,-1.50294426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007039731626331212
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98775333,  0.12909798, -0.08761892,  0.12859304,  0.99163184,
        0.01140688,  0.08835832,  0.        , -0.99608876])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09660468, -0.07845481,  0.11607279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022972138964927336
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20822774e-13, -2.41645549e-13,  1.00000000e+00, -2.91962856e-26,
        1.00000000e+00,  2.41645549e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20822774e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766858, -0.07869616,  0.06199596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25550166e-05,-2.95447728e-05,-4.14126729e-05,-3.53464709e-05,
 -2.60553484e-03, 4.14025457e-01, 2.24827458e-01, 1.14287486e-01,
  3.08989246e-05,-2.96416347e-06, 2.39142588e-05, 4.11585710e-05,
 -1.36065134e-04,-1.25437912e-04,-9.27411102e-06,-5.57478359e-05,
  3.03249549e-03,-3.40213650e-04,-4.90560115e+00, 5.84709496e-04,
  1.19974810e-02,-6.27385393e-04]


--- Step 1487 ---
qpos:
[ 1.85394157e-02, 3.00184163e-02,-9.45058915e-03,-2.52575850e-02,
  7.15225634e-04, 2.81419122e-01,-1.94153739e-01, 4.05950436e-01,
  1.15636749e-02, 2.77333344e-02,-8.23806437e-03, 2.64533344e-02,
  1.21034621e+00, 4.51382738e-03, 1.20670317e+00, 4.45869676e-02,
  4.90489190e-02,-7.48856316e-02, 1.73976013e-01, 9.98620733e-01,
  2.47261332e-02,-4.60176335e-02,-5.25626339e-03]

qacc:
[ 2.22334236e+00,-5.13471069e-01, 1.22061076e+00,-1.71697953e+00,
  4.20606759e+00,-2.62936838e+00,-1.55562178e+01, 3.10794371e+02,
  9.04768663e+00,-2.83777269e+00, 1.18407076e+01,-2.17718400e+01,
  5.67672645e-01,-1.84043324e+00,-3.28015995e-01, 6.22130109e-01,
 -1.77980014e+00, 2.72808992e-01, 3.37661379e-02,-2.72818513e+00,
 -1.57350335e+01,-2.02703752e+00]

qfrc_actuator:
[ 8.21477240e-05, 8.28625489e-04, 9.34627746e-05,-8.03853777e-05,
 -3.69003496e-03, 4.92187176e-01, 1.74219196e-01, 2.37330839e-01,
 -5.90854069e-05, 7.17754368e-04, 1.37763992e-04, 8.58986165e-05,
  1.62170234e-02, 1.56428979e-03, 0.00000000e+00,-1.49938707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007059337734182735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98740931,  0.12952118, -0.09081366,  0.12897684,  0.99157666,
        0.01186221,  0.09158511,  0.        , -0.99579725])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09645409, -0.07845051,  0.11609487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022883931150327608
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.42576989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.42576989e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276683 , -0.07869692,  0.06199597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32941323e-05,-5.75335279e-05,-1.72516698e-05,-5.83050482e-06,
 -2.64917305e-03, 4.14991022e-01, 2.24224160e-01, 1.13279161e-01,
  5.45358777e-05,-2.55262931e-05, 1.99130554e-05,-2.81561257e-05,
 -1.33794908e-04,-1.48384055e-04,-1.50600380e-05,-1.76492122e-06,
  3.16067204e-03,-3.57199751e-04,-4.90561653e+00, 6.03083956e-04,
  1.20019955e-02,-6.23264427e-04]


--- Step 1488 ---
qpos:
[ 1.85394692e-02, 3.00175726e-02,-9.45102898e-03,-2.52579649e-02,
  6.97840303e-04, 2.82859264e-01,-1.95128161e-01, 4.08455207e-01,
  1.15642270e-02, 2.77303530e-02,-8.23896605e-03, 2.64535006e-02,
  1.21074276e+00, 4.57570528e-03, 1.20686218e+00, 4.45918432e-02,
  4.86830601e-02,-7.48442598e-02, 1.74044750e-01, 9.98548315e-01,
  2.44893208e-02,-4.76638497e-02,-5.44910784e-03]

qacc:
[-1.67344549e+00, 4.92149734e-01,-2.89626389e+00, 7.43425273e+00,
  4.27895185e+00, 6.18489544e-01,-2.33815748e+01, 3.11198557e+02,
  2.54764918e+00,-2.10395962e+00, 8.08596018e+00,-1.39731383e+01,
  5.51348278e-01,-1.80594721e+00,-5.57716019e+00, 1.86549006e+01,
 -1.75469675e+00, 2.76137230e-01, 4.79155474e-03,-2.69878012e+00,
 -1.54757425e+01,-1.91363748e+00]

qfrc_actuator:
[ 7.17258987e-05, 8.63886758e-04, 1.08529855e-04,-6.38117433e-05,
 -3.66031536e-03, 4.95306258e-01, 1.75250961e-01, 2.37397464e-01,
 -4.53900476e-05, 6.82789356e-04, 1.47632778e-04, 6.82290445e-05,
  1.61774175e-02, 1.49166428e-03, 0.00000000e+00,-1.40977681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007114686157200514
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9870511 ,  0.12995785, -0.09402703,  0.12937217,  0.99151952,
        0.01232406,  0.09483124,  0.        , -0.99549336])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09629844, -0.07844613,  0.11611907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022798590956650544
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21742504e-13,  4.86970018e-13,  1.00000000e+00,  5.92849496e-26,
        1.00000000e+00, -4.86970018e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21742504e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766804, -0.0786977 ,  0.06199599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00503791e-05,-6.83196468e-07, 8.73545438e-07, 1.34036236e-05,
 -2.70367915e-03, 4.16386598e-01, 2.23676479e-01, 1.12224190e-01,
  1.52766222e-05,-4.62070268e-05, 6.11554815e-06,-1.86173333e-05,
 -1.44240245e-04,-1.46523969e-04,-1.09251127e-05, 8.67251053e-05,
  3.28956048e-03,-3.74594780e-04,-4.90563102e+00, 6.21293180e-04,
  1.20065374e-02,-6.19065651e-04]


--- Step 1489 ---
qpos:
[ 1.85393972e-02, 3.00171284e-02,-9.45122009e-03,-2.52585609e-02,
  6.82044723e-04, 2.84331536e-01,-1.96074106e-01, 4.10981487e-01,
  1.15639052e-02, 2.77270641e-02,-8.23896910e-03, 2.64540895e-02,
  1.21113847e+00, 4.63626526e-03, 1.20702106e+00, 4.45980638e-02,
  4.83102007e-02,-7.48017755e-02, 1.74113438e-01, 9.98471681e-01,
  2.42470566e-02,-4.93406020e-02,-5.64687199e-03]

qacc:
[-1.07666263e+00,-6.10440474e-01, 3.85579009e+00,-8.28572914e+00,
  3.90860322e+00, 1.50056645e+00,-2.94820199e+01, 3.14864403e+02,
 -7.41809201e+00,-2.03346463e+00, 4.90089965e+00, 1.17783075e+00,
  3.23652781e-01,-1.49895510e+00,-4.31982118e+00, 1.46945558e+01,
 -1.75011667e+00, 2.78125569e-01,-1.22383473e-02,-2.70434072e+00,
 -1.54214785e+01,-1.96394115e+00]

qfrc_actuator:
[ 6.55684671e-05, 9.20898898e-04, 1.35493353e-04,-7.16259443e-05,
 -3.65432047e-03, 4.97681589e-01, 1.76223873e-01, 2.37895879e-01,
 -9.08296793e-05, 6.98758212e-04, 2.06985993e-04, 9.32638922e-05,
  1.61287643e-02, 1.42419502e-03, 0.00000000e+00,-1.34120741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007206239827606043
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86678639e-01,  1.30407572e-01, -9.72580457e-02,  1.29778614e-01,
        9.91460471e-01,  1.27924270e-02,  9.80957371e-02, -3.46944695e-18,
       -9.95176982e-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([ 0.09613773, -0.0784417 ,  0.11614544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002271869138423671
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22170662e-13,  2.44341324e-13,  1.00000000e+00,  2.98513412e-26,
        1.00000000e+00, -2.44341324e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22170662e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276678 , -0.07869852,  0.06199601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44792525e-06, 5.74172490e-05, 2.74099235e-05,-7.54809687e-06,
 -2.78425537e-03, 4.16991361e-01, 2.23126079e-01, 1.11623264e-01,
 -4.50176142e-05,-9.27982398e-06, 4.99625371e-05, 2.29117324e-05,
 -1.57942059e-04,-1.43447351e-04, 8.86078408e-07, 7.11629326e-05,
  3.41888071e-03,-3.92389527e-04,-4.90564451e+00, 6.39234965e-04,
  1.20111122e-02,-6.14793070e-04]


--- Step 1490 ---
qpos:
[ 1.85392517e-02, 3.00171880e-02,-9.45116107e-03,-2.52592605e-02,
  6.67467873e-04, 2.85831073e-01,-1.96993851e-01, 4.13529045e-01,
  1.15633852e-02, 2.77240762e-02,-8.23848534e-03, 2.64545772e-02,
  1.21153327e+00, 4.69576141e-03, 1.20717967e+00, 4.46070613e-02,
  4.79302657e-02,-7.47581781e-02, 1.74182053e-01, 9.98390650e-01,
  2.39992654e-02,-5.10482213e-02,-5.85009110e-03]

qacc:
[-6.30823297e-01,-2.45346265e-01, 2.27849243e+00,-4.83976196e+00,
  3.00100010e+00, 7.08771317e-01,-3.47653807e+01, 3.22199303e+02,
 -1.68065386e+00,-1.16792900e+00, 5.17426463e+00,-7.93119889e+00,
  2.22536761e-01,-1.22908940e+00,-8.85151776e+00, 3.02663243e+01,
 -1.76889219e+00, 2.78259643e-01,-1.80647313e-02,-2.75341744e+00,
 -1.56001327e+01,-2.22516160e+00]

qfrc_actuator:
[ 6.19781769e-05, 9.55044183e-04, 1.51598658e-04,-7.59463603e-05,
 -3.69861705e-03, 4.99457244e-01, 1.77168912e-01, 2.38929020e-01,
 -9.96878173e-05, 7.45344872e-04, 2.42059972e-04, 9.00430087e-05,
  1.60906985e-02, 1.37803284e-03, 0.00000000e+00,-1.19684529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007330139731041334
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86291218e-01,  1.30870138e-01, -1.00511895e-01,  1.30195815e-01,
        9.91399519e-01,  1.32681178e-02,  1.01383844e-01,  1.73472348e-18,
       -9.94847383e-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([ 0.09597229, -0.07843721,  0.11617384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022643630692294192
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22575642e-13,  2.45151283e-13,  1.00000000e+00,  3.00495759e-26,
        1.00000000e+00, -2.45151283e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22575642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766757, -0.07869938,  0.06199602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75722838e-06, 7.16078805e-05, 3.10876570e-05,-1.05775705e-06,
 -2.90808103e-03, 4.17115520e-01, 2.22636830e-01, 1.11574695e-01,
 -1.01945932e-05, 5.28007465e-05, 4.01424118e-05,-1.43607245e-06,
 -1.53584958e-04,-1.24576681e-04, 3.65234887e-06, 1.47397390e-04,
  3.55036559e-03,-4.10645423e-04,-4.90565734e+00, 6.57791973e-04,
  1.20155803e-02,-6.10424865e-04]


--- Step 1491 ---
qpos:
[ 1.85387197e-02, 3.00176035e-02,-9.45114865e-03,-2.52592761e-02,
  6.53744761e-04, 2.87352525e-01,-1.97889388e-01, 4.16097756e-01,
  1.15624174e-02, 2.77218442e-02,-8.23832431e-03, 2.64546743e-02,
  1.21192720e+00, 4.75420139e-03, 1.20733834e+00, 4.46170417e-02,
  4.75431985e-02,-7.47134637e-02, 1.74250558e-01, 9.98305042e-01,
  2.37458989e-02,-5.27869429e-02,-6.05913280e-03]

qacc:
[-3.32327667e+00, 2.01637188e+00,-9.37604282e+00, 2.09993937e+01,
  2.12386711e+00,-1.24292900e+00,-3.73400231e+01, 3.28866702e+02,
 -3.84034373e+00, 1.10444219e+00,-8.25850162e-01,-5.98985186e+00,
  8.38068441e-02,-1.04470287e+00,-2.91359236e+00, 1.02491124e+01,
 -1.78306352e+00, 2.79266854e-01,-2.78681597e-02,-2.78590940e+00,
 -1.57291501e+01,-2.40447532e+00]

qfrc_actuator:
[ 4.21736186e-05, 9.57452586e-04, 1.43335533e-04,-4.26913627e-05,
 -3.73784813e-03, 5.00740836e-01, 1.78123619e-01, 2.39795306e-01,
 -1.22428370e-04, 7.92064108e-04, 2.27113506e-04, 7.02234859e-05,
  1.60483689e-02, 1.32717538e-03, 0.00000000e+00,-1.15099840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007479294497767023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98588749,  0.13134578, -0.10379855,  0.1306238 ,  0.99133662,
        0.01375264,  0.10470565,  0.        , -0.99450326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09580263, -0.07843263,  0.11620396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022569990802383255
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45951147e-13,  4.91902294e-13,  1.00000000e+00,  1.20983933e-25,
        1.00000000e+00, -4.91902294e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45951147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766736, -0.07870027,  0.06199604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98903929e-05, 4.88239350e-05, 1.03189526e-05, 3.73773032e-05,
 -3.00828067e-03, 4.16989431e-01, 2.22270444e-01, 1.11370837e-01,
 -2.30314880e-05, 8.45724610e-05, 8.83026395e-07,-1.61909626e-05,
 -1.50856435e-04,-1.23079364e-04, 1.35638807e-05, 5.35150448e-05,
  3.68617745e-03,-4.29434860e-04,-4.90566988e+00, 6.78173830e-04,
  1.20197510e-02,-6.05930242e-04]


--- Step 1492 ---
qpos:
[ 1.85386439e-02, 3.00181771e-02,-9.45083792e-03,-2.52588911e-02,
  6.40656133e-04, 2.88891369e-01,-1.98762266e-01, 4.18687554e-01,
  1.15608400e-02, 2.77198482e-02,-8.23787911e-03, 2.64549036e-02,
  1.21232031e+00, 4.81154070e-03, 1.20749735e+00, 4.46251654e-02,
  4.71489816e-02,-7.46676180e-02, 1.74318886e-01, 9.98214685e-01,
  2.34869779e-02,-5.45567928e-02,-6.27388382e-03]

qacc:
[ 3.92039958e+00, 1.92584443e-01,-2.08451046e+00, 8.43091374e+00,
  1.60076290e+00,-3.17885784e+00,-3.86430143e+01, 3.34078342e+02,
 -5.19405363e+00,-1.99973721e-01, 6.24516706e-01, 1.01781662e+00,
 -6.11615403e-02,-8.73590776e-01, 6.09060825e+00,-2.06341290e+01,
 -1.78742477e+00, 2.82799796e-01,-4.40544444e-02,-2.77249684e+00,
 -1.57478113e+01,-2.34802522e+00]

qfrc_actuator:
[ 6.62408540e-05, 9.58517840e-04, 1.56153278e-04,-2.31425501e-05,
 -3.72090451e-03, 5.01812398e-01, 1.79040133e-01, 2.40375563e-01,
 -1.53169595e-04, 7.85029595e-04, 2.36027478e-04, 7.62799532e-05,
  1.60088371e-02, 1.27391862e-03, 0.00000000e+00,-1.25234056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007646369075507614
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85466042e-01,  1.31834328e-01, -1.07127913e-01,  1.31062195e-01,
        9.91271764e-01,  1.42474918e-02,  1.08071184e-01, -1.73472348e-18,
       -9.94143158e-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([ 0.09562932, -0.07842796,  0.11623549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022495363165322968
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23383541e-13,  2.46767082e-13,  1.00000000e+00,  3.04469963e-26,
        1.00000000e+00, -2.46767082e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23383541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766716, -0.07870119,  0.06199606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35013810e-05, 3.20781436e-05, 2.54619539e-05, 2.27240711e-05,
 -3.03404476e-03, 4.16917763e-01, 2.21964790e-01, 1.10886964e-01,
 -3.13932815e-05, 3.98151490e-05, 2.59561302e-05, 9.40136190e-06,
 -1.46400173e-04,-1.24348769e-04, 6.69370964e-06,-9.78619640e-05,
  3.82591291e-03,-4.48771517e-04,-4.90568197e+00, 7.00008137e-04,
  1.20236736e-02,-6.01319306e-04]


--- Step 1493 ---
qpos:
[ 1.85388567e-02, 3.00192084e-02,-9.45045803e-03,-2.52586429e-02,
  6.28094179e-04, 2.90445267e-01,-1.99613584e-01, 4.21298341e-01,
  1.15595954e-02, 2.77176957e-02,-8.23708656e-03, 2.64549053e-02,
  1.21271263e+00, 4.86776249e-03, 1.20765634e+00, 4.46323616e-02,
  4.67476426e-02,-7.46206236e-02, 1.74386945e-01, 9.98119414e-01,
  2.32225545e-02,-5.63575781e-02,-6.49403288e-03]

qacc:
[ 2.47131671e+00, 1.25116710e-01, 9.99172496e-01,-3.80107309e+00,
  1.33921980e+00,-3.56546870e+00,-4.11683131e+01, 3.37659044e+02,
  2.85164580e+00,-1.65180981e+00, 6.54118891e+00,-1.09107279e+01,
  6.60807866e-02,-1.03187653e+00, 2.74807406e+00,-9.72440519e+00,
 -1.78051680e+00, 2.87190598e-01,-6.71078540e-02,-2.73880901e+00,
 -1.56547453e+01,-2.19623421e+00]

qfrc_actuator:
[ 8.04378444e-05, 9.94338027e-04, 1.63540647e-04,-2.95602294e-05,
 -3.70588358e-03, 5.03267326e-01, 1.79925597e-01, 2.40669294e-01,
 -1.35112259e-04, 7.45960480e-04, 2.41027285e-04, 6.19901162e-05,
  1.59710103e-02, 1.21968923e-03, 0.00000000e+00,-1.29752868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007825347824243238
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85025652e-01,  1.32334828e-01, -1.10507726e-01,  1.31509819e-01,
        9.91205071e-01,  1.47537792e-02,  1.11488257e-01,  1.73472348e-18,
       -9.93765751e-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([ 0.09545282, -0.07842319,  0.11626818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022418947079262674
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  2.476082e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -2.476082e-13, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766696, -0.07870216,  0.06199607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48888009e-05, 5.99727640e-05, 1.79226271e-05,-3.72462257e-06,
 -3.05076236e-03, 4.17454670e-01, 2.21705052e-01, 1.10119824e-01,
  1.71435022e-05,-1.09890997e-05, 1.67637953e-05,-1.14985791e-05,
 -1.43219045e-04,-1.24358639e-04,-1.36444989e-05,-5.10999240e-05,
  3.96843284e-03,-4.68682429e-04,-4.90569328e+00, 7.22041502e-04,
  1.20275398e-02,-5.96625529e-04]


--- Step 1494 ---
qpos:
[ 1.85388938e-02, 3.00203754e-02,-9.44982992e-03,-2.52587897e-02,
  6.15891791e-04, 2.92012561e-01,-2.00444616e-01, 4.23930008e-01,
  1.15585763e-02, 2.77157714e-02,-8.23638161e-03, 2.64550624e-02,
  1.21310410e+00, 4.92312280e-03, 1.20781511e+00, 4.46399446e-02,
  4.63391417e-02,-7.45724655e-02, 1.74454674e-01, 9.98019046e-01,
  2.29526466e-02,-5.81894251e-02,-6.71947020e-03]

qacc:
[-1.50260825e+00,-1.32538720e+00, 6.65386352e+00,-1.39825984e+01,
  9.40695786e-01,-2.67944245e+00,-4.68232619e+01, 3.43602085e+02,
  1.91646771e+00, 8.62674028e-01,-3.30117600e+00, 5.97055561e+00,
 -5.24691774e-02,-7.43550447e-01,-1.49950821e+00, 4.75152749e+00,
 -1.79048780e+00, 2.90937544e-01,-8.26863987e-02,-2.72609628e+00,
 -1.57245283e+01,-2.14049911e+00]

qfrc_actuator:
[ 7.09450522e-05, 9.79637666e-04, 1.67779608e-04,-5.11806804e-05,
 -3.70991487e-03, 5.05054170e-01, 1.80766714e-01, 2.41404114e-01,
 -1.23979770e-04, 7.76731721e-04, 2.43501739e-04, 7.13047773e-05,
  1.59342330e-02, 1.18308603e-03, 0.00000000e+00,-1.27370563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008013041708666156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98456547,  0.13284623, -0.11394171,  0.13196547,  0.99113666,
        0.01527209,  0.11496064,  0.        , -0.99337005])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09527339, -0.07841832,  0.11630189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022341733492399485
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.4846394e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.4846394e-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([ 0.02766677, -0.07870316,  0.06199609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.04230913e-06, 2.23400710e-05, 1.86859691e-05,-1.85095550e-05,
 -3.08113888e-03, 4.18439597e-01, 2.21455393e-01, 1.09798598e-01,
  1.16250982e-05, 2.76667922e-05, 1.88536523e-06, 9.20206723e-06,
 -1.40698098e-04,-1.05879201e-04,-1.64302028e-05, 1.82176068e-05,
  4.11263720e-03,-4.89137350e-04,-4.90570357e+00, 7.43681226e-04,
  1.20314326e-02,-5.91865911e-04]


--- Step 1495 ---
qpos:
[ 1.85395067e-02, 3.00212003e-02,-9.44860168e-03,-2.52595019e-02,
  6.03944958e-04, 2.93591513e-01,-2.01256561e-01, 4.26582498e-01,
  1.15576988e-02, 2.77139658e-02,-8.23562226e-03, 2.64553338e-02,
  1.21349479e+00, 4.97757351e-03, 1.20797374e+00, 4.46480595e-02,
  4.59234183e-02,-7.45231236e-02, 1.74522017e-01, 9.97913389e-01,
  2.26772925e-02,-6.00525434e-02,-6.94990052e-03]

qacc:
[ 4.96349923e+00,-3.30404226e+00, 1.34870164e+01,-2.39451385e+01,
  6.93637326e-01,-2.01238724e+00,-5.20520560e+01, 3.49914471e+02,
  1.20666734e+00, 2.37645293e-01,-1.10639893e+00, 2.91425493e+00,
  3.92283821e-02,-8.67255478e-01,-1.85986537e+00, 6.11873484e+00,
 -1.80562354e+00, 2.95929820e-01,-9.65830903e-02,-2.69717929e+00,
 -1.58341858e+01,-1.99198963e+00]

qfrc_actuator:
[ 1.00845234e-04, 9.34763968e-04, 1.87675446e-04,-8.16098162e-05,
 -3.67216317e-03, 5.06627491e-01, 1.81556120e-01, 2.42235526e-01,
 -1.17027953e-04, 7.78074661e-04, 2.44756988e-04, 7.67374551e-05,
  1.58981195e-02, 1.13949687e-03, 0.00000000e+00,-1.24492446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000820670103765173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98408452,  0.13336793, -0.11743361,  0.13242835,  0.99106659,
        0.01580305,  0.11849215,  0.        , -0.99295499])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509126, -0.07841335,  0.11633652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022262799378930387
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49344884e-13,  4.98689768e-13,  1.00000000e+00,  1.24345742e-25,
        1.00000000e+00, -4.98689768e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49344884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766658, -0.0787042 ,  0.0619961 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96401950e-05,-2.93671176e-05, 2.61504621e-05,-2.91899148e-05,
 -3.06137013e-03, 4.19293161e-01, 2.21217359e-01, 1.09579268e-01,
  7.29650343e-06, 1.76600868e-05, 7.53324624e-06, 6.86432174e-06,
 -1.34191053e-04,-1.07169161e-04,-9.59819337e-06, 2.67750020e-05,
  4.26005939e-03,-5.10213855e-04,-4.90571305e+00, 7.65501103e-04,
  1.20352617e-02,-5.87027261e-04]


--- Step 1496 ---
qpos:
[ 1.85404731e-02, 3.00218637e-02,-9.44748086e-03,-2.52598560e-02,
  5.92236220e-04, 2.95181706e-01,-2.02050337e-01, 4.29255743e-01,
  1.15572564e-02, 2.77119840e-02,-8.23464506e-03, 2.64546593e-02,
  1.21388472e+00, 5.03085490e-03, 1.20813221e+00, 4.46571071e-02,
  4.55004248e-02,-7.44725757e-02, 1.74588904e-01, 9.97802251e-01,
  2.23965458e-02,-6.19470745e-02,-7.18491386e-03]

qacc:
[ 3.03286215e+00, 8.18655433e-01,-4.74674468e+00, 1.12377907e+01,
  6.44071240e-01,-4.15621067e-01,-5.80301924e+01, 3.55364800e+02,
  3.71883231e+00,-2.79622277e+00, 1.36135246e+01,-3.01891063e+01,
  2.64638317e-01,-1.30307850e+00,-3.10466631e+00, 1.04035772e+01,
 -1.81751142e+00, 3.01505384e-01,-1.13724862e-01,-2.65702150e+00,
 -1.59089692e+01,-1.78767472e+00]

qfrc_actuator:
[ 1.18194765e-04, 9.25467708e-04, 1.81008950e-04,-6.37379438e-05,
 -3.62713412e-03, 5.08495138e-01, 1.82343090e-01, 2.42974579e-01,
 -9.48381464e-05, 7.44026244e-04, 2.45173753e-04, 2.65620472e-05,
  1.58517774e-02, 1.07435622e-03, 0.00000000e+00,-1.19571564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008403474666913269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83581785e-01,  1.33898925e-01, -1.20987396e-01,  1.32897285e-01,
        9.90994994e-01,  1.63472897e-02,  1.22086788e-01,  3.46944695e-18,
       -9.92519429e-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([ 0.09490662, -0.0784083 ,  0.11637195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002218069191548544
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50267897e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.50267897e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276664 , -0.07870529,  0.06199612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81994104e-05,-2.16010680e-05,-1.05452127e-05, 1.69465113e-05,
 -3.02911952e-03, 4.20527230e-01, 2.21036379e-01, 1.09270366e-01,
  2.24044141e-05,-2.22668625e-05, 5.24053275e-06,-4.90230999e-05,
 -1.41220356e-04,-1.27584179e-04,-5.71570488e-06, 4.85023284e-05,
  4.41099300e-03,-5.31985338e-04,-4.90572165e+00, 7.86994227e-04,
  1.20391091e-02,-5.82124297e-04]


--- Step 1497 ---
qpos:
[ 1.85409506e-02, 3.00225296e-02,-9.44654061e-03,-2.52596640e-02,
  5.80757416e-04, 2.96783742e-01,-2.02826700e-01, 4.31949655e-01,
  1.15570833e-02, 2.77101188e-02,-8.23409657e-03, 2.64540875e-02,
  1.21427387e+00, 5.08295594e-03, 1.20829070e+00, 4.46659898e-02,
  4.50701146e-02,-7.44208023e-02, 1.74655263e-01, 9.97685436e-01,
  2.21104428e-02,-6.38731627e-02,-7.42422874e-03]

qacc:
[-4.19906728e+00, 1.64110685e+00,-8.13131033e+00, 1.78395075e+01,
  6.13477614e-01, 2.01357636e+00,-6.49367464e+01, 3.60348421e+02,
  2.28170417e+00, 1.55910274e+00,-5.77684076e+00, 8.16149331e+00,
  1.60683887e-01,-1.18856222e+00, 4.97810499e-01,-1.77886881e+00,
 -1.82917586e+00, 3.06382279e-01,-1.32196379e-01,-2.62853203e+00,
 -1.59871170e+01,-1.64716160e+00]

qfrc_actuator:
[ 9.25005426e-05, 9.37474149e-04, 1.76625173e-04,-3.53354490e-05,
 -3.61332868e-03, 5.10694910e-01, 1.83139633e-01, 2.43703212e-01,
 -8.16083228e-05, 7.60000811e-04, 2.27149602e-04, 3.27994137e-05,
  1.58099757e-02, 1.01466087e-03, 0.00000000e+00,-1.20587416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008602152990976621
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83056457e-01,  1.34438191e-01, -1.24604877e-01,  1.33371076e-01,
        9.90921981e-01,  1.69051192e-02,  1.25746405e-01,  3.46944695e-18,
       -9.92062418e-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([ 0.09471958, -0.07840316,  0.11640815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022094810837518242
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51240672e-13,  5.02481344e-13,  1.00000000e+00,  1.26243751e-25,
        1.00000000e+00, -5.02481344e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51240672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766621, -0.07870641,  0.06199614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51748975e-05,-1.55805511e-06,-9.57935748e-06, 2.74386825e-05,
 -3.02721931e-03, 4.22113751e-01, 2.20910561e-01, 1.08954371e-01,
  1.38753681e-05, 2.57268534e-06,-2.36625659e-05, 4.51312273e-06,
 -1.45029437e-04,-1.29541340e-04,-1.55861274e-06,-9.17087459e-06,
  4.56508420e-03,-5.54461363e-04,-4.90572926e+00, 8.07784685e-04,
  1.20430294e-02,-5.77168599e-04]


--- Step 1498 ---
qpos:
[ 1.85414613e-02, 3.00230267e-02,-9.44529739e-03,-2.52594904e-02,
  5.69585598e-04, 2.98397882e-01,-2.03586109e-01, 4.34664197e-01,
  1.15563808e-02, 2.77084929e-02,-8.23390527e-03, 2.64542642e-02,
  1.21466219e+00, 5.13414145e-03, 1.20844901e+00, 4.46760178e-02,
  4.46324776e-02,-7.43677814e-02, 1.74721003e-01, 9.97562754e-01,
  2.18190396e-02,-6.58307795e-02,-7.66742013e-03]

qacc:
[ 2.96230432e-01,-1.10830824e+00, 3.70394997e+00,-4.37970217e+00,
  7.77215348e-01, 3.35536057e+00,-6.88754747e+01, 3.63320389e+02,
 -4.52782445e+00, 2.86469614e+00,-1.29001134e+01, 2.62329681e+01,
  5.54320143e-02,-9.04431879e-01,-3.77675909e+00, 1.27326031e+01,
 -1.83171193e+00, 3.11874913e-01,-1.54818730e-01,-2.58589503e+00,
 -1.59777061e+01,-1.43771562e+00]

qfrc_actuator:
[ 9.49388873e-05, 9.26657521e-04, 1.91479773e-04,-3.64509900e-05,
 -3.58283923e-03, 5.12485269e-01, 1.83917656e-01, 2.44133337e-01,
 -1.09268049e-04, 7.88014410e-04, 2.16372937e-04, 7.22142153e-05,
  1.57762535e-02, 9.76464085e-04, 0.00000000e+00,-1.14441297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008802746285866666
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98250783,  0.13498509, -0.12828638,  0.13384894,  0.99084763,
        0.0174767 ,  0.12947135,  0.        , -0.99158316])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09453012, -0.07839795,  0.11644513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022004878250973803
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26133739e-13,  5.04534954e-13,  1.00000000e+00,  6.36388801e-26,
        1.00000000e+00, -5.04534954e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26133739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766602, -0.07870758,  0.06199616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70036066e-06,-1.25373731e-05, 1.42836390e-05,-9.82409597e-07,
 -3.00822682e-03, 4.23260133e-01, 2.20803614e-01, 1.08344138e-01,
 -2.72567047e-05, 2.48244946e-05,-1.29876636e-05, 3.87977418e-05,
 -1.39482642e-04,-1.09429740e-04,-6.62154788e-06, 5.96438341e-05,
  4.72246024e-03,-5.77632918e-04,-4.90573582e+00, 8.28186242e-04,
  1.20469633e-02,-5.72153915e-04]


--- Step 1499 ---
qpos:
[ 1.85419969e-02, 3.00235562e-02,-9.44395380e-03,-2.52593436e-02,
  5.58834161e-04, 3.00024330e-01,-2.04328690e-01, 4.37399360e-01,
  1.15556971e-02, 2.77067473e-02,-8.23341076e-03, 2.64545665e-02,
  1.21504968e+00, 5.18443460e-03, 1.20860725e+00, 4.46866873e-02,
  4.41875507e-02,-7.43134933e-02, 1.74786014e-01, 9.97434030e-01,
  2.15223884e-02,-6.78196885e-02,-7.91411665e-03]

qacc:
[ 2.15496410e-01,-2.93283529e-01, 1.21892399e+00,-1.86274286e+00,
  1.02127713e+00, 3.84842740e+00,-7.00811532e+01, 3.63955647e+02,
  1.70522014e-01,-7.47494078e-01, 1.90454731e+00,-1.26214552e-01,
  1.55804246e-03,-8.20228462e-01,-2.05515221e+00, 7.00281667e+00,
 -1.82246344e+00, 3.16800138e-01,-1.82191596e-01,-2.54707869e+00,
 -1.58653349e+01,-1.25734199e+00]

qfrc_actuator:
[ 9.61777457e-05, 9.37822529e-04, 1.99713472e-04,-3.71786912e-05,
 -3.57801365e-03, 5.13882961e-01, 1.84660309e-01, 2.44198602e-01,
 -1.07512704e-04, 7.69823974e-04, 2.27797360e-04, 7.75906530e-05,
  1.57367596e-02, 9.33621120e-04, 0.00000000e+00,-1.11223459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009005185538662609
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81935242e-01,  1.35538684e-01, -1.32031988e-01,  1.34329798e-01,
        9.90772055e-01,  1.80621182e-02,  1.33261720e-01,  3.46944695e-18,
       -9.91080882e-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([ 0.09433828, -0.07839267,  0.11648292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021911506977397022
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26671231e-13,  2.53342462e-13,  1.00000000e+00,  3.20912015e-26,
        1.00000000e+00, -2.53342462e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26671231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766582, -0.07870879,  0.06199618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28062000e-06, 7.02829080e-06, 7.34818214e-06,-7.93873355e-07,
 -3.01875542e-03, 4.24000195e-01, 2.20683926e-01, 1.07370887e-01,
  9.58838737e-07,-5.28405959e-06, 1.63117904e-05, 6.74975677e-06,
 -1.37494112e-04,-1.07186234e-04,-7.46513129e-07, 3.36690458e-05,
  4.88220863e-03,-6.01475255e-04,-4.90574112e+00, 8.47701716e-04,
  1.20509792e-02,-5.67094756e-04]


--- Step 1500 ---
qpos:
[ 1.85425428e-02, 3.00244076e-02,-9.44291494e-03,-2.52595614e-02,
  5.48668144e-04, 3.01663587e-01,-2.05054261e-01, 4.40155143e-01,
  1.15550395e-02, 2.77047708e-02,-8.23300847e-03, 2.64556640e-02,
  1.21543636e+00, 5.23381940e-03, 1.20876588e+00, 4.46943060e-02,
  4.37354095e-02,-7.42579193e-02, 1.74850172e-01, 9.97299095e-01,
  2.12205419e-02,-6.98394823e-02,-8.16395601e-03]

qacc:
[ 7.48147029e-02, 5.25838013e-01, 2.78821056e-01,-6.33348375e+00,
  1.37594053e+00, 3.95007463e+00,-6.94048460e+01, 3.62402935e+02,
  2.24481579e-01, 1.58927156e+00,-9.46762249e+00, 2.35483070e+01,
 -2.83872709e-01,-4.75468270e-01, 9.80844420e+00,-3.34655043e+01,
 -1.80357618e+00, 3.21460233e-01,-2.13107882e-01,-2.50853682e+00,
 -1.56677191e+01,-1.08343856e+00]

qfrc_actuator:
[ 9.66919587e-05, 9.62043013e-04, 1.86303391e-04,-5.54106976e-05,
 -3.58882259e-03, 5.15128770e-01, 1.85428342e-01, 2.43965697e-01,
 -1.06197201e-04, 7.41927178e-04, 2.16519649e-04, 1.16125483e-04,
  1.56938319e-02, 8.88333502e-04, 0.00000000e+00,-1.27510666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009209707146734391
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98133812,  0.13609818, -0.135841  ,  0.13481271,  0.99069535,
        0.01866135,  0.13711683,  0.        , -0.99055488])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09414405, -0.07838733,  0.11652155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002181637148955945
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27223611e-13,  5.08894444e-13,  1.00000000e+00,  6.47433889e-26,
        1.00000000e+00, -5.08894444e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27223611e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766562, -0.07871004,  0.0619962 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50636376e-07, 2.95978275e-05,-1.11037901e-05,-1.76969870e-05,
 -3.05059538e-03, 4.24577498e-01, 2.20595610e-01, 1.06099763e-01,
  1.33587103e-06,-2.71380793e-05,-1.01133240e-05, 3.90060941e-05,
 -1.39346212e-04,-1.08528594e-04,-1.36842839e-06,-1.62176188e-04,
  5.04332066e-03,-6.25909094e-04,-4.90574497e+00, 8.66377834e-04,
  1.20550504e-02,-5.61991552e-04]


--- Step 1501 ---
qpos:
[ 1.85434354e-02, 3.00255697e-02,-9.44239146e-03,-2.52592893e-02,
  5.39198764e-04, 3.03315346e-01,-2.05762820e-01, 4.42931580e-01,
  1.15544024e-02, 2.77029523e-02,-8.23315400e-03, 2.64568514e-02,
  1.21582240e+00, 5.28218533e-03, 1.20892470e+00, 4.46982465e-02,
  4.32760757e-02,-7.42010427e-02, 1.74913385e-01, 9.97157765e-01,
  2.09135234e-02,-7.18900121e-02,-8.41674613e-03]

qacc:
[ 2.95301849e+00, 2.85478308e+00,-1.16546779e+01, 2.07257790e+01,
  1.60885788e+00, 3.55038554e+00,-6.86041773e+01, 3.62109231e+02,
  1.55682126e-01, 1.92449373e+00,-6.93855467e+00, 9.25239224e+00,
 -9.62683316e-02,-7.20630153e-01, 1.14003700e+01,-3.94923255e+01,
 -1.79815826e+00, 3.25657752e-01,-2.36387324e-01,-2.48875085e+00,
 -1.56022583e+01,-9.90775365e-01]

qfrc_actuator:
[ 1.14528448e-04, 9.76041564e-04, 1.60272010e-04,-3.05386857e-05,
 -3.59159280e-03, 5.16100499e-01, 1.86186936e-01, 2.44060469e-01,
 -1.05160548e-04, 7.61623508e-04, 1.91894813e-04, 1.20577621e-04,
  1.56701766e-02, 8.41952020e-04, 0.00000000e+00,-1.46280994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009417165622428497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98071602,  0.13666286, -0.13971168,  0.13529686,  0.99061762,
        0.01927424,  0.14103493,  0.        , -0.99000462])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0939474 , -0.07838195,  0.11656109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021721941858023064
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27776678e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.27776678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766542, -0.07871133,  0.06199621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78603183e-05, 2.74543121e-05,-2.19204691e-05, 2.54065832e-05,
 -3.08265892e-03, 4.24855078e-01, 2.20488326e-01, 1.05156275e-01,
  1.05950826e-06, 4.16582703e-06,-3.01113847e-05, 3.69923625e-06,
 -1.21919827e-04,-1.10164023e-04,-2.44265314e-05,-1.98214186e-04,
  5.20487433e-03,-6.50869938e-04,-4.90574722e+00, 8.84143893e-04,
  1.20591703e-02,-5.56847503e-04]


--- Step 1502 ---
qpos:
[ 1.85438457e-02, 3.00267531e-02,-9.44211597e-03,-2.52580119e-02,
  5.30530452e-04, 3.04979750e-01,-2.06454381e-01, 4.45728689e-01,
  1.15537824e-02, 2.77014675e-02,-8.23368520e-03, 2.64573580e-02,
  1.21620787e+00, 5.32933463e-03, 1.20908364e+00, 4.46978707e-02,
  4.28095453e-02,-7.41428474e-02, 1.74975570e-01, 9.97009844e-01,
  2.06013429e-02,-7.39712509e-02,-8.67236802e-03]

qacc:
[-4.14587863e+00, 2.80038494e+00,-1.41627250e+01, 3.19025880e+01,
  1.82141382e+00, 3.72445829e+00,-6.89150325e+01, 3.62268199e+02,
  1.28058974e-01, 1.17492080e-01, 3.09477963e+00,-1.45044004e+01,
  4.08702037e-02,-9.97673524e-01, 1.32035897e+01,-4.59993687e+01,
 -1.79914854e+00, 3.29685029e-01,-2.56947637e-01,-2.47727706e+00,
 -1.55991860e+01,-9.32943666e-01]

qfrc_actuator:
[ 8.91600745e-05, 9.66036787e-04, 1.44753022e-04, 1.94870018e-05,
 -3.58988515e-03, 5.17115994e-01, 1.86897556e-01, 2.44308060e-01,
 -1.04296034e-04, 7.91826592e-04, 1.77506818e-04, 8.72148176e-05,
  1.56367944e-02, 7.77635452e-04, 0.00000000e+00,-1.68131711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009627284290285807
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98006821,  0.13723219, -0.14364412,  0.13578155,  0.99053891,
        0.01990088,  0.14501613,  0.        , -0.98942929])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09374839, -0.0783765 ,  0.11660155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021628412513785555
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28329232e-13,  5.13316927e-13,  1.00000000e+00,  6.58735669e-26,
        1.00000000e+00, -5.13316927e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28329232e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766521, -0.07871266,  0.06199623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48428057e-05, 1.86243436e-06,-1.16914389e-05, 5.09321985e-05,
 -3.11581335e-03, 4.25191130e-01, 2.20332666e-01, 1.04363885e-01,
  8.92409600e-07, 2.65344622e-05,-1.70886826e-05,-3.41526028e-05,
 -1.23468763e-04,-1.24195432e-04,-3.77213475e-05,-2.33685897e-04,
  5.36821822e-03,-6.76432223e-04,-4.90574802e+00, 9.01530585e-04,
  1.20632495e-02,-5.51650038e-04]


--- Step 1503 ---
qpos:
[ 1.85439485e-02, 3.00280098e-02,-9.44172524e-03,-2.52568677e-02,
  5.22959519e-04, 3.06658673e-01,-2.07128389e-01, 4.48546430e-01,
  1.15528329e-02, 2.77003333e-02,-8.23474837e-03, 2.64578141e-02,
  1.21659280e+00, 5.37485680e-03, 1.20924226e+00, 4.46958382e-02,
  4.23359026e-02,-7.40833123e-02, 1.75036602e-01, 9.96855165e-01,
  2.02840574e-02,-7.60827518e-02,-8.93036235e-03]

qacc:
[-2.63474860e+00,-4.94548216e-01, 2.47311969e+00,-5.02186630e+00,
  2.44001422e+00, 4.56097890e+00,-6.80994877e+01, 3.58471193e+02,
 -2.83223309e+00, 1.85146248e+00,-5.70590831e+00, 5.41153870e+00,
  5.75713893e-01,-1.90591657e+00, 4.44972669e+00,-1.64552416e+01,
 -1.77808347e+00, 3.34943035e-01,-2.88258869e-01,-2.43180945e+00,
 -1.53823220e+01,-7.11440953e-01]

qfrc_actuator:
[ 7.40643713e-05, 9.77300429e-04, 1.53232858e-04, 1.28830316e-05,
 -3.56812125e-03, 5.18294628e-01, 1.87590354e-01, 2.43911204e-01,
 -1.21292224e-04, 8.10342078e-04, 1.51565268e-04, 8.51555070e-05,
  1.55975938e-02, 6.85410505e-04, 0.00000000e+00,-1.75642329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009840171208774218
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97939395,  0.13780586, -0.1476382 ,  0.13626631,  0.99045926,
        0.02054139,  0.14906034,  0.        , -0.9888281 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09354702, -0.07837101,  0.11664295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002153515488502039
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57769919e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.57769919e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.027665  , -0.07871403,  0.06199625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58248886e-05, 1.20121918e-05, 9.16737166e-06,-5.94206246e-06,
 -3.13414091e-03, 4.25682603e-01, 2.20159522e-01, 1.02926001e-01,
 -1.69638140e-05, 2.84174232e-05,-2.37252194e-05,-2.17494347e-06,
 -1.33716391e-04,-1.56229489e-04,-4.71607648e-05,-9.38156322e-05,
  5.53400528e-03,-7.02639872e-04,-4.90574741e+00, 9.18768084e-04,
  1.20672444e-02,-5.46394231e-04]


--- Step 1504 ---
qpos:
[ 1.85442138e-02, 3.00295502e-02,-9.44129608e-03,-2.52565243e-02,
  5.16772129e-04, 3.08353575e-01,-2.07784293e-01, 4.51384759e-01,
  1.15520317e-02, 2.76992891e-02,-8.23603868e-03, 2.64582544e-02,
  1.21697712e+00, 5.41910407e-03, 1.20940061e+00, 4.46928511e-02,
  4.18552299e-02,-7.40224190e-02, 1.75096363e-01, 9.96693563e-01,
  1.99617045e-02,-7.82240897e-02,-9.19040393e-03]

qacc:
[ 1.38934894e+00,-1.38471160e+00, 8.84882884e+00,-2.29546299e+01,
  3.02783074e+00, 4.88489649e+00,-6.62616697e+01, 3.54029465e+02,
  1.25621338e+00, 7.18964145e-01,-2.32811477e+00, 2.35563510e+00,
  3.22811886e-01,-1.39419174e+00, 2.44393078e+00,-9.24362750e+00,
 -1.75748971e+00, 3.39560896e-01,-3.17610488e-01,-2.40016162e+00,
 -1.51784004e+01,-5.55945880e-01]

qfrc_actuator:
[ 8.29028435e-05, 1.00126465e-03, 1.58095317e-04,-2.69623944e-05,
 -3.55269296e-03, 5.19173652e-01, 1.88229599e-01, 2.43474505e-01,
 -1.13159764e-04, 8.03942122e-04, 1.36744786e-04, 8.37678599e-05,
  1.55762219e-02, 6.30595573e-04, 0.00000000e+00,-1.79968008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010058311824142593
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78693085e-01,  1.38383178e-01, -1.51690282e-01,  1.36750366e-01,
        9.90378764e-01,  2.11953083e-02,  1.53163908e-01, -3.46944695e-18,
       -9.88200798e-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([ 0.09334314, -0.07836548,  0.11668545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021444508818836694
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.88289270e-13,  2.58859514e-13,  1.00000000e+00,  1.00512372e-25,
        1.00000000e+00, -2.58859514e-13, -1.00000000e+00,  0.00000000e+00,
       -3.88289270e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766478, -0.07871543,  0.06199627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.37680410e-06, 3.22618150e-05, 8.24557281e-06,-3.91352618e-05,
 -3.17363917e-03, 4.25779992e-01, 2.19904699e-01, 1.01450180e-01,
  7.64146196e-06, 4.54082159e-06,-1.19235484e-05,-1.02868113e-06,
 -1.28516310e-04,-1.30287313e-04,-3.46207401e-05,-5.50801054e-05,
  5.69975290e-03,-7.29386993e-04,-4.90574499e+00, 9.34662231e-04,
  1.20713275e-02,-5.41111806e-04]


--- Step 1505 ---
qpos:
[ 1.85445831e-02, 3.00308970e-02,-9.44059125e-03,-2.52569612e-02,
  5.12018771e-04, 3.10064570e-01,-2.08422261e-01, 4.54243644e-01,
  1.15513340e-02, 2.76981943e-02,-8.23714450e-03, 2.64583190e-02,
  1.21736068e+00, 5.46274373e-03, 1.20955835e+00, 4.46926650e-02,
  4.13674772e-02,-7.39601568e-02, 1.75154799e-01, 9.96524817e-01,
  1.96342427e-02,-8.03954756e-02,-9.45272626e-03]

qacc:
[ 9.03747678e-01,-2.63577447e+00, 1.23087989e+01,-2.60893987e+01,
  3.10763587e+00, 5.33436791e+00,-6.73717101e+01, 3.54261169e+02,
  8.89158390e-01,-1.35775960e+00, 6.32677485e+00,-1.30819186e+01,
  4.33993864e-02,-6.75485332e-01,-9.40234141e+00, 3.15206297e+01,
 -1.76999398e+00, 3.42211570e-01,-3.31459699e-01,-2.42581415e+00,
 -1.53000201e+01,-6.69716985e-01]

qfrc_actuator:
[ 8.80023721e-05, 9.61598821e-04, 1.60818073e-04,-6.82791763e-05,
 -3.55954379e-03, 5.20096430e-01, 1.88864645e-01, 2.43946579e-01,
 -1.08048782e-04, 8.00465728e-04, 1.46257535e-04, 6.50160239e-05,
  1.55549218e-02, 6.16277920e-04, 0.00000000e+00,-1.64634019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010283716594051819
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97796537,  0.13896369, -0.1557974 ,  0.13723318,  0.99029748,
        0.0218623 ,  0.15732384,  0.        , -0.98754707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09313661, -0.0783599 ,  0.11672918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021358095497363283
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59906841e-13,  2.59906841e-13,  1.00000000e+00,  6.75515658e-26,
        1.00000000e+00, -2.59906841e-13, -1.00000000e+00,  0.00000000e+00,
       -2.59906841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766456, -0.07871687,  0.06199629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35078493e-06,-2.16574290e-05, 9.02303311e-06,-4.04178826e-05,
 -3.24974511e-03, 4.25847505e-01, 2.19617730e-01, 1.00885221e-01,
  5.33258196e-06,-3.39217212e-06, 8.97169292e-06,-1.89860768e-05,
 -1.19297995e-04,-8.14301564e-05,-2.51207018e-05, 1.45162217e-04,
  5.86556710e-03,-7.56657200e-04,-4.90574075e+00, 9.49579768e-04,
  1.20754251e-02,-5.35794215e-04]


--- Step 1506 ---
qpos:
[ 1.85446662e-02, 3.00317464e-02,-9.43938515e-03,-2.52582109e-02,
  5.08645995e-04, 3.11791454e-01,-2.09042558e-01, 4.57123066e-01,
  1.15513920e-02, 2.76973612e-02,-8.23828954e-03, 2.64584787e-02,
  1.21774364e+00, 5.50552846e-03, 1.20971574e+00, 4.46956031e-02,
  4.08725701e-02,-7.38965192e-02, 1.75211858e-01, 9.96348688e-01,
  1.93016051e-02,-8.25972437e-02,-9.71778498e-03]

qacc:
[-2.43227086e+00,-3.72837792e+00, 1.57695160e+01,-3.02601047e+01,
  2.96834247e+00, 5.64228192e+00,-6.86374782e+01, 3.55231541e+02,
  6.43899239e+00, 6.38995131e-01,-2.19977396e+00, 3.73991543e+00,
  3.50918182e-01,-1.16045443e+00,-1.00172256e+01, 3.41711361e+01,
 -1.78861116e+00, 3.43843200e-01,-3.44330921e-01,-2.47288903e+00,
 -1.54864142e+01,-8.92005118e-01]

qfrc_actuator:
[ 7.30993226e-05, 9.19624144e-04, 1.79757029e-04,-1.10178934e-04,
 -3.59811863e-03, 5.20985696e-01, 1.89507851e-01, 2.44565158e-01,
 -6.92599788e-05, 8.34353540e-04, 1.52296818e-04, 7.17170821e-05,
  1.55283751e-02, 5.72843389e-04, 0.00000000e+00,-1.48493191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010516187744568357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97720986,  0.1395477 , -0.15996038,  0.13771489,  0.99021535,
        0.02254268,  0.161541  ,  0.        , -0.986866  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292746, -0.07835428,  0.11677417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021273037364948066
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.60946052e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.60946052e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766432, -0.07871834,  0.0619963 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47582630e-05,-5.40075050e-05, 1.41552833e-05,-4.33058026e-05,
 -3.36010632e-03, 4.25874989e-01, 2.19346985e-01, 1.00468341e-01,
  3.89398047e-05, 3.30825619e-05, 5.81134930e-06, 6.50102424e-06,
 -1.07471504e-04,-9.50307964e-05, 1.81319533e-06, 1.65674380e-04,
  6.03523745e-03,-7.84628566e-04,-4.90573518e+00, 9.65445600e-04,
  1.20792294e-02,-5.30392641e-04]


--- Step 1507 ---
qpos:
[ 1.85452593e-02, 3.00322665e-02,-9.43803977e-03,-2.52592586e-02,
  5.06644230e-04, 3.13533674e-01,-2.09645208e-01, 4.60023050e-01,
  1.15522595e-02, 2.76965862e-02,-8.23902489e-03, 2.64590574e-02,
  1.21812586e+00, 5.54752348e-03, 1.20987339e+00, 4.46980972e-02,
  4.03704681e-02,-7.38314967e-02, 1.75267466e-01, 9.96164948e-01,
  1.89637500e-02,-8.48295626e-02,-9.98584968e-03]

qacc:
[ 4.38521680e+00,-4.16983946e-01,-1.04052458e-02, 3.53772258e+00,
  2.92469398e+00, 4.98994176e+00,-6.73662890e+01, 3.54566686e+02,
  6.91382934e+00,-2.19456861e-01,-8.98152119e-01, 7.47556186e+00,
 -1.04051213e-01,-5.98976617e-01, 1.71360844e+00,-5.46546790e+00,
 -1.79871258e+00, 3.46231923e-01,-3.62519747e-01,-2.50140262e+00,
 -1.55884066e+01,-1.02417759e+00]

qfrc_actuator:
[ 9.98012472e-05, 9.12150671e-04, 1.90337193e-04,-9.88259569e-05,
 -3.62074277e-03, 5.21493568e-01, 1.90149044e-01, 2.44890629e-01,
 -2.87107337e-05, 8.37109740e-04, 1.74154576e-04, 9.33693534e-05,
  1.54827153e-02, 5.30181739e-04, 0.00000000e+00,-1.51540513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001075507827451402
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76425425e-01,  1.40135907e-01, -1.64180747e-01,  1.38195942e-01,
        9.90132278e-01,  2.32369133e-02,  1.65816983e-01,  3.46944695e-18,
       -9.86156543e-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([ 0.09271573, -0.07834861,  0.11682039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021186154319677297
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.62016175e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.62016175e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766406, -0.07871985,  0.06199632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62505911e-05,-3.66519092e-05,-3.49831072e-07, 8.68590127e-06,
 -3.45184442e-03, 4.25530576e-01, 2.19087013e-01, 9.97591356e-02,
  4.16981453e-05, 2.27921571e-05, 2.96534356e-05, 2.34000387e-05,
 -1.23203077e-04,-9.54639276e-05, 1.54365653e-05,-2.18657867e-05,
  6.20967795e-03,-8.13333433e-04,-4.90572835e+00, 9.83052275e-04,
  1.20826022e-02,-5.24887439e-04]


--- Step 1508 ---
qpos:
[ 1.85465124e-02, 3.00324513e-02,-9.43634993e-03,-2.52591402e-02,
  5.06097018e-04, 3.15291104e-01,-2.10230089e-01, 4.62943608e-01,
  1.15529176e-02, 2.76956842e-02,-8.23907203e-03, 2.64595501e-02,
  1.21850722e+00, 5.58896467e-03, 1.21003061e+00, 4.47042486e-02,
  3.98611488e-02,-7.37650740e-02, 1.75321538e-01, 9.95973374e-01,
  1.86206691e-02,-8.70925023e-02,-1.02569035e-02]

qacc:
[ 5.67944882e+00, 9.85243100e-01,-9.08648773e+00, 2.89602388e+01,
  3.07259296e+00, 4.48878026e+00,-6.57930281e+01, 3.52973217e+02,
 -1.76205733e+00,-2.26483693e+00, 8.20019170e+00,-1.06991837e+01,
 -1.34274122e-02,-5.99098908e-01,-1.17289583e+01, 4.00462975e+01,
 -1.80433076e+00, 3.50055307e-01,-3.84129019e-01,-2.50256758e+00,
 -1.56383788e+01,-1.01596529e+00]

qfrc_actuator:
[ 1.33031822e-04, 9.07656139e-04, 2.13816208e-04,-3.84583775e-05,
 -3.59883389e-03, 5.21962081e-01, 1.90764231e-01, 2.45049750e-01,
 -4.07190704e-05, 8.21285974e-04, 2.05070183e-04, 8.81253047e-05,
  1.54415995e-02, 5.06013202e-04, 0.00000000e+00,-1.32138870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010999594042323908
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97561096,  0.14072858, -0.16845988,  0.13867642,  0.99004821,
        0.02394542,  0.1701532 ,  0.        , -0.98541762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0925015 , -0.07834288,  0.11686785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002109572221453554
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31569687e-13,  2.63139373e-13,  1.00000000e+00,  3.46211649e-26,
        1.00000000e+00, -2.63139373e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31569687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766379, -0.0787214 ,  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:
[ 3.39795737e-05,-2.47151784e-05, 1.61454629e-05, 5.89523520e-05,
 -3.49857390e-03, 4.25173719e-01, 2.18801899e-01, 9.88823318e-02,
 -1.07831356e-05, 4.10254844e-06, 4.01013138e-05,-2.78536112e-06,
 -1.27230778e-04,-8.06628133e-05,-1.08125057e-06, 1.93496302e-04,
  6.38791126e-03,-8.42752325e-04,-4.90572001e+00, 1.00180341e-03,
  1.20856278e-02,-5.19294681e-04]


--- Step 1509 ---
qpos:
[ 1.85474652e-02, 3.00320812e-02,-9.43450830e-03,-2.52586032e-02,
  5.07149049e-04, 3.17065394e-01,-2.10796822e-01, 4.65884663e-01,
  1.15537713e-02, 2.76952406e-02,-8.23923682e-03, 2.64599569e-02,
  1.21888812e+00, 5.62918798e-03, 1.21018817e+00, 4.47093065e-02,
  3.93446338e-02,-7.36972363e-02, 1.75373961e-01, 9.95773758e-01,
  1.82723637e-02,-8.93859296e-02,-1.05308862e-02]

qacc:
[-2.56205281e+00,-2.90125428e-01,-1.78412371e+00, 9.17683486e+00,
  3.33793174e+00, 5.43240106e+00,-6.56227123e+01, 3.49552569e+02,
  1.65605416e+00, 7.54344573e-01,-1.45299984e+00,-1.79219700e-01,
  3.49626575e-01,-1.34586527e+00, 3.76638769e+00,-1.25586611e+01,
 -1.79891216e+00, 3.53747994e-01,-4.12154683e-01,-2.49800316e+00,
 -1.55867775e+01,-9.88421573e-01]

qfrc_actuator:
[ 1.16567653e-04, 8.51828796e-04, 2.09268370e-04,-2.07374806e-05,
 -3.60409504e-03, 5.22880290e-01, 1.91338882e-01, 2.44870040e-01,
 -3.03090839e-05, 8.65486643e-04, 2.05472843e-04, 8.48333181e-05,
  1.54192246e-02, 4.39762636e-04, 0.00000000e+00,-1.38716004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00112494757354862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97476553,  0.14132553, -0.17279833,  0.13915594,  0.98996318,
        0.02466841,  0.17455026,  0.        , -0.98464827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228477, -0.07833708,  0.11691656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021000954973975083
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32163398e-13,  2.64326795e-13,  1.00000000e+00,  3.49343273e-26,
        1.00000000e+00, -2.64326795e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32163398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276635 , -0.07872299,  0.06199636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54880543e-05,-6.38080276e-05,-5.64907113e-06, 1.83632181e-05,
 -3.57665988e-03, 4.25272099e-01, 2.18469694e-01, 9.76659493e-02,
  1.00909684e-05, 5.46894233e-05, 6.10411249e-06,-1.78124850e-06,
 -1.06696232e-04,-1.19717838e-04, 1.70766625e-05,-5.60077505e-05,
  6.56919922e-03,-8.72908692e-04,-4.90570995e+00, 1.02074891e-03,
  1.20884530e-02,-5.13639576e-04]


--- Step 1510 ---
qpos:
[ 1.85478686e-02, 3.00316302e-02,-9.43398775e-03,-2.52581607e-02,
  5.10011144e-04, 3.18859311e-01,-2.11344844e-01, 4.68846055e-01,
  1.15547428e-02, 2.76954884e-02,-8.23981010e-03, 2.64603107e-02,
  1.21926857e+00, 5.66782420e-03, 1.21034580e+00, 4.47135646e-02,
  3.88209859e-02,-7.36279687e-02, 1.75424604e-01, 9.95565906e-01,
  1.79188464e-02,-9.17095243e-02,-1.08076713e-02]

qacc:
[ -4.75250239,  3.40014484,-11.86094505, 12.37365659,  3.72936458,
   7.19190254,-65.91181663,344.16229678,  0.98137612,  1.94496049,
  -5.38871191,  4.62080815,  0.64424452, -1.94101546,  2.43059559,
  -8.5652464 , -1.7832614 ,  0.35748027, -0.44502721, -2.48612885,
 -15.44112312, -0.93006337]

qfrc_actuator:
[ 8.87355636e-05, 8.36565939e-04, 1.34701418e-04,-2.83235757e-05,
 -3.62638472e-03, 5.24167100e-01, 1.91917229e-01, 2.44354609e-01,
 -2.45218630e-05, 9.09662112e-04, 1.88098314e-04, 8.27470501e-05,
  1.53814609e-02, 3.49148433e-04, 0.00000000e+00,-1.42798995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001150653042688098
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97388863,  0.14192679, -0.17719402,  0.13963438,  0.98987716,
        0.02540576,  0.17900607,  0.        , -0.98384797])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206543, -0.07833122,  0.11696664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020902989947255146
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32782801e-13,  7.96696808e-13,  1.00000000e+00,  1.05787634e-25,
        1.00000000e+00, -7.96696808e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32782801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766318, -0.07872461,  0.06199638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83070145e-05,-5.13418489e-05,-8.78246141e-05,-1.01598850e-05,
 -3.67902279e-03, 4.25655871e-01, 2.18121888e-01, 9.61175911e-02,
  6.10046723e-06, 7.59660307e-05,-5.38074271e-06, 4.34132670e-07,
 -1.21148553e-04,-1.49917877e-04,-3.96391409e-06,-4.30320847e-05,
  6.75235659e-03,-9.03722878e-04,-4.90569800e+00, 1.03968265e-03,
  1.20910924e-02,-5.07928428e-04]


--- Step 1511 ---
qpos:
[ 1.85479347e-02, 3.00315907e-02,-9.43467752e-03,-2.52578834e-02,
  5.14843726e-04, 3.20674530e-01,-2.11873958e-01, 4.71827616e-01,
  1.15550876e-02, 2.76957553e-02,-8.24059153e-03, 2.64607101e-02,
  1.21964833e+00, 5.70531702e-03, 1.21050294e+00, 4.47209769e-02,
  3.82902232e-02,-7.35572559e-02, 1.75473359e-01, 9.95349605e-01,
  1.75601153e-02,-9.40631748e-02,-1.10872056e-02]

qacc:
[ -2.93904374,  3.59227929,-11.31017544, 10.06852631,  4.01367935,
   8.48351595,-66.55185845,340.20847754, -5.35147566,  0.71102117,
  -2.672617  ,  3.7589406 ,  0.49391319, -1.54341517,-10.34728806,
  34.96082262, -1.77865469,  0.36128445, -0.47190318, -2.48331794,
 -15.40149858, -0.9058541 ]

qfrc_actuator:
[ 7.22045494e-05, 8.98647742e-04, 9.05456744e-05,-3.29955163e-05,
 -3.62423678e-03, 5.25346012e-01, 1.92472220e-01, 2.44109028e-01,
 -5.70141491e-05, 8.64642805e-04, 1.60395374e-04, 8.13854674e-05,
  1.53504571e-02, 2.98030317e-04, 0.00000000e+00,-1.25843238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011773860738457252
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72980084e-01,  1.42532449e-01, -1.81643214e-01,  1.40111757e-01,
        9.89790130e-01,  2.61571128e-02,  1.83516897e-01, -3.46944695e-18,
       -9.83016556e-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([ 0.09184323, -0.07832531,  0.1170183 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002080439877289869
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66824107e-13,  5.33648214e-13,  1.00000000e+00,  1.42390208e-25,
        1.00000000e+00, -5.33648214e-13, -1.00000000e+00,  0.00000000e+00,
       -2.66824107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766284, -0.07872627,  0.0619964 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73690230e-05, 1.47964218e-05,-6.59286908e-05,-1.01065453e-05,
 -3.76750907e-03, 4.25792593e-01, 2.17722219e-01, 9.48469785e-02,
 -3.22864855e-05,-3.62930547e-06,-1.26550053e-05, 1.71601145e-06,
 -1.29303108e-04,-1.22133115e-04,-1.10024492e-05, 1.65651507e-04,
  6.93620269e-03,-9.35119890e-04,-4.90568397e+00, 1.05831372e-03,
  1.20935746e-02,-5.02169614e-04]


--- Step 1512 ---
qpos:
[ 1.85478016e-02, 3.00317536e-02,-9.43508870e-03,-2.52580879e-02,
  5.21669854e-04, 3.22511671e-01,-2.12384410e-01, 4.74829186e-01,
  1.15553850e-02, 2.76957370e-02,-8.24180199e-03, 2.64611462e-02,
  1.22002722e+00, 5.74233763e-03, 1.21066027e+00, 4.47279877e-02,
  3.77522953e-02,-7.34850860e-02, 1.75520149e-01, 9.95124605e-01,
  1.71961335e-02,-9.64471004e-02,-1.13697085e-02]

qacc:
[-1.70278027e+00,-1.50029530e+00, 7.77088801e+00,-1.66956256e+01,
  4.02008943e+00, 9.57042953e+00,-6.84537998e+01, 3.38821707e+02,
 -4.11541226e-01, 8.98652494e-01,-3.90502325e+00, 5.43564201e+00,
 -4.22158329e-01,-4.76676697e-02, 1.52539797e+00,-4.86426027e+00,
 -1.79132760e+00, 3.64287037e-01,-4.91345088e-01,-2.50849417e+00,
 -1.55315025e+01,-1.01281203e+00]

qfrc_actuator:
[ 6.24619845e-05, 9.35665679e-04, 1.18312221e-04,-5.35630543e-05,
 -3.62606333e-03, 5.26521668e-01, 1.93023268e-01, 2.44336938e-01,
 -5.85187230e-05, 8.19760400e-04, 1.26458436e-04, 8.03814825e-05,
  1.53182198e-02, 2.88553620e-04, 0.00000000e+00,-1.28582364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012053057384201365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72039360e-01,  1.43142556e-01, -1.86144276e-01,  1.40587962e-01,
        9.89702081e-01,  2.69224123e-02,  1.88081121e-01, -3.46944695e-18,
       -9.82153497e-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([ 0.09161805, -0.07831934,  0.11707168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020705774436916013
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34047513e-13,  2.68095025e-13,  1.00000000e+00, -3.59374713e-26,
        1.00000000e+00, -2.68095025e-13, -1.00000000e+00,  0.00000000e+00,
        1.34047513e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766247, -0.07872797,  0.06199641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02396956e-05, 3.12453569e-05, 2.23615402e-05,-2.24101101e-05,
 -3.86800858e-03, 4.25841321e-01, 2.17308238e-01, 9.40581588e-02,
 -2.45185040e-06,-4.94640563e-05,-3.61791878e-05,-1.56232516e-06,
 -1.27673033e-04,-7.48601863e-05, 1.00770343e-05,-2.03184509e-05,
  7.12195665e-03,-9.67194133e-04,-4.90566793e+00, 1.07693923e-03,
  1.20958474e-02,-4.96356286e-04]


--- Step 1513 ---
qpos:
[ 1.85475527e-02, 3.00320304e-02,-9.43516991e-03,-2.52581852e-02,
  5.30393219e-04, 3.24370793e-01,-2.12876776e-01, 4.77850616e-01,
  1.15553171e-02, 2.76954014e-02,-8.24311780e-03, 2.64615493e-02,
  1.22040507e+00, 5.77964017e-03, 1.21081772e+00, 4.47339632e-02,
  3.72070936e-02,-7.34114490e-02, 1.75564915e-01, 9.94890622e-01,
  1.68268410e-02,-9.88617932e-02,-1.16555945e-02]

qacc:
[-9.85945568e-01,-5.49053217e-01, 1.72727706e+00,-4.87946738e-01,
  3.79050008e+00, 1.07854247e+01,-7.18644560e+01, 3.39722174e+02,
 -3.11355112e+00,-1.86805623e-01, 2.07527996e-01,-3.88385498e-01,
 -1.09258893e+00, 1.21116540e+00, 3.40956865e+00,-1.14382848e+01,
 -1.81845017e+00, 3.66776833e-01,-5.06123086e-01,-2.55348379e+00,
 -1.58011513e+01,-1.21379279e+00]

qfrc_actuator:
[ 5.67890805e-05, 9.39937236e-04, 1.34969472e-04,-4.77801319e-05,
 -3.63108585e-03, 5.27757242e-01, 1.93546880e-01, 2.44965302e-01,
 -7.72647173e-05, 8.10762070e-04, 1.24590507e-04, 7.95825614e-05,
  1.52852850e-02, 3.21600576e-04, 0.00000000e+00,-1.34032706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001234417326212903
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71065445e-01,  1.43757443e-01, -1.90697927e-01,  1.41063115e-01,
        9.89612953e-01,  2.77019883e-02,  1.92699506e-01, -3.46944695e-18,
       -9.81257815e-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([ 0.09138988, -0.07831331,  0.1171268 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020605288328724713
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69402448e-13,  2.69402448e-13,  1.00000000e+00,  7.25776791e-26,
        1.00000000e+00, -2.69402448e-13, -1.00000000e+00,  0.00000000e+00,
       -2.69402448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766207, -0.07872971,  0.06199643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.96042108e-06, 2.53987526e-05, 2.50930954e-05, 7.45940053e-06,
 -3.97286534e-03, 4.25918032e-01, 2.16878675e-01, 9.36776727e-02,
 -1.88348074e-05,-4.41853297e-05,-1.65819052e-05,-4.19896346e-06,
 -1.16542766e-04,-1.86280270e-05,-3.32785300e-06,-5.56219037e-05,
  7.31180936e-03,-1.00007394e-03,-4.90565005e+00, 1.09661177e-03,
  1.20977371e-02,-4.90462427e-04]


--- Step 1514 ---
qpos:
[ 1.85472376e-02, 3.00324792e-02,-9.43534672e-03,-2.52578450e-02,
  5.40799090e-04, 3.26251686e-01,-2.13352043e-01, 4.80891759e-01,
  1.15550246e-02, 2.76951667e-02,-8.24462310e-03, 2.64612004e-02,
  1.22078239e+00, 5.81643059e-03, 1.21097538e+00, 4.47372240e-02,
  3.66544360e-02,-7.33363351e-02, 1.75607617e-01, 9.94647327e-01,
  1.64521597e-02,-1.01308083e-01,-1.19454134e-02]

qacc:
[-5.73392572e-01, 1.39693288e+00,-6.49129240e+00, 1.40771917e+01,
  3.33190355e+00, 1.26766653e+01,-7.81068306e+01, 3.43817983e+02,
 -1.92385974e+00,-8.81523099e-01, 6.51842043e+00,-1.93125290e+01,
 -2.86371780e-01,-1.32191659e-01, 8.52422936e+00,-2.93528288e+01,
 -1.86396309e+00, 3.69212103e-01,-5.15813213e-01,-2.61248932e+00,
 -1.62426646e+01,-1.47845076e+00]

qfrc_actuator:
[ 5.35544315e-05, 9.42321090e-04, 1.27045692e-04,-2.65831257e-05,
 -3.62097441e-03, 5.29179712e-01, 1.93993884e-01, 2.46127881e-01,
 -8.82659419e-05, 8.41192966e-04, 1.24059290e-04, 4.34565047e-05,
  1.52626288e-02, 2.90833315e-04, 0.00000000e+00,-1.48131395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012646342448135038
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70056960e-01,  1.44377678e-01, -1.95306376e-01,  1.41537509e-01,
        9.89522656e-01,  2.84964482e-02,  1.97374335e-01,  3.46944695e-18,
       -9.80328196e-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([ 0.09115874, -0.07830722,  0.11718367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020499519260888666
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.41584908e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.41584908e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766164, -0.07873148,  0.06199645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40157541e-06, 2.20783387e-05, 6.68901322e-07, 2.32979438e-05,
 -4.05777192e-03, 4.26177825e-01, 2.16400887e-01, 9.38387924e-02,
 -1.15703133e-05, 2.13683597e-06,-1.18269250e-05,-3.86714880e-05,
 -8.75017381e-05,-6.39339404e-05,-1.31548522e-05,-1.45720475e-04,
  7.50764925e-03,-1.03388602e-03,-4.90563040e+00, 1.11814671e-03,
  1.20991082e-02,-4.84468365e-04]


--- Step 1515 ---
qpos:
[ 1.85465414e-02, 3.00331831e-02,-9.43566467e-03,-2.52569155e-02,
  5.52697015e-04, 3.28154116e-01,-2.13811011e-01, 4.83952505e-01,
  1.15556361e-02, 2.76948494e-02,-8.24583824e-03, 2.64607564e-02,
  1.22115933e+00, 5.85211583e-03, 1.21113282e+00, 4.47397601e-02,
  3.60941552e-02,-7.32597322e-02, 1.75648198e-01, 9.94394388e-01,
  1.60720319e-02,-1.03786722e-01,-1.22395683e-02]

qacc:
[ -3.27869323,  1.95218681, -8.94149918, 19.15248125,  2.9291779 ,
  14.13234773,-83.02572847,347.12592547,  7.72005984, -1.1310101 ,
   4.24985075, -6.2709037 ,  0.39870946, -1.30978321,  1.8258803 ,
  -6.97088589, -1.90581907,  0.372276  , -0.53053963, -2.655824  ,
 -16.64472313, -1.67196918]

qfrc_actuator:
[ 3.40267556e-05, 9.61221350e-04, 1.22419501e-04, 3.48911634e-06,
 -3.60232677e-03, 5.30492706e-01, 1.94441934e-01, 2.47141622e-01,
 -4.13569474e-05, 8.41732200e-04, 1.42208998e-04, 4.01242871e-05,
  1.52301543e-02, 2.22458793e-04, 0.00000000e+00,-1.51232364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012958004229381235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69012164e-01,  1.45003973e-01, -1.99973182e-01,  1.42011523e-01,
        9.89431073e-01,  2.93066456e-02,  2.02109260e-01, -6.93889390e-18,
       -9.79362980e-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([ 0.09092473, -0.07830105,  0.11724225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020383251944296188
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36168535e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36168535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766117, -0.0787333 ,  0.06199647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96214023e-05, 3.23667340e-05, 8.18681179e-07, 3.14931844e-05,
 -4.12339513e-03, 4.26337643e-01, 2.15973003e-01, 9.38583374e-02,
  4.65702551e-05,-2.34416914e-06, 1.58176044e-05,-4.39739544e-06,
 -9.34427295e-05,-1.07136501e-04,-2.68442330e-05,-4.18544015e-05,
  7.71181563e-03,-1.06881654e-03,-4.90560903e+00, 1.14220214e-03,
  1.20998567e-02,-4.78358782e-04]


--- Step 1516 ---
qpos:
[ 1.85459610e-02, 3.00340288e-02,-9.43572986e-03,-2.52553006e-02,
  5.65972581e-04, 3.30077680e-01,-2.14253895e-01, 4.87032807e-01,
  1.15561166e-02, 2.76936586e-02,-8.24652465e-03, 2.64617428e-02,
  1.22153569e+00, 5.88679205e-03, 1.21129002e+00, 4.47425320e-02,
  3.55261653e-02,-7.31816273e-02, 1.75686554e-01, 9.94131503e-01,
  1.56864281e-02,-1.06298084e-01,-1.25382952e-02]

qacc:
[ 1.00044539e+00, 8.90984380e-01,-5.79532450e+00, 1.71389410e+01,
  2.68267299e+00, 1.40363039e+01,-8.31261681e+01, 3.46636443e+02,
 -1.08603058e+00, 3.14883575e-01,-8.83424355e+00, 3.33867312e+01,
  2.54814238e-01,-1.13000622e+00,-1.11815408e+00, 3.28264691e+00,
 -1.92725455e+00, 3.75477297e-01,-5.55947842e-01,-2.67970337e+00,
 -1.68563228e+01,-1.78693806e+00]

qfrc_actuator:
[ 4.05700088e-05, 9.72126855e-04, 1.37608286e-04, 3.85597083e-05,
 -3.61454522e-03, 5.31252218e-01, 1.94902324e-01, 2.47472449e-01,
 -4.95039114e-05, 7.53469033e-04, 1.53410788e-04, 1.09370182e-04,
  1.51917949e-02, 1.67823100e-04, 0.00000000e+00,-1.49600386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013277698397467655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67929334e-01,  1.45636754e-01, -2.04701588e-01,  1.42485246e-01,
        9.89338130e-01,  3.01333528e-02,  2.06907610e-01, -3.46944695e-18,
       -9.78360486e-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([ 0.0906879 , -0.0782948 ,  0.11730249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020252646941171237
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74093314e-13,  2.74093314e-13,  1.00000000e+00,  7.51271449e-26,
        1.00000000e+00, -2.74093314e-13, -1.00000000e+00,  0.00000000e+00,
       -2.74093314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02766065, -0.07873517,  0.0619965 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97933964e-06, 3.04935973e-05, 2.30589334e-05, 3.70959775e-05,
 -4.21035202e-03, 4.25954769e-01, 2.15597021e-01, 9.32003521e-02,
 -6.78522636e-06,-8.64502747e-05, 1.25313290e-05, 6.96097510e-05,
 -1.12536420e-04,-1.06917249e-04,-2.00786433e-05, 9.84190975e-06,
  7.92392702e-03,-1.10489032e-03,-4.90558570e+00, 1.16830849e-03,
  1.21000500e-02,-4.72147588e-04]


--- Step 1517 ---
qpos:
[ 1.85451190e-02, 3.00346111e-02,-9.43533567e-03,-2.52542759e-02,
  5.79895494e-04, 3.32022900e-01,-2.14680267e-01, 4.90132612e-01,
  1.15561512e-02, 2.76921051e-02,-8.24772990e-03, 2.64632141e-02,
  1.22191132e+00, 5.92037017e-03, 1.21144751e+00, 4.47420951e-02,
  3.49504741e-02,-7.31020328e-02, 1.75722546e-01, 9.93858380e-01,
  1.52951732e-02,-1.08842220e-01,-1.28432852e-02]

qacc:
[-2.22683452e+00,-2.84398189e+00, 1.21270787e+01,-2.28757348e+01,
  1.27164554e+00, 1.35036873e+01,-7.99911445e+01, 3.41744344e+02,
 -3.81231277e+00, 1.97617268e+00,-9.77561340e+00, 1.92478348e+01,
 -9.40399029e-02,-8.02171765e-01, 1.01168064e+01,-3.48074625e+01,
 -1.92532818e+00, 3.72396974e-01,-5.91164035e-01,-2.85608269e+00,
 -1.69194713e+01,-2.61997708e+00]

qfrc_actuator:
[ 2.69059022e-05, 9.24988914e-04, 1.46595981e-04, 5.28695311e-06,
 -3.66351836e-03, 5.31760194e-01, 1.95363814e-01, 2.47083938e-01,
 -7.22582891e-05, 7.37016825e-04, 1.24583924e-04, 1.31912188e-04,
  1.51392838e-02, 1.04023974e-04, 0.00000000e+00,-1.66498858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013604531226227951
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67440418e-01,  1.41608129e-01, -2.09776487e-01,  1.38392032e-01,
        9.89922794e-01,  3.00084573e-02,  2.11911968e-01,  3.46944695e-18,
       -9.77288759e-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([ 0.09044109, -0.0783424 ,  0.11736113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020107062108495888
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38038941e-13,  2.76077882e-13,  1.00000000e+00,  3.81094985e-26,
        1.00000000e+00, -2.76077882e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38038941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276601 , -0.07873708,  0.06199653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34846298e-05,-2.37651111e-05, 1.93966592e-05,-3.04524962e-05,
 -4.32833848e-03, 4.25339682e-01, 2.15232499e-01, 9.18252686e-02,
 -2.29911207e-05,-5.91761136e-05,-4.27118777e-05, 2.06279443e-05,
 -1.36247682e-04,-1.20647764e-04,-1.15965253e-05,-1.71788061e-04,
  8.14164847e-03,-1.14196225e-03,-4.90556009e+00, 1.19579788e-03,
  1.20997723e-02,-4.65853964e-04]


--- Step 1518 ---
qpos:
[ 1.85441199e-02, 3.00348092e-02,-9.43495533e-03,-2.52542987e-02,
  5.94471028e-04, 3.33989943e-01,-2.15089671e-01, 4.93251871e-01,
  1.15555676e-02, 2.76904122e-02,-8.24937889e-03, 2.64645651e-02,
  1.22228596e+00, 5.95345175e-03, 1.21160482e+00, 4.47406348e-02,
  3.43670919e-02,-7.30209295e-02, 1.75756030e-01, 9.93574759e-01,
  1.48983003e-02,-1.11419048e-01,-1.31542963e-02]

qacc:
[-1.34234767e+00,-2.62422328e+00, 1.30358346e+01,-3.08410075e+01,
  1.27119449e+00, 1.24752719e+01,-7.58242263e+01, 3.36321258e+02,
 -5.28266839e+00, 8.18766155e-01,-2.66059560e+00, 1.37080305e+00,
 -5.21354589e-01, 2.31382431e-02, 2.85684044e+00,-1.03131036e+01,
 -1.92275575e+00, 3.77226460e-01,-6.26948751e-01,-2.82925655e+00,
 -1.68992357e+01,-2.50372529e+00]

qfrc_actuator:
[ 1.92012524e-05, 8.78878708e-04, 1.33802662e-04,-5.02376600e-05,
 -3.69885982e-03, 5.32072767e-01, 1.95819103e-01, 2.46557850e-01,
 -1.03409802e-04, 7.45737202e-04, 1.08081211e-04, 1.26805383e-04,
  1.50942939e-02, 8.84773683e-05, 0.00000000e+00,-1.71102144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013938678988589441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66277644e-01,  1.42271500e-01, -2.14630693e-01,  1.38886569e-01,
        9.89827672e-01,  3.08496433e-02,  2.16836425e-01,  3.46944695e-18,
       -9.76207952e-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([ 0.09019873, -0.07833576,  0.11742476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001994895253191742
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17398992e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.17398992e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0276595 , -0.07873904,  0.06199655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10784202e-06,-5.67271464e-05,-1.63785848e-05,-5.64677769e-05,
 -4.39612269e-03, 4.24502206e-01, 2.14839948e-01, 9.03152473e-02,
 -3.18511927e-05,-3.22509363e-05,-3.32435463e-05,-8.71531660e-06,
 -1.44631430e-04,-8.16641634e-05,-2.95271697e-05,-5.82168597e-05,
  8.36430899e-03,-1.17971044e-03,-4.90553239e+00, 1.23008098e-03,
  1.20980479e-02,-4.59341908e-04]


--- Step 1519 ---
qpos:
[ 1.85433806e-02, 3.00348603e-02,-9.43485210e-03,-2.52546530e-02,
  6.09676164e-04, 3.35978751e-01,-2.15481760e-01, 4.96390533e-01,
  1.15542704e-02, 2.76878807e-02,-8.25036659e-03, 2.64655123e-02,
  1.22265964e+00, 5.98625522e-03, 1.21176195e+00, 4.47385892e-02,
  3.37760147e-02,-7.29382990e-02, 1.75786872e-01, 9.93280366e-01,
  1.44958326e-02,-1.14028562e-01,-1.34711847e-02]

qacc:
[ 2.22246457e+00,-1.06971305e-01, 1.48814722e+00,-6.65881776e+00,
  1.21794229e+00, 1.14254428e+01,-7.19789809e+01, 3.31382862e+02,
 -6.05137256e+00,-3.77614146e+00, 1.35804659e+01,-2.10287135e+01,
 -6.00572083e-01, 2.72961876e-01, 1.55486876e+00,-5.71563215e+00,
 -1.92374926e+00, 3.81782462e-01,-6.60472493e-01,-2.81162542e+00,
 -1.69185581e+01,-2.43542143e+00]

qfrc_actuator:
[ 3.28249980e-05, 8.86869012e-04, 1.25982836e-04,-6.51621942e-05,
 -3.74403912e-03, 5.32223761e-01, 1.96210351e-01, 2.46101236e-01,
 -1.39249007e-04, 6.80719609e-04, 1.34610683e-04, 1.05520459e-04,
  1.50591929e-02, 8.39673365e-05, 0.00000000e+00,-1.73744304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014280322102287512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65072840e-01,  1.42943772e-01, -2.19548380e-01,  1.39382497e-01,
        9.89730811e-01,  3.17086962e-02,  2.21826357e-01, -6.93889390e-18,
       -9.75086185e-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([ 0.08995357, -0.07832904,  0.11749017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001978069238351421
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80633004e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.80633004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765886, -0.07874106,  0.06199658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33696969e-05,-2.95424754e-05,-2.35120998e-05,-1.90202683e-05,
 -4.47401151e-03, 4.23493798e-01, 2.14360083e-01, 8.88769436e-02,
 -3.67893345e-05,-9.02283637e-05, 1.55081515e-05,-2.39812243e-05,
 -1.29790205e-04,-6.17136616e-05,-2.40282827e-05,-3.43056135e-05,
  8.58937450e-03,-1.21833845e-03,-4.90550190e+00, 1.26399718e-03,
  1.20961011e-02,-4.52796321e-04]


--- Step 1520 ---
qpos:
[ 1.85424653e-02, 3.00349834e-02,-9.43499243e-03,-2.52552147e-02,
  6.25528531e-04, 3.37989966e-01,-2.15856110e-01, 4.99548502e-01,
  1.15535868e-02, 2.76847861e-02,-8.25107786e-03, 2.64658433e-02,
  1.22303255e+00, 6.01866558e-03, 1.21191876e+00, 4.47375439e-02,
  3.31772444e-02,-7.28541225e-02, 1.75814934e-01, 9.92974927e-01,
  1.40877973e-02,-1.16670730e-01,-1.37937736e-02]

qacc:
[-1.51789449e+00, 3.51547404e-01,-2.35767797e-01,-3.02094466e+00,
  1.23880246e+00, 1.10009449e+01,-6.88577404e+01, 3.25834983e+02,
  5.24985454e+00,-2.79567100e+00, 1.14724294e+01,-2.21454600e+01,
 -2.53731323e-01,-1.72461394e-01,-3.48746706e+00, 1.15376731e+01,
 -1.92328329e+00, 3.86498377e-01,-6.94961840e-01,-2.79006368e+00,
 -1.69256515e+01,-2.35144980e+00]

qfrc_actuator:
[ 2.33864864e-05, 9.09483696e-04, 1.21415925e-04,-7.37763698e-05,
 -3.79535914e-03, 5.32535430e-01, 1.96591547e-01, 2.45554309e-01,
 -1.06547600e-04, 6.60977519e-04, 1.50526676e-04, 7.48602055e-05,
  1.50300570e-02, 6.83067868e-05, 0.00000000e+00,-1.68111593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00146291009923239
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96382479,  0.1436245 , -0.22453011,  0.13987908,  0.98963226,
        0.03258587,  0.22688237,  0.        , -0.97392217])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08970561, -0.07832225,  0.11755738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019603703447562681
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41583327e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.41583327e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765817, -0.07874313,  0.06199662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.05767297e-06, 4.29225240e-07,-1.42230427e-05,-1.10628430e-05,
 -4.55689070e-03, 4.22648182e-01, 2.13852411e-01, 8.73509130e-02,
  3.15829070e-05,-6.79385115e-05,-1.60243378e-06,-3.44500071e-05,
 -1.11268392e-04,-6.38287485e-05,-1.89303856e-05, 5.04596394e-05,
  8.81739847e-03,-1.25787792e-03,-4.90546857e+00, 1.29791786e-03,
  1.20938606e-02,-4.46209860e-04]


--- Step 1521 ---
qpos:
[ 1.85417889e-02, 3.00351225e-02,-9.43550211e-03,-2.52555144e-02,
  6.42225667e-04, 3.40025167e-01,-2.16212079e-01, 5.02725630e-01,
  1.15532998e-02, 2.76815814e-02,-8.25237616e-03, 2.64661513e-02,
  1.22340471e+00, 6.05106503e-03, 1.21207569e+00, 4.47351361e-02,
  3.25708091e-02,-7.27683745e-02, 1.75840065e-01, 9.92658188e-01,
  1.36742521e-02,-1.19345380e-01,-1.41215262e-02]

qacc:
[  2.03764167,  1.5893266 , -6.74526658, 11.8576499 ,  1.58605997,
  11.12960481,-65.73918148,318.49762054,  3.36603873,  1.44114762,
  -5.26362627,  5.89597882, -0.69027253,  0.61672053,  4.34984234,
 -14.83404617, -1.91623973,  0.39286063, -0.73264883, -2.73325004,
 -16.86089823, -2.091446  ]

qfrc_actuator:
[ 3.59476462e-05, 9.05207390e-04, 1.01125409e-04,-6.08430689e-05,
 -3.79737518e-03, 5.33058421e-01, 1.96994866e-01, 2.44732497e-01,
 -8.70214608e-05, 6.68460521e-04, 1.24689650e-04, 7.44540139e-05,
  1.50098439e-02, 8.16874474e-05, 0.00000000e+00,-1.75401761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014985363750334329
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96253243,  0.1443133 , -0.22957569,  0.14037568,  0.98953205,
        0.03348131,  0.2320043 ,  0.        , -0.97271476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0894548 , -0.07831538,  0.11762647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019419592709324363
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85851264e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.85851264e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765743, -0.07874525,  0.06199665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22982619e-05,-7.44929330e-06,-2.23335831e-05, 1.22460095e-05,
 -4.59135191e-03, 4.21980785e-01, 2.13345201e-01, 8.55546047e-02,
  2.04194167e-05,-3.21875573e-05,-4.12182991e-05,-4.03722833e-06,
 -9.29394590e-05,-3.11346321e-05,-6.69157968e-06,-7.33007691e-05,
  9.04816800e-03,-1.29832727e-03,-4.90543229e+00, 1.33168780e-03,
  1.20913399e-02,-4.39588655e-04]


--- Step 1522 ---
qpos:
[ 1.85416132e-02, 3.00350524e-02,-9.43618429e-03,-2.52552959e-02,
  6.60147523e-04, 3.42086674e-01,-2.16548967e-01, 5.05921696e-01,
  1.15525598e-02, 2.76783161e-02,-8.25350114e-03, 2.64663922e-02,
  1.22377631e+00, 6.08309622e-03, 1.21223277e+00, 4.47301901e-02,
  3.19567515e-02,-7.26810232e-02, 1.75862111e-01, 9.92329904e-01,
  1.32552769e-02,-1.22052259e-01,-1.44535740e-02]

qacc:
[ 4.29369949e+00, 1.26486189e+00,-7.10728465e+00, 1.65083921e+01,
  2.25444401e+00, 1.19330687e+01,-6.33369366e+01, 3.10056304e+02,
 -3.85676935e+00,-6.95081745e-01, 2.65830900e+00,-4.06546650e+00,
 -3.98877146e-01, 8.53555177e-02, 7.92179559e+00,-2.73332419e+01,
 -1.90557300e+00, 4.00854209e-01,-7.71617085e-01,-2.64489700e+00,
 -1.67528812e+01,-1.66894327e+00]

qfrc_actuator:
[ 6.13642280e-05, 8.84823727e-04, 8.93765839e-05,-3.53677646e-05,
 -3.73475999e-03, 5.33768675e-01, 1.97350464e-01, 2.43720426e-01,
 -1.10934200e-04, 6.92050930e-04, 1.45564246e-04, 7.41009363e-05,
  1.49790325e-02, 5.90099833e-05, 0.00000000e+00,-1.88474112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015350443772575266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96119499,  0.14500941, -0.23468377,  0.14087129,  0.98943028,
        0.0343949 ,  0.23719081,  0.        , -0.97146308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.089201  , -0.07830846,  0.11769758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019230937262518233
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44327732e-13,  2.88655464e-13,  1.00000000e+00,  4.16609885e-26,
        1.00000000e+00, -2.88655464e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44327732e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765663, -0.07874743,  0.06199668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57728921e-05,-2.86295249e-05,-1.56090944e-05, 2.46232611e-05,
 -4.57108066e-03, 4.21420747e-01, 2.12757765e-01, 8.35753846e-02,
 -2.33349095e-05,-2.95962918e-06, 9.06008522e-06,-3.22875097e-06,
 -8.64925035e-05,-5.36165756e-05,-1.60836051e-05,-1.36730220e-04,
  9.28037782e-03,-1.33967645e-03,-4.90539284e+00, 1.36380420e-03,
  1.20887793e-02,-4.32972808e-04]


--- Step 1523 ---
qpos:
[ 1.85424333e-02, 3.00344042e-02,-9.43650774e-03,-2.52554535e-02,
  6.79505344e-04, 3.44176417e-01,-2.16866965e-01, 5.09136412e-01,
  1.15515385e-02, 2.76751442e-02,-8.25390809e-03, 2.64665680e-02,
  1.22414731e+00, 6.11445969e-03, 1.21238916e+00, 4.47283843e-02,
  3.13349958e-02,-7.25920399e-02, 1.75880962e-01, 9.91989757e-01,
  1.28309006e-02,-1.24791676e-01,-1.47894708e-02]

qacc:
[ 8.56467992e+00,-2.55826947e+00, 9.56678840e+00,-1.61820355e+01,
  2.60403993e+00, 1.43339390e+01,-6.68991539e+01, 3.07045064e+02,
 -2.37806485e+00,-2.01279349e+00, 7.63847438e+00,-9.98954552e+00,
  2.48261833e-01,-9.12694968e-01,-1.05489679e+01, 3.53392161e+01,
 -1.92454767e+00, 4.07985612e-01,-7.98527657e-01,-2.60091458e+00,
 -1.69327365e+01,-1.45019520e+00]

qfrc_actuator:
[ 1.11889355e-04, 8.37241813e-04, 1.00456284e-04,-5.59861704e-05,
 -3.65183655e-03, 5.35111952e-01, 1.97651625e-01, 2.43651915e-01,
 -1.24714049e-04, 7.25300281e-04, 1.93940264e-04, 7.38329708e-05,
  1.49365473e-02, 1.50593507e-05, 0.00000000e+00,-1.71113714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015726330133592926
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95981197,  0.14571163, -0.23985227,  0.14136454,  0.9893271 ,
        0.0353263 ,  0.2424398 ,  0.        , -0.97016645])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088944  , -0.07830148,  0.11777091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019040634928740863
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45770221e-13,  5.83080884e-13,  1.00000000e+00,  8.49958293e-26,
        1.00000000e+00, -5.83080884e-13, -1.00000000e+00,  0.00000000e+00,
       -1.45770221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765577, -0.07874966,  0.06199672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12666621e-05,-6.57412174e-05, 4.10367871e-06,-2.19045556e-05,
 -4.54953935e-03, 4.21376741e-01, 2.12080433e-01, 8.25506610e-02,
 -1.44766658e-05, 3.34477840e-05, 4.88198586e-05,-1.34063835e-07,
 -1.00488308e-04,-7.95021428e-05,-2.70076162e-05, 1.62957342e-04,
  9.51306826e-03,-1.38193723e-03,-4.90535004e+00, 1.39282475e-03,
  1.20864122e-02,-4.26400212e-04]


--- Step 1524 ---
qpos:
[ 1.85438532e-02, 3.00332708e-02,-9.43701639e-03,-2.52551397e-02,
  7.00394374e-04, 3.46295514e-01,-2.17166753e-01, 5.12369490e-01,
  1.15510490e-02, 2.76719104e-02,-8.25365789e-03, 2.64671082e-02,
  1.22451757e+00, 6.14537775e-03, 1.21254541e+00, 4.47282795e-02,
  3.07053983e-02,-7.25013985e-02, 1.75896531e-01, 9.91637375e-01,
  1.24011232e-02,-1.27564260e-01,-1.51290319e-02]

qacc:
[ 5.14803728e+00, 8.37387311e-01,-5.91776215e+00, 1.47349392e+01,
  2.74049428e+00, 1.69338328e+01,-7.26309198e+01, 3.07106222e+02,
  4.55545006e+00,-1.17730538e+00, 2.52473157e+00, 2.79443050e+00,
 -1.59488571e-01,-3.14664593e-01,-5.36374678e+00, 1.84454625e+01,
 -1.96042385e+00, 4.14506886e-01,-8.20312740e-01,-2.58388316e+00,
 -1.72779513e+01,-1.35817586e+00]

qfrc_actuator:
[ 1.41278835e-04, 8.09298839e-04, 8.92656232e-05,-3.25632840e-05,
 -3.55742930e-03, 5.36645064e-01, 1.97930433e-01, 2.44106749e-01,
 -9.68994556e-05, 7.10957348e-04, 2.22697833e-04, 9.13935548e-05,
  1.48977324e-02,-5.70315938e-06, 0.00000000e+00,-1.62588914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001611385202305197
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95838223,  0.14641927, -0.2450814 ,  0.14185445,  0.98922262,
        0.0362756 ,  0.24775152,  0.        , -0.96882361])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08868367, -0.07829445,  0.11784656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018847100068454525
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.94534178e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.94534178e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765486, -0.07875194,  0.06199675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08636537e-05,-6.47521320e-05,-2.50120394e-05, 2.03238567e-05,
 -4.52710348e-03, 4.21424936e-01, 2.11389745e-01, 8.20635879e-02,
  2.73894559e-05, 1.45509230e-05, 4.17161985e-05, 2.06885518e-05,
 -1.09464798e-04,-6.71937568e-05, 3.40909355e-06, 9.03683037e-05,
  9.75047120e-03,-1.42539379e-03,-4.90530400e+00, 1.42054744e-03,
  1.20839482e-02,-4.19826129e-04]


--- Step 1525 ---
qpos:
[ 1.85452699e-02, 3.00321764e-02,-9.43791942e-03,-2.52542557e-02,
  7.23007876e-04, 3.48444474e-01,-2.17448656e-01, 5.15620701e-01,
  1.15508965e-02, 2.76685108e-02,-8.25292422e-03, 2.64675354e-02,
  1.22488718e+00, 6.17555298e-03, 1.21270168e+00, 4.47288580e-02,
  3.00678640e-02,-7.24090718e-02, 1.75908706e-01, 9.91272410e-01,
  1.19659606e-02,-1.30370417e-01,-1.54719063e-02]

qacc:
[-3.98261946e-02, 2.32874217e+00,-1.06286584e+01, 2.10845052e+01,
  3.04911968e+00, 1.79829994e+01,-7.43349462e+01, 3.04574954e+02,
  2.89233477e+00,-1.80864519e+00, 6.59837805e+00,-9.19451327e+00,
  3.93494495e-02,-7.15028147e-01,-2.06198255e+00, 7.19990185e+00,
 -1.98420514e+00, 4.21343281e-01,-8.48862817e-01,-2.54937888e+00,
 -1.75094357e+01,-1.18639158e+00]

qfrc_actuator:
[ 1.40232100e-04, 8.46535410e-04, 8.28658077e-05,-1.16523323e-06,
 -3.45680140e-03, 5.37640568e-01, 1.98188955e-01, 2.44087300e-01,
 -8.03338837e-05, 6.85929701e-04, 2.39458003e-04, 8.37425475e-05,
  1.48611546e-02,-4.80132685e-05, 0.00000000e+00,-1.59347166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016512619476433494
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56904119e-01,  1.47131856e-01, -2.50373170e-01,  1.42340183e-01,
        9.89116887e-01,  3.72431911e-02,  2.53127991e-01, -1.38777878e-17,
       -9.67432799e-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([ 0.08841995, -0.07828738,  0.11792459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018646550630734005
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48850992e-13, -2.97701984e-13,  1.00000000e+00, -4.43132357e-26,
        1.00000000e+00,  2.97701984e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48850992e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765387, -0.07875427,  0.06199679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65721070e-07,-3.21521176e-06,-2.21348296e-05, 2.81575328e-05,
 -4.50322582e-03, 4.20878420e-01, 2.10712317e-01, 8.11164177e-02,
  1.73611820e-05,-7.26605492e-06, 2.56519817e-05,-5.17717493e-06,
 -1.08683580e-04,-8.75396145e-05, 7.10401834e-06, 3.68968096e-05,
  9.99517748e-03,-1.47023178e-03,-4.90525465e+00, 1.44811329e-03,
  1.20811969e-02,-4.13223136e-04]


--- Step 1526 ---
qpos:
[ 1.85459737e-02, 3.00314327e-02,-9.43905528e-03,-2.52537455e-02,
  7.47586872e-04, 3.50623766e-01,-2.17712738e-01, 5.18889831e-01,
  1.15502548e-02, 2.76649502e-02,-8.25249305e-03, 2.64679227e-02,
  1.22525621e+00, 6.20474190e-03, 1.21285791e+00, 4.47301594e-02,
  2.94223271e-02,-7.23150336e-02, 1.75917353e-01, 9.90894519e-01,
  1.15254314e-02,-1.33210418e-01,-1.58177377e-02]

qacc:
[-6.12932620e+00, 3.56129401e-01, 9.98236146e-01,-7.36894875e+00,
  3.43524310e+00, 1.83828982e+01,-7.39421220e+01, 3.00256069e+02,
 -4.17904687e+00, 5.58918975e-01,-2.11912861e+00, 2.01634910e+00,
  2.53620398e-01,-1.11602871e+00,-2.29328403e+00, 7.82669167e+00,
 -2.00064434e+00, 4.27874986e-01,-8.81765717e-01,-2.51352323e+00,
 -1.76768622e+01,-1.01321431e+00]

qfrc_actuator:
[ 1.03534033e-04, 8.87044367e-04, 7.96237563e-05,-1.85274282e-05,
 -3.37099947e-03, 5.38407775e-01, 1.98446098e-01, 2.43758414e-01,
 -1.06041092e-04, 6.54619751e-04, 2.13425296e-04, 7.90488963e-05,
  1.48259364e-02,-1.02776359e-04, 0.00000000e+00,-1.55690985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001692189918187142
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95537599,  0.14784852, -0.25572941,  0.14282052,  0.98901002,
        0.03822935,  0.2585711 ,  0.        , -0.96599223])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815283, -0.07828025,  0.11800503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018437289454160954
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50540434e-13,  3.01080869e-13,  1.00000000e+00,  4.53248447e-26,
        1.00000000e+00, -3.01080869e-13, -1.00000000e+00,  0.00000000e+00,
       -1.50540434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765282, -0.07875666,  0.06199682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67000827e-05, 3.53886770e-05,-5.63811695e-06,-1.77151326e-05,
 -4.50386414e-03, 4.20077068e-01, 2.10049178e-01, 7.98712944e-02,
 -2.52115287e-05,-3.01771403e-05,-2.45238312e-05,-4.21396481e-06,
 -1.11832847e-04,-1.05454639e-04, 2.55064094e-06, 3.84575730e-05,
  1.02455651e-02,-1.51636312e-03,-4.90520177e+00, 1.47472812e-03,
  1.20782690e-02,-4.06613194e-04]


--- Step 1527 ---
qpos:
[ 1.85458873e-02, 3.00311241e-02,-9.44058869e-03,-2.52534472e-02,
  7.74382785e-04, 3.52833357e-01,-2.17959110e-01, 5.22176689e-01,
  1.15493099e-02, 2.76612674e-02,-8.25298124e-03, 2.64689806e-02,
  1.22562453e+00, 6.23306416e-03, 1.21301432e+00, 4.47302119e-02,
  2.87687091e-02,-7.22192571e-02, 1.75922343e-01, 9.90503347e-01,
  1.10795494e-02,-1.36084600e-01,-1.61661683e-02]

qacc:
[-6.79881187e+00, 1.26318221e+00,-2.75331490e+00,-6.20060171e-01,
  3.83189753e+00, 1.83061490e+01,-7.29120720e+01, 2.96199888e+02,
 -2.61176798e+00, 3.79348572e+00,-1.65822972e+01, 2.97361538e+01,
 -7.96093787e-02,-6.65110304e-01, 4.04387099e+00,-1.37708750e+01,
 -2.02028129e+00, 4.34577007e-01,-9.14312066e-01,-2.47830352e+00,
 -1.78761321e+01,-8.39358630e-01]

qfrc_actuator:
[ 6.39087648e-05, 9.11436800e-04, 6.05199304e-05,-2.89245195e-05,
 -3.25951868e-03, 5.39025589e-01, 1.98713077e-01, 2.43485364e-01,
 -1.20915176e-04, 6.37354555e-04, 1.62309439e-04, 1.11606924e-04,
  1.47862262e-02,-1.46717999e-04, 0.00000000e+00,-1.62469024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001734108524663794
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53796253e-01,  1.48568395e-01, -2.61151565e-01,  1.43294239e-01,
        9.88902135e-01,  3.92342857e-02,  2.64082315e-01,  6.93889390e-18,
       -9.64500146e-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([ 0.08788229, -0.07827307,  0.11808792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001821891213879684
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02765169, -0.0787591 ,  0.06199686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06780043e-05, 4.22824927e-05,-1.30805880e-05,-9.41753523e-06,
 -4.49090812e-03, 4.19101696e-01, 2.09398640e-01, 7.86925893e-02,
 -1.56333014e-05,-3.92746283e-05,-6.04797071e-05, 3.03413008e-05,
 -1.22256425e-04,-1.00355081e-04, 9.66732809e-07,-6.63115978e-05,
  1.05007839e-02,-1.56372195e-03,-4.90514518e+00, 1.50027423e-03,
  1.20751621e-02,-4.00000777e-04]


--- Step 1528 ---
qpos:
[ 1.85456709e-02, 3.00313163e-02,-9.44239095e-03,-2.52536386e-02,
  7.79899727e-04, 3.55077073e-01,-2.18186174e-01, 5.25481526e-01,
  1.15481935e-02, 2.76573179e-02,-8.25431146e-03, 2.64700890e-02,
  1.22599211e+00, 6.26061498e-03, 1.21317047e+00, 4.47314641e-02,
  2.81068169e-02,-7.21237628e-02, 1.75924562e-01, 9.90097858e-01,
  1.06280202e-02,-1.38990517e-01,-1.65805008e-02]

qacc:
[-1.13325105e+00, 4.06512293e-01, 1.57784870e+00,-9.98744577e+00,
 -3.62056477e+01, 1.94980080e+01,-7.07467549e+01, 2.93110312e+02,
 -1.48292496e+00, 2.10784642e+00,-8.23504082e+00, 1.06453387e+01,
  2.50190392e-02,-7.49871013e-01,-4.04147293e+00, 1.35172148e+01,
 -2.06855710e+00,-7.05393849e-02,-6.92785942e-01,-6.94504435e+00,
 -1.71019827e+01,-3.21937429e+01]

qfrc_actuator:
[ 5.83948776e-05, 9.43687223e-04, 4.99095393e-05,-5.29076098e-05,
 -3.11591557e-03, 5.39559419e-01, 1.98978940e-01, 2.43167827e-01,
 -1.29279693e-04, 6.10789296e-04, 1.14634188e-04, 1.12563652e-04,
  1.47491784e-02,-1.83891890e-04, 0.00000000e+00,-1.55811444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017769018435518159
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52163108e-01,  1.49290488e-01, -2.66641643e-01,  1.43759958e-01,
        9.88793381e-01,  4.02582194e-02,  2.69663661e-01,  6.93889390e-18,
       -9.62954573e-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([ 0.08760835, -0.07826582,  0.11817328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.24374482,  0.12248149,  4.24197694,  0.12248149, 35.99913446,
       -0.91689502,  4.24197694, -0.91689502,  4.27021895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001803609518212105
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53889050e-13,  1.11462055e-06,  1.00000000e+00, -1.71527898e-19,
        1.00000000e+00, -1.11462055e-06, -1.00000000e+00, -2.40741243e-35,
        1.53889050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02759766, -0.07341946,  0.06199689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68110684e-06, 5.28040542e-05,-3.79189125e-06,-2.28035810e-05,
 -4.45843675e-03, 4.18042784e-01, 2.08751952e-01, 7.74787516e-02,
 -8.84729570e-06,-5.95923902e-05,-6.21413773e-05,-2.22109339e-06,
 -1.24102187e-04,-9.44634859e-05,-1.20679300e-05, 6.18668510e-05,
  1.07613355e-02,-1.61237298e-03,-4.90508472e+00, 1.52472255e-03,
  1.20718697e-02,-3.93387834e-04]


--- Step 1529 ---
qpos:
[ 1.85447001e-02, 3.00319974e-02,-9.44406644e-03,-2.52541423e-02,
  7.38696859e-04, 3.57366654e-01,-2.18389997e-01, 5.28804234e-01,
  1.15469850e-02, 2.76531204e-02,-8.25598522e-03, 2.64711635e-02,
  1.22635907e+00, 6.28739004e-03, 1.21332632e+00, 4.47351502e-02,
  2.74362182e-02,-7.20305012e-02, 1.75924617e-01, 9.89677628e-01,
  1.01716141e-02,-1.41921620e-01,-1.71168021e-02]

qacc:
[-6.47573884e+00,-3.38760094e-01, 3.48170291e+00,-9.46339644e+00,
 -7.86961224e+01, 2.43037430e+01,-6.53679195e+01, 2.73310201e+02,
 -7.92269455e-01, 5.64188636e-01,-2.34158308e+00, 2.48419450e+00,
  2.35026556e-01,-9.67765458e-01,-7.86445363e+00, 2.67446683e+01,
 -2.17663067e+00,-5.58186322e-01,-5.40994196e-01,-1.06034595e+01,
 -1.41819866e+01,-6.00300259e+01]

qfrc_actuator:
[ 1.97459428e-05, 9.80412764e-04, 6.21781433e-05,-6.69270031e-05,
 -3.00144046e-03, 5.39991408e-01, 1.99235451e-01, 2.42461204e-01,
 -1.33749025e-04, 6.14342566e-04, 1.04818972e-04, 1.12664028e-04,
  1.47297352e-02,-2.16753696e-04, 0.00000000e+00,-1.43062637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001820975424460952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50461225e-01,  1.50120846e-01, -2.72189623e-01,  1.44319522e-01,
        9.88667655e-01,  4.13296989e-02,  2.75309525e-01, -6.93889390e-18,
       -9.61355639e-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([ 0.08733082, -0.07825831,  0.1182615 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.25613856e+00,  1.11990203e-02,  4.25612382e+00,  1.11990203e-02,
        2.20355697e+01, -4.67825229e-02,  4.25612382e+00, -4.67825229e-02,
        4.25626165e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0001872844677551222
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48200093e-13,  1.48200093e-13,  1.00000000e+00,  2.19632677e-26,
        1.00000000e+00, -1.48200093e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48200093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0275538 , -0.06817065,  0.06199677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88228401e-05, 6.45063929e-05, 2.19381810e-05,-1.23295228e-05,
 -3.27780719e-03, 4.16689443e-01, 2.08015543e-01, 7.58632321e-02,
 -4.76052923e-06,-4.25531558e-05,-2.97972254e-05,-4.63731302e-06,
 -1.05879200e-04,-8.90014477e-05,-2.53080660e-06, 1.28536854e-04,
  1.10757909e-02,-1.63667610e-03,-4.90503500e+00, 1.82373105e-03,
  1.20206967e-02,-3.79974033e-04]


--- Step 1530 ---
qpos:
[ 1.85432737e-02, 3.00327415e-02,-9.44512152e-03,-2.52547898e-02,
  6.46981133e-04, 3.59700618e-01,-2.18570770e-01, 5.32144532e-01,
  1.15453869e-02, 2.76488772e-02,-8.25705773e-03, 2.64717927e-02,
  1.22672532e+00, 6.31397340e-03, 1.21348202e+00, 4.47409888e-02,
  2.67569511e-02,-7.19392273e-02, 1.75922106e-01, 9.89242122e-01,
  9.71153088e-03,-1.44879826e-01,-1.77636088e-02]

qacc:
[-3.89124646e+00,-1.93954394e+00, 7.65323610e+00,-1.11872726e+01,
 -8.41828372e+01, 2.25335854e+01,-6.08104984e+01, 2.66014446e+02,
 -3.30349576e+00,-2.65133239e+00, 1.12572165e+01,-1.99041902e+01,
 -2.72704914e-01,-5.18610939e-03,-6.69760944e+00, 2.31712057e+01,
 -2.16707954e+00,-4.96919053e-01,-6.41338320e-01,-9.35156482e+00,
 -1.50883608e+01,-5.44144956e+01]

qfrc_actuator:
[-2.60255504e-06, 9.66377029e-04, 8.78860696e-05,-7.49498134e-05,
 -2.90599500e-03, 5.40106119e-01, 1.99456941e-01, 2.41762582e-01,
 -1.53644563e-04, 6.53807617e-04, 1.53063362e-04, 9.45621234e-05,
  1.47102172e-02,-2.11210077e-04, 0.00000000e+00,-1.32156308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018666320323027835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94867885,  0.15115372, -0.27777869,  0.14506307,  0.98851027,
        0.04247531,  0.28100739,  0.        , -0.9597056 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08704839, -0.07825058,  0.11835345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.26454547,  0.12958323, -4.26257625,  0.12958323, 32.52665933,
        0.85917434, -4.26257625,  0.85917434,  4.29066455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001918188079524652
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34090524e-13,  1.44696841e-13,  1.00000000e+00,  6.28115277e-26,
        1.00000000e+00, -1.44696841e-13, -1.00000000e+00,  0.00000000e+00,
       -4.34090524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755979, -0.06817331,  0.0619967 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34580206e-05, 2.60241941e-05, 4.13213076e-05,-4.73693565e-06,
 -8.41248417e-04, 4.14430369e-01, 2.07046883e-01, 7.42608467e-02,
 -2.00633349e-05, 9.47890013e-06, 3.56890454e-05,-2.10360752e-05,
 -9.48972346e-05,-4.48932987e-05, 9.34034252e-06, 1.15049304e-04,
  1.14327911e-02,-1.63701399e-03,-4.90499058e+00, 2.37182440e-03,
  1.19206329e-02,-3.60579013e-04]


--- Step 1531 ---
qpos:
[ 1.85415901e-02, 3.00335205e-02,-9.44576908e-03,-2.52558549e-02,
  5.02264645e-04, 3.62076656e-01,-2.18728926e-01, 5.35502180e-01,
  1.15439073e-02, 2.76442171e-02,-8.25736361e-03, 2.64718902e-02,
  1.22709080e+00, 6.34105897e-03, 1.21363779e+00, 4.47477578e-02,
  2.60690040e-02,-7.18496687e-02, 1.75916676e-01, 9.88790809e-01,
  9.24901068e-03,-1.47866916e-01,-1.85085453e-02]

qacc:
[ -2.19512279, -1.94887216,  8.78040032,-16.68038037,-87.37844705,
  20.37581254,-56.5812006 ,260.53117908,  1.04011279, -3.79016219,
  14.95530765,-25.06975333, -0.88041596,  1.1667802 , -2.65335191,
   9.58892791, -2.17002275, -0.42884106, -0.72986568, -7.98059356,
 -15.93020685,-48.36070811]

qfrc_actuator:
[-1.51677133e-05, 9.57620168e-04, 1.03360616e-04,-9.71708581e-05,
 -2.76398108e-03, 5.39978093e-01, 1.99648315e-01, 2.41328183e-01,
 -1.46956294e-04, 6.08200833e-04, 1.82078252e-04, 6.59639097e-05,
  1.46960117e-02,-1.65144334e-04, 0.00000000e+00,-1.27750474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019137673198880289
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46815506e-01,  1.52370830e-01, -2.83414056e-01,  1.45971516e-01,
        9.88323394e-01,  4.36942353e-02,  2.86762469e-01, -6.93889390e-18,
       -9.58001715e-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([ 0.08676126, -0.07824304,  0.11844906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.27002353,  0.3100445 , -4.25875256,  0.3100445 , 36.52225834,
        2.34801812, -4.25875256,  2.34801812,  4.44096329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001947081842950671
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85099219e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.85099219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756411, -0.06817619,  0.06199665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32422652e-05, 1.41101807e-05, 2.57821777e-05,-1.97660570e-05,
  1.83225563e-03, 4.12000971e-01, 2.06057041e-01, 7.29366055e-02,
  6.08844191e-06,-3.36828062e-05, 3.47007795e-05,-2.73555519e-05,
 -7.33217509e-05, 1.05353698e-05, 1.24202848e-05, 5.06156065e-05,
  1.18223594e-02,-1.64472807e-03,-4.90493409e+00, 2.88114486e-03,
  1.18223257e-02,-3.42530626e-04]


--- Step 1532 ---
qpos:
[ 1.85404580e-02, 3.00343028e-02,-9.44564161e-03,-2.52568539e-02,
  3.03236043e-04, 3.64492281e-01,-2.18865195e-01, 5.38876961e-01,
  1.15432081e-02, 2.76394116e-02,-8.25764856e-03, 2.64716620e-02,
  1.22745569e+00, 6.36866943e-03, 1.21379354e+00, 4.47553489e-02,
  2.53723028e-02,-7.17615348e-02, 1.75908015e-01, 9.88323150e-01,
  8.78526866e-03,-1.50884661e-01,-1.93387946e-02]

qacc:
[  4.75571368, -2.03523585,  6.96648586, -7.04396043,-88.56581711,
  18.74359232,-54.5585274 ,257.73092192,  6.65833575, -0.93427746,
   4.40529143, -9.94509619, -0.7619361 ,  1.08810485, -2.43187953,
   8.65232146, -2.18850931, -0.35616635, -0.80781799, -6.55227301,
 -16.7704158 ,-42.09753992]

qfrc_actuator:
[ 1.36262328e-05, 9.69786128e-04, 1.48165121e-04,-9.20742974e-05,
 -2.62459094e-03, 5.39937517e-01, 1.99812833e-01, 2.41311811e-01,
 -1.06917282e-04, 6.00703582e-04, 1.81396936e-04, 4.90849222e-05,
  1.46796982e-02,-1.30887810e-04, 0.00000000e+00,-1.23658292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001962140674078057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44870626e-01,  1.53752029e-01, -2.89101735e-01,  1.47023970e-01,
        9.88109464e-01,  4.49848726e-02,  2.92580676e-01, -6.93889390e-18,
       -9.56240842e-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([ 0.08646967, -0.07823608,  0.1185482 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.27287082,  0.47047671, -4.24689024,  0.47047671, 40.33409758,
        3.99491543, -4.24689024,  3.99491543,  4.7154334 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019619056103138688
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41472533e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41472533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756709, -0.06817937,  0.06199662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84111773e-05, 2.45172832e-05, 5.02133188e-05, 6.21073919e-06,
  4.62812948e-03, 4.09773019e-01, 2.05061303e-01, 7.20422863e-02,
  4.01904338e-05,-2.01677480e-05,-4.25532908e-06,-1.76438214e-05,
 -5.13077279e-05, 1.94417419e-05, 6.06963907e-06, 4.41469403e-05,
  1.22326055e-02,-1.65903035e-03,-4.90486563e+00, 3.34708277e-03,
  1.17291257e-02,-3.25983099e-04]


--- Step 1533 ---
qpos:
[ 1.85403693e-02, 3.00349692e-02,-9.44459992e-03,-2.52577788e-02,
  4.95912177e-05, 3.66944830e-01,-2.18980512e-01, 5.42268694e-01,
  1.15423043e-02, 2.76350572e-02,-8.25794231e-03, 2.64711582e-02,
  1.22782028e+00, 6.39623911e-03, 1.21394952e+00, 4.47613631e-02,
  2.46667208e-02,-7.16745285e-02, 1.75895843e-01, 9.87838600e-01,
  8.32144975e-03,-1.53934828e-01,-2.02415996e-02]

qacc:
[ 8.98139360e+00,-2.57345154e+00, 8.60933800e+00,-8.66858806e+00,
 -8.80824338e+01, 1.74489939e+01,-5.41540302e+01, 2.57265012e+02,
 -1.75209371e+00, 5.68485921e-02, 1.83216971e+00,-6.92703627e+00,
 -3.42673055e-01, 3.04403181e-01, 5.15394769e+00,-1.74455140e+01,
 -2.22018329e+00,-2.81903875e-01,-8.77870451e-01,-5.12409959e+00,
 -1.76153835e+01,-3.58694485e+01]

qfrc_actuator:
[ 6.65297684e-05, 9.59018248e-04, 1.92284449e-04,-8.86564193e-05,
 -2.53527394e-03, 5.39952823e-01, 1.99970670e-01, 2.41663801e-01,
 -1.18587658e-04, 6.69225181e-04, 1.98842196e-04, 3.92442541e-05,
  1.46621319e-02,-1.39445650e-04, 0.00000000e+00,-1.32207533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020114396305696554
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42843498e-01,  1.55276215e-01, -2.94848156e-01,  1.48198657e-01,
        9.87871093e-01,  4.63450200e-02,  2.98468249e-01,  6.93889390e-18,
       -9.54419564e-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([ 0.08617389, -0.07823005,  0.11865071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.2733729 ,  0.60423115, -4.23043977,  0.60423115, 43.86928455,
        5.65546003, -4.23043977,  5.65546003,  5.08113882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001964506110091746
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.4128526e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.4128526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756898, -0.06818291,  0.06199662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37353006e-05, 1.35644538e-05, 5.55737668e-05, 6.32502585e-06,
  7.43996481e-03, 4.07723894e-01, 2.04094651e-01, 7.15271739e-02,
 -1.05139071e-05, 5.57981473e-05, 1.22023939e-05,-1.11854979e-05,
 -3.92031469e-05,-1.56117270e-05, 2.99680055e-06,-8.33282855e-05,
  1.26538087e-02,-1.67921031e-03,-4.90478561e+00, 3.76683212e-03,
  1.16437977e-02,-3.11036694e-04]


--- Step 1534 ---
qpos:
[ 1.85416055e-02, 3.00353264e-02,-9.44318322e-03,-2.52579020e-02,
 -2.58042555e-04, 3.69431983e-01,-2.19075616e-01, 5.45677236e-01,
  1.15412683e-02, 2.76303347e-02,-8.25716251e-03, 2.64709153e-02,
  1.22818439e+00, 6.42410659e-03, 1.21410589e+00, 4.47633000e-02,
  2.39521282e-02,-7.15883590e-02, 1.75879886e-01, 9.87336641e-01,
  7.85862364e-03,-1.57019000e-01,-2.12045407e-02]

qacc:
[ 1.13839145e+01, 1.72528925e-01,-4.62379177e+00, 1.81528868e+01,
 -8.61046346e+01, 1.61484891e+01,-5.32468775e+01, 2.56488033e+02,
 -1.08908279e+00,-2.94782544e+00, 8.70612120e+00,-5.63784758e+00,
 -8.96724823e-01, 1.14915769e+00, 1.29739084e+01,-4.43781217e+01,
 -2.25266817e+00,-2.09189505e-01,-9.45965264e-01,-3.72158094e+00,
 -1.83758799e+01,-2.98135326e+01]

qfrc_actuator:
[ 1.33186638e-04, 9.16855124e-04, 2.00038205e-04,-5.07748512e-05,
 -2.41846660e-03, 5.39846464e-01, 2.00116681e-01, 2.41946095e-01,
 -1.25105678e-04, 6.23046021e-04, 2.44937394e-04, 5.14593949e-05,
  1.46384833e-02,-1.20078493e-04, 0.00000000e+00,-1.53460401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002061293839036337
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40733227e-01,  1.56922133e-01, -3.00660007e-01,  1.49473698e-01,
        9.87610978e-01,  4.77720588e-02,  3.04431617e-01,  6.93889390e-18,
       -9.52534194e-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([ 0.08587421, -0.07822524,  0.11875639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019562996683218647
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83755869e-13,  2.83755869e-13,  1.00000000e+00,  8.05173932e-26,
        1.00000000e+00, -2.83755869e-13, -1.00000000e+00,  0.00000000e+00,
       -2.83755869e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757001, -0.06818683,  0.06199663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82219575e-05,-2.28446234e-05, 1.75986344e-05, 4.05042572e-05,
  1.02948341e-02, 4.05684972e-01, 2.03162392e-01, 7.09512995e-02,
 -6.82098893e-06,-1.27795485e-05, 5.87920361e-05, 1.48225964e-05,
 -4.77580376e-05, 5.53921454e-06,-1.26284264e-05,-2.17882724e-04,
  1.30783693e-02,-1.70455435e-03,-4.90469465e+00, 4.13957410e-03,
  1.15683044e-02,-2.97732171e-04]


--- Step 1535 ---
qpos:
[ 1.85439763e-02, 3.00356527e-02,-9.44230838e-03,-2.52571962e-02,
 -6.18180210e-04, 3.71952586e-01,-2.19150757e-01, 5.49102445e-01,
  1.15411959e-02, 2.76249848e-02,-8.25560169e-03, 2.64708754e-02,
  1.22854807e+00, 6.45164516e-03, 1.21426168e+00, 4.47666848e-02,
  2.32284312e-02,-7.15027515e-02, 1.75859865e-01, 9.86816809e-01,
  7.39778382e-03,-1.60138436e-01,-2.22157478e-02]

qacc:
[ 9.71944523e+00, 3.16255988e+00,-1.48580956e+01, 3.01085345e+01,
 -8.28005075e+01, 1.50965715e+01,-5.10901539e+01, 2.53238828e+02,
  8.25384829e+00,-2.61039334e+00, 7.21936387e+00,-4.46245257e+00,
  1.89345362e-02,-3.64550746e-01,-5.23438750e+00, 1.70588902e+01,
 -2.27611189e+00,-1.40499824e-01,-1.01612597e+00,-2.36467981e+00,
 -1.89811164e+01,-2.40343877e+01]

qfrc_actuator:
[ 1.89643995e-04, 9.09352551e-04, 1.68393504e-04,-1.07250445e-05,
 -2.19293532e-03, 5.39583646e-01, 2.00194696e-01, 2.41789373e-01,
 -7.52648198e-05, 5.61943203e-04, 2.71638467e-04, 5.87290649e-05,
  1.45952340e-02,-1.55289129e-04, 0.00000000e+00,-1.44741793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021113561476288536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93853898,  0.158669  , -0.30654321,  0.15082775,  0.98733183,
        0.04926298,  0.31047638,  0.        , -0.9505811 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08557084, -0.07822192,  0.11886508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019385176317303354
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29538145e-13,  1.43179382e-13,  1.00000000e+00,  6.15010061e-26,
        1.00000000e+00, -1.43179382e-13, -1.00000000e+00,  0.00000000e+00,
       -4.29538145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757034, -0.06819116,  0.06199666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84324424e-05,-1.49175001e-05,-3.28185333e-05, 4.04625895e-05,
  1.32272767e-02, 4.03604317e-01, 2.02198493e-01, 6.99434428e-02,
  4.96192642e-05,-5.53129349e-05, 3.18614223e-05, 9.05416217e-06,
 -6.74147505e-05,-4.48402348e-05,-3.49313603e-05, 7.23192554e-05,
  1.34992788e-02,-1.73420273e-03,-4.90459350e+00, 4.46534382e-03,
  1.15039465e-02,-2.86080201e-04]


--- Step 1536 ---
qpos:
[ 1.85463168e-02, 3.00361635e-02,-9.44216875e-03,-2.52567206e-02,
 -1.02868502e-03, 3.74506435e-01,-2.19205657e-01, 5.52544168e-01,
  1.15413764e-02, 2.76196322e-02,-8.25419866e-03, 2.64709086e-02,
  1.22891132e+00, 6.47802416e-03, 1.21441717e+00, 4.47716928e-02,
  2.24955791e-02,-7.14174569e-02, 1.75835490e-01, 9.86278692e-01,
  6.93982889e-03,-1.63294067e-01,-2.32643071e-02]

qacc:
[-2.86864361e-01, 1.82547625e+00,-5.18250409e+00, 2.23845914e+00,
 -7.85371684e+01, 1.39240242e+01,-4.67823057e+01, 2.46774453e+02,
  2.15149258e+00, 5.83766809e-01,-2.40235311e+00, 3.92908910e+00,
  5.68715072e-01,-1.56722380e+00,-5.43650753e+00, 1.81831641e+01,
 -2.28876117e+00,-7.82356675e-02,-1.08844650e+00,-1.09767666e+00,
 -1.94288786e+01,-1.87301629e+01]

qfrc_actuator:
[ 1.86383977e-04, 9.22491761e-04, 1.31629233e-04,-2.29801639e-05,
 -1.89981179e-03, 5.39125501e-01, 2.00259584e-01, 2.41114124e-01,
 -6.36622387e-05, 5.81055791e-04, 2.68813530e-04, 6.29850598e-05,
  1.45402379e-02,-2.40491487e-04, 0.00000000e+00,-1.36182379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021613973692014296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36260233e-01,  1.60497073e-01, -3.12501944e-01,  1.52240626e-01,
        9.87036316e-01,  5.08143890e-02,  3.16606328e-01, -6.93889390e-18,
       -9.48557027e-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([ 0.08526391, -0.07822029,  0.11897672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001912387936734844
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45135697e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.45135697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02757009, -0.06819587,  0.06199671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56491480e-06,-2.58960842e-07,-4.25076705e-05,-1.32484584e-05,
  1.61531647e-02, 4.01384931e-01, 2.01233454e-01, 6.84241801e-02,
  1.30207829e-05,-4.65675195e-06,-9.97065478e-06, 3.17071735e-06,
 -1.00722598e-04,-1.13852051e-04,-1.01410567e-05, 8.46573786e-05,
  1.39103047e-02,-1.76720259e-03,-4.90448303e+00, 4.74478878e-03,
  1.14514067e-02,-2.76068094e-04]


--- Step 1537 ---
qpos:
[ 0.01854826, 0.03003625,-0.00944195,-0.02525672,-0.00148687, 0.37709389,
 -0.21923982, 0.55600223, 0.01154032, 0.02761428,-0.00825316, 0.02647135,
  1.22927359, 0.0065039 , 1.2145728 , 0.04477599, 0.02175353,-0.07133225,
  0.17580648, 0.98572191, 0.00648555,-0.16648665,-0.02434021]

qacc:
[-3.43143981e+00,-1.74379604e+00, 7.41098867e+00,-1.54201059e+01,
 -7.35083276e+01, 1.28994868e+01,-4.18847660e+01, 2.38837680e+02,
 -1.05923900e+01, 1.88047800e+00,-8.40226459e+00, 1.60443063e+01,
 -4.95032970e-01,-9.47546908e-03, 2.37496461e+00,-7.94845481e+00,
 -2.29815721e+00,-2.12370888e-02,-1.15952617e+00, 7.40499517e-02,
 -1.98007210e+01,-1.38720376e+01]

qfrc_actuator:
[ 1.65757418e-04, 8.76802253e-04, 1.27708577e-04,-4.81380171e-05,
 -1.56502072e-03, 5.38607996e-01, 2.00308332e-01, 2.40210009e-01,
 -1.27935100e-04, 5.76913345e-04, 2.48899402e-04, 8.32341751e-05,
  1.44782097e-02,-2.65963507e-04, 0.00000000e+00,-1.40220746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002211288943070016
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9338967 ,  0.1623883 , -0.31853883,  0.15369389,  0.98672693,
        0.05242279,  0.32282369,  0.        , -0.94645912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08495342, -0.07822052,  0.1190913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018791582175597954
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43106525e-13,  1.47702175e-13,  1.00000000e+00,  6.54477976e-26,
        1.00000000e+00, -1.47702175e-13, -1.00000000e+00,  0.00000000e+00,
       -4.43106525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756938, -0.06820097,  0.06199676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06718479e-05,-5.52099376e-05,-9.67878831e-06,-2.69005066e-05,
  1.90139111e-02, 3.99115245e-01, 2.00237837e-01, 6.66835985e-02,
 -6.39080483e-05,-8.48783610e-06,-2.19486553e-05, 1.97744998e-05,
 -1.40848967e-04,-8.15685199e-05, 1.40873343e-06,-3.77330757e-05,
  1.43075177e-02,-1.80264901e-03,-4.90436410e+00, 4.98032259e-03,
  1.14105226e-02,-2.67631073e-04]


--- Step 1538 ---
qpos:
[ 0.01854959, 0.03003611,-0.00944214,-0.02525701,-0.00198956, 0.37971545,
 -0.21925268, 0.55947644, 0.01153884, 0.02760898,-0.00825268, 0.02647204,
  1.22963502, 0.00652855, 1.21472849, 0.04477911, 0.02100226,-0.07124691,
  0.17577255, 0.98514611, 0.00603562,-0.16971687,-0.0254342 ]

qacc:
[-5.21797838e+00, 2.23109792e-01, 1.97507895e-02,-4.29938496e+00,
 -6.78171702e+01, 1.18412666e+01,-3.65980299e+01, 2.30200767e+02,
 -3.58332359e+00, 2.15461740e+00,-8.60737129e+00, 1.37152459e+01,
  6.49631020e-02,-1.10627096e+00, 3.65184434e+00,-1.27034123e+01,
 -2.30722639e+00, 3.15392660e-02,-1.22813815e+00, 1.15871212e+00,
 -2.01342468e+01,-9.38925857e+00]

qfrc_actuator:
[ 1.35093711e-04, 8.67360419e-04, 1.07470784e-04,-6.29494065e-05,
 -1.17001498e-03, 5.37987954e-01, 2.00338805e-01, 2.39197650e-01,
 -1.47577745e-04, 5.76569564e-04, 2.19000657e-04, 9.49601765e-05,
  1.44173522e-02,-3.44549377e-04, 0.00000000e+00,-1.46323697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002260948488148965
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9314481 ,  0.16432613, -0.32465574,  0.15517064,  0.98640606,
        0.05408464,  0.32912992,  0.        , -0.94428465])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0846393 , -0.07822273,  0.11920888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000183996517387916
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52545124e-13,  1.50848375e-13,  1.00000000e+00,  6.82656965e-26,
        1.00000000e+00, -1.50848375e-13, -1.00000000e+00,  0.00000000e+00,
       -4.52545124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756827, -0.06820642,  0.06199683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12843321e-05,-4.34843797e-05,-3.37679430e-05,-1.80340876e-05,
  2.18005590e-02, 3.96723627e-01, 1.99198689e-01, 6.48434439e-02,
 -2.15346537e-05,-8.62161611e-06,-3.36202916e-05, 1.09987543e-05,
 -1.52925590e-04,-1.35039995e-04,-9.00135457e-06,-6.41584843e-05,
  1.46893653e-02,-1.83990355e-03,-4.90423746e+00, 5.17436518e-03,
  1.13808232e-02,-2.60698807e-04]


--- Step 1539 ---
qpos:
[ 0.01855089, 0.03003621,-0.00944284,-0.02525718,-0.00253328, 0.38237199,
 -0.21924359, 0.56296658, 0.01153782, 0.02760418,-0.00825224, 0.02647243,
  1.22999569, 0.00655157, 1.21488392, 0.04478313, 0.02024172,-0.07116126,
  0.17573345, 0.98455094, 0.0055906 ,-0.17298532,-0.02653818]

qacc:
[-3.10473868e-01, 2.00611181e+00,-7.18667135e+00, 9.86652968e+00,
 -6.18399563e+01, 1.09995901e+01,-3.12856885e+01, 2.20787975e+02,
  3.94631008e+00, 1.20102420e-01, 1.81601841e+00,-7.40943882e+00,
  5.65563201e-01,-1.95876232e+00,-3.23270004e+00, 1.05161982e+01,
 -2.31706017e+00, 7.86240396e-02,-1.29463752e+00, 2.11387806e+00,
 -2.04445189e+01,-5.46494326e+00]

qfrc_actuator:
[ 1.34279551e-04, 9.15146527e-04, 9.56415974e-05,-5.37913495e-05,
 -7.22992364e-04, 5.37398970e-01, 2.00384959e-01, 2.38113998e-01,
 -1.23015984e-04, 6.49461504e-04, 2.36712487e-04, 8.38194685e-05,
  1.43678711e-02,-4.36334132e-04, 0.00000000e+00,-1.41162690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023102540869765643
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29026528e-01,  1.65601823e-01, -3.30886305e-01,  1.56002460e-01,
        9.86192697e-01,  5.55625444e-02,  3.35518917e-01, -6.93889390e-18,
       -9.42033469e-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([ 0.08432026, -0.07823478,  0.11932916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001795788047843222
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09118614e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.09118614e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756682, -0.0682122 ,  0.06199691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73815956e-06, 1.57165744e-05,-2.55886524e-05, 5.77922724e-06,
  2.44798672e-02, 3.94337253e-01, 1.98146392e-01, 6.29414138e-02,
  2.39122600e-05, 6.17697943e-05, 1.22246618e-05,-1.24495889e-05,
 -1.60675719e-04,-1.65984644e-04,-1.60787759e-05, 4.58155479e-05,
  1.50555162e-02,-1.87849789e-03,-4.90410377e+00, 5.32886419e-03,
  1.13617109e-02,-2.55208462e-04]


--- Step 1540 ---
qpos:
[ 0.01855148, 0.03003631,-0.00944309,-0.02525728,-0.00311426, 0.38506481,
 -0.21921186, 0.56647239, 0.01153746, 0.02760002,-0.0082517 , 0.02647265,
  1.23035534, 0.00657374, 1.21503882, 0.04479105, 0.01947187,-0.07107513,
  0.17568891, 0.98393606, 0.00515093,-0.17629256,-0.02764481]

qacc:
[-6.07337695e+00,-1.09290304e+00, 3.61273762e+00,-3.09032798e+00,
 -5.54757097e+01, 1.06102664e+01,-2.65584296e+01, 2.10884182e+02,
  5.50575269e+00, 2.29335040e-01, 1.04806503e+00,-4.43825334e+00,
  8.33458383e-02,-9.59004596e-01,-1.26182525e+01, 4.29425168e+01,
 -2.32726864e+00, 1.21236379e-01,-1.35960061e+00, 2.97868949e+00,
 -2.07361774e+01,-1.92075954e+00]

qfrc_actuator:
[ 9.77867841e-05, 9.25882615e-04, 1.24640437e-04,-4.82976866e-05,
 -2.48164907e-04, 5.36885121e-01, 2.00395840e-01, 2.36945823e-01,
 -9.03988240e-05, 6.94811963e-04, 2.47180617e-04, 7.71646930e-05,
  1.43305656e-02,-4.64133191e-04, 0.00000000e+00,-1.20528664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002359223568220274
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92640957,  0.16757783, -0.33716906,  0.15747255,  0.98585885,
        0.05731252,  0.34200541,  0.        , -0.93969798])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08399862, -0.07824127,  0.11945292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017474617558756178
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17667331e-13, -1.58833666e-13,  1.00000000e+00, -5.04562666e-26,
        1.00000000e+00,  1.58833666e-13, -1.00000000e+00,  0.00000000e+00,
       -3.17667331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756508, -0.06821827,  0.06199699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65367125e-05, 1.44874520e-05, 2.92994407e-05, 5.39534304e-06,
  2.70142354e-02, 3.91981254e-01, 1.97025526e-01, 6.09656227e-02,
  3.33249736e-05, 8.20568593e-05, 2.43505288e-05,-3.81934365e-06,
 -1.59602459e-04,-1.12596632e-04,-6.03842966e-06, 2.05999704e-04,
  1.54077172e-02,-1.91808573e-03,-4.90396349e+00, 5.44773161e-03,
  1.13519208e-02,-2.51042984e-04]


--- Step 1541 ---
qpos:
[ 0.01855162, 0.03003596,-0.00944246,-0.02525763,-0.00372833, 0.38779515,
 -0.21915761, 0.56999357, 0.01153714, 0.02759636,-0.00825128, 0.02647282,
  1.23071414, 0.00659517, 1.21519402, 0.04479835, 0.01869258,-0.07098833,
  0.1756387 , 0.98330108, 0.00471695,-0.17963949,-0.02874694]

qacc:
[-3.75624349e+00,-3.54813025e+00, 1.28574217e+01,-1.82668138e+01,
 -4.86970534e+01, 1.19154236e+01,-2.76657000e+01, 2.06100005e+02,
  4.09840430e-01, 8.79660046e-01,-1.93881567e+00, 8.37114367e-01,
 -2.43492084e-01,-4.20557034e-01, 2.34172897e+00,-7.55371699e+00,
 -2.35904848e+00, 1.65417654e-01,-1.41604116e+00, 3.79206783e+00,
 -2.12107250e+01, 1.53446994e+00]

qfrc_actuator:
[ 7.60813042e-05, 8.79024689e-04, 1.59622650e-04,-6.27578396e-05,
  2.73721214e-04, 5.37022381e-01, 2.00358345e-01, 2.36590701e-01,
 -8.88218176e-05, 7.05561789e-04, 2.35439895e-04, 7.31802134e-05,
  1.43059418e-02,-4.89164088e-04, 0.00000000e+00,-1.24677028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024077859169665916
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92370607,  0.16955934, -0.34353562,  0.15892421,  0.98551998,
        0.05910552,  0.34858311,  0.        , -0.93727787])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367304, -0.07824988,  0.11957995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016957034521214442
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27363556e-13, -1.63681778e-13,  1.00000000e+00, -5.35834490e-26,
        1.00000000e+00,  1.63681778e-13, -1.00000000e+00,  0.00000000e+00,
       -3.27363556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756309, -0.06822459,  0.06199708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27665697e-05,-3.24894875e-05, 4.17724161e-05,-1.27191560e-05,
  2.94056812e-02, 3.90208765e-01, 1.95821845e-01, 5.98158043e-02,
  2.56897876e-06, 6.16574816e-05, 8.11668965e-06, 3.06356918e-07,
 -1.33089856e-04,-9.48558884e-05, 1.62814237e-05,-3.16333427e-05,
  1.57474070e-02,-1.95838516e-03,-4.90381700e+00, 5.53332366e-03,
  1.13504628e-02,-2.48123474e-04]


--- Step 1542 ---
qpos:
[ 0.01855254, 0.03003569,-0.00944211,-0.02525849,-0.00437106, 0.39056365,
 -0.21908154, 0.5735298 , 0.01153615, 0.02759289,-0.00825031, 0.02647328,
  1.2310722 , 0.0066162 , 1.21534945, 0.04480378, 0.01790366,-0.0709007 ,
  0.17558262, 0.98264557, 0.00428885,-0.18302729,-0.02983792]

qacc:
[ 6.61432464e+00,-1.80209340e-01, 2.87757202e+00,-1.11519141e+01,
 -4.17235037e+01, 1.40096131e+01,-3.24589018e+01, 2.05483821e+02,
 -5.68104732e+00,-6.51348089e-01, 1.49034550e+00, 2.51434804e+00,
 -4.62472994e-01, 8.54507451e-02, 6.02077103e+00,-2.04918854e+01,
 -2.40726505e+00, 2.09112207e-01,-1.46744060e+00, 4.52849190e+00,
 -2.18234829e+01, 4.75539305e+00]

qfrc_actuator:
[ 1.16522197e-04, 8.86822845e-04, 1.44331579e-04,-8.88958921e-05,
  7.99067658e-04, 5.37499075e-01, 2.00265126e-01, 2.36877226e-01,
 -1.23283141e-04, 7.13169624e-04, 2.63798770e-04, 8.85057637e-05,
  1.42889478e-02,-4.94564410e-04, 0.00000000e+00,-1.34521215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024558407761155108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20914993e-01,  1.71534192e-01, -3.49987996e-01,  1.60345016e-01,
        9.85178167e-01,  6.09381228e-02,  3.55253504e-01, -6.93889390e-18,
       -9.34769997e-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([ 0.08334341, -0.0782606 ,  0.1197103 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016407715846665505
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38323456e-13,  1.69161728e-13,  1.00000000e+00,  5.72313803e-26,
        1.00000000e+00, -1.69161728e-13, -1.00000000e+00,  0.00000000e+00,
       -3.38323456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02756088, -0.06823112,  0.06199717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97655167e-05,-2.28911995e-06,-1.72982529e-05,-2.63304463e-05,
  3.15917824e-02, 3.88713873e-01, 1.94567179e-01, 5.93229525e-02,
 -3.43759942e-05, 4.39039009e-05, 4.21424902e-05, 1.82613002e-05,
 -1.07930599e-04,-6.37932938e-05,-2.02246427e-06,-9.94631870e-05,
  1.60782690e-02,-1.99965748e-03,-4.90366438e+00, 5.58581989e-03,
  1.13568540e-02,-2.46422965e-04]


--- Step 1543 ---
qpos:
[ 0.01855394, 0.03003563,-0.00944204,-0.02525966,-0.00503934, 0.39337254,
 -0.21898346, 0.57708074, 0.01153545, 0.02758942,-0.00824912, 0.02647362,
  1.23142968, 0.00663685, 1.21550493, 0.04480732, 0.01710498,-0.07081213,
  0.17552044, 0.98196903, 0.00386667,-0.18645674,-0.03091537]

qacc:
[ 4.08359582e+00, 3.84696162e-01, 3.86041590e-01,-5.68294450e+00,
 -3.67390821e+01, 1.58199970e+01,-3.33582655e+01, 1.99033959e+02,
  2.42745679e+00,-8.76840707e-01, 3.58258353e+00,-5.91609644e+00,
 -3.59358954e-01, 2.61115532e-02, 5.82520681e+00,-2.02069506e+01,
 -2.44133987e+00, 2.32163666e-01,-1.52661688e+00, 4.81366935e+00,
 -2.22740888e+01, 5.88182878e+00]

qfrc_actuator:
[ 1.39955816e-04, 9.09319719e-04, 1.35182774e-04,-1.03935981e-04,
  1.31756493e-03, 5.37648941e-01, 2.00147925e-01, 2.36477742e-01,
 -1.07659640e-04, 6.83495314e-04, 2.62346959e-04, 7.95892999e-05,
  1.42712265e-02,-5.05969019e-04, 0.00000000e+00,-1.44083451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002501990504795314
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19072866e-01,  1.66727057e-01, -3.57081440e-01,  1.55409568e-01,
        9.86003087e-01,  6.03802750e-02,  3.62150428e-01, -6.93889390e-18,
       -9.32119664e-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([ 0.08299849, -0.07834873,  0.11983798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001582590093631847
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75380699e-13,  1.75380699e-13,  1.00000000e+00,  3.07583894e-26,
        1.00000000e+00, -1.75380699e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75380699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755846, -0.06823783,  0.06199727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45940673e-05, 1.65355169e-05,-1.26645421e-05,-1.62494143e-05,
  3.35503798e-02, 3.86857719e-01, 1.93323430e-01, 5.81593188e-02,
  1.46188761e-05, 4.46263753e-06, 1.34682314e-05,-5.21567006e-06,
 -8.88156697e-05,-5.48768937e-05,-1.72170350e-05,-1.02599252e-04,
  1.64045429e-02,-2.04212651e-03,-4.90350551e+00, 5.60673968e-03,
  1.13701840e-02,-2.45876122e-04]


--- Step 1544 ---
qpos:
[ 0.01855595, 0.03003556,-0.00944171,-0.02526171,-0.00573012, 0.39622418,
 -0.21886304, 0.58064605, 0.01153563, 0.02758617,-0.00824854, 0.02647354,
  1.23178694, 0.00665656, 1.21566038, 0.04480899, 0.01629641,-0.07072257,
  0.1754519 , 0.98127095, 0.0034504 ,-0.18992857,-0.03197757]

qacc:
[  5.28688424, -2.55146364, 12.74039006,-28.20796361,-31.97026508,
  17.4002887 ,-33.18745765,191.13673888,  7.4961081 ,  1.12536679,
  -1.822498  , -4.68211492,  0.3145678 , -1.04566232,  5.55644654,
 -19.6167457 , -2.47278239,  0.25124785, -1.58792729,  5.02192761,
 -22.69353376,  6.68899738]

qfrc_actuator:
[ 1.70923562e-04, 9.04962847e-04, 1.47585706e-04,-1.47799954e-04,
  1.91130477e-03, 5.37780490e-01, 2.00042920e-01, 2.35891753e-01,
 -6.26696028e-05, 6.84840065e-04, 2.25361728e-04, 5.64178221e-05,
  1.42637338e-02,-5.56353083e-04, 0.00000000e+00,-1.53399376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002547725089912877
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9171135 ,  0.16189394, -0.36427074,  0.15045996,  0.98680816,
        0.05976159,  0.36914038,  0.        , -0.92937365])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264921, -0.07843858,  0.11996895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015213347833370472
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82442260e-13,  3.64884520e-13,  1.00000000e+00,  6.65703565e-26,
        1.00000000e+00, -3.64884520e-13, -1.00000000e+00,  0.00000000e+00,
       -1.82442260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755585, -0.06824467,  0.06199738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16917268e-05, 1.58644464e-06, 1.36962152e-05,-4.39092927e-05,
  3.54275988e-02, 3.84870157e-01, 1.92081618e-01, 5.68259603e-02,
  4.54100367e-05, 6.51277998e-06,-3.45603669e-05,-2.26121507e-05,
 -6.68635373e-05,-8.67005543e-05,-2.35337650e-05,-1.02032657e-04,
  1.67358291e-02,-2.08556605e-03,-4.90333975e+00, 5.61607185e-03,
  1.13852794e-02,-2.45950300e-04]


--- Step 1545 ---
qpos:
[ 0.01855832, 0.03003556,-0.00944098,-0.02526429,-0.00644027, 0.39912   ,
 -0.21872013, 0.58422537, 0.01153669, 0.02758317,-0.00824848, 0.02647318,
  1.23214358, 0.00667607, 1.2158155 , 0.04481117, 0.0154778 ,-0.07063192,
  0.17537678, 0.98055078, 0.00303999,-0.19344358,-0.0330228 ]

qacc:
[ 3.06358554e+00,-2.10310212e+00, 9.83848130e+00,-1.96279102e+01,
 -2.72102252e+01, 1.83626751e+01,-3.26720527e+01, 1.84223504e+02,
  7.50895938e+00, 1.13586871e+00,-2.36748091e+00,-1.98713900e+00,
 -2.79297734e-01, 2.44724364e-02,-2.03533834e+00, 6.43218435e+00,
 -2.50929143e+00, 2.70448332e-01,-1.64755421e+00, 5.21311027e+00,
 -2.31597493e+01, 7.48651708e+00]

qfrc_actuator:
[ 1.88330270e-04, 9.20131303e-04, 1.72488156e-04,-1.72775522e-04,
  2.57510824e-03, 5.37758271e-01, 1.99936091e-01, 2.35490129e-01,
 -1.85234944e-05, 7.04569836e-04, 2.03311824e-04, 4.28017874e-05,
  1.42357375e-02,-5.58402363e-04, 0.00000000e+00,-1.50067330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025910175153626073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15011272e-01,  1.57339993e-01, -3.71481492e-01,  1.45783677e-01,
        9.87544493e-01,  5.91860882e-02,  3.76166841e-01, -6.93889390e-18,
       -9.26551946e-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([ 0.08229614, -0.07852677,  0.12010439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014571976469608672
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90472279e-13, -1.90472279e-13,  1.00000000e+00, -3.62796889e-26,
        1.00000000e+00,  1.90472279e-13, -1.00000000e+00,  0.00000000e+00,
       -1.90472279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755308, -0.06825162,  0.06199749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83323094e-05, 1.70121252e-05, 2.53959011e-05,-2.52865790e-05,
  3.72220315e-02, 3.82609609e-01, 1.90820399e-01, 5.56948375e-02,
  4.54719586e-05, 1.53914874e-05,-2.57139056e-05,-1.49685194e-05,
 -8.36698317e-05,-4.20483701e-05,-2.54428848e-05, 2.38631454e-05,
  1.70737622e-02,-2.12998498e-03,-4.90316677e+00, 5.61659207e-03,
  1.14012388e-02,-2.46564152e-04]


--- Step 1546 ---
qpos:
[ 0.01856053, 0.03003564,-0.00944003,-0.0252661 ,-0.00716675, 0.40206085,
 -0.21855462, 0.5878184 , 0.01153758, 0.02758005,-0.00824802, 0.02647298,
  1.23249936, 0.00669551, 1.21597037, 0.04481437, 0.01464901,-0.07054012,
  0.17529482, 0.97980797, 0.00263535,-0.19700255,-0.0340498 ]

qacc:
[ -1.31570104,  1.04051145, -6.77182277, 19.56779166,-22.6665917 ,
  18.68193718,-30.99884645,177.04012166, -1.4167339 , -0.88949341,
   2.23038033,  0.18178948, -0.55919892,  0.38083638, -3.35926339,
  11.34042658, -2.5453971 ,  0.28710993, -1.70841397,  5.35201017,
 -23.62138556,  8.07350958]

qfrc_actuator:
[ 1.79861077e-04, 9.29192593e-04, 1.86903508e-04,-1.33155279e-04,
  3.26907369e-03, 5.37483251e-01, 1.99801345e-01, 2.35033943e-01,
 -2.84953886e-05, 6.99702477e-04, 2.25862130e-04, 5.27055123e-05,
  1.41795041e-02,-5.67306360e-04, 0.00000000e+00,-1.44635694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026345697105412172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12752033e-01,  1.53082843e-01, -3.78747106e-01,  1.41393227e-01,
        9.88213359e-01,  5.86712204e-02,  3.83264507e-01, -6.93889390e-18,
       -9.23638629e-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([ 0.08193884, -0.07861291,  0.12024388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013902056400849627
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99650863e-13,  1.99650863e-13,  1.00000000e+00, -3.98604672e-26,
        1.00000000e+00, -1.99650863e-13, -1.00000000e+00,  0.00000000e+00,
        1.99650863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02755014, -0.06825864,  0.0619976 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.92926763e-06, 2.27329152e-05, 2.01759508e-05, 4.07377437e-05,
  3.88903228e-02, 3.80023787e-01, 1.89524058e-01, 5.45258618e-02,
 -8.64158235e-06,-2.08553378e-06, 2.20788926e-05, 9.38795346e-06,
 -1.09661017e-04,-4.04871549e-05,-1.21730424e-05, 5.16843770e-05,
  1.74196130e-02,-2.17557519e-03,-4.90298619e+00, 5.60816748e-03,
  1.14178703e-02,-2.47710681e-04]


--- Step 1547 ---
qpos:
[ 0.01856263, 0.03003569,-0.00943936,-0.02526772,-0.0079067 , 0.40504836,
 -0.21836594, 0.59142479, 0.01153801, 0.02757672,-0.00824722, 0.02647292,
  1.23285446, 0.00671424, 1.21612515, 0.04481816, 0.01380992,-0.07044713,
  0.17520577, 0.97904194, 0.00223637,-0.20060613,-0.03505804]

qacc:
[-1.02395370e+00, 1.16604678e+00,-5.03302787e+00, 8.87325274e+00,
 -1.84674382e+01, 1.88481003e+01,-2.74416397e+01, 1.67004531e+02,
 -4.00215163e+00,-9.24788188e-01, 2.34247105e+00,-3.98327763e-01,
 -2.29123246e-02,-6.25094021e-01,-1.97679635e+00, 6.66676843e+00,
 -2.57480217e+00, 2.98875455e-01,-1.77335400e+00, 5.41356326e+00,
 -2.40196672e+01, 8.29677209e+00]

qfrc_actuator:
[ 1.73986554e-04, 8.99042033e-04, 1.59525176e-04,-1.26870338e-04,
  4.00359687e-03, 5.37002501e-01, 1.99640724e-01, 2.34220183e-01,
 -5.24881408e-05, 6.80347086e-04, 2.38975523e-04, 5.86245127e-05,
  1.41330030e-02,-6.15892249e-04, 0.00000000e+00,-1.41564895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026747825278108936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10327919e-01,  1.49127872e-01, -3.86088017e-01,  1.37290458e-01,
        9.88817919e-01,  5.82275898e-02,  3.90454106e-01, -1.38777878e-17,
       -9.20622393e-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([ 0.08157774, -0.07869692,  0.12038743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013203509032473637
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20427260e-13,  4.20427260e-13,  1.00000000e+00,  1.76759081e-25,
        1.00000000e+00, -4.20427260e-13, -1.00000000e+00,  0.00000000e+00,
       -4.20427260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02754703, -0.0682657 ,  0.06199772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.10105586e-06,-1.15472922e-05,-1.87989671e-05, 8.75120269e-06,
  4.04468310e-02, 3.77186618e-01, 1.88194482e-01, 5.30150687e-02,
 -2.42574848e-05,-1.54508325e-05, 1.57596884e-05, 6.78319023e-06,
 -1.12666641e-04,-8.60240664e-05,-3.94766318e-06, 3.11224646e-05,
  1.77748177e-02,-2.22240129e-03,-4.90279756e+00, 5.59267236e-03,
  1.14345658e-02,-2.49331890e-04]


--- Step 1548 ---
qpos:
[ 0.01856429, 0.03003558,-0.00943948,-0.02526954,-0.00865751, 0.4080846 ,
 -0.21815336, 0.59504416, 0.01153848, 0.02757347,-0.00824718, 0.02647262,
  1.23320897, 0.00673221, 1.21628029, 0.04481893, 0.01296042,-0.07035291,
  0.17510935, 0.97825207, 0.00184295,-0.20425488,-0.03604771]

qacc:
[ -3.72213219,  1.58567855, -5.08126195,  2.90689144,-14.72437574,
  19.14954695,-23.34479193,155.40490301,  0.43050821,  1.70956203,
  -4.97115562,  2.07228115, -0.18662472, -0.43186064,  9.67723368,
 -33.07205205, -2.60111035,  0.30637194, -1.84097176,  5.39889749,
 -24.38890196,  8.16669341]

qfrc_actuator:
[ 1.51942150e-04, 8.63197947e-04, 1.07497702e-04,-1.40321811e-04,
  4.74836951e-03, 5.36502960e-01, 1.99454978e-01, 2.33186736e-01,
 -4.90179755e-05, 6.70187921e-04, 1.93066962e-04, 4.43670704e-05,
  1.41083333e-02,-6.52117181e-04, 0.00000000e+00,-1.57662760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027159278231329194
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07744728e-01,  1.45477437e-01, -3.93491834e-01,  1.33476355e-01,
        9.89361570e-01,  5.78597200e-02,  3.97722983e-01, -6.93889390e-18,
       -9.17505547e-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([ 0.08121234, -0.07877864,  0.12053523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012477329392172887
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44896095e-13,  2.22448048e-13,  1.00000000e+00,  9.89662677e-26,
        1.00000000e+00, -2.22448048e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44896095e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02754378, -0.0682728 ,  0.06199784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22263563e-05,-4.58239424e-05,-5.64316116e-05,-1.44240057e-05,
  4.18700809e-02, 3.74248802e-01, 1.86811385e-01, 5.13015128e-02,
  2.74315467e-06,-1.51491889e-05,-4.68931837e-05,-1.42353833e-05,
 -1.03087170e-04,-8.72017889e-05,-2.68394501e-06,-1.60720212e-04,
  1.81404365e-02,-2.27037958e-03,-4.90260040e+00, 5.57359887e-03,
  1.14504474e-02,-2.51331325e-04]


--- Step 1549 ---
qpos:
[ 0.01856602, 0.03003544,-0.00944035,-0.02527084,-0.00941242, 0.41116498,
 -0.21791788, 0.5986768 , 0.011539  , 0.02757017,-0.00824767, 0.02647216,
  1.23356293, 0.00674931, 1.21643598, 0.04481308, 0.01210061,-0.07025722,
  0.17500632, 0.97743803, 0.00145364,-0.20795008,-0.03700727]

qacc:
[  0.55523901,  3.14343445,-13.48644209, 23.80148978, -5.47726172,
  16.17498112,-22.31140564,162.89456969,  0.30449623,  1.08852102,
  -3.2666401 ,  1.26437805, -0.38340342, -0.24820231, 20.8647281 ,
 -71.74450668, -2.57971128,  0.3669751 , -1.65387851,  5.94796401,
 -25.08132973, 13.91306366]

qfrc_actuator:
[ 1.56061357e-04, 8.77335067e-04, 7.68035694e-05,-1.12035938e-04,
  5.50207844e-03, 5.36131169e-01, 1.99226414e-01, 2.32389321e-01,
 -4.71584851e-05, 6.65349955e-04, 1.65954327e-04, 3.60713277e-05,
  1.40754742e-02,-6.98329593e-04, 0.00000000e+00,-1.92024681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027529633872816752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05487580e-01,  1.42115762e-01, -3.99869169e-01,  1.30003588e-01,
        9.89850044e-01,  5.74104248e-02,  4.03969441e-01, -6.93889390e-18,
       -9.14772481e-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([ 0.08083695, -0.07885815,  0.1206994 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.15417373,  -2.02401747,  -3.62774209,  -2.02401747,
        31.21529695, -15.09814782,  -3.62774209, -15.09814782,
        12.57784727,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00011716297570385618
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97441384e-07,  2.48720879e-07,  1.00000000e+00, -1.23724058e-13,
        1.00000000e+00, -2.48720879e-07, -1.00000000e+00, -2.52435490e-29,
        4.97441384e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02680226, -0.06898119,  0.06199797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45923718e-06,-2.37633105e-05,-4.76015834e-05, 2.40958248e-05,
  4.31720604e-02, 3.71332455e-01, 1.85348476e-01, 4.98429803e-02,
  1.92677946e-06,-2.34856556e-05,-3.64717546e-05,-1.08367371e-05,
 -1.07165548e-04,-9.49889597e-05,-2.43316630e-05,-3.54087354e-04,
  1.85179060e-02,-2.31950731e-03,-4.90239413e+00, 5.55463788e-03,
  1.14647183e-02,-2.53611265e-04]


--- Step 1550 ---
qpos:
[ 1.85681332e-02, 3.00354166e-02,-9.44121003e-03,-2.52711683e-02,
 -1.01628478e-02, 4.14283819e-01,-2.17661035e-01, 6.02323274e-01,
  1.15395298e-02, 2.75667987e-02,-8.24849815e-03, 2.64712412e-02,
  1.23391628e+00, 6.76545224e-03, 1.21659189e+00, 4.48004649e-02,
  1.12305653e-02,-7.01597345e-02, 1.74897707e-01, 9.76599635e-01,
  1.06680266e-03,-2.11692890e-01,-3.79227675e-02]

qacc:
[ 3.26092755e+00, 2.09976203e+00,-1.13393420e+01, 2.79356343e+01,
  5.92893577e+00, 1.36297316e+01,-2.56810522e+01, 1.79912375e+02,
  1.45146105e-01,-8.85465593e-02, 2.08329530e+00,-9.31049898e+00,
 -3.55867605e-01,-3.45112572e-01, 2.08040363e+01,-7.22770648e+01,
 -2.55756211e+00, 4.50749048e-01,-1.39610540e+00, 6.68759336e+00,
 -2.57236592e+01, 2.08612875e+01]

qfrc_actuator:
[ 1.75552628e-04, 9.21399412e-04, 9.46937655e-05,-5.93562366e-05,
  6.27647577e-03, 5.36229445e-01, 1.98963584e-01, 2.31994342e-01,
 -4.62709445e-05, 6.63795219e-04, 1.50204366e-04, 1.36268823e-05,
  1.40377207e-02,-7.50125038e-04, 0.00000000e+00,-2.26212898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027915420213817034
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90358183,  0.13914419, -0.40518979,  0.12696324,  0.99027213,
        0.05693365,  0.40917014,  0.        , -0.9124581 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08045211, -0.07893407,  0.12088014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.15748585,  -2.03118302,  -3.62753141,  -2.03118302,
        33.0949374 , -16.2031017 ,  -3.62753141, -16.2031017 ,
        13.23017506,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00012014762577443328
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31012269e-13,  4.62024538e-13,  1.00000000e+00,  1.06733337e-25,
        1.00000000e+00, -4.62024538e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31012269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0258188 , -0.06991207,  0.06199792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95862957e-05, 2.19904692e-05, 7.96614177e-06, 5.04892806e-05,
  4.41548422e-02, 3.69114461e-01, 1.83899587e-01, 4.87728135e-02,
  9.26705701e-07,-2.25577212e-05,-2.54226443e-05,-2.49142443e-05,
 -1.16925470e-04,-1.03292659e-04,-5.56284605e-05,-3.65843966e-04,
  1.88854362e-02,-2.37646611e-03,-4.90218319e+00, 5.47035917e-03,
  1.14874366e-02,-2.57727838e-04]


--- Step 1551 ---
qpos:
[ 1.85701172e-02, 3.00355895e-02,-9.44163521e-03,-2.52709056e-02,
 -1.09058427e-02, 4.17444779e-01,-2.17382181e-01, 6.05983346e-01,
  1.15400682e-02, 2.75634032e-02,-8.24933257e-03, 2.64707257e-02,
  1.23426910e+00, 6.78095427e-03, 1.21674747e+00, 4.47841199e-02,
  1.03500815e-02,-7.00604301e-02, 1.74782937e-01, 9.75736155e-01,
  6.82558382e-04,-2.15483695e-01,-3.87977811e-02]

qacc:
[-1.08343640e+00, 2.69494070e-01,-3.07731910e+00, 1.24839922e+01,
  9.70415358e+00, 1.62327466e+01,-2.70632098e+01, 1.73757731e+02,
  5.33232615e-02, 8.12454049e-01,-4.62913702e+00, 1.15735558e+01,
 -2.47061655e-01,-2.65467938e-01, 1.08071429e+01,-3.84865867e+01,
 -2.60991106e+00, 4.53817196e-01,-1.53858309e+00, 6.47469250e+00,
 -2.60212455e+01, 1.90443313e+01]

qfrc_actuator:
[ 1.68422056e-04, 9.47777110e-04, 1.23516008e-04,-2.81958037e-05,
  7.03859642e-03, 5.36189473e-01, 1.98708084e-01, 2.31728418e-01,
 -4.59621619e-05, 6.82007286e-04, 1.59038995e-04, 3.63024825e-05,
  1.40290095e-02,-7.69338231e-04, 0.00000000e+00,-2.44039920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028298838379390975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90123108,  0.13670164, -0.41121186,  0.1243673 ,  0.99061227,
        0.05674605,  0.41510879,  0.        , -0.90977178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08006738, -0.07900447,  0.12105783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012084090963340732
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.18747656e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.18747656e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02581159, -0.06991664,  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:
[-6.55355819e-06, 4.24932779e-05, 3.61000647e-05, 3.33622325e-05,
  4.46948979e-02, 3.67040325e-01, 1.82534545e-01, 4.78024113e-02,
  3.18439632e-07,-5.85671276e-07, 2.33286123e-07, 2.03558662e-05,
 -9.54097230e-05,-7.50960392e-05,-6.97939754e-05,-2.06529034e-04,
  1.92395327e-02,-2.44182733e-03,-4.90196833e+00, 5.30413776e-03,
  1.15199393e-02,-2.63980160e-04]


--- Step 1552 ---
qpos:
[ 1.85720003e-02, 3.00360540e-02,-9.44170891e-03,-2.52706238e-02,
 -1.16389339e-02, 4.20648625e-01,-2.17081127e-01, 6.09656781e-01,
  1.15402610e-02, 2.75602939e-02,-8.24997991e-03, 2.64711221e-02,
  1.23462148e+00, 6.79594181e-03, 1.21690229e+00, 4.47686794e-02,
  9.45901468e-03,-6.99593202e-02, 1.74661467e-01, 9.74846883e-01,
  3.00970450e-04,-2.19322718e-01,-3.96359610e-02]

qacc:
[-8.58741824e-01,-5.55879787e-01, 2.46230585e+00,-2.90808880e+00,
  1.27711337e+01, 1.63990806e+01,-2.53958311e+01, 1.68010437e+02,
 -2.94695875e+00, 1.73836011e+00,-9.48932350e+00, 2.47499770e+01,
  1.13799227e-01,-5.97762106e-01,-3.87721379e+00, 1.18832598e+01,
 -2.64573986e+00, 4.51376753e-01,-1.67503291e+00, 6.20868205e+00,
 -2.62391599e+01, 1.71999977e+01]

qfrc_actuator:
[ 1.63426627e-04, 9.63416389e-04, 1.40718751e-04,-2.77129661e-05,
  7.78860765e-03, 5.35372907e-01, 1.98447789e-01, 2.31357117e-01,
 -6.37486049e-05, 7.29812147e-04, 1.82430719e-04, 8.53795791e-05,
  1.40217619e-02,-7.86680570e-04, 0.00000000e+00,-2.37881186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028648896737506137
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95834928e-01,  1.34758090e-01, -4.23461968e-01,  1.21832293e-01,
        9.90878528e-01,  5.75902335e-02,  4.27360121e-01,  6.93889390e-18,
       -9.04081482e-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([ 0.07971221, -0.07906976,  0.12117261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000119415836273562
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02580489, -0.06992167,  0.06199793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.17459743e-06, 4.82748548e-05, 3.15799942e-05, 4.20068456e-06,
  4.50748969e-02, 3.64005022e-01, 1.81131810e-01, 4.67391971e-02,
 -1.77898770e-05, 4.85335175e-05, 2.40549588e-05, 4.94669089e-05,
 -7.59261725e-05,-6.02975036e-05,-5.68838433e-05, 4.07832170e-05,
  1.96159338e-02,-2.50651903e-03,-4.90174152e+00, 5.15334987e-03,
  1.15467522e-02,-2.69926958e-04]


--- Step 1553 ---
qpos:
[ 1.85734644e-02, 3.00365625e-02,-9.44115337e-03,-2.52703255e-02,
 -1.23600582e-02, 4.23897040e-01,-2.16757211e-01, 6.13343359e-01,
  1.15402384e-02, 2.75578473e-02,-8.25077975e-03, 2.64717322e-02,
  1.23497332e+00, 6.81079785e-03, 1.21705620e+00, 4.47586879e-02,
  8.55720198e-03,-6.98564214e-02, 1.74532781e-01, 9.73931026e-01,
 -7.79732910e-05,-2.23210371e-01,-4.04410878e-02]

qacc:
[-3.57748209e+00,-1.65973295e+00, 5.94366678e+00,-6.70776109e+00,
  1.52401245e+01, 1.65587395e+01,-2.21126176e+01, 1.59911065e+02,
 -1.85176552e+00, 1.74589605e+00,-5.85027750e+00, 9.29847873e+00,
  1.15713991e-01,-3.93191764e-01,-1.78644380e+01, 6.04667764e+01,
 -2.68648015e+00, 4.47218409e-01,-1.80407838e+00, 5.88120304e+00,
 -2.65611102e+01, 1.53012790e+01]

qfrc_actuator:
[ 1.41983939e-04, 9.54686583e-04, 1.68611609e-04,-2.75475103e-05,
  8.50815603e-03, 5.34374565e-01, 1.98157871e-01, 2.30881874e-01,
 -7.42901821e-05, 7.77319695e-04, 1.78859801e-04, 9.63675735e-05,
  1.40047510e-02,-7.85019662e-04, 0.00000000e+00,-2.08768900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029011298534867514
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89231308,  0.13322274, -0.43131087,  0.11994557,  0.99108612,
        0.05797722,  0.4351901 ,  0.        , -0.90033859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07933017, -0.07913049,  0.12134043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011613409458273438
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77991854e-13,  4.77991854e-13,  1.00000000e+00,  2.28476213e-25,
        1.00000000e+00, -4.77991854e-13, -1.00000000e+00,  0.00000000e+00,
       -4.77991854e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02579859, -0.06992701,  0.06199798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15795483e-05, 2.49427711e-05, 4.18910642e-05, 3.40506637e-06,
  4.53003864e-02, 3.60748071e-01, 1.79689272e-01, 4.55833683e-02,
 -1.10595127e-05, 8.18502395e-05, 1.11727934e-05, 1.48711588e-05,
 -7.11929301e-05,-3.29390212e-05,-2.26524986e-05, 2.85925839e-04,
  2.00121880e-02,-2.57078985e-03,-4.90150260e+00, 5.01886090e-03,
  1.15679966e-02,-2.75561076e-04]


--- Step 1554 ---
qpos:
[ 1.85746600e-02, 3.00368511e-02,-9.43984512e-03,-2.52693112e-02,
 -1.30674344e-02, 4.27191434e-01,-2.16409870e-01, 6.17042854e-01,
  1.15404342e-02, 2.75558513e-02,-8.25153531e-03, 2.64724830e-02,
  1.23532425e+00, 6.82657850e-03, 1.21720968e+00, 4.47542129e-02,
  7.64446813e-03,-6.97517491e-02, 1.74396393e-01, 9.72987732e-01,
 -4.54333142e-04,-2.27147208e-01,-4.12166467e-02]

qacc:
[ -2.27510881, -0.91510474, -0.16882439, 11.50014978, 17.29072223,
  16.63572199,-19.03468682,152.30383483,  1.85542184,  0.75792714,
  -2.43912271,  4.48001464, -0.90924348,  1.41881149,-17.22915219,
  59.56173018, -2.73028632,  0.44339475, -1.9253935 ,  5.55168984,
 -26.96245643, 13.55356131]

qfrc_actuator:
[ 1.28784210e-04, 9.31466185e-04, 2.02500203e-04, 7.92787831e-06,
  9.20340196e-03, 5.33212816e-01, 1.97840636e-01, 2.30658692e-01,
 -6.27243395e-05, 7.88652565e-04, 1.77128698e-04, 1.02588092e-04,
  1.39765819e-02,-7.18876105e-04, 0.00000000e+00,-1.80577237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002929664737688834
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88867051,  0.1320638 , -0.43911716,  0.11839822,  0.99124122,
        0.0585039 ,  0.44299728,  0.        , -0.89652296])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07894414, -0.07918709,  0.121514  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011121532979788129
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99132191e-13,  4.99132191e-13,  1.00000000e+00,  2.49132944e-25,
        1.00000000e+00, -4.99132191e-13, -1.00000000e+00,  0.00000000e+00,
       -4.99132191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02579262, -0.06993257,  0.06199807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38239353e-05,-5.12726735e-07, 4.43035184e-05, 3.80565178e-05,
  4.53980422e-02, 3.57242106e-01, 1.78185605e-01, 4.46906383e-02,
  1.12607235e-05, 6.01419113e-05, 1.71039911e-05, 1.04104758e-05,
 -7.21539094e-05, 3.97783479e-05, 1.96599292e-05, 2.94603141e-04,
  2.04295335e-02,-2.63530903e-03,-4.90125073e+00, 4.90235999e-03,
  1.15837433e-02,-2.80855024e-04]


--- Step 1555 ---
qpos:
[ 1.85760326e-02, 3.00370555e-02,-9.43839357e-03,-2.52678545e-02,
 -1.37596298e-02, 4.30532222e-01,-2.16038643e-01, 6.20755079e-01,
  1.15407669e-02, 2.75541145e-02,-8.25192193e-03, 2.64733051e-02,
  1.23567449e+00, 6.84301418e-03, 1.21736320e+00, 4.47531559e-02,
  6.72064594e-03,-6.96453219e-02, 1.74251835e-01, 9.72016113e-01,
 -8.28189892e-04,-2.31133825e-01,-4.19659982e-02]

qacc:
[  1.52353719,  0.39666506, -3.44381753, 10.92855739, 18.85621061,
  15.76393273,-14.62061255,144.92607763,  1.17596662, -0.5442366 ,
   2.13307802, -1.67707064, -0.73736337,  1.10579535,-10.22335892,
  35.99535119, -2.77208519,  0.43871164, -2.04230486,  5.21363825,
 -27.38897864, 11.87036911]

qfrc_actuator:
[ 1.38299748e-04, 9.17550538e-04, 2.04105798e-04, 2.83777302e-05,
  9.87749856e-03, 5.31631991e-01, 1.97479552e-01, 2.30439692e-01,
 -5.59940481e-05, 7.95980372e-04, 1.94118320e-04, 1.05935586e-04,
  1.39470963e-02,-6.86056996e-04, 0.00000000e+00,-1.63814226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002961277615309404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84883794e-01,  1.31236064e-01, -4.46942688e-01,  1.17141809e-01,
        9.91351146e-01,  5.91667236e-02,  4.50841954e-01, -6.93889390e-18,
       -8.92603794e-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([ 0.07855407, -0.07923994,  0.12169269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00010483563232710491
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.29506524e-13,  5.29506524e-13,  1.00000000e+00,  2.80377159e-25,
        1.00000000e+00, -5.29506524e-13, -1.00000000e+00,  0.00000000e+00,
       -5.29506524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02578688, -0.06993826,  0.06199818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.10670824e-06,-3.45944601e-06, 8.25122875e-06, 2.26963036e-05,
  4.53851418e-02, 3.53244914e-01, 1.76609394e-01, 4.38131335e-02,
  7.07321516e-06, 4.50227501e-05, 3.19099703e-05, 6.72326939e-06,
 -5.60572858e-05, 2.63504762e-05, 3.72898707e-05, 1.85600251e-04,
  2.08680352e-02,-2.70059873e-03,-4.90098516e+00, 4.80302308e-03,
  1.15944538e-02,-2.85844108e-04]


--- Step 1556 ---
qpos:
[ 1.85778533e-02, 3.00369241e-02,-9.43669900e-03,-2.52675191e-02,
 -1.44358013e-02, 4.33921908e-01,-2.15642100e-01, 6.24479745e-01,
  1.15408334e-02, 2.75523937e-02,-8.25219097e-03, 2.64735197e-02,
  1.23602440e+00, 6.85925513e-03, 1.21751709e+00, 4.47521450e-02,
  5.78563291e-03,-6.95371880e-02, 1.74098629e-01, 9.71015262e-01,
 -1.19958462e-03,-2.35170576e-01,-4.26933474e-02]

qacc:
[ 3.85737301e+00,-3.44079735e+00, 1.63324801e+01,-3.58396444e+01,
  1.96550520e+01, 1.50089126e+01,-6.60107903e+00, 1.30754564e+02,
 -2.26850511e+00,-1.55381149e+00, 8.14320670e+00,-1.88646503e+01,
 -1.46601564e-01,-4.13998426e-02, 4.24677612e-01,-6.59652028e-01,
 -2.79770980e+00, 4.26675329e-01,-2.16230283e+00, 4.77917901e+00,
 -2.77016710e+01, 9.77468087e+00]

qfrc_actuator:
[ 1.61106559e-04, 8.73664549e-04, 2.04402563e-04,-3.12109662e-05,
  1.05319735e-02, 5.29763159e-01, 1.97100078e-01, 2.29401601e-01,
 -6.99238248e-05, 7.65410929e-04, 1.86492743e-04, 7.20672885e-05,
  1.39221595e-02,-7.08838081e-04, 0.00000000e+00,-1.64570804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029911081492449455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88093016,  0.13069369, -0.45484196,  0.11612807,  0.9914228 ,
        0.05995926,  0.45877698,  0.        , -0.88855145])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07816002, -0.07928945,  0.1218759 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.71433635915675e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.14294178e-14, -1.14287068e-12,  1.00000000e+00, -8.16345876e-26,
        1.00000000e+00,  1.14287068e-12, -1.00000000e+00,  0.00000000e+00,
       -7.14294178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02578133, -0.06994403,  0.06199831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30672831e-05,-4.31733820e-05, 1.35935855e-06,-5.90169566e-05,
  4.52806305e-02, 3.48937345e-01, 1.74990976e-01, 4.21259274e-02,
 -1.37140822e-05, 1.55625688e-06, 5.86056348e-06,-3.07012588e-05,
 -4.64339786e-05,-2.92118782e-05, 3.21195090e-05, 6.30525441e-06,
  2.13272282e-02,-2.76697906e-03,-4.90070519e+00, 4.72086441e-03,
  1.16004254e-02,-2.90542451e-04]


--- Step 1557 ---
qpos:
[ 0.01858028, 0.03003666,-0.00943479,-0.02526827,-0.01509564, 0.43736509,
 -0.21521823, 0.62821642, 0.01154039, 0.02755034,-0.00825261, 0.02647305,
  1.2363736 , 0.00687558, 1.21767132, 0.04474942, 0.00483936,-0.06942741,
  0.17393629, 0.96998425,-0.00156852,-0.2392577 ,-0.0434034 ]

qacc:
[  5.1894296 , -3.03030664, 15.11641622,-34.13170468, 19.78265008,
  15.24408937,  2.23885427,111.69600189, -4.36601555, -1.43689123,
   7.394521  ,-18.82050881, -0.77232402,  0.78399297,  5.75864845,
 -19.23762025, -2.81422465,  0.41010564, -2.28259118,  4.28692343,
 -27.96197782,  7.4319476 ]

qfrc_actuator:
[ 1.91546105e-04, 8.83092300e-04, 2.21509606e-04,-8.41781814e-05,
  1.11855128e-02, 5.28020010e-01, 1.96698587e-01, 2.27831747e-01,
 -9.59011460e-05, 7.12242782e-04, 1.64201832e-04, 3.42723339e-05,
  1.38679890e-02,-7.11133653e-04, 0.00000000e+00,-1.73863396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030189434503704532
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76812573e-01,  1.30383702e-01, -4.62817246e-01,  1.15306370e-01,
        9.91463610e-01,  6.08633795e-02,  4.66802050e-01,  6.93889390e-18,
       -8.84361830e-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([ 0.07776165, -0.07933615,  0.12206383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.829962388604007e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53625771e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.53625771e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02577588, -0.06994984,  0.06199846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10976982e-05,-1.69738727e-05, 6.29405091e-06,-5.59234405e-05,
  4.51328730e-02, 3.44628652e-01, 1.73278451e-01, 3.99211693e-02,
 -2.63833471e-05,-5.23425704e-05,-2.22864779e-05,-3.81184367e-05,
 -8.44740988e-05,-2.18051000e-05, 9.72729533e-06,-8.97489852e-05,
  2.18056944e-02,-2.83431867e-03,-4.90041028e+00, 4.66148031e-03,
  1.16011845e-02,-2.94830347e-04]


--- Step 1558 ---
qpos:
[ 0.0185827 , 0.03003657,-0.00943316,-0.02526896,-0.01573918, 0.44086712,
 -0.2147651 , 0.63196453, 0.01153929, 0.02754809,-0.00825305, 0.02647175,
  1.23672196, 0.00689212, 1.21782493, 0.04475098, 0.00388177,-0.06931606,
  0.17376436, 0.96892209,-0.00193496,-0.2433955 ,-0.0441007 ]

qacc:
[ 1.02548429e-03, 1.13605011e+00,-3.97689650e+00, 5.31545619e+00,
  1.94870428e+01, 1.64380719e+01, 9.57771964e+00, 9.16085396e+01,
 -5.56930367e+00,-1.87262280e+00, 9.79480447e+00,-2.38505755e+01,
 -4.56388885e-01, 4.36036338e-01,-1.38545187e+01, 4.71895110e+01,
 -2.83122006e+00, 3.93853844e-01,-2.39899546e+00, 3.80953221e+00,
 -2.82571782e+01, 5.17480446e+00]

qfrc_actuator:
[ 1.90725015e-04, 9.06682118e-04, 2.13124159e-04,-7.95009131e-05,
  1.18495237e-02, 5.26576653e-01, 1.96271751e-01, 2.26240090e-01,
 -1.28754872e-04, 7.16872010e-04, 1.68835761e-04,-5.55583132e-06,
  1.38229540e-02,-7.01340369e-04, 0.00000000e+00,-1.50823190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030447183366863516
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72534330e-01,  1.30251243e-01, -4.70869894e-01,  1.14625171e-01,
        9.91481020e-01,  6.18583592e-02,  4.74915691e-01, -6.93889390e-18,
       -8.80031298e-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([ 0.07735841, -0.07938063,  0.12225681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.846403870777341e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.51689553e-13, -7.07472520e-13,  1.00000000e+00,  5.31799703e-25,
        1.00000000e+00,  7.07472520e-13, -1.00000000e+00,  0.00000000e+00,
        7.51689553e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0257705 , -0.06995566,  0.06199863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.02709311e-08, 1.29956715e-05,-1.30721605e-05, 3.07550298e-06,
  4.49801012e-02, 3.40388266e-01, 1.71439515e-01, 3.77163221e-02,
 -3.36497535e-05,-3.08084157e-05,-1.02115527e-05,-4.35766500e-05,
 -9.38330356e-05,-1.63464211e-05,-1.12114122e-05, 2.25393023e-04,
  2.23024804e-02,-2.90262005e-03,-4.90009976e+00, 4.62884370e-03,
  1.15965665e-02,-2.98634739e-04]


--- Step 1559 ---
qpos:
[ 0.01858476, 0.03003665,-0.00943223,-0.02526957,-0.01636642, 0.44443166,
 -0.2142821 , 0.6357235 , 0.01153815, 0.02754548,-0.00825368, 0.02647037,
  1.23706987, 0.00690812, 1.21797817, 0.04475726, 0.0029127 ,-0.06920317,
  0.17358241, 0.96782774,-0.00229892,-0.24758468,-0.04478838]

qacc:
[ -3.22501821,  2.38858492, -8.55347855, 11.08914136, 19.23979734,
  18.70470528, 10.29696576, 79.31944763, -0.34998276, -0.11198509,
   0.08099141, -1.0301635 ,  0.3791069 , -0.94784787,-14.8758508 ,
  51.10863077, -2.86800438,  0.38683195, -2.50438981,  3.47018564,
 -28.767167  ,  3.59876473]

qfrc_actuator:
[ 1.71508426e-04, 9.03021193e-04, 1.72107165e-04,-7.64523378e-05,
  1.24955677e-02, 5.25818993e-01, 1.95834594e-01, 2.25785035e-01,
 -1.29883207e-04, 6.85159056e-04, 1.54052062e-04,-1.06898931e-05,
  1.37994150e-02,-7.37714461e-04, 0.00000000e+00,-1.26666859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003068412940490657
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68098189e-01,  1.30244957e-01, -4.79000820e-01,  1.14036794e-01,
        9.91481846e-01,  6.29234326e-02,  4.83116078e-01,  6.93889390e-18,
       -8.75556312e-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([ 0.0769497 , -0.07942346,  0.12245525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.777139071881266e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16707401e-13, -1.63818835e-12,  1.00000000e+00,  1.17410171e-24,
        1.00000000e+00,  1.63818835e-12, -1.00000000e+00,  0.00000000e+00,
        7.16707401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02576512, -0.06996149,  0.06199882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92105609e-05, 1.01617590e-06,-3.98554185e-05, 3.21024552e-06,
  4.48112799e-02, 3.36563691e-01, 1.69492687e-01, 3.66760864e-02,
 -2.13086405e-06,-5.28437744e-05,-2.38786225e-05,-7.64566117e-06,
 -7.52532900e-05,-6.34717715e-05, 1.67463577e-05, 2.51996080e-04,
  2.28172648e-02,-2.97212834e-03,-4.89977282e+00, 4.62307543e-03,
  1.15869183e-02,-3.01980633e-04]


--- Step 1560 ---
qpos:
[ 0.01858656, 0.03003685,-0.00943208,-0.02527046,-0.01697743, 0.44806193,
 -0.21376911, 0.63949274, 0.01153838, 0.02754232,-0.00825444, 0.02646965,
  1.23741746, 0.00692307, 1.21813147, 0.04476605, 0.00193199,-0.06908873,
  0.17339003, 0.9667001 ,-0.00266044,-0.25182614,-0.04546895]

qacc:
[ -2.1390758 ,  1.7139992 , -4.63707393,  0.70845269, 18.90571915,
  21.70225903,  7.87152395, 70.07799174, 11.72302084,  0.96042182,
  -7.31022478, 19.38910285,  0.62851714, -1.52766846, -7.58744973,
  26.49703083, -2.91183915,  0.38376485, -2.60640413,  3.19725902,
 -29.37006008,  2.33209915]

qfrc_actuator:
[ 1.59381099e-04, 9.00691041e-04, 1.29798213e-04,-9.21883190e-05,
  1.31065571e-02, 5.25410053e-01, 1.95343416e-01, 2.25812662e-01,
 -5.90692490e-05, 6.49638972e-04, 1.45552565e-04, 2.23405857e-05,
  1.37727912e-02,-8.01114833e-04, 0.00000000e+00,-1.14482425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030898489205821254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63504776e-01,  1.30326094e-01, -4.87211054e-01,  1.13505270e-01,
        9.91471184e-01,  6.40425207e-02,  4.91402133e-01,  6.93889390e-18,
       -8.70932801e-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([ 0.07653514, -0.07946505,  0.1226594 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.6285907464079243e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62955925e-13,  9.86235343e-13,  1.00000000e+00, -8.51077632e-25,
        1.00000000e+00, -9.86235343e-13, -1.00000000e+00,  0.00000000e+00,
        8.62955925e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02575971, -0.06996731,  0.06199901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26863854e-05,-9.88140439e-06,-4.69083240e-05,-1.70093574e-05,
  4.46072631e-02, 3.32903208e-01, 1.67460063e-01, 3.61471064e-02,
  7.07251797e-05,-7.02301835e-05,-2.25808940e-05, 2.98010779e-05,
 -7.93846046e-05,-9.96064769e-05, 3.18649906e-05, 1.37148563e-04,
  2.33516303e-02,-3.04363604e-03,-4.89942819e+00, 4.63695677e-03,
  1.15734292e-02,-3.05069313e-04]


--- Step 1561 ---
qpos:
[ 1.85878662e-02, 3.00369567e-02,-9.43267000e-03,-2.52715139e-02,
 -1.75726916e-02, 4.51763669e-01,-2.13225182e-01, 6.43271483e-01,
  1.15391199e-02, 2.75390584e-02,-8.25524465e-03, 2.64696097e-02,
  1.23776444e+00, 6.93743446e-03, 1.21828494e+00, 4.47759388e-02,
  9.39501055e-04,-6.89728010e-02, 1.73186796e-01, 9.65538052e-01,
 -3.01945770e-03,-2.56120547e-01,-4.61456171e-02]

qacc:
[-4.34684211e+00, 1.64731145e+00,-5.37329914e+00, 3.91647872e+00,
  1.81071718e+01, 2.54469659e+01, 7.82729918e+00, 5.39826257e+01,
  4.28345230e+00, 1.38753686e+00,-8.02342280e+00, 1.99764987e+01,
 -2.67742656e-02,-5.20333183e-01,-3.06928313e+00, 1.10742255e+01,
 -2.94298392e+00, 3.75413180e-01,-2.71533552e+00, 2.85971450e+00,
 -2.98766255e+01, 7.17235977e-01]

qfrc_actuator:
[ 1.33777181e-04, 8.81388006e-04, 8.70609104e-05,-1.01095961e-04,
  1.37255711e-02, 5.25111103e-01, 1.94825532e-01, 2.25078747e-01,
 -3.52512338e-05, 6.83180635e-04, 1.58585548e-04, 5.98039829e-05,
  1.37389949e-02,-8.26754445e-04, 0.00000000e+00,-1.09449577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031087968388026637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.58753779e-01,  1.30462313e-01, -4.95501294e-01,  1.13000792e-01,
        9.91453269e-01,  6.52015046e-02,  4.99772717e-01, -6.93889390e-18,
       -8.66156586e-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([ 0.07611444, -0.07950574,  0.12286947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.403906435440641e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10293572e-12,  1.26049797e-12,  1.00000000e+00, -1.39024824e-24,
        1.00000000e+00, -1.26049797e-12, -1.00000000e+00,  0.00000000e+00,
        1.10293572e-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([ 0.02575423, -0.06997313,  0.06199923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59750707e-05,-3.52621228e-05,-5.11473556e-05,-1.12834731e-05,
  4.44148796e-02, 3.29189057e-01, 1.65395305e-01, 3.48864100e-02,
  2.58550156e-05,-8.96849753e-06,-3.17937206e-06, 3.42598743e-05,
 -9.73352504e-05,-7.29422492e-05, 2.48590161e-05, 6.08877045e-05,
  2.39062661e-02,-3.11754835e-03,-4.89906472e+00, 4.66741801e-03,
  1.15566457e-02,-3.07994959e-04]


--- Step 1562 ---
qpos:
[ 1.85885070e-02, 3.00366308e-02,-9.43337752e-03,-2.52726626e-02,
 -1.81528708e-02, 4.55542536e-01,-2.12649215e-01, 6.47058894e-01,
  1.15394466e-02, 2.75362041e-02,-8.25616842e-03, 2.64703043e-02,
  1.23811071e+00, 6.95137146e-03, 1.21843864e+00, 4.47853780e-02,
 -6.48638829e-05,-6.88553989e-02, 1.72972259e-01, 9.64340444e-01,
 -3.37587091e-03,-2.60468546e-01,-4.68214404e-02]

qacc:
[ -5.67354793, -0.43616243,  1.14973489, -2.34347786, 17.10920991,
  28.74673946,  9.37284812, 35.5238084 , -3.50195431,  2.38925418,
 -10.83556104, 23.43058112, -0.32666554, -0.08902053,  1.70161359,
  -5.42948964, -2.96970511,  0.36707524, -2.82495497,  2.54712575,
 -30.36671831, -0.82653856]

qfrc_actuator:
[ 1.00443688e-04, 8.52063784e-04, 7.98533503e-05,-1.05926481e-04,
  1.43433867e-02, 5.24721850e-01, 1.94296412e-01, 2.24133098e-01,
 -5.70613236e-05, 7.40171057e-04, 1.66751929e-04, 9.96415405e-05,
  1.37009330e-02,-8.47536578e-04, 0.00000000e+00,-1.12216758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003125184389437724
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53845723e-01,  1.30617842e-01, -5.03871472e-01,  1.12491222e-01,
        9.91432791e-01,  6.63833243e-02,  5.08225546e-01, -6.93889390e-18,
       -8.61224009e-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([ 0.07568702, -0.07954594,  0.12308585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.108763350806454e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11602157e-12, -1.78563451e-12,  1.00000000e+00, -1.99280663e-24,
        1.00000000e+00,  1.78563451e-12, -1.00000000e+00,  0.00000000e+00,
       -1.11602157e-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([ 0.02574866, -0.06997897,  0.06199945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40997270e-05,-6.00970186e-05,-2.11724169e-05,-8.32531677e-06,
  4.42453664e-02, 3.25095660e-01, 1.63269600e-01, 3.34517901e-02,
 -2.10679287e-05, 5.29253434e-05, 7.15490047e-06, 4.00181825e-05,
 -1.04879362e-04,-6.46592414e-05, 1.26358903e-05,-2.23645800e-05,
  2.44801986e-02,-3.19365895e-03,-4.89868156e+00, 4.71951346e-03,
  1.15361147e-02,-3.10655441e-04]


--- Step 1563 ---
qpos:
[ 1.85901216e-02, 3.00360256e-02,-9.43428730e-03,-2.52731840e-02,
 -1.87187396e-02, 4.59402331e-01,-2.12040188e-01, 6.50854159e-01,
  1.15391647e-02, 2.75336934e-02,-8.25699220e-03, 2.64714623e-02,
  1.23845652e+00, 6.96436958e-03, 1.21859217e+00, 4.47961034e-02,
 -1.08119223e-03,-6.87365575e-02, 1.72745988e-01, 9.63106139e-01,
 -3.72955198e-03,-2.64870715e-01,-4.74990581e-02]

qacc:
[  8.35375378,  1.47259489, -8.45579406, 19.85834185, 16.01794749,
  29.91832019, 14.74463141, 15.7057797 , -5.19461496,  1.13897429,
  -5.34145394, 12.93110147,  0.36997043, -1.18521872, -4.19715354,
  14.18693486, -2.99085128,  0.35982902, -2.93329104,  2.28983613,
 -30.83129549, -2.17165663]

qfrc_actuator:
[ 1.51594833e-04, 8.52613261e-04, 7.58822158e-05,-7.28017098e-05,
  1.49193457e-02, 5.23587323e-01, 1.93729332e-01, 2.23039691e-01,
 -8.77850838e-05, 7.57512683e-04, 1.72093802e-04, 1.22825568e-04,
  1.36763204e-02,-9.00827438e-04, 0.00000000e+00,-1.05351504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003138906040463604
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48780993e-01,  1.30758859e-01, -5.12321137e-01,  1.11946787e-01,
        9.91414202e-01,  6.75706755e-02,  5.16757915e-01,  6.93889390e-18,
       -8.56131565e-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([ 0.07525234, -0.07958605,  0.12330896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.7482281161024238e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17528077e-12,  3.17528077e-12,  1.00000000e+00, -1.00824080e-23,
        1.00000000e+00, -3.17528077e-12, -1.00000000e+00,  0.00000000e+00,
        3.17528077e-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([ 0.02574297, -0.06998481,  0.06199969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01396835e-05,-3.77766369e-05,-1.92634608e-05, 2.96632670e-05,
  4.40675904e-02, 3.19971610e-01, 1.61050797e-01, 3.19109465e-02,
 -3.13345414e-05, 5.02370032e-05, 1.85841196e-05, 2.64862995e-05,
 -9.37998893e-05,-9.64104261e-05,-2.21193467e-06, 6.77673744e-05,
  2.50726797e-02,-3.27202587e-03,-4.89827782e+00, 4.79311067e-03,
  1.15120040e-02,-3.13079501e-04]


--- Step 1564 ---
qpos:
[ 0.01859199, 0.03003553,-0.00943548,-0.02527266,-0.01927105, 0.46334581,
 -0.21139723, 0.65465646, 0.01153886, 0.02753118,-0.00825756, 0.02647292,
  1.2388016 , 0.0069769 , 1.21874616, 0.04480354,-0.00210956,-0.0686163 ,
  0.17250756, 0.96183399,-0.00408036,-0.26932763,-0.0481805 ]

qacc:
[  2.18163831,  3.08396829,-15.19868856, 33.65973467, 14.97016944,
  30.1809542 , 21.32162431, -4.12169479, -0.17695078, -0.08667439,
  -0.98642718,  5.84803143, -0.53209949,  0.13597714, 10.67143556,
 -36.25035611, -3.00999531,  0.3551892 , -3.04024402,  2.10708653,
 -31.30299424, -3.22521621]

qfrc_actuator:
[ 1.63302722e-04, 8.88857813e-04, 7.39848052e-05,-1.75895033e-05,
  1.54826825e-02, 5.22059742e-01, 1.93107884e-01, 2.21996997e-01,
 -8.79887485e-05, 7.33210499e-04, 1.75568433e-04, 1.35994678e-04,
  1.36384767e-02,-9.19685241e-04, 0.00000000e+00,-1.23041694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031497184225506188
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43559807e-01,  1.30853755e-01, -5.20849448e-01,  1.11340308e-01,
        9.91401682e-01,  6.87462079e-02,  5.25366718e-01, -6.93889390e-18,
       -8.50875909e-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([ 0.07480998, -0.07962644,  0.12353909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.2608279980778088e-06
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55354551e-11, -1.70236367e-11,  1.00000000e+00,  4.34706311e-22,
        1.00000000e+00,  1.70236367e-11, -1.00000000e+00,  0.00000000e+00,
        2.55354551e-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([ 0.02573712, -0.06999069,  0.06199994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31583074e-05, 1.24578352e-05,-1.10305584e-05, 5.35081320e-05,
  4.39159672e-02, 3.14261946e-01, 1.58725395e-01, 3.04613161e-02,
 -1.11487040e-06, 8.85068287e-06, 1.70946542e-05, 1.64865686e-05,
 -1.08798755e-04,-6.82992622e-05, 2.65297343e-06,-1.74312322e-04,
  2.56823628e-02,-3.35267016e-03,-4.89785280e+00, 4.88629766e-03,
  1.14846499e-02,-3.15339417e-04]


--- Step 1565 ---
qpos:
[ 0.01859295, 0.03003544,-0.00943682,-0.02527222,-0.01977098, 0.46774778,
 -0.21053302, 0.65842335, 0.01153856, 0.02752874,-0.00825808, 0.02647454,
  1.23914573, 0.00698959, 1.21890038, 0.04480714,-0.00316296,-0.06849098,
  0.17221991, 0.96061733,-0.00438523,-0.27350905,-0.0488663 ]

qacc:
[-7.80132038e+00, 7.87397499e-01,-1.66616401e+00, 1.67529986e-01,
  5.70875453e+01,-1.50966989e+01, 9.65592498e+02,-1.81902440e+03,
 -4.75492056e-03, 2.61174339e-01,-1.40023993e+00, 3.83013772e+00,
 -1.16662496e+00, 1.24048528e+00, 1.20450273e+01,-4.13956351e+01,
 -6.25711944e+00, 1.26383643e+00,-1.23038303e+01, 1.49835604e+01,
  1.41086315e+02,-6.37810851e+00]

qfrc_actuator:
[ 1.16168255e-04, 9.28489757e-04, 7.34921862e-05,-2.08052033e-05,
  1.60512297e-02, 5.20385474e-01, 1.92439725e-01, 2.21159930e-01,
 -8.79764924e-05, 7.37392818e-04, 1.77730914e-04, 1.43129025e-04,
  1.35980606e-02,-9.00223571e-04, 0.00000000e+00,-1.42632177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031572931630763973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83818193,  0.13087614, -0.52945489,  0.11064975,  0.99139873,
        0.06989419,  0.53404839,  0.        , -0.84545391])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07435968, -0.07966742,  0.12377647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67457827e-05, 4.66403472e-05, 2.58918436e-06,-2.02029244e-06,
  4.38074613e-02, 3.08265199e-01, 1.56308901e-01, 2.92578046e-02,
 -2.69787256e-08, 1.34625595e-05, 6.69931483e-06, 8.42959828e-06,
 -1.13093590e-04,-2.53079606e-05,-2.39871217e-05,-2.06595174e-04,
  2.63083160e-02,-3.43570060e-03,-4.89740570e+00, 4.99582698e-03,
  1.14544985e-02,-3.17537955e-04]


--- Step 1566 ---
qpos:
[ 0.01859403, 0.0300356 ,-0.0094381 ,-0.02527215,-0.02025735, 0.47217006,
 -0.20966023, 0.66219206, 0.01153825, 0.0275265 ,-0.00825884, 0.02647554,
  1.23948893, 0.00700262, 1.21905435, 0.04480934,-0.00422547,-0.06836487,
  0.17192712, 0.95934419,-0.00469653,-0.27781571,-0.04954902]

qacc:
[ 1.00148234e+00,-6.11986294e-01, 4.28651174e+00,-1.11856375e+01,
  1.45922648e+01, 6.63716732e+00, 7.11307596e+00,-1.18960837e+00,
  8.48200064e-03,-3.10893805e-01, 4.04925893e+00,-1.43506561e+01,
 -1.05235390e+00, 1.22189351e+00, 3.95250174e+00,-1.41316797e+01,
 -2.27840018e+00, 1.96641127e-01,-1.28687732e+00, 2.63208047e-01,
 -6.80472203e+01, 7.00450951e-01]

qfrc_actuator:
[ 1.23552797e-04, 9.34312012e-04, 7.38191830e-05,-4.06158489e-05,
  1.65786525e-02, 5.18001878e-01, 1.91578141e-01, 2.20166329e-01,
 -8.78470856e-05, 7.40825392e-04, 1.61448525e-04, 1.11170452e-04,
  1.35614741e-02,-8.75967382e-04, 0.00000000e+00,-1.48974604e-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,  0.00424205,  0.43065246,  0.00424205,  0.94891632,
       -0.00510484,  0.43065246, -0.00510484,  0.43072364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030984770598218047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83298774,  0.13074787, -0.53762107,  0.1098544 ,  0.99141565,
        0.07090145,  0.54227616,  0.        , -0.84020031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07383081, -0.0797056 ,  0.12404119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09487856,  0.79669577,  4.01662871,  0.79669577, 33.39546518,
       -5.81175288,  4.01662871, -5.81175288,  5.24763607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9538454553224014e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81892632e-12, -3.75856842e-12,  1.00000000e+00,  1.05951274e-23,
        1.00000000e+00,  3.75856842e-12, -1.00000000e+00,  0.00000000e+00,
        2.81892632e-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([ 0.02562345, -0.06998477,  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:
[ 6.04016150e-06, 3.23499370e-05, 1.02254070e-05,-1.77595644e-05,
  4.17191064e-02, 2.82806132e-01, 1.44334218e-01, 3.00080361e-02,
  1.24767198e-07, 1.27955810e-05,-1.23540885e-05,-3.09828640e-05,
 -1.01826650e-04,-9.17351626e-06,-3.89774727e-05,-7.91116095e-05,
  2.32221180e-02,-2.94086428e-03,-4.89805185e+00, 4.77903972e-03,
  1.14498848e-02,-3.29096903e-04]


--- Step 1567 ---
qpos:
[ 0.01859519, 0.03003533,-0.00943848,-0.0252723 ,-0.02073045, 0.47662825,
 -0.20877311, 0.66596263, 0.0115383 , 0.02752415,-0.00825939, 0.02647581,
  1.23983132, 0.00701584, 1.21920856, 0.04480703,-0.00529791,-0.06823785,
  0.17162777, 0.9580164 ,-0.0050122 ,-0.28223439,-0.05023146]

qacc:
[  0.72272282, -3.5125048 , 12.54115568,-17.19774043, 14.05566405,
  11.97774605, 16.14003961,-23.9412974 ,  2.98181619, -2.27133174,
  10.97005347,-23.87589285, -1.12600295,  1.25214652, 14.12278074,
 -48.6493812 , -2.48236715,  0.23073216, -1.63857784,  0.59399255,
 -61.43093034, -0.87218662]

qfrc_actuator:
[ 1.27481632e-04, 8.84326588e-04, 1.09997692e-04,-5.22966162e-05,
  1.70815139e-02, 5.15252184e-01, 1.90689180e-01, 2.19251020e-01,
 -6.98974169e-05, 7.25915361e-04, 1.69886168e-04, 7.42082553e-05,
  1.35218912e-02,-8.66831742e-04, 0.00000000e+00,-1.72312410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030479598988488953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27583280e-01,  1.30597561e-01, -5.45939733e-01,  1.09014012e-01,
        9.91435463e-01,  7.19143101e-02,  5.50655845e-01,  6.93889390e-18,
       -8.34732376e-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([ 0.07330683, -0.07974418,  0.12431035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10696376,  0.85942237,  4.01603592,  0.85942237,  7.42234274,
       -0.70948341,  4.01603592, -0.70948341,  4.25879157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.932618747810092e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.80708167e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.80708167e-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([ 0.02553613, -0.06997655,  0.06199895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11722488e-06,-3.05366414e-05, 4.35163299e-05,-1.02858909e-05,
  4.15415955e-02, 2.78883658e-01, 1.42955799e-01, 2.89881495e-02,
  1.79518812e-05,-1.15473164e-05, 8.51968718e-06,-3.74398836e-05,
 -9.50568695e-05,-1.71469773e-05,-3.01820687e-05,-2.43540130e-04,
  2.45830465e-02,-3.13719873e-03,-4.89739966e+00, 4.91505717e-03,
  1.14188632e-02,-3.31441386e-04]


--- Step 1568 ---
qpos:
[ 0.01859639, 0.03003495,-0.0094385 ,-0.02527259,-0.0211904 , 0.48113426,
 -0.20786734, 0.66973492, 0.01153856, 0.0275213 ,-0.00825881, 0.02647597,
  1.24017309, 0.00702862, 1.21936257, 0.04480224,-0.00638092,-0.06810977,
  0.17132055, 0.95663524,-0.0053306 ,-0.28675469,-0.05091507]

qacc:
[ 3.38747506e-01,-1.45785120e+00, 5.61675174e+00,-8.64109581e+00,
  1.37322637e+01, 1.61123643e+01, 2.32806934e+01,-4.33673880e+01,
  1.87597639e+00,-4.01358210e+00, 1.37937311e+01,-1.70909701e+01,
 -3.53397784e-01,-3.74196538e-02, 7.21451929e+00,-2.56172110e+01,
 -2.64262681e+00, 2.62307793e-01,-1.96834073e+00, 9.46114847e-01,
 -5.62756542e+01,-1.77277437e+00]

qfrc_actuator:
[ 1.29327089e-04, 8.90214786e-04, 1.31320243e-04,-5.91236127e-05,
  1.75290078e-02, 5.12614170e-01, 1.89810106e-01, 2.18843493e-01,
 -5.93554167e-05, 7.00219038e-04, 2.28289216e-04, 7.01133483e-05,
  1.34805340e-02,-9.02260604e-04, 0.00000000e+00,-1.84176199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003002288850849124
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82197526,  0.13039457, -0.55439511,  0.10810408,  0.99146218,
        0.07291263,  0.55916919,  0.        , -0.82905357])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07278498, -0.0797834 ,  0.12458478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11963128,  0.89104311,  4.02211437,  0.89104311,  8.45892628,
       -0.96131004,  4.02211437, -0.96131004,  4.33259605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.924142546222868e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.50265981e-13, -1.40106392e-12,  1.00000000e+00,  4.90745029e-25,
        1.00000000e+00,  1.40106392e-12, -1.00000000e+00,  0.00000000e+00,
        3.50265981e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02546506, -0.06997124,  0.06199859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95475482e-06,-2.62782816e-06, 2.00260288e-05,-6.82774695e-06,
  4.13242254e-02, 2.74293021e-01, 1.41299102e-01, 2.84739071e-02,
  1.10573412e-05,-3.19011069e-05, 5.58042043e-05,-5.01850794e-06,
 -9.55820742e-05,-6.22024228e-05,-4.55527056e-05,-1.37080377e-04,
  2.58353055e-02,-3.31699339e-03,-4.89674537e+00, 5.05826836e-03,
  1.13852477e-02,-3.33895237e-04]


--- Step 1569 ---
qpos:
[ 0.0185976 , 0.03003465,-0.0094386 ,-0.02527295,-0.02163715, 0.4856982 ,
 -0.20693944, 0.67350866, 0.0115386 , 0.02751835,-0.00825794, 0.02647608,
  1.24051424, 0.0070409 , 1.21951599, 0.04479868,-0.00747499,-0.06798053,
  0.1710042 , 0.95520151,-0.00565043,-0.29136838,-0.05160051]

qacc:
[ 1.06111540e-01, 1.83857717e-01,-2.22496268e-01,-9.12222026e-01,
  1.35765298e+01, 1.97968954e+01, 2.93607624e+01,-6.24611417e+01,
 -1.87031254e+00,-1.05856098e+00, 3.81147527e+00,-5.06750744e+00,
 -3.76468401e-02,-4.51966318e-01,-4.59257614e+00, 1.47849366e+01,
 -2.76450058e+00, 2.90200620e-01,-2.28089728e+00, 1.29253964e+00,
 -5.22442876e+01,-2.26084662e+00]

qfrc_actuator:
[ 1.29932646e-04, 8.93957835e-04, 1.26147651e-04,-6.30162486e-05,
  1.79558394e-02, 5.10123405e-01, 1.88926919e-01, 2.18615742e-01,
 -7.10164353e-05, 7.04000739e-04, 2.44680911e-04, 6.76577412e-05,
  1.34487746e-02,-9.28356086e-04, 0.00000000e+00,-1.76752259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002959803919832259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81616127,  0.13011647, -0.56298355,  0.10710656,  0.99149872,
        0.07388152,  0.56781067,  0.        , -0.82315918])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226334, -0.07982343,  0.12486506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.12847407,  0.93191465,  4.0219191 ,  0.93191465,  9.74500898,
       -1.3014014 ,  4.0219191 , -1.3014014 ,  4.43002042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.053484041872395e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06573420e-13,  6.13146839e-13,  1.00000000e+00, -1.87974523e-25,
        1.00000000e+00, -6.13146839e-13, -1.00000000e+00,  0.00000000e+00,
        3.06573420e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02540702, -0.0699683 ,  0.06199839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62339845e-07, 6.12862696e-06,-3.48120212e-06,-3.44404102e-06,
  4.10920510e-02, 2.69252929e-01, 1.39422622e-01, 2.81449022e-02,
 -1.13585649e-05,-2.64449398e-06, 1.65279733e-05,-1.98516961e-06,
 -9.68330784e-05,-6.57247829e-05,-3.90577958e-05, 6.01433943e-05,
  2.69980965e-02,-3.48344192e-03,-4.89608544e+00, 5.20390379e-03,
  1.13497195e-02,-3.36606626e-04]


--- Step 1570 ---
qpos:
[ 0.01859846, 0.03003404,-0.00943827,-0.02527403,-0.02207042, 0.49032963,
 -0.20598619, 0.67728333, 0.01153782, 0.02751558,-0.00825696, 0.0264758 ,
  1.2408549 , 0.00705268, 1.21966917, 0.04479597,-0.00858046,-0.06785004,
  0.17067754, 0.95371566,-0.00597063,-0.29606889,-0.05228779]

qacc:
[-2.95563062e+00,-3.06285956e+00, 1.33895296e+01,-2.63227475e+01,
  1.36755041e+01, 2.31552661e+01, 3.62003185e+01,-8.45135151e+01,
 -7.07837728e+00,-8.64252891e-01, 5.11750088e+00,-1.23022823e+01,
  1.82490328e-02,-4.88428572e-01,-2.94001854e+00, 9.72388281e+00,
 -2.85044624e+00, 3.14271729e-01,-2.57845055e+00, 1.64263130e+00,
 -4.90553344e+01,-2.40935025e+00]

qfrc_actuator:
[ 1.12051609e-04, 8.60777141e-04, 1.40887281e-04,-1.00670454e-04,
  1.84182267e-02, 5.07514218e-01, 1.87977061e-01, 2.18229169e-01,
 -1.13402456e-04, 7.25254535e-04, 2.53984625e-04, 4.84153834e-05,
  1.34334484e-02,-9.48632986e-04, 0.00000000e+00,-1.72229250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029139910569455914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81009168,  0.13012065, -0.57168181,  0.10631351,  0.99149817,
        0.07502546,  0.57658383,  0.        , -0.817038  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07174069, -0.07986027,  0.12515183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.1317035 ,  0.98551494,  4.01244739,  0.98551494, 11.39852219,
       -1.78483547,  4.01244739, -1.78483547,  4.57008483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.431298639256402e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.88584386e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.88584386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02535945, -0.06996728,  0.06199831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78581839e-05,-3.06106949e-05, 1.54617606e-05,-3.75778761e-05,
  4.08934122e-02, 2.63587050e-01, 1.37304830e-01, 2.76715941e-02,
 -4.27288007e-05, 2.31963232e-05, 1.07489769e-05,-1.88175899e-05,
 -8.11738810e-05,-6.15071912e-05,-1.34487914e-05, 4.31098041e-05,
  2.80876218e-02,-3.63919253e-03,-4.89541660e+00, 5.34915405e-03,
  1.13126575e-02,-3.39666008e-04]


--- Step 1571 ---
qpos:
[ 0.01859945, 0.03003362,-0.00943795,-0.02527594,-0.0224906 , 0.49501272,
 -0.20499968, 0.6810599 , 0.01153652, 0.02751305,-0.00825534, 0.0264749 ,
  1.24119508, 0.00706384, 1.21982221, 0.04479413,-0.00969763,-0.06771824,
  0.17033938, 0.95217764,-0.00629022,-0.30085117,-0.05297879]

qacc:
[ 1.05434310e+00,-1.45314468e+00, 8.98987702e+00,-2.33178531e+01,
  1.31102951e+01,-1.46139697e+01, 1.32383102e+02,-1.43561809e+02,
 -4.27223385e+00,-2.73466112e+00, 1.28374525e+01,-2.47661641e+01,
  1.12806842e-01,-6.74870158e-01,-2.87695226e+00, 9.68548175e+00,
 -2.92577951e+00, 3.27037001e-01,-2.87458986e+00, 1.72390198e+00,
 -4.66929721e+01,-3.47878960e+00]

qfrc_actuator:
[ 1.18938127e-04, 8.94549611e-04, 1.49347644e-04,-1.40149773e-04,
  1.88963767e-02, 5.04801251e-01, 1.87046142e-01, 2.17480949e-01,
 -1.38020802e-04, 7.56761185e-04, 2.94616438e-04, 1.94684910e-05,
  1.34066899e-02,-9.82965495e-04, 0.00000000e+00,-1.67682533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028729846502993854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80374978,  0.13096214, -0.58037506,  0.10617524,  0.99138737,
        0.07666747,  0.58541704,  0.        , -0.81073232])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07121564, -0.07988771,  0.12544672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.12934172,  1.05779722,  3.9915571 ,  1.05779722, 13.61792913,
       -2.51455787,  3.9915571 , -2.51455787,  4.79572134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.156575800237099e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06243561e-13, -6.06243561e-13,  1.00000000e+00,  3.67531256e-25,
        1.00000000e+00,  6.06243561e-13, -1.00000000e+00,  0.00000000e+00,
        6.06243561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02532029, -0.06996782,  0.06199836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35818952e-06, 1.82513911e-05, 2.74795799e-06,-4.09831069e-05,
  4.06959824e-02, 2.57337995e-01, 1.35044543e-01, 2.68618386e-02,
 -2.58698981e-05, 4.59641623e-05, 4.61186589e-05,-2.79408884e-05,
 -8.31851082e-05,-7.08254095e-05,-4.79659909e-06, 4.53945042e-05,
  2.91163683e-02,-3.78629829e-03,-4.89473622e+00, 5.49113214e-03,
  1.12743838e-02,-3.43158470e-04]


--- Step 1572 ---
qpos:
[ 0.01860086, 0.03003358,-0.00943823,-0.02527794,-0.02289812, 0.49974983,
 -0.20397319, 0.68483828, 0.01153529, 0.027511  ,-0.0082539 , 0.02647368,
  1.24153476, 0.00707448, 1.21997489, 0.04479517,-0.01082669,-0.06758509,
  0.16998861, 0.9505872 ,-0.00660832,-0.30571112,-0.05367512]

qacc:
[ 3.57306740e+00, 1.99032428e+00,-5.97848582e+00, 5.02085605e+00,
  1.25235068e+01,-2.83048269e+01, 1.82611912e+02,-1.92506880e+02,
  4.88377271e-01, 4.77895314e-01, 5.38868969e-01,-6.04899531e+00,
  1.87610718e-01,-7.17754805e-01,-9.29025782e+00, 3.16638973e+01,
 -2.97192997e+00, 3.35777442e-01,-3.15363463e+00, 1.80217296e+00,
 -4.48113270e+01,-4.39003147e+00]

qfrc_actuator:
[ 1.40353944e-04, 9.14870616e-04, 1.18788168e-04,-1.44830524e-04,
  1.93434916e-02, 5.02316646e-01, 1.86090785e-01, 2.16496636e-01,
 -1.34221191e-04, 7.76534013e-04, 2.82459790e-04, 2.83295378e-06,
  1.33837395e-02,-1.00765611e-03, 0.00000000e+00,-1.52506192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028291941584077805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97284304e-01,  1.31194522e-01, -5.89173775e-01,  1.05511305e-01,
        9.91356645e-01,  7.79702969e-02,  5.94310612e-01,  6.93889390e-18,
       -8.04235597e-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([ 0.07068724, -0.07992147,  0.12574752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.12259969,  1.16915397,  3.95334127,  1.16915397, 16.91241106,
       -3.7824356 ,  3.95334127, -3.7824356 ,  5.24121033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.320853601502531e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02528785, -0.06996965,  0.0619985 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16104216e-05, 2.93546239e-05,-2.78653278e-05,-4.59832510e-06,
  4.04875613e-02, 2.52107196e-01, 1.32363531e-01, 2.57673138e-02,
  3.05029348e-06, 5.38669854e-05, 2.06397263e-06,-1.36089477e-05,
 -8.24675093e-05,-6.43470039e-05,-9.68668781e-07, 1.52832329e-04,
  3.01023807e-02,-3.92702802e-03,-4.89403875e+00, 5.64538665e-03,
  1.12334891e-02,-3.46726829e-04]


--- Step 1573 ---
qpos:
[ 0.01860182, 0.03003292,-0.00943876,-0.02527953,-0.02329326, 0.50455089,
 -0.20290092, 0.6886177 , 0.0115348 , 0.027509  ,-0.00825242, 0.02647231,
  1.24187375, 0.00708498, 1.22012736, 0.04479935,-0.01196773,-0.06745058,
  0.16962418, 0.94894392,-0.00692418,-0.31064539,-0.05437775]

qacc:
[-3.79491451e+00, 7.17794263e-01,-5.45198080e+00, 1.33486890e+01,
  1.20756080e+01,-3.10954478e+01, 2.11403666e+02,-2.37851588e+02,
  6.35072142e+00,-3.36772624e-01, 1.91175608e+00,-4.55807195e+00,
 -2.15444355e-01,-3.04768880e-02,-9.78700560e+00, 3.37975149e+01,
 -2.99448253e+00, 3.42504526e-01,-3.41573342e+00, 1.92304359e+00,
 -4.33130990e+01,-5.00042122e+00]

qfrc_actuator:
[ 1.16884040e-04, 8.20338027e-04, 8.31768416e-05,-1.29028859e-04,
  1.97494187e-02, 4.99839521e-01, 1.85047475e-01, 2.15281245e-01,
 -9.59785316e-05, 7.53426571e-04, 2.74695166e-04,-6.47285846e-06,
  1.33524424e-02,-1.00865334e-03, 0.00000000e+00,-1.36514451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002781172539838498
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79055768,  0.13198971, -0.59799437,  0.10526645,  0.99125109,
        0.07962574,  0.60327235,  0.        , -0.79753525])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0701561 , -0.07994864,  0.12605524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.11332577,  1.34599827,  3.88686732,  1.34599827, 21.71586068,
       -6.09564967,  3.88686732, -6.09564967,  6.22421179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.005331571686979e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.92412902e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.92412902e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0252608 , -0.06997255,  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:
[-2.28278125e-05,-8.40574047e-05,-3.31336684e-05, 1.60088635e-05,
  4.02589798e-02, 2.46764488e-01, 1.29257462e-01, 2.44467478e-02,
  3.83460437e-05, 6.91580074e-06, 3.15419641e-06,-7.18712299e-06,
 -8.85243495e-05,-3.88233529e-05, 1.30459270e-05, 1.67525347e-04,
  3.10532612e-02,-4.06273603e-03,-4.89332197e+00, 5.81130795e-03,
  1.11901105e-02,-3.50413511e-04]


--- Step 1574 ---
qpos:
[ 0.01860284, 0.03003137,-0.00943927,-0.02528055,-0.02367632, 0.50942289,
 -0.20177679, 0.69239734, 0.01153547, 0.02750708,-0.00825106, 0.0264712 ,
  1.2422121 , 0.00709556, 1.22027985, 0.04480542,-0.01312077,-0.06731468,
  0.16924509, 0.94724721,-0.0072371 ,-0.31565122,-0.05508762]

qacc:
[ 4.98424802e-01,-3.75727121e-02,-3.94108307e+00, 1.43411527e+01,
  1.16125076e+01,-3.84731418e+01, 2.50587096e+02,-2.90533935e+02,
  9.82013525e+00, 9.16463507e-01,-4.20389428e+00, 8.70544389e+00,
 -4.28751549e-01, 3.80062208e-01,-5.64822217e+00, 1.98825998e+01,
 -3.00129718e+00, 3.46226780e-01,-3.66413299e+00, 2.02701213e+00,
 -4.21514663e+01,-5.59492940e+00]

qfrc_actuator:
[ 1.20434908e-04, 7.64253440e-04, 7.99205751e-05,-1.01404179e-04,
  2.01435995e-02, 4.97122301e-01, 1.83982875e-01, 2.13802981e-01,
 -3.77791389e-05, 7.58081832e-04, 2.69427854e-04, 6.33213371e-06,
  1.33321493e-02,-9.95620552e-04, 0.00000000e+00,-1.27274606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027280050206838283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7836435 ,  0.13276227, -0.60685834,  0.10496747,  0.99114791,
        0.08128746,  0.61227828,  0.        , -0.79064234])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06962007, -0.07997562,  0.12637034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.10362364,   1.64808369,   3.75813081,   1.64808369,
        28.80518504, -10.83257679,   3.75813081, -10.83257679,
         8.85412172,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -5.2814762425509865e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05105370e-12, -2.10210739e-12,  1.00000000e+00,  2.20942774e-24,
        1.00000000e+00,  2.10210739e-12, -1.00000000e+00,  0.00000000e+00,
        1.05105370e-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([ 0.02523802, -0.06997633,  0.06199904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85996499e-06,-1.09223709e-04,-2.41264494e-05, 2.31981593e-05,
  4.00328386e-02, 2.40682701e-01, 1.25840451e-01, 2.29010525e-02,
  5.93205949e-05, 8.93615517e-06,-3.69179043e-06, 1.30731536e-05,
 -7.43287208e-05,-1.91478583e-05, 2.01542435e-05, 1.02404091e-04,
  3.19745722e-02,-4.19448071e-03,-4.89258417e+00, 5.98567929e-03,
  1.11446037e-02,-3.54320584e-04]


--- Step 1575 ---
qpos:
[ 0.01860458, 0.0300299 ,-0.00944001,-0.02528066,-0.02404756, 0.51437692,
 -0.20059515, 0.69617586, 0.01153682, 0.02750536,-0.00825041, 0.02647096,
  1.24255002, 0.0071059 , 1.22043228, 0.04481357,-0.01428579,-0.06717738,
  0.1688504 , 0.94549638,-0.00754646,-0.32072634,-0.05580547]

qacc:
[ 6.19678726e+00, 2.60781187e+00,-1.30576136e+01, 2.93150143e+01,
  1.12108152e+01,-4.02333940e+01, 2.79477106e+02,-3.44113687e+02,
  5.88785734e+00, 4.06402172e+00,-1.78672177e+01, 3.41522134e+01,
 -2.06601974e-02,-2.58546008e-01,-6.40687092e+00, 2.22559781e+01,
 -2.99229314e+00, 3.47819943e-01,-3.89826649e+00, 2.14293216e+00,
 -4.12334855e+01,-6.08156512e+00]

qfrc_actuator:
[ 1.57628971e-04, 8.38265959e-04, 9.59183637e-05,-4.92529129e-05,
  2.05260889e-02, 4.94530259e-01, 1.82881093e-01, 2.12043139e-01,
 -3.81592340e-06, 7.61591967e-04, 2.30283373e-04, 4.98155067e-05,
  1.33131536e-02,-1.00983689e-03, 0.00000000e+00,-1.16760941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026687197099817994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.76545828e-01,  1.33511421e-01, -6.15752610e-01,  1.04614320e-01,
        9.91047275e-01,  8.29526583e-02,  6.21315073e-01,  1.38777878e-17,
       -7.83560833e-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([ 0.06907803, -0.0800024 ,  0.12669347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.212327141957627e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.45613313e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.45613313e-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([ 0.02521864, -0.06998087,  0.06199942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72449452e-05, 9.00812926e-06,-8.70416883e-06, 4.70984948e-05,
  3.98106669e-02, 2.34375177e-01, 1.22080316e-01, 2.11149299e-02,
  3.56993945e-05, 8.38363287e-06,-3.72937198e-05, 4.39943918e-05,
 -6.11539626e-05,-3.74486695e-05, 1.55270006e-05, 1.12267799e-04,
  3.28722607e-02,-4.32323566e-03,-4.89182309e+00, 6.16935452e-03,
  1.10969361e-02,-3.58449090e-04]


--- Step 1576 ---
qpos:
[ 0.01860641, 0.03002878,-0.00944077,-0.02527984,-0.02440736, 0.51942583,
 -0.19935037, 0.69995156, 0.01153823, 0.02750348,-0.00824985, 0.0264716 ,
  1.24288742, 0.00711583, 1.22058483, 0.04482226,-0.01546268,-0.06703871,
  0.16843923, 0.9436906 ,-0.0078516 ,-0.32586883,-0.05653235]

qacc:
[ 7.45183506e-01, 2.42018227e+00,-1.18351149e+01, 2.75156739e+01,
  1.06860788e+01,-4.03176704e+01, 3.06960114e+02,-4.03169003e+02,
  4.50672433e-01, 1.82263479e+00,-1.04560949e+01, 2.57326901e+01,
 -9.73726601e-02,-3.01162562e-01,-1.44814044e+00, 5.32754850e+00,
 -2.97035579e+00, 3.45340913e-01,-4.12106059e+00, 2.21493322e+00,
 -4.05100561e+01,-6.73107866e+00]

qfrc_actuator:
[ 1.61061668e-04, 8.83216268e-04, 1.05945576e-04,-7.21203401e-07,
  2.08614787e-02, 4.92133637e-01, 1.81712866e-01, 2.09831542e-01,
 -2.14910488e-06, 7.46521819e-04, 2.24723148e-04, 9.32226523e-05,
  1.32736369e-02,-1.04011050e-03, 0.00000000e+00,-1.14454391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026025540551587643
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76926906,  0.13423651, -0.62466444,  0.10420714,  0.99094932,
        0.08461863,  0.63036972,  0.        , -0.77629506])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0685286 , -0.08002896,  0.12702557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.530796547001618e-06
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.50714748e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.50714748e-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([ 0.02520192, -0.06998605,  0.06199984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52497622e-06, 5.02758614e-05, 1.24679369e-05, 4.95366763e-05,
  3.95541313e-02, 2.27706471e-01, 1.17971114e-01, 1.89424908e-02,
  2.71070476e-06,-1.61279699e-05,-6.88656506e-06, 4.33339434e-05,
 -7.92672749e-05,-5.55286222e-05, 1.51333572e-05, 3.02760921e-05,
  3.37501101e-02,-4.44968607e-03,-4.89103708e+00, 6.36150610e-03,
  1.10472167e-02,-3.62840226e-04]


--- Step 1577 ---
qpos:
[ 0.01860724, 0.03002803,-0.00944113,-0.02527883,-0.02472126, 0.52480712,
 -0.19789013, 0.70368428, 0.01153931, 0.02750105,-0.00824855, 0.02647171,
  1.24322428, 0.00712533, 1.22073785, 0.04482783,-0.01665903,-0.06689601,
  0.16798095, 0.94192501,-0.00811907,-0.33080509,-0.05726564]

qacc:
[-8.63154610e+00,-2.26560028e-01, 6.97335031e-01, 1.77904869e+00,
  4.22713571e+01,-1.70051618e+02, 1.27302425e+03,-2.03159647e+03,
 -2.82731395e+00,-3.90919153e+00, 1.51000393e+01,-2.50023597e+01,
 -4.14058943e-01, 8.06391956e-02, 1.01599359e+01,-3.44727668e+01,
 -4.86406831e+00, 1.00657440e+00,-1.17772641e+01, 1.10644024e+01,
  1.04953341e+02,-7.21577632e+00]

qfrc_actuator:
[ 1.09078617e-04, 9.10424828e-04, 1.30032926e-04, 9.76692251e-06,
  2.11820210e-02, 4.90252409e-01, 1.80440623e-01, 2.07439814e-01,
 -1.94970850e-05, 7.02815775e-04, 2.56718796e-04, 6.52339811e-05,
  1.32431339e-02,-1.06199276e-03, 0.00000000e+00,-1.31203069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025288058431005944
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76181799,  0.13493767, -0.63358123,  0.1037468 ,  0.99085409,
        0.08628311,  0.63942939,  0.        , -0.76884983])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06797026, -0.08005532,  0.12736773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18320667e-05, 6.00615839e-05, 3.77385286e-05, 1.40385005e-05,
  3.93025113e-02, 2.20907128e-01, 1.13474771e-01, 1.66750443e-02,
 -1.72809367e-05,-5.22250074e-05, 2.93306698e-05,-2.80730648e-05,
 -8.41008482e-05,-5.64091202e-05, 5.28598208e-06,-1.65015926e-04,
  3.46119001e-02,-4.57438084e-03,-4.89022415e+00, 6.56548879e-03,
  1.09951929e-02,-3.67435561e-04]


--- Step 1578 ---
qpos:
[ 0.01860743, 0.03002749,-0.0094411 ,-0.02527768,-0.02502019, 0.53035016,
 -0.1963901 , 0.70740223, 0.01153913, 0.02749808,-0.00824707, 0.02647117,
  1.24356064, 0.00713424, 1.22089105, 0.04483003,-0.01786468,-0.06675235,
  0.16751128, 0.9400869 ,-0.00838972,-0.33586138,-0.05799448]

qacc:
[-5.39217759e+00,-4.92598867e-01, 1.61247289e+00,-2.60557668e-02,
  1.34594184e+01, 8.50169471e+01, 3.87848802e+01,-3.81979281e+02,
 -1.06538688e+01,-2.46929377e+00, 1.05489892e+01,-2.16150184e+01,
 -2.59168773e-01,-2.11960759e-01, 1.04892496e+01,-3.62667746e+01,
 -2.32424013e+00, 2.41108169e-01,-2.84839556e+00, 2.37617764e+00,
 -6.86405213e+01, 5.47244066e-02]

qfrc_actuator:
[ 7.81633610e-05, 9.09083310e-04, 1.44385785e-04, 1.55356741e-05,
  2.14723565e-02, 4.88174191e-01, 1.78928408e-01, 2.04928033e-01,
 -8.33924205e-05, 6.60147692e-04, 2.57190070e-04, 3.09602099e-05,
  1.32127343e-02,-1.09642858e-03, 0.00000000e+00,-1.48388820e-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, -0.01537357,  0.43039888, -0.01537357,  0.92705041,
        0.01773027,  0.43039888,  0.01773027,  0.43130667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002382228924522334
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75469824,  0.13548515, -0.64193016,  0.10320199,  0.99077938,
        0.0877814 ,  0.64790425,  0.        , -0.76172179])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734952, -0.08007828,  0.12773139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09123805,  0.81737346,  4.0087566 ,  0.81737346, 16.9991187 ,
       -2.63187818,  4.0087566 , -2.63187818,  4.62787013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.506865898233462e-06
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26272636e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.26272636e-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([ 0.02508634, -0.06998277,  0.06199984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24042353e-05, 4.06482199e-05, 3.19032052e-05, 9.92152344e-06,
  3.72898219e-02, 2.02026627e-01, 1.01123380e-01, 1.62837933e-02,
 -6.44262984e-05,-6.69470791e-05,-7.66055271e-06,-3.60401118e-05,
 -8.74387586e-05,-7.00085604e-05,-2.15119652e-05,-1.81644554e-04,
  3.19125042e-02,-4.13150640e-03,-4.89094738e+00, 6.42030636e-03,
  1.09653556e-02,-3.81720643e-04]


--- Step 1579 ---
qpos:
[ 0.0186076 , 0.03002704,-0.00944106,-0.02527677,-0.02530445, 0.53600546,
 -0.19483617, 0.7111069 , 0.01153819, 0.02749506,-0.0082464 , 0.02647128,
  1.24389628, 0.00714295, 1.22104381, 0.04483281,-0.01908012,-0.06660766,
  0.16702862, 0.93817795,-0.0086613 ,-0.34102596,-0.05872322]

qacc:
[-2.39591103e-01,-4.27799053e-01, 2.73452710e+00,-7.04160998e+00,
  1.30669710e+01,-9.63709018e+00, 2.65317547e+02,-5.19002967e+02,
 -6.55320726e+00, 3.50471707e+00,-1.52988993e+01, 2.76727772e+01,
 -3.70862977e-01, 1.05155250e-01,-2.38427569e+00, 7.44259272e+00,
 -2.44872701e+00, 2.57542499e-01,-3.24681066e+00, 2.42163589e+00,
 -6.28231649e+01,-2.30229363e+00]

qfrc_actuator:
[ 7.76667764e-05, 8.90610617e-04, 1.35003011e-04, 7.01141517e-07,
  2.17926566e-02, 4.85607135e-01, 1.77432685e-01, 2.02279944e-01,
 -1.20909013e-04, 6.71553049e-04, 2.21276678e-04, 6.42544027e-05,
  1.31770869e-02,-1.10254121e-03, 0.00000000e+00,-1.44383649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002241758398304798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47349391e-01,  1.36012259e-01, -6.50361095e-01,  1.02602145e-01,
        9.90707154e-01,  8.92868102e-02,  6.56461490e-01,  1.38777878e-17,
       -7.54359537e-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([ 0.06672028, -0.08010148,  0.12811099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09320603,  0.96044089,  3.97893062,  0.96044089,  6.09634535,
       -0.4835211 ,  3.97893062, -0.4835211 ,  4.20991915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2473770506237223e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70506261e-12, -4.94008348e-12,  1.00000000e+00,  1.83033186e-23,
        1.00000000e+00,  4.94008348e-12, -1.00000000e+00,  0.00000000e+00,
        3.70506261e-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([ 0.02500408, -0.06997717,  0.06199959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42690721e-06, 1.12759172e-05, 3.28944931e-06,-1.17973319e-05,
  3.68603578e-02, 1.91181650e-01, 9.75644242e-02, 1.43542674e-02,
 -3.94340346e-05,-2.90906453e-05,-5.19118866e-05, 2.94659301e-05,
 -9.80980315e-05,-4.60845107e-05,-3.42868946e-05, 2.62252365e-05,
  3.34017617e-02,-4.35667219e-03,-4.88985614e+00, 6.58698595e-03,
  1.09175929e-02,-3.88140358e-04]


--- Step 1580 ---
qpos:
[ 0.01860776, 0.03002698,-0.00944149,-0.02527639,-0.02557343, 0.54176777,
 -0.19321881, 0.71479738, 0.0115375 , 0.02749238,-0.00824671, 0.02647173,
  1.24423111, 0.00715174, 1.22119653, 0.04483464,-0.02030558,-0.06646186,
  0.16653153, 0.93619952,-0.00893219,-0.34628894,-0.05945289]

qacc:
[-8.75953557e-02, 7.51975182e-01, 2.94796270e-01,-9.00402413e+00,
  1.34486509e+01,-4.10330600e+01, 3.63545809e+02,-6.13254218e+02,
  2.05993011e+00, 3.90373000e+00,-1.47481046e+01, 2.21848533e+01,
 -7.58306817e-01, 7.37636487e-01, 2.85047422e+00,-9.89931403e+00,
 -2.50413265e+00, 2.75018593e-01,-3.60774045e+00, 2.75704974e+00,
 -5.79830246e+01,-3.02748088e+00]

qfrc_actuator:
[ 7.73188858e-05, 9.15152165e-04, 1.11590396e-04,-2.61694824e-05,
  2.21074993e-02, 4.82518547e-01, 1.75899103e-01, 1.99820782e-01,
 -1.07077914e-04, 7.15153121e-04, 1.82195994e-04, 8.38063162e-05,
  1.31436547e-02,-1.09181798e-03, 0.00000000e+00,-1.49227357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021018587342526004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39792649e-01,  1.36514350e-01, -6.58840397e-01,  1.01946728e-01,
        9.90638093e-01,  9.07911468e-02,  6.65066689e-01, -1.38777878e-17,
       -7.46783971e-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([ 0.06608522, -0.08012461,  0.12850333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.0940222 ,  1.01323154,  3.96665849,  1.01323154,  6.93309011,
       -0.72520313,  3.96665849, -0.72520313,  4.27926595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.616132163370255e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06093935e-12,  2.12187870e-12,  1.00000000e+00, -2.25118462e-24,
        1.00000000e+00, -2.12187870e-12, -1.00000000e+00,  0.00000000e+00,
        1.06093935e-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([ 0.02493681, -0.06997433,  0.06199952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84001784e-07, 3.10336574e-05,-2.10842917e-05,-2.65048909e-05,
  3.64394708e-02, 1.82286525e-01, 9.32612612e-02, 1.25407620e-02,
  1.26573653e-05, 1.79568524e-05,-5.04362040e-05, 1.70890210e-05,
 -9.52807599e-05,-2.52024268e-05,-1.56446664e-05,-5.19908561e-05,
  3.47722623e-02,-4.56322636e-03,-4.88876391e+00, 6.77816619e-03,
  1.08656266e-02,-3.94371219e-04]


--- Step 1581 ---
qpos:
[ 0.0186086 , 0.03002681,-0.00944176,-0.02527598,-0.02582544, 0.54764413,
 -0.19153169, 0.71847183, 0.01153663, 0.02748995,-0.0082478 , 0.02647242,
  1.24456536, 0.00716029, 1.22134898, 0.0448372 ,-0.02154108,-0.06631488,
  0.16601872, 0.93415276,-0.00920132,-0.35164204,-0.0601816 ]

qacc:
[ 5.87807931e+00,-5.24698857e-01, 1.46909539e+00,-9.32280002e-01,
  1.46993477e+01,-5.03471909e+01, 4.11734871e+02,-6.85961381e+02,
 -1.51193804e+00, 3.02069646e+00,-1.12567518e+01, 1.63228927e+01,
 -2.28960220e-01,-5.49599495e-02,-2.56998787e+00, 8.43696008e+00,
 -2.50915083e+00, 2.95706684e-01,-3.93244489e+00, 3.36092425e+00,
 -5.39652916e+01,-2.28084520e+00]

qfrc_actuator:
[ 1.12556511e-04, 8.94165903e-04, 1.15756303e-04,-2.43707086e-05,
  2.23770665e-02, 4.78811086e-01, 1.74276192e-01, 1.97942767e-01,
 -1.16400903e-04, 7.24420004e-04, 1.41699055e-04, 9.51414148e-05,
  1.31169102e-02,-1.10670480e-03, 0.00000000e+00,-1.45049617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001959099432905854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73204683,  0.13698616, -0.66733967,  0.10123463,  0.99057296,
        0.09228629,  0.67369058,  0.        , -0.73901354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06544357, -0.08014748,  0.12890816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09292838,  1.08484106,  3.94654059,  1.08484106,  8.00269889,
       -1.07473355,  3.94654059, -1.07473355,  4.38835549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.107241583156061e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63430409e-12, -2.63430409e-12,  1.00000000e+00,  6.93955804e-24,
        1.00000000e+00,  2.63430409e-12, -1.00000000e+00,  0.00000000e+00,
        2.63430409e-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([ 0.02488161, -0.06997376,  0.06199961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52397653e-05,-9.11623190e-06, 7.06639996e-06, 1.88210311e-06,
  3.59411511e-02, 1.73031220e-01, 8.83896090e-02, 1.13537158e-02,
 -8.95320440e-06, 9.72411799e-06,-4.23760078e-05, 1.06970341e-05,
 -8.21390333e-05,-4.42812866e-05,-1.72745923e-05, 3.59244322e-05,
  3.60337370e-02,-4.75351362e-03,-4.88767026e+00, 6.97134358e-03,
  1.08114703e-02,-4.00996429e-04]


--- Step 1582 ---
qpos:
[ 0.01860917, 0.03002643,-0.00944162,-0.02527589,-0.02605824, 0.55364595,
 -0.18976992, 0.72212785, 0.01153531, 0.02748768,-0.00824936, 0.02647289,
  1.24489886, 0.00716909, 1.22150102, 0.04484255,-0.02278648,-0.06616665,
  0.16548897, 0.93203858,-0.00946801,-0.35707824,-0.06090633]

qacc:
[-2.32965673e+00,-2.11760473e+00, 8.56220562e+00,-1.48308522e+01,
  1.63869496e+01,-5.14975675e+01, 4.41747460e+02,-7.53737171e+02,
 -3.85356550e+00, 1.04671526e+00,-2.48317393e+00,-7.78976951e-01,
 -5.42172389e-01, 5.98821525e-01,-9.00161127e+00, 3.07254223e+01,
 -2.47627788e+00, 3.13779779e-01,-4.23082657e+00, 4.03403730e+00,
 -5.06166701e+01,-9.85744356e-01]

qfrc_actuator:
[ 9.74459639e-05, 8.81709668e-04, 1.36021260e-04,-4.12344704e-05,
  2.26116791e-02, 4.74984253e-01, 1.72567994e-01, 1.96119158e-01,
 -1.39295089e-04, 7.30799079e-04, 1.18313421e-04, 8.37758233e-05,
  1.30888621e-02,-1.08340032e-03, 0.00000000e+00,-1.30261720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018108306313717637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24130813e-01,  1.37418988e-01, -6.75833254e-01,  1.00462410e-01,
        9.90513009e-01,  9.37618396e-02,  6.82306288e-01,  1.38777878e-17,
       -7.31066433e-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([ 0.06479381, -0.08016997,  0.12932604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09123706,  1.18027404,  3.91729164,  1.18027404,  9.32507006,
       -1.57694596,  3.91729164, -1.57694596,  4.56636849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.493935556852517e-06
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26769322e-12, -6.53538644e-12,  1.00000000e+00,  2.13556379e-23,
        1.00000000e+00,  6.53538644e-12, -1.00000000e+00,  0.00000000e+00,
        3.26769322e-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([ 0.02483612, -0.06997503,  0.06199984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40864725e-05,-1.59958112e-05, 1.93195557e-05,-1.69745039e-05,
  3.53233763e-02, 1.63301355e-01, 8.31156230e-02, 1.03122572e-02,
 -2.31605616e-05, 3.61507480e-06,-2.61872070e-05,-1.22004179e-05,
 -8.09526227e-05,-8.47489794e-06,-7.34868637e-06, 1.46903447e-04,
  3.71951726e-02,-4.92951896e-03,-4.88657484e+00, 7.14395732e-03,
  1.07568924e-02,-4.08564392e-04]


--- Step 1583 ---
qpos:
[ 0.01860886, 0.03002645,-0.00944176,-0.02527604,-0.02624157, 0.55994285,
 -0.18782353, 0.72572774, 0.01153338, 0.0274859 ,-0.0082511 , 0.0264728 ,
  1.24523176, 0.00717806, 1.22165319, 0.04484793,-0.0240449 ,-0.06601524,
  0.16491486, 0.92994108,-0.00970701,-0.36237885,-0.06161923]

qacc:
[-7.52325319e+00, 8.70638826e-01,-1.34462727e+00,-2.51261793e+00,
  4.15995288e+01,-1.60631169e+02, 1.20769453e+03,-2.08914458e+03,
 -5.21429183e+00, 1.66293711e-02, 3.22213198e+00,-1.28378013e+01,
 -5.85072910e-01, 6.30211350e-01, 1.42639867e-01,-1.10765373e-01,
 -3.25357803e+00, 7.93974230e-01,-1.10917161e+01, 1.09638620e+01,
  6.69556122e+01, 1.72296840e+00]

qfrc_actuator:
[ 5.28105167e-05, 9.27768687e-04, 1.30119954e-04,-5.11866470e-05,
  2.28340459e-02, 4.71206300e-01, 1.70811327e-01, 1.93893194e-01,
 -1.69986645e-04, 7.88703702e-04, 1.22938519e-04, 5.91525292e-05,
  1.30653937e-02,-1.07309983e-03, 0.00000000e+00,-1.30646860e-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,  0.07565271, -0.42397666,  0.07565271,  3.92717436,
        0.62390173, -0.42397666,  0.62390173,  0.5419999 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016547811169795163
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71606393,  0.13780317, -0.68429725,  0.09962635,  0.99045963,
        0.09520663,  0.69088858,  0.        , -0.72296125])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06413423, -0.08019192,  0.12975784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50505397e-05, 4.03828093e-05,-7.41031011e-06,-1.02983578e-05,
  3.45801848e-02, 1.53046755e-01, 7.75467008e-02, 8.98810138e-03,
 -3.13761230e-05, 5.40813068e-05, 1.76761340e-06,-2.56036879e-05,
 -6.67972526e-05,-1.13122782e-05, 9.33805006e-06, 2.58145089e-06,
  3.82666794e-02,-5.09285140e-03,-4.88547594e+00, 7.28726527e-03,
  1.07024253e-02,-4.17265868e-04]


--- Step 1584 ---
qpos:
[ 0.01860872, 0.03002669,-0.00944199,-0.02527561,-0.02639682, 0.5664085 ,
 -0.18581678, 0.72929874, 0.01153144, 0.02748416,-0.00825209, 0.02647276,
  1.2455643 , 0.00718657, 1.2218055 , 0.04485223,-0.02531133,-0.06586277,
  0.16432766, 0.92776366,-0.00994967,-0.36779483,-0.06231018]

qacc:
[ 1.33747983e+00, 1.71237159e+00,-8.12012799e+00, 1.81053073e+01,
  2.31646301e+01, 2.41431273e+01, 2.93440509e+02,-7.96127174e+02,
 -5.09266548e-02,-1.93174585e+00, 6.79776384e+00,-7.27715991e+00,
 -7.70508898e-02,-2.98864673e-01, 3.47845820e+00,-1.18721683e+01,
 -2.00354278e+00, 2.67413193e-01,-3.27241675e+00, 5.43847828e+00,
 -6.83455523e+01, 7.84444864e+00]

qfrc_actuator:
[ 6.21816645e-05, 9.37406851e-04, 1.26811161e-04,-2.14547004e-05,
  2.30111070e-02, 4.66971584e-01, 1.68868000e-01, 1.91825930e-01,
 -1.69511644e-04, 7.88359266e-04, 1.62017975e-04, 6.24950333e-05,
  1.30393607e-02,-1.10610357e-03, 0.00000000e+00,-1.36420800e-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, -0.01691481,  0.43034106, -0.01691481,  0.90667745,
        0.01870962,  0.43034106,  0.01870962,  0.43140875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014330596357812495
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70837222,  0.13801935, -0.69221345,  0.09871381,  0.99042953,
        0.09646204,  0.69890227,  0.        , -0.71521718])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0634237 , -0.08021031,  0.13021059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09179379,  0.86299948,  3.99975103,  0.86299948, 10.90891372,
       -1.4708843 ,  3.99975103, -1.4708843 ,  4.40915664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3949754234354739e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98968205e-12, -3.97936410e-12,  1.00000000e+00,  7.91766933e-24,
        1.00000000e+00,  3.97936410e-12, -1.00000000e+00,  0.00000000e+00,
        1.98968205e-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([ 0.02469576, -0.06996947,  0.06199974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.07331691e-06, 3.02350206e-05, 3.76658835e-06, 3.10065411e-05,
  3.22659608e-02, 1.33845328e-01, 6.62919806e-02, 9.69675872e-03,
 -4.32006034e-07, 2.92340823e-05, 4.96231709e-05, 5.23194485e-06,
 -6.29205745e-05,-5.19977402e-05,-4.23803742e-07,-5.75308459e-05,
  3.63252456e-02,-4.76673249e-03,-4.88591635e+00, 7.08418009e-03,
  1.06671549e-02,-4.35209926e-04]


--- Step 1585 ---
qpos:
[ 0.01860834, 0.03002688,-0.00944184,-0.02527482,-0.02652061, 0.57301287,
 -0.18373952, 0.73284028, 0.01152987, 0.02748209,-0.00825177, 0.02647208,
  1.24589602, 0.00719528, 1.22195805, 0.0448538 ,-0.02658578,-0.06570913,
  0.16372572, 0.92550901,-0.01019459,-0.37331345,-0.06297784]

qacc:
[-1.97341135e+00,-3.77123146e-01,-2.57831884e-01, 5.86823580e+00,
  2.56081570e+01,-3.97006547e+01, 4.55904886e+02,-9.19317145e+02,
  3.16095047e+00,-5.41774316e+00, 2.13518226e+01,-3.42344704e+01,
 -9.98831367e-01, 1.09459858e+00, 8.70942275e+00,-2.97408599e+01,
 -2.00637601e+00, 2.90771538e-01,-3.68713402e+00, 6.05141919e+00,
 -6.20024298e+01, 8.30121480e+00]

qfrc_actuator:
[ 5.00172635e-05, 9.25205567e-04, 1.42716989e-04,-4.13597616e-06,
  2.31626004e-02, 4.62400081e-01, 1.66827579e-01, 1.89902371e-01,
 -1.50693882e-04, 7.53312141e-04, 2.20919379e-04, 2.89860892e-05,
  1.29904859e-02,-1.09353628e-03, 0.00000000e+00,-1.50643781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.30673355e-01,  2.37460792e-03, -4.30666809e-01,  2.37460792e-03,
        3.56569425e+00,  1.72858583e-02, -4.30666809e-01,  1.72858583e-02,
        4.30768666e-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: -0.0012113613027509899
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.00500058e-01,  1.38173121e-01, -7.00148454e-01,  9.77276740e-02,
        9.90408092e-01,  9.76786212e-02,  7.06929254e-01,  1.38777878e-17,
       -7.07284264e-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([ 0.06270389, -0.08022808,  0.13068147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09362047,  0.99333355,  3.97127398,  0.99333355,  7.92257382,
       -0.95773493,  3.97127398, -0.95773493,  4.33317842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4416157413276185e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27354167e-12, -2.27354167e-12,  1.00000000e+00,  5.16899171e-24,
        1.00000000e+00,  2.27354167e-12, -1.00000000e+00,  0.00000000e+00,
        2.27354167e-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([ 0.02461207, -0.06996451,  0.06199954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19206665e-05, 6.80744573e-06, 2.36856913e-05, 1.93460319e-05,
  3.10029322e-02, 1.20617262e-01, 6.11479200e-02, 9.19582981e-03,
  1.88065618e-05,-8.15645526e-06, 7.12632330e-05,-3.04315079e-05,
 -9.37268221e-05,-1.68467700e-05,-1.10085029e-05,-1.46500721e-04,
  3.77900691e-02,-4.99490040e-03,-4.88458211e+00, 7.11926795e-03,
  1.06184347e-02,-4.47103172e-04]


--- Step 1586 ---
qpos:
[ 0.01860781, 0.03002713,-0.0094412 ,-0.02527454,-0.02660838, 0.57976907,
 -0.18158674, 0.73634923, 0.01152784, 0.02748031,-0.00825122, 0.026471  ,
  1.24622694, 0.00720411, 1.22211037, 0.04485498,-0.02786798,-0.06555424,
  0.16310756, 0.92317964,-0.01044108,-0.37892357,-0.06361805]

qacc:
[-1.21260134e+00,-2.35525944e+00, 1.06833284e+01,-2.03902803e+01,
  2.88669283e+01,-4.01128596e+01, 4.88110780e+02,-9.99341779e+02,
 -3.85392376e+00,-1.09687071e+00, 6.18991400e+00,-1.37795256e+01,
 -7.24183536e-01, 7.14403975e-01, 8.89452389e-01,-3.46136346e+00,
 -1.93657115e+00, 3.11386480e-01,-4.05207544e+00, 6.89894378e+00,
 -5.64827000e+01, 1.01762238e+01]

qfrc_actuator:
[ 4.30095910e-05, 9.35594819e-04, 1.69729564e-04,-2.97798673e-05,
  2.32841365e-02, 4.58600960e-01, 1.64747877e-01, 1.88094899e-01,
 -1.74498684e-04, 7.86575867e-04, 2.37599066e-04, 9.53655765e-06,
  1.29492634e-02,-1.08959747e-03, 0.00000000e+00,-1.51975211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43046586, -0.03180414,  0.42928936, -0.03180414,  3.97762909,
        0.26279352,  0.42928936,  0.26279352,  0.44993507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009848688276167827
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69245707,  0.13876886, -0.70798757,  0.09703026,  0.9903248 ,
        0.09920647,  0.71490442,  0.        , -0.69922219])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06197631, -0.08023879,  0.13116935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09331495,  1.00043004,  3.96917712,  1.00043004, 31.09510235,
       -6.80579338,  3.96917712, -6.80579338,  5.80871337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.300017966797019e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41350946e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.41350946e-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([ 0.02454379, -0.06996227,  0.06199956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.35532012e-06, 1.99028256e-05, 3.20001976e-05,-2.41581708e-05,
  2.95377373e-02, 1.09660290e-01, 5.54554236e-02, 8.83934242e-03,
 -2.32645540e-05, 4.21934543e-05, 2.27391253e-05,-1.79211925e-05,
 -9.40382084e-05,-2.26338479e-05,-2.64214468e-05,-2.40104937e-05,
  3.90985907e-02,-5.19847865e-03,-4.88327011e+00, 7.12475278e-03,
  1.05680140e-02,-4.59895669e-04]


--- Step 1587 ---
qpos:
[ 0.01860824, 0.03002752,-0.00944022,-0.02527492,-0.02665423, 0.58669516,
 -0.17935182, 0.73982158, 0.0115252 , 0.02747883,-0.00825108, 0.02647042,
  1.24655753, 0.0072121 , 1.22226251, 0.04485594,-0.02915745,-0.06539805,
  0.1624719 , 0.9207778 ,-0.01068889,-0.38461547,-0.0642257 ]

qacc:
[ 8.19226569e+00,-2.10206160e+00, 1.04676469e+01,-2.23305678e+01,
  3.30657581e+01,-3.95067300e+01, 5.27632749e+02,-1.10119370e+03,
 -5.25762188e+00, 2.59783819e+00,-1.08073961e+01, 2.00236729e+01,
  2.91352172e-01,-9.82505441e-01, 3.44611156e-01,-1.68650154e+00,
 -1.81707368e+00, 3.25705406e-01,-4.37570335e+00, 7.77849131e+00,
 -5.16882422e+01, 1.25504040e+01]

qfrc_actuator:
[ 9.23579169e-05, 9.41689154e-04, 1.85382189e-04,-6.27214553e-05,
  2.33705504e-02, 4.54894854e-01, 1.62611381e-01, 1.86265487e-01,
 -2.05453327e-04, 7.89317804e-04, 2.11738947e-04, 3.40478475e-05,
  1.29286372e-02,-1.14409165e-03, 0.00000000e+00,-1.52798073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38038681,  0.02156254, -0.37977517,  0.02156254,  1.58117742,
        0.06817744, -0.37977517,  0.06817744,  0.38425773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007502362662740625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68433145,  0.13872838, -0.71585257,  0.09586315,  0.99033047,
        0.10027872,  0.72284212,  0.        , -0.69101322])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06123818, -0.08025445,  0.13167336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09150982,  1.05930974,  3.95200145,  1.05930974,  5.22738835,
       -0.30446527,  3.95200145, -0.30446527,  4.17311987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1495373184636226e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41449974e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.41449974e-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([ 0.02448803, -0.06996219,  0.06199978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91391413e-05, 2.27803835e-05, 2.28583176e-05,-3.14549697e-05,
  2.78060503e-02, 9.81355569e-02, 4.94533106e-02, 8.61729794e-03,
 -3.16271036e-05, 3.03118448e-05,-1.49480876e-05, 2.67632021e-05,
 -7.48438443e-05,-8.28332858e-05,-1.83920657e-05,-1.37384928e-05,
  4.02598830e-02,-5.37921388e-03,-4.88198224e+00, 7.07733782e-03,
  1.05170581e-02,-4.74101308e-04]


--- Step 1588 ---
qpos:
[ 0.01860892, 0.03002784,-0.009439  ,-0.02527497,-0.02663388, 0.59385733,
 -0.17699095, 0.7432337 , 0.01152359, 0.02747731,-0.0082508 , 0.02647015,
  1.24688763, 0.00721941, 1.22241449, 0.0448571 ,-0.03045105,-0.06524   ,
  0.16179703, 0.91835169,-0.01092652,-0.39027241,-0.06479372]

qacc:
[ 2.09962455e+00,-9.88138439e-02,-1.16356573e+00, 6.52298702e+00,
  5.14300338e+01,-9.73165226e+01, 9.00494404e+02,-1.79879827e+03,
  8.77427477e+00, 1.89464867e-01,-2.10447855e+00, 7.29699361e+00,
  8.68075060e-02,-6.82791636e-01,-8.60433877e-01, 2.60813004e+00,
 -1.03198098e+00, 4.66116601e-01,-9.80179583e+00, 1.10618249e+01,
  1.15401188e+01, 1.56932781e+01]

qfrc_actuator:
[ 1.03469565e-04, 9.27359313e-04, 1.94187683e-04,-4.64394021e-05,
  2.34155886e-02, 4.50278146e-01, 1.60403981e-01, 1.84422202e-01,
 -1.51591675e-04, 7.73616539e-04, 2.14160853e-04, 4.86791613e-05,
  1.28990522e-02,-1.17948132e-03, 0.00000000e+00,-1.51542292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.28134964,  0.13318574, -0.24782893,  0.13318574,  0.30426602,
        0.01231549, -0.24782893,  0.01231549,  0.28796811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005044349079758963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67612547,  0.13858979, -0.72363473,  0.09461715,  0.99034987,
        0.10126561,  0.73068594,  0.        , -0.68271374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0604874 , -0.08026825,  0.13219584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25497356e-05, 1.77426690e-06, 1.52199329e-05, 1.74313820e-05,
  2.57341375e-02, 8.47935473e-02, 4.30477755e-02, 8.58027639e-03,
  5.29403210e-05,-6.57909598e-07, 7.78353867e-06, 1.59389904e-05,
 -8.80060785e-05,-7.62694537e-05,-1.31488902e-05, 8.71511938e-06,
  4.12860940e-02,-5.53885280e-03,-4.88071778e+00, 6.96856415e-03,
  1.04655093e-02,-4.89848914e-04]


--- Step 1589 ---
qpos:
[ 0.01860869, 0.03002809,-0.00943764,-0.02527481,-0.02650412, 0.60116053,
 -0.17457234, 0.74663307, 0.01152299, 0.02747587,-0.00825052, 0.02646971,
  1.24721707, 0.00722667, 1.22256621, 0.04485973,-0.03174844,-0.06508068,
  0.16108302, 0.91589936,-0.01115477,-0.39589732,-0.06533946]

qacc:
[-7.76453918e+00,-5.04415115e-02,-7.96214937e-01, 4.13470528e+00,
  8.36680258e+01, 1.63085243e+01, 2.21491456e+02,-4.87289292e+02,
  8.55205615e+00,-2.80439410e-01, 1.89963168e+00,-5.02638760e+00,
 -3.69156408e-01, 2.20772103e-01,-4.76306966e+00, 1.61685800e+01,
 -9.47817243e-01, 3.17512579e-01,-9.78615616e+00, 7.46796757e+00,
  9.77652332e+00, 7.72873565e+00]

qfrc_actuator:
[ 5.64626336e-05, 9.18669643e-04, 1.98834512e-04,-3.68495051e-05,
  2.33770005e-02, 4.45282718e-01, 1.58059623e-01, 1.82573358e-01,
 -1.01494473e-04, 7.82590358e-04, 2.15427567e-04, 3.96275714e-05,
  1.28800956e-02,-1.16772612e-03, 0.00000000e+00,-1.43746194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21462658,  0.07021461, -0.20281637,  0.07021461,  0.04087865,
       -0.06015118, -0.20281637, -0.06015118,  0.19380237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002115870399177714
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68192374e-01,  1.38282332e-01, -7.31024588e-01,  9.32955035e-02,
        9.90392850e-01,  1.02068371e-01,  7.38115777e-01, -1.38777878e-17,
       -6.74674069e-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([ 0.05970411, -0.08027769,  0.13273771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66442159e-05,-3.83138457e-06, 7.47173168e-06, 1.05278918e-05,
  2.23494544e-02, 6.77557931e-02, 3.43127900e-02, 9.71433963e-03,
  5.16426503e-05, 1.09627826e-05, 2.65248154e-06,-8.49939313e-06,
 -8.24351353e-05,-3.04434727e-05,-8.65816081e-06, 7.59572411e-05,
  4.06344037e-02,-5.42585228e-03,-4.88042177e+00, 6.65135034e-03,
  1.04198715e-02,-5.10773781e-04]


--- Step 1590 ---
qpos:
[ 0.01860824, 0.03002799,-0.00943605,-0.0252752 ,-0.02615179, 0.60883449,
 -0.17187034, 0.75013577, 0.01152161, 0.027474  ,-0.00825024, 0.02646888,
  1.24754593, 0.00723414, 1.2227179 , 0.0448629 ,-0.03305107,-0.06492122,
  0.16035747, 0.91336188,-0.01138024,-0.40162183,-0.06588223]

qacc:
[-1.84733646e+00,-2.24297402e+00, 9.64613098e+00,-1.92458823e+01,
  1.67735801e+02,-1.03494151e+02, 6.69738164e+02, 4.35848189e+02,
 -6.58192394e+00,-1.34474359e+00, 5.58636456e+00,-1.18756459e+01,
 -5.51999127e-01, 6.28186840e-01,-1.69430181e+00, 5.95406444e+00,
 -1.31026726e+00, 3.29375357e-02,-2.88610203e+00, 4.64443986e+00,
 -6.23944722e+01,-2.53142656e+00]

qfrc_actuator:
[ 4.66469585e-05, 8.77894799e-04, 2.00995124e-04,-6.67868159e-05,
  2.32363009e-02, 4.40238201e-01, 1.55615423e-01, 1.80520261e-01,
 -1.42804922e-04, 7.17482265e-04, 1.98318323e-04, 1.67287858e-05,
  1.28675490e-02,-1.14579844e-03, 0.00000000e+00,-1.41036029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09512377, -0.54240276, -4.05904397, -0.54240276, 13.49114771,
       -1.25557382, -4.05904397, -1.25557382,  4.26290385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0436327464453128e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82384525e-12, -3.64769050e-12,  1.00000000e+00,  6.65282298e-24,
        1.00000000e+00,  3.64769050e-12, -1.00000000e+00,  0.00000000e+00,
        1.82384525e-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([ 0.02426229, -0.06995313,  0.06199941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11791615e-05,-4.09642112e-05, 2.63671775e-06,-2.96397905e-05,
  1.66748510e-02, 5.54204788e-02, 2.88867832e-02, 8.27642585e-03,
 -3.97974891e-05,-5.87282509e-05,-1.48003247e-05,-2.25013224e-05,
 -6.20482031e-05,-6.11673484e-06, 7.19136793e-07, 2.93885117e-05,
  4.00516015e-02,-5.34261181e-03,-4.88009267e+00, 6.48442933e-03,
  1.03607812e-02,-5.28001628e-04]


--- Step 1591 ---
qpos:
[ 0.01860871, 0.03002729,-0.00943456,-0.02527588,-0.02573272, 0.61673739,
 -0.16908353, 0.75362452, 0.01151974, 0.02747154,-0.00825012, 0.02646886,
  1.24787411, 0.00724187, 1.22286976, 0.0448647 ,-0.0343588 ,-0.06476158,
  0.15961799, 0.91074167,-0.01160164,-0.4074348 ,-0.06642211]

qacc:
[ 7.89747883e+00,-1.13880296e+00, 4.11632456e+00,-8.60563578e+00,
  4.93910619e+01, 5.75000710e+01, 2.35558969e+02,-5.89750999e+02,
 -4.12467703e+00, 1.31368267e+00,-9.17291953e+00, 2.36785048e+01,
 -8.28763687e-01, 9.65123425e-01, 4.51692899e+00,-1.52243124e+01,
 -1.27498807e+00, 4.51182691e-02,-3.48109526e+00, 4.87641667e+00,
 -5.68964833e+01,-2.72501660e+00]

qfrc_actuator:
[ 9.43247102e-05, 8.18171436e-04, 1.83759146e-04,-8.42644615e-05,
  2.28774047e-02, 4.34771586e-01, 1.52880308e-01, 1.78286897e-01,
 -1.66575683e-04, 6.79428151e-04, 1.87941809e-04, 5.68062136e-05,
  1.28269099e-02,-1.13575412e-03, 0.00000000e+00,-1.48446681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10026863,  1.05835072,  3.9613251 ,  1.05835072, 19.01199784,
       -3.98397982,  3.9613251 , -3.98397982,  5.16467202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.533063569374385e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.44916712e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.44916712e-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([ 0.02417661, -0.06994873,  0.06199911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73375893e-05,-8.33712778e-05,-2.64129238e-05,-1.97193915e-05,
  5.04554224e-03, 3.11844445e-02, 1.18930818e-02, 8.34807719e-04,
 -2.49616523e-05,-7.48687705e-05,-2.50885665e-05, 3.66174483e-05,
 -7.39004129e-05,-6.30343641e-06,-7.57072632e-07,-7.33567847e-05,
  4.13552085e-02,-5.52937481e-03,-4.87855144e+00, 6.66595286e-03,
  1.02886571e-02,-5.37073079e-04]


--- Step 1592 ---
qpos:
[ 0.01860941, 0.03002632,-0.00943373,-0.02527644,-0.02529747, 0.62474268,
 -0.16626667, 0.75708268, 0.01151795, 0.02746904,-0.00825037, 0.02646925,
  1.24820173, 0.00724946, 1.22302164, 0.04486526,-0.03567139,-0.06460174,
  0.15886242, 0.90804049,-0.01181794,-0.41332708,-0.06695911]

qacc:
[ 1.89726642e+00, 1.77017596e+00,-7.38551895e+00, 1.09715207e+01,
  1.17546301e+01, 1.23873353e+01, 2.19384584e+02,-6.81436082e+02,
  6.13416487e-01, 1.84928680e+00,-8.46597992e+00, 1.64330785e+01,
 -4.56183581e-01, 3.00260941e-01, 3.79986735e+00,-1.31735868e+01,
 -1.21666873e+00, 5.23710062e-02,-4.02334059e+00, 5.07699382e+00,
 -5.24575511e+01,-2.87629136e+00]

qfrc_actuator:
[ 1.04438200e-04, 8.18490899e-04, 1.55131918e-04,-7.65454794e-05,
  2.24543928e-02, 4.28867688e-01, 1.50073628e-01, 1.75879293e-01,
 -1.62049277e-04, 7.11189697e-04, 1.81760126e-04, 8.03834337e-05,
  1.27907489e-02,-1.15072538e-03, 0.00000000e+00,-1.54657631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1002903 ,  1.20497146,  3.91923772,  1.20497146, 20.15510398,
       -4.93605993,  3.91923772, -4.93605993,  5.61788422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.538297745573794e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11585603e-13, -2.44634241e-12,  1.00000000e+00,  1.49614780e-24,
        1.00000000e+00,  2.44634241e-12, -1.00000000e+00,  0.00000000e+00,
        6.11585603e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02410676, -0.06994677,  0.0619991 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14665638e-05,-5.25755460e-05,-4.97914802e-05, 2.84937311e-06,
  1.23524714e-03, 1.35800704e-02, 4.74466625e-03,-9.04814007e-04,
  3.76069779e-06,-1.36457585e-05,-2.34436207e-05, 2.02192872e-05,
 -7.58902489e-05,-3.40301977e-05,-1.34957628e-05,-6.74062712e-05,
  4.25070284e-02,-5.69446051e-03,-4.87703704e+00, 6.84098344e-03,
  1.02140093e-02,-5.46730985e-04]


--- Step 1593 ---
qpos:
[ 0.01860953, 0.03002545,-0.00943349,-0.0252766 ,-0.0248628 , 0.63276677,
 -0.16345096, 0.7605001 , 0.01151623, 0.02746673,-0.0082511 , 0.02646956,
  1.24852892, 0.00725657, 1.22317293, 0.04486907,-0.03698856,-0.06444167,
  0.15808878, 0.90525959,-0.01202826,-0.41929114,-0.06749318]

qacc:
[-4.93883514e+00, 2.60696726e+00,-1.07408246e+01, 1.83629219e+01,
 -4.41484616e-01,-2.88852826e+01, 2.43993142e+02,-7.61504006e+02,
  5.58576763e-01, 1.43586208e+00,-4.39134628e+00, 3.52069007e+00,
  2.66755658e-01,-7.56937790e-01,-1.07442062e+01, 3.62154429e+01,
 -1.14133001e+00, 5.57250258e-02,-4.51653928e+00, 5.25395350e+00,
 -4.88844281e+01,-2.99632099e+00]

qfrc_actuator:
[ 7.45893490e-05, 8.54730808e-04, 1.38017464e-04,-5.40220825e-05,
  2.19990241e-02, 4.22771905e-01, 1.47280354e-01, 1.73282859e-01,
 -1.58660747e-04, 7.31270988e-04, 1.60617831e-04, 7.63632229e-05,
  1.27679406e-02,-1.18041887e-03, 0.00000000e+00,-1.37029352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09589134,  1.23932902,  3.90389414,  1.23932902, 19.93360676,
       -5.02783622,  3.90389414, -5.02783622,  5.69202667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.308919465495885e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38810854e-13, -3.35524341e-12,  1.00000000e+00,  2.81441459e-24,
        1.00000000e+00,  3.35524341e-12, -1.00000000e+00,  0.00000000e+00,
        8.38810854e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02404986, -0.06994682,  0.06199934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95288447e-05,-3.29305235e-06,-3.40052052e-05, 1.86061317e-05,
 -4.43949053e-05, 2.10471229e-03, 3.42980814e-04,-1.99177203e-03,
  3.48597516e-06, 8.56245540e-06,-2.61197476e-05,-5.01792454e-06,
 -7.02998835e-05,-5.69810714e-05,-1.77944362e-05, 1.69883609e-04,
  4.35290991e-02,-5.84121812e-03,-4.87554071e+00, 7.01093470e-03,
  1.01368505e-02,-5.56940520e-04]


--- Step 1594 ---
qpos:
[ 0.01860963, 0.03002506,-0.00943372,-0.02527655,-0.02443434, 0.64075598,
 -0.1606566 , 0.76387056, 0.01151456, 0.02746472,-0.00825221, 0.02647015,
  1.24885531, 0.00726386, 1.22332438, 0.04487258,-0.03830993,-0.06428138,
  0.15729528, 0.90239976,-0.01223187,-0.42532078,-0.06802421]

qacc:
[-1.45062354e-01, 2.36668417e+00,-8.39408400e+00, 1.24116896e+01,
 -4.38477349e+00,-5.47763257e+01, 2.56664336e+02,-8.06229602e+02,
  4.42450427e-01, 2.00740076e+00,-7.71347928e+00, 1.27752497e+01,
 -7.88578114e-01, 8.29919493e-01, 1.22582661e+00,-3.77926088e+00,
 -1.05365575e+00, 5.60009529e-02,-4.96430171e+00, 5.41346799e+00,
 -4.60236179e+01,-3.09379845e+00]

qfrc_actuator:
[ 7.47281309e-05, 9.12271058e-04, 1.28011529e-04,-4.06786536e-05,
  2.15345369e-02, 4.16603621e-01, 1.44496551e-01, 1.70577745e-01,
 -1.55978674e-04, 7.61884606e-04, 1.48520510e-04, 9.16321458e-05,
  1.27265220e-02,-1.16528536e-03, 0.00000000e+00,-1.39226557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09142256,  1.36103007,  3.85841104,  1.36103007, 19.61911391,
       -5.47729482,  3.85841104, -5.47729482,  6.02350363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0627830806991811e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61159367e-12, -1.04463747e-11,  1.00000000e+00,  2.72816859e-23,
        1.00000000e+00,  1.04463747e-11, -1.00000000e+00,  0.00000000e+00,
        2.61159367e-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([ 0.02400352, -0.06994854,  0.06199979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.19691101e-07, 4.94906621e-05,-1.42216006e-05, 1.23912357e-05,
 -4.81103975e-04,-5.26575017e-03,-2.49114866e-03,-2.67460124e-03,
  2.78044509e-06, 2.98787070e-05,-1.36863798e-05, 1.46400600e-05,
 -9.08102383e-05,-1.76137588e-05, 8.33568595e-06,-1.53319491e-05,
  4.44401123e-02,-5.97248889e-03,-4.87405456e+00, 7.17701800e-03,
  1.00571881e-02,-5.67671026e-04]


--- Step 1595 ---
qpos:
[ 0.01861078, 0.03002528,-0.00943389,-0.02527673,-0.02401369, 0.64867688,
 -0.15789681, 0.76719222, 0.01151362, 0.02746304,-0.00825293, 0.02647051,
  1.24918088, 0.00727152, 1.22347631, 0.04487213,-0.03963095,-0.06412115,
  0.1564628 , 0.89949952,-0.01242805,-0.43133192,-0.06854874]

qacc:
[ 8.86704018e+00, 1.35924364e-01, 1.64293796e+00,-6.25620388e+00,
 -5.44457166e+00,-6.65518772e+01, 2.44075761e+02,-7.89147315e+02,
  6.27076398e+00,-1.13453637e+00, 5.57327573e+00,-1.02509494e+01,
 -1.22456119e+00, 1.47614952e+00, 1.28083510e+01,-4.34996753e+01,
  8.99227241e-02,-1.48888180e-02,-9.74509189e+00, 3.85430980e+00,
 -2.87797183e-02, 9.10601998e-02]

qfrc_actuator:
[ 1.28035063e-04, 9.64411845e-04, 1.40128359e-04,-5.05715769e-05,
  2.10881762e-02, 4.10526767e-01, 1.41739085e-01, 1.67918713e-01,
 -1.18228428e-04, 7.98622841e-04, 1.77435046e-04, 8.26457178e-05,
  1.26899640e-02,-1.14147554e-03, 0.00000000e+00,-1.60194837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.33047177e-05, 7.74246322e-05, 2.10224350e-05,-8.02347620e-06,
 -6.13515065e-04,-9.85936366e-03,-4.28924148e-03,-2.99527416e-03,
  3.78347014e-05, 5.13267957e-05, 3.39405150e-05,-7.88943732e-06,
 -8.73176446e-05,-2.59360557e-06,-3.21775844e-06,-2.10658551e-04,
  4.52558486e-02,-6.09066890e-03,-4.87257149e+00, 7.34029364e-03,
  9.97502476e-03,-5.78895005e-04]


--- Step 1596 ---
qpos:
[ 0.01861289, 0.03002571,-0.00943346,-0.02527737,-0.02360123, 0.65650959,
 -0.15518045, 0.7704629 , 0.01151349, 0.02746158,-0.00825325, 0.02647077,
  1.24950593, 0.0072791 , 1.2236285 , 0.04486683,-0.04095161,-0.06396097,
  0.15559135, 0.89655902,-0.01261682,-0.43732427,-0.06906672]

qacc:
[ 8.38151530e+00,-2.33383880e+00, 1.05976686e+01,-1.94638882e+01,
 -5.60546591e+00,-7.26730262e+01, 2.36488000e+02,-7.92641199e+02,
  6.87320636e+00,-1.02660312e+00, 4.48633206e+00,-6.97628663e+00,
 -7.31179418e-01, 6.83871180e-01, 1.51165170e+01,-5.21615934e+01,
  8.90278790e-02,-1.48323370e-02,-9.74387359e+00, 3.85433846e+00,
 -2.42937372e-02, 9.02734388e-02]

qfrc_actuator:
[ 1.76694531e-04, 9.59743480e-04, 1.65186960e-04,-7.40418903e-05,
  2.06567987e-02, 4.04605409e-01, 1.38983681e-01, 1.65236943e-01,
 -7.78918321e-05, 8.03396241e-04, 1.94838640e-04, 7.72434570e-05,
  1.26670049e-02,-1.14822774e-03, 0.00000000e+00,-1.84946846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.02387618e-05, 4.26345182e-05, 4.33575075e-05,-1.95864459e-05,
 -6.47209890e-04,-1.26232333e-02,-5.42264652e-03,-3.24376654e-03,
  4.14560436e-05, 4.02273839e-05, 3.19382172e-05,-2.17906255e-06,
 -6.91509405e-05,-2.77289196e-05,-3.07045011e-05,-2.60949668e-04,
  4.48137165e-02,-6.06405041e-03,-4.87196409e+00, 7.33275152e-03,
  9.88853955e-03,-5.94371573e-04]


--- Step 1597 ---
qpos:
[ 0.01861454, 0.03002604,-0.00943282,-0.02527822,-0.02319646, 0.66424178,
 -0.15251204, 0.77367922, 0.01151384, 0.02746048,-0.00825338, 0.02647061,
  1.2498305 , 0.00728633, 1.22378028, 0.04486058,-0.04227192,-0.06380086,
  0.15468093, 0.8935784 ,-0.0127982 ,-0.44329758,-0.06957806]

qacc:
[-3.99278481e+00,-1.14272487e+00, 4.79413967e+00,-8.70402094e+00,
 -5.19490856e+00,-8.18185876e+01, 2.54865477e+02,-8.40682806e+02,
  4.13712272e+00,-9.44046886e-01, 5.80911941e+00,-1.35898099e+01,
 -1.87985006e-01,-1.35302227e-01, 2.27019735e+00,-8.81033626e+00,
  8.81168362e-02,-1.47731542e-02,-9.74266769e+00, 3.85436991e+00,
 -1.98078383e-02, 8.94867376e-02]

qfrc_actuator:
[ 1.51200474e-04, 9.21137775e-04, 1.61940191e-04,-8.75983251e-05,
  2.02734004e-02, 3.98753538e-01, 1.36269949e-01, 1.62438965e-01,
 -5.41201173e-05, 8.24462995e-04, 2.05173417e-04, 5.62050440e-05,
  1.26362297e-02,-1.17301293e-03, 0.00000000e+00,-1.88643594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.40178542e-05,-6.65704249e-06, 1.02082232e-05,-1.06153834e-05,
 -6.14241253e-04,-1.43198885e-02,-6.06997775e-03,-3.49729027e-03,
  2.49943348e-05, 5.01362698e-05, 2.25212690e-05,-1.82501715e-05,
 -7.41713554e-05,-4.83036408e-05,-4.72422613e-05,-5.63447152e-05,
  4.43635490e-02,-6.03609257e-03,-4.87136276e+00, 7.32509946e-03,
  9.80028572e-03,-6.10034980e-04]


--- Step 1598 ---
qpos:
[ 0.01861553, 0.03002625,-0.00943243,-0.02527919,-0.02279926, 0.67186397,
 -0.14989267, 0.77684145, 0.01151413, 0.02745972,-0.00825281, 0.02647017,
  1.25015444, 0.00729307, 1.22393104, 0.04485988,-0.04359754,-0.06364038,
  0.15375567, 0.89049586,-0.01297074,-0.44937339,-0.07008875]

qacc:
[-5.69053592e+00, 2.97048301e-01,-7.97927612e-01,-7.52042961e-01,
 -5.03675264e+00,-9.10683878e+01, 2.68261541e+02,-8.40177903e+02,
 -5.13979873e-01,-2.08552301e+00, 9.27322596e+00,-1.55185546e+01,
  2.94676966e-01,-8.58952412e-01,-1.83625196e+01, 6.19460853e+01,
 -1.32856740e+00, 9.03545581e-02,-3.70806453e+00, 7.00633801e+00,
 -6.80883274e+01,-5.86601681e+00]

qfrc_actuator:
[ 1.17771010e-04, 8.97894450e-04, 1.41855058e-04,-9.52672169e-05,
  1.98860685e-02, 3.92760185e-01, 1.33638625e-01, 1.59683783e-01,
 -5.80421140e-05, 8.55075903e-04, 2.46808963e-04, 4.38944395e-05,
  1.25901281e-02,-1.20831706e-03, 0.00000000e+00,-1.58599884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09281855, -0.3239483 , -4.07997808, -0.3239483 , 13.45202884,
       -0.74311681, -4.07997808, -0.74311681,  4.15182166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0491555743559764e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02370568, -0.06995038,  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:
[-3.41331890e-05,-2.53434248e-05,-2.05803087e-05,-7.80705810e-06,
 -6.09451313e-04,-1.55370397e-02,-6.40623768e-03,-3.53845452e-03,
 -3.17594390e-06, 6.25708122e-05, 5.41483862e-05,-9.73588417e-06,
 -9.65818977e-05,-6.59902173e-05,-3.00665147e-05, 2.90798877e-04,
  4.39054307e-02,-6.00680094e-03,-4.87076762e+00, 7.31733989e-03,
  9.71028031e-03,-6.25878595e-04]


--- Step 1599 ---
qpos:
[ 0.01861611, 0.03002629,-0.00943205,-0.02527921,-0.02241001, 0.67936951,
 -0.1473236 , 0.77995127, 0.01151403, 0.02745916,-0.00825168, 0.02647031,
  1.25047777, 0.00729932, 1.2240818 , 0.04486105,-0.04492782,-0.0634796 ,
  0.15281291, 0.88731402,-0.01313413,-0.45554062,-0.07059798]

qacc:
[-3.50407068e+00, 1.76057226e+00,-1.05330768e+01, 2.68953532e+01,
 -5.22351268e+00,-9.42715616e+01, 2.62361085e+02,-8.06666454e+02,
 -3.34454403e+00,-8.17177360e-02,-1.73314494e+00, 1.06249809e+01,
 -2.52191419e-02,-4.61823780e-01,-5.65532189e+00, 1.97267084e+01,
 -1.16448199e+00, 7.83208135e-02,-4.37630482e+00, 6.95887101e+00,
 -6.27033081e+01,-5.48161973e+00]

qfrc_actuator:
[ 9.77157638e-05, 9.01697724e-04, 1.47551329e-04,-4.61542343e-05,
  1.94638226e-02, 3.86642856e-01, 1.31023751e-01, 1.57029026e-01,
 -7.82273431e-05, 8.55793613e-04, 2.71142172e-04, 7.23579534e-05,
  1.25614913e-02,-1.23190499e-03, 0.00000000e+00,-1.49755831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.6223869663648545e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.66223374e-13, -1.53244675e-12,  1.00000000e+00,  1.17419652e-24,
        1.00000000e+00,  1.53244675e-12, -1.00000000e+00,  0.00000000e+00,
        7.66223374e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02361332, -0.06995004,  0.06199924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10584267e-05,-1.49781334e-05,-2.34722979e-06, 4.71659056e-05,
 -6.45617013e-04,-1.63996913e-02,-6.66952911e-03,-3.49055589e-03,
 -2.02601596e-05, 4.64972892e-05, 4.35943092e-05, 3.28306146e-05,
 -9.34708429e-05,-6.51870347e-05, 1.71033830e-05, 1.00491753e-04,
  4.52217046e-02,-6.17369292e-03,-4.86872920e+00, 7.59125202e-03,
  9.62270521e-03,-6.35643054e-04]


--- Step 1600 ---
qpos:
[ 0.01861679, 0.03002625,-0.00943166,-0.02527832,-0.02202885, 0.68675465,
 -0.1448058 , 0.78300823, 0.01151438, 0.02745863,-0.00825013, 0.02647081,
  1.25080049, 0.0073054 , 1.22423273, 0.04486228,-0.04626205,-0.06331855,
  0.15185023, 0.88403482,-0.01328807,-0.46178992,-0.07110507]

qacc:
[ 8.54529227e-01, 1.74795003e+00,-1.02820909e+01, 2.62609158e+01,
 -5.24661581e+00,-9.74244354e+01, 2.67164389e+02,-8.12463337e+02,
  3.83698101e+00,-4.11857192e-01,-5.87002876e-02, 5.78696830e+00,
 -3.70924510e-01, 1.55497455e-01, 9.39879346e-02, 1.11425574e-01,
 -9.88281631e-01, 6.46918431e-02,-4.98084404e+00, 6.94448193e+00,
 -5.82701815e+01,-5.17614208e+00]

qfrc_actuator:
[ 1.03448863e-04, 9.04060023e-04, 1.50825247e-04, 5.12916220e-07,
  1.90417942e-02, 3.80555071e-01, 1.28439625e-01, 1.54365712e-01,
 -5.45562591e-05, 8.38574157e-04, 2.84963001e-04, 8.90376595e-05,
  1.25433540e-02,-1.23051511e-03, 0.00000000e+00,-1.49933449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09653893,  0.93163084, -3.98919732,  0.93163084, 19.89208202,
        3.68886619, -3.98919732,  3.68886619,  4.95803092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5171487502844156e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.57829979e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.57829979e-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([ 0.02353781, -0.06995143,  0.06199925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11185322e-06,-4.49379072e-06, 1.51857426e-06, 4.68630185e-05,
 -6.61790076e-04,-1.68937330e-02,-6.83629034e-03,-3.53462230e-03,
  2.30899389e-05, 1.91935302e-05, 2.99248179e-05, 2.08189054e-05,
 -8.09971089e-05,-3.93297022e-05, 1.41888480e-05, 4.93608264e-06,
  4.63723133e-02,-6.32284009e-03,-4.86672593e+00, 7.84926451e-03,
  9.53186673e-03,-6.46325956e-04]


--- Step 1601 ---
qpos:
[ 0.01861787, 0.03002629,-0.00943154,-0.02527756,-0.02165557, 0.69401736,
 -0.14233934, 0.78601313, 0.01151501, 0.02745796,-0.00824824, 0.02647085,
  1.25112259, 0.0073114 , 1.22438341, 0.04486584,-0.04759951,-0.0631573 ,
  0.15086544, 0.88065969,-0.01343224,-0.46811344,-0.07160938]

qacc:
[ 3.48971328e+00, 5.48481030e-01,-1.22110131e+00,-8.34117791e-01,
 -5.04929997e+00,-9.90598568e+01, 2.66385286e+02,-7.99186228e+02,
  2.41070818e+00,-2.07659268e+00, 9.10838017e+00,-1.76064088e+01,
 -2.52119239e-01, 6.71890332e-02,-7.40036005e+00, 2.53929841e+01,
 -8.04254510e-01, 4.98465501e-02,-5.52678886e+00, 6.95707662e+00,
 -5.46287610e+01,-4.93509970e+00]

qfrc_actuator:
[ 1.24310387e-04, 9.05546234e-04, 1.34873181e-04,-7.90350976e-06,
  1.86409670e-02, 3.74517645e-01, 1.25912796e-01, 1.51754175e-01,
 -4.07609817e-05, 8.10685915e-04, 2.92375106e-04, 6.31149604e-05,
  1.25155608e-02,-1.23200494e-03, 0.00000000e+00,-1.37666253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09276809,  0.50158382, -4.06191633,  0.50158382, 12.55986618,
        1.04555561, -4.06191633,  1.04555561,  4.22187803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0219091407799872e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74548199e-12, -5.49096397e-12,  1.00000000e+00,  1.50753427e-23,
        1.00000000e+00,  5.49096397e-12, -1.00000000e+00,  0.00000000e+00,
        2.74548199e-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([ 0.02347625, -0.0699543 ,  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:
[ 2.10064680e-05, 1.28801600e-06,-1.50787596e-05,-7.64682628e-06,
 -6.49754101e-04,-1.71462798e-02,-6.89440953e-03,-3.50420842e-03,
  1.44764520e-05,-1.00724236e-05, 1.57693364e-05,-2.36638884e-05,
 -7.84715514e-05,-3.17768554e-05, 1.87120454e-06, 1.23605288e-04,
  4.73771749e-02,-6.45632322e-03,-4.86474807e+00, 8.09431567e-03,
  9.43784074e-03,-6.57832666e-04]


--- Step 1602 ---
qpos:
[ 0.01861886, 0.03002636,-0.0094316 ,-0.02527691,-0.02128947, 0.70115724,
 -0.13992472, 0.7889682 , 0.01151545, 0.02745759,-0.00824698, 0.0264706 ,
  1.25144419, 0.00731726, 1.2245341 , 0.0448705 ,-0.04893657,-0.06299612,
  0.14984175, 0.87723921,-0.01356802,-0.47441337,-0.07210569]

qacc:
[-8.89625126e-01, 3.51738427e-01,-7.36925439e-01,-8.26531183e-01,
 -4.54888053e+00,-9.53297589e+01, 2.46642103e+02,-7.51758896e+02,
 -1.59496879e+00, 1.54044657e+00,-3.67815410e+00,-6.76082560e-01,
 -2.24395501e-01, 4.04506032e-02,-3.29665395e+00, 1.15718058e+01,
  9.57210876e-02,-1.62184327e-02,-9.72546660e+00, 4.41551419e+00,
  1.76388293e-02, 9.54040546e-02]

qfrc_actuator:
[ 1.18395442e-04, 9.06375117e-04, 1.25410265e-04,-1.31711218e-05,
  1.82913934e-02, 3.68578399e-01, 1.23405415e-01, 1.49265077e-01,
 -5.06560237e-05, 8.29804605e-04, 2.60360830e-04, 4.78250975e-05,
  1.24979744e-02,-1.23524918e-03, 0.00000000e+00,-1.32363534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.30184193e-06,-1.89314776e-06,-1.13241200e-05,-5.88620048e-06,
 -5.96997112e-04,-1.71923107e-02,-6.92720640e-03,-3.38961881e-03,
 -9.47419970e-06, 1.57383580e-05,-3.29857015e-05,-1.56397133e-05,
 -6.50186380e-05,-3.08647154e-05, 1.06424911e-05, 5.92655445e-05,
  4.82534050e-02,-6.57594073e-03,-4.86278678e+00, 8.32895131e-03,
  9.34069265e-03,-6.70081356e-04]


--- Step 1603 ---
qpos:
[ 0.01861976, 0.0300263 ,-0.00943169,-0.02527666,-0.02093033, 0.70817689,
 -0.13756265, 0.79187813, 0.01151543, 0.02745726,-0.00824606, 0.02647017,
  1.25176527, 0.00732304, 1.22468506, 0.04487376,-0.05027326,-0.062835  ,
  0.14877916, 0.87377358,-0.01369544,-0.4806894 ,-0.07259393]

qacc:
[-6.70085769e-01,-9.20885137e-01, 4.72109457e+00,-1.15300492e+01,
 -4.35518541e+00,-8.36982968e+01, 1.99292589e+02,-6.52005017e+02,
 -3.99108590e+00, 6.59872387e-01,-1.52161865e+00,-9.52343254e-01,
 -4.79886563e-01, 3.71201852e-01, 4.67818073e+00,-1.56894681e+01,
  9.44756995e-02,-1.61232499e-02,-9.72407919e+00, 4.41558369e+00,
  2.31245726e-02, 9.44380488e-02]

qfrc_actuator:
[ 1.14514910e-04, 8.89069833e-04, 1.19868871e-04,-3.42804643e-05,
  1.79395219e-02, 3.62995958e-01, 1.20948483e-01, 1.47027787e-01,
 -7.44125106e-05, 8.23500811e-04, 2.41029376e-04, 3.89325125e-05,
  1.24705457e-02,-1.23946287e-03, 0.00000000e+00,-1.40085574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.03528222e-06,-2.09630475e-05,-7.53310387e-06,-2.16982555e-05,
 -5.81875857e-04,-1.68568193e-02,-6.88228068e-03,-3.13572978e-03,
 -2.40265786e-05,-4.98907542e-06,-2.06933384e-05,-9.66474895e-06,
 -6.77907854e-05,-2.83680278e-05, 6.92464543e-06,-7.35886410e-05,
  4.76378075e-02,-6.53043936e-03,-4.86209384e+00, 8.32004337e-03,
  9.23582042e-03,-6.88206192e-04]


--- Step 1604 ---
qpos:
[ 0.01862061, 0.03002624,-0.00943189,-0.02527703,-0.02057804, 0.7150885 ,
 -0.13525631, 0.79475024, 0.01151443, 0.0274567 ,-0.00824533, 0.0264707 ,
  1.25208587, 0.00732871, 1.22483611, 0.04487541,-0.05161213,-0.06267378,
  0.14769525, 0.87019427,-0.01381154,-0.48706305,-0.07308054]

qacc:
[-4.64723230e-01,-9.37309642e-01, 5.93532545e+00,-1.63491726e+01,
 -4.25810985e+00,-4.95668441e+01, 8.64438986e+01,-4.68882607e+02,
 -8.31078258e+00, 2.21207000e+00,-1.23489169e+01, 2.93835608e+01,
 -4.35291745e-01, 3.14442033e-01, 5.04552891e+00,-1.73552020e+01,
 -5.43540419e-01, 2.66583404e-02,-5.32919262e+00, 8.10173224e+00,
 -6.95737645e+01,-6.80730871e+00]

qfrc_actuator:
[ 1.11871488e-04, 8.96545501e-04, 1.16598875e-04,-6.45560778e-05,
  1.75889130e-02, 3.58686032e-01, 1.18578780e-01, 1.45205379e-01,
 -1.23882504e-04, 8.02066661e-04, 2.29263627e-04, 8.71287204e-05,
  1.24478837e-02,-1.24425016e-03, 0.00000000e+00,-1.48315559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09096422, -0.31097962, -4.07912735, -0.31097962, 11.64606614,
       -0.57597681, -4.07912735, -0.57597681,  4.13487485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.482714266589415e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.96952420e-12, -1.59390484e-11,  1.00000000e+00,  1.27026632e-22,
        1.00000000e+00,  1.59390484e-11, -1.00000000e+00,  0.00000000e+00,
        7.96952420e-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([ 0.02323749, -0.06995968,  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:
[-2.76686960e-06,-6.73294891e-06,-9.27756976e-06,-3.18565184e-05,
 -5.77361749e-04,-1.53731853e-02,-6.71125045e-03,-2.69992788e-03,
 -5.01746672e-05,-2.89191864e-05,-1.56845665e-05, 4.70789323e-05,
 -6.43196792e-05,-2.86782235e-05,-1.01109068e-05,-8.66662289e-05,
  4.70124144e-02,-6.48326462e-03,-4.86140998e+00, 8.31103296e-03,
  9.12906217e-03,-7.06481366e-04]


--- Step 1605 ---
qpos:
[ 0.01862074, 0.03002618,-0.00943218,-0.02527741,-0.02023232, 0.72190236,
 -0.13300404, 0.79758728, 0.01151353, 0.02745596,-0.00824507, 0.02647251,
  1.25240604, 0.00733446, 1.22498693, 0.04487738,-0.05295241,-0.06251252,
  0.14658775, 0.86650401,-0.0139162 ,-0.49352344,-0.07356456]

qacc:
[-6.24641666e+00, 2.16066447e-01,-6.78334685e-01, 5.08882273e-01,
 -4.04348746e+00,-3.68041806e+01, 5.36017365e+01,-4.12911822e+02,
  8.73547033e-01, 3.68985002e+00,-1.89171599e+01, 4.19296162e+01,
 -3.55114391e-01, 3.54798118e-01,-1.31095545e+00, 4.14154947e+00,
 -3.54978450e-01, 8.78920432e-03,-5.89850058e+00, 8.01385263e+00,
 -6.43634212e+01,-6.31131456e+00]

qfrc_actuator:
[ 7.44718427e-05, 9.01049794e-04, 1.14786262e-04,-6.44550624e-05,
  1.72594973e-02, 3.54855978e-01, 1.16285617e-01, 1.43518362e-01,
 -1.17076075e-04, 7.89567057e-04, 2.04271505e-04, 1.50764146e-04,
  1.24387483e-02,-1.23157037e-03, 0.00000000e+00,-1.46121972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09091657,  0.20543381, -4.08575518,  0.20543381,  9.77836736,
        0.28596787, -4.08575518,  0.28596787,  4.10529518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2830013067094415e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16333183e-11, -4.32666366e-11,  1.00000000e+00,  9.36000919e-22,
        1.00000000e+00,  4.32666366e-11, -1.00000000e+00,  0.00000000e+00,
        2.16333183e-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([ 0.02314797, -0.06996093,  0.06199997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74804638e-05,-2.53915449e-06,-5.44488351e-06,-1.12724169e-06,
 -5.56938972e-04,-1.40130984e-02,-6.30198907e-03,-2.49545435e-03,
  5.32395549e-06,-2.99039958e-05,-3.12709345e-05, 6.27699769e-05,
 -4.93977981e-05,-1.03309063e-05,-1.85031503e-05, 1.48607246e-05,
  4.81889169e-02,-6.63453035e-03,-4.85897954e+00, 8.62806333e-03,
  9.02761926e-03,-7.17711283e-04]


--- Step 1606 ---
qpos:
[ 0.01862041, 0.03002627,-0.00943261,-0.02527711,-0.01989289, 0.72861884,
 -0.13080004, 0.80038887, 0.01151411, 0.02745513,-0.00824486, 0.02647468,
  1.25272575, 0.00734011, 1.2251375 , 0.04488058,-0.0542923 ,-0.06235133,
  0.1454414 , 0.86276578,-0.01401193,-0.49995701,-0.07403963]

qacc:
[-3.86264859e+00, 1.97018099e+00,-9.61606695e+00, 2.14824772e+01,
 -3.82269206e+00,-5.19780736e+01, 1.05075206e+02,-4.62983941e+02,
  1.25123631e+01, 7.72459107e-01,-4.47695463e+00, 1.09202420e+01,
 -2.02135245e-01, 4.34736929e-02,-4.04289856e+00, 1.36317030e+01,
  9.74549744e-02,-1.68158880e-02,-9.71305667e+00, 4.75625516e+00,
  5.00950752e-02, 9.72904738e-02]

qfrc_actuator:
[ 5.24192526e-05, 9.21526317e-04, 1.13864617e-04,-2.87267672e-05,
  1.69452545e-02, 3.50388122e-01, 1.14041250e-01, 1.41765176e-01,
 -4.16864433e-05, 8.00230996e-04, 2.07204178e-04, 1.69702276e-04,
  1.24057866e-02,-1.24406524e-03, 0.00000000e+00,-1.39578596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.31448416e-05, 1.78766103e-05,-2.14940904e-06, 3.54124033e-05,
 -5.36085652e-04,-1.38008833e-02,-5.92489614e-03,-2.49519023e-03,
  7.55321104e-05,-9.80921966e-06,-4.92371962e-06, 1.77928745e-05,
 -6.10535484e-05,-2.68531216e-05,-1.00102507e-05, 6.31746163e-05,
  4.91878759e-02,-6.76770215e-03,-4.85659459e+00, 8.92658065e-03,
  8.92248738e-03,-7.29924923e-04]


--- Step 1607 ---
qpos:
[ 0.01862017, 0.03002661,-0.00943281,-0.02527678,-0.0195599 , 0.73523822,
 -0.12864221, 0.80315264, 0.01151524, 0.02745448,-0.00824473, 0.02647668,
  1.25304485, 0.00734546, 1.22528802, 0.04488417,-0.05563181,-0.0621902 ,
  0.1442562 , 0.85897978,-0.01409877,-0.50636338,-0.07450566]

qacc:
[ 7.08200058e-01,-1.71825938e-01, 9.57389804e-01,-8.26068804e-01,
 -3.88750879e+00,-6.05451213e+01, 1.39740295e+02,-5.22839094e+02,
  4.72760845e+00, 9.33355097e-02, 6.91366229e-01,-3.57507164e+00,
 -2.37505606e-01,-8.33283300e-02,-1.26394564e+00, 4.35913895e+00,
  9.59762689e-02,-1.66936241e-02,-9.71159418e+00, 4.75635475e+00,
  5.62313612e-02, 9.62116580e-02]

qfrc_actuator:
[ 5.73403805e-05, 9.51450657e-04, 1.31315696e-04,-2.55703332e-05,
  1.66069487e-02, 3.45807103e-01, 1.11841987e-01, 1.39880198e-01,
 -1.53143497e-05, 8.24762009e-04, 2.08916204e-04, 1.62228164e-04,
  1.23585482e-02,-1.27151931e-03, 0.00000000e+00,-1.37628615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.25165722e-06, 4.09873062e-05, 2.21082749e-05, 4.53817091e-06,
 -5.54032861e-04,-1.37156566e-02,-5.79048936e-03,-2.60657464e-03,
  2.85792860e-05, 1.88418985e-05,-3.05052126e-07,-7.72504790e-06,
 -8.49307673e-05,-4.93844766e-05,-9.84879524e-07, 2.09638567e-05,
  4.84567569e-02,-6.70895800e-03,-4.85586327e+00, 8.91691116e-03,
  8.80667821e-03,-7.49466509e-04]


--- Step 1608 ---
qpos:
[ 0.01862033, 0.03002707,-0.00943242,-0.0252771 ,-0.01923356, 0.74176078,
 -0.1265291 , 0.80587564, 0.01151667, 0.02745386,-0.0082451 , 0.02647862,
  1.25336331, 0.00735071, 1.22543856, 0.04488763,-0.0569707 ,-0.06202925,
  0.14304731, 0.8550635 ,-0.0141725 ,-0.51287918,-0.07497   ]

qacc:
[ 3.49472047e+00,-2.90929233e+00, 1.33517490e+01,-2.58173231e+01,
 -3.97444432e+00,-6.85095517e+01, 1.73974300e+02,-5.90017566e+02,
  2.61544010e+00, 1.31051737e+00,-4.35818599e+00, 4.11382828e+00,
 -4.68033294e-01, 3.08756881e-01, 4.59349288e-01,-1.49911577e+00,
  1.55010412e-01,-4.29947868e-02,-5.92339836e+00, 9.21251517e+00,
 -7.95105243e+01,-8.21835978e+00]

qfrc_actuator:
[ 7.80937451e-05, 9.51354101e-04, 1.59493508e-04,-5.93398823e-05,
  1.62568866e-02, 3.41214606e-01, 1.09704764e-01, 1.37843914e-01,
 -2.74972016e-07, 8.04132433e-04, 1.74433556e-04, 1.57043234e-04,
  1.23294009e-02,-1.27219571e-03, 0.00000000e+00,-1.38401742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09159339, -0.32256304, -4.07885885, -0.32256304, 10.5452559 ,
       -0.51036652, -4.07885885, -0.51036652,  4.13195403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2268752773880731e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52459612e-12, -9.04919225e-12,  1.00000000e+00,  4.09439401e-23,
        1.00000000e+00,  9.04919225e-12, -1.00000000e+00,  0.00000000e+00,
        4.52459612e-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([ 0.02282841, -0.06996105,  0.06199971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08895190e-05, 2.75748584e-05, 3.95206544e-05,-3.11626166e-05,
 -5.75243510e-04,-1.36518942e-02,-5.69615952e-03,-2.75167268e-03,
  1.58821244e-05,-1.04558973e-05,-3.08937678e-05,-4.54264156e-06,
 -8.43980886e-05,-3.46507624e-05,-2.42279713e-06,-7.65679904e-06,
  4.77149435e-02,-6.64835109e-03,-4.85514312e+00, 8.90714739e-03,
  8.68894670e-03,-7.69127458e-04]


--- Step 1609 ---
qpos:
[ 0.01862143, 0.03002763,-0.00943219,-0.02527812,-0.0189134 , 0.74818549,
 -0.12445981, 0.80855655, 0.01151862, 0.0274532 ,-0.00824615, 0.02648086,
  1.25368127, 0.0073556 , 1.22558922, 0.04488962,-0.05830826,-0.06186854,
  0.14181249, 0.85102103,-0.01423313,-0.51949084,-0.07543141]

qacc:
[ 8.03289334e+00,-8.52273876e-01, 6.13927026e+00,-1.79259483e+01,
 -3.65227131e+00,-7.41899673e+01, 1.94068436e+02,-6.22807644e+02,
  4.36748784e+00, 2.43702542e+00,-1.00254903e+01, 1.62264420e+01,
 -2.66505364e-01,-5.10032652e-02, 4.63318210e+00,-1.59064489e+01,
  3.34161297e-01,-6.15256117e-02,-6.48133930e+00, 9.04818359e+00,
 -7.28689725e+01,-7.51209179e+00]

qfrc_actuator:
[ 1.25743029e-04, 9.33298278e-04, 1.40377881e-04,-9.68271699e-05,
  1.59558144e-02, 3.36458508e-01, 1.07568499e-01, 1.35734934e-01,
  2.57418482e-05, 7.91976805e-04, 1.36435462e-04, 1.70942729e-04,
  1.23058095e-02,-1.29239615e-03, 0.00000000e+00,-1.46096967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09210698,  0.01501616, -4.09207943,  0.01501616,  6.46022349,
        0.00868996, -4.09207943,  0.00868996,  4.09213887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6231664725363526e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70996482e-12, -1.02597889e-11,  1.00000000e+00,  1.75438781e-23,
        1.00000000e+00,  1.02597889e-11, -1.00000000e+00,  0.00000000e+00,
        1.70996482e-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([ 0.02271382, -0.06996058,  0.06199962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82655466e-05, 4.17834492e-06,-9.64141982e-06,-3.55482584e-05,
 -5.37138005e-04,-1.37614578e-02,-5.67293897e-03,-2.82089545e-03,
  2.64780271e-05,-2.45465909e-05,-4.41123101e-05, 1.22915326e-05,
 -7.51944324e-05,-4.98194263e-05,-6.44587235e-06,-7.86933871e-05,
  4.89845439e-02,-6.81205599e-03,-4.85222203e+00, 9.29439498e-03,
  8.57979713e-03,-7.80174690e-04]


--- Step 1610 ---
qpos:
[ 0.0186224 , 0.03002828,-0.00943222,-0.02527888,-0.01859906, 0.75451175,
 -0.12243346, 0.81119271, 0.01152087, 0.02745227,-0.00824702, 0.02648321,
  1.25399879, 0.00735995, 1.22573986, 0.04489034,-0.05964364,-0.06170816,
  0.14054971, 0.84685556,-0.01428062,-0.52618686,-0.07588881]

qacc:
[-1.09412333e+00, 1.38243953e+00,-5.84158227e+00, 1.06624706e+01,
 -3.41255496e+00,-8.13977460e+01, 2.23435718e+02,-6.80909027e+02,
  2.54427786e+00,-6.23561509e-01, 1.18015434e+00, 8.13472940e-01,
 -7.56063386e-02,-3.84650714e-01, 3.85020189e+00,-1.35089008e+01,
  5.41873228e-01,-8.25184358e-02,-6.99250104e+00, 8.94716271e+00,
 -6.73825977e+01,-6.94859413e+00]

qfrc_actuator:
[ 1.17825479e-04, 9.39929231e-04, 1.28913602e-04,-8.29904526e-05,
  1.56685629e-02, 3.31697273e-01, 1.05485329e-01, 1.33493448e-01,
  4.02633400e-05, 7.84973966e-04, 1.49969398e-04, 1.78212377e-04,
  1.22802346e-02,-1.32400842e-03, 0.00000000e+00,-1.52481120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09096924e+00, -5.09093004e-02, -4.09065246e+00, -5.09093004e-02,
        4.42189009e+00, -4.11840151e-03, -4.09065246e+00, -4.11840151e-03,
        4.09102049e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -3.6375353926754173e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52606491e-11,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.52606491e-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([ 0.02262099, -0.06996221,  0.06199991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50958834e-06, 5.44683291e-06,-1.30286778e-05, 1.29880860e-05,
 -5.09667427e-04,-1.38201577e-02,-5.63804555e-03,-2.95645235e-03,
  1.52873048e-05,-2.92682311e-05, 3.47136184e-06, 4.92871589e-06,
 -7.63193640e-05,-6.32226971e-05,-1.60803418e-05,-7.00362897e-05,
  5.00297545e-02,-6.95300101e-03,-4.84938065e+00, 9.65563632e-03,
  8.46637708e-03,-7.92412928e-04]


--- Step 1611 ---
qpos:
[ 0.01862224, 0.03002883,-0.00943179,-0.02527915,-0.01829088, 0.76074186,
 -0.12044952, 0.81378227, 0.01152327, 0.02745103,-0.00824711, 0.02648491,
  1.25431574, 0.00736389, 1.22589016, 0.04489226,-0.06097863,-0.06154786,
  0.13924815, 0.84263753,-0.01431823,-0.53285068,-0.07633567]

qacc:
[-9.73098728e+00,-4.09537665e-01,-7.67812506e-01, 8.54362798e+00,
 -3.58793685e+00,-8.26683316e+01, 2.35812824e+02,-7.16231219e+02,
  1.36617204e+00,-3.92647966e+00, 1.62151621e+01,-2.86746116e+01,
 -8.56028246e-02,-3.18263525e-01,-4.19762888e+00, 1.39206491e+01,
  1.00597873e-01,-1.78074787e-02,-9.69304520e+00, 5.35750640e+00,
  1.02911778e-01, 1.01479258e-01]

qfrc_actuator:
[ 5.95039014e-05, 9.43592917e-04, 1.57708346e-04,-5.67874053e-05,
  1.53384613e-02, 3.27256726e-01, 1.03503896e-01, 1.31174198e-01,
  4.78991500e-05, 7.81312570e-04, 1.93835768e-04, 1.46055080e-04,
  1.22481564e-02,-1.34438277e-03, 0.00000000e+00,-1.45611675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.85112674e-05, 4.54784611e-06, 2.87581340e-05, 2.62387996e-05,
 -5.42986735e-04,-1.35249172e-02,-5.54509809e-03,-3.03663513e-03,
  8.06980235e-06,-1.90488802e-05, 3.84362304e-05,-3.31969502e-05,
 -8.66941801e-05,-5.59844605e-05,-1.88996564e-05, 6.18938301e-05,
  5.08753093e-02,-7.07343454e-03,-4.84660351e+00, 9.99545240e-03,
  8.34888313e-03,-8.05689123e-04]


--- Step 1612 ---
qpos:
[ 0.01862103, 0.03002898,-0.00943111,-0.02527905,-0.01798908, 0.76687905,
 -0.1185077 , 0.81632457, 0.01152575, 0.02744968,-0.00824724, 0.02648555,
  1.25463214, 0.0073673 , 1.22604011, 0.04489664,-0.06231322,-0.06138762,
  0.13790782, 0.8383672 ,-0.014346  ,-0.53948188,-0.07677188]

qacc:
[-8.93007549e+00,-4.13521209e-01,-8.23580771e-01, 7.11066421e+00,
 -3.68038673e+00,-8.05248550e+01, 2.35310386e+02,-7.25883283e+02,
  6.22507623e-01,-2.21925453e+00, 1.21434444e+01,-3.02651891e+01,
  1.28408370e-01,-6.65732549e-01,-7.92723149e+00, 2.69309812e+01,
  9.87123814e-02,-1.76384604e-02,-9.69145130e+00, 5.35765844e+00,
  1.10265355e-01, 1.00193147e-01]

qfrc_actuator:
[ 7.50542197e-06, 8.92373559e-04, 1.56777290e-04,-4.12524769e-05,
  1.50030766e-02, 3.23045674e-01, 1.01564673e-01, 1.28828046e-01,
  5.14249470e-05, 7.62035717e-04, 1.84222388e-04, 9.09745113e-05,
  1.22175305e-02,-1.37570349e-03, 0.00000000e+00,-1.32763687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.37062941e-05,-4.16576542e-05, 4.44947973e-06, 1.72364260e-05,
 -5.64191685e-04,-1.31109030e-02,-5.43290543e-03,-3.05077171e-03,
  3.75177208e-06,-2.33597546e-05,-9.94877446e-06,-5.52137173e-05,
 -8.84942489e-05,-6.74874148e-05,-4.91361711e-06, 1.28811941e-04,
  4.99427454e-02,-6.99183887e-03,-4.84580494e+00, 9.98472001e-03,
  8.21759860e-03,-8.27191001e-04]


--- Step 1613 ---
qpos:
[ 0.0186199 , 0.03002878,-0.00943067,-0.02527908,-0.01769334, 0.77293045,
 -0.11661013, 0.81881973, 0.01152791, 0.02744792,-0.0082471 , 0.02648588,
  1.25494791, 0.0073705 , 1.22619046, 0.04489881,-0.06364742,-0.06122746,
  0.13652874, 0.83404486,-0.01436399,-0.54608005,-0.07719736]

qacc:
[ 6.39740361e-01,-6.79706577e-02, 1.42099443e-01,-1.80958486e+00,
 -3.48197156e+00,-6.57095064e+01, 1.97419492e+02,-6.95986901e+02,
 -2.72745200e+00,-1.92738565e+00, 7.37795967e+00,-1.27748794e+01,
 -5.55782357e-01, 3.59240092e-01, 7.27229040e+00,-2.44909178e+01,
  9.68022038e-02,-1.74650124e-02,-9.68988817e+00, 5.35781586e+00,
  1.17620162e-01, 9.89072480e-02]

qfrc_actuator:
[ 1.29195471e-05, 8.61821844e-04, 1.38053022e-04,-4.99471860e-05,
  1.47026998e-02, 3.19415861e-01, 9.95964111e-02, 1.26502802e-01,
  3.47532405e-05, 7.33328133e-04, 1.96284235e-04, 7.60569789e-05,
  1.21931200e-02,-1.37777749e-03, 0.00000000e+00,-1.44904329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.83251978e-06,-5.22177349e-05,-2.61901055e-05,-9.98827114e-06,
 -5.40134855e-04,-1.22731169e-02,-5.36419973e-03,-3.01104388e-03,
 -1.65715066e-05,-4.61334946e-05, 4.11903942e-06,-1.73351649e-05,
 -8.54870079e-05,-4.21200583e-05, 8.62394159e-06,-1.15637105e-04,
  4.89978675e-02,-6.90803841e-03,-4.84502146e+00, 9.97390654e-03,
  8.08432712e-03,-8.48762264e-04]


--- Step 1614 ---
qpos:
[ 0.01861919, 0.03002855,-0.0094306 ,-0.02527924,-0.01740328, 0.7789074 ,
 -0.11475857, 0.82126862, 0.01152984, 0.02744573,-0.00824598, 0.02648633,
  1.25526307, 0.00737358, 1.22634092, 0.04489886,-0.06497395,-0.06106821,
  0.13512093, 0.82956504,-0.01436589,-0.55280242,-0.07762053]

qacc:
[ 3.57238324e+00, 7.00120998e-01,-2.02721530e+00, 3.60855981e-01,
 -3.24316902e+00,-4.54679756e+01, 1.46696244e+02,-6.49127838e+02,
 -1.81274757e+00,-3.07141420e+00, 9.64395177e+00,-8.88799308e+00,
 -5.68573902e-01, 4.33654634e-01, 6.63716018e+00,-2.28581218e+01,
  1.91744255e+00,-2.28406976e-01,-7.18106776e+00, 1.10060216e+01,
 -9.41927333e+01,-1.03985018e+01]

qfrc_actuator:
[ 3.43283410e-05, 8.79279617e-04, 1.26785019e-04,-5.50716717e-05,
  1.44255707e-02, 3.16679650e-01, 9.76652309e-02, 1.24244384e-01,
  2.40808398e-05, 7.34805601e-04, 2.56557824e-04, 8.49070237e-05,
  1.21671400e-02,-1.38018217e-03, 0.00000000e+00,-1.55694380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09211873, -0.34998687, -4.07712459, -0.34998687,  9.09111334,
       -0.42912166, -4.07712459, -0.42912166,  4.12895522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6311046217326597e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02208512, -0.06995472,  0.06199958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15039076e-05,-1.75717082e-05,-2.56256690e-05,-8.46120349e-06,
 -5.08492273e-04,-1.08946749e-02,-5.14864059e-03,-2.91099023e-03,
 -1.11788329e-05,-2.41503570e-05, 5.06726263e-05, 6.68216333e-06,
 -8.00425818e-05,-3.43014979e-05,-1.44638171e-05,-1.14484793e-04,
  4.80409204e-02,-6.82205549e-03,-4.84425328e+00, 9.96301672e-03,
  7.94910498e-03,-8.70390379e-04]


--- Step 1615 ---
qpos:
[ 0.01861908, 0.03002807,-0.00943039,-0.02527879,-0.01711857, 0.78481541,
 -0.11294922, 0.82367196, 0.01153198, 0.02744371,-0.00824434, 0.0264865 ,
  1.25557767, 0.00737636, 1.22649092, 0.04490062,-0.06629247,-0.06090991,
  0.13368256, 0.82493437,-0.01435192,-0.55963122,-0.07803973]

qacc:
[ 5.21726486e+00, 5.42699541e-01,-5.02985440e+00, 1.57141755e+01,
 -3.02697993e+00,-4.72658806e+01, 1.59349986e+02,-6.54486886e+02,
  1.72675964e+00,-1.79144673e+00, 7.91331465e+00,-1.38129963e+01,
 -8.97622442e-02,-2.57318306e-01,-5.83907283e+00, 1.94170359e+01,
  2.00251952e+00,-2.39157084e-01,-7.64029982e+00, 1.07240972e+01,
 -8.52603895e+01,-9.35924891e+00]

qfrc_actuator:
[ 6.49611468e-05, 8.72120965e-04, 1.37972336e-04,-2.24954489e-05,
  1.41644313e-02, 3.13934506e-01, 9.58290077e-02, 1.22008559e-01,
  3.47846204e-05, 7.72329380e-04, 2.91681682e-04, 7.22137177e-05,
  1.21349131e-02,-1.40054021e-03, 0.00000000e+00,-1.46065825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09403413, -0.12908715, -4.09199853, -0.12908715,  3.91455238,
        0.00566197, -4.09199853,  0.00566197,  4.09385552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6211385841287682e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11782588e-12, -2.11782588e-12,  1.00000000e+00,  4.48518645e-24,
        1.00000000e+00,  2.11782588e-12, -1.00000000e+00,  0.00000000e+00,
        2.11782588e-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([ 0.02192672, -0.06995074,  0.06199932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12553965e-05,-2.26215211e-05, 4.11154638e-06, 3.07725264e-05,
 -4.80623335e-04,-1.00876375e-02,-4.74911874e-03,-2.83104607e-03,
  1.03598156e-05, 3.48395611e-05, 3.66216625e-05,-1.18426765e-05,
 -8.20172721e-05,-4.85748992e-05,-2.36940295e-05, 8.70937931e-05,
  4.93383430e-02,-6.99501666e-03,-4.84048665e+00, 1.04678856e-02,
  7.82904693e-03,-8.80772137e-04]


--- Step 1616 ---
qpos:
[ 0.01862072, 0.03002724,-0.00942966,-0.02527865,-0.01683911, 0.79065294,
 -0.11117759, 0.82603213, 0.01153389, 0.02744225,-0.00824274, 0.02648615,
  1.25589139, 0.00737943, 1.22664089, 0.04490246,-0.0676028 ,-0.06075259,
  0.13221225, 0.82015808,-0.01432213,-0.56655154,-0.07845357]

qacc:
[ 1.50119367e+01,-2.59430662e+00, 9.84071697e+00,-1.57965787e+01,
 -2.95925478e+00,-5.75574125e+01, 1.84281298e+02,-6.45049740e+02,
 -2.00174474e+00,-2.47490582e-01, 4.12767230e+00,-1.33900153e+01,
 -8.84368886e-01, 9.96190431e-01,-2.32759815e-01, 9.43477946e-01,
  2.04853623e+00,-2.44906589e-01,-7.98288538e+00, 1.05487837e+01,
 -7.79156953e+01,-8.55372973e+00]

qfrc_actuator:
[ 1.54029760e-04, 8.50410263e-04, 1.62266005e-04,-3.90092252e-05,
  1.38970651e-02, 3.10604674e-01, 9.40288611e-02, 1.19857315e-01,
  2.24778571e-05, 8.13305650e-04, 2.94046838e-04, 4.69518391e-05,
  1.20936305e-02,-1.37817444e-03, 0.00000000e+00,-1.45786725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0922668 , -0.51891726, -4.05923299, -0.51891726,  7.30852558,
       -0.41115457, -4.05923299, -0.41115457,  4.14482727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7280238763767164e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.42481299e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.42481299e-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([ 0.02179908, -0.06994979,  0.06199954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.99712755e-05,-3.21686647e-05, 2.11935614e-05,-1.67425132e-05,
 -4.76367375e-04,-1.01379426e-02,-4.50163918e-03,-2.70396368e-03,
 -1.19967585e-05, 6.75801811e-05, 1.36686760e-05,-2.27317091e-05,
 -9.49902332e-05,-1.05754857e-05,-3.90926892e-06, 4.00409511e-06,
  5.03364238e-02,-7.13715960e-03,-4.83687055e+00, 1.09337469e-02,
  7.70370763e-03,-8.92671867e-04]


--- Step 1617 ---
qpos:
[ 0.01862273, 0.03002646,-0.00942879,-0.02527908,-0.01656511, 0.79641884,
 -0.10944196, 0.82834888, 0.01153529, 0.02744173,-0.00824191, 0.02648619,
  1.2562043 , 0.00738295, 1.22679115, 0.04490164,-0.06891272,-0.06059535,
  0.13070329, 0.81532405,-0.01428137,-0.57343236,-0.07885473]

qacc:
[ 3.14167836e+00,-1.51631740e+00, 7.92824318e+00,-1.81001581e+01,
 -3.03996506e+00,-6.41049749e+01, 2.04144843e+02,-6.63915075e+02,
 -4.36701698e+00, 4.23939676e+00,-1.49515004e+01, 2.22891973e+01,
 -1.15735937e+00, 1.44220742e+00, 8.60571963e+00,-2.92259396e+01,
  1.00652938e-01,-1.86431136e-02,-9.66659173e+00, 6.13096949e+00,
  1.80795921e-01, 1.05341590e-01]

qfrc_actuator:
[ 1.70261098e-04, 8.73437874e-04, 1.76241218e-04,-6.65369845e-05,
  1.36102702e-02, 3.07148418e-01, 9.22805110e-02, 1.17683914e-01,
 -3.28130691e-06, 8.73646728e-04, 2.59331806e-04, 6.77474261e-05,
  1.20629401e-02,-1.34840960e-03, 0.00000000e+00,-1.59900529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.88436042e-05, 8.74721592e-06, 9.35792434e-06,-2.85019618e-05,
 -4.95451752e-04,-1.02345196e-02,-4.42509200e-03,-2.71658545e-03,
 -2.60897718e-05, 1.00018506e-04,-1.98567998e-05, 2.37235478e-05,
 -8.20011716e-05, 4.50307262e-06,-6.03084440e-06,-1.42445661e-04,
  5.10687794e-02,-7.25116930e-03,-4.83338039e+00, 1.13678441e-02,
  7.57349334e-03,-9.05856041e-04]


--- Step 1618 ---
qpos:
[ 0.01862285, 0.0300257 ,-0.00942772,-0.02528018,-0.01629654, 0.80211405,
 -0.10774244, 0.83062113, 0.01153671, 0.02744167,-0.00824134, 0.02648651,
  1.25651676, 0.00738624, 1.2269414 , 0.04489879,-0.07022226,-0.06043819,
  0.12915566, 0.81043264,-0.01422968,-0.5802732 ,-0.07924311]

qacc:
[-1.61949326e+01,-1.86464384e+00, 9.52545986e+00,-2.14308183e+01,
 -3.01475734e+00,-6.43343255e+01, 2.08792667e+02,-6.81401890e+02,
  1.98703649e-01, 1.90306193e+00,-7.06119865e+00, 1.18956009e+01,
 -3.60150045e-01, 1.59292425e-01, 6.13281680e+00,-2.14112193e+01,
  9.81954323e-02,-1.84054416e-02,-9.66490108e+00, 6.13119835e+00,
  1.89841818e-01, 1.03774907e-01]

qfrc_actuator:
[ 7.24620593e-05, 8.69773377e-04, 1.84187365e-04,-1.00289470e-04,
  1.33318590e-02, 3.03840945e-01, 9.05588449e-02, 1.15461477e-01,
 -1.23947774e-06, 8.73987854e-04, 2.38637527e-04, 7.99710901e-05,
  1.20386305e-02,-1.36773203e-03, 0.00000000e+00,-1.69951058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-9.72444458e-05, 1.95819632e-06, 9.91611873e-06,-3.36096811e-05,
 -4.96975109e-04,-1.01206604e-02,-4.40693176e-03,-2.76586209e-03,
  1.31129270e-06, 5.31914425e-05,-1.66014553e-06, 1.62850667e-05,
 -6.58750455e-05,-3.70203149e-05,-2.38432695e-05,-1.10365182e-04,
  4.98526944e-02,-7.13595083e-03,-4.83253073e+00, 1.13559416e-02,
  7.42336634e-03,-9.29336408e-04]


--- Step 1619 ---
qpos:
[ 0.01862248, 0.03002547,-0.00942709,-0.0252817 ,-0.01603332, 0.80773769,
 -0.10607843, 0.83285122, 0.01153815, 0.02744149,-0.008241  , 0.0264867 ,
  1.25682882, 0.00738906, 1.22709125, 0.04489673,-0.07152187,-0.0602822 ,
  0.12757767, 0.80537134,-0.01415933,-0.58722745,-0.07962691]

qacc:
[-4.17725315e+00, 1.06660489e+00,-9.80351729e-01,-6.02236258e+00,
 -2.94956220e+00,-6.36641135e+01, 1.98838105e+02,-6.42484448e+02,
  1.11576914e-01, 2.22268638e-01,-4.84424096e-01,-1.26350245e+00,
  8.25355157e-02,-5.23415584e-01,-3.00057387e+00, 9.60156842e+00,
  2.48002546e+00,-2.94932388e-01,-7.58963270e+00, 1.21801421e+01,
 -9.45510573e+01,-1.10990627e+01]

qfrc_actuator:
[ 5.03735865e-05, 9.21136023e-04, 1.70663082e-04,-1.19700169e-04,
  1.30606459e-02, 3.00384148e-01, 8.88321972e-02, 1.13352325e-01,
 -5.99103599e-07, 8.20680737e-04, 2.08396480e-04, 6.92599849e-05,
  1.20128208e-02,-1.39826045e-03, 0.00000000e+00,-1.65094510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09091035, -0.51993138, -4.05773568, -0.51993138,  0.93587873,
        0.40426486, -4.05773568,  0.40426486,  4.03911052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.253897626122939e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.05657086e-10,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.05657086e-10, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02135198, -0.06994139,  0.06199999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49189391e-05, 5.30501650e-05,-1.30586262e-05,-1.96324669e-05,
 -4.91944876e-04,-1.02011061e-02,-4.38655352e-03,-2.64820570e-03,
  6.97188890e-07,-2.32074541e-05,-1.88998719e-05,-8.17377543e-06,
 -6.91065753e-05,-5.61117318e-05,-2.67663999e-05, 3.85776134e-05,
  4.86227514e-02,-7.01812638e-03,-4.83170203e+00, 1.13439832e-02,
  7.27124775e-03,-9.52801807e-04]


--- Step 1620 ---
qpos:
[ 0.01862288, 0.03002596,-0.00942708,-0.02528311,-0.01577554, 0.81328626,
 -0.10444758, 0.835041  , 0.01153924, 0.0274413 ,-0.00824159, 0.0264868 ,
  1.25714037, 0.0073915 , 1.22724077, 0.04489657,-0.07281121,-0.06012732,
  0.12596967, 0.80013746,-0.01408479,-0.59429489,-0.07997028]

qacc:
[ 6.58423994e+00, 2.89024308e+00,-9.42134902e+00, 1.18496566e+01,
 -2.97655323e+00,-7.16659892e+01, 2.14405529e+02,-6.29815031e+02,
 -2.99854916e+00, 2.40856694e+00,-8.21916158e+00, 8.11554821e+00,
  1.16007154e-02,-3.99532310e-01,-6.22719149e+00, 2.10238029e+01,
  2.56775755e+00,-2.78418963e-01,-7.50499199e+00, 1.68402417e+01,
 -9.63693574e+01, 7.38269510e+00]

qfrc_actuator:
[ 9.08153886e-05, 9.69474519e-04, 1.44804508e-04,-1.12732384e-04,
  1.27780904e-02, 2.96600630e-01, 8.71696664e-02, 1.11326614e-01,
 -1.85508500e-05, 8.06591805e-04, 1.54748568e-04, 6.28329276e-05,
  1.19861226e-02,-1.41741549e-03, 0.00000000e+00,-1.55044889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09240121, -0.38679314, -4.07408134, -0.38679314,  1.1438118 ,
        0.27993898, -4.07408134,  0.27993898,  4.06582382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8115166523294257e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83043341e-12, -3.83043341e-12,  1.00000000e+00, -1.46722201e-23,
        1.00000000e+00,  3.83043341e-12, -1.00000000e+00,  0.00000000e+00,
       -3.83043341e-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([ 0.01905557, -0.0755309 ,  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:
[ 3.97358800e-05, 7.44627253e-05,-1.71894207e-05, 8.40860183e-06,
 -5.02492300e-04,-1.05604021e-02,-4.33034713e-03,-2.56325562e-03,
 -1.79384794e-05,-3.13142032e-05,-6.10533530e-05,-8.23515655e-06,
 -7.57528711e-05,-5.11023450e-05,-1.05193844e-05, 9.86596720e-05,
  4.95223330e-02,-7.15010007e-03,-4.82747290e+00, 1.19028143e-02,
  7.13981809e-03,-9.63772911e-04]


--- Step 1621 ---
qpos:
[ 0.01862308, 0.03002647,-0.0094274 ,-0.02528401,-0.01552329, 0.81875587,
 -0.10284803, 0.83719048, 0.01154011, 0.02744097,-0.00824281, 0.02648647,
  1.2574514 , 0.00739388, 1.22739035, 0.04489624,-0.0740911 ,-0.05997349,
  0.12433096, 0.79473731,-0.0140051 ,-0.60145851,-0.08027528]

qacc:
[-1.78971838e+00, 2.03365901e+00,-9.35423801e+00, 1.87031983e+01,
 -3.00476968e+00,-8.17045427e+01, 2.40684433e+02,-6.49162246e+02,
 -1.92575609e+00, 6.85610482e-01,-8.77953797e-01,-5.46931529e+00,
 -3.95888956e-01, 2.79398744e-01, 6.23858911e-01,-1.95504708e+00,
  2.36226682e+00,-2.58719832e-01,-7.67412711e+00, 1.61395932e+01,
 -8.79513658e+01, 6.48935737e+00]

qfrc_actuator:
[ 7.89506113e-05, 9.26838537e-04, 1.11899428e-04,-9.03034200e-05,
  1.24909578e-02, 2.92564441e-01, 8.55752073e-02, 1.09294964e-01,
 -2.95489365e-05, 7.98226095e-04, 1.23359473e-04, 4.12396969e-05,
  1.19695663e-02,-1.41190947e-03, 0.00000000e+00,-1.56222829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09186081, -0.39121576, -4.07311615, -0.39121576,  0.72258631,
        0.32361298, -4.07311615,  0.32361298,  4.06077834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.446840300253771e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59178964e-13, -3.35712638e-12,  1.00000000e+00, -3.22008500e-24,
        1.00000000e+00,  3.35712638e-12, -1.00000000e+00,  0.00000000e+00,
       -9.59178964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01889064, -0.0755255 ,  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:
[-1.06818719e-05,-4.18969838e-06,-1.93569850e-05, 2.51863617e-05,
 -5.13240095e-04,-1.09944211e-02,-4.32240502e-03,-2.57681774e-03,
 -1.15329939e-05,-3.88302313e-05,-4.56515380e-05,-2.52054396e-05,
 -6.73851688e-05,-2.67903978e-05, 2.93810658e-06,-8.34118577e-06,
  5.03461299e-02,-7.27938039e-03,-4.82310936e+00, 1.20002300e-02,
  7.00082607e-03,-9.85648845e-04]


--- Step 1622 ---
qpos:
[ 0.01862314, 0.03002677,-0.009428  ,-0.02528426,-0.01527662, 0.8241467 ,
 -0.10128122, 0.83929934, 0.01154083, 0.02744024,-0.00824405, 0.02648588,
  1.25776197, 0.00739622, 1.22754001, 0.04489511,-0.07537059,-0.05981972,
  0.12265371, 0.78927365,-0.01391393,-0.60857429,-0.08056578]

qacc:
[-1.23335106e+00, 1.82772265e+00,-9.64314765e+00, 2.14276651e+01,
 -3.01421037e+00,-7.83401247e+01, 2.30399195e+02,-6.43854238e+02,
 -1.17737434e+00,-1.01978450e+00, 3.96588266e+00,-8.17937082e+00,
 -3.99284901e-01, 3.27411116e-01, 2.57448323e+00,-8.78246740e+00,
  9.99498629e-02,-1.91003112e-02,-9.63766988e+00, 6.55178140e+00,
  2.65929993e-01, 9.67705824e-02]

qfrc_actuator:
[ 7.18771475e-05, 9.01038872e-04, 9.24897779e-05,-5.90408017e-05,
  1.22033437e-02, 2.88747875e-01, 8.39797389e-02, 1.07258113e-01,
 -3.63599956e-05, 7.75663735e-04, 1.23139651e-04, 2.86733750e-05,
  1.19537900e-02,-1.40951807e-03, 0.00000000e+00,-1.60457381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-7.38757918e-06,-3.10791402e-05,-2.17875711e-05, 3.09059805e-05,
 -5.20009180e-04,-1.10106539e-02,-4.40692856e-03,-2.59577153e-03,
 -7.16196133e-06,-5.47611253e-05,-1.47156579e-05,-1.62956459e-05,
 -5.66776582e-05,-2.09714414e-05,-4.09713334e-06,-4.34403978e-05,
  5.08601427e-02,-7.36887396e-03,-4.81891334e+00, 1.20888051e-02,
  6.85374333e-03,-1.00751250e-03]


--- Step 1623 ---
qpos:
[ 0.01862414, 0.03002706,-0.00942864,-0.02528417,-0.01503515, 0.82945925,
 -0.09974748, 0.8413705 , 0.01154216, 0.02743899,-0.00824525, 0.02648515,
  1.25807184, 0.00739868, 1.22768946, 0.04489481,-0.0766497 ,-0.05966604,
  0.12093791, 0.78374692,-0.01381137,-0.61564165,-0.08084167]

qacc:
[ 8.13757374e+00, 7.57024098e-01,-4.16144892e+00, 1.00432179e+01,
 -2.79365990e+00,-7.24351431e+01, 2.04164866e+02,-5.84703537e+02,
  5.14535716e+00,-1.08697425e+00, 3.45944013e+00,-5.50899142e+00,
 -5.65400403e-01, 5.47121276e-01,-2.78082028e+00, 9.39761423e+00,
  9.68142352e-02,-1.87736437e-02,-9.63589177e+00, 6.55217062e+00,
  2.75629346e-01, 9.49951154e-02]

qfrc_actuator:
[ 1.20955162e-04, 9.21069593e-04, 9.90013612e-05,-4.05718536e-05,
  1.19532041e-02, 2.85023469e-01, 8.23976185e-02, 1.05376606e-01,
 -5.14910189e-06, 7.44912118e-04, 1.23515685e-04, 2.15279949e-05,
  1.19065388e-02,-1.40900012e-03, 0.00000000e+00,-1.55803269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.88512011e-05,-5.31149569e-07,-1.51712541e-06, 1.69878675e-05,
 -4.87027314e-04,-1.09411238e-02,-4.40504436e-03,-2.44289098e-03,
  3.09795271e-05,-6.50702887e-05,-1.32866223e-05,-1.03122670e-05,
 -8.15088932e-05,-1.85575968e-05,-1.09189328e-05, 4.26570272e-05,
  4.93059796e-02,-7.20954101e-03,-4.81801649e+00, 1.20763938e-02,
  6.68320762e-03,-1.03113343e-03]


--- Step 1624 ---
qpos:
[ 0.01862607, 0.0300276 ,-0.00942931,-0.02528425,-0.01479843, 0.83469144,
 -0.09824482, 0.84340693, 0.01154351, 0.02743801,-0.00824706, 0.02648429,
  1.25838097, 0.00740142, 1.22783923, 0.0448917 ,-0.07792843,-0.05951242,
  0.11918358, 0.77815758,-0.0136975 ,-0.62266001,-0.08110285]

qacc:
[ 7.93099941e+00, 9.83821232e-02, 7.70634509e-01,-3.60998997e+00,
 -2.54583352e+00,-7.59326233e+01, 2.04608514e+02,-5.46420278e+02,
  1.34784770e-01, 1.80955504e+00,-5.38419368e+00, 3.87123928e+00,
 -9.96953225e-01, 1.15656084e+00, 9.08173906e+00,-3.08499637e+01,
  9.36478600e-02,-1.84409593e-02,-9.63417157e+00, 6.55256981e+00,
  2.85332464e-01, 9.32201072e-02]

qfrc_actuator:
[ 1.67184297e-04, 9.50732968e-04, 1.03184121e-04,-4.74777666e-05,
  1.17273998e-02, 2.81065828e-01, 8.08724532e-02, 1.03637136e-01,
 -5.06801468e-06, 7.98275469e-04, 1.06441284e-04, 1.76149460e-05,
  1.18723968e-02,-1.39199338e-03, 0.00000000e+00,-1.70801504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.76515427e-05, 2.97909831e-05, 4.47481943e-06,-6.65197520e-06,
 -4.48940808e-04,-1.11262109e-02,-4.32737582e-03,-2.29404819e-03,
  9.61758269e-07, 1.38648017e-05,-3.24786727e-05,-7.35595375e-06,
 -8.04013040e-05,-7.32710570e-06,-4.08685400e-06,-1.49841677e-04,
  4.77363551e-02,-7.04719579e-03,-4.81714814e+00, 1.20639654e-02,
  6.51069505e-03,-1.05462129e-03]


--- Step 1625 ---
qpos:
[ 0.0186275 , 0.03002836,-0.00943018,-0.02528508,-0.0145665 , 0.8398444 ,
 -0.09677387, 0.84540734, 0.01154416, 0.02743751,-0.00824929, 0.02648369,
  1.2586896 , 0.00740425, 1.22798909, 0.04488581,-0.07919425,-0.05936026,
  0.11740171, 0.77235632,-0.0135795 ,-0.62981654,-0.08131692]

qacc:
[-4.25078930e+00,-7.28614552e-01, 6.22324873e+00,-1.91989164e+01,
 -2.53925522e+00,-7.49277664e+01, 2.06078711e+02,-5.64220566e+02,
 -5.98304294e+00, 2.31220873e+00,-8.40890007e+00, 1.32001207e+01,
 -6.81697575e-01, 7.40272208e-01, 8.59049785e+00,-2.97180857e+01,
  3.22704241e+00,-3.62246425e-01,-6.88390501e+00, 2.04220133e+01,
 -1.19900487e+02, 7.50288536e+00]

qfrc_actuator:
[ 1.40337670e-04, 9.50413166e-04, 8.82352209e-05,-8.70014009e-05,
  1.14823389e-02, 2.77303425e-01, 7.93571820e-02, 1.01835220e-01,
 -4.10748632e-05, 8.48281116e-04, 9.72967974e-05, 3.34452456e-05,
  1.18568001e-02,-1.38304469e-03, 0.00000000e+00,-1.84833021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09369025, -0.41166218, -4.07293925, -0.41166218,  0.40055924,
        0.37327401, -4.07293925,  0.37327401,  4.05596251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.472815201335493e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40303527e-12, -2.80607055e-12,  1.00000000e+00, -3.93701596e-24,
        1.00000000e+00,  2.80607055e-12, -1.00000000e+00,  0.00000000e+00,
       -1.40303527e-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([ 0.0180327 , -0.07548306,  0.06199919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54485864e-05, 1.69774521e-05,-8.47721413e-06,-3.82247506e-05,
 -4.51888930e-04,-1.10092136e-02,-4.33867178e-03,-2.35612450e-03,
 -3.59773551e-05, 5.07980813e-05,-1.04994311e-05, 1.51659075e-05,
 -5.91089865e-05,-1.17218534e-05,-2.37715514e-05,-1.50333769e-04,
  4.61517908e-02,-6.88189318e-03,-4.81630859e+00, 1.20515271e-02,
  6.33626671e-03,-1.07795795e-03]


--- Step 1626 ---
qpos:
[ 0.0186286 , 0.0300289 ,-0.00943104,-0.02528634,-0.01433926, 0.84492291,
 -0.09533605, 0.8473692 , 0.01154368, 0.02743637,-0.00825061, 0.02648368,
  1.25899766, 0.00740721, 1.22813864, 0.04487959,-0.08044833,-0.05920943,
  0.11559134, 0.76635334,-0.01345641,-0.63708823,-0.08148657]

qacc:
[-2.84672810e+00,-1.18406023e+00, 5.60896883e+00,-1.28218875e+01,
 -2.48754115e+00,-6.90398372e+01, 2.00477059e+02,-5.93557468e+02,
 -9.56466653e+00,-2.11965168e+00, 3.87947483e+00, 5.35188472e+00,
 -5.33880256e-01, 5.53844453e-01, 5.86284330e-01,-2.59425855e+00,
  2.93461494e+00,-3.34607661e-01,-7.12596480e+00, 1.92680639e+01,
 -1.08090060e+02, 6.56278999e+00]

qfrc_actuator:
[ 1.23952807e-04, 9.14282937e-04, 7.97283530e-05,-1.09927513e-04,
  1.12453932e-02, 2.74026490e-01, 7.78609176e-02, 9.99222674e-02,
 -9.80245326e-05, 7.71682885e-04, 1.28446981e-04, 6.07802441e-05,
  1.18257073e-02,-1.37887232e-03, 0.00000000e+00,-1.85748691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09238581, -0.41893542, -4.07088624, -0.41893542,  0.31734443,
        0.38848999, -4.07088624,  0.38848999,  4.05240626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8021473900634022e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15510428e-12, -1.54013905e-12,  1.00000000e+00, -1.77902121e-24,
        1.00000000e+00,  1.54013905e-12, -1.00000000e+00,  0.00000000e+00,
       -1.15510428e-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([ 0.01779666, -0.07547126,  0.0619994 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71199331e-05,-3.00528205e-05,-7.36429245e-06,-2.32340015e-05,
 -4.46281493e-04,-1.04595715e-02,-4.29767528e-03,-2.46400608e-03,
 -5.79902701e-05,-4.96754340e-05, 4.09101320e-05, 2.94528138e-05,
 -6.50508792e-05,-1.25655533e-05,-3.14569576e-05,-2.14117388e-05,
  4.69568263e-02,-6.99774892e-03,-4.81066708e+00, 1.22037181e-02,
  6.18529563e-03,-1.09787750e-03]


--- Step 1627 ---
qpos:
[ 0.01863053, 0.0300285 ,-0.00943112,-0.02528713,-0.01411624, 0.84993091,
 -0.09393002, 0.84929106, 0.01154322, 0.02743462,-0.00825141, 0.02648367,
  1.25930522, 0.00741021, 1.22828816, 0.04487192,-0.08170205,-0.05905868,
  0.11374252, 0.76028283,-0.01332186,-0.64430381,-0.0816403 ]

qacc:
[ 7.15540351e+00,-2.46759664e+00, 4.99360529e+00, 2.56913498e+00,
 -2.22291539e+00,-6.97694826e+01, 2.12551142e+02,-6.24386091e+02,
  1.08889613e-01,-2.24026639e+00, 6.77337086e+00,-7.00491125e+00,
 -5.32915915e-01, 5.17411462e-01, 4.39834950e+00,-1.53411066e+01,
  9.27038876e-02,-1.85301180e-02,-9.61052368e+00, 6.72112670e+00,
  3.45449297e-01, 8.07957992e-02]

qfrc_actuator:
[ 1.67138557e-04, 8.39258900e-04, 1.10465496e-04,-8.74200124e-05,
  1.10506534e-02, 2.70961224e-01, 7.64434037e-02, 9.79418718e-02,
 -9.58232360e-05, 7.26556976e-04, 1.47123777e-04, 5.90776565e-05,
  1.18013176e-02,-1.37762576e-03, 0.00000000e+00,-1.93130870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.26770644e-05,-9.43612065e-05, 2.28254454e-05, 2.05175766e-05,
 -4.02575216e-04,-9.93508495e-03,-4.10662581e-03,-2.51332284e-03,
  4.77083304e-07,-6.31571731e-05, 1.45041803e-05,-1.83483276e-06,
 -6.13199445e-05,-1.72605392e-05,-1.96612951e-05,-7.96494167e-05,
  4.73526184e-02,-7.06220449e-03,-4.80531084e+00, 1.23383510e-02,
  6.02418192e-03,-1.11781182e-03]


--- Step 1628 ---
qpos:
[ 0.01863297, 0.0300275 ,-0.00943064,-0.02528733,-0.01389749, 0.85487065,
 -0.09255483, 0.85117538, 0.01154416, 0.02743302,-0.00825224, 0.0264829 ,
  1.25961217, 0.00741326, 1.22843773, 0.04486206,-0.0829554 ,-0.058908  ,
  0.11185527, 0.75414534,-0.01317595,-0.65146264,-0.081778  ]

qacc:
[ 4.33787498e+00,-1.14236361e+00, 4.14781178e-01, 9.38395700e+00,
 -2.24330515e+00,-6.56850764e+01, 1.96492170e+02,-5.81483495e+02,
  1.20051115e+01,-1.34436450e+00, 8.28567977e+00,-2.16488709e+01,
 -6.81572461e-01, 6.81505745e-01, 6.75671226e+00,-2.34011601e+01,
  8.89062682e-02,-1.81088713e-02,-9.60880558e+00, 6.72174036e+00,
  3.55184594e-01, 7.88949224e-02]

qfrc_actuator:
[ 1.91780075e-04, 8.30477088e-04, 1.46227150e-04,-5.61272684e-05,
  1.08293788e-02, 2.67889028e-01, 7.50318102e-02, 9.60798977e-02,
 -2.33110609e-05, 7.71561053e-04, 1.58341328e-04, 2.25468596e-05,
  1.17649875e-02,-1.37809890e-03, 0.00000000e+00,-2.04267240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.58519691e-05,-5.59288279e-05, 1.97977026e-05, 2.84426579e-05,
 -4.09693101e-04,-9.61146448e-03,-3.97443328e-03,-2.37196102e-03,
  7.24972631e-05, 1.26750188e-05,-7.61263972e-08,-3.87655978e-05,
 -7.24418026e-05,-1.94426073e-05,-2.15339750e-05,-1.19107103e-04,
  4.54671545e-02,-6.85566507e-03,-4.80444040e+00, 1.23259813e-02,
  5.83407295e-03,-1.14022781e-03]


--- Step 1629 ---
qpos:
[ 0.01863499, 0.03002687,-0.00943042,-0.02528756,-0.0136832 , 0.85974417,
 -0.09121013, 0.85302324, 0.01154562, 0.02743121,-0.00825229, 0.02648203,
  1.25991855, 0.0074161 , 1.22858716, 0.04485091,-0.08420842,-0.05875739,
  0.10992959, 0.74794142,-0.01301877,-0.65856405,-0.08189955]

qacc:
[-3.55842254e+00, 1.13641722e+00,-3.14766033e+00, 2.58112078e+00,
 -2.32603290e+00,-6.23746889e+01, 1.86011615e+02,-5.60193580e+02,
  4.44374581e+00,-2.66241534e+00, 9.51209809e+00,-1.23101734e+01,
 -4.01953022e-01, 1.76101354e-01, 3.72582930e+00,-1.32518328e+01,
  8.50778250e-02,-1.76812628e-02,-9.60716093e+00, 6.72236741e+00,
  3.64925289e-01, 7.69946077e-02]

qfrc_actuator:
[ 1.69785005e-04, 8.96978832e-04, 1.49405234e-04,-5.53801897e-05,
  1.05939283e-02, 2.64874133e-01, 7.36177747e-02, 9.42670160e-02,
  1.22296714e-06, 7.63613474e-04, 2.00925336e-04, 1.91528730e-05,
  1.17268457e-02,-1.39739141e-03, 0.00000000e+00,-2.10423006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.12605017e-05, 4.05660461e-05,-4.94768982e-06,-4.08596791e-07,
 -4.28168714e-04,-9.34022465e-03,-3.89150677e-03,-2.30418230e-03,
  2.66580852e-05,-2.43880977e-06, 4.38797671e-05,-3.60356400e-06,
 -8.06149714e-05,-4.14461622e-05,-2.70368197e-05,-7.17836693e-05,
  4.35661045e-02,-6.64592781e-03,-4.80360621e+00, 1.23136435e-02,
  5.64213462e-03,-1.16237368e-03]


--- Step 1630 ---
qpos:
[ 0.01863707, 0.03002676,-0.00943081,-0.02528813,-0.01347277, 0.86455174,
 -0.08989396, 0.85483387, 0.01154667, 0.02742907,-0.00825146, 0.02648148,
  1.26022446, 0.00741865, 1.22873625, 0.0448404 ,-0.08546111,-0.05860685,
  0.10796549, 0.74167165,-0.01285041,-0.66560742,-0.08200486]

qacc:
[ 5.34412263e-01, 1.73539183e+00,-3.84383503e+00,-1.17188704e+00,
 -2.00873307e+00,-6.84825275e+01, 2.08164531e+02,-5.88764120e+02,
 -3.42932422e+00,-2.23860313e+00, 5.99130559e+00,-1.59724981e+00,
 -1.14574840e-01,-1.84368590e-01,-2.45286927e+00, 7.85541810e+00,
  8.12199695e-02,-1.72474509e-02,-9.60559032e+00, 6.72300782e+00,
  3.74671519e-01, 7.50948611e-02]

qfrc_actuator:
[ 1.73780426e-04, 9.19149338e-04, 1.15869740e-04,-7.25659734e-05,
  1.04228695e-02, 2.61776870e-01, 7.22675254e-02, 9.24087628e-02,
 -2.04557094e-05, 7.41934276e-04, 2.43778406e-04, 3.52773103e-05,
  1.17089396e-02,-1.40997023e-03, 0.00000000e+00,-2.06492177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.39203325e-06, 4.38218796e-05,-2.57767644e-05,-1.56261931e-05,
 -3.73461417e-04,-9.25018147e-03,-3.76071852e-03,-2.33577959e-03,
 -2.09060233e-05,-1.40516438e-05, 4.76533203e-05, 1.74733262e-05,
 -6.97057138e-05,-4.29451633e-05,-2.37156615e-05, 3.11498651e-05,
  4.16501616e-02,-6.43307017e-03,-4.80280858e+00, 1.23013456e-02,
  5.44844147e-03,-1.18422998e-03]


--- Step 1631 ---
qpos:
[ 0.01863953, 0.03002681,-0.00943153,-0.02528852,-0.01326607, 0.86929445,
 -0.08860555, 0.85660804, 0.0115478 , 0.02742705,-0.00825023, 0.02648076,
  1.26052986, 0.00742099, 1.22888473, 0.04483409,-0.08669636,-0.05845839,
  0.10597816, 0.73512507,-0.01267835,-0.67282823,-0.08205217]

qacc:
[ 3.21741934e+00, 1.43810084e+00,-5.50298747e+00, 8.74811199e+00,
 -1.92989086e+00,-6.80345106e+01, 2.06287943e+02,-5.78046720e+02,
  6.61511107e-01,-1.30034577e+00, 5.59504254e+00,-9.30306449e+00,
  8.72780501e-02,-3.83418877e-01,-1.36157879e+01, 4.62515391e+01,
  4.36037050e+00,-5.19967510e-01,-5.80712151e+00, 2.61768863e+01,
 -1.58150601e+02, 7.78587834e+00]

qfrc_actuator:
[ 1.93056753e-04, 9.14442072e-04, 9.62811639e-05,-6.47036937e-05,
  1.02383815e-02, 2.58762901e-01, 7.09657801e-02, 9.05918977e-02,
 -1.58878400e-05, 7.65489653e-04, 2.68627916e-04, 2.72264707e-05,
  1.16872087e-02,-1.41836403e-03, 0.00000000e+00,-1.84224363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09247344, -0.45038215, -4.06761537, -0.45038215,  0.25890211,
        0.42446789, -4.06761537,  0.42446789,  4.04547471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.854828923888996e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87049431e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.87049431e-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([ 0.01622818, -0.07536728,  0.06199926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93930169e-05, 1.38093713e-05,-1.42482028e-05, 8.54424060e-06,
 -3.61828216e-04,-9.08899279e-03,-3.67865233e-03,-2.28750867e-03,
  3.94177130e-06, 2.63549198e-05, 2.84394235e-05,-6.65888328e-06,
 -6.79251785e-05,-3.67704928e-05,-1.01971000e-05, 2.20795928e-04,
  3.97200247e-02,-6.21717074e-03,-4.80204778e+00, 1.22890956e-02,
  5.25306863e-03,-1.20577733e-03]


--- Step 1632 ---
qpos:
[ 0.01864221, 0.03002693,-0.00943187,-0.02528886,-0.01306347, 0.87397487,
 -0.08734509, 0.85834748, 0.01155001, 0.02742486,-0.00824937, 0.02647969,
  1.26083471, 0.00742322, 1.22903325, 0.04482912,-0.08791596,-0.05831182,
  0.1039661 , 0.72831918,-0.01250139,-0.68019368,-0.08204537]

qacc:
[ 1.82926707e+00,-8.00589229e-01, 2.70343977e+00,-2.21625478e+00,
 -2.11572291e+00,-6.15798245e+01, 1.84872198e+02,-5.39879841e+02,
  9.20723632e+00, 7.97919944e-02, 8.07591031e-01,-6.01725551e+00,
 -2.74172445e-01, 8.84714899e-02,-3.96081817e+00, 1.40113084e+01,
  3.91284738e+00,-4.73661230e-01,-6.18162843e+00, 2.42927373e+01,
 -1.40550341e+02, 6.68550739e+00]

qfrc_actuator:
[ 2.03411848e-04, 9.29243962e-04, 1.20505464e-04,-5.99264891e-05,
  1.00117415e-02, 2.55966235e-01, 6.96860214e-02, 8.88672405e-02,
  3.96134299e-05, 7.09348108e-04, 2.29551906e-04, 5.03634510e-06,
  1.16578768e-02,-1.42421928e-03, 0.00000000e+00,-1.77963706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09091251, -0.45793022, -4.06520173, -0.45793022,  0.21882022,
        0.43617715, -4.06520173,  0.43617715,  4.04177874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.674701135746865e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79890059e-11, -1.27984009e-10,  1.00000000e+00,  1.12611857e-20,
        1.00000000e+00,  1.27984009e-10, -1.00000000e+00,  0.00000000e+00,
        8.79890059e-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([ 0.0158912 , -0.07534558,  0.06199996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09258603e-05, 1.99531599e-05, 2.56224359e-05, 5.04293884e-06,
 -3.99235012e-04,-8.76132933e-03,-3.61227203e-03,-2.18573449e-03,
  5.56197960e-05,-3.57491348e-05,-3.03476604e-05,-2.02028383e-05,
 -7.23544152e-05,-3.24164721e-05, 1.73464968e-05, 7.30671695e-05,
  4.03463442e-02,-6.29612429e-03,-4.79425205e+00, 1.25319070e-02,
  5.09111516e-03,-1.22197960e-03]


--- Step 1633 ---
qpos:
[ 0.01864499, 0.03002713,-0.00943162,-0.0252895 ,-0.01286503, 0.87859518,
 -0.08611223, 0.86005218, 0.01155217, 0.02742243,-0.00824951, 0.02647876,
  1.26113904, 0.00742533, 1.22918224, 0.04482161,-0.08913525,-0.05816533,
  0.10191575, 0.72144081,-0.012313  ,-0.6874912 ,-0.08202074]

qacc:
[ 9.05354327e-01,-2.20698919e+00, 9.27871588e+00,-1.55238431e+01,
 -2.13535396e+00,-5.97381649e+01, 1.82124981e+02,-5.38702176e+02,
 -3.75092730e-01, 2.76878413e+00,-1.09195764e+01, 1.51331053e+01,
 -5.42929241e-01, 4.28000631e-01, 8.41859288e+00,-2.83485683e+01,
  7.85338509e-02,-1.70934323e-02,-9.57394944e+00, 6.98252883e+00,
  4.46657829e-01, 5.85293471e-02]

qfrc_actuator:
[ 2.08428045e-04, 9.38036923e-04, 1.52713740e-04,-7.47176855e-05,
  9.79718029e-03, 2.53252309e-01, 6.84129969e-02, 8.71397597e-02,
  3.58773840e-05, 6.76644112e-04, 1.70480370e-04, 1.01087065e-05,
  1.16346594e-02,-1.42855456e-03, 0.00000000e+00,-1.91841560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.34031794e-06, 2.54540838e-05, 3.96596370e-05,-1.29519570e-05,
 -4.05870843e-04,-8.47730157e-03,-3.52845363e-03,-2.17277718e-03,
 -2.12313416e-06,-5.97315434e-05,-7.08749770e-05, 2.10060927e-06,
 -6.74819983e-05,-3.07065261e-05, 1.12534510e-05,-1.33543822e-04,
  4.04155600e-02,-6.30393801e-03,-4.78695957e+00, 1.27446236e-02,
  4.91587756e-03,-1.23820721e-03]


--- Step 1634 ---
qpos:
[ 0.01864746, 0.03002769,-0.00943135,-0.02529065,-0.01267068, 0.88315585,
 -0.08490589, 0.86172218, 0.01155359, 0.0274201 ,-0.00825005, 0.02647851,
  1.26144285, 0.00742736, 1.22933077, 0.04481653,-0.09035424,-0.05801889,
  0.09982711, 0.71449067,-0.01211331,-0.69472003,-0.08197819]

qacc:
[-2.63298273e+00,-6.27026275e-01, 5.12859077e+00,-1.43645617e+01,
 -2.09296916e+00,-6.20828445e+01, 1.90287951e+02,-5.45547038e+02,
 -6.42103086e+00, 2.63877074e+00,-1.20498448e+01, 2.42602491e+01,
 -1.54176102e-01,-2.23779358e-02,-8.04188742e+00, 2.71585031e+01,
  7.37765410e-02,-1.65324034e-02,-9.57242659e+00, 6.98352243e+00,
  4.56581084e-01, 5.64476196e-02]

qfrc_actuator:
[ 1.92511953e-04, 9.60944925e-04, 1.53825873e-04,-1.00908240e-04,
  9.59156101e-03, 2.50450989e-01, 6.71548499e-02, 8.54067231e-02,
 -2.71218637e-06, 7.29145024e-04, 1.71197353e-04, 4.89430542e-05,
  1.16098004e-02,-1.43192560e-03, 0.00000000e+00,-1.78412064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.57534127e-05, 4.47626853e-05, 1.07988179e-05,-2.39811698e-05,
 -4.00951806e-04,-8.38732119e-03,-3.44587859e-03,-2.16553251e-03,
 -3.86778342e-05, 4.64613212e-06,-2.02440237e-05, 3.38714659e-05,
 -6.69531720e-05,-2.77698527e-05,-1.52031876e-05, 1.27086988e-04,
  3.80493152e-02,-6.02752559e-03,-4.78618187e+00, 1.27327716e-02,
  4.70205747e-03,-1.25815854e-03]


--- Step 1635 ---
qpos:
[ 0.01864903, 0.03002855,-0.00943161,-0.02529171,-0.01248014, 0.88765612,
 -0.08372421, 0.86335913, 0.01155488, 0.02741796,-0.00825041, 0.02647867,
  1.26174591, 0.00742987, 1.2294791 , 0.04481373,-0.09157295,-0.05787253,
  0.09770018, 0.70746948,-0.01190241,-0.70187946,-0.08191762]

qacc:
[-7.73662597e+00, 2.08259593e+00,-7.21519444e+00, 9.37468987e+00,
 -1.93914869e+00,-6.54007902e+01, 1.95766946e+02,-5.29167731e+02,
 -1.10221879e+00, 6.25251298e-01,-3.60967443e+00, 1.03549676e+01,
 -7.30626660e-01, 9.54367664e-01,-7.13586654e+00, 2.46774592e+01,
  6.89908786e-02,-1.59648724e-02,-9.57100127e+00, 6.98453410e+00,
  4.66512266e-01, 5.43665649e-02]

qfrc_actuator:
[ 1.46652190e-04, 9.56488998e-04, 1.18866224e-04,-9.80989850e-05,
  9.41065654e-03, 2.47549805e-01, 6.59688375e-02, 8.37552343e-02,
 -8.22957699e-06, 7.61521181e-04, 1.89833936e-04, 7.19399503e-05,
  1.15786504e-02,-1.39920684e-03, 0.00000000e+00,-1.66746877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.63044952e-05, 2.17440740e-05,-2.52234703e-05, 4.63324803e-06,
 -3.74679019e-04,-8.41792971e-03,-3.34480859e-03,-2.07779972e-03,
 -6.65754280e-06, 3.23264382e-05, 1.83119688e-05, 2.31635901e-05,
 -7.19107211e-05, 9.11898269e-06, 4.34271477e-06, 1.21182050e-04,
  3.56685914e-02,-5.74782536e-03,-4.78545245e+00, 1.27210221e-02,
  4.48669990e-03,-1.27765168e-03]


--- Step 1636 ---
qpos:
[ 0.01864935, 0.03002927,-0.00943185,-0.02529237,-0.0122931 , 0.89209727,
 -0.08256731, 0.86496211, 0.01155609, 0.02741618,-0.0082509 , 0.02647876,
  1.26204829, 0.00743296, 1.22962756, 0.04481101,-0.09279141,-0.05772622,
  0.09553498, 0.70037796,-0.01168043,-0.70896874,-0.08183894]

qacc:
[-1.07332787e+01, 6.17537578e-01,-4.12340740e+00, 1.11333583e+01,
 -1.78000304e+00,-6.49925080e+01, 1.98463516e+02,-5.43370680e+02,
 -6.65192219e-01, 6.70474806e-01,-1.36840717e+00, 2.51917579e-04,
 -9.32208655e-01, 1.29351703e+00, 7.74952973e-02, 2.51433594e-01,
  6.41788446e-02,-1.53910744e-02,-9.56967402e+00, 6.98556383e+00,
  4.76451538e-01, 5.22861878e-02]

qfrc_actuator:
[ 8.35417694e-05, 9.35544871e-04, 1.16069438e-04,-7.82891593e-05,
  9.24593414e-03, 2.44790829e-01, 6.47993568e-02, 8.20583773e-02,
 -1.19773985e-05, 7.81690458e-04, 1.83306865e-04, 6.76724161e-05,
  1.15544169e-02,-1.36310904e-03, 0.00000000e+00,-1.66873735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.44535642e-05,-1.38428877e-05,-1.25647089e-06, 1.99610038e-05,
 -3.46530150e-04,-8.26694893e-03,-3.31867309e-03,-2.11861890e-03,
 -3.94043661e-06, 4.31049697e-05, 3.23796195e-06,-1.79203688e-06,
 -5.85177042e-05, 2.16776375e-05, 1.12344287e-05, 5.12068906e-06,
  3.32743651e-02,-5.46495304e-03,-4.78477159e+00, 1.27093840e-02,
  4.26989886e-03,-1.29666591e-03]


--- Step 1637 ---
qpos:
[ 0.0186496 , 0.03002993,-0.00943129,-0.0252932 ,-0.0121095 , 0.89648023,
 -0.08143513, 0.86653225, 0.01155656, 0.02741494,-0.00825129, 0.0264791 ,
  1.26235025, 0.00743619, 1.22977605, 0.0448083 ,-0.09370122,-0.05763498,
  0.09368147, 0.69529881,-0.01124479,-0.71393294,-0.08205406]

qacc:
[-5.78704790e-01,-2.67488969e+00, 1.01218598e+01,-1.42457247e+01,
 -1.73615317e+00,-6.22609679e+01, 1.88144589e+02,-5.21098997e+02,
 -6.35462882e+00, 9.73520858e-01,-3.51702934e+00, 7.40090145e+00,
 -4.18276310e-01, 4.67520816e-01, 1.18441911e-02, 8.82244982e-02,
  7.71605694e+01,-1.37650284e+01, 7.79240329e+01,-1.04536242e+02,
  1.46804848e+03,-8.38671758e+01]

qfrc_actuator:
[ 8.18033143e-05, 9.58274564e-04, 1.67733110e-04,-8.41345765e-05,
  9.07439192e-03, 2.42069063e-01, 6.36320274e-02, 8.04194514e-02,
 -5.01696077e-05, 8.29786393e-04, 1.97409850e-04, 8.28741421e-05,
  1.15343536e-02,-1.36079290e-03, 0.00000000e+00,-1.66845412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 2.38222117, 8.3013131 , 2.38222117, 7.79268307,
       0.24211034, 8.3013131 , 0.24211034, 8.56688543, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0035793576941024544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55086907e-14, -2.32630360e-14,  1.00000000e+00,  3.60779229e-28,
        1.00000000e+00,  2.32630360e-14, -1.00000000e+00,  0.00000000e+00,
        1.55086907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18831696, -0.04253109,  0.06182754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.62414605e-06, 1.55386585e-05, 4.93386177e-05,-6.08984396e-06,
 -3.40343361e-04,-8.13959719e-03,-3.28355008e-03,-2.05529521e-03,
 -3.82987860e-05, 7.28647944e-05, 2.33714072e-05, 1.71313586e-05,
 -4.47654820e-05,-5.26392441e-06, 6.43820808e-07, 8.91291364e-07,
  3.08676181e-02,-5.17902561e-03,-4.78413955e+00, 1.26978663e-02,
  4.05174897e-03,-1.31518064e-03]


--- Step 1638 ---
qpos:
[ 0.01864948, 0.03003071,-0.00943017,-0.0252941 ,-0.01192951, 0.90080361,
 -0.08032615, 0.86807133, 0.01155587, 0.02741429,-0.00825131, 0.02648029,
  1.26265189, 0.00743901, 1.22992471, 0.04480394,-0.09436122,-0.05758872,
  0.09210081, 0.69193194,-0.01062309,-0.71715083,-0.08253499]

qacc:
[-3.14475696e+00,-1.54168117e+00, 6.03500429e+00,-8.24826902e+00,
 -1.81559148e+00,-6.52913479e+01, 1.91381869e+02,-5.00858503e+02,
 -9.82107104e+00, 1.50988370e+00,-7.76648124e+00, 2.12813701e+01,
 -1.29554805e-01,-1.99303563e-01, 5.26510322e+00,-1.80385873e+01,
  6.24556137e+01,-1.12484632e+01, 6.82130995e+01,-9.22173183e+01,
  1.22747855e+03,-7.87535288e+01]

qfrc_actuator:
[ 6.29497502e-05, 9.71684756e-04, 1.98022665e-04,-8.72111646e-05,
  8.88233391e-03, 2.39143792e-01, 6.24935826e-02, 7.88632539e-02,
 -1.08330520e-04, 8.76575211e-04, 2.23721892e-04, 1.27208154e-04,
  1.15008155e-02,-1.39628168e-03, 0.00000000e+00,-1.75597606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.8214023 ,  7.74491196,  3.8214023 , 17.22351292,
       -4.23696902,  7.74491196, -4.23696902, 10.72691847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00691789400851963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40728542e-14, -1.60485695e-14,  1.00000000e+00,  3.86334872e-28,
        1.00000000e+00,  1.60485695e-14, -1.00000000e+00,  0.00000000e+00,
        2.40728542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18092268, -0.04368018,  0.06167825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89579965e-05, 3.19978238e-05, 3.93521060e-05,-8.23681108e-07,
 -3.58481342e-04,-8.26079259e-03,-3.22223104e-03,-1.96536640e-03,
 -5.92635039e-05, 9.31340962e-05, 4.48550931e-05, 4.86031978e-05,
 -5.77471492e-05,-4.74052917e-05,-3.72732837e-06,-8.83055984e-05,
  1.42521289e-02,-1.72925717e-03,-4.84388847e+00, 1.02828080e-02,
  3.70275826e-03,-1.38724274e-03]


--- Step 1639 ---
qpos:
[ 0.01864879, 0.03003149,-0.00942917,-0.02529461,-0.01175349, 0.90506516,
 -0.07923949, 0.86958003, 0.01155518, 0.0274141 ,-0.00825091, 0.02648167,
  1.26295306, 0.00744146, 1.23007353, 0.04479689,-0.09481894,-0.05757922,
  0.09075504, 0.69002118,-0.00983907,-0.71891754,-0.08325583]

qacc:
[-4.89149526e+00, 1.12776674e+00,-5.61132486e+00, 1.23487294e+01,
 -1.99516828e+00,-6.96167895e+01, 2.00144162e+02,-4.98513244e+02,
 -2.12726177e-02,-1.79339433e-01, 7.28480360e-01, 1.53217995e+00,
 -3.33810555e-01, 3.64376372e-02, 8.41578844e+00,-2.90278961e+01,
  5.05675515e+01,-9.18731956e+00, 5.87213031e+01,-8.20248742e+01,
  1.03216339e+03,-7.34076860e+01]

qfrc_actuator:
[ 3.41531572e-05, 9.43840657e-04, 1.79907153e-04,-7.09031499e-05,
  8.66175872e-03, 2.36014567e-01, 6.13630973e-02, 7.73325340e-02,
 -1.06757414e-04, 8.86798829e-04, 2.39296741e-04, 1.35075791e-04,
  1.14698519e-02,-1.41845810e-03, 0.00000000e+00,-1.89451553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.64184896,  7.83094586,  3.64184896, 17.39740654,
       -4.07439861,  7.83094586, -4.07439861, 10.53119787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009458522642821751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.86890293e-15, -1.46722573e-14,  1.00000000e+00,  8.61100539e-29,
        1.00000000e+00,  1.46722573e-14, -1.00000000e+00,  0.00000000e+00,
        5.86890293e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17562009, -0.04451288,  0.06156974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93428701e-05,-1.90467905e-06,-6.70813028e-06, 1.90220046e-05,
 -3.96540146e-04,-8.51418491e-03,-3.22718381e-03,-1.93948114e-03,
 -1.36382431e-07, 7.36514358e-05, 4.20264528e-05, 1.43579151e-05,
 -7.21135456e-05,-4.89994614e-05,-1.57543655e-05,-1.44875102e-04,
  5.57145992e-03,-1.88063664e-04,-4.87802913e+00, 7.45904515e-03,
  3.36511002e-03,-1.47409885e-03]


--- Step 1640 ---
qpos:
[ 0.01864846, 0.03003217,-0.00942865,-0.02529386,-0.01158125, 0.90926806,
 -0.07817632, 0.8710588 , 0.01155521, 0.0274143 ,-0.00825021, 0.0264828 ,
  1.26325355, 0.00744392, 1.23022201, 0.04479022,-0.09511304,-0.05759971,
  0.08960808, 0.6893462 ,-0.00891373,-0.71946786,-0.08419242]

qacc:
[ 2.98483851e+00, 3.84287620e+00,-1.92592071e+01, 4.21231601e+01,
 -1.89076085e+00,-6.16786229e+01, 1.77976428e+02,-4.75556264e+02,
  6.08686091e+00,-8.32299462e-01, 4.69902282e+00,-9.61371474e+00,
 -5.00806633e-01, 4.05131464e-01,-1.63300019e+00, 5.07243764e+00,
  4.09052584e+01,-7.49759159e+00, 4.97027264e+01,-7.33518298e+01,
  8.70824928e+02,-6.78043912e+01]

qfrc_actuator:
[ 5.29973929e-05, 9.26826644e-04, 1.50959287e-04,-7.88086851e-06,
  8.47914409e-03, 2.33392651e-01, 6.02990382e-02, 7.58466082e-02,
 -7.00314532e-05, 8.92729289e-04, 2.48227381e-04, 1.21379582e-04,
  1.14351304e-02,-1.41477282e-03, 0.00000000e+00,-1.86668642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.53492744,  7.87978838,  3.53492744, 17.76111567,
       -4.09342672,  7.87978838, -4.09342672, 10.47270311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011326314093589508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80215642e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80215642e-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([-0.17180981, -0.04511773,  0.06149084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79846194e-05,-1.86968151e-05,-2.95270327e-05, 6.30776161e-05,
 -3.77995011e-04,-8.14490659e-03,-3.20935104e-03,-1.90200621e-03,
  3.67454400e-05, 5.64100544e-05, 2.98113265e-05,-8.81004788e-06,
 -8.39675092e-05,-2.68141180e-05,-2.74381498e-05, 1.68466915e-05,
  1.45626960e-03, 2.17020264e-04,-4.89542336e+00, 4.39109836e-03,
  3.04072626e-03,-1.57129194e-03]


--- Step 1641 ---
qpos:
[ 0.01864904, 0.03003254,-0.00942839,-0.02529234,-0.01141245, 0.91341768,
 -0.07713704, 0.87250783, 0.01155568, 0.02741489,-0.00824998, 0.0264845 ,
  1.26355325, 0.00744645, 1.23036987, 0.04478758,-0.09527507,-0.05764464,
  0.0886263 , 0.68971596,-0.00786605,-0.71899247,-0.08532198]

qacc:
[ 7.87202606e+00, 1.83653331e+00,-1.03687263e+01, 2.41652273e+01,
 -1.71773666e+00,-5.34639438e+01, 1.59170420e+02,-4.60847503e+02,
  3.73708556e+00, 2.97960079e+00,-1.22804777e+01, 2.25930650e+01,
 -3.29630353e-01, 2.03937153e-01,-1.30725698e+01, 4.44263269e+01,
  3.30179014e+01,-6.11075754e+00, 4.12955608e+01,-6.57754769e+01,
  7.35373726e+02,-6.19691554e+01]

qfrc_actuator:
[ 9.97349165e-05, 8.98651959e-04, 1.33675076e-04, 2.88662035e-05,
  8.32069800e-03, 2.31220938e-01, 5.92849361e-02, 7.43814913e-02,
 -4.84339132e-05, 8.95980438e-04, 2.17624036e-04, 1.48358296e-04,
  1.13928655e-02,-1.41355271e-03, 0.00000000e+00,-1.65227474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006274399851538617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19850039, -0.04063225,  0.04968628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.47543815,  7.90620684,  3.47543815, 18.29713333,
       -4.24671504,  7.90620684, -4.24671504, 10.50314954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012627439985153859
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39607326e-15, -1.09901831e-14,  1.00000000e+00,  4.83136502e-29,
        1.00000000e+00,  1.09901831e-14, -1.00000000e+00,  0.00000000e+00,
        4.39607326e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1691103 , -0.04555102,  0.06143431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72508192e-05,-4.20523797e-05,-2.26159922e-05, 3.61483067e-05,
 -3.45339819e-04,-7.48270063e-03,-3.08201441e-03,-1.86724180e-03,
  2.26944724e-05, 4.05715766e-05,-1.55984235e-05, 3.02501033e-05,
 -9.20304851e-05,-2.59007254e-05,-1.37315521e-05, 2.11202194e-04,
  3.12962111e-05,-5.94426094e-05,-4.90198283e+00, 1.21688685e-03,
  2.73243129e-03,-1.67505416e-03]


--- Step 1642 ---
qpos:
[ 0.01865052, 0.03003247,-0.00942821,-0.02529108,-0.01124694, 0.91751606,
 -0.07612046, 0.87392781, 0.0115564 , 0.02741574,-0.00825001, 0.02648583,
  1.26385209, 0.00744947, 1.23051756, 0.04478782,-0.09533088,-0.05770945,
  0.08777881, 0.6909637 ,-0.00671347,-0.71764933,-0.08662294]

qacc:
[ 7.73284242e+00,-8.55180639e-01, 3.25065183e+00,-7.15229687e+00,
 -1.64019140e+00,-5.28520802e+01, 1.58626888e+02,-4.52945242e+02,
  2.17080611e+00, 3.05073987e-01, 9.81543315e-01,-7.23723893e+00,
 -7.81316275e-01, 9.91476919e-01,-8.89684216e+00, 3.09407508e+01,
  2.65559178e+01,-4.97061957e+00, 3.35717967e+01,-5.90040940e+01,
  6.20031069e+02,-5.59565271e+01]

qfrc_actuator:
[ 1.44747619e-04, 8.64031274e-04, 1.23346414e-04, 1.43463662e-05,
  8.16017424e-03, 2.28946880e-01, 5.82573379e-02, 7.29406666e-02,
 -3.59259464e-05, 8.97456834e-04, 1.99445158e-04, 1.28017138e-04,
  1.13620853e-02,-1.37836924e-03, 0.00000000e+00,-1.50722875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014529925167554372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19870228, -0.04055084,  0.0492735 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.44071404,  7.92138017,  3.44071404, 18.96392686,
       -4.48585866,  7.92138017, -4.48585866, 10.58483178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013452992516755434
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.12630507e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.12630507e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16726669, -0.04585031,  0.06139519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63726025e-05,-6.12644822e-05,-2.05619752e-05,-1.64057082e-05,
 -3.31841106e-04,-7.18923244e-03,-2.94784938e-03,-1.81632502e-03,
  1.31888174e-05, 2.22199695e-05,-1.06867133e-05,-1.85600027e-05,
 -8.36357060e-05, 6.04087636e-06, 1.43236282e-05, 1.54448705e-04,
  2.28868714e-04,-7.42334680e-04,-4.90170732e+00,-1.94767638e-03,
  2.44370353e-03,-1.78217322e-03]


--- Step 1643 ---
qpos:
[ 0.01865149, 0.03003199,-0.00942816,-0.02529035,-0.01108448, 0.92156495,
 -0.07512642, 0.87531832, 0.01155692, 0.02741654,-0.00824924, 0.02648584,
  1.26415019, 0.00745287, 1.23066536, 0.04478913,-0.0953017 ,-0.05779039,
  0.08703758, 0.6929431 ,-0.0054721 ,-0.71557162,-0.08807481]

qacc:
[  -4.33374765,  -1.29799516,   6.09607725, -14.80772134,  -1.51269625,
  -51.74821698, 158.68165043,-459.20848475,  -1.68151912,  -5.00930458,
   23.3772111 , -47.5583024 ,  -0.77644585,   0.95089002,  -3.01508053,
   10.95597637,  21.24462722,  -4.0310226 ,  26.56395352, -52.8398771 ,
  520.67536295, -49.83774351]

qfrc_actuator:
[ 1.17364750e-04, 8.43551918e-04, 1.17138490e-04,-1.24696358e-05,
  8.01738801e-03, 2.26701695e-01, 5.72122642e-02, 7.14723469e-02,
 -4.66160318e-05, 8.97850143e-04, 2.41967963e-04, 6.22485984e-05,
  1.13275795e-02,-1.35876023e-03, 0.00000000e+00,-1.45753290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018818324626634214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19889577, -0.04047341,  0.04905908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.397810087648616e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15284855, -0.04735315,  0.04995801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.800789141675478e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15231204, -0.04789674,  0.049966  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.40504571,  7.93677772,  3.40504571, 19.69036996,
       -4.74240279,  7.93677772, -4.74240279, 10.67095485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013881832462663418
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99766909e-15,  3.99883455e-15,  1.00000000e+00, -3.19813555e-29,
        1.00000000e+00, -3.99883455e-15, -1.00000000e+00,  0.00000000e+00,
        7.99766909e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16610142, -0.0460418 ,  0.06136993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60516088e-05,-5.96776769e-05,-2.19684811e-05,-3.04751381e-05,
 -3.07953085e-04,-6.96718865e-03,-2.88931160e-03,-1.82870602e-03,
 -1.02918243e-05, 9.78960065e-06, 4.51418869e-05,-6.55524955e-05,
 -7.52368336e-05, 1.40929501e-06, 1.90085445e-05, 5.90990242e-05,
  1.42127294e-03,-1.65920157e-03,-4.89733395e+00,-5.00652958e-03,
  2.17833952e-03,-1.88992871e-03]


--- Step 1644 ---
qpos:
[ 0.01865213, 0.03003123,-0.00942854,-0.02528994,-0.01092501, 0.92556589,
 -0.0741546 , 0.8766803 , 0.01155696, 0.02741743,-0.00824828, 0.02648508,
  1.26444791, 0.00745594, 1.23081351, 0.0447887 ,-0.09520507,-0.05788435,
  0.08637746, 0.69552551,-0.00415696,-0.71287334,-0.08965815]

qacc:
[-2.88695760e+00, 1.85431513e-01, 1.72560869e-01,-4.85404217e+00,
 -1.47790833e+00,-4.91623893e+01, 1.50321256e+02,-4.41336904e+02,
 -4.06394297e+00,-1.98624097e+00, 1.04846609e+01,-2.40797846e+01,
 -2.21498990e-01,-5.30501435e-02, 5.78008555e+00,-1.94519306e+01,
  1.68662404e+01,-3.25417371e+00, 2.02793680e+01,-4.71531811e+01,
  4.34365675e+02,-4.36936357e+01]

qfrc_actuator:
[ 1.00848402e-04, 8.31701592e-04, 9.57103755e-05,-2.85323508e-05,
  7.86856286e-03, 2.24528084e-01, 5.61833795e-02, 7.00528345e-02,
 -7.08715345e-05, 8.97791047e-04, 2.48944893e-04, 2.35813304e-05,
  1.13068368e-02,-1.38408851e-03, 0.00000000e+00,-1.55315429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019826952810333698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19908366, -0.04039904,  0.04900865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004659070697649037
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15302674, -0.04728156,  0.04976705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004551514984339963
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15249011, -0.04782516,  0.04977242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.33448653,  7.96667914,  3.33448653, 20.35744543,
       -4.90590729,  7.96667914, -4.90590729, 10.68975144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013982695281033367
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19099680e-14, -1.98499467e-15,  1.00000000e+00,  2.36412231e-29,
        1.00000000e+00,  1.98499467e-15, -1.00000000e+00,  0.00000000e+00,
        1.19099680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16548603, -0.04614447,  0.06135592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72928341e-05,-5.10604740e-05,-3.75101659e-05,-1.99710836e-05,
 -3.02593390e-04,-6.75922192e-03,-2.82186240e-03,-1.77081125e-03,
 -2.45493761e-05, 1.18908576e-05, 1.22736645e-05,-3.79645372e-05,
 -5.84835568e-05,-4.27725743e-05, 9.98309986e-06,-9.10712375e-05,
  3.22211615e-03,-2.69737618e-03,-4.89074617e+00,-7.88238844e-03,
  1.94010742e-03,-1.99606119e-03]


--- Step 1645 ---
qpos:
[ 0.01865291, 0.0300303 ,-0.00942899,-0.02528977,-0.01076853, 0.92952   ,
 -0.07320385, 0.87801457, 0.01155637, 0.02741805,-0.0082471 , 0.02648425,
  1.2647452 , 0.00745892, 1.23096194, 0.04478515,-0.09505544,-0.05798874,
  0.08577617, 0.69859779,-0.00278198,-0.70965325,-0.09135455]

qacc:
[   1.21347775,  -0.52646079,   2.52731833,  -6.34370317,  -1.47058312,
  -49.49843214, 151.19846404,-432.96686672,  -5.41201475,  -1.13714802,
    3.83724407,  -5.20478925,  -0.54834018,   0.48206228,   9.94365253,
  -34.06712553,  13.24722149,  -2.60933175,  14.70793655, -41.86413967,
  358.99655393, -37.60997314]

qfrc_actuator:
[ 1.08636783e-04, 8.42813848e-04, 1.01017890e-04,-3.81399252e-05,
  7.71727208e-03, 2.22397918e-01, 5.52083991e-02, 6.86734466e-02,
 -1.02909516e-04, 8.61842051e-04, 2.52632493e-04, 1.88955726e-05,
  1.12890187e-02,-1.38255680e-03, 0.00000000e+00,-1.71582961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018157471374822057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19926645, -0.04032747,  0.04909213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006615868934820301
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15319915, -0.04721091,  0.04966921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006571844406695823
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1526624 , -0.04775448,  0.04967141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.18342353,  8.02823714,  3.18342353, 20.76459921,
       -4.8091891 ,  8.02823714, -4.8091891 , 10.5433434 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013815747137482202
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01796231e-15, -2.00898115e-15,  1.00000000e+00,  8.07201055e-30,
        1.00000000e+00,  2.00898115e-15, -1.00000000e+00,  0.00000000e+00,
        4.01796231e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16532426, -0.04617261,  0.06135116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.27170665e-06,-2.60194384e-05,-1.05364837e-05,-1.34781529e-05,
 -3.02858832e-04,-6.58314006e-03,-2.71638738e-03,-1.72023412e-03,
 -3.27483378e-05,-2.84413313e-05, 6.32309047e-06,-4.49175933e-06,
 -5.80257773e-05,-2.42612340e-05,-1.05485656e-05,-1.67596688e-04,
  5.37889913e-03,-3.78001518e-03,-4.88323522e+00,-1.05160361e-02,
  1.73242610e-03,-2.09875415e-03]


--- Step 1646 ---
qpos:
[ 0.01865343, 0.03002924,-0.00942913,-0.02529009,-0.01061519, 0.93343033,
 -0.07227445, 0.87932205, 0.0115554 , 0.02741809,-0.00824601, 0.02648412,
  1.26504191, 0.00746216, 1.23111075, 0.04477597,-0.09486482,-0.05810142,
  0.08521419, 0.70206073,-0.00136001,-0.70599757,-0.09314674]

qacc:
[  -2.19882072,  -2.03468879,   9.104851  , -18.06152387,  -1.55435738,
  -43.35941989, 133.69287796,-408.45249196,  -3.23108036,   0.97760007,
   -7.54528893,  20.29371392,  -1.06339626,   1.26856908,  17.66274886,
  -60.70394437,  10.24901634,  -2.07171471,   9.82654977, -36.92895167,
  293.04743669, -31.67363741]

qfrc_actuator:
[ 9.51600970e-05, 8.49958602e-04, 1.22174896e-04,-6.15854983e-05,
  7.54793833e-03, 2.20524915e-01, 5.42557575e-02, 6.73464910e-02,
 -1.21514799e-04, 8.04683993e-04, 2.36477814e-04, 5.19615344e-05,
  1.12623235e-02,-1.36503170e-03, 0.00000000e+00,-2.00540980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014337420267692275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19944322, -0.04025883,  0.04928313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007097176284971141
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15336699, -0.04714115,  0.04964514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007126130308791681
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15283016, -0.04768466,  0.04964369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.89805133,  8.13560541,  2.89805133, 20.58131964,
       -4.25501163,  8.13560541, -4.25501163, 10.15207654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013433742026769224
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26443609e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.26443609e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16554154, -0.04613736,  0.06135408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32694993e-05,-1.01195710e-05, 1.40337831e-05,-2.51843484e-05,
 -3.21503557e-04,-6.20381643e-03,-2.64467534e-03,-1.65745532e-03,
 -1.95717074e-05,-7.19967118e-05,-2.14248213e-05, 3.19775671e-05,
 -6.28634858e-05,-2.62183530e-06,-2.79399260e-05,-3.01258034e-04,
  7.71553482e-03,-4.85279320e-03,-4.87567127e+00,-1.28655773e-02,
  1.55809054e-03,-2.19661756e-03]


--- Step 1647 ---
qpos:
[ 1.86537912e-02, 3.00280621e-02,-9.42931930e-03,-2.52903221e-02,
 -1.04652027e-02, 9.37300183e-01,-7.13664917e-02, 8.80603885e-01,
  1.15545633e-02, 2.74176970e-02,-8.24569686e-03, 2.64844269e-02,
  1.26533816e+00, 7.46532879e-03, 1.23125921e+00, 4.47650489e-02,
 -9.46431504e-02,-5.82205804e-02, 8.46746230e-02, 7.05827764e-01,
  9.71208571e-05,-7.01981929e-01,-9.50185731e-02]

qacc:
[-1.41876715e+00, 1.52789808e-01,-1.16132668e+00, 2.89114722e+00,
 -1.64054985e+00,-3.70125006e+01, 1.15419563e+02,-3.80863915e+02,
  1.08268889e+00, 2.47556216e+00,-1.14801843e+01, 2.04605137e+01,
 -4.35769669e-01, 3.51177222e-01, 4.80934164e+00,-1.75001804e+01,
  7.76092813e+00,-1.62153853e+00, 5.60196267e+00,-3.23291473e+01,
  2.35399975e+02,-2.59689310e+01]

qfrc_actuator:
[ 8.70194140e-05, 8.36991123e-04, 1.16990229e-04,-5.74745142e-05,
  7.36914742e-03, 2.18839644e-01, 5.33074679e-02, 6.60789039e-02,
 -1.14309723e-04, 7.70715567e-04, 1.90904441e-04, 7.14287749e-05,
  1.12356557e-02,-1.37370982e-03, 0.00000000e+00,-2.08335752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008828959427400196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19961233, -0.04019349,  0.04955855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000644182986003862
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15353054, -0.0470725 ,  0.04967791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006551496288804623
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15299371, -0.0476159 ,  0.04967243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.43660001,  8.28551491,  2.43660001, 19.34202586,
       -3.1483157 ,  8.28551491, -3.1483157 ,  9.56221872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012882895942740016
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61780635e-15, -6.46335476e-15,  1.00000000e+00,  5.56999397e-29,
        1.00000000e+00,  6.46335476e-15, -1.00000000e+00,  0.00000000e+00,
        8.61780635e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16607831, -0.04604773,  0.06136341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.52684919e-06,-1.67716626e-05,-6.40285801e-06, 3.67667829e-06,
 -3.40811028e-04,-5.78765260e-03,-2.55440041e-03,-1.58191103e-03,
  6.60732755e-06,-7.73086688e-05,-6.19909667e-05, 1.62612871e-05,
 -6.08901096e-05,-2.34886402e-05,-5.08014298e-05,-9.92768651e-05,
  1.01023588e-02,-5.87660152e-03,-4.86861907e+00,-1.49054282e-02,
  1.41905934e-03,-2.28866640e-03]


--- Step 1648 ---
qpos:
[ 0.01865336, 0.03002691,-0.00942963,-0.02529052,-0.01031851, 0.94112899,
 -0.07047716, 0.88185948, 0.01155381, 0.02741696,-0.00824515, 0.02648419,
  1.26563408, 0.00746791, 1.231407  , 0.04475621,-0.09449046,-0.05833138,
  0.08431262, 0.70845372, 0.0015107 ,-0.69910252,-0.09667839]

qacc:
[-6.78187032e+00, 4.79453394e-01,-1.78775529e+00, 2.58320136e+00,
 -1.61414507e+00,-4.62600852e+01, 1.46095092e+02,-4.14237875e+02,
  8.01719315e-01,-2.24234841e+00, 9.63774598e+00,-1.91786794e+01,
  3.24471252e-01,-8.61623549e-01,-7.34243790e+00, 2.41430549e+01,
 -1.72448472e+01, 2.09187090e+00, 4.43919524e+01, 1.13083949e+02,
 -8.03566092e+02, 3.59577503e+01]

qfrc_actuator:
[ 4.65859643e-05, 8.47510755e-04, 1.13981942e-04,-5.49700749e-05,
  7.20387963e-03, 2.16908422e-01, 5.24236810e-02, 6.47677436e-02,
 -1.09727514e-04, 7.86261523e-04, 2.17161730e-04, 4.72256314e-05,
  1.12090150e-02,-1.41565580e-03, 0.00000000e+00,-1.96493205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009757125321883248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01122386, -0.07450419,  0.04951214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.81524087, -0.9752253 ,  4.71545122, -0.9752253 ,  0.61857279,
       -0.86793325,  4.71545122, -0.86793325,  4.63573939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000370742407542049
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15405891, -0.04556119,  0.04981463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.56232723, -0.27833321,  5.55535911, -0.27833321,  0.57718714,
       -0.24976424,  5.55535911, -0.24976424,  5.54981361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004945186126344078
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15368953, -0.04700527,  0.04975274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.64167808, -8.61249244, -0.64167808, 62.7408572 ,
       -4.03108252, -8.61249244, -4.03108252,  8.93670147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012975712532188322
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67380072e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67380072e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02289786, -0.06938557,  0.06135151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06836867e-05, 1.75117890e-08,-7.11705982e-06, 1.64029822e-06,
 -3.37516284e-04,-5.78077686e-03,-2.39425578e-03,-1.60732414e-03,
  4.74978073e-06,-3.97842125e-05, 3.21447162e-06,-2.93455255e-05,
 -6.45316802e-05,-6.23474298e-05,-3.63889997e-05, 1.05974757e-04,
  1.24410857e-02,-6.82356709e-03,-4.86241911e+00,-1.66249290e-02,
  1.31631627e-03,-2.37429092e-03]


--- Step 1649 ---
qpos:
[ 0.01865279, 0.03002612,-0.00943016,-0.02529072,-0.010175  , 0.94491693,
 -0.06960587, 0.88309064, 0.01155313, 0.02741624,-0.0082445 , 0.02648397,
  1.26592958, 0.00747042, 1.23155452, 0.04474913,-0.09439498,-0.05843536,
  0.08409849, 0.71014221, 0.00289798,-0.6971746 ,-0.09816936]

qacc:
[-1.18825131e+00, 1.06895681e+00,-3.06939911e+00, 3.01198819e+00,
 -1.55485048e+00,-4.46912679e+01, 1.36923775e+02,-3.84398805e+02,
  5.18959295e-01,-2.04142854e-01, 6.65174581e-01,-4.67529875e-01,
 -1.32542897e-01,-1.32693902e-02,-5.70793283e+00, 1.93858624e+01,
 -1.43004688e+01, 1.70463723e+00, 3.69695030e+01, 9.64055912e+01,
 -6.65888276e+02, 2.44090439e+01]

qfrc_actuator:
[ 4.07254461e-05, 8.89772152e-04, 1.12378199e-04,-5.34120736e-05,
  7.04801988e-03, 2.14988401e-01, 5.15666012e-02, 6.35478135e-02,
 -1.06734227e-04, 8.13838716e-04, 2.32551094e-04, 5.08785998e-05,
  1.12036985e-02,-1.40599838e-03, 0.00000000e+00,-1.87384020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022078223196463215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01110879, -0.07442424,  0.04889609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.33344334, 0.40269176, 4.3146924 , 0.40269176, 3.12634387,
       0.11265902, 4.3146924 , 0.11265902, 4.32292884, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00022506604324953883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15416837, -0.04551086,  0.04988747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.76184899, -0.14306645,  4.75969934, -0.14306645,  0.44380596,
       -0.1297912 ,  4.75969934, -0.1297912 ,  4.75794774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035863824228983543
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15379976, -0.04695427,  0.04982068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.22501042,  2.63362497,  8.22501042, 11.58881203,
       -9.22072015,  2.63362497, -9.22072015, 37.4333716 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014207822319646318
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.90708372e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.90708372e-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([-0.02536515, -0.06900814,  0.06130492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.04180720e-06, 4.09045520e-05,-2.40024702e-06, 1.34994187e-06,
 -3.26937317e-04,-5.73319705e-03,-2.34772723e-03,-1.51141053e-03,
  3.11785829e-06, 4.75596685e-06, 6.55361949e-06, 1.48876447e-06,
 -5.33801934e-05,-2.30697643e-05,-6.38506308e-06, 9.20371687e-05,
  6.66756560e-03,-4.78538140e-03,-4.88145768e+00,-1.16977896e-02,
  2.10339265e-03,-2.30485385e-03]


--- Step 1650 ---
qpos:
[ 0.01865319, 0.0300255 ,-0.00943037,-0.02529091,-0.01003455, 0.9486664 ,
 -0.06875365, 0.88429818, 0.01155145, 0.02741548,-0.00824424, 0.02648418,
  1.26622444, 0.00747328, 1.23170163, 0.04474585,-0.09434664,-0.05853399,
  0.08400618, 0.71106345, 0.00427182,-0.69603532,-0.09952565]

qacc:
[ 8.31235845e+00,-6.74946005e-01, 2.63975501e+00,-3.06032332e+00,
 -1.49233203e+00,-3.75672469e+01, 1.15471068e+02,-3.57503792e+02,
 -8.48082970e+00, 1.93090602e+00,-8.76010184e+00, 1.68437631e+01,
 -4.31780680e-01, 5.48021696e-01,-1.20708437e+01, 4.14487143e+01,
 -1.17855304e+01, 1.33649763e+00, 3.04524668e+01, 8.20031842e+01,
 -5.47940395e+02, 1.59856577e+01]

qfrc_actuator:
[ 9.07769880e-05, 8.97468339e-04, 1.29506180e-04,-5.23928112e-05,
  6.89901171e-03, 2.13304377e-01, 5.06969153e-02, 6.23735552e-02,
 -1.57957211e-04, 7.95159865e-04, 2.05964813e-04, 7.08984821e-05,
  1.11739156e-02,-1.38340904e-03, 0.00000000e+00,-1.67538212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030021474445398877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01102908, -0.07434877,  0.04849893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.13113258, 0.29313285, 4.12071954, 0.29313285, 2.20581939,
       0.13695971, 4.12071954, 0.13695971, 4.12138977, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.365653806944069e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15424089, -0.04547255,  0.04995317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.3575229 , -0.00969717,  4.35751211, -0.00969717,  0.40714152,
       -0.00879115,  4.35751211, -0.00879115,  4.35750333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023538317902984524
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1538727 , -0.04691528,  0.04988231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.56880731,  1.07810856,  8.56880731,  9.27800458,
       -5.0997625 ,  1.07810856, -5.0997625 , 49.16927816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015002147444539884
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70021368e-15, -5.55032052e-15,  1.00000000e+00,  2.05373719e-29,
        1.00000000e+00,  5.55032052e-15, -1.00000000e+00,  0.00000000e+00,
        3.70021368e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02688253, -0.06877782,  0.06127624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98637072e-05, 3.01659452e-05, 2.53438550e-05, 2.71759120e-06,
 -3.15187280e-04,-5.45671127e-03,-2.34190015e-03,-1.46035016e-03,
 -5.11319719e-05,-1.45837975e-05,-2.47446035e-05, 2.04798232e-05,
 -6.24205431e-05, 3.49269845e-06, 4.06780026e-06, 2.02069360e-04,
  3.10693955e-03,-3.25875210e-03,-4.89239656e+00,-7.85128126e-03,
  2.72212072e-03,-2.26014521e-03]


--- Step 1651 ---
qpos:
[ 0.01865418, 0.03002518,-0.00943042,-0.02529109,-0.00989723, 0.95237842,
 -0.06791945, 0.88548147, 0.01154985, 0.02741446,-0.00824363, 0.02648426,
  1.26651884, 0.00747571, 1.23184937, 0.0447396 ,-0.09433675,-0.05862862,
  0.0840131 , 0.71136248, 0.0056413 ,-0.69554013,-0.10077461]

qacc:
[ 5.12066499e+00,-2.76660286e-02, 6.56252249e-01,-1.02956219e+00,
 -1.51744605e+00,-4.01463264e+01, 1.26891754e+02,-3.75579403e+02,
  7.67570421e-01,-1.59661665e+00, 5.74583590e+00,-8.37419649e+00,
 -3.49862983e-01, 1.08088781e-02, 9.92297402e+00,-3.33174732e+01,
 -9.61315360e+00, 1.00113506e+00, 2.48094643e+01, 6.91765227e+01,
 -4.45521769e+02, 1.00907080e+01]

qfrc_actuator:
[ 1.20067634e-04, 9.19993735e-04, 1.39675362e-04,-5.17108984e-05,
  6.73751353e-03, 2.11616122e-01, 4.98634131e-02, 6.11646522e-02,
 -1.51917917e-04, 7.84284322e-04, 2.25648122e-04, 6.48143956e-05,
  1.11294880e-02,-1.42446795e-03, 0.00000000e+00,-1.84132126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034370121449705388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01098179, -0.07427742,  0.04828149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.16127606, 0.11796725, 4.15960361, 0.11796725, 0.20835346,
       0.11210573, 4.15960361, 0.11210573, 4.15809672, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001234695653805004
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15391681, -0.04688543,  0.04993827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.20789666, 0.10604304, 4.20656025, 0.10604304, 0.22722251,
       0.10034869, 4.20656025, 0.10034869, 4.20536697, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00015840290141561075
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15338022, -0.04742806,  0.0499208 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.28482104, -2.43895822,  8.28482104, 13.1739672 ,
       15.41364386, -2.43895822, 15.41364386, 60.99448922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015437012144970536
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59597769e-15, -8.98994422e-16,  1.00000000e+00,  3.23276388e-30,
        1.00000000e+00,  8.98994422e-16, -1.00000000e+00,  0.00000000e+00,
        3.59597769e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02767499, -0.06865771,  0.06126129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07552835e-05, 4.47861771e-05, 1.96226062e-05, 2.90334898e-06,
 -3.22133745e-04,-5.30321073e-03,-2.24818221e-03,-1.48447340e-03,
  4.53417661e-06,-2.32635800e-05, 1.43374347e-05,-7.16421438e-06,
 -7.49076578e-05,-5.49554179e-05, 2.07636909e-05,-1.54933490e-04,
  1.08211337e-03,-2.12374203e-03,-4.89813247e+00,-4.80509905e-03,
  3.21436591e-03,-2.23378046e-03]


--- Step 1652 ---
qpos:
[ 0.01865587, 0.03002524,-0.00943065,-0.02529125,-0.00976278, 0.95605102,
 -0.06710131, 0.88664121, 0.01154972, 0.02741319,-0.0082425 , 0.02648425,
  1.26681272, 0.00747789, 1.23199724, 0.04473112,-0.094358  ,-0.05872042,
  0.08409921, 0.71116031, 0.00701331,-0.69556465,-0.10193941]

qacc:
[ 5.89688522e+00, 1.02991398e+00,-3.08060638e+00, 3.54085685e+00,
 -1.38896408e+00,-4.67594730e+01, 1.43686438e+02,-3.80218553e+02,
  1.25024621e+01,-1.99251820e+00, 6.95573522e+00,-9.07105971e+00,
 -4.17503111e-01, 1.99263115e-01, 6.99172877e+00,-2.40925737e+01,
 -7.78689146e+00, 7.05848875e-01, 1.97964778e+01, 5.77715181e+01,
 -3.58795688e+02, 5.26663887e+00]

qfrc_actuator:
[ 1.54638301e-04, 9.33448087e-04, 1.27950298e-04,-5.12304487e-05,
  6.60531164e-03, 2.09637908e-01, 4.90581860e-02, 5.99805478e-02,
 -7.66997347e-05, 7.78322853e-04, 2.54755315e-04, 6.12097579e-05,
  1.11082361e-02,-1.43206167e-03, 0.00000000e+00,-1.95435797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035797486573222945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01096251, -0.07420971,  0.04821013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.0929354 , 0.20359459, 4.08786857, 0.20359459, 0.2280884 ,
       0.1924871 , 4.08786857, 0.1924871 , 4.08334866, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.11090043888279e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15393845, -0.04686271,  0.04998945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.10654763, 0.19041115, 4.10213079, 0.19041115, 0.24795234,
       0.17910682, 4.10213079, 0.17910682, 4.09823392, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.855495672256461e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15340179, -0.04740509,  0.04997072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.99243565, -6.21912307,  5.99243565, 38.59076382,
       28.86256043, -6.21912307, 28.86256043, 36.44688194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015579748657322291
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56303253e-15, -4.45379066e-15,  1.00000000e+00,  1.58690010e-29,
        1.00000000e+00,  4.45379066e-15, -1.00000000e+00,  0.00000000e+00,
        3.56303253e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02790328, -0.06862149,  0.06125708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54826567e-05, 4.26952662e-05, 4.43917390e-08, 3.13314105e-06,
 -2.96814711e-04,-5.48878902e-03,-2.17884278e-03,-1.45225089e-03,
  7.53400321e-05,-1.62897954e-05, 2.58226448e-05,-4.24467668e-06,
 -7.27385674e-05,-4.07371377e-05,-1.37203114e-05,-1.20338440e-04,
  6.75411091e-05,-1.28401014e-03,-4.90063365e+00,-2.38132747e-03,
  3.60663172e-03,-2.22166373e-03]


--- Step 1653 ---
qpos:
[ 0.01865795, 0.03002533,-0.00943114,-0.02529136,-0.00963071, 0.95968308,
 -0.06629966, 0.88777724, 0.01154981, 0.02741179,-0.00824105, 0.0264842 ,
  1.26710596, 0.00748041, 1.23214453, 0.04472535,-0.09440854,-0.0588084 ,
  0.08423327, 0.71048744, 0.00838633,-0.69607507,-0.10303767]

qacc:
[   3.44078942,   0.88189285,  -3.33981318,   4.74235615,  -1.15290399,
  -47.45318379, 144.35898948,-381.70989356,   1.83420047,  -1.14689189,
    4.02976126,  -5.2088023 ,  -0.49852252,   0.6163898 ,  -9.02866137,
   30.42200161,  -7.31915429,   0.95763054,  11.98984453,  49.91917613,
 -336.18722228,   1.02160656]

qfrc_actuator:
[ 1.74293804e-04, 9.05767906e-04, 1.03360690e-04,-5.08927384e-05,
  6.50943521e-03, 2.07591419e-01, 4.82219323e-02, 5.87848147e-02,
 -6.78998794e-05, 7.75402078e-04, 2.71452569e-04, 5.91015913e-05,
  1.10902582e-02,-1.40183919e-03, 0.00000000e+00,-1.80441496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034879500375862016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01096629, -0.07414518,  0.04825602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.015487950037586198
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79207549e-15,  1.79207549e-15,  1.00000000e+00, -3.21153455e-30,
        1.00000000e+00, -1.79207549e-15, -1.00000000e+00,  0.00000000e+00,
        1.79207549e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02768687, -0.06864971,  0.06126133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07042870e-05,-3.65421723e-06,-1.56585514e-05, 2.22717059e-06,
 -2.47955622e-04,-5.64352781e-03,-2.23678584e-03,-1.46679139e-03,
  1.09977459e-05,-6.81942525e-06, 1.63645050e-05,-1.99821655e-06,
 -6.54512542e-05, 1.86341861e-06,-2.37988679e-05, 1.40591534e-04,
 -3.29607212e-04,-6.63144670e-04,-4.90123368e+00,-4.49322907e-04,
  3.91740288e-03,-2.22078654e-03]


--- Step 1654 ---
qpos:
[ 0.01865992, 0.03002537,-0.00943161,-0.02529112,-0.00950109, 0.96327627,
 -0.06551633, 0.88889011, 0.01155034, 0.02741056,-0.00823982, 0.02648447,
  1.26739888, 0.00748268, 1.23229204, 0.04471802,-0.09448339,-0.05889339,
  0.08439921, 0.70942675, 0.00976187,-0.69698321,-0.10408072]

qacc:
[-1.06954467e+00, 5.85851228e-01,-3.63043675e+00, 9.55521461e+00,
 -1.17733001e+00,-3.94782147e+01, 1.19625858e+02,-3.54721887e+02,
  3.83131876e+00, 1.47436381e+00,-6.31486878e+00, 1.21065490e+01,
 -2.21001512e-01, 1.69136103e-02, 5.07819707e+00,-1.72354109e+01,
 -6.07936040e+00, 7.44497512e-01, 7.96708878e+00, 4.22224734e+01,
 -2.75897929e+02, 4.20444604e-01]

qfrc_actuator:
[ 1.67258749e-04, 9.06858467e-04, 1.06712017e-04,-3.29307682e-05,
  6.38276332e-03, 2.05804916e-01, 4.73561500e-02, 5.76271842e-02,
 -4.50290231e-05, 7.92036135e-04, 2.62948566e-04, 7.56363442e-05,
  1.10742758e-02,-1.42042027e-03, 0.00000000e+00,-1.89129410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003202874875231486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01099115, -0.07408468,  0.04839856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.6474495 ,   7.82833884,   3.6474495 ,
        76.28697884, -31.52037846,   7.82833884, -31.52037846,
        23.32261971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.015202874875231483
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.82567941e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.82567941e-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([-0.02711723, -0.06872766,  0.06127229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.43223901e-06,-4.08815555e-06, 7.47089061e-07, 1.73069928e-05,
 -2.54048192e-04,-5.47959142e-03,-2.30314407e-03,-1.43542102e-03,
  2.31871653e-05, 1.61530701e-05,-7.96705237e-06, 1.67694014e-05,
 -4.90332675e-05,-3.33564101e-05, 2.24247063e-06,-8.26096572e-05,
 -3.41777680e-04,-1.39038950e-04,-4.90063227e+00, 1.36466887e-03,
  4.17127836e-03,-2.22259196e-03]


--- Step 1655 ---
qpos:
[ 0.01866212, 0.03002538,-0.00943205,-0.02529067,-0.00937393, 0.96683126,
 -0.06475056, 0.8899811 , 0.0115508 , 0.02740957,-0.00823902, 0.0264846 ,
  1.26769152, 0.00748448, 1.23243945, 0.04471038,-0.09457833,-0.05897613,
  0.08458317, 0.7080486 , 0.0111404 ,-0.69821324,-0.10507779]

qacc:
[ 2.10610499e+00, 3.05742725e-01,-2.02074727e+00, 5.59731970e+00,
 -1.18645166e+00,-3.86465823e+01, 1.14915453e+02,-3.35562814e+02,
 -6.53435466e-01, 1.22778728e+00,-3.26963650e+00, 1.22263084e+00,
  7.34616966e-02,-4.67964040e-01, 7.73367603e-01,-2.95666839e+00,
 -5.02186922e+00, 5.65261405e-01, 4.50680965e+00, 3.53923397e+01,
 -2.24438630e+02, 3.22096506e-01]

qfrc_actuator:
[ 1.80080696e-04, 9.07530991e-04, 1.08900647e-04,-2.24546571e-05,
  6.25637538e-03, 2.04046908e-01, 4.65343456e-02, 5.65368604e-02,
 -4.95427398e-05, 8.02414022e-04, 2.39731771e-04, 6.75042421e-05,
  1.10541585e-02,-1.45008203e-03, 0.00000000e+00,-1.90404676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002766306780296976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01103246, -0.07402794,  0.04861685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.82971323,  8.59641511,  0.82971323, 77.23086094,
       -6.62063913,  8.59641511, -6.62063913,  9.2753779 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014766306780296973
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.75931179e-15, -3.75931179e-15,  1.00000000e+00,  1.41324252e-29,
        1.00000000e+00,  3.75931179e-15, -1.00000000e+00,  0.00000000e+00,
        3.75931179e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02626653, -0.06884392,  0.06128858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26326582e-05,-7.22990853e-07, 2.03790423e-06, 1.06642754e-05,
 -2.57212587e-04,-5.37075230e-03,-2.23277560e-03,-1.36384921e-03,
 -3.83173015e-06, 1.85231942e-05,-2.02821600e-05,-7.39063918e-06,
 -5.33483340e-05,-5.04894240e-05,-1.25907137e-05,-1.80438164e-05,
 -1.18144065e-04, 2.46428547e-04,-4.89932179e+00, 2.86194436e-03,
  4.37171390e-03,-2.23163606e-03]


--- Step 1656 ---
qpos:
[ 0.01866447, 0.03002563,-0.00943283,-0.02529045,-0.00924941, 0.97034669,
 -0.06400017, 0.89105061, 0.0115512 , 0.02740869,-0.00823817, 0.02648461,
  1.26798357, 0.00748624, 1.23258645, 0.0447053 ,-0.09468974,-0.0590572 ,
  0.0847734 , 0.70641273, 0.01252169,-0.69970033,-0.10603633]

qacc:
[ 1.15522464e+00, 8.06223610e-01,-1.44557763e+00,-2.16767324e+00,
 -1.26515906e+00,-4.55780922e+01, 1.34477531e+02,-3.46761817e+02,
 -4.90634672e-01,-2.05925174e-01, 1.37824319e+00,-3.40923030e+00,
 -2.21082590e-01, 6.26145715e-02,-8.36702767e+00, 2.83848363e+01,
 -4.11799443e+00, 4.15601082e-01, 1.56692251e+00, 2.93613654e+01,
 -1.80615952e+02, 5.70166159e-01]

qfrc_actuator:
[ 1.86743995e-04, 9.25696996e-04, 9.26184766e-05,-3.42256183e-05,
  6.11340658e-03, 2.02107865e-01, 4.57809934e-02, 5.54593975e-02,
 -5.23899964e-05, 8.08881227e-04, 2.43488835e-04, 6.26637675e-05,
  1.10209164e-02,-1.45056329e-03, 0.00000000e+00,-1.76643532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002213926945122076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01108596, -0.07397471,  0.04889304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.72638554,  8.4620547 , -1.72638554, 58.65387473,
       10.2043193 ,  8.4620547 , 10.2043193 , 10.71819718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014213926945122073
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95270285e-15, -6.83445997e-15,  1.00000000e+00,  1.33456694e-29,
        1.00000000e+00,  6.83445997e-15, -1.00000000e+00,  0.00000000e+00,
        1.95270285e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02519297, -0.06898949,  0.06130908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03095634e-06, 1.86403530e-05,-1.58102909e-05,-1.15247370e-05,
 -2.75744138e-04,-5.47369169e-03,-2.13194023e-03,-1.34355806e-03,
 -2.95419562e-06, 1.23451713e-05, 4.83184389e-06,-4.89192620e-06,
 -7.27661501e-05,-2.71889481e-05,-1.10436861e-05, 1.34282417e-04,
  2.07215618e-04, 5.27381941e-04,-4.89771211e+00, 4.08492134e-03,
  4.52494369e-03,-2.24684313e-03]


--- Step 1657 ---
qpos:
[ 0.01866653, 0.03002587,-0.00943341,-0.02529108,-0.0091277 , 0.97382192,
 -0.0632648 , 0.89209831, 0.01155226, 0.0274078 ,-0.008237  , 0.0264849 ,
  1.268275  , 0.00748777, 1.2327337 , 0.04469886,-0.09481453,-0.0591371 ,
  0.08496003, 0.70456978, 0.01390499,-0.70138942,-0.10696241]

qacc:
[-2.41994371e+00,-2.31493348e+00, 1.17812811e+01,-2.66284000e+01,
 -1.34506169e+00,-4.79530551e+01, 1.41855850e+02,-3.56566452e+02,
  5.57424249e+00,-3.82336070e-01, 1.64996913e-01, 4.13600037e+00,
 -4.62921045e-01, 2.32344276e-01, 4.53522361e+00,-1.52076478e+01,
 -3.34549685e+00, 2.91790455e-01,-8.99731216e-01, 2.40774573e+01,
 -1.43480414e+02, 1.03947109e+00]

qfrc_actuator:
[ 1.71970288e-04, 9.18599953e-04, 1.01124181e-04,-7.67414218e-05,
  5.96164774e-03, 2.00130077e-01, 4.50380541e-02, 5.43624993e-02,
 -1.87193987e-05, 8.13061008e-04, 2.63136844e-04, 7.75726951e-05,
  1.09798375e-02,-1.46928212e-03, 0.00000000e+00,-1.84314787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015760592400900567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01114785, -0.07392482,  0.04921197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.70807005,  7.79980726, -3.70807005, 38.20782504,
       14.05843075,  7.79980726, 14.05843075, 15.31981673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013576059240090053
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04445010e-15,  3.06667514e-15,  1.00000000e+00,  6.26966429e-30,
        1.00000000e+00, -3.06667514e-15, -1.00000000e+00,  0.00000000e+00,
       -2.04445010e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02394447, -0.0691571 ,  0.06133285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45612509e-05,-4.37679323e-07, 1.00127212e-05,-4.24891882e-05,
 -2.94445404e-04,-5.54738039e-03,-2.12894334e-03,-1.36260605e-03,
  3.35864105e-05, 1.18942650e-05, 2.26250061e-05, 1.55102247e-05,
 -8.45332743e-05,-4.35890258e-05, 6.81591088e-06,-7.12975889e-05,
  5.49352374e-04, 7.29100237e-04,-4.89606252e+00, 5.06946570e-03,
  4.63645301e-03,-2.26730171e-03]


--- Step 1658 ---
qpos:
[ 0.01866805, 0.03002592,-0.0094338 ,-0.02529218,-0.00900842, 0.97725985,
 -0.06254581, 0.89312423, 0.01155302, 0.02740676,-0.00823518, 0.02648468,
  1.26856578, 0.00748952, 1.23288114, 0.04469023,-0.09494061,-0.05922041,
  0.08516989, 0.70272417, 0.01531233,-0.70306696,-0.10789403]

qacc:
[-4.60354229e+00,-1.77844222e+00, 8.00553120e+00,-1.64814488e+01,
 -1.16137117e+00,-4.05725409e+01, 1.22201552e+02,-3.40962520e+02,
 -2.48487039e+00,-3.03271864e+00, 1.27220577e+01,-2.25836905e+01,
 -8.46971581e-01, 9.60787648e-01, 6.98709956e+00,-2.38703092e+01,
 -3.22444073e-01,-8.50937247e-01, 5.80601937e+00, 5.92458629e+00,
  4.37564916e+00,-1.05975069e+01]

qfrc_actuator:
[ 1.44698961e-04, 8.96497494e-04, 1.06335424e-04,-1.01497679e-04,
  5.85910098e-03, 1.98518327e-01, 4.43071639e-02, 5.32806161e-02,
 -3.48350757e-05, 7.98173693e-04, 2.92004769e-04, 5.07291075e-05,
  1.09607093e-02,-1.44548667e-03, 0.00000000e+00,-1.95679752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008783023342297802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01121491, -0.07387809,  0.04956085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.0943205 , 0.38343278, 4.07632673, 0.38343278, 1.60177029,
       0.23445752, 4.07632673, 0.23445752, 4.07226665, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.7385152961474646e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15322526, -0.04732223,  0.04998631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.80817931, -8.44495497, -1.80817931, 14.13691675,
       -1.17774297, -8.44495497, -1.17774297,  8.88853437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012878302334229777
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15522007e-15,  1.07761003e-15,  1.00000000e+00,  2.32248677e-30,
        1.00000000e+00, -1.07761003e-15, -1.00000000e+00,  0.00000000e+00,
       -2.15522007e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02256123, -0.06934083,  0.06135911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76944836e-05,-2.21105950e-05, 4.88780945e-06,-2.52536376e-05,
 -2.55267547e-04,-5.22069595e-03,-2.13094590e-03,-1.35004959e-03,
 -1.51306450e-05,-2.86490645e-06, 3.46439564e-05,-2.52516557e-05,
 -7.28056742e-05,-8.38363332e-06,-9.89503441e-06,-1.17858218e-04,
  8.58703104e-04, 8.70509191e-04,-4.89452751e+00, 5.84738503e-03,
  4.71129152e-03,-2.29220852e-03]


--- Step 1659 ---
qpos:
[ 0.01866889, 0.03002565,-0.00943382,-0.02529253,-0.00889126, 0.98066146,
 -0.06184238, 0.89412912, 0.01155392, 0.02740543,-0.00823296, 0.02648486,
  1.26885614, 0.00749141, 1.23302837, 0.04468129,-0.09506978,-0.05930668,
  0.08539485, 0.70088837, 0.01674398,-0.70471981,-0.10883524]

qacc:
[-5.84773380e+00, 1.23899802e-01,-4.21756062e+00, 1.68802877e+01,
 -1.00801384e+00,-4.02064785e+01, 1.20779454e+02,-3.31217364e+02,
  1.26312848e+00,-6.90769786e-01, 1.96870522e-01, 6.37856310e+00,
 -4.22881570e-01, 4.67935228e-01, 6.52995356e-01,-2.63529188e+00,
 -7.71597970e-01,-7.39621678e-01, 3.77491987e+00, 3.76278941e+00,
  1.33642633e+01,-1.15777191e+01]

qfrc_actuator:
[ 1.10297017e-04, 8.83332481e-04, 1.27252194e-04,-6.23644841e-05,
  5.76907293e-03, 1.96873085e-01, 4.35908492e-02, 5.22341867e-02,
 -2.68797039e-05, 7.71991470e-04, 3.08217328e-04, 7.05282802e-05,
  1.09547777e-02,-1.43204181e-03, 0.00000000e+00,-1.96695925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001573947839961301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01127808, -0.07383193,  0.0499213 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.10266241, 0.39640482, 4.08346691, 0.39640482, 1.01249184,
       0.29998002, 4.08346691, 0.29998002, 4.07354168, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.078445009783217e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15370871, -0.04677286,  0.04997461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([4.12562168, 0.36519858, 4.10942627, 0.36519858, 1.13454746,
       0.2658123 , 4.10942627, 0.2658123 , 4.10199934, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.705682696581729e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15317033, -0.04731362,  0.04995647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.89979292, -8.42481832, -1.89979292,  3.60349786,
        1.13490908, -8.42481832,  1.13490908,  8.38044213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012157394783996127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99528503e-15, -4.56604003e-15,  1.00000000e+00, -1.82426314e-29,
        1.00000000e+00,  4.56604003e-15, -1.00000000e+00,  0.00000000e+00,
       -3.99528503e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0210785 , -0.06953543,  0.06138722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52153573e-05,-2.56100153e-05, 1.60844142e-05, 3.78679407e-05,
 -2.22725232e-04,-5.07171927e-03,-2.05119698e-03,-1.30373672e-03,
  7.50926954e-06,-2.16962660e-05, 1.90069280e-05, 2.03832139e-05,
 -4.57159947e-05,-5.72491284e-06,-2.21990950e-05,-1.89724747e-05,
  7.58036049e-04, 8.74835067e-04,-4.89448338e+00, 5.88360782e-03,
  4.69998402e-03,-2.33379583e-03]


--- Step 1660 ---
qpos:
[ 0.01866965, 0.03002531,-0.00943368,-0.02529243,-0.00877648, 0.98402606,
 -0.06115342, 0.89511477, 0.01155561, 0.02740416,-0.00823123, 0.02648564,
  1.26914632, 0.00749246, 1.23317528, 0.0446736 ,-0.09516558,-0.05939814,
  0.08566392, 0.69950947, 0.01828896,-0.70587492,-0.10996639]

qacc:
[  -0.63509916,   0.40219958,  -3.43626977,  11.00210637,  -1.13220977,
  -41.20097388, 118.84178541,-307.81144586,   6.61749851,   2.68630742,
  -12.03876177,  23.22148523,   0.5131986 ,  -1.18935912,  -4.31593571,
   14.24656846,   8.34333475,  -1.29898335,  11.02978272, -58.12291361,
  340.00385213, -85.80067486]

qfrc_actuator:
[ 1.07482960e-04, 8.93490989e-04, 1.39594724e-04,-3.91967204e-05,
  5.63395489e-03, 1.95079664e-01, 4.28890311e-02, 5.12702408e-02,
  1.29487279e-05, 7.74736902e-04, 2.81304655e-04, 9.98452569e-05,
  1.09248106e-02,-1.49581648e-03, 0.00000000e+00,-1.89828950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.20492045,   2.66703169,   3.25089187,   2.66703169,
        16.87063019, -10.39094827,   3.25089187, -10.39094827,
        12.7296544 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0001564249381965227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19976148, -0.04003257,  0.04992179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.212434270363529e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15365763, -0.04676611,  0.04995394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012724559075136255
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15311894, -0.04730663,  0.04993638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.52777602,  8.62022212,  0.52777602, 60.88574074,
       -3.19898583,  8.62022212, -3.19898583,  8.83222263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01215642493819652
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13280862e-15,  6.84960646e-15,  1.00000000e+00, -6.25561450e-29,
        1.00000000e+00, -6.84960646e-15, -1.00000000e+00,  0.00000000e+00,
        9.13280862e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16768555, -0.04608559,  0.06139073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85040982e-06, 7.77037794e-07, 1.03491612e-05, 2.33679306e-05,
 -2.51158970e-04,-5.11870020e-03,-1.99618926e-03,-1.21289694e-03,
  4.00373760e-05,-4.56058146e-06,-2.83582926e-05, 2.94390073e-05,
 -5.51748585e-05,-7.58307629e-05,-1.52832388e-05, 6.41326012e-05,
  6.34668593e-04, 8.63205696e-04,-4.89453205e+00, 5.87451777e-03,
  4.67885869e-03,-2.37675157e-03]


--- Step 1661 ---
qpos:
[ 0.01867072, 0.03002528,-0.00943379,-0.02529276,-0.00866446, 0.98735496,
 -0.06047902, 0.89608148, 0.01155775, 0.02740302,-0.00823013, 0.02648607,
  1.26943572, 0.00749345, 1.23332179, 0.04466911,-0.09523324,-0.05949429,
  0.08596391, 0.69851514, 0.0199297 ,-0.70661262,-0.11125652]

qacc:
[ 2.59943946e+00, 1.79601444e-01, 1.73297031e+00,-9.00232797e+00,
 -1.31358152e+00,-3.87189565e+01, 1.12036267e+02,-2.98850717e+02,
  3.94225978e+00, 1.20319199e+00,-2.59617194e+00,-2.47063728e+00,
 -3.02682344e-01, 8.61325610e-02,-1.02367431e+01, 3.49967926e+01,
  7.03344491e+00,-1.16951230e+00, 7.72862303e+00,-4.90829820e+01,
  2.85526726e+02,-7.20742200e+01]

qfrc_actuator:
[ 1.23286241e-04, 9.17504848e-04, 1.29094945e-04,-6.11118782e-05,
  5.47289477e-03, 1.93461097e-01, 4.22187892e-02, 5.03269189e-02,
  3.57059923e-05, 7.76862467e-04, 2.47013591e-04, 8.12572399e-05,
  1.08750905e-02,-1.49850582e-03, 0.00000000e+00,-1.73049151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022262567107936282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19972425, -0.04002355,  0.04988869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.2273662515524e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15361925, -0.04674591,  0.04999789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.9189088523482185e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15308028, -0.04728617,  0.04998041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01222262567107936
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54167155e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.54167155e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16778561, -0.04609181,  0.06139252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56908504e-05, 2.75926952e-05,-8.25480085e-06,-2.10685634e-05,
 -2.92197013e-04,-4.95466903e-03,-1.96421792e-03,-1.18986900e-03,
  2.39264741e-05,-4.97752681e-06,-3.77143163e-05,-1.91958330e-05,
 -9.59425864e-05,-3.71563335e-05,-2.39290592e-06, 1.68866767e-04,
 -1.92623276e-04, 3.44678729e-04,-4.89703660e+00, 4.34035941e-03,
  4.39311769e-03,-2.45586486e-03]


--- Step 1662 ---
qpos:
[ 0.01867197, 0.03002519,-0.00943389,-0.02529332,-0.00855504, 0.99064884,
 -0.0598193 , 0.897028  , 0.01155947, 0.02740182,-0.00822916, 0.02648662,
  1.26972416, 0.00749491, 1.23346816, 0.04466731,-0.09527717,-0.05959466,
  0.08628339, 0.69784337, 0.02165087,-0.70700016,-0.11267934]

qacc:
[   1.55735069,  -0.56892632,   2.89459279,  -6.86638457,  -1.23056467,
  -39.65730335, 118.98400162,-320.43266948,  -3.69504882,   0.51021454,
   -2.35950754,   4.44620571,  -0.87190054,   1.05422801,  -8.28412948,
   28.86681649,   5.93399326,  -1.0575112 ,   4.87183997, -41.48032834,
  239.41546539, -60.3039173 ]

qfrc_actuator:
[ 1.32157991e-04, 8.96245202e-04, 1.22983825e-04,-7.38702004e-05,
  5.35086457e-03, 1.91818908e-01, 4.15201191e-02, 4.93145866e-02,
  1.27171870e-05, 7.78518760e-04, 2.44128986e-04, 8.78907149e-05,
  1.08348815e-02,-1.46496484e-03, 0.00000000e+00,-1.59442738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013243689076695986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19969812, -0.04000382,  0.04993378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -3.94407978,  -7.68316416,  -3.94407978,
        67.59145571, -30.26403985,  -7.68316416, -30.26403985,
        24.17212274,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012132436890766957
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.15086585e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.15086585e-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([-0.16818898, -0.04603371,  0.06140011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34008934e-06,-8.43168627e-06,-2.15723072e-06,-1.22726341e-05,
 -2.74903139e-04,-4.87902723e-03,-1.95538681e-03,-1.25200683e-03,
 -2.22896500e-05,-9.69745611e-06,-9.22143702e-06, 4.74019511e-06,
 -9.75983836e-05, 2.42724181e-07, 1.40796811e-05, 1.44399250e-04,
 -5.94072632e-04,-2.07618059e-04,-4.89822598e+00, 2.79283466e-03,
  4.11273615e-03,-2.53887998e-03]


--- Step 1663 ---
qpos:
[ 0.01867332, 0.03002464,-0.00943388,-0.02529364,-0.0084479 , 0.99390702,
 -0.05917365, 0.89795512, 0.0115609 , 0.02740091,-0.0082284 , 0.0264872 ,
  1.27001183, 0.00749669, 1.23361439, 0.04466851,-0.09530106,-0.05969886,
  0.08661254, 0.69744113, 0.02343913,-0.70709404,-0.11421249]

qacc:
[   0.84477967,  -0.41436231,  -0.42481714,   4.77797789,  -1.07675253,
  -40.8736773 , 119.98751172,-311.14801419,  -2.47793235,   1.052359  ,
   -3.36264628,   4.14098214,  -0.58828589,   0.68090872,  -9.20758257,
   32.02684427,   5.00851013,  -0.95805055,   2.41966235, -35.0594753 ,
  200.32453759, -50.20655154]

qfrc_actuator:
[ 1.36872091e-04, 8.48053608e-04, 1.19353915e-04,-6.34084778e-05,
  5.25318903e-03, 1.90069634e-01, 4.08280785e-02, 4.83407018e-02,
 -1.50262904e-06, 8.15526986e-04, 2.42084065e-04, 9.15891842e-05,
  1.08057505e-02,-1.44570564e-03, 0.00000000e+00,-1.44267781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.335696  ,  -7.46917111,  -4.335696  ,
        52.6286728 , -25.53660592,  -7.46917111, -25.53660592,
        23.45982379,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.011917545802359063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65793479e-15,  9.31586958e-15,  1.00000000e+00, -4.33927131e-29,
        1.00000000e+00, -9.31586958e-15, -1.00000000e+00,  0.00000000e+00,
        4.65793479e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16882826, -0.04592465,  0.06141224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98442344e-06,-5.38724600e-05,-6.05978910e-06, 9.78814894e-06,
 -2.41802132e-04,-4.94318757e-03,-1.93411830e-03,-1.21213083e-03,
 -1.48787316e-05, 2.99120266e-05,-5.01581201e-06, 3.05662636e-06,
 -7.83414092e-05,-3.84678236e-06, 1.76055035e-05, 1.60536865e-04,
 -7.28874497e-04,-7.59039621e-04,-4.89858153e+00, 1.31174777e-03,
  3.84989611e-03,-2.62337735e-03]


--- Step 1664 ---
qpos:
[ 0.01867437, 0.03002368,-0.00943419,-0.02529346,-0.00834272, 0.99712775,
 -0.05854048, 0.89886384, 0.01156214, 0.02740009,-0.00822788, 0.0264875 ,
  1.27029896, 0.00749841, 1.23376071, 0.04467119,-0.0953072 ,-0.05980486,
  0.08694402, 0.69728287, 0.02522238,-0.70693093,-0.11579764]

qacc:
[-2.56368367e+00, 1.38898532e+00,-7.82899336e+00, 1.72429334e+01,
 -9.26526742e-01,-4.57589844e+01, 1.30870343e+02,-3.07362290e+02,
 -1.55939237e+00, 2.13704636e-01, 6.01818563e-01,-5.13741381e+00,
 -2.95097035e-01, 1.54270308e-01,-4.35386530e+00, 1.54511730e+01,
  4.43782490e+00,-4.47767772e-01, 5.81197053e-01,-3.76602923e+01,
  1.74987077e+02,-5.43969672e+00]

qfrc_actuator:
[ 1.21350651e-04, 8.19633458e-04, 9.93539052e-05,-3.93961783e-05,
  5.17084617e-03, 1.88182037e-01, 4.01985397e-02, 4.74149144e-02,
 -1.04315861e-05, 8.02423155e-04, 2.22929016e-04, 7.58008336e-05,
  1.07779569e-02,-1.45280812e-03, 0.00000000e+00,-1.37165378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01162332382808482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43275242e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43275242e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17184494, -0.04951741,  0.06142721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53933498e-05,-5.93595253e-05,-3.15286969e-05, 2.16881784e-05,
 -2.09386401e-04,-5.11025237e-03,-1.88003552e-03,-1.16434778e-03,
 -9.35636438e-06, 2.74032818e-06,-1.34857430e-05,-1.46206155e-05,
 -6.80222966e-05,-2.68817783e-05, 2.12474807e-05, 8.11905916e-05,
 -7.00983750e-04,-1.28817775e-03,-4.89843210e+00,-5.65901694e-05,
  3.61136448e-03,-2.70778557e-03]


--- Step 1665 ---
qpos:
[ 0.01867522, 0.03002247,-0.00943485,-0.02529268,-0.00823943, 1.00030989,
 -0.05791932, 0.89975456, 0.01156258, 0.02739894,-0.00822793, 0.02648734,
  1.27058564, 0.00749979, 1.23390721, 0.04467372,-0.09529747,-0.05991111,
  0.08727317, 0.69734472, 0.0269455 ,-0.70654383,-0.11738868]

qacc:
[-1.67287106e+00, 1.89180053e+00,-9.77782920e+00, 2.10567470e+01,
 -8.83081913e-01,-4.79441874e+01, 1.35256791e+02,-3.05779326e+02,
 -6.88870112e+00, 2.44798602e-01, 4.56127244e-01,-7.24827612e+00,
 -1.52515355e-01,-1.64861087e-01, 7.49451744e-01,-2.19493840e+00,
  3.96790426e+00,-6.55728034e-02,-5.83464905e-01,-3.87970249e+01,
  1.52334435e+02, 2.91201361e+01]

qfrc_actuator:
[ 1.11797304e-04, 8.20965361e-04, 8.76729001e-05,-7.60611500e-06,
  5.08055040e-03, 1.86245218e-01, 3.95927928e-02, 4.65069868e-02,
 -5.16830442e-05, 7.41576135e-04, 1.75864766e-04, 4.86227954e-05,
  1.07509740e-02,-1.47547712e-03, 0.00000000e+00,-1.38426060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.33552933,  -2.25958572,  -8.33552933,
        11.53723592, -10.70121209,  -2.25958572, -10.70121209,
        48.11274484,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.011263388968729936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47853771e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47853771e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17135422, -0.05366268,  0.06144452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00189040e-05,-3.74150628e-05,-2.70594135e-05, 2.85830158e-05,
 -2.00547898e-04,-5.23848799e-03,-1.88093012e-03,-1.14891071e-03,
 -4.15254736e-05,-6.27031841e-05,-4.86606310e-05,-2.78111331e-05,
 -6.75601762e-05,-4.65084516e-05, 1.38349443e-05,-6.47247748e-06,
 -5.08275871e-04,-1.70252911e-03,-4.89839018e+00,-1.32262684e-03,
  3.34211049e-03,-2.78974894e-03]


--- Step 1666 ---
qpos:
[ 0.0186763 , 0.03002097,-0.00943562,-0.02529187,-0.00813834, 1.0034529 ,
 -0.05731036, 0.90062863, 0.01156286, 0.02739752,-0.00822831, 0.02648683,
  1.27087182, 0.00750089, 1.23405401, 0.04467409,-0.09527428,-0.06001781,
  0.08759361, 0.69758954, 0.02861773,-0.70596928,-0.11898414]

qacc:
[ 1.91862165e+00,-2.23707775e-02,-5.83289918e-01, 1.35678677e+00,
 -1.03554058e+00,-4.58857510e+01, 1.24543342e+02,-2.79726939e+02,
 -1.31671445e+00,-1.78718447e-01, 1.59788084e+00,-6.92915358e+00,
 -3.88664777e-01, 1.45974234e-01, 7.00245849e+00,-2.37976422e+01,
  3.36552309e+00,-1.10185734e-01,-2.17666424e+00,-3.27731716e+01,
  1.26950664e+02, 2.46474601e+01]

qfrc_actuator:
[ 1.23592628e-04, 8.04638790e-04, 8.11294274e-05,-6.96716929e-06,
  4.95067685e-03, 1.84312750e-01, 3.89880855e-02, 4.56700097e-02,
 -5.83733166e-05, 7.41229467e-04, 1.65745352e-04, 3.26537456e-05,
  1.07244880e-02,-1.48942445e-03, 0.00000000e+00,-1.49926109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.24790328,  -7.51944776,  -4.24790328,
        34.68761527, -14.71693145,  -7.51944776, -14.71693145,
        16.95028553,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010859872127244964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.66737636e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.66737636e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17235519, -0.05357718,  0.06146339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14945569e-05,-4.15703109e-05,-1.65952047e-05,-1.33991788e-06,
 -2.35688760e-04,-5.30353602e-03,-1.90419619e-03,-1.08150802e-03,
 -7.92931618e-06,-4.66246079e-05,-3.00109568e-05,-2.08762369e-05,
 -7.18484199e-05,-4.31030038e-05, 7.76635955e-07,-1.14685578e-04,
 -2.17416146e-04,-1.97501544e-03,-4.89847518e+00,-2.37862315e-03,
  3.07913622e-03,-2.86547563e-03]


--- Step 1667 ---
qpos:
[ 0.01867751, 0.03001955,-0.00943663,-0.02529144,-0.00803951, 1.00655919,
 -0.05671424, 0.90148609, 0.01156272, 0.02739637,-0.00822857, 0.02648638,
  1.27115752, 0.00750177, 1.23420072, 0.04467375,-0.09523965,-0.06012507,
  0.08790002, 0.69798608, 0.03024676,-0.70523782,-0.12058272]

qacc:
[ 1.13036204e+00,-3.98490726e-02, 1.89763030e+00,-8.20943199e+00,
 -1.05899003e+00,-4.10389610e+01, 1.12413357e+02,-2.70363954e+02,
 -3.65451625e+00, 1.62459817e-01,-2.91282808e-01, 8.85364842e-01,
 -2.85585034e-01, 6.27234326e-02, 2.01345953e+00,-7.20369569e+00,
  2.85841448e+00,-1.41034325e-01,-3.50616138e+00,-2.76695116e+01,
  1.05669674e+02, 2.09410460e+01]

qfrc_actuator:
[ 1.30104489e-04, 8.31126411e-04, 7.75829879e-05,-2.46729374e-05,
  4.83364003e-03, 1.82700658e-01, 3.84245095e-02, 4.48459335e-02,
 -8.01619665e-05, 8.12760802e-04, 1.95519651e-04, 4.12365872e-05,
  1.07036461e-02,-1.49806527e-03, 0.00000000e+00,-1.53160573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.8559585 ,  -7.14187958,  -4.8559585 ,
        27.51969463, -12.83929122,  -7.14187958, -12.83929122,
        17.36614754,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.01040847279075386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.9999493e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.9999493e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17344777, -0.05348006,  0.06148398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83841902e-06,-1.80735649e-07,-1.41991379e-05,-2.00832558e-05,
 -2.41615261e-04,-5.02028781e-03,-1.87594547e-03,-1.06962827e-03,
 -2.20401025e-05, 3.84196769e-05, 1.57472033e-05, 5.14560835e-06,
 -6.81334816e-05,-3.75831834e-05,-1.72214546e-05,-3.97153566e-05,
  7.34956989e-05,-2.19544039e-03,-4.89837266e+00,-3.21588721e-03,
  2.87558085e-03,-2.93541578e-03]


--- Step 1668 ---
qpos:
[ 0.01867845, 0.03001842,-0.00943727,-0.0252913 ,-0.00794271, 1.00963232,
 -0.05613164, 0.90232607, 0.01156232, 0.02739561,-0.00822941, 0.02648607,
  1.27144263, 0.00750277, 1.23434689, 0.04467634,-0.09519529,-0.06023298,
  0.08818801, 0.69850819, 0.03183896,-0.70437479,-0.12218327]

qacc:
[-2.36310979e+00,-1.19522668e+00, 6.06205180e+00,-1.18384177e+01,
 -9.55250225e-01,-3.59813577e+01, 1.03463116e+02,-2.75214720e+02,
 -2.24561361e+00, 2.43161077e+00,-8.50535220e+00, 1.15394504e+01,
 -2.95304821e-01, 2.49946474e-01,-9.63651032e+00, 3.26304921e+01,
  2.43311023e+00,-1.61217256e-01,-4.60587541e+00,-2.33818311e+01,
  8.79441737e+01, 1.78855481e+01]

qfrc_actuator:
[ 1.15694965e-04, 8.83050213e-04, 1.11503364e-04,-3.52365569e-05,
  4.74299197e-03, 1.81347298e-01, 3.78556147e-02, 4.39829650e-02,
 -9.29210662e-05, 8.20472296e-04, 1.60161629e-04, 4.65316611e-05,
  1.06808816e-02,-1.48571847e-03, 0.00000000e+00,-1.37292696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.35753085,  -6.77374638,  -5.35753085,
        22.33200169, -10.83223364,  -6.77374638, -10.83223364,
        17.20385682,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00992378842728961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.59374594e-15,  5.59374594e-15,  1.00000000e+00, -3.12899936e-29,
        1.00000000e+00, -5.59374594e-15, -1.00000000e+00,  0.00000000e+00,
        5.59374594e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17460531, -0.05337398,  0.06150578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42034532e-05, 4.80912748e-05, 3.14654090e-05,-1.14497481e-05,
 -2.18582985e-04,-4.59746305e-03,-1.82139277e-03,-1.09831306e-03,
 -1.33962576e-05, 3.27068555e-05,-2.52860419e-05, 7.59155321e-06,
 -6.69168054e-05,-1.41055338e-05,-1.58010160e-05, 1.53485659e-04,
  3.51338239e-04,-2.37643584e-03,-4.89816971e+00,-3.88261609e-03,
  2.71908683e-03,-3.00073557e-03]


--- Step 1669 ---
qpos:
[ 0.0186792 , 0.03001758,-0.00943751,-0.02529129,-0.00784769, 1.01267156,
 -0.05556104, 0.90314854, 0.01156245, 0.02739466,-0.00823072, 0.02648624,
  1.27172728, 0.00750362, 1.23449303, 0.04468011,-0.09514027,-0.06034185,
  0.0884721 , 0.69916669, 0.03338871,-0.70337026,-0.12377969]

qacc:
[-1.53547522e+00,-1.02447958e+00, 4.72100423e+00,-7.78037207e+00,
 -8.26007465e-01,-4.10688258e+01, 1.18964600e+02,-2.88624118e+02,
  4.59395268e+00, 2.04963107e+00,-9.70142178e+00, 1.88912180e+01,
 -1.82157629e-01,-9.61305697e-03,-3.60409001e+00, 1.25277330e+01,
  2.66447134e+00,-2.39152013e-01,-9.74540821e-01,-2.41894987e+01,
  9.49269631e+01, 2.24694998e+01]

qfrc_actuator:
[ 1.06841007e-04, 8.96718440e-04, 1.31896887e-04,-4.14577015e-05,
  4.66886099e-03, 1.79698726e-01, 3.72715927e-02, 4.31041697e-02,
 -6.47537375e-05, 7.71914497e-04, 1.21881607e-04, 6.75026141e-05,
  1.06569910e-02,-1.49653224e-03, 0.00000000e+00,-1.31602479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009479756211528155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82992414e-16, -5.85575726e-15,  1.00000000e+00,  1.07155916e-30,
        1.00000000e+00,  5.85575726e-15, -1.00000000e+00,  0.00000000e+00,
        1.82992414e-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([-0.145348 , -0.0563147,  0.061526 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.24767815e-06, 4.66087069e-05, 3.38251138e-05,-3.29243155e-06,
 -1.90074159e-04,-4.64748436e-03,-1.74742720e-03,-1.09971099e-03,
  2.77836241e-05,-3.51335664e-05,-3.43561576e-05, 2.16501534e-05,
 -6.12616009e-05,-3.05496371e-05, 7.09093194e-06, 6.28239430e-05,
  6.09528555e-04,-2.52724869e-03,-4.89792196e+00,-4.41601276e-03,
  2.59991915e-03,-3.06234522e-03]


--- Step 1670 ---
qpos:
[ 0.01868053, 0.03001696,-0.00943803,-0.02529096,-0.00775435, 1.01567442,
 -0.05500146, 0.90395363, 0.01156258, 0.02739337,-0.00823185, 0.02648663,
  1.27201151, 0.00750432, 1.23463928, 0.04468353,-0.09507598,-0.06045169,
  0.08874677, 0.6999402 , 0.03490167,-0.70224443,-0.12537282]

qacc:
[ 4.94209978e+00, 1.74717779e+00,-7.16250608e+00, 1.30517603e+01,
 -7.88609666e-01,-4.67851007e+01, 1.33299816e+02,-2.97613223e+02,
 -5.77464676e-02,-5.22447551e-01, 2.56662649e-01, 3.58283692e+00,
 -2.68876400e-01, 1.00141625e-01, 1.26172993e+00,-4.09494548e+00,
  2.32009768e+00,-2.44200625e-01,-2.35554982e+00,-2.11318494e+01,
  8.06312259e+01, 1.91795245e+01]

qfrc_actuator:
[ 1.36839850e-04, 8.87341594e-04, 1.08482743e-04,-2.73653395e-05,
  4.58743265e-03, 1.77780510e-01, 3.66823954e-02, 4.22229104e-02,
 -6.59842664e-05, 7.61024031e-04, 1.35228293e-04, 7.97309748e-05,
  1.06377599e-02,-1.50327580e-03, 0.00000000e+00,-1.33735124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.80453491,  -7.75321166,  -3.80453491,
        41.0601011 , -15.91046995,  -7.75321166, -15.91046995,
        16.44370091,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.009035150256631194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49596349e-15, -6.14391013e-15,  1.00000000e+00,  1.53349754e-29,
        1.00000000e+00,  6.14391013e-15, -1.00000000e+00,  0.00000000e+00,
        2.49596349e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14602614, -0.05624653,  0.06154636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97473269e-05, 2.35591582e-05,-9.72355039e-06, 1.71966942e-05,
 -1.82446800e-04,-4.92914812e-03,-1.75351850e-03,-1.10145982e-03,
 -4.32638060e-07,-3.66468875e-05, 2.63192061e-06, 9.95888988e-06,
 -5.74984358e-05,-2.98898753e-05, 6.07327460e-06,-1.78624435e-05,
  9.05274951e-04,-2.67586876e-03,-4.89760097e+00,-4.95494312e-03,
  2.48944276e-03,-3.12307055e-03]


--- Step 1671 ---
qpos:
[ 0.01868221, 0.03001682,-0.00943921,-0.02529046,-0.00766304, 1.01864183,
 -0.0544539 , 0.90474125, 0.01156304, 0.02739224,-0.00823275, 0.0264871 ,
  1.27229519, 0.0075054 , 1.23478601, 0.04468299,-0.09503517,-0.0605595 ,
  0.08903052, 0.7004024 , 0.03639304,-0.70143308,-0.12690021]

qacc:
[ 2.96761410e+00, 2.78683404e+00,-9.71868771e+00, 1.32263730e+01,
 -9.40738985e-01,-4.30561332e+01, 1.22783709e+02,-2.90298717e+02,
  2.80846935e+00,-2.43041835e-01, 8.48218588e-01, 6.38931619e-03,
 -1.00951527e+00, 1.28778183e+00, 1.27609556e+01,-4.34048025e+01,
 -5.87267957e+00, 5.05346147e-01, 2.26875881e+00, 4.06774006e+01,
 -2.19575179e+02, 1.65617394e+01]

qfrc_actuator:
[ 1.53959738e-04, 9.17327110e-04, 7.70580988e-05,-1.92380553e-05,
  4.46675291e-03, 1.76107114e-01, 3.61116511e-02, 4.13470352e-02,
 -4.90163359e-05, 8.08469780e-04, 1.61324327e-04, 8.67759830e-05,
  1.06213378e-02,-1.47200355e-03, 0.00000000e+00,-1.54658468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008607459480654597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.28983822e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.28983822e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01194338, -0.0729876 ,  0.06156612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79970040e-05, 4.19213413e-05,-2.71514989e-05, 9.13471618e-06,
 -2.17832356e-04,-4.84041142e-03,-1.79071410e-03,-1.10500960e-03,
  1.69367968e-05, 2.79822855e-05, 1.92223673e-05, 5.76398210e-06,
 -5.28749908e-05, 9.32582012e-06,-3.67627937e-06,-2.10467168e-04,
  1.18246528e-03,-2.80463776e-03,-4.89725941e+00,-5.39240371e-03,
  2.40544727e-03,-3.18066043e-03]


--- Step 1672 ---
qpos:
[ 0.01868305, 0.03001665,-0.0094403 ,-0.02528986,-0.00757396, 1.02157607,
 -0.05391897, 0.90551316, 0.01156404, 0.02739167,-0.00823328, 0.02648759,
  1.2725784 , 0.00750681, 1.23493275, 0.04467962,-0.09501457,-0.06066563,
  0.08931627, 0.70059914, 0.0378685 ,-0.70089043,-0.12837222]

qacc:
[-7.21485775e+00,-4.55103223e-02,-3.02517148e-01, 1.98167568e+00,
 -1.04202050e+00,-3.55491730e+01, 9.78679238e+01,-2.49017091e+02,
  4.64549917e+00,-3.05971601e-01, 2.08939486e+00,-2.82699058e+00,
 -8.04478614e-01, 1.03628235e+00, 8.67099526e+00,-3.01114198e+01,
 -5.05166294e+00, 4.23261236e-01, 5.01288051e-01, 3.57276511e+01,
 -1.87198232e+02, 1.30211733e+01]

qfrc_actuator:
[ 1.10091685e-04, 8.99585483e-04, 7.68202113e-05,-1.46575705e-05,
  4.34127876e-03, 1.74665235e-01, 3.55573916e-02, 4.05702092e-02,
 -2.14628469e-05, 8.72796921e-04, 1.94966851e-04, 9.07701481e-05,
  1.06013017e-02,-1.45389613e-03, 0.00000000e+00,-1.68728723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.14052253,  2.88421044,  8.14052253, 11.92660326,
       -9.28651716,  2.88421044, -9.28651716, 34.84703848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008553803325751626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48964550e-15,  1.29792910e-14,  1.00000000e+00, -8.42309973e-29,
        1.00000000e+00, -1.29792910e-14, -1.00000000e+00,  0.00000000e+00,
        6.48964550e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01167124, -0.073003  ,  0.06157126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33267581e-05, 5.02452526e-07, 5.40417278e-06, 5.61458781e-06,
 -2.41638792e-04,-4.56603936e-03,-1.76064170e-03,-1.00420583e-03,
  2.80540088e-05, 8.42504960e-05, 4.20122845e-05, 5.97348847e-06,
 -4.56211465e-05, 8.80359384e-06,-3.02846164e-05,-1.54057971e-04,
  6.11539509e-04,-2.30694409e-03,-4.89873784e+00,-3.97941118e-03,
  2.69348597e-03,-3.19667036e-03]


--- Step 1673 ---
qpos:
[ 0.01868336, 0.03001596,-0.00944055,-0.02528953,-0.00748693, 1.02447834,
 -0.05339637, 0.90627142, 0.01156502, 0.02739097,-0.00823308, 0.02648818,
  1.27286123, 0.007508  , 1.23507902, 0.04467689,-0.09501142,-0.06077034,
  0.089598  , 0.70056883, 0.03933227,-0.70057758,-0.12979732]

qacc:
[-4.52970365e+00,-3.61377613e+00, 1.30656410e+01,-1.88891424e+01,
 -9.49179187e-01,-3.13697444e+01, 8.15900742e+01,-2.11368435e+02,
 -1.57895061e-01,-1.97299506e+00, 6.31682393e+00,-5.47472975e+00,
 -7.77882670e-02,-1.53982612e-01,-2.63161111e+00, 8.20563753e+00,
 -4.36241864e+00, 3.53782427e-01,-1.00606235e+00, 3.13956813e+01,
 -1.59933123e+02, 1.03105346e+01]

qfrc_actuator:
[ 8.39395291e-05, 8.53514244e-04, 1.12564862e-04,-2.99664712e-05,
  4.24945922e-03, 1.73232159e-01, 3.50006875e-02, 3.98935335e-02,
 -2.34101982e-05, 8.22517945e-04, 2.15130570e-04, 9.29633811e-05,
  1.05684582e-02,-1.47929914e-03, 0.00000000e+00,-1.64439253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.75306314,   3.80483756,   7.75306314,
        14.81085457, -12.58167196,   3.80483756, -12.58167196,
        34.27385683,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00841571528354109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29806495e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.29806495e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0112262 , -0.07304616,  0.0615797 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74134195e-05,-4.44341986e-05, 3.67224401e-05,-1.49879948e-05,
 -2.20868629e-04,-4.39500743e-03,-1.70220604e-03,-8.92115964e-04,
 -1.10026819e-06, 5.80717031e-06, 4.29597684e-05, 7.37399612e-06,
 -5.51073863e-05,-3.30264377e-05,-3.44160249e-05, 2.96879020e-05,
  2.23939296e-04,-1.92098818e-03,-4.89961495e+00,-2.80734178e-03,
  2.93375696e-03,-3.21754707e-03]


--- Step 1674 ---
qpos:
[ 0.01868335, 0.03001498,-0.00944039,-0.02528975,-0.00740164, 1.0273512 ,
 -0.05288647, 0.90701585, 0.01156597, 0.02738996,-0.00823272, 0.02648886,
  1.27314349, 0.00750944, 1.23522521, 0.04467363,-0.0950234 ,-0.06087387,
  0.08987059, 0.70034362, 0.04078748,-0.70046155,-0.13118239]

qacc:
[-2.69833028e+00,-2.61130625e+00, 1.10249403e+01,-2.06983900e+01,
 -8.10026541e-01,-2.73502794e+01, 7.28272169e+01,-2.07342068e+02,
 -2.49945058e-01,-6.65313769e-01, 1.40557575e+00, 7.50704041e-02,
 -6.64165145e-01, 7.84478190e-01, 1.53820280e+00,-5.41397838e+00,
 -3.78332928e+00, 2.95130722e-01,-2.28472426e+00, 2.76282659e+01,
 -1.36984649e+02, 8.23692316e+00]

qfrc_actuator:
[ 6.84441090e-05, 8.44220101e-04, 1.33609152e-04,-5.68641566e-05,
  4.17853125e-03, 1.71993942e-01, 3.44472745e-02, 3.92101733e-02,
 -2.49576050e-05, 7.74956739e-04, 2.08960846e-04, 9.39756832e-05,
  1.05439161e-02,-1.45938298e-03, 0.00000000e+00,-1.67120767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.22459649,   4.73201674,   7.22459649,
        18.65795837, -15.30044842,   4.73201674, -15.30044842,
        31.99629067,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.008211179262323086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01406539e-14, -1.35208718e-14,  1.00000000e+00,  1.37110481e-28,
        1.00000000e+00,  1.35208718e-14, -1.00000000e+00,  0.00000000e+00,
        1.01406539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01064798, -0.07311023,  0.06159067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63081747e-05,-2.71817289e-05, 1.58824841e-05,-2.78189959e-05,
 -1.89081140e-04,-4.08925053e-03,-1.65479982e-03,-8.89024657e-04,
 -1.58154010e-06,-3.50995167e-05, 5.81857496e-07, 2.89113613e-06,
 -6.10218260e-05,-2.13688658e-06,-1.45285714e-05,-3.00147310e-05,
 -3.42266329e-05,-1.61969589e-03,-4.90008547e+00,-1.82748468e-03,
  3.13457760e-03,-3.24228302e-03]


--- Step 1675 ---
qpos:
[ 0.01868316, 0.03001418,-0.00944104,-0.02528956,-0.00731781, 1.0301995 ,
 -0.05238965, 0.90774524, 0.01156655, 0.02738897,-0.00823227, 0.02648951,
  1.27342506, 0.00751139, 1.23537106, 0.04467207,-0.09504857,-0.06097642,
  0.09012972, 0.69995039, 0.04223647,-0.70051446,-0.13253306]

qacc:
[  -1.62454464,   3.309395  , -13.13910207,  21.16005191,  -0.68060623,
  -22.02677684,  65.88213216,-219.10302383,  -3.16290756,  -0.28997962,
    1.23022168,  -1.96952896,  -0.71903739,   0.97322405,  -5.5556275 ,
   18.85371751,  -3.29694008,   0.24588003,  -3.36345684,  24.37731253,
 -117.70535387,   6.64910288]

qfrc_actuator:
[ 5.93400315e-05, 8.56955283e-04, 9.26680184e-05,-3.70927280e-05,
  4.12065747e-03, 1.71166926e-01, 3.39366427e-02, 3.84751704e-02,
 -4.40000365e-05, 8.00271466e-04, 2.22777677e-04, 9.42589920e-05,
  1.05137353e-02,-1.43041194e-03, 0.00000000e+00,-1.57916085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.5976784 ,   5.57291814,   6.5976784 ,
        22.81214716, -16.78245732,   5.57291814, -16.78245732,
        28.50481559,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007955333329235675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39557072e-14, -6.97785359e-15,  1.00000000e+00,  9.73808814e-29,
        1.00000000e+00,  6.97785359e-15, -1.00000000e+00,  0.00000000e+00,
        1.39557072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00996859, -0.0731898 ,  0.06160357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58527297e-06,-3.47064129e-07,-4.55507585e-05, 1.86183993e-05,
 -1.59187485e-04,-3.49828061e-03,-1.54595408e-03,-9.29503112e-04,
 -1.91038510e-05, 5.96436172e-06, 6.74541735e-06,-1.14424881e-06,
 -6.22456566e-05, 1.42859077e-05,-1.37166540e-05, 8.77035574e-05,
 -2.02175911e-04,-1.38308996e-03,-4.90028463e+00,-1.00270373e-03,
  3.30255704e-03,-3.27011090e-03]


--- Step 1676 ---
qpos:
[ 0.01868355, 0.03001377,-0.00944236,-0.02528884,-0.00723539, 1.03303096,
 -0.05190646, 0.90845812, 0.01156586, 0.02738835,-0.00823158, 0.02649045,
  1.27370613, 0.00751344, 1.23551646, 0.04467426,-0.09508585,-0.06107693,
  0.09037305, 0.69941024, 0.04365633,-0.70072268,-0.13381767]

qacc:
[ 4.96177241e+00, 3.50066555e+00,-1.40080602e+01, 2.41469210e+01,
 -6.53642953e-01,-1.29117318e+01, 5.15735920e+01,-2.29034063e+02,
 -1.08120493e+01, 4.08606373e-01,-1.94639908e+00, 6.24764604e+00,
 -1.64819504e-01, 1.08759456e-01,-1.20297806e+01, 4.11444750e+01,
 -3.02802689e+00, 5.08423079e-01,-3.95008472e+00, 2.63380579e+01,
 -1.06354782e+02, 2.68692249e+01]

qfrc_actuator:
[ 8.95722732e-05, 9.00322685e-04, 6.88498232e-05,-7.78935198e-06,
  4.05328295e-03, 1.70930832e-01, 3.34748877e-02, 3.76804343e-02,
 -1.08692100e-04, 8.51344713e-04, 2.48583938e-04, 1.11941598e-04,
  1.04855267e-02,-1.43185879e-03, 0.00000000e+00,-1.38229918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.0215068 ,  3.20034459,  8.0215068 , 11.75052986,
       -7.80550494,  3.20034459, -7.80550494, 28.20047906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007680309683935356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.22772304e-15, -2.16831691e-14,  1.00000000e+00,  1.56719941e-28,
        1.00000000e+00,  2.16831691e-14, -1.00000000e+00,  0.00000000e+00,
        7.22772304e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00987538, -0.07757543,  0.0616171 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99570582e-05, 3.45963771e-05,-2.88385816e-05, 2.80784011e-05,
 -1.52793558e-04,-2.55904788e-03,-1.36925906e-03,-9.68354566e-04,
 -6.52524185e-05, 5.57770726e-05, 2.78357222e-05, 1.81499904e-05,
 -5.66453833e-05,-1.19016605e-05, 1.63151142e-07, 1.99276171e-04,
 -3.08158560e-04,-1.19626710e-03,-4.90030584e+00,-3.04033070e-04,
  3.44306918e-03,-3.30043206e-03]


--- Step 1677 ---
qpos:
[ 0.0186836 , 0.03001369,-0.00944369,-0.02528815,-0.00715456, 1.03584976,
 -0.05143582, 0.90915552, 0.01156474, 0.02738811,-0.00823141, 0.02649129,
  1.27398685, 0.00751542, 1.23566189, 0.04467811,-0.0951338 ,-0.06117571,
  0.09059738, 0.69874229, 0.04505174,-0.70106522,-0.13504482]

qacc:
[-2.83725373e+00, 3.83909601e-01,-5.92379480e-01,-2.61732073e-01,
 -7.36230522e-01,-8.57880470e+00, 4.17817263e+01,-2.11027765e+02,
 -3.65672030e+00, 1.81255248e+00,-5.32548889e+00, 4.30434495e+00,
 -1.06743737e-01,-1.13642169e-02,-4.95603705e+00, 1.74064266e+01,
 -2.66645769e+00, 4.34808401e-01,-4.75244792e+00, 2.33563119e+01,
 -9.21243379e+01, 2.30426193e+01]

qfrc_actuator:
[ 7.17026543e-05, 9.26265807e-04, 7.32399071e-05,-8.57490393e-06,
  3.96298189e-03, 1.70696349e-01, 3.29949743e-02, 3.69283451e-02,
 -1.28718801e-04, 8.46516417e-04, 2.10384886e-04, 1.04250364e-04,
  1.04744882e-02,-1.43360821e-03, 0.00000000e+00,-1.30282217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.83147592,   6.37029556,   5.83147592,
        26.73371669, -16.56662199,   6.37029556, -16.56662199,
        23.80172861,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007375111205916496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76341113e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.76341113e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00910925, -0.07770799,  0.06163173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69821555e-05, 4.05727958e-05, 8.97200622e-06, 2.45614984e-07,
 -1.72372620e-04,-2.00301273e-03,-1.18340330e-03,-8.91934574e-04,
 -2.19218752e-05, 3.28777843e-05,-2.26219315e-05,-3.98425677e-06,
 -4.22264409e-05,-1.86386978e-05, 1.90843599e-05, 8.98956083e-05,
 -3.79093595e-04,-9.82798523e-04,-4.90040292e+00, 2.98085074e-04,
  3.58565664e-03,-3.33189238e-03]


--- Step 1678 ---
qpos:
[ 0.0186831 , 0.03001376,-0.00944488,-0.02528781,-0.00707536, 1.03865421,
 -0.05097504, 0.9098389 , 0.01156443, 0.02738766,-0.0082317 , 0.02649177,
  1.27426727, 0.00751714, 1.23580733, 0.04468323,-0.09519121,-0.06127298,
  0.09080002, 0.69796244, 0.04642649,-0.70152455,-0.13622161]

qacc:
[-4.79430768e+00,-8.99738252e-01, 4.99978372e+00,-1.14070409e+01,
 -7.57595372e-01,-1.56534344e+01, 5.90109403e+01,-2.07738036e+02,
  6.83621664e+00, 2.03025938e-01, 4.24217556e-01,-5.95883191e+00,
  2.60884843e-02,-2.93620801e-01,-3.84597612e+00, 1.34668421e+01,
 -2.36411468e+00, 3.74227702e-01,-5.41945552e+00, 2.08482423e+01,
 -8.02933666e+01, 1.99069059e+01]

qfrc_actuator:
[ 4.34034379e-05, 9.23921112e-04, 7.64119345e-05,-2.70530722e-05,
  3.87741900e-03, 1.69986067e-01, 3.25085542e-02, 3.62251662e-02,
 -8.67754769e-05, 7.90224665e-04, 1.69964770e-04, 8.15987917e-05,
  1.04524513e-02,-1.45316869e-03, 0.00000000e+00,-1.23991440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.41860977,   6.72498661,   5.41860977,
        28.49440711, -16.00047623,   6.72498661, -16.00047623,
        21.5286327 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007047055421554989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.87721224e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.87721224e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00829945, -0.07784888,  0.06164718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87787846e-05, 2.22177013e-05, 1.26807938e-05,-1.64235560e-05,
 -1.78257498e-04,-2.13121478e-03,-1.05679858e-03,-8.18360706e-04,
  4.13132106e-05,-4.27562693e-05,-3.65542190e-05,-2.21039357e-05,
 -4.74825232e-05,-3.49617181e-05, 1.43316758e-05, 6.93505865e-05,
 -4.13465720e-04,-8.11407717e-04,-4.90038985e+00, 7.92384405e-04,
  3.69957106e-03,-3.36462831e-03]


--- Step 1679 ---
qpos:
[ 0.01868295, 0.03001392,-0.00944597,-0.02528768,-0.0069978 , 1.04144129,
 -0.05052298, 0.9105095 , 0.01156497, 0.02738722,-0.00823226, 0.02649158,
  1.27454711, 0.00751895, 1.23595279, 0.04468942,-0.09525706,-0.06136896,
  0.09097879, 0.69708372, 0.04778372,-0.70208612,-0.13735384]

qacc:
[   3.03788924,  -0.58207001,   3.12501299,  -6.97905426,  -0.75314091,
  -20.56105656,  67.42090503,-198.06588739,   7.2411246 ,  -0.58920971,
    4.86033418, -15.78601227,  -0.44192623,   0.41394022,  -3.17263335,
   11.19375672,  -2.11223548,   0.32471648,  -5.97029302,  18.76582046,
  -70.51774905,  17.33756687]

qfrc_actuator:
[ 6.24653079e-05, 9.22390925e-04, 7.87049189e-05,-3.80659691e-05,
  3.79538435e-03, 1.68979307e-01, 3.20205519e-02, 3.55738329e-02,
 -4.42132159e-05, 8.10010015e-04, 1.63848468e-04, 5.02881084e-05,
  1.04184992e-02,-1.44767666e-03, 0.00000000e+00,-1.18723284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.2437084 ,   6.86223718,   5.2437084 ,
        29.12149792, -15.653506  ,   6.86223718, -15.653506  ,
        20.59783026,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006704055593976556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.14011716e-15,  1.65604686e-14,  1.00000000e+00, -6.85622804e-29,
        1.00000000e+00, -1.65604686e-14, -1.00000000e+00,  0.00000000e+00,
        4.14011716e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00746148, -0.07799494,  0.06166315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82321331e-05, 1.28116228e-05, 7.88919688e-06,-9.93972631e-06,
 -1.78041687e-04,-2.47076954e-03,-1.06663041e-03,-7.65048104e-04,
  4.37584603e-05,-1.25905040e-05,-2.02099470e-05,-3.48391616e-05,
 -6.60717182e-05,-1.57546751e-05, 1.00457694e-05, 5.74052750e-05,
 -4.23983725e-04,-6.72596308e-04,-4.90030489e+00, 1.20257543e-03,
  3.79052414e-03,-3.39825349e-03]


--- Step 1680 ---
qpos:
[ 0.01868304, 0.0300139 ,-0.00944662,-0.02528767,-0.00692184, 1.04420705,
 -0.05007865, 0.91116711, 0.01156567, 0.02738712,-0.00823368, 0.02649137,
  1.2748265 , 0.00752097, 1.23609846, 0.04469453,-0.09530437,-0.06146653,
  0.09117271, 0.69642699, 0.04910557,-0.70241884,-0.13851304]

qacc:
[   1.98667414,  -1.74459841,   6.38194599,  -9.07287773,  -0.73779624,
  -28.81157755,  88.55200442,-216.34668154,   1.34814858,   2.78156351,
   -9.13571748,   9.70733242,  -0.60129213,   0.72545937,   3.66688775,
  -12.21176142,   4.63552593,  -0.39740399,   3.78987211, -42.81229068,
  154.62018117,  12.79883375]

qfrc_actuator:
[ 7.37492624e-05, 9.03602721e-04, 9.82159546e-05,-4.45983044e-05,
  3.71611602e-03, 1.67696911e-01, 3.15521677e-02, 3.49047018e-02,
 -3.71530442e-05, 8.39809954e-04, 1.25065372e-04, 4.97227326e-05,
  1.04093882e-02,-1.42740582e-03, 0.00000000e+00,-1.24749977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006533247371954237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24835829e-15,  8.49671657e-15,  1.00000000e+00, -3.60970963e-29,
        1.00000000e+00, -8.49671657e-15, -1.00000000e+00,  0.00000000e+00,
        4.24835829e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15021173, -0.05576792,  0.06167179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18203648e-05,-1.04067411e-05, 2.27948689e-05,-5.90335372e-06,
 -1.75315098e-04,-2.93398452e-03,-1.11298743e-03,-7.92443580e-04,
  8.33799098e-06, 1.71315741e-05,-4.50676159e-05,-2.48130356e-06,
 -4.62883645e-05, 1.78382303e-07, 6.45821239e-06,-5.68108686e-05,
 -4.19388703e-04,-5.59072521e-04,-4.90017364e+00, 1.54695991e-03,
  3.86305499e-03,-3.43247725e-03]


--- Step 1681 ---
qpos:
[ 0.01868256, 0.03001349,-0.00944662,-0.02528773,-0.00684728, 1.04694792,
 -0.04964122, 0.91181229, 0.01156576, 0.02738682,-0.00823537, 0.02649083,
  1.2751057 , 0.00752289, 1.23624439, 0.04469687,-0.09533545,-0.06156562,
  0.09137478, 0.69596367, 0.05039688,-0.70255219,-0.13969659]

qacc:
[-4.73032144e+00,-2.46039177e+00, 8.32168969e+00,-1.02300464e+01,
 -6.44212252e-01,-3.47450588e+01, 1.00980472e+02,-2.18110377e+02,
 -5.20473982e+00,-1.67259077e-01, 1.60263634e+00,-6.63774307e+00,
 -2.95606312e-01, 2.27357364e-01, 8.75738296e+00,-3.00258468e+01,
  4.05795248e+00,-3.81787813e-01, 2.03483842e+00,-3.77486650e+01,
  1.34635701e+02, 1.07474853e+01]

qfrc_actuator:
[ 4.48439548e-05, 8.74693889e-04, 1.27666385e-04,-4.84464854e-05,
  3.65688422e-03, 1.66260020e-01, 3.11335367e-02, 3.42657249e-02,
 -6.87987309e-05, 8.04270064e-04, 1.02879894e-04, 3.17363807e-05,
  1.04045397e-02,-1.43393919e-03, 0.00000000e+00,-1.39156687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006423371242790472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32102934e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.32102934e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15041643, -0.05574197,  0.06167798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85644513e-05,-3.02608464e-05, 2.99115313e-05,-3.61907598e-06,
 -1.53967019e-04,-3.35423860e-03,-1.16006310e-03,-7.78653370e-04,
 -3.13953492e-05,-3.53495130e-05,-2.42648310e-05,-1.88561883e-05,
 -2.85807021e-05,-1.72084206e-05,-8.10236631e-06,-1.47487472e-04,
 -3.94814811e-04,-7.58838480e-04,-4.90083811e+00, 6.53965054e-04,
  3.60359342e-03,-3.49178165e-03]


--- Step 1682 ---
qpos:
[ 0.0186814 , 0.03001301,-0.00944662,-0.02528783,-0.00677406, 1.04966148,
 -0.04921079, 0.9124451 , 0.01156581, 0.02738602,-0.00823686, 0.0264894 ,
  1.2753844 , 0.00752484, 1.23639019, 0.04469813,-0.09535222,-0.06166619,
  0.09157907, 0.69566974, 0.05166153,-0.7025107 ,-0.14090215]

qacc:
[-5.89895569e+00,-1.33846027e-01, 5.23459687e-01,-1.15784889e+00,
 -6.16037139e-01,-3.75862884e+01, 1.06254827e+02,-2.20412311e+02,
 -2.87128901e-01,-3.06584529e+00, 1.37428058e+01,-2.91674596e+01,
 -4.93646859e-01, 4.75585032e-01, 3.11922501e+00,-1.10866456e+01,
  3.57838270e+00,-3.67671790e-01, 5.56521383e-01,-3.34885301e+01,
  1.17931262e+02, 9.12647824e+00]

qfrc_actuator:
[ 1.02698952e-05, 8.75496425e-04, 1.27191256e-04,-5.06919646e-05,
  3.59236418e-03, 1.64760285e-01, 3.07292824e-02, 3.36317250e-02,
 -6.97037066e-05, 7.65430124e-04, 1.08156450e-04,-1.41517565e-05,
  1.03649607e-02,-1.43855402e-03, 0.00000000e+00,-1.44178146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006267808849971308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42827410e-15,  8.85654821e-15,  1.00000000e+00,  3.92192231e-29,
        1.00000000e+00, -8.85654821e-15, -1.00000000e+00,  0.00000000e+00,
       -4.42827410e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15068609, -0.05570778,  0.06168612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54166946e-05,-1.00898311e-05,-3.15979647e-06,-2.57437250e-06,
 -1.47867637e-04,-3.65781429e-03,-1.23290479e-03,-7.87760944e-04,
 -1.83807755e-06,-6.44068427e-05,-5.64074840e-06,-4.86026051e-05,
 -5.88956739e-05,-1.58478932e-05,-2.41520746e-05,-6.03976971e-05,
 -3.16735442e-04,-9.34876238e-04,-4.90122055e+00,-1.01517651e-04,
  3.38586154e-03,-3.54774136e-03]


--- Step 1683 ---
qpos:
[ 0.01867984, 0.03001234,-0.00944658,-0.02528795,-0.00670235, 1.05234553,
 -0.04878813, 0.91306569, 0.0115662 , 0.02738479,-0.00823861, 0.02648814,
  1.27566261, 0.00752678, 1.23653601, 0.0446974 ,-0.09535626,-0.06176817,
  0.09178062, 0.69552504, 0.05290269,-0.70231471,-0.14212767]

qacc:
[  -3.4760623 ,  -0.41426582,   1.18028386,  -1.38242357,  -0.68638272,
  -38.11385097, 104.03719725,-214.9262136 ,   2.84067059,   0.5449331 ,
   -3.51255296,   7.30450475,  -0.53725595,   0.48514514,   6.09107824,
  -21.1541869 ,   3.18070462,  -0.35490778,  -0.68407668, -29.91798805,
  103.98482908,   7.83664874]

qfrc_actuator:
[-9.59780188e-06, 8.58461745e-04, 1.26916624e-04,-5.19756034e-05,
  3.50742182e-03, 1.63146456e-01, 3.02832519e-02, 3.30056306e-02,
 -5.24945555e-05, 7.42748607e-04, 9.40442885e-05,-5.07004004e-06,
  1.03365321e-02,-1.44213387e-03, 0.00000000e+00,-1.54277752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006077091898768219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13449264e-15,  9.13449264e-15,  1.00000000e+00, -8.34389558e-29,
        1.00000000e+00, -9.13449264e-15, -1.00000000e+00,  0.00000000e+00,
        9.13449264e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15100505, -0.055667  ,  0.06169576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09014230e-05,-2.34305701e-05,-2.82819622e-06,-1.87207114e-06,
 -1.65118462e-04,-3.95379281e-03,-1.34258229e-03,-7.91576600e-04,
  1.71307604e-05,-6.18971105e-05,-2.97627041e-05, 5.18894950e-06,
 -6.28809852e-05,-2.15858387e-05,-2.10362338e-05,-1.08179027e-04,
 -2.04906731e-04,-1.09166426e-03,-4.90140576e+00,-7.47298550e-04,
  3.20207996e-03,-3.60099160e-03]


--- Step 1684 ---
qpos:
[ 0.01867873, 0.03001155,-0.00944685,-0.02528806,-0.00663201, 1.05499786,
 -0.04837352, 0.91367529, 0.0115661 , 0.02738278,-0.00824012, 0.02648736,
  1.27594027, 0.00752892, 1.23668179, 0.04469477,-0.0953489 ,-0.06187153,
  0.09197529, 0.6955127 , 0.05412291,-0.70198109,-0.14337135]

qacc:
[   3.96526604,   0.70760377,  -2.74757247,   3.33402888,  -0.62347754,
  -38.30775283,  98.51400706,-194.4831602 ,  -4.1256358 ,  -0.73100076,
   -0.86320826,   9.21233522,  -0.69910593,   0.79868922,   5.76129788,
  -20.08416352,   2.8516166 ,  -0.3433998 ,  -1.72097424, -26.94155673,
   92.36752914,   6.79998736]

qfrc_actuator:
[ 1.48566935e-05, 8.48626433e-04, 1.08954004e-04,-5.26912415e-05,
  3.44642460e-03, 1.61441798e-01, 2.98334872e-02, 3.24423152e-02,
 -7.80289820e-05, 6.94382468e-04, 1.04194438e-04, 1.85291179e-05,
  1.03148123e-02,-1.42729472e-03, 0.00000000e+00,-1.63739680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -1.32602171,  -8.53395824,  -1.32602171,
        92.62295462, -13.04998687,  -8.53395824, -13.04998687,
        10.66409396,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0058600153680045675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.47286786e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.47286786e-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([-0.15136048, -0.05562103,  0.06170649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38395969e-05,-2.35798332e-05,-2.32047976e-05,-1.85026732e-06,
 -1.50649608e-04,-4.22933913e-03,-1.41675773e-03,-7.41234729e-04,
 -2.50590912e-05,-8.88299324e-05,-6.08450374e-06, 2.00266177e-05,
 -5.96521829e-05,-5.70938132e-06,-2.53375112e-05,-1.04152335e-04,
 -7.22316788e-05,-1.23280129e-03,-4.90145330e+00,-1.30496845e-03,
  3.04609154e-03,-3.65202676e-03]


--- Step 1685 ---
qpos:
[ 0.01867862, 0.03001096,-0.00944748,-0.02528856,-0.00656282, 1.05762011,
 -0.04796745, 0.91427263, 0.01156535, 0.02738045,-0.00824167, 0.02648683,
  1.27621732, 0.00753126, 1.23682692, 0.04469502,-0.09533122,-0.06197622,
  0.09215962, 0.69561862, 0.05532427,-0.70152379,-0.1446317 ]

qacc:
[ 8.48637714e+00, 4.37241360e-01, 4.32435935e-01,-6.71122161e+00,
 -5.28264376e-01,-3.69003299e+01, 9.92065490e+01,-2.10750052e+02,
 -5.54592549e+00, 2.01582184e-01,-2.40004633e+00, 7.04431434e+00,
 -3.71051645e-01, 3.91377799e-01,-9.60171154e+00, 3.22776241e+01,
  2.58006449e+00,-3.33087627e-01,-2.58377726e+00,-2.44782410e+01,
  8.27232286e+01, 5.95516013e+00]

qfrc_actuator:
[ 6.51980482e-05, 8.78610740e-04, 9.84685389e-05,-7.08275195e-05,
  3.40026019e-03, 1.60087209e-01, 2.94558665e-02, 3.18315881e-02,
 -1.10771261e-04, 7.02134678e-04, 1.10741060e-04, 3.27182999e-05,
  1.02811624e-02,-1.41936055e-03, 0.00000000e+00,-1.47894405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -1.46812744,  -8.51066265,  -1.46812744,
        85.97275038, -13.34087323,  -8.51066265, -13.34087323,
        10.93772404,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005623900616290672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93528914e-15,  9.87057827e-15,  1.00000000e+00, -4.87141577e-29,
        1.00000000e+00, -9.87057827e-15, -1.00000000e+00,  0.00000000e+00,
        4.93528914e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15174193, -0.05557108,  0.061718  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10315792e-05, 1.19705419e-05,-1.82646936e-05,-1.99828735e-05,
 -1.28096683e-04,-4.04392521e-03,-1.40535541e-03,-7.98152919e-04,
 -3.35160076e-05,-4.22377964e-05,-1.18152315e-05, 1.05722984e-05,
 -6.62447857e-05,-7.28077612e-06,-2.66834065e-05, 1.48643152e-04,
  7.30255873e-05,-1.36123552e-03,-4.90140481e+00,-1.79154278e-03,
  2.91295358e-03,-3.70123721e-03]


--- Step 1686 ---
qpos:
[ 0.01867877, 0.0300105 ,-0.00944799,-0.02528896,-0.00649476, 1.06021517,
 -0.0475704 , 0.91485714, 0.0115649 , 0.02737857,-0.00824408, 0.02648642,
  1.27649396, 0.00753321, 1.23697212, 0.04469509,-0.09530411,-0.06208221,
  0.09233076, 0.69583112, 0.05650845,-0.70095424,-0.1459075 ]

qacc:
[ 2.23244175e+00, 6.79088418e-02,-4.65526798e-01, 2.07030180e+00,
 -5.12687489e-01,-3.28150231e+01, 9.17197497e+01,-2.13138699e+02,
  2.53942026e+00, 3.25924690e+00,-1.12930237e+01, 1.45552500e+01,
 -8.49370142e-02,-2.67562392e-01, 5.98253862e-01,-1.97160303e+00,
  2.35680486e+00,-3.23931997e-01,-3.29819494e+00,-2.24586687e+01,
  7.47535040e+01, 5.25403074e+00]

qfrc_actuator:
[ 7.71006719e-05, 8.96717449e-04, 1.10392939e-04,-6.35214837e-05,
  3.34558242e-03, 1.58971457e-01, 2.90897381e-02, 3.11980536e-02,
 -9.42214883e-05, 7.61177928e-04, 7.98081889e-05, 4.12936525e-05,
  1.02510319e-02,-1.45116775e-03, 0.00000000e+00,-1.49220636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -1.36318497,  -8.52810082,  -1.36318497,
        82.66102539, -11.83256491,  -8.52810082, -11.83256491,
        10.52775482,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005374817788510643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16400308e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.16400308e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1521408 , -0.05551816,  0.06173003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33979443e-05, 2.02204837e-05, 1.14691984e-05, 6.79922429e-06,
 -1.24449850e-04,-3.70112015e-03,-1.35748568e-03,-8.16091569e-04,
  1.55441151e-05, 3.35258961e-05,-4.06999491e-05, 6.57333947e-06,
 -6.57005556e-05,-4.93767679e-05, 2.09395475e-06,-8.87318174e-06,
  2.25754410e-04,-1.47942667e-03,-4.90128913e+00,-2.22061289e-03,
  2.79864890e-03,-3.74893531e-03]


--- Step 1687 ---
qpos:
[ 0.01867837, 0.03001017,-0.0094484 ,-0.02528857,-0.00642817, 1.06278366,
 -0.0471822 , 0.91542951, 0.011565  , 0.02737662,-0.00824587, 0.02648609,
  1.27676981, 0.00753558, 1.23711748, 0.04469366,-0.0952949 ,-0.06218485,
  0.09249338, 0.69584121, 0.05768246,-0.70059723,-0.14710968]

qacc:
[  -4.6946373 ,   1.51574131,  -8.42708095,  21.65601514,  -0.67045912,
  -31.32664165,  86.31933135,-200.68552393,   4.68216481,  -1.69343174,
    5.6023014 ,  -5.32529621,  -1.02703848,   1.2663328 ,   4.86245385,
  -16.42899125,  -4.47437415,   0.83714618,  -2.13054122,  43.49162525,
 -143.54619982,  20.41529781]

qfrc_actuator:
[ 4.85218665e-05, 9.07691263e-04, 1.17684181e-04,-2.35391911e-05,
  3.25072085e-03, 1.57741866e-01, 2.86811514e-02, 3.05918318e-02,
 -6.65408633e-05, 7.61575254e-04, 1.15983534e-04, 4.65233642e-05,
  1.02176911e-02,-1.41753701e-03, 0.00000000e+00,-1.57110096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005291969615888938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57345436e-14, -7.86727182e-15,  1.00000000e+00,  1.23787932e-28,
        1.00000000e+00,  7.86727182e-15, -1.00000000e+00,  0.00000000e+00,
        1.57345436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00369763, -0.07862574,  0.06173476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81800416e-05, 2.49685376e-05, 1.31268085e-05, 4.13797024e-05,
 -1.62721138e-04,-3.61549608e-03,-1.32735405e-03,-7.77068997e-04,
  2.81405592e-05, 1.11208226e-05, 3.83649765e-05, 5.39583641e-06,
 -7.85772089e-05, 4.13488907e-06,-4.18285770e-06,-8.00531880e-05,
  3.82991607e-04,-1.58946120e-03,-4.90112599e+00,-2.60316356e-03,
  2.69987823e-03,-3.79537400e-03]


--- Step 1688 ---
qpos:
[ 0.01867763, 0.03001014,-0.00944878,-0.02528773,-0.00636312, 1.06532633,
 -0.04680213, 0.91599114, 0.01156543, 0.02737477,-0.00824697, 0.02648579,
  1.27704494, 0.00753854, 1.23726238, 0.04469465,-0.09530148,-0.0622846 ,
  0.09264372, 0.69567379, 0.05884829,-0.70042672,-0.14824731]

qacc:
[  -2.91715705,   1.27328906,  -5.8790298 ,  13.52513841,  -0.70503104,
  -29.93097404,  79.86816959,-178.84219258,   2.84419205,  -1.71044198,
    6.10185712,  -6.56407878,  -0.75010814,   1.04876794,  -7.89169858,
   26.79762879,  -3.94980553,   0.72203783,  -3.07098575,  38.59861622,
 -125.81234018,  17.64465832]

qfrc_actuator:
[ 3.18627898e-05, 9.32082289e-04, 1.22164869e-04,-1.72541264e-07,
  3.16805012e-03, 1.56578498e-01, 2.83215376e-02, 3.00597011e-02,
 -5.02997319e-05, 7.80382977e-04, 1.55781341e-04, 4.97529430e-05,
  1.01931241e-02,-1.38081227e-03, 0.00000000e+00,-1.43944456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.86572948,   5.239135  ,   6.86572948,
        26.28253358, -23.12477714,   5.239135  , -23.12477714,
        38.9406914 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005226072209454938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59329461e-14, -1.06219641e-14,  1.00000000e+00,  1.69239181e-28,
        1.00000000e+00,  1.06219641e-14, -1.00000000e+00,  0.00000000e+00,
        1.59329461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00349201, -0.07865723,  0.06173867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74723454e-05, 4.28433195e-05, 1.26952556e-05, 2.56976736e-05,
 -1.71465584e-04,-3.49391788e-03,-1.25664603e-03,-6.98471686e-04,
  1.70595793e-05, 3.32847495e-05, 4.70504012e-05, 5.14653553e-06,
 -6.40631406e-05, 1.96621135e-05,-1.56453884e-05, 1.25604993e-04,
  1.02241189e-04,-1.32797551e-03,-4.90164347e+00,-1.85728802e-03,
  2.93722846e-03,-3.81706484e-03]


--- Step 1689 ---
qpos:
[ 0.0186767 , 0.03001043,-0.00944909,-0.02528696,-0.00629944, 1.06784403,
 -0.04642978, 0.91654198, 0.01156605, 0.02737341,-0.00824885, 0.02648594,
  1.27731965, 0.0075412 , 1.23740744, 0.04469482,-0.09532211,-0.06238184,
  0.09277858, 0.69534962, 0.06000753,-0.70042071,-0.14932795]

qacc:
[-1.67003042e+00, 5.19501369e-02, 7.46361784e-01,-2.42835726e+00,
 -6.17197698e-01,-3.00292269e+01, 8.16369964e+01,-1.81581209e+02,
  1.60222776e+00, 3.72473318e+00,-1.42190571e+01, 2.27191205e+01,
 -2.06132112e-01,-6.76201997e-02, 2.70434339e+00,-9.09502513e+00,
 -3.50957019e+00, 6.26435029e-01,-3.86784861e+00, 3.44696108e+01,
 -1.10920676e+02, 1.53545979e+01]

qfrc_actuator:
[ 2.23666976e-05, 9.46546018e-04, 1.24990402e-04,-4.51777386e-06,
  3.11111227e-03, 1.55446982e-01, 2.79763688e-02, 2.95222097e-02,
 -4.09255344e-05, 7.92350615e-04, 1.08679300e-04, 6.95370752e-05,
  1.01578667e-02,-1.41356960e-03, 0.00000000e+00,-1.48655954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.50627098,   5.67936746,   6.50627098,
        29.42892985, -23.81991854,   5.67936746, -23.81991854,
        35.9244104 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005115321667174384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06947658e-15, -1.08519375e-14,  1.00000000e+00,  4.41617056e-29,
        1.00000000e+00,  1.08519375e-14, -1.00000000e+00,  0.00000000e+00,
        4.06947658e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00318888, -0.07870546,  0.06174445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.99153078e-06, 4.21433270e-05, 1.41311461e-05,-1.57136207e-06,
 -1.50607444e-04,-3.37759551e-03,-1.20760871e-03,-6.96114430e-04,
  9.87641451e-06, 4.06079777e-05,-3.42184128e-05, 2.29452738e-05,
 -6.32423960e-05,-4.21529256e-05, 3.73019468e-06,-4.27878926e-05,
 -9.01752537e-05,-1.11207917e-03,-4.90192308e+00,-1.23052332e-03,
  3.13421891e-03,-3.84055743e-03]


--- Step 1690 ---
qpos:
[ 0.01867566, 0.03001105,-0.00944964,-0.02528623,-0.00623735, 1.07033687,
 -0.0460651 , 0.91708179, 0.01156678, 0.0273723 ,-0.00825126, 0.02648702,
  1.27759372, 0.00754359, 1.23755292, 0.04469109,-0.09535529,-0.0624769 ,
  0.09289528, 0.69488604, 0.06116147,-0.70056061,-0.15035788]

qacc:
[  -0.92895142,   1.03484536,  -2.89342429,   2.37799876,  -0.72328965,
  -30.36887671,  83.42757707,-185.98606793,   0.90011921,   3.72622911,
  -16.74206821,  33.60067166,  -0.65574813,   0.43430038,  12.49282813,
  -42.67392533,  -3.13989918,   0.54705588,  -4.54086263,  30.99825984,
  -98.43162661,  13.45684796]

qfrc_actuator:
[ 1.71589686e-05, 9.54920816e-04, 1.09012118e-04,-7.38573970e-06,
  3.01678490e-03, 1.54255300e-01, 2.76072027e-02, 2.89680986e-02,
 -3.56643435e-05, 7.99791289e-04, 8.16420154e-05, 1.16591626e-04,
  1.01108680e-02,-1.43410443e-03, 0.00000000e+00,-1.69193608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.26513255,   5.94431585,   6.26513255,
        31.47453917, -24.07075946,   5.94431585, -24.07075946,
        34.00622999,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004969601187580011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58507103e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.58507103e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00281087, -0.07876632,  0.06175165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48541363e-06, 3.47831490e-05,-5.58832989e-06,-6.06376495e-07,
 -1.76712193e-04,-3.36290834e-03,-1.20280208e-03,-7.07573801e-04,
  5.55886302e-06, 2.41406223e-05,-2.20319060e-05, 4.80639814e-05,
 -8.93480316e-05,-4.73640540e-05,-7.47695156e-06,-2.08277071e-04,
 -2.18391392e-04,-9.32504239e-04,-4.90203492e+00,-6.98607018e-04,
  3.29843329e-03,-3.86541208e-03]


--- Step 1691 ---
qpos:
[ 0.01867491, 0.03001202,-0.00945096,-0.02528551,-0.00617669, 1.07280562,
 -0.04570829, 0.91761042, 0.01156791, 0.02737125,-0.00825328, 0.02648759,
  1.27786724, 0.00754569, 1.23769794, 0.04468827,-0.09539979,-0.06257003,
  0.09299156, 0.69429747, 0.06231119,-0.70083082,-0.1513423 ]

qacc:
[ 2.46103351e+00, 2.59385660e+00,-8.53557981e+00, 9.37822403e+00,
 -6.50986916e-01,-2.91702573e+01, 8.10563129e+01,-1.86301953e+02,
  3.44199342e+00,-2.06035850e+00, 9.63122874e+00,-1.92205245e+01,
 -1.41137772e-01,-1.84513755e-01,-3.45013290e+00, 1.10835988e+01,
 -2.82942717e+00, 4.81194149e-01,-5.10734170e+00, 2.80947713e+01,
 -8.79805178e+01, 1.18795532e+01]

qfrc_actuator:
[ 3.22670735e-05, 9.59500713e-04, 6.42850626e-05,-9.37554510e-06,
  2.95405886e-03, 1.53143903e-01, 2.72444445e-02, 2.84085685e-02,
 -1.51112290e-05, 8.04540955e-04, 1.02197976e-04, 9.05714512e-05,
  1.00888140e-02,-1.44722679e-03, 0.00000000e+00,-1.63379771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.19383756,   6.01856736,   6.19383756,
        32.29915015, -24.35188428,   6.01856736, -24.35188428,
        33.6974133 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004797196868781488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.78579041e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.78579041e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0023764 , -0.07883655,  0.06175992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49591166e-05, 2.28339639e-05,-3.82535332e-05,-7.07077158e-07,
 -1.59483084e-04,-3.27318882e-03,-1.19301583e-03,-7.12601888e-04,
  2.07175104e-05, 1.58280063e-05, 2.45311025e-05,-2.48072375e-05,
 -7.96306794e-05,-4.72915896e-05,-3.16619627e-05, 4.44639131e-05,
 -3.00106188e-04,-7.81971905e-04,-4.90202849e+00,-2.42652159e-04,
  3.43587036e-03,-3.89129204e-03]


--- Step 1692 ---
qpos:
[ 0.01867434, 0.03001334,-0.00945282,-0.02528518,-0.00611736, 1.07525192,
 -0.04536023, 0.91812784, 0.01156963, 0.02736967,-0.00825419, 0.02648786,
  1.27814051, 0.0075472 , 1.23784283, 0.04468544,-0.09545457,-0.06266146,
  0.0930655 , 0.69359588, 0.0634576 ,-0.70121824,-0.1522855 ]

qacc:
[   1.58067259,   1.16551072,  -1.87311063,  -4.20563101,  -0.60505211,
  -24.69481394,  69.08193395,-177.22755662,   5.01533748,  -4.41357525,
   15.91077133, -22.27601355,   0.18828467,  -0.66259871,  -0.18705404,
    0.3083392 ,  -2.5686892 ,   0.42660056,  -5.58243833,  25.68251749,
  -79.26196409,  10.56398819]

qfrc_actuator:
[ 4.14577174e-05, 9.79394654e-04, 3.84339125e-05,-2.86068377e-05,
  2.89302025e-03, 1.52160867e-01, 2.68532765e-02, 2.78503584e-02,
  1.42796036e-05, 7.54516375e-04, 1.50616285e-04, 7.50436295e-05,
  1.00870677e-02,-1.47350869e-03, 0.00000000e+00,-1.63384204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.33145359,   5.87362514,   6.33145359,
        31.68285473, -24.84288417,   5.87362514, -24.84288417,
        35.41566341,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004605037801065824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02721993e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.02721993e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00190052, -0.07891347,  0.06176897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.63417113e-06, 2.47175362e-05,-2.58684634e-05,-1.95922540e-05,
 -1.48471755e-04,-3.09268785e-03,-1.20256550e-03,-7.08279261e-04,
  2.99980326e-05,-3.70981676e-05, 5.38859152e-05,-1.44785753e-05,
 -5.39671594e-05,-5.83011726e-05,-1.19331157e-05,-2.12642398e-06,
 -3.48251979e-04,-6.54736037e-04,-4.90193851e+00, 1.52207143e-04,
  3.55132450e-03,-3.91793629e-03]


--- Step 1693 ---
qpos:
[ 0.01867424, 0.03001466,-0.00945459,-0.02528507,-0.00605946, 1.07767737,
 -0.04502104, 0.9186355 , 0.0115703 , 0.02736776,-0.00825456, 0.02648865,
  1.27841338, 0.00754837, 1.23798759, 0.04468294,-0.09549056,-0.06275517,
  0.09315041, 0.69310057, 0.06458989,-0.70138778,-0.15328057]

qacc:
[ 3.94554804e+00,-7.20113426e-01, 3.53468021e+00,-7.67540219e+00,
 -6.46464141e-01,-1.98102885e+01, 5.25145526e+01,-1.46807401e+02,
 -8.84887543e+00,-8.84779051e-01, 3.92093788e-01, 7.83814571e+00,
 -5.93612468e-02,-2.67134093e-01,-1.20897785e+00, 3.93966050e+00,
  4.69765348e+00,-5.71986574e-01, 2.74381930e+00,-4.62155665e+01,
  1.45167662e+02,-4.24121548e+00]

qfrc_actuator:
[ 6.48378215e-05, 9.72846175e-04, 4.17443248e-05,-4.00470806e-05,
  2.81571435e-03, 1.51280591e-01, 2.64668412e-02, 2.73684490e-02,
 -4.01315069e-05, 7.43210830e-04, 1.79367650e-04, 1.01295680e-04,
  1.00655441e-02,-1.48953636e-03, 0.00000000e+00,-1.61497786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00454774085188616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67013111e-15, -1.22063136e-14,  1.00000000e+00, -3.25924578e-29,
        1.00000000e+00,  1.22063136e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67013111e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15353292, -0.05533985,  0.06177193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36689633e-05, 1.07015287e-06, 4.55732592e-06,-1.16583246e-05,
 -1.58794255e-04,-2.89106682e-03,-1.16309394e-03,-6.26528340e-04,
 -5.35527288e-05,-2.14572924e-05, 2.72535024e-05, 2.62490113e-05,
 -6.30788564e-05,-4.52186620e-05,-8.82560486e-06, 1.65212708e-05,
 -3.72239939e-04,-5.46238385e-04,-4.90178918e+00, 4.97789982e-04,
  3.64866270e-03,-3.94514015e-03]


--- Step 1694 ---
qpos:
[ 0.01867407, 0.03001585,-0.009456  ,-0.02528477,-0.00600296, 1.08008933,
 -0.04469259, 0.91913359, 0.01157032, 0.02736585,-0.00825464, 0.02648903,
  1.27868549, 0.00754966, 1.23813229, 0.04468068,-0.0955099 ,-0.06285103,
  0.09324049, 0.69278746, 0.06570977,-0.70136476,-0.15432188]

qacc:
[  -0.53090595,  -0.78259852,   1.69335959,   1.32425912,  -0.63592712,
   -4.86260628,  14.96006557,-116.6605942 ,  -5.60521764,  -1.60743705,
    7.47968079, -14.99317183,  -0.66758703,   0.65407792,  -0.7327432 ,
    2.55318691,   4.16163238,  -0.53771362,   1.29040403, -41.16408017,
  128.17941541,  -3.92625984]

qfrc_actuator:
[ 6.08788815e-05, 9.68389334e-04, 6.21427772e-05,-2.90598689e-05,
  2.74702563e-03, 1.51143956e-01, 2.61223895e-02, 2.69176038e-02,
 -7.24241653e-05, 7.55138106e-04, 1.96435444e-04, 8.09172342e-05,
  1.00215253e-02,-1.48165807e-03, 0.00000000e+00,-1.60286233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004513065567653643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92189040e-15, -1.23000985e-14,  1.00000000e+00,  2.36394413e-29,
        1.00000000e+00,  1.23000985e-14, -1.00000000e+00,  0.00000000e+00,
        1.92189040e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15359977, -0.05533293,  0.06177394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27096966e-06,-3.43496719e-06, 2.07816594e-05, 1.09635012e-05,
 -1.55921539e-04,-2.02483111e-03,-1.07434296e-03,-5.86147156e-04,
 -3.38773851e-05, 6.73777922e-06, 1.69282045e-05,-1.98384609e-05,
 -8.70214753e-05,-1.97564919e-05,-5.63917775e-06, 1.11472892e-05,
 -3.18852989e-04,-7.38582326e-04,-4.90212898e+00,-1.84980434e-04,
  3.42165528e-03,-3.99340209e-03]


--- Step 1695 ---
qpos:
[ 0.01867386, 0.03001699,-0.00945659,-0.02528437,-0.00594795, 1.0824965 ,
 -0.04437589, 0.91962135, 0.01157132, 0.02736426,-0.00825493, 0.02648916,
  1.27895689, 0.00755125, 1.23827688, 0.0446789 ,-0.09551438,-0.06294893,
  0.09333082, 0.69263623, 0.06681855,-0.70117024,-0.1554047 ]

qacc:
[-3.69828101e-01,-2.14322445e+00, 7.14690053e+00,-6.82971999e+00,
 -6.79961199e-01, 7.94016166e+00,-1.13551161e+01,-1.08539811e+02,
  8.44080077e+00, 4.62729931e-01,-1.22193053e-02,-4.22249323e+00,
 -7.17685016e-01, 8.31087602e-01,-1.54902633e+00, 5.35747955e+00,
  3.71438579e+00,-5.08194804e-01, 6.21511368e-02,-3.69440020e+01,
  1.13958773e+02,-3.62973353e+00]

qfrc_actuator:
[ 5.86083536e-05, 9.83065855e-04, 1.10225794e-04,-2.27119808e-05,
  2.66629830e-03, 1.51561005e-01, 2.57730302e-02, 2.64358459e-02,
 -2.04011671e-05, 7.80804041e-04, 1.88786760e-04, 6.87808690e-05,
  9.99601069e-03,-1.45977348e-03, 0.00000000e+00,-1.57707063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004437264635728619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95472168e-15, -1.25102187e-14,  1.00000000e+00,  2.44539958e-29,
        1.00000000e+00,  1.25102187e-14, -1.00000000e+00,  0.00000000e+00,
        1.95472168e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15372777, -0.05531642,  0.0617778 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37073084e-06, 1.74891492e-05, 5.03144582e-05, 7.13327125e-06,
 -1.66431199e-04,-9.72363584e-04,-8.97679157e-04,-5.86733501e-04,
  5.10270446e-05, 3.21375781e-05,-4.83454420e-06,-1.16429980e-05,
 -7.46744818e-05,-4.12021539e-06,-5.55142563e-06, 2.47778503e-05,
 -2.15628349e-04,-9.17621560e-04,-4.90225353e+00,-7.91428181e-04,
  3.22358316e-03,-4.04031090e-03]


--- Step 1696 ---
qpos:
[ 0.01867466, 0.03001814,-0.00945633,-0.02528392,-0.00589423, 1.08490184,
 -0.044068  , 0.92009845, 0.0115726 , 0.02736333,-0.0082558 , 0.02648947,
  1.27922772, 0.00755346, 1.2384212 , 0.0446791 ,-0.0955055 ,-0.06304876,
  0.09341725, 0.69262981, 0.0679173 ,-0.70082173,-0.15652502]

qacc:
[   8.67820379,  -2.29644521,   7.94038382,  -8.29071536,  -0.58425204,
    3.44347723,   8.74864692,-131.67688869,   2.28143488,   2.84568255,
   -9.65395503,  13.21208198,  -0.69044699,   1.0472566 ,  -6.32931186,
   21.72005539,   3.34131987,  -0.48276621,  -0.97308429, -33.42793638,
  102.06264247,  -3.36499848]

qfrc_actuator:
[ 1.10616799e-04, 9.91454204e-04, 1.56584370e-04,-1.91156457e-05,
  2.61450680e-03, 1.51809885e-01, 2.54615296e-02, 2.59223824e-02,
 -7.93699119e-06, 8.32156910e-04, 1.66687278e-04, 7.93509295e-05,
  9.99227334e-03,-1.41194898e-03, 0.00000000e+00,-1.47241055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004329182084878348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16204354e-14, -1.28225494e-14,  1.00000000e+00,  1.49003607e-28,
        1.00000000e+00,  1.28225494e-14, -1.00000000e+00,  0.00000000e+00,
        1.16204354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15390329, -0.0552922 ,  0.0617831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19400883e-05, 2.88300274e-05, 5.64074066e-05, 6.22286235e-06,
 -1.43309075e-04,-5.22824114e-04,-6.32939914e-04,-5.80754298e-04,
  1.39655438e-05, 6.79084672e-05,-1.64386421e-05, 1.15553923e-05,
 -4.28707565e-05, 2.91953745e-05,-3.85503739e-06, 1.04443981e-04,
 -7.93195900e-05,-1.08502298e-03,-4.90222621e+00,-1.33387084e-03,
  3.05004919e-03,-4.08607859e-03]


--- Step 1697 ---
qpos:
[ 0.01867538, 0.03001939,-0.00945604,-0.02528338,-0.00584151, 1.08730464,
 -0.04376638, 0.92056602, 0.01157333, 0.02736268,-0.00825624, 0.02648954,
  1.27949815, 0.00755596, 1.23856575, 0.04467819,-0.09548449,-0.06315043,
  0.09349632, 0.69275383, 0.06900685,-0.70033375,-0.15767952]

qacc:
[  -0.61944549,   0.26766075,  -1.11369866,   2.50312199,  -0.45866891,
   -2.52011415,  24.69136158,-132.0237274 ,  -4.67876347,  -1.30855853,
    6.25980632, -11.38854193,  -0.60905353,   0.79123689,   3.74866149,
  -12.49138077,   3.03032108,  -0.46089403,  -1.84315801, -30.51060107,
   92.12662166,  -3.14122586]

qfrc_actuator:
[ 1.05393422e-04, 9.78265694e-04, 1.48267637e-04,-1.71745445e-05,
  2.58046545e-03, 1.51743781e-01, 2.51745189e-02, 2.54476047e-02,
 -3.66371477e-05, 8.45195210e-04, 1.89626355e-04, 6.77082965e-05,
  9.96965983e-03,-1.40226337e-03, 0.00000000e+00,-1.53515266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004196223228221364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37421485e-15, -1.32288366e-14,  1.00000000e+00,  7.10946099e-29,
        1.00000000e+00,  1.32288366e-14, -1.00000000e+00,  0.00000000e+00,
        5.37421485e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15411518, -0.0552619 ,  0.0617895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70639724e-06, 1.48192053e-05, 4.77963011e-06, 5.24170520e-06,
 -1.12905992e-04,-5.36441237e-04,-4.89690313e-04,-5.20271574e-04,
 -2.82709783e-05, 4.81648832e-05, 3.53627586e-05,-9.07338961e-06,
 -3.74078812e-05, 7.98988467e-06, 6.34856035e-06,-5.81904410e-05,
  7.90203138e-05,-1.24242675e-03,-4.90209160e+00,-1.82264024e-03,
  2.89733743e-03,-4.13088384e-03]


--- Step 1698 ---
qpos:
[ 0.01867535, 0.03002042,-0.00945595,-0.02528276,-0.00578972, 1.0897006 ,
 -0.04346918, 0.92102391, 0.01157336, 0.02736224,-0.00825658, 0.02648881,
  1.27976825, 0.00755817, 1.23871039, 0.04467587,-0.09548231,-0.06324904,
  0.09356661, 0.69267247, 0.07009808,-0.70005997,-0.15876757]

qacc:
[-6.49625699e+00, 4.12009909e-01,-2.21000955e+00, 4.00684865e+00,
 -4.16209165e-01,-1.32987523e+01, 5.33096264e+01,-1.55478751e+02,
 -5.92574961e+00,-1.64488585e+00, 9.64395460e+00,-2.37791975e+01,
 -1.74537409e-01,-6.86151483e-02, 4.39201667e+00,-1.51474802e+01,
 -4.70561533e+00, 7.64567714e-01,-2.19325439e+00, 4.78235992e+01,
 -1.43684709e+02, 1.36276788e+01]

qfrc_actuator:
[ 6.65080439e-05, 9.34281282e-04, 1.25398886e-04,-1.62783612e-05,
  2.53956142e-03, 1.51170589e-01, 2.48676690e-02, 2.49459354e-02,
 -7.15717097e-05, 8.35352224e-04, 1.85557167e-04, 2.53370048e-05,
  9.93572648e-03,-1.43313084e-03, 0.00000000e+00,-1.60727359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00414767932867275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.69183257e-15, -1.33836651e-14,  1.00000000e+00,  8.95612463e-29,
        1.00000000e+00,  1.33836651e-14, -1.00000000e+00,  0.00000000e+00,
        6.69183257e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00068227, -0.07909195,  0.06179208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89929970e-05,-3.45396941e-05,-1.90579071e-05, 1.79346276e-06,
 -1.03101510e-04,-1.02072511e-03,-4.93927929e-04,-5.41968460e-04,
 -3.57494687e-05, 2.40278693e-05, 9.93610969e-06,-3.92566382e-05,
 -5.12789444e-05,-3.72140742e-05,-8.16798692e-06,-7.55825001e-05,
  2.52244511e-04,-1.39141669e-03,-4.90188094e+00,-2.26648718e-03,
  2.76228041e-03,-4.17487893e-03]


--- Step 1699 ---
qpos:
[ 0.01867588, 0.03002142,-0.0094562 ,-0.02528215,-0.00573899, 1.09208411,
 -0.04317567, 0.92147277, 0.01157332, 0.02736202,-0.00825698, 0.02648793,
  1.28003819, 0.00755996, 1.23885511, 0.04467136,-0.0954968 ,-0.06334499,
  0.09362457, 0.69240982, 0.07119184,-0.69997518,-0.1597971 ]

qacc:
[ 4.86245030e+00, 8.95083325e-01,-3.23016889e+00, 3.67603603e+00,
 -4.79155208e-01,-2.15909151e+01, 7.00857456e+01,-1.58919294e+02,
 -6.44162182e-01, 1.55435150e-01, 4.94241381e-01,-3.11083114e+00,
 -3.37870006e-02,-2.70885823e-01, 6.78716001e+00,-2.35504471e+01,
 -4.16919220e+00, 6.65651656e-01,-3.08045130e+00, 4.27188807e+01,
 -1.26655496e+02, 1.16177677e+01]

qfrc_actuator:
[ 9.69022952e-05, 9.43120774e-04, 1.11755757e-04,-1.60349546e-05,
  2.47710168e-03, 1.50191940e-01, 2.45495824e-02, 2.44675765e-02,
 -7.43769170e-05, 8.47252954e-04, 1.83189986e-04, 1.84375381e-05,
  9.93228882e-03,-1.45235904e-03, 0.00000000e+00,-1.71978838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.8488367 ,   3.60312909,   7.8488367 ,
        15.90157399, -15.82609123,   3.60312909, -15.82609123,
        43.11095576,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00414017131210416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34079358e-14, -2.01119037e-14,  1.00000000e+00,  2.69659114e-28,
        1.00000000e+00,  2.01119037e-14, -1.00000000e+00,  0.00000000e+00,
        1.34079358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0006457 , -0.07909371,  0.06179277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92432224e-05,-1.43872131e-05,-2.30747671e-05,-1.86208767e-06,
 -1.19340770e-04,-1.69543578e-03,-6.01180910e-04,-5.34183927e-04,
 -3.84472179e-06, 2.57166529e-05, 2.47387838e-06,-6.28511244e-06,
 -3.88024785e-05,-4.16849089e-05,-1.59591564e-05,-1.18622804e-04,
 -2.65268596e-06,-1.15994446e-03,-4.90224398e+00,-1.59192090e-03,
  2.99379132e-03,-4.19498727e-03]


--- Step 1700 ---
qpos:
[ 0.01867712, 0.03002265,-0.00945702,-0.0252819 ,-0.00568936, 1.09445005,
 -0.04288574, 0.92191397, 0.01157394, 0.02736191,-0.00825708, 0.02648697,
  1.28030783, 0.0075615 , 1.23899987, 0.04466451,-0.09552617,-0.06343861,
  0.0936672 , 0.691986  , 0.07228875,-0.70005801,-0.16077466]

qacc:
[ 6.02125003e+00, 1.16399346e+00,-2.18609528e+00,-3.34843445e+00,
 -4.91844223e-01,-2.62596233e+01, 7.41921398e+01,-1.42894958e+02,
  5.60291511e+00,-8.79977595e-01, 3.67657694e+00,-5.68371833e+00,
 -2.48513376e-01, 5.42627790e-02, 7.12785943e+00,-2.48415185e+01,
 -3.71688128e+00, 5.82706131e-01,-3.83478097e+00, 3.84095325e+01,
 -1.12343712e+02, 9.97389755e+00]

qfrc_actuator:
[ 1.32337013e-04, 9.65795882e-04, 8.61235966e-05,-3.38808990e-05,
  2.41997242e-03, 1.48978362e-01, 2.42435332e-02, 2.40596964e-02,
 -4.04935974e-05, 8.54348178e-04, 1.99716424e-04, 1.47371355e-05,
  9.91519198e-03,-1.46436179e-03, 0.00000000e+00,-1.83743043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.77177078,   3.76647791,   7.77177078,
        16.99164575, -17.24033406,   3.76647791, -17.24033406,
        44.21016169,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0040871745870332335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35817911e-14,  1.69772388e-14,  1.00000000e+00, -2.30581310e-28,
        1.00000000e+00, -1.69772388e-14, -1.00000000e+00,  0.00000000e+00,
        1.35817911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0005051 , -0.0791125 ,  0.06179543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62797947e-05, 9.75843963e-06,-3.15217676e-05,-1.93008744e-05,
 -1.23070546e-04,-2.32425751e-03,-7.33374785e-04,-4.87426694e-04,
  3.37785458e-05, 2.17309201e-05, 2.19351159e-05,-2.63157343e-06,
 -4.74185908e-05,-3.26709945e-05,-2.38952393e-05,-1.27051633e-04,
 -1.74427558e-04,-9.68606976e-04,-4.90238819e+00,-1.01448818e-03,
  3.18902310e-03,-4.21669873e-03]


--- Step 1701 ---
qpos:
[ 0.01867843, 0.03002363,-0.0094574 ,-0.02528257,-0.0056408 , 1.09679549,
 -0.04259984, 0.92234722, 0.01157461, 0.02736158,-0.00825683, 0.02648635,
  1.28057708, 0.00756269, 1.23914431, 0.04465761,-0.09556887,-0.06353018,
  0.09369193, 0.6914178 , 0.07338929,-0.70029044,-0.16170571]

qacc:
[ 6.26912325e-01,-3.48851433e+00, 1.58129288e+01,-3.21857030e+01,
 -4.84170434e-01,-2.93936687e+01, 8.04014458e+01,-1.49936392e+02,
  5.01488247e-01,-5.34087591e-01, 2.99357032e-02, 5.57140826e+00,
 -6.83645708e-02,-2.57931791e-01,-3.07580126e-01, 4.06852871e-01,
 -3.33486083e+00, 5.13087561e-01,-4.47459702e+00, 3.47818589e+01,
 -1.00322353e+02, 8.62334730e+00]

qfrc_actuator:
[ 1.34927145e-04, 9.43263869e-04, 1.06929278e-04,-7.99729947e-05,
  2.36649803e-03, 1.47758198e-01, 2.39638340e-02, 2.36430803e-02,
 -3.85555969e-05, 8.23085002e-04, 2.09494554e-04, 3.07059795e-05,
  9.88459119e-03,-1.48978280e-03, 0.00000000e+00,-1.83286100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.77952465,   3.75043638,   7.77952465,
        17.36760195, -18.11119476,   3.75043638, -18.11119476,
        46.20438823,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003998144103571508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73552872e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73552872e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00028307, -0.07914446,  0.06179965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64965818e-06,-2.44385241e-05, 1.82631437e-05,-4.71439205e-05,
 -1.21577996e-04,-2.70291942e-03,-8.43907418e-04,-5.18289558e-04,
  2.93363809e-06,-1.46715709e-05, 1.68816261e-05, 1.76092089e-05,
 -6.33393475e-05,-4.54604695e-05,-2.83049155e-05,-6.27196052e-06,
 -2.85717272e-04,-8.09110838e-04,-4.90237820e+00,-5.15237944e-04,
  3.35446067e-03,-4.23965626e-03]


--- Step 1702 ---
qpos:
[ 0.01867976, 0.03002422,-0.00945744,-0.02528376,-0.00559314, 1.09912057,
 -0.04231974, 0.92277259, 0.01157427, 0.02736085,-0.00825635, 0.02648631,
  1.28084597, 0.00756352, 1.2392882 , 0.04465378,-0.09559217,-0.06362342,
  0.09372577, 0.69105933, 0.07445648,-0.7003055 ,-0.16268204]

qacc:
[ 1.99713203e-01,-2.53563680e+00, 1.04808232e+01,-1.97304487e+01,
 -3.99121313e-01,-2.43673804e+01, 6.40038357e+01,-1.34753742e+02,
 -8.65197114e+00, 3.18119837e-03,-3.16927717e+00, 1.29758580e+01,
  2.19352622e-01,-5.86052701e-01,-1.01499950e+01, 3.42352564e+01,
  4.85091682e+00,-4.18920606e-01, 2.27624022e+00,-5.26597143e+01,
  1.44225807e+02, 5.00797712e+00]

qfrc_actuator:
[ 1.35914751e-04, 9.11750275e-04, 1.19290723e-04,-1.06810301e-04,
  2.33339201e-03, 1.46739319e-01, 2.36663277e-02, 2.32423420e-02,
 -9.09537490e-05, 7.86835404e-04, 2.15057268e-04, 5.80789164e-05,
  9.87253681e-03,-1.50529805e-03, 0.00000000e+00,-1.66755498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003936588539582238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82026687e-14,  1.41013344e-14,  1.00000000e+00, -3.97695261e-28,
        1.00000000e+00, -1.41013344e-14, -1.00000000e+00,  0.00000000e+00,
        2.82026687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15697712, -0.0569276 ,  0.06180254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08406720e-06,-4.34583010e-05, 7.92525076e-06,-2.81700752e-05,
 -1.00472837e-04,-2.73336323e-03,-9.49326037e-04,-5.17981527e-04,
 -5.23196601e-05,-4.01986068e-05, 5.22365723e-06, 2.76726048e-05,
 -5.56165426e-05,-4.31158951e-05,-1.61918163e-05, 1.60796309e-04,
 -3.53162346e-04,-6.75009853e-04,-4.90225956e+00,-7.92838778e-05,
  3.49527809e-03,-4.26358212e-03]


--- Step 1703 ---
qpos:
[ 0.01868006, 0.03002448,-0.00945767,-0.0252842 ,-0.00554631, 1.10142773,
 -0.0420466 , 0.92318974, 0.01157295, 0.02736014,-0.00825623, 0.02648658,
  1.28111425, 0.00756466, 1.23943167, 0.04465426,-0.09559823,-0.06371826,
  0.09376326, 0.69088667, 0.0754941 ,-0.70012776,-0.16369903]

qacc:
[  -8.8593009 ,   1.66614036,  -9.70568246,  23.22060825,  -0.37396614,
  -18.56912061,  49.66358559,-127.87693878,  -8.29461822,   1.71022478,
   -7.35808648,  13.35668684,  -0.33800429,   0.40961675, -13.64097856,
   46.88594051,   4.30816552,  -0.39961883,   0.9152112 , -47.0493489 ,
  127.76178923,   4.23637394]

qfrc_actuator:
[ 8.27042178e-05, 8.92841794e-04, 1.08767315e-04,-6.88658733e-05,
  2.29499707e-03, 1.46026797e-01, 2.33792546e-02, 2.28364761e-02,
 -1.39398645e-04, 8.01122646e-04, 2.00306300e-04, 7.41759361e-05,
  9.85031686e-03,-1.47922685e-03, 0.00000000e+00,-1.44441497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003930542538212102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85478991e-15, -1.41230252e-14,  1.00000000e+00, -6.85643201e-29,
        1.00000000e+00,  1.41230252e-14, -1.00000000e+00,  0.00000000e+00,
       -4.85478991e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15699221, -0.05692842,  0.06180297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31948374e-05,-4.28011667e-05,-1.95027193e-05, 3.58105372e-05,
 -9.41431676e-05,-2.46399114e-03,-9.56676957e-04,-5.27100991e-04,
 -4.99947307e-05,-5.92561450e-06,-2.14489298e-05, 1.50964068e-05,
 -6.05806640e-05, 6.47123554e-07, 8.28159209e-06, 2.29553312e-04,
 -2.35277807e-04,-8.48058006e-04,-4.90251933e+00,-7.38482289e-04,
  3.25081499e-03,-4.30926483e-03]


--- Step 1704 ---
qpos:
[ 0.01867937, 0.03002437,-0.00945774,-0.02528386,-0.00550046, 1.10371971,
 -0.04178086, 0.92359653, 0.01157176, 0.02735972,-0.00825672, 0.02648703,
  1.28138203, 0.00756584, 1.23957517, 0.04465708,-0.09558888,-0.06381464,
  0.09379981, 0.69087963, 0.0765053 ,-0.69977768,-0.16475276]

qacc:
[  -8.43984388,   0.7005447 ,  -6.48776993,  20.04461871,  -0.44246929,
  -17.45955254,  54.97751289,-159.42470148,   0.98247943,   2.43666632,
   -8.87349645,  12.64436564,  -0.25749615,   0.18091305,  -6.98232321,
   24.52705982,   3.85348282,  -0.3824445 ,  -0.23771123, -42.35077569,
  113.96393851,   3.6148302 ]

qfrc_actuator:
[ 3.35254494e-05, 8.81588403e-04, 1.20411092e-04,-2.86224536e-05,
  2.23597549e-03, 1.45486041e-01, 2.30841867e-02, 2.23245084e-02,
 -1.31852384e-04, 8.27715988e-04, 1.73872362e-04, 8.35355589e-05,
  9.82203413e-03,-1.48197475e-03, 0.00000000e+00,-1.33106624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038831662527712626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85906642e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.85906642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15707207, -0.05692051,  0.06180528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07449513e-05,-3.77073795e-05, 1.64332410e-06, 3.84365667e-05,
 -1.11300675e-04,-2.14432316e-03,-9.12741094e-04,-6.25322015e-04,
  6.07784134e-06, 1.94980316e-05,-2.97705558e-05, 8.65986176e-06,
 -5.82358525e-05,-1.70636224e-05, 2.58058044e-05, 1.26423424e-04,
 -7.71178401e-05,-1.00472124e-03,-4.90257297e+00,-1.31234884e-03,
  3.04199499e-03,-4.35308880e-03]


--- Step 1705 ---
qpos:
[ 0.01867948, 0.03002403,-0.00945769,-0.02528339,-0.00545564, 1.10599792,
 -0.04152208, 0.9239922 , 0.011571  , 0.02736003,-0.00825776, 0.02648718,
  1.28164939, 0.00756676, 1.23971876, 0.04466125,-0.09559796,-0.06390807,
  0.09382652, 0.69067251, 0.07752999,-0.69963436,-0.16574786]

qacc:
[ 6.81876426e+00,-3.94630932e-01, 4.35542427e-01, 1.63726312e+00,
 -4.56474747e-01,-1.80361499e+01, 6.07401005e+01,-1.74356879e+02,
  3.75586497e+00, 1.89158597e+00,-4.10730968e+00,-6.78208258e-01,
 -5.89447833e-02,-2.19076777e-01,-3.99650105e+00, 1.41627491e+01,
 -4.60737859e+00, 7.34164724e-01,-2.45816057e+00, 4.98648330e+01,
 -1.38076257e+02, 6.95268872e+00]

qfrc_actuator:
[ 7.58943786e-05, 8.75103602e-04, 1.27330586e-04,-2.28383541e-05,
  2.18281596e-03, 1.44946256e-01, 2.27875291e-02, 2.17720616e-02,
 -1.09164246e-04, 8.96925104e-04, 1.58572600e-04, 7.11159491e-05,
  9.79545200e-03,-1.50187156e-03, 0.00000000e+00,-1.26557868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003859805035368098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61795854e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.61795854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 7.83021535e-05, -7.91958599e-02,  6.18065013e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08758117e-05,-2.55967701e-05, 6.67958416e-07, 4.97689418e-06,
 -1.14989176e-04,-1.96038023e-03,-8.49343261e-04,-6.56932106e-04,
  2.28720729e-05, 7.43523367e-05,-1.46312105e-05,-1.24450482e-05,
 -5.95478307e-05,-3.87357235e-05, 2.11035819e-05, 7.47568887e-05,
  1.07165903e-04,-1.14805066e-03,-4.90248105e+00,-1.81669977e-03,
  2.86268746e-03,-4.39536948e-03]


--- Step 1706 ---
qpos:
[ 0.01868009, 0.0300237 ,-0.00945766,-0.02528323,-0.00541197, 1.10826273,
 -0.04126872, 0.92437949, 0.01157018, 0.02736096,-0.00825872, 0.0264868 ,
  1.28191617, 0.00756793, 1.23986227, 0.04466754,-0.09562341,-0.06399895,
  0.09384004, 0.69028812, 0.07856727,-0.69967392,-0.16669101]

qacc:
[   4.34482413,  -0.58979379,   3.40374849,  -8.64143581,  -0.51861549,
  -17.12997477,  52.47970693,-135.18244427,  -0.57751504,  -0.49337605,
    5.1826306 , -14.90356302,  -0.46970827,   0.54863278,  -6.48896946,
   22.60734963,  -4.09089799,   0.63760406,  -3.29726679,  44.54746421,
 -122.11441532,   5.93713271]

qfrc_actuator:
[ 1.00796504e-04, 8.89242490e-04, 1.31396238e-04,-3.73780141e-05,
  2.11584718e-03, 1.44393961e-01, 2.25634644e-02, 2.13600134e-02,
 -1.13269038e-04, 9.37891807e-04, 1.67895928e-04, 4.60306717e-05,
  9.77522583e-03,-1.47851063e-03, 0.00000000e+00,-1.15776418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.12171657,   4.88548154,   7.12171657,
        28.01808479, -28.2533305 ,   4.88548154, -28.2533305 ,
        49.8221117 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003852466059532926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44092512e-14, -2.88185024e-14,  1.00000000e+00,  4.15253041e-28,
        1.00000000e+00,  2.88185024e-14, -1.00000000e+00,  0.00000000e+00,
        1.44092512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00010192, -0.07919922,  0.06180695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60850027e-05, 2.01291069e-07,-9.65769362e-07,-1.55176364e-05,
 -1.30894757e-04,-1.85916735e-03,-7.34202880e-04,-5.09733915e-04,
 -3.40783039e-06, 7.89957632e-05, 2.24557428e-05,-2.26472213e-05,
 -5.92062129e-05,-1.90120852e-06, 1.33202611e-05, 1.13619071e-04,
 -1.02713558e-04,-9.61436560e-04,-4.90265472e+00,-1.22138043e-03,
  3.07975269e-03,-4.41487295e-03]


--- Step 1707 ---
qpos:
[ 0.01868031, 0.03002353,-0.00945791,-0.02528359,-0.00536928, 1.11051291,
 -0.04101951, 0.92475892, 0.01157001, 0.02736165,-0.00825918, 0.0264862 ,
  1.28218244, 0.00756933, 1.24000609, 0.04467274,-0.09566347,-0.06408761,
  0.09383752, 0.68974554, 0.07961633,-0.69987618,-0.16758775]

qacc:
[-3.40319903e+00,-3.31430166e-02, 2.61958419e+00,-1.12523315e+01,
 -4.41993835e-01,-2.12339854e+01, 6.28118065e+01,-1.37165134e+02,
  5.54447553e+00,-2.17947743e+00, 8.19635557e+00,-1.25238944e+01,
 -6.54040184e-01, 7.75214246e-01, 3.83819325e+00,-1.25968511e+01,
 -3.65390368e+00, 5.56666411e-01,-4.01130235e+00, 4.00743408e+01,
 -1.08687100e+02, 5.10391737e+00]

qfrc_actuator:
[ 7.96831259e-05, 8.97844306e-04, 1.16072384e-04,-6.37366844e-05,
  2.07664507e-03, 1.43644025e-01, 2.23486824e-02, 2.09628994e-02,
 -7.98588820e-05, 8.72962685e-04, 1.73824293e-04, 3.14474200e-05,
  9.75351764e-03,-1.46511737e-03, 0.00000000e+00,-1.22113003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.19744174,   4.77321792,   7.19744174,
        28.28198462, -29.6232468 ,   4.77321792, -29.6232468 ,
        53.30467683,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003802224150138818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45996525e-14,  1.45996525e-14,  1.00000000e+00, -2.13149852e-28,
        1.00000000e+00, -1.45996525e-14, -1.00000000e+00,  0.00000000e+00,
        1.45996525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00022477, -0.07921742,  0.06180928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03515734e-05, 7.86863763e-06,-1.59367767e-05,-2.66865683e-05,
 -1.12022561e-04,-1.97314165e-03,-6.87404700e-04,-4.84901045e-04,
  3.33397939e-05,-1.71115010e-05, 2.42288548e-05,-1.08608357e-05,
 -5.18339971e-05,-1.20648960e-06, 1.43815336e-05,-5.63194142e-05,
 -2.39983964e-04,-8.05278186e-04,-4.90264612e+00,-7.02169114e-04,
  3.26502545e-03,-4.43576960e-03]


--- Step 1708 ---
qpos:
[ 0.01868062, 0.03002314,-0.00945822,-0.02528388,-0.00532751, 1.11274612,
 -0.04077391, 0.92513157, 0.01157093, 0.02736207,-0.00826004, 0.02648585,
  1.28244833, 0.00757043, 1.24015017, 0.04467549,-0.09568333,-0.06417848,
  0.09384603, 0.68941981, 0.08063654,-0.69985217,-0.16853784]

qacc:
[ 7.78067131e-01,-1.63063367e-02,-6.56961470e-01, 2.04736826e+00,
 -4.02298093e-01,-2.39783141e+01, 6.57378908e+01,-1.25540209e+02,
  9.30706913e+00, 1.26135246e+00,-6.05245461e+00, 1.11160991e+01,
 -3.12683313e-01, 7.17430235e-02, 7.82276674e+00,-2.67521288e+01,
  5.04990923e+00,-5.52918635e-01, 2.75944618e+00,-5.62122748e+01,
  1.49377187e+02, 8.59251218e-01]

qfrc_actuator:
[ 8.49174928e-05, 8.67471743e-04, 1.07156786e-04,-6.13447071e-05,
  2.03664483e-03, 1.42675570e-01, 2.21226219e-02, 2.06130768e-02,
 -2.46271765e-05, 8.33874946e-04, 1.41757158e-04, 4.08166513e-05,
  9.72028256e-03,-1.49328338e-03, 0.00000000e+00,-1.34933678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038567348083862335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04811636e-15, -1.43933026e-14,  1.00000000e+00,  5.82657639e-29,
        1.00000000e+00,  1.43933026e-14, -1.00000000e+00,  0.00000000e+00,
        4.04811636e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15712517, -0.05692249,  0.06180679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64669314e-06,-3.04045281e-05,-1.01702093e-05, 1.66036088e-06,
 -1.02395798e-04,-2.24434267e-03,-7.14797610e-04,-4.39137736e-04,
  5.62034495e-05,-4.41243873e-05,-3.29961876e-05, 9.26229120e-06,
 -5.99487161e-05,-4.06006961e-05,-4.85014318e-06,-1.30680608e-04,
 -3.24674554e-04,-6.73714022e-04,-4.90251032e+00,-2.45593048e-04,
  3.42372701e-03,-4.45778297e-03]


--- Step 1709 ---
qpos:
[ 0.01868168, 0.03002253,-0.00945839,-0.02528347,-0.00528674, 1.11495962,
 -0.04053173, 0.92549916, 0.01157147, 0.02736245,-0.00826193, 0.02648563,
  1.28271368, 0.00757127, 1.24029392, 0.04467902,-0.09568529,-0.06427141,
  0.09385985, 0.68928578, 0.08163133,-0.69962778,-0.16953586]

qacc:
[ 6.43968228e+00, 7.49533990e-01,-6.09570808e+00, 1.82739945e+01,
 -4.50875260e-01,-2.51790586e+01, 6.16068144e+01,-1.00026031e+02,
 -3.26113684e+00, 3.07777669e+00,-1.16157141e+01, 1.55642144e+01,
 -1.81701056e-01,-1.00535494e-01,-2.84541850e+00, 9.27513159e+00,
  4.47448398e+00,-5.14961040e-01, 1.32577731e+00,-5.01474763e+01,
  1.32079046e+02, 4.52287390e-01]

qfrc_actuator:
[ 1.23385551e-04, 8.67294862e-04, 1.19716559e-04,-2.43267853e-05,
  1.97872208e-03, 1.41530938e-01, 2.18909043e-02, 2.03469519e-02,
 -4.57686947e-05, 8.28160554e-04, 8.75973119e-05, 4.64333636e-05,
  9.68546479e-03,-1.51044265e-03, 0.00000000e+00,-1.30162093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038673667622454583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24277083e-15, -2.87074667e-14,  1.00000000e+00,  6.43842690e-29,
        1.00000000e+00,  2.87074667e-14, -1.00000000e+00,  0.00000000e+00,
        2.24277083e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15710997, -0.05692654,  0.06180634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85948190e-05,-1.91889693e-05, 5.09348169e-06, 3.53986032e-05,
 -1.15029795e-04,-2.57411102e-03,-7.75237946e-04,-3.63479970e-04,
 -1.95091533e-05,-3.67900965e-05,-6.70135203e-05, 2.76395814e-06,
 -7.54949194e-05,-4.25758173e-05,-2.11421132e-05, 3.88182030e-05,
 -1.96843358e-04,-8.52793775e-04,-4.90272154e+00,-8.97505540e-04,
  3.17529675e-03,-4.50187051e-03]


--- Step 1710 ---
qpos:
[ 0.0186825 , 0.03002188,-0.0094582 ,-0.02528265,-0.00524683, 1.11715068,
 -0.04029285, 0.92586032, 0.01157107, 0.02736239,-0.00826378, 0.02648546,
  1.2829783 , 0.0075722 , 1.24043759, 0.04468273,-0.09567129,-0.06436627,
  0.09387411, 0.68932221, 0.08260348,-0.69922456,-0.17057716]

qacc:
[-2.01787572e+00,-1.86135337e-01,-1.06781204e+00, 7.44143392e+00,
 -3.77743181e-01,-3.13891083e+01, 8.04860600e+01,-1.30763530e+02,
 -8.06785947e+00,-5.59312758e-01, 9.76717543e-01, 7.49622894e-02,
 -6.07070089e-01, 5.59286068e-01,-6.02117193e-01, 2.02880963e+00,
  3.99169464e+00,-4.82343883e-01, 1.09547561e-01,-4.50618788e+01,
  1.17572932e+02, 1.50983517e-01]

qfrc_actuator:
[ 1.10087983e-04, 8.85319685e-04, 1.44985088e-04,-2.70630280e-06,
  1.94602221e-03, 1.40236882e-01, 2.16570555e-02, 2.00077725e-02,
 -9.39481088e-05, 8.06858018e-04, 9.19758659e-05, 4.98118747e-05,
  9.64972472e-03,-1.50317279e-03, 0.00000000e+00,-1.29262801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003833663516056879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.07247825e-15, -2.89598453e-14,  1.00000000e+00,  1.17938340e-28,
        1.00000000e+00,  2.89598453e-14, -1.00000000e+00,  0.00000000e+00,
        4.07247825e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15716446, -0.05692083,  0.06180792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21792849e-05, 9.89548911e-06, 2.31629684e-05, 2.16634741e-05,
 -9.69164091e-05,-2.91505985e-03,-8.46507049e-04,-4.46643871e-04,
 -4.87619188e-05,-5.55962143e-05,-1.13599446e-05,-4.58256498e-07,
 -8.45385316e-05,-2.24944216e-05,-8.27856649e-06, 7.79720797e-06,
 -2.45008294e-05,-1.01832275e-03,-4.90271848e+00,-1.46956045e-03,
  2.96154875e-03,-4.54439577e-03]


--- Step 1711 ---
qpos:
[ 0.01868247, 0.03002103,-0.00945762,-0.02528156,-0.00520754, 1.11931742,
 -0.04005763, 0.92621416, 0.01157043, 0.02736188,-0.00826476, 0.02648562,
  1.28324233, 0.00757315, 1.24058189, 0.0446808 ,-0.09567713,-0.06445813,
  0.09388067, 0.68914289, 0.08359737,-0.69904269,-0.17156013]

qacc:
[  -7.31679776,  -0.83588586,   1.44849938,   2.74838715,  -0.27654785,
  -34.35593174,  89.03180037,-147.20690393,  -1.93120891,  -2.34320229,
    6.12484862,  -1.5189523 ,  -0.95891842,   0.9835315 ,  18.06013975,
  -61.59765293,  -4.96063601,   0.74907365,  -1.92442521,  55.68107975,
 -147.45002295,   3.24310263]

qfrc_actuator:
[ 6.64173034e-05, 8.60902063e-04, 1.59862384e-04, 9.69966980e-06,
  1.92869974e-03, 1.38899281e-01, 2.14231748e-02, 1.96281592e-02,
 -1.04373202e-04, 8.12120494e-04, 1.48584268e-04, 6.96328685e-05,
  9.62411888e-03,-1.49922697e-03, 0.00000000e+00,-1.59061094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037996793291266845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46094305e-14, -2.92188611e-14,  1.00000000e+00,  4.26870921e-28,
        1.00000000e+00,  2.92188611e-14, -1.00000000e+00,  0.00000000e+00,
        1.46094305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00023638, -0.07922096,  0.06180951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40222726e-05,-1.31603418e-05, 2.05265026e-05, 1.40524372e-05,
 -7.15115901e-05,-3.16336073e-03,-9.23797031e-04,-5.01504793e-04,
 -1.18745417e-05,-2.81873751e-05, 4.37335076e-05, 1.70431071e-05,
 -7.41538563e-05,-2.22376564e-05,-6.95565526e-06,-2.99504216e-04,
  1.76612830e-04,-1.17237241e-03,-4.90256601e+00,-1.97601695e-03,
  2.77673047e-03,-4.58562161e-03]


--- Step 1712 ---
qpos:
[ 0.0186826 , 0.0300202 ,-0.00945721,-0.02527998,-0.00516898, 1.12145965,
 -0.03982694, 0.92656152, 0.01156933, 0.0273612 ,-0.00826515, 0.02648599,
  1.28350596, 0.0075736 , 1.24072607, 0.044676  ,-0.09570052,-0.0645474 ,
  0.09387585, 0.68877309, 0.08461109,-0.69905597,-0.17249159]

qacc:
[   1.41742969,   1.55411875,  -7.58596443,  16.4308587 ,  -0.32369881,
  -30.91029858,  75.6964641 ,-125.82670662,  -3.95125923,  -1.43790947,
    3.88580812,  -0.93548889,  -0.19194465,  -0.19376169,   8.54442778,
  -30.11991931,  -4.38737007,   0.64750141,  -2.84409423,  49.53716582,
 -129.97053699,   2.64102466]

qfrc_actuator:
[ 7.62460417e-05, 8.64473265e-04, 1.50557935e-04, 3.42971560e-05,
  1.88521377e-03, 1.37670677e-01, 2.11909593e-02, 1.92987450e-02,
 -1.27988454e-04, 8.15747563e-04, 1.82419548e-04, 8.12664979e-05,
  9.59928308e-03,-1.53275772e-03, 0.00000000e+00,-1.72974763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.13598518,   4.86461636,   7.13598518,
        29.19680178, -30.16044245,   4.86461636, -30.16044245,
        52.87920917,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038205247327239705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.6345934e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.6345934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00018742, -0.07921444,  0.06180858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.54186684e-06, 1.05950160e-06,-9.00577205e-06, 2.50178525e-05,
 -8.35540586e-05,-3.20810901e-03,-9.81061129e-04,-4.62417436e-04,
 -2.39779819e-05,-2.34794054e-06, 3.40060507e-05, 1.22739420e-05,
 -6.89604485e-05,-5.67705009e-05,-4.19991667e-05,-1.57933907e-04,
 -6.42723665e-05,-9.85818175e-04,-4.90276231e+00,-1.35803147e-03,
  3.01281855e-03,-4.60380615e-03]


--- Step 1713 ---
qpos:
[ 0.01868251, 0.03001966,-0.00945674,-0.02527851,-0.00513119, 1.12357764,
 -0.03960103, 0.92690124, 0.01156795, 0.02736063,-0.00826577, 0.02648652,
  1.28376918, 0.00757363, 1.24086961, 0.04467285,-0.09573951,-0.06463442,
  0.09385652, 0.68823394, 0.08564297,-0.69924222,-0.17337718]

qacc:
[-1.96405777e+00,-1.46308009e-02, 1.08569321e+00,-3.35727671e+00,
 -3.40317415e-01,-3.18278801e+01, 8.15940623e+01,-1.44663395e+02,
 -2.35542178e+00, 1.15343955e+00,-4.54421920e+00, 7.55673069e+00,
  1.02886765e-01,-5.10963768e-01,-5.99790384e+00, 1.95392143e+01,
 -3.90192918e+00, 5.62285078e-01,-3.62826525e+00, 4.43649277e+01,
 -1.15255819e+02, 2.15963900e+00]

qfrc_actuator:
[ 6.42378677e-05, 9.02437813e-04, 1.62672058e-04, 3.03719048e-05,
  1.84413811e-03, 1.36499644e-01, 2.09620719e-02, 1.89127874e-02,
 -1.41437883e-04, 8.18298710e-04, 1.67011104e-04, 8.79654153e-05,
  9.58023731e-03,-1.55276061e-03, 0.00000000e+00,-1.63205440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.24133542,   4.70636146,   7.24133542,
        29.25019041, -31.71699309,   4.70636146, -31.71699309,
        57.43698964,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003792813544006471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.31793833e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.31793833e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00025183, -0.07922415,  0.0618098 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17576842e-05, 3.77923910e-05, 1.20902441e-05,-3.70726573e-06,
 -8.79076559e-05,-3.18476033e-03,-9.91681462e-04,-5.21087045e-04,
 -1.41570028e-05, 8.80504145e-06,-1.12687672e-05, 8.01613345e-06,
 -6.88049836e-05,-5.18702067e-05,-3.94139502e-05, 8.29540606e-05,
 -2.22608236e-04,-8.30187045e-04,-4.90275093e+00,-8.15285659e-04,
  3.21582508e-03,-4.62352537e-03]


--- Step 1714 ---
qpos:
[ 0.01868192, 0.0300193 ,-0.0094561 ,-0.02527709,-0.00509402, 1.1256709 ,
 -0.03938013, 0.92723311, 0.01156712, 0.02736013,-0.00826658, 0.02648748,
  1.28403183, 0.00757364, 1.24101286, 0.04467117,-0.09575774,-0.06472421,
  0.09384981, 0.68791696, 0.08665078,-0.6991947 ,-0.17432346]

qacc:
[  -4.18303759,  -0.32353137,   1.74902509,  -3.09320957,  -0.27281882,
  -32.18854932,  82.38125338,-147.36271586,   4.58959373,   1.43459968,
   -6.81993462,  14.44134215,  -0.29850747,   0.17209357,  -4.80875779,
   16.26648026,   5.19099867,  -0.6919242 ,   3.15371721, -59.2782773 ,
  153.43763577,  -3.22585061]

qfrc_actuator:
[ 3.94556242e-05, 9.07509004e-04, 1.69718452e-04, 2.74966483e-05,
  1.82259148e-03, 1.35248406e-01, 2.07017334e-02, 1.85144063e-02,
 -1.13286921e-04, 8.19983973e-04, 1.58159763e-04, 1.09430192e-04,
  9.55935701e-03,-1.54677287e-03, 0.00000000e+00,-1.55542319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038562887315865893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84795558e-15, -2.87899351e-14,  1.00000000e+00,  1.68362262e-28,
        1.00000000e+00,  2.87899351e-14, -1.00000000e+00,  0.00000000e+00,
        5.84795558e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15712781, -0.05693125,  0.06180683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51110527e-05, 2.85496737e-05, 1.62107305e-05,-9.13697711e-07,
 -7.08503709e-05,-3.25539600e-03,-1.02130803e-03,-5.34440944e-04,
  2.77371251e-05, 4.64209304e-06,-8.13127815e-06, 2.16099902e-05,
 -6.86166090e-05,-2.47842529e-05,-1.03609225e-05, 7.58866380e-05,
 -3.21426103e-04,-6.99563508e-04,-4.90259621e+00,-3.35320104e-04,
  3.39089214e-03,-4.64450162e-03]


--- Step 1715 ---
qpos:
[ 0.01868139, 0.03001917,-0.00945567,-0.0252757 ,-0.00505744, 1.12773967,
 -0.03916466, 0.92755803, 0.01156766, 0.02735937,-0.0082673 , 0.02648802,
  1.28429389, 0.00757349, 1.24115603, 0.04467039,-0.09575761,-0.06481654,
  0.09384972, 0.68779595, 0.08763756,-0.69894046,-0.17532431]

qacc:
[ 4.36472500e-01, 7.94218093e-01,-2.30252409e+00, 2.02837518e+00,
 -2.58425614e-01,-2.92599599e+01, 7.13176489e+01,-1.27505348e+02,
  1.17674932e+01,-1.43022866e+00, 6.34944122e+00,-1.34947238e+01,
 -3.01333718e-01, 8.21023480e-02,-2.85469034e+00, 9.84435819e+00,
  4.59018087e+00,-6.34586877e-01, 1.65645133e+00,-5.28171462e+01,
  1.35417852e+02,-3.28578488e+00]

qfrc_actuator:
[ 4.28648411e-05, 9.10583019e-04, 1.55839694e-04, 2.52369285e-05,
  1.79516649e-03, 1.34065762e-01, 2.04424272e-02, 1.81650868e-02,
 -4.31265097e-05, 7.85659085e-04, 1.53275658e-04, 8.61655935e-05,
  9.52142604e-03,-1.56091811e-03, 0.00000000e+00,-1.50964532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003877282868462305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34222098e-15, -1.43170238e-14,  1.00000000e+00, -1.92166098e-29,
        1.00000000e+00,  1.43170238e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34222098e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15709388, -0.05693706,  0.06180583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68705524e-06, 2.23430319e-05,-6.02218450e-06,-4.96940660e-07,
 -6.72277949e-05,-3.23156543e-03,-1.03770166e-03,-4.88698816e-04,
  7.09717297e-05,-3.24499595e-05,-4.16782980e-06,-2.29269823e-05,
 -7.87276349e-05,-3.72940669e-05, 4.28252028e-07, 4.79666028e-05,
 -1.84990576e-04,-8.90158811e-04,-4.90277594e+00,-9.94672389e-04,
  3.13299227e-03,-4.68822164e-03]


--- Step 1716 ---
qpos:
[ 0.01868091, 0.03001909,-0.00945505,-0.02527435,-0.00502145, 1.12978509,
 -0.03895449, 0.92787721, 0.01156835, 0.02735834,-0.00826802, 0.02648794,
  1.28455538, 0.00757316, 1.24129937, 0.04466848,-0.09574114,-0.06491122,
  0.09385117, 0.6878488 , 0.08860572,-0.69850205,-0.17637445]

qacc:
[   0.38907212,  -0.50917068,   2.11190855,  -3.18491749,  -0.26344254,
  -26.04110401,  60.0297554 ,-104.15416497,   1.2679449 ,  -1.6501378 ,
    7.95234027, -18.44469141,  -0.42750396,   0.23184287,   3.6985945 ,
  -12.48313758,   4.08567274,  -0.58594846,   0.38507353, -47.39391892,
  120.30103761,  -3.27828945]

qfrc_actuator:
[ 4.50916242e-05, 9.12347882e-04, 1.65208843e-04, 2.33390769e-05,
  1.76442946e-03, 1.33022683e-01, 2.02216631e-02, 1.78829586e-02,
 -3.75785631e-05, 7.65516551e-04, 1.50588977e-04, 5.44901385e-05,
  9.49459172e-03,-1.56924939e-03, 0.00000000e+00,-1.57117470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00385150355225726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15713357, -0.05693216,  0.06180698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31284233e-06, 1.29930484e-05, 1.32186319e-05,-1.16306568e-06,
 -6.85415275e-05,-3.08005169e-03,-9.94809213e-04,-4.20187991e-04,
  7.61371865e-06,-4.00711030e-05,-1.06825254e-05,-3.36572202e-05,
 -7.56318454e-05,-3.75056237e-05, 1.50489945e-06,-5.96889451e-05,
 -4.99787859e-08,-1.06991915e-03,-4.90273348e+00,-1.57830524e-03,
  2.90896967e-03,-4.73063845e-03]


--- Step 1717 ---
qpos:
[ 0.01868045, 0.03001914,-0.00945464,-0.02527267,-0.00498624, 1.13180983,
 -0.03875038, 0.92819072, 0.01156841, 0.02735642,-0.00826795, 0.0264875 ,
  1.28481642, 0.00757265, 1.24144254, 0.0446672 ,-0.09574551,-0.065003  ,
  0.09384653, 0.68767425, 0.08960228,-0.6982953 ,-0.17736752]

qacc:
[ 2.53757231e-01, 1.39880109e+00,-6.16029517e+00, 1.21239824e+01,
 -3.42866687e-01,-2.03859465e+01, 4.56690126e+01,-9.26617298e+01,
 -5.31325614e+00,-4.12408749e+00, 1.45447303e+01,-2.13746187e+01,
 -1.88238404e-01,-2.21063404e-02,-2.13443746e+00, 7.09646718e+00,
 -5.20949800e+00, 7.23464279e-01,-1.52296623e+00, 6.02023453e+01,
 -1.54060354e+02,-7.92839530e-02]

qfrc_actuator:
[ 4.65953275e-05, 9.13399684e-04, 1.52723991e-04, 3.94392323e-05,
  1.71419812e-03, 1.32196266e-01, 1.99905649e-02, 1.76072024e-02,
 -7.01193169e-05, 7.00756048e-04, 1.84770644e-04, 3.58877860e-05,
  9.47975943e-03,-1.57400840e-03, 0.00000000e+00,-1.53564441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003864423191738117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79558334e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79558334e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 7.13112588e-05, -7.91999370e-02,  6.18063883e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57448432e-06, 1.09924585e-05,-8.22252169e-06, 1.70869114e-05,
 -8.87935683e-05,-2.76845819e-03,-9.68336285e-04,-4.06330615e-04,
 -3.23338975e-05,-9.07665120e-05, 2.34452160e-05,-2.13402900e-05,
 -6.24165301e-05,-3.31187653e-05,-1.05311694e-05, 3.13851015e-05,
  2.16128423e-04,-1.23986858e-03,-4.90253774e+00,-2.09909536e-03,
  2.71345076e-03,-4.77196770e-03]


--- Step 1718 ---
qpos:
[ 0.01868002, 0.0300191 ,-0.00945427,-0.02527114,-0.00495184, 1.13381658,
 -0.03855222, 0.92849759, 0.01156911, 0.02735345,-0.0082673 , 0.02648689,
  1.28507682, 0.00757234, 1.24158553, 0.044667  ,-0.09576825,-0.06509228,
  0.09383185, 0.68729948, 0.0906246 ,-0.69829221,-0.17831038]

qacc:
[   0.18614365,  -0.28809098,   1.51994225,  -4.01093857,  -0.36194249,
  -18.8147095 ,  46.85227118,-106.72883804,   5.52634156,  -3.35817045,
   10.68171111, -13.88748534,  -0.54471021,   0.58593126,  -3.47443433,
   11.90903173,  -4.59296535,   0.62334908,  -2.50819076,  53.42169814,
 -135.3987344 ,  -0.35993097]

qfrc_actuator:
[ 4.76615765e-05, 8.96191341e-04, 1.45188164e-04, 3.04757192e-05,
  1.67043906e-03, 1.31524267e-01, 1.97739011e-02, 1.72842423e-02,
 -3.60341971e-05, 6.27687724e-04, 2.04768086e-04, 2.51152710e-05,
  9.45083580e-03,-1.55880078e-03, 0.00000000e+00,-1.47867843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.53572418,   4.21896172,   7.53572418,
        22.98414278, -25.62737314,   4.21896172, -25.62737314,
        54.41085232,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003899566649936209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84704205e-14, -1.06764077e-14,  1.00000000e+00,  3.03961817e-28,
        1.00000000e+00,  1.06764077e-14, -1.00000000e+00,  0.00000000e+00,
        2.84704205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44576221e-05, -7.91880227e-02,  6.18047625e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11469496e-06,-1.20362885e-05,-5.69573360e-06,-8.44936392e-06,
 -9.36925654e-05,-2.43547972e-03,-8.89221772e-04,-4.42906421e-04,
  3.31001913e-05,-1.19838814e-04, 3.42147677e-06,-1.42598886e-05,
 -6.86649372e-05,-8.80489843e-06,-4.65267764e-06, 5.66331265e-05,
 -5.04228646e-05,-1.05090196e-03,-4.90274162e+00,-1.45312182e-03,
  2.96864145e-03,-4.78962786e-03]


--- Step 1719 ---
qpos:
[ 0.01867925, 0.03001872,-0.00945357,-0.02526972,-0.0049181 , 1.13580779,
 -0.03835869, 0.92879969, 0.01157022, 0.02735034,-0.00826682, 0.02648642,
  1.28533649, 0.00757248, 1.24172835, 0.04466847,-0.09580727,-0.06517941,
  0.09380378, 0.68674724, 0.09167041,-0.69846905,-0.17920869]

qacc:
[  -2.80149461,  -1.58959437,   5.45507599,  -7.59655447,  -0.28695372,
  -15.98814225,  37.58779417, -78.51190666,   3.42888784,   0.5736431 ,
   -2.93844096,   5.90915497,  -0.73134244,   0.9367913 ,  -5.26170942,
   18.18351278,  -4.07069955,   0.53921121,  -3.34926674,  47.70687051,
 -119.68280579,  -0.55855454]

qfrc_actuator:
[ 3.07093065e-05, 8.68172011e-04, 1.58297849e-04, 2.45769017e-05,
  1.64866846e-03, 1.31003764e-01, 1.96392165e-02, 1.70604629e-02,
 -1.62511473e-05, 6.74434638e-04, 2.16170532e-04, 3.67583925e-05,
  9.41881573e-03,-1.53191943e-03, 0.00000000e+00,-1.39180977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.63021047,   4.04557352,   7.63021047,
        22.80286653, -26.71893075,   4.04557352, -26.71893075,
        59.02997636,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003882068879216237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36226491e-15, -2.85987462e-14,  1.00000000e+00,  1.53354053e-28,
        1.00000000e+00,  2.85987462e-14, -1.00000000e+00,  0.00000000e+00,
        5.36226491e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 2.29078727e-05, -7.91931563e-02,  6.18054694e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69239777e-05,-3.62927916e-05, 9.62301203e-06,-6.77986855e-06,
 -7.44733214e-05,-2.08487296e-03,-7.33877886e-04,-3.32069574e-04,
  2.07024581e-05,-2.00568093e-05,-1.33959684e-05, 6.35374442e-06,
 -6.90309011e-05, 8.30571675e-06, 3.83985468e-07, 8.85969885e-05,
 -2.27266292e-04,-8.94279313e-04,-4.90271938e+00,-8.82139081e-04,
  3.18985918e-03,-4.80895949e-03]


--- Step 1720 ---
qpos:
[ 0.01867795, 0.03001828,-0.00945254,-0.02526877,-0.00488525, 1.13778618,
 -0.0381696 , 0.92909653, 0.01157121, 0.02734786,-0.00826659, 0.02648566,
  1.28559587, 0.00757235, 1.24187091, 0.04467263,-0.09582519,-0.06526987,
  0.09378945, 0.68642029, 0.09269738,-0.69840643,-0.18017448]

qacc:
[-4.64163801e+00,-1.97426009e+00, 8.92073279e+00,-1.75175722e+01,
 -4.00121901e-01,-1.37695504e+01, 3.56546340e+01,-8.40678530e+01,
 -1.01268783e+00, 9.26067195e-01,-8.85622320e-01,-4.22638920e+00,
  1.47820166e-01,-4.27548730e-01,-8.54337946e+00, 2.92859179e+01,
  5.27381374e+00,-8.33218412e-01, 3.43613269e+00,-6.18151838e+01,
  1.56122739e+02,-7.38640811e+00]

qfrc_actuator:
[ 3.28731645e-06, 8.87232560e-04, 1.83444901e-04, 2.78195341e-06,
  1.58699149e-03, 1.30596653e-01, 1.95015279e-02, 1.68082253e-02,
 -2.28179633e-05, 7.57057323e-04, 2.22911411e-04, 2.60869869e-05,
  9.40627174e-03,-1.55161866e-03, 0.00000000e+00,-1.25251913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039004476130020532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84639902e-14,  2.84639902e-14,  1.00000000e+00, -8.10198736e-28,
        1.00000000e+00, -2.84639902e-14, -1.00000000e+00,  0.00000000e+00,
        2.84639902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15704826, -0.05694546,  0.06180449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79276561e-05, 4.62454465e-07, 1.85966951e-05,-2.31509010e-05,
 -1.03604583e-04,-1.74312520e-03,-6.47026149e-04,-3.42698030e-04,
 -5.97650841e-06, 6.90302695e-05, 1.19962807e-06,-1.18645522e-05,
 -4.55236675e-05,-3.35289788e-05, 6.00889820e-06, 1.43390218e-04,
 -3.39707899e-04,-7.63685151e-04,-4.90254272e+00,-3.74539201e-04,
  3.38208903e-03,-4.82968375e-03]


--- Step 1721 ---
qpos:
[ 0.01867667, 0.030018  ,-0.00945158,-0.02526843,-0.00485351, 1.13975659,
 -0.03798658, 0.92938567, 0.01157211, 0.02734615,-0.00826671, 0.02648477,
  1.28585495, 0.00757178, 1.24201342, 0.04467876,-0.09582449,-0.06536336,
  0.09378269, 0.68629167, 0.09370809,-0.69813232,-0.181201  ]

qacc:
[   0.21583666,  -0.85483024,   5.94572327, -16.56482111,  -0.48646857,
   -7.14502129,  26.91924134,-108.4467118 ,  -0.76248211,   1.7504701 ,
   -4.15553323,   1.75967845,   0.21287308,  -0.6266937 ,  -6.06196606,
   21.01047126,   4.6560713 ,  -0.75640197,   1.88988669, -55.03368733,
  137.56202502,  -7.09618662]

qfrc_actuator:
[ 5.43402616e-06, 8.98876218e-04, 1.80162906e-04,-2.81485160e-05,
  1.51963733e-03, 1.30527366e-01, 1.93104276e-02, 1.64347771e-02,
 -2.70843150e-05, 8.07257518e-04, 2.09264796e-04, 2.01628174e-05,
  9.38409819e-03,-1.58098801e-03, 0.00000000e+00,-1.15447348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003926521405665011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82749770e-14,  5.65499540e-14,  1.00000000e+00, -1.59894865e-27,
        1.00000000e+00, -5.65499540e-14, -1.00000000e+00,  0.00000000e+00,
        2.82749770e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15700502, -0.05695168,  0.06180323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33345455e-06, 1.47479828e-05,-1.70368430e-06,-3.07201283e-05,
 -1.25668370e-04,-1.19911206e-03,-6.23743407e-04,-4.51167566e-04,
 -4.42469944e-06, 8.86318419e-05, 3.79165888e-07,-3.14817212e-06,
 -5.27976851e-05,-4.98070330e-05, 1.53759119e-05, 1.06039654e-04,
 -1.94021918e-04,-9.71786286e-04,-4.90269960e+00,-1.05475658e-03,
  3.10906238e-03,-4.87416696e-03]


--- Step 1722 ---
qpos:
[ 0.01867543, 0.0300177 ,-0.00945114,-0.02526841,-0.00482268, 1.14172565,
 -0.0378111 , 0.92966758, 0.01157296, 0.02734471,-0.00826655, 0.02648417,
  1.2861136 , 0.00757089, 1.24215664, 0.04468068,-0.09580725,-0.06545961,
  0.09377823, 0.68633861, 0.09470453,-0.69767003,-0.18228243]

qacc:
[  0.28975394,  0.78873162, -1.53524694, -3.06526243, -0.40940966,
   6.2840144 , -7.42395833,-77.06211586, -0.49014393,  0.13934003,
  -1.27781032,  5.85941654, -0.4995119 ,  0.26986737, 13.84605573,
 -46.81666502,  4.13715138, -0.6916859 ,  0.57621201,-49.33739852,
 121.988705  , -6.77494551]

qfrc_actuator:
[ 7.21819067e-06, 8.70369491e-04, 1.42344517e-04,-4.64741529e-05,
  1.48493607e-03, 1.30945109e-01, 1.91084614e-02, 1.60996839e-02,
 -2.99537775e-05, 8.02084717e-04, 2.19094723e-04, 3.48019865e-05,
  9.35615730e-03,-1.59810666e-03, 0.00000000e+00,-1.38332020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003904083848468305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42187395e-14, -1.42187395e-14,  1.00000000e+00,  2.02172553e-28,
        1.00000000e+00,  1.42187395e-14, -1.00000000e+00,  0.00000000e+00,
        1.42187395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15703816, -0.05694638,  0.06180419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82933161e-06,-2.19244866e-05,-3.60526644e-05,-1.83534742e-05,
 -1.05437318e-04,-4.09528224e-04,-5.28441775e-04,-3.98035865e-04,
 -2.97376416e-06, 4.44006563e-05, 2.81004221e-05, 1.83956977e-05,
 -6.60623762e-05,-4.39697559e-05, 1.48455341e-05,-2.21894043e-04,
  3.42040103e-06,-1.17158742e-03,-4.90262845e+00,-1.66232432e-03,
  2.86923874e-03,-4.91757931e-03]


--- Step 1723 ---
qpos:
[ 0.01867421, 0.03001708,-0.00945047,-0.02526896,-0.00479265, 1.14369618,
 -0.03764178, 0.929943  , 0.01157376, 0.02734327,-0.0082661 , 0.0264838 ,
  1.28637183, 0.00756953, 1.24229984, 0.04468054,-0.09581145,-0.0655532 ,
  0.09376873, 0.68615033, 0.09573502,-0.69744556,-0.18330912]

qacc:
[   0.279958  ,  -2.27255311,   9.93668941, -20.10786951,  -0.35698383,
    7.54377037,  -8.56807886, -69.53867669,  -0.34047372,  -0.32407444,
    0.26877814,   2.98720347,  -0.18486283,  -0.19141222,   6.20264843,
  -21.69559894,  -5.36138713,   0.66748381,  -1.25851394,  63.58974973,
 -157.9696758 ,  -3.26930762]

qfrc_actuator:
[ 8.76465624e-06, 8.53404476e-04, 1.55302079e-04,-7.50416547e-05,
  1.45233585e-03, 1.31296567e-01, 1.89038485e-02, 1.57901908e-02,
 -3.19790150e-05, 7.81650674e-04, 2.24746918e-04, 4.36404953e-05,
  9.33010484e-03,-1.62558171e-03, 0.00000000e+00,-1.48335810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003982830585716808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.96880649e-15, -2.09064195e-14,  1.00000000e+00,  1.45692791e-28,
        1.00000000e+00,  2.09064195e-14, -1.00000000e+00,  0.00000000e+00,
        6.96880649e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00023395, -0.07915537,  0.0618006 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59485622e-06,-3.74463522e-05, 3.35377626e-06,-3.11111093e-05,
 -9.19540993e-05,-1.83095684e-05,-3.63832349e-04,-3.44338029e-04,
 -2.10328338e-06, 1.10412860e-05, 1.89386591e-05, 1.20760228e-05,
 -7.05617911e-05,-5.53079881e-05,-2.37854522e-05,-1.11837176e-04,
  2.34066133e-04,-1.36302478e-03,-4.90240132e+00,-2.20883684e-03,
  2.65763734e-03,-4.96009250e-03]


--- Step 1724 ---
qpos:
[ 0.01867337, 0.03001603,-0.00944962,-0.02526949,-0.00476335, 1.145666  ,
 -0.03747615, 0.93021267, 0.01157419, 0.02734194,-0.00826558, 0.02648353,
  1.28662932, 0.00756838, 1.24244218, 0.0446852 ,-0.09583451,-0.06564448,
  0.09375007, 0.68575532, 0.0967964 ,-0.69742964,-0.18428781]

qacc:
[   3.21154223,  -1.03768834,   2.76385019,  -2.30225572,  -0.32022547,
   -0.72774348,  13.35800746, -78.28772207,  -3.20326628,   0.18805427,
   -0.92192607,   2.64795988,  -0.3047444 ,   0.27272622, -15.78787067,
   53.39292982,  -4.71596649,   0.5736815 ,  -2.29076401,  56.35154095,
 -138.50843993,  -3.26804627]

qfrc_actuator:
[ 2.79113061e-05, 8.25912016e-04, 1.62667536e-04,-7.38583716e-05,
  1.42124622e-03, 1.31197666e-01, 1.86993057e-02, 1.54982311e-02,
 -5.12442670e-05, 7.87712143e-04, 2.27792301e-04, 4.89663091e-05,
  9.29987391e-03,-1.60574227e-03, 0.00000000e+00,-1.22254747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.93224825,   3.41558408,   7.93224825,
        16.7115192 , -18.75349491,   3.41558408, -18.75349491,
        52.18890804,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004022503378358772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55251691e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55251691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00033141, -0.07914103,  0.06179875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91826191e-05,-4.90510634e-05,-1.02992760e-06,-9.08462615e-07,
 -8.28686839e-05,-2.18066500e-04,-2.66675020e-04,-3.08809848e-04,
 -1.93284411e-05, 1.67148180e-05, 8.08995047e-06, 6.69258520e-06,
 -7.99926216e-05,-1.21735752e-05,-2.66726595e-05, 2.50790646e-04,
 -5.55791881e-05,-1.17016331e-03,-4.90259679e+00,-1.52700625e-03,
  2.93451491e-03,-4.97793621e-03]


--- Step 1725 ---
qpos:
[ 0.01867277, 0.03001476,-0.00944878,-0.02526968,-0.00473471, 1.1476317 ,
 -0.03731314, 0.9304767 , 0.01157473, 0.02734112,-0.00826493, 0.02648327,
  1.28688604, 0.00756791, 1.2425844 , 0.04469221,-0.09587425,-0.0657338 ,
  0.09371872, 0.68517747, 0.09788594,-0.69759747,-0.18522403]

qacc:
[   2.02814568,   0.47833802,  -3.5985661 ,   9.84112986,  -0.29471041,
   -7.9177604 ,  31.18343432, -90.33998325,   0.93338626,   0.30751126,
   -0.17836707,  -0.22827373,  -0.87610349,   1.23668037,  -7.20029796,
   25.16090529,  -4.16915728,   0.49466893,  -3.17254317,  50.2433658 ,
 -122.11583447,  -3.21217521]

qfrc_actuator:
[ 3.95113446e-05, 8.27845484e-04, 1.66633548e-04,-5.51977487e-05,
  1.39130349e-03, 1.30794640e-01, 1.84947904e-02, 1.52008807e-02,
 -4.49974451e-05, 8.45073109e-04, 2.47124946e-04, 5.22017490e-05,
  9.27783111e-03,-1.55799825e-03, 0.00000000e+00,-1.10630827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.00058011,   3.25230607,   8.00058011,
        16.48839118, -19.31576362,   3.25230607, -19.31576362,
        56.15259079,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004006962618720307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.46341834e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.46341834e-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([-0.00029993, -0.07914404,  0.06179934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21445293e-05,-2.57084219e-05,-6.31940128e-06, 1.65081880e-05,
 -7.66480595e-05,-6.12416058e-04,-2.93597161e-04,-3.16611540e-04,
  5.68214498e-06, 6.87031691e-05, 2.40246539e-05, 4.36520109e-06,
 -6.53569063e-05, 2.54355151e-05, 1.38541056e-05, 1.26403882e-04,
 -2.51050326e-04,-1.01160719e-03,-4.90255572e+00,-9.20717540e-04,
  3.17662506e-03,-4.99759284e-03]


--- Step 1726 ---
qpos:
[ 0.01867197, 0.0300137 ,-0.0094481 ,-0.02526968,-0.00470654, 1.1495904 ,
 -0.03715194, 0.93073573, 0.01157569, 0.02734083,-0.00826413, 0.02648374,
  1.28714232, 0.00756768, 1.24272699, 0.0446979 ,-0.09589276,-0.06582701,
  0.0937018 , 0.68482584, 0.09896238,-0.69752195,-0.18623413]

qacc:
[ -1.73299087,  1.09082773, -4.25431024,  7.47451615, -0.20833136,
 -12.78302501, 41.15877365,-89.69061093,  3.53900343,  1.77378975,
  -8.37429603, 20.30784226, -0.63591765,  0.77894241,  4.62082738,
 -15.24204734,  5.30607095, -0.97663861,  3.60749493,-63.86772747,
 157.44723782,-11.70534543]

qfrc_actuator:
[ 2.88184715e-05, 8.65145381e-04, 1.68687052e-04,-4.41385356e-05,
  1.38003488e-03, 1.30283848e-01, 1.83439516e-02, 1.49379940e-02,
 -2.37784471e-05, 8.79518232e-04, 2.58383757e-04, 8.97449119e-05,
  9.26073119e-03,-1.54732136e-03, 0.00000000e+00,-1.18280620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003961918958864781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40111779e-14,  1.40111779e-14,  1.00000000e+00, -1.96313105e-28,
        1.00000000e+00, -1.40111779e-14, -1.00000000e+00,  0.00000000e+00,
        1.40111779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15693511, -0.05695784,  0.0618012 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03452092e-05, 2.23681611e-05,-3.45779532e-06, 1.00623191e-05,
 -5.45191486e-05,-9.43734167e-04,-3.20418448e-04,-2.95123052e-04,
  2.14062408e-05, 7.80406511e-05, 2.85635552e-05, 4.14044312e-05,
 -4.38244230e-05, 2.50696679e-06, 1.58025083e-05,-6.87166613e-05,
 -3.79099245e-04,-8.80450223e-04,-4.90235467e+00,-3.79063883e-04,
  3.38876712e-03,-5.01878163e-03]


--- Step 1727 ---
qpos:
[ 0.01866966, 0.03001306,-0.00944755,-0.02526923,-0.00467864, 1.15153996,
 -0.03699225, 0.93099224, 0.0115762 , 0.02734072,-0.00826302, 0.02648469,
  1.28739822, 0.0075678 , 1.24286948, 0.04470399,-0.09589256,-0.06592375,
  0.093693  , 0.68467299, 0.10002776,-0.69723167,-0.18731082]

qacc:
[-1.28878054e+01, 1.88505697e+00,-7.75561295e+00, 1.53509040e+01,
 -1.16515068e-01,-1.21602382e+01, 3.04615864e+01,-4.99567784e+01,
 -3.76526749e+00, 3.66432663e-01,-2.96913611e+00, 1.06319955e+01,
 -4.87710510e-01, 6.92139693e-01,-1.32735976e+00, 4.53695788e+00,
  4.67930743e+00,-8.80448193e-01, 2.02825315e+00,-5.68451664e+01,
  1.38540992e+02,-1.10547567e+01]

qfrc_actuator:
[-4.81654177e-05, 9.05580700e-04, 1.69743431e-04,-1.98580158e-05,
  1.38004384e-03, 1.29712914e-01, 1.82255545e-02, 1.48039190e-02,
 -4.71832216e-05, 8.64475817e-04, 2.64729081e-04, 1.11648168e-04,
  9.25192089e-03,-1.52321659e-03, 0.00000000e+00,-1.15917063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003989169910765762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17463927e-14, -1.39154642e-14,  1.00000000e+00,  5.80920435e-28,
        1.00000000e+00,  1.39154642e-14, -1.00000000e+00,  0.00000000e+00,
        4.17463927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15688938, -0.0569634 ,  0.06179987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72751487e-05, 5.26894232e-05, 5.60412751e-06, 2.53159604e-05,
 -3.07996121e-05,-1.19158042e-03,-3.55234509e-04,-1.76682790e-04,
 -2.27534261e-05, 3.62836353e-05, 2.74096798e-05, 2.70388517e-05,
 -3.05621994e-05, 1.46655684e-05,-5.58330033e-06, 2.06461548e-05,
 -2.21483067e-04,-1.11346720e-03,-4.90249001e+00,-1.09383877e-03,
  3.09428614e-03,-5.06513243e-03]


--- Step 1728 ---
qpos:
[ 0.01866714, 0.03001317,-0.00944716,-0.02526889,-0.0046513 , 1.15347947,
 -0.03683465, 0.93124463, 0.01157608, 0.02734094,-0.0082621 , 0.02648557,
  1.28765389, 0.00756797, 1.24301157, 0.04471298,-0.09591172,-0.06601835,
  0.09367582, 0.68430667, 0.10112722,-0.69715529,-0.18834056]

qacc:
[-1.87119382e+00, 1.21205179e+00,-2.44567775e+00, 3.83033959e-01,
 -2.43315098e-01,-1.45761245e+01, 4.03080498e+01,-7.67853901e+01,
 -5.38075555e+00, 8.40013820e-01,-2.03841885e+00, 8.26334080e-01,
  2.52759852e-02,-7.78540475e-02,-9.35909565e+00, 3.18771302e+01,
 -4.84042101e+00, 5.34395989e-01,-2.09257374e+00, 5.87477497e+01,
 -1.42109387e+02,-5.10756741e+00]

qfrc_actuator:
[-5.70279302e-05, 9.65351436e-04, 1.70242476e-04,-2.34890409e-05,
  1.33354380e-03, 1.29146346e-01, 1.80915543e-02, 1.45868719e-02,
 -7.89186221e-05, 8.73135770e-04, 2.50151555e-04, 1.06369883e-04,
  9.23744205e-03,-1.52676730e-03, 0.00000000e+00,-1.00564724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003999776077857259
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38785647e-14, -3.46964118e-15,  1.00000000e+00,  4.81536398e-29,
        1.00000000e+00,  3.46964118e-15, -1.00000000e+00,  0.00000000e+00,
        1.38785647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00029951, -0.07913809,  0.06179933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10957255e-05, 9.14716289e-05, 1.29528809e-05,-6.85387159e-07,
 -6.39467990e-05,-1.32726418e-03,-4.19773380e-04,-2.65475237e-04,
 -3.23904878e-05, 3.57530588e-05,-2.78341837e-06,-2.25207599e-06,
 -2.66976220e-05,-6.32766487e-06,-3.76990001e-06, 1.53150126e-04,
 -9.87603157e-06,-1.34042798e-03,-4.90239440e+00,-1.73789677e-03,
  2.83252914e-03,-5.11061935e-03]


--- Step 1729 ---
qpos:
[ 0.01866626, 0.03001376,-0.00944693,-0.0252689 ,-0.00462444, 1.15540834,
 -0.03667978, 0.93149121, 0.01157559, 0.02734163,-0.00826169, 0.02648603,
  1.2879092 , 0.00756796, 1.2431539 , 0.04472137,-0.09594797,-0.06611111,
  0.09364663, 0.68375174, 0.10225786,-0.69726713,-0.18932889]

qacc:
[ 1.40264070e+01, 3.12256791e-01, 1.24281420e+00,-7.42190573e+00,
 -2.16151804e-01,-1.64320396e+01, 4.89343065e+01,-1.03451865e+02,
 -3.26599867e+00, 1.19569298e+00,-1.61658959e+00,-5.04915439e+00,
 -2.26509968e-01, 6.11960448e-02, 2.15635013e+00,-7.00946637e+00,
 -4.27468534e+00, 4.60540117e-01,-3.00317392e+00, 5.23611688e+01,
 -1.25113569e+02,-4.93918307e+00]

qfrc_actuator:
[ 2.75558686e-05, 9.65211440e-04, 1.52722544e-04,-4.34978138e-05,
  1.31279003e-03, 1.28569208e-01, 1.79316075e-02, 1.42871567e-02,
 -9.75358470e-05, 8.95798465e-04, 2.23402530e-04, 8.51436830e-05,
  9.20358645e-03,-1.54673942e-03, 0.00000000e+00,-1.04313677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.21307009,   2.6706285 ,   8.21307009,
        12.98989942, -13.38856918,   2.6706285 , -13.38856918,
        49.81066283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003996100299860118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38913308e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38913308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00029576, -0.07913597,  0.0617994 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42910689e-05, 5.36504481e-05, 2.93993872e-06,-1.56586058e-05,
 -5.69523413e-05,-1.42804548e-03,-4.82191842e-04,-3.56208409e-04,
 -1.95515226e-05, 4.19522254e-05,-1.97985484e-05,-1.98373444e-05,
 -4.86191415e-05,-2.80857413e-05, 1.26103992e-05,-3.00813249e-05,
 -2.37082857e-04,-1.17388444e-03,-4.90238793e+00,-1.09231536e-03,
  3.09612476e-03,-5.13062903e-03]


--- Step 1730 ---
qpos:
[ 0.01866605, 0.03001435,-0.00944644,-0.02526842,-0.00459791, 1.15733331,
 -0.0365314 , 0.93173364, 0.01157522, 0.02734267,-0.00826157, 0.02648589,
  1.28816394, 0.00756807, 1.24329653, 0.04472727,-0.09596335,-0.06620808,
  0.09363135, 0.68341881, 0.10337979,-0.69713791,-0.19039453]

qacc:
[ 5.81232154e+00, 2.86388889e-01,-3.06848712e+00, 1.10432062e+01,
 -1.43757600e-01, 5.32877060e+00,-1.48645236e+01,-3.30767196e+01,
  1.05239110e+00, 3.08342712e-02, 3.09363383e+00,-1.33032244e+01,
 -7.43320256e-01, 7.87166003e-01, 8.08842873e+00,-2.74806626e+01,
  5.22022418e+00,-1.05207938e+00, 3.47661475e+00,-6.41003318e+01,
  1.55031895e+02,-1.47039387e+01]

qfrc_actuator:
[ 5.99257033e-05, 9.46856122e-04, 1.59965508e-04,-1.97808052e-05,
  1.30764416e-03, 1.28806967e-01, 1.77575828e-02, 1.41009408e-02,
 -9.05270860e-05, 9.08838706e-04, 2.07493051e-04, 5.47162855e-05,
  9.16877470e-03,-1.54086590e-03, 0.00000000e+00,-1.17514743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004071355592052572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.72691245e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.72691245e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15675064, -0.05697943,  0.06179584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48431126e-05, 1.15904435e-05, 1.81318571e-05, 2.58056807e-05,
 -3.74177235e-05,-6.83674069e-04,-5.25715410e-04,-2.49696768e-04,
  6.45500311e-06, 3.15212105e-05,-1.03822367e-05,-2.97034655e-05,
 -6.61408692e-05,-1.35468916e-05,-2.22778071e-06,-1.33153001e-04,
 -3.91804624e-04,-1.03707259e-03,-4.90220792e+00,-5.13934080e-04,
  3.32858404e-03,-5.15230044e-03]


--- Step 1731 ---
qpos:
[ 0.01866588, 0.03001483,-0.00944548,-0.02526802,-0.00457199, 1.15926255,
 -0.03639055, 0.93197095, 0.01157493, 0.0273437 ,-0.00826124, 0.0264854 ,
  1.28841816, 0.00756824, 1.24343922, 0.04473086,-0.09596032,-0.06630883,
  0.09362369, 0.6832808 , 0.10449454,-0.69679591,-0.19152987]

qacc:
[  0.41016762, -1.62137716,  5.84371035, -7.65889664, -0.2707447 ,
  17.1892609 ,-38.58829264,-28.979834  ,  0.74919447, -1.34168471,
   6.26462946,-12.72369699, -0.63331885,  0.63957616,  7.09119262,
 -24.53519955,  4.60275311, -0.94646261,  1.90700725,-57.07730495,
 136.36640693,-13.7626024 ]

qfrc_actuator:
[ 6.12724363e-05, 9.35603499e-04, 1.81718450e-04,-2.37828310e-05,
  1.25863328e-03, 1.29619933e-01, 1.75977108e-02, 1.38769784e-02,
 -8.62483716e-05, 8.98287917e-04, 2.15827581e-04, 3.68763570e-05,
  9.14407407e-03,-1.53745416e-03, 0.00000000e+00,-1.29071429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00408766291627604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03702528e-14,  1.35801685e-14,  1.00000000e+00, -2.76631465e-28,
        1.00000000e+00, -1.35801685e-14, -1.00000000e+00,  0.00000000e+00,
        2.03702528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15672202, -0.05698172,  0.06179501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36179420e-06, 6.29892441e-08, 2.72578763e-05,-2.38080863e-06,
 -7.02076218e-05, 2.98418007e-04,-3.67463223e-04,-2.63621814e-04,
  4.48381234e-06, 3.62104283e-06, 1.25253120e-05,-1.74290424e-05,
 -6.20673225e-05,-1.56989587e-05,-2.06515165e-05,-1.24364461e-04,
 -2.10375050e-04,-1.29259267e-03,-4.90227526e+00,-1.24950808e-03,
  3.02067097e-03,-5.20036077e-03]


--- Step 1732 ---
qpos:
[ 0.01866539, 0.03001484,-0.00944433,-0.02526759,-0.0045466 , 1.16119558,
 -0.03625344, 0.93220257, 0.0115747 , 0.02734453,-0.0082607 , 0.02648473,
  1.28867185, 0.00756825, 1.24358171, 0.04473369,-0.09594095,-0.06641302,
  0.09361833, 0.68331485, 0.10560324,-0.69626472,-0.19272834]

qacc:
[ -2.78883783, -1.11425546,  3.00999573, -2.69548428, -0.23554566,
   5.40553525,  0.33867791,-69.18109525,  0.4688361 , -1.21590166,
   4.72593069, -8.08449662, -0.35403853,  0.16589519,  2.05889114,
  -7.569649  ,  4.08391085, -0.85798632,  0.5735288 ,-51.17379463,
 120.70205911,-12.86363444]

qfrc_actuator:
[ 4.43653363e-05, 8.75467581e-04, 1.76344071e-04,-2.63078709e-05,
  1.23697560e-03, 1.29901542e-01, 1.74499628e-02, 1.35974883e-02,
 -8.36196657e-05, 8.73795141e-04, 2.20564089e-04, 2.65810740e-05,
  9.10947854e-03,-1.55326563e-03, 0.00000000e+00,-1.32461158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004055358176261285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47533893e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.47533893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15676959, -0.05697167,  0.06179641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68418456e-05,-5.46012373e-05,-2.10438019e-06,-1.62984697e-06,
 -6.13808916e-05, 3.41227174e-04,-1.45262773e-04,-2.84973556e-04,
  2.76504220e-06,-2.06669894e-05, 6.40881136e-06,-1.00481147e-05,
 -7.06721824e-05,-3.44557458e-05,-2.70341998e-05,-4.43128335e-05,
  2.21415738e-05,-1.54262928e-03,-4.90212478e+00,-1.91629426e-03,
  2.74478934e-03,-5.24769997e-03]


--- Step 1733 ---
qpos:
[ 0.01866436, 0.03001439,-0.00944349,-0.02526682,-0.00452186, 1.16312894,
 -0.03611767, 0.93242927, 0.01157485, 0.02734522,-0.00826038, 0.02648396,
  1.28892497, 0.00756832, 1.24372466, 0.04473103,-0.09594371,-0.06651507,
  0.09360915, 0.68310337, 0.10675463,-0.69597761,-0.1938773 ]

qacc:
[  -4.66525241,   0.99088204,  -5.86781929,  12.69318458,  -0.28695447,
   -4.31538876,  24.96027855, -79.34804962,   3.22239332,   0.2377321 ,
   -0.72666228,  -0.45006814,  -0.93970638,   0.99008553,  17.39084454,
  -59.62864728,  -5.53377795,   0.53377562,  -0.95577017,  68.30907455,
 -162.14221647,  -8.71796811]

qfrc_actuator:
[ 1.68601082e-05, 8.39664744e-04, 1.54791193e-04,-1.02496833e-05,
  1.19639109e-03, 1.29756589e-01, 1.73264700e-02, 1.33405599e-02,
 -6.42299430e-05, 8.58886937e-04, 2.05314480e-04, 2.07842102e-05,
  9.08494217e-03,-1.54490571e-03, 0.00000000e+00,-1.61190888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004133112976004383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.71541663e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.71541663e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00063926, -0.07907676,  0.06179286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80161580e-05,-6.68587658e-05,-3.31588038e-05, 1.36131659e-05,
 -7.53302917e-05,-1.86377032e-05,-8.78803792e-05,-2.55084175e-04,
  1.94667255e-05,-2.56067706e-05,-1.90918572e-05,-6.65804471e-06,
 -6.92608827e-05,-1.77828789e-05,-2.02982550e-05,-2.93894295e-04,
  2.86947574e-04,-1.78554264e-03,-4.90182778e+00,-2.52372112e-03,
  2.49671878e-03,-5.29441735e-03]


--- Step 1734 ---
qpos:
[ 0.01866301, 0.03001374,-0.00944274,-0.02526626,-0.00449794, 1.16505867,
 -0.03598199, 0.93265113, 0.01157557, 0.02734591,-0.00826031, 0.02648276,
  1.28917755, 0.00756888, 1.2438676 , 0.04472426,-0.0959659 ,-0.06661529,
  0.09359179, 0.68267655, 0.10794496,-0.69590388,-0.19498307]

qacc:
[  -2.76411043,  -0.41694483,   2.00474218,  -5.33410321,  -0.35750264,
  -12.73485638,  45.97732863, -94.135232  ,   4.90811607,  -0.20848069,
    2.52865583,  -9.4970113 ,  -1.06320949,   1.41692658,  12.50164473,
  -43.51035461,  -4.85510155,   0.45705651,  -2.04288457,  60.50675144,
 -141.73321464,  -8.28752674]

qfrc_actuator:
[ 1.09619351e-06, 8.54148251e-04, 1.59465099e-04,-1.88842152e-05,
  1.14478282e-03, 1.29339887e-01, 1.72343709e-02, 1.30809225e-02,
 -3.51294048e-05, 8.67503360e-04, 1.96173061e-04,-8.11020041e-08,
  9.07711630e-03,-1.50444973e-03, 0.00000000e+00,-1.81543123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.3503436 ,  2.20420929,  8.3503436 , 10.99267036,
       -8.92654379,  2.20420929, -8.92654379, 42.45334646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004177707474361858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.64373362e-15,  1.32874672e-14,  1.00000000e+00, -8.82783929e-29,
        1.00000000e+00, -1.32874672e-14, -1.00000000e+00,  0.00000000e+00,
        6.64373362e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00074796, -0.07905849,  0.06179079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66023866e-05,-2.91703175e-05,-1.27515887e-05,-1.23804016e-05,
 -9.43047117e-05,-4.77219442e-04,-1.19508118e-04,-2.66347951e-04,
  2.96652390e-05,-9.95178911e-06,-1.70234661e-05,-2.27541436e-05,
 -4.85604378e-05, 1.97491143e-05,-4.66929444e-05,-2.23532816e-04,
 -5.99815399e-05,-1.57971498e-03,-4.90202082e+00,-1.74720245e-03,
  2.82622108e-03,-5.31375336e-03]


--- Step 1735 ---
qpos:
[ 0.01866147, 0.03001318,-0.00944212,-0.02526584,-0.00447466, 1.16698067,
 -0.03584638, 0.93286858, 0.01157733, 0.02734675,-0.00826047, 0.02648165,
  1.28942974, 0.00756965, 1.24400983, 0.04471873,-0.09600521,-0.06671394,
  0.09356255, 0.68205971, 0.10917091,-0.69601749,-0.19605083]

qacc:
[  -1.54105289,   0.16886255,   0.18919705,  -2.55882677,  -0.28592546,
  -17.44580667,  53.91954077, -93.34970235,   8.80465674,   1.01420808,
   -3.71779823,   5.485127  ,  -0.30558238,   0.37257332,  -4.75704586,
   15.18295194,  -4.28029872,   0.39204865,  -2.97208229,  53.90768016,
 -124.54308378,  -7.83134649]

qfrc_actuator:
[-7.62687072e-06, 8.80966354e-04, 1.62028157e-04,-2.41644689e-05,
  1.12248887e-03, 1.28675206e-01, 1.71248933e-02, 1.28393026e-02,
  1.72011450e-05, 8.90147887e-04, 1.90803571e-04, 5.88643533e-06,
  9.05803143e-03,-1.49845319e-03, 0.00000000e+00,-1.73709581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.37660639,  2.1021994 ,  8.37660639, 10.93067958,
       -9.14213065,  2.1021994 , -9.14213065, 45.06489177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004164058116138465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.66551111e-15,  1.33310222e-14,  1.00000000e+00, -8.88580766e-29,
        1.00000000e+00, -1.33310222e-14, -1.00000000e+00,  0.00000000e+00,
        6.66551111e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0007207 , -0.07905774,  0.06179129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21480056e-06, 7.35468609e-06,-5.46075476e-06,-7.21194878e-06,
 -7.58063988e-05,-9.85333429e-04,-2.30594541e-04,-2.63440978e-04,
  5.31997100e-05, 1.25772494e-05,-1.03160150e-05, 4.50906891e-06,
 -4.06703829e-05, 1.08654932e-06,-4.91907047e-05, 5.92820577e-05,
 -3.05952713e-04,-1.41337973e-03,-4.90196316e+00,-1.05101525e-03,
  3.11868648e-03,-5.33521095e-03]


--- Step 1736 ---
qpos:
[ 0.01866054, 0.03001293,-0.00944162,-0.02526517,-0.00445165, 1.16889065,
 -0.03571127, 0.93308363, 0.01157936, 0.02734766,-0.00826045, 0.02648129,
  1.28968158, 0.0075703 , 1.24415201, 0.04471208,-0.09605968,-0.06681125,
  0.09351825, 0.68127403, 0.11042956,-0.69629635,-0.19708477]

qacc:
[   5.10827382,   1.26385514,  -5.001098  ,   9.34465788,  -0.11067031,
  -18.45145371,  46.16012107, -60.29146981,   2.30564949,   1.11688307,
   -7.05329238,  19.75384143,  -0.27808372,   0.15759985,   3.32011901,
  -11.6643777 ,  -3.79247947,   0.33695243,  -3.76422718,  48.33511417,
 -110.06206113,  -7.37916172]

qfrc_actuator:
[ 2.33655128e-05, 9.14975309e-04, 1.63389122e-04,-9.66096571e-06,
  1.13570082e-03, 1.27778531e-01, 1.69872516e-02, 1.26987616e-02,
  2.95246483e-05, 9.03308518e-04, 2.05540825e-04, 4.53659496e-05,
  9.03219725e-03,-1.51303587e-03, 0.00000000e+00,-1.79513809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44528708,  1.80662751,  8.44528708, 10.44270568,
       -8.44395263,  1.80662751, -8.44395263, 48.10858673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004103739029175116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76348457e-15, -1.01452269e-14,  1.00000000e+00,  6.86170854e-29,
        1.00000000e+00,  1.01452269e-14, -1.00000000e+00,  0.00000000e+00,
        6.76348457e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00058557, -0.07907066,  0.06179384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07279966e-05, 3.66984815e-05, 1.95807430e-06, 1.44886134e-05,
 -2.98610162e-05,-1.51995365e-03,-3.70788530e-04,-1.80975671e-04,
  1.38887418e-05, 1.82542502e-05, 1.62148535e-05, 3.97484048e-05,
 -4.69750653e-05,-2.33944926e-05,-1.70128548e-05,-6.12461114e-05,
 -4.79457997e-04,-1.27814021e-03,-4.90173780e+00,-4.24785622e-04,
  3.37871849e-03,-5.35849558e-03]


--- Step 1737 ---
qpos:
[ 0.01866032, 0.03001299,-0.00944116,-0.025264  ,-0.00442894, 1.17078486,
 -0.03557692, 0.93329712, 0.01158048, 0.0273482 ,-0.00826004, 0.02648145,
  1.28993312, 0.00757079, 1.24429387, 0.04470644,-0.09608943,-0.0669127 ,
  0.09347505, 0.68075404, 0.11165872,-0.69629222,-0.19820045]

qacc:
[ 6.20137316e+00, 1.53334397e+00,-7.02903016e+00, 1.56279098e+01,
 -1.32745827e-01,-2.13200522e+01, 4.78149867e+01,-4.96559983e+01,
 -7.67187793e+00,-4.75529638e-01,-1.13648746e+00, 9.66836545e+00,
 -3.55681302e-02,-1.54313436e-01,-3.51700876e+00, 1.16067254e+01,
  6.18296025e+00,-1.03530562e+00, 2.74729695e-01,-8.10624783e+01,
  1.81479479e+02,-7.01583812e+00]

qfrc_actuator:
[ 5.97307306e-05, 9.35299491e-04, 1.64083386e-04, 1.63750418e-05,
  1.11682224e-03, 1.26732279e-01, 1.68509302e-02, 1.26008606e-02,
 -1.73112557e-05, 8.57550698e-04, 2.14266482e-04, 6.87456424e-05,
  9.01830049e-03,-1.52197685e-03, 0.00000000e+00,-1.73787350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042392852321812904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18403755e-15, -2.61889202e-14,  1.00000000e+00,  2.14331106e-28,
        1.00000000e+00,  2.61889202e-14, -1.00000000e+00,  0.00000000e+00,
        8.18403755e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19167198, -0.05345491,  0.0617875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72728698e-05, 4.18857620e-05, 9.01151362e-06, 2.79539864e-05,
 -3.59107470e-05,-1.99001668e-03,-4.87634001e-04,-1.56763862e-04,
 -4.64222073e-05,-3.05179136e-05, 1.58604013e-05, 2.54951448e-05,
 -4.38511297e-05,-2.63742716e-05,-1.78446652e-05, 5.09708645e-05,
 -6.01400884e-04,-1.16756532e-03,-4.90140223e+00, 1.40665921e-04,
  3.61041520e-03,-5.38335142e-03]


--- Step 1738 ---
qpos:
[ 0.01866055, 0.03001317,-0.00944114,-0.02526281,-0.00440688, 1.17266158,
 -0.03544436, 0.93350598, 0.01158069, 0.02734836,-0.00826001, 0.02648194,
  1.29018439, 0.00757091, 1.24443531, 0.04470383,-0.09609764,-0.0670178 ,
  0.09342782, 0.68046473, 0.11286246,-0.69604153,-0.19938909]

qacc:
[   3.74385256,   1.41689668,  -4.85818881,   5.64409924,  -0.28480862,
  -25.98460228,  66.76108888,-100.87537971,  -7.81128231,   1.23356543,
   -6.52062273,  13.17489049,   0.27665114,  -0.6354048 ,  -9.85234291,
   33.46353905,   5.38417532,  -0.91391783,  -1.00718842, -71.36181447,
  157.64297632,  -6.89266149]

qfrc_actuator:
[ 8.12013891e-05, 9.11781393e-04, 1.28830311e-04, 1.34699920e-05,
  1.06109034e-03, 1.25711358e-01, 1.66980949e-02, 1.23511463e-02,
 -6.30748053e-05, 8.12339030e-04, 1.83602249e-04, 8.24019060e-05,
  9.00092350e-03,-1.54518514e-03, 0.00000000e+00,-1.57759243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.76043174, -3.78978576,  7.76043174, 14.97449979,
       12.97874766, -3.78978576, 12.97874766, 35.21324469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0043342073398061134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.00480152e-15, -1.28076824e-14,  1.00000000e+00,  1.02522956e-28,
        1.00000000e+00,  1.28076824e-14, -1.00000000e+00,  0.00000000e+00,
        8.00480152e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19142946, -0.05348579,  0.061783  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25689441e-05, 2.96555358e-06,-2.45352304e-05,-2.60883959e-07,
 -7.62380051e-05,-2.24661938e-03,-6.08711055e-04,-3.25703367e-04,
 -4.71335282e-05,-5.79461785e-05,-3.41409265e-05, 1.33930906e-05,
 -4.61122545e-05,-4.09127253e-05,-5.04891322e-06, 1.60285886e-04,
 -4.02654280e-04,-1.45032854e-03,-4.90176071e+00,-8.00674113e-04,
  3.18191835e-03,-5.43741110e-03]


--- Step 1739 ---
qpos:
[ 0.01866103, 0.03001313,-0.00944139,-0.02526129,-0.00438541, 1.17452444,
 -0.03531638, 0.93370905, 0.01158035, 0.02734855,-0.00826051, 0.02648255,
  1.2904353 , 0.00757056, 1.24457713, 0.04469946,-0.09608702,-0.06712615,
  0.09337216, 0.68037639, 0.11404407,-0.69557479,-0.20064303]

qacc:
[ 2.19488377e+00, 1.14939570e+00,-5.96159082e+00, 1.23920271e+01,
 -2.53179768e-01,-1.56822806e+01, 4.12636297e+01,-9.43820512e+01,
 -4.72105912e+00, 1.81526125e+00,-6.91599591e+00, 9.83501271e+00,
 -1.36132643e-01,-2.41159828e-01, 5.90963558e+00,-1.98480000e+01,
  4.70711108e+00,-8.10990841e-01,-2.10658478e+00,-6.31360242e+01,
  1.37557442e+02,-6.66984301e+00]

qfrc_actuator:
[ 9.37312109e-05, 8.79767712e-04, 1.07935839e-04, 2.89999039e-05,
  1.03697394e-03, 1.25228484e-01, 1.65366930e-02, 1.20673010e-02,
 -9.00682413e-05, 8.38632874e-04, 1.65409896e-04, 9.01972847e-05,
  8.97081456e-03,-1.57669488e-03, 0.00000000e+00,-1.67748264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.82454998, -3.65557033,  7.82454998, 15.04393898,
       13.71506742, -3.65557033, 13.71506742, 37.99272144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00435788371339374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36904916e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.36904916e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19135719, -0.0534923 ,  0.06178167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31886509e-05,-3.54362753e-05,-2.33189632e-05, 1.47988544e-05,
 -6.75810311e-05,-1.87914657e-03,-6.86213824e-04,-3.75073820e-04,
 -2.83928181e-05,-1.26116560e-05,-3.39050528e-05, 4.39195310e-06,
 -6.28694813e-05,-5.41859591e-05, 1.29524446e-05,-9.21740010e-05,
 -1.35338864e-04,-1.72104405e-03,-4.90178974e+00,-1.62584104e-03,
  2.80844697e-03,-5.48961639e-03]


--- Step 1740 ---
qpos:
[ 0.01866165, 0.03001295,-0.00944193,-0.0252596 ,-0.0043643 , 1.17637763,
 -0.0351933 , 0.93390613, 0.01158003, 0.02734903,-0.00826137, 0.02648217,
  1.29068578, 0.00756982, 1.24471899, 0.04469395,-0.09605987,-0.06723739,
  0.09330431, 0.68046382, 0.11520617,-0.69491759,-0.20195561]

qacc:
[  1.25190398,  0.94898514, -4.34088449,  7.73008566, -0.1630128 ,
  -9.66573126, 28.74467056,-88.67877503,  0.17947461, -0.71067186,
   7.28643549,-24.18147468, -0.17392364, -0.1554101 ,  3.52548848,
 -12.21303376,  4.13197854, -0.72341241, -3.04679052,-56.1652322 ,
 120.62058342, -6.39140926]

qfrc_actuator:
[ 1.00903114e-04, 8.78467335e-04, 9.56639296e-05, 3.75070614e-05,
  1.03201384e-03, 1.25071817e-01, 1.64091579e-02, 1.17837281e-02,
 -8.80446210e-05, 8.72070869e-04, 1.55025031e-04, 4.12993992e-05,
  8.94906189e-03,-1.59517420e-03, 0.00000000e+00,-1.73460817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.95950261, -3.35158099,  7.95950261, 14.46547979,
       13.84327738, -3.35158099, 13.84327738, 41.512073  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0043240708395682614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28377062e-14, -1.28377062e-14,  1.00000000e+00,  1.64806702e-28,
        1.00000000e+00,  1.28377062e-14, -1.00000000e+00,  0.00000000e+00,
        1.28377062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19142055, -0.05347909,  0.06178285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54427648e-06,-2.52942229e-05,-2.19515990e-05, 6.46799403e-06,
 -4.35039556e-05,-1.36599560e-03,-5.90562810e-04,-3.67071624e-04,
  1.18890938e-06, 1.95568407e-05,-1.70109525e-05,-5.05255551e-05,
 -6.66335102e-05,-4.87127645e-05,-9.26420035e-06,-6.17024846e-05,
  1.71976994e-04,-1.97832454e-03,-4.90160036e+00,-2.35351131e-03,
  2.48163952e-03,-5.54024929e-03]


--- Step 1741 ---
qpos:
[ 0.01866271, 0.03001316,-0.00944338,-0.02525889,-0.00434351, 1.17822013,
 -0.03507259, 0.93409897, 0.01158008, 0.02734953,-0.00826256, 0.02648123,
  1.29093581, 0.00756904, 1.24486058, 0.04468945,-0.09605916,-0.06734641,
  0.09323999, 0.68025267, 0.11643536,-0.69455124,-0.2032183 ]

qacc:
[ 3.61647526e+00, 1.06483674e+00, 1.04810151e+00,-1.66813376e+01,
 -1.33867811e-01,-1.48270746e+01, 4.02843715e+01,-7.75813935e+01,
  3.15795912e+00,-1.41006438e-01, 2.86734847e+00,-1.18438224e+01,
 -2.38129767e-01, 1.18190963e-01,-3.47756986e+00, 1.15972021e+01,
 -6.60953391e+00, 5.53166282e-01, 8.80169738e-01, 8.67354663e+01,
 -1.93053729e+02,-1.97333392e+01]

qfrc_actuator:
[ 1.22620042e-04, 9.13348176e-04, 5.31815665e-05,-1.14190027e-05,
  1.02081980e-03, 1.24561886e-01, 1.63040944e-02, 1.15738538e-02,
 -6.89643513e-05, 8.56266668e-04, 1.31588849e-04, 1.27115111e-05,
  8.93766698e-03,-1.58798565e-03, 0.00000000e+00,-1.67723198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044005349024024976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26146372e-14, -1.26146372e-14,  1.00000000e+00,  1.59129071e-28,
        1.00000000e+00,  1.26146372e-14, -1.00000000e+00,  0.00000000e+00,
        1.26146372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00136715, -0.07896254,  0.06177903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19293537e-05, 1.64895661e-05,-5.01825479e-05,-5.06451376e-05,
 -3.60245964e-05,-1.41604894e-03,-4.56363977e-04,-2.74823592e-04,
  1.91252591e-05,-1.05539482e-05,-2.32350087e-05,-2.93201208e-05,
 -5.71661411e-05,-2.22216627e-05,-1.48591866e-05, 5.19331490e-05,
  5.00781894e-04,-2.22192978e-03,-4.90126974e+00,-2.99893681e-03,
  2.19457229e-03,-5.58953911e-03]


--- Step 1742 ---
qpos:
[ 0.01866332, 0.03001382,-0.00944492,-0.02525849,-0.00432317, 1.18004977,
 -0.0349538 , 0.93428732, 0.01157933, 0.02734968,-0.00826364, 0.02648067,
  1.29118544, 0.00756848, 1.24500204, 0.04468565,-0.09608141,-0.06745358,
  0.09317365, 0.67978193, 0.11772471,-0.69443687,-0.2044379 ]

qacc:
[-3.76252355e+00, 2.20148822e-01, 1.40033096e+00,-6.97340028e+00,
 -1.97693695e-01,-1.93294568e+01, 5.20440593e+01,-8.92689869e+01,
 -6.86328002e+00,-2.78991979e-02,-2.13224071e+00, 8.62685430e+00,
 -4.10351361e-01, 5.09637429e-01,-2.22385776e+00, 7.61627565e+00,
 -5.74009713e+00, 4.64594341e-01,-5.03389575e-01, 7.61342471e+01,
 -1.67235459e+02,-1.79434912e+01]

qfrc_actuator:
[ 9.94684716e-05, 9.69459120e-04, 6.43255810e-05,-2.27236992e-05,
  9.88217127e-04, 1.23791634e-01, 1.61586950e-02, 1.13378319e-02,
 -1.11018217e-04, 8.28813428e-04, 1.35964210e-04, 3.17672344e-05,
  8.93250515e-03,-1.56557824e-03, 0.00000000e+00,-1.64161868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.49433788,  1.55980795,  8.49433788,  9.82942463,
       -6.49712244,  1.55980795, -6.49712244, 44.01812541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004511809671982822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53794030e-15,  1.23035224e-14,  1.00000000e+00, -1.89220828e-29,
        1.00000000e+00, -1.23035224e-14, -1.00000000e+00,  0.00000000e+00,
        1.53794030e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0016495 , -0.07892702,  0.06177369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25020337e-05, 5.28109712e-05, 6.62784457e-06,-1.33210821e-05,
 -5.31902923e-05,-1.67465157e-03,-4.88394889e-04,-2.96419346e-04,
 -4.14949730e-05,-3.94064173e-05,-1.67160622e-06, 1.72317148e-05,
 -3.96221871e-05, 2.75807665e-06,-3.96837049e-06, 3.59700380e-05,
  1.02570382e-05,-1.99651763e-03,-4.90151563e+00,-2.01563590e-03,
  2.63743370e-03,-5.60728861e-03]


--- Step 1743 ---
qpos:
[ 0.01866297, 0.03001431,-0.00944559,-0.02525718,-0.00430317, 1.18186532,
 -0.03483706, 0.93447051, 0.01157808, 0.02734968,-0.00826471, 0.02647998,
  1.2914346 , 0.00756842, 1.24514362, 0.04468095,-0.09612367,-0.06755919,
  0.09310055, 0.67908428, 0.11906809,-0.69454142,-0.20561992]

qacc:
[  -8.30241662,  -0.78345051,  -1.34666511,  15.77322984,  -0.14792311,
  -21.7424177 ,  59.40410136,-102.76192496,  -4.25119939,  -0.47709846,
    1.97705747,  -4.15500804,  -0.77305002,   1.09230363,   2.95234743,
   -9.90520229,  -5.00265029,   0.3895498 ,  -1.69231382,  67.15236873,
 -145.4573501 , -16.29435847]

qfrc_actuator:
[ 5.00884684e-05, 9.49332714e-04, 1.07190281e-04, 2.37772150e-05,
  9.78544552e-04, 1.23013659e-01, 1.60250926e-02, 1.10703106e-02,
 -1.35466567e-04, 8.30247769e-04, 1.38946204e-04, 2.54484955e-05,
  8.91511752e-03,-1.53429443e-03, 0.00000000e+00,-1.69015366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.53309885,  1.33154081,  8.53309885,  9.57164113,
       -5.99366932,  1.33154081, -5.99366932, 47.04643144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004545868540993057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22113411e-14, -2.44226821e-14,  1.00000000e+00,  2.98233702e-28,
        1.00000000e+00,  2.44226821e-14, -1.00000000e+00,  0.00000000e+00,
        1.22113411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00175036, -0.07891287,  0.06177177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.00175885e-05, 1.01867823e-05, 5.41370128e-05, 4.87337784e-05,
 -4.00699253e-05,-1.83212164e-03,-5.31437854e-04,-3.37195754e-04,
 -2.56789697e-05,-2.02172454e-05,-4.75465801e-06,-7.72504738e-06,
 -3.69231435e-05, 2.29169667e-05,-1.30918037e-06,-4.78061196e-05,
 -3.39594631e-04,-1.81816264e-03,-4.90140725e+00,-1.12152934e-03,
  3.03739309e-03,-5.62781299e-03]


--- Step 1744 ---
qpos:
[ 0.01866237, 0.03001486,-0.00944628,-0.02525598,-0.00428348, 1.18366858,
 -0.03472346, 0.93465178, 0.01157793, 0.02735   ,-0.00826567, 0.02647881,
  1.29168318, 0.00756905, 1.2452855 , 0.04467302,-0.09614066,-0.06766804,
  0.09302944, 0.67866769, 0.12033801,-0.69436141,-0.20686025]

qacc:
[-2.10278627e+00,-9.71738363e-02, 9.46835511e-01,-2.91514495e+00,
 -1.35293302e-01,-1.09054015e+01, 2.00860189e+01,-3.19947891e+01,
  9.33714321e+00,-8.83864494e-01, 5.78648854e+00,-1.45459506e+01,
 -1.17245004e+00, 1.65420457e+00, 1.03252511e+01,-3.51887008e+01,
  6.31722039e+00,-8.08103881e-01, 4.98147598e-01,-9.11783102e+01,
  1.83200846e+02, 1.76676309e+01]

qfrc_actuator:
[ 3.89381103e-05, 9.37166856e-04, 9.71476882e-05, 1.51022300e-05,
  9.64946221e-04, 1.22539205e-01, 1.59172109e-02, 1.09816387e-02,
 -7.83258577e-05, 8.84458728e-04, 1.58912258e-04, 4.25967096e-06,
  8.88508895e-03,-1.49804737e-03, 0.00000000e+00,-1.85887825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004540434304379282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44519125e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.44519125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19183488, -0.05698953,  0.06177157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26095789e-05, 6.76902503e-06, 4.16539743e-07,-5.41718622e-06,
 -3.65383066e-05,-1.62512089e-03,-5.42569534e-04,-1.65325327e-04,
  5.63807305e-05, 4.15933992e-05, 1.49507977e-05,-2.23653138e-05,
 -4.36577628e-05, 3.44234175e-05,-1.00892578e-05,-1.72470990e-04,
 -5.89612846e-04,-1.67674058e-03,-4.90106982e+00,-3.10298884e-04,
  3.39761741e-03,-5.65080989e-03]


--- Step 1745 ---
qpos:
[ 0.01866198, 0.03001612,-0.00944762,-0.02525527,-0.00426426, 1.1854625 ,
 -0.03461387, 0.9348304 , 0.01157846, 0.02735066,-0.00826618, 0.0264777 ,
  1.29193106, 0.00757048, 1.2454269 , 0.04466648,-0.09613573,-0.06777973,
  0.09295496, 0.67849431, 0.12154443,-0.69393411,-0.20815349]

qacc:
[  1.81011572,  1.72210779, -2.70602561, -5.348481  , -0.20330927,
  -5.99562453, 10.26091785,-33.84950755,  5.86364209, -0.68153795,
   2.74603647, -2.4246287 , -0.94059867,  1.41086239, -4.78798767,
  15.94974472,  5.48121073, -0.71114312, -0.84083922,-80.13135852,
 158.60315903, 14.36885345]

qfrc_actuator:
[ 5.03877198e-05, 1.00062005e-03, 7.36543980e-05,-8.26765159e-06,
  9.31346184e-04, 1.22286213e-01, 1.57911825e-02, 1.08570816e-02,
 -4.46355699e-05, 9.16662997e-04, 1.88966154e-04, 1.00600694e-05,
  8.84750259e-03,-1.45921216e-03, 0.00000000e+00,-1.77748067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.17344548, -2.78954582,  8.17344548, 11.40029188,
        8.09838529, -2.78954582,  8.09838529, 32.36485386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004628179966389354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19159797, -0.05700945,  0.06176723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10834761e-05, 6.70753889e-05,-2.22313414e-05,-2.31728780e-05,
 -5.45265402e-05,-1.28573554e-03,-5.16279995e-04,-1.91290321e-04,
  3.53564461e-05, 5.76148892e-05, 3.97209590e-05, 7.66656681e-06,
 -5.24511252e-05, 3.89734388e-05,-2.83591677e-05, 6.95128432e-05,
 -2.47098853e-04,-1.90505770e-03,-4.90144554e+00,-1.35113962e-03,
  2.88251932e-03,-5.70836114e-03]


--- Step 1746 ---
qpos:
[ 0.01866208, 0.03001791,-0.00944898,-0.02525453,-0.00424554, 1.18724676,
 -0.03450678, 0.93500371, 0.01157904, 0.02735143,-0.0082665 , 0.02647707,
  1.29217835, 0.00757245, 1.24556783, 0.04466325,-0.09615542,-0.06788804,
  0.09288279, 0.67804656, 0.12280379,-0.69378427,-0.20936925]

qacc:
[   4.14991501,   0.86132416,  -2.1983695 ,   2.48861921,  -0.21835126,
  -14.95008518,  44.54728949, -94.37556327,   0.48221915,   0.60529718,
   -3.91530737,  11.66515782,  -0.5456415 ,   0.80903371, -10.68806267,
   36.47853637,  -6.15540564,   0.84288109,   0.57753074,  90.39489398,
 -179.11382569,  -3.78124641]

qfrc_actuator:
[ 7.50356678e-05, 1.03776882e-03, 7.82366913e-05,-4.52012843e-06,
  9.03776617e-04, 1.21830770e-01, 1.56741280e-02, 1.05882235e-02,
 -4.27976466e-05, 9.00015194e-04, 1.89177748e-04, 3.16897636e-05,
  8.81606449e-03,-1.43696260e-03, 0.00000000e+00,-1.60258478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004722038714916714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87787972e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.87787972e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00452686, -0.08142985,  0.0617626 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49934146e-05, 6.90467030e-05, 1.48952030e-05, 5.39715403e-06,
 -5.87589986e-05,-1.29579822e-03,-4.38535286e-04,-3.25140340e-04,
  2.89311033e-06, 2.41029529e-05, 1.72703442e-05, 2.56230705e-05,
 -4.92451379e-05, 2.14120482e-05,-7.80840885e-06, 1.74615499e-04,
  1.34718890e-04,-2.11282152e-03,-4.90147599e+00,-2.21592643e-03,
  2.45595348e-03,-5.76206039e-03]


--- Step 1747 ---
qpos:
[ 0.01866247, 0.0300197 ,-0.00944951,-0.0252534 ,-0.00422715, 1.18902027,
 -0.03440074, 0.93517183, 0.0115793 , 0.02735216,-0.00826641, 0.02647671,
  1.29242541, 0.00757419, 1.24570894, 0.04465977,-0.09619649,-0.06799352,
  0.09280752, 0.67736008, 0.12411031,-0.69387485,-0.21051759]

qacc:
[ 2.55801001e+00,-1.53477346e+00, 3.79301401e+00, 1.70321026e+00,
 -1.45912171e-01,-2.01113449e+01, 5.94344775e+01,-1.05279956e+02,
 -2.77435601e+00,-6.54446043e-01, 1.09939732e+00, 2.96333390e+00,
 -6.23831680e-02,-1.39622767e-01, 1.04668514e+00,-3.25500527e+00,
 -5.34567929e+00, 7.09418988e-01,-7.77368183e-01, 7.92027648e+01,
 -1.55240613e+02,-3.73281290e+00]

qfrc_actuator:
[ 8.94939726e-05, 1.02350902e-03, 1.17054143e-04, 1.51635208e-05,
  8.97800156e-04, 1.21275660e-01, 1.56158200e-02, 1.03252638e-02,
 -5.97155452e-05, 8.89644458e-04, 2.07075627e-04, 4.46386277e-05,
  8.79898285e-03,-1.46023072e-03, 0.00000000e+00,-1.62261328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.34576187,   2.221494  ,   8.34576187,
        12.61512732, -14.9475147 ,   2.221494  , -14.9475147 ,
        64.79154488,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004781445134235708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80485080e-15, -8.70727620e-15,  1.00000000e+00,  5.05444392e-29,
        1.00000000e+00,  8.70727620e-15, -1.00000000e+00,  0.00000000e+00,
        5.80485080e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00468674, -0.08141013,  0.06175951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52053997e-05, 2.76154830e-05, 5.50913465e-05, 2.32566272e-05,
 -3.96008405e-05,-1.38966562e-03,-3.76774845e-04,-3.20364358e-04,
 -1.68245073e-05, 7.75325186e-06, 2.58870702e-05, 1.50784060e-05,
 -3.67349141e-05,-2.87340057e-05, 1.29715838e-05,-1.19145139e-05,
 -2.85634211e-04,-1.85372429e-03,-4.90153234e+00,-1.26108412e-03,
  2.93471852e-03,-5.78099681e-03]


--- Step 1748 ---
qpos:
[ 0.01866304, 0.03002158,-0.00944979,-0.02525236,-0.00420905, 1.1907848 ,
 -0.03429705, 0.93533613, 0.0115797 , 0.02735285,-0.00826661, 0.02647621,
  1.29267225, 0.00757566, 1.24585042, 0.04465341,-0.09621174,-0.06810235,
  0.09273583, 0.67696065, 0.12534681,-0.69367144,-0.21173659]

qacc:
[ 1.46860865e+00,-7.69761239e-01, 3.28617635e+00,-5.29037173e+00,
 -1.23462093e-01,-1.19146935e+01, 3.25931905e+01,-6.70122707e+01,
  1.18626615e+00, 4.53409745e-01,-1.09190206e+00,-8.61849178e-01,
 -2.48618486e-01, 6.27071602e-02, 9.25943735e+00,-3.15564579e+01,
  6.45570943e+00,-8.37579305e-01, 8.98412016e-01,-9.69891483e+01,
  1.87399037e+02, 1.23389139e+01]

qfrc_actuator:
[ 9.78342765e-05, 1.01423892e-03, 1.22302194e-04, 8.53112080e-06,
  8.87063201e-04, 1.20949741e-01, 1.55390444e-02, 1.01388627e-02,
 -5.20213984e-05, 8.65410228e-04, 1.82027224e-04, 3.46371648e-05,
  8.78517790e-03,-1.47474604e-03, 0.00000000e+00,-1.77510627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004915363443550008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64669855e-15,  1.12933971e-14,  1.00000000e+00, -6.37704090e-29,
        1.00000000e+00, -1.12933971e-14, -1.00000000e+00,  0.00000000e+00,
        5.64669855e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19082859, -0.05708337,  0.06175311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.78446333e-06, 1.84889405e-05, 1.85229941e-05,-3.09718875e-06,
 -3.34349694e-05,-1.19991314e-03,-4.06367975e-04,-2.44728074e-04,
  7.20466382e-06,-1.39365423e-05,-1.97443687e-05,-8.48029431e-06,
 -3.91573813e-05,-3.14045257e-05, 3.17896983e-07,-1.52460228e-04,
 -5.72534589e-04,-1.64229367e-03,-4.90130350e+00,-4.21628818e-04,
  3.35179797e-03,-5.80252120e-03]


--- Step 1749 ---
qpos:
[ 0.01866335, 0.0300239 ,-0.00945039,-0.02525175,-0.00419138, 1.19254208,
 -0.03419699, 0.9354986 , 0.01158053, 0.02735332,-0.00826727, 0.02647528,
  1.29291866, 0.007577  , 1.24599168, 0.04464696,-0.09620465,-0.06821413,
  0.09266206, 0.67680894, 0.12652285,-0.69321327,-0.21301875]

qacc:
[-2.15581825e+00, 5.58869372e-01, 6.89138721e-01,-8.07375719e+00,
 -1.87469430e-01,-2.85827295e+00, 1.62321468e+00,-1.81159580e+01,
  3.69208897e+00, 1.38572757e-01, 8.68209102e-01,-7.28444420e+00,
 -2.40335035e-01, 8.46361396e-02,-1.43613179e-02,-3.81477289e-01,
  5.58397726e+00,-7.38108864e-01,-5.21594542e-01,-8.48642060e+01,
  1.61794970e+02, 9.84470068e+00]

qfrc_actuator:
[ 8.47577654e-05, 1.04337634e-03, 1.07659577e-04,-1.35649377e-05,
  8.55799489e-04, 1.20710610e-01, 1.53996607e-02, 1.00523522e-02,
 -2.98959635e-05, 8.32861134e-04, 1.49493379e-04, 1.11688719e-05,
  8.75736975e-03,-1.48388357e-03, 0.00000000e+00,-1.77357086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.07347445, -3.06688558,  8.07347445, 12.77920821,
       10.90590077, -3.06688558, 10.90590077, 37.34578528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004995637959145691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55596219e-15, -1.11119244e-14,  1.00000000e+00,  6.17374317e-29,
        1.00000000e+00,  1.11119244e-14, -1.00000000e+00,  0.00000000e+00,
        5.55596219e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19061052, -0.05710494,  0.06174911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28205866e-05, 4.31033622e-05,-8.67187263e-06,-2.07303004e-05,
 -5.04375609e-05,-1.01138117e-03,-4.32887591e-04,-1.38212524e-04,
  2.23346590e-05,-4.48022375e-05,-3.81425383e-05,-2.49139504e-05,
 -5.56604149e-05,-2.70718583e-05,-2.11988377e-05,-7.89235053e-06,
 -2.14329406e-04,-1.89378489e-03,-4.90162084e+00,-1.45666894e-03,
  2.81845027e-03,-5.85868189e-03]


--- Step 1750 ---
qpos:
[ 0.01866351, 0.0300263 ,-0.00945079,-0.02525071,-0.00417418, 1.19429178,
 -0.03409927, 0.93565947, 0.01158094, 0.02735341,-0.00826798, 0.02647408,
  1.29316463, 0.00757804, 1.24613222, 0.04464522,-0.09617819,-0.06832853,
  0.09258133, 0.67687152, 0.12764637,-0.69253321,-0.2143574 ]

qacc:
[ -1.36011355,  0.47141814, -3.32255054, 10.39089671, -0.20190639,
  -6.38596597, 12.15774031,-24.43623013, -3.66759837, -0.95233312,
   3.83936134, -8.33225584,  0.246134  , -0.62368584,-15.38041994,
  52.16055253,  4.84341033, -0.65316357, -1.74206378,-74.54094408,
 140.19216436,  7.87816996]

qfrc_actuator:
[ 7.69353339e-05, 1.04192016e-03, 1.17053978e-04, 8.70252816e-06,
  8.30231461e-04, 1.20365647e-01, 1.52959369e-02, 9.97206178e-03,
 -5.27195525e-05, 8.13271505e-04, 1.48270392e-04,-2.28753293e-06,
  8.72651034e-03,-1.50758080e-03, 0.00000000e+00,-1.52147280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.15983289, -2.82911718,  8.15983289, 12.57177564,
       11.35064484, -2.82911718, 11.35064484, 41.37426707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004998003121454611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66599990e-14, -3.33199979e-14,  1.00000000e+00,  5.55111131e-28,
        1.00000000e+00,  3.33199979e-14, -1.00000000e+00,  0.00000000e+00,
        1.66599990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19057753, -0.05710436,  0.06174851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.18661382e-06, 1.98844937e-05, 1.64901560e-05, 2.34044828e-05,
 -5.44693758e-05,-1.01461595e-03,-3.60118260e-04,-1.24599714e-04,
 -2.21817454e-05,-5.35868637e-05,-1.60333982e-05,-1.71792777e-05,
 -6.59706272e-05,-4.43098402e-05,-1.34275170e-05, 2.48336797e-04,
  1.88351396e-04,-2.12320859e-03,-4.90158819e+00,-2.32255230e-03,
  2.37447229e-03,-5.91137089e-03]


--- Step 1751 ---
qpos:
[ 0.01866391, 0.03002846,-0.00945088,-0.02524973,-0.00415743, 1.19603311,
 -0.03400297, 0.9358168 , 0.01158106, 0.02735314,-0.00826875, 0.02647306,
  1.29341014, 0.00757877, 1.24627255, 0.04464714,-0.0961803 ,-0.06843909,
  0.09251055, 0.67661004, 0.12884649,-0.69217633,-0.21561393]

qacc:
[ 2.15602755e+00,-1.31118448e+00, 4.42238043e+00,-5.64440152e+00,
 -1.96382200e-01,-1.31422891e+01, 3.69588047e+01,-6.78350132e+01,
 -2.35696543e+00, 1.07702087e-01,-1.84441397e+00, 5.46419841e+00,
  1.11087342e-01,-4.52011276e-01,-1.14091945e+01, 3.94021458e+01,
 -7.14225336e+00, 9.56504653e-01, 2.48974591e+00, 1.09673657e+02,
 -2.08138724e+02,-1.28384488e+01]

qfrc_actuator:
[ 9.00274902e-05, 1.00452818e-03, 1.22737640e-04, 3.63721201e-06,
  8.08286904e-04, 1.19924904e-01, 1.52137662e-02, 9.78949521e-03,
 -6.63166773e-05, 8.01719135e-04, 1.47849283e-04, 8.04145923e-06,
  8.70449011e-03,-1.52202292e-03, 0.00000000e+00,-1.33684503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005220252285377626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06338062e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06338062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00578997, -0.08128275,  0.06173823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28515060e-05,-2.19528544e-05, 1.26056521e-05,-3.19414702e-06,
 -5.31690393e-05,-1.09729836e-03,-3.30435233e-04,-2.24523529e-04,
 -1.42649002e-05,-4.55651322e-05,-1.40481917e-05, 7.14856034e-06,
 -6.55022471e-05,-4.28797504e-05, 1.95151816e-05, 1.96325225e-04,
  6.10230823e-04,-2.33318739e-03,-4.90133030e+00,-3.05403749e-03,
  2.00253283e-03,-5.96123747e-03]


--- Step 1752 ---
qpos:
[ 0.01866378, 0.03003034,-0.00945081,-0.02524914,-0.0041411 , 1.19776583,
 -0.03390915, 0.93597016, 0.01158137, 0.02735238,-0.00826919, 0.02647217,
  1.29365512, 0.00757932, 1.24641326, 0.0446486 ,-0.09620726,-0.06854532,
  0.0924436 , 0.67607514, 0.13009184,-0.69210586,-0.21676715]

qacc:
[-4.58746695e+00,-1.60190800e+00, 6.87882289e+00,-1.38177140e+01,
 -1.84932055e-01,-1.13900251e+01, 3.17991534e+01,-6.84654481e+01,
  1.55852348e+00,-1.34353443e+00, 3.31966965e+00,-1.36777592e+00,
 -3.52324115e-01, 1.44992698e-01, 2.01159833e+00,-6.14716520e+00,
 -6.21462361e+00, 1.08539303e+00, 9.56539979e-01, 9.95550869e+01,
 -1.79985163e+02, 8.26877942e+00]

qfrc_actuator:
[ 6.20653625e-05, 9.81375273e-04, 1.25995402e-04,-1.75169024e-05,
  7.88690527e-04, 1.19466023e-01, 1.50735422e-02, 9.58363052e-03,
 -5.66068392e-05, 7.77351395e-04, 1.65696254e-04, 1.45321702e-05,
  8.67713895e-03,-1.53080816e-03, 0.00000000e+00,-1.37105530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005341034295606534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59833340e-15, -2.07866672e-14,  1.00000000e+00,  5.40106917e-29,
        1.00000000e+00,  2.07866672e-14, -1.00000000e+00,  0.00000000e+00,
        2.59833340e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00633014, -0.08353112,  0.06173247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76026073e-05,-3.30380537e-05, 1.38458094e-07,-2.17275167e-05,
 -5.00961480e-05,-1.15822021e-03,-4.04177810e-04,-2.51764739e-04,
  9.27453507e-06,-5.24272146e-05, 6.96697993e-06, 4.19630960e-06,
 -6.98760150e-05,-3.68720619e-05, 2.68530543e-05,-2.16551474e-05,
  1.41101137e-05,-2.05952287e-03,-4.90164692e+00,-1.98611127e-03,
  2.56641079e-03,-5.97696452e-03]


--- Step 1753 ---
qpos:
[ 0.01866298, 0.03003191,-0.00945038,-0.02524917,-0.00412517, 1.19949031,
 -0.03381865, 0.93612165, 0.01158214, 0.02735124,-0.00826944, 0.02647135,
  1.29389984, 0.00757918, 1.24655391, 0.04465101,-0.09625573,-0.0686479 ,
  0.09237467, 0.67530339, 0.13137721,-0.69228255,-0.21783074]

qacc:
[  -5.80857522,  -2.71702964,  11.66922501, -22.63149099,  -0.17282104,
   -5.06918851,   7.36416536, -22.98920018,   3.92448171,  -0.85693054,
    1.99114272,  -0.62423574,   0.3175562 ,  -0.88427303,  -3.02637274,
   10.35361097,  -5.37393226,   0.91230986,  -0.49338719,  86.73606072,
 -155.34464712,   6.8578979 ]

qfrc_actuator:
[ 2.79088698e-05, 9.66893080e-04, 1.45584724e-04,-4.79579107e-05,
  7.70657490e-04, 1.19088610e-01, 1.49178615e-02, 9.48991797e-03,
 -3.32592324e-05, 7.63331890e-04, 1.76377725e-04, 1.87108696e-05,
  8.66258868e-03,-1.57168853e-03, 0.00000000e+00,-1.32087278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.11900374,   2.944241  ,   8.11900374,
        18.22565979, -26.4433283 ,   2.944241  , -26.4433283 ,
        81.55616925,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005375462722850284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74507527e-15, -1.03267670e-14,  1.00000000e+00,  7.99815880e-29,
        1.00000000e+00,  1.03267670e-14, -1.00000000e+00,  0.00000000e+00,
        7.74507527e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00643228, -0.08352004,  0.0617305 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49775920e-05,-3.39378860e-05, 1.20083275e-05,-3.22783221e-05,
 -4.67901500e-05,-1.12553016e-03,-4.40699654e-04,-1.44250310e-04,
  2.35975208e-05,-4.16793451e-05, 8.71125642e-07, 2.25905387e-06,
 -5.84305705e-05,-6.80098020e-05, 4.35004163e-06, 5.11678486e-05,
 -4.00929902e-04,-1.74614646e-03,-4.90169424e+00,-1.03927831e-03,
  3.08730047e-03,-5.99526281e-03]


--- Step 1754 ---
qpos:
[ 0.01866245, 0.03003369,-0.00944997,-0.02524925,-0.00410976, 1.2012066 ,
 -0.03373015, 0.93627253, 0.01158352, 0.02735046,-0.00826991, 0.02647087,
  1.29414431, 0.00757847, 1.24669439, 0.04465534,-0.09632283,-0.06874741,
  0.0922988 , 0.6743255 , 0.13269804,-0.69267299,-0.21881609]

qacc:
[ 2.44409080e+00, 2.20034729e-01,-1.27494499e-01,-1.03536631e+00,
 -2.27233051e-01,-6.35978370e+00, 9.01001625e+00,-9.64556039e+00,
  5.26350597e+00, 1.74087177e+00,-6.97826330e+00, 1.29026046e+01,
  3.22010863e-01,-8.10701992e-01,-6.11801371e+00, 2.09079712e+01,
 -4.65946767e+00, 7.67370734e-01,-1.73753914e+00, 7.58732439e+01,
 -1.34525779e+02, 5.72935319e+00]

qfrc_actuator:
[ 4.36511494e-05, 1.01102830e-03, 1.56939616e-04,-4.80922691e-05,
  7.35951776e-04, 1.18745401e-01, 1.48434998e-02, 9.46298599e-03,
 -2.07912412e-06, 8.26608210e-04, 1.82775498e-04, 3.92490009e-05,
  8.65571413e-03,-1.59574616e-03, 0.00000000e+00,-1.22129185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005336580660403739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04020073e-14, -7.80150551e-15,  1.00000000e+00,  8.11513176e-29,
        1.00000000e+00,  7.80150551e-15, -1.00000000e+00,  0.00000000e+00,
        1.04020073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00637068, -0.08353332,  0.0617317 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47066738e-05, 2.61843518e-05, 4.68666974e-06,-1.80329721e-06,
 -6.15802219e-05,-1.07688531e-03,-3.53896828e-04,-7.50655838e-05,
  3.18526765e-05, 4.03021580e-05,-2.00839610e-06, 1.88301853e-05,
 -5.24271111e-05,-5.74063113e-05, 4.09395090e-06, 1.02168023e-04,
 -6.67682015e-04,-1.49041617e-03,-4.90145229e+00,-2.30697536e-04,
  3.52734053e-03,-6.01610598e-03]


--- Step 1755 ---
qpos:
[ 0.01866178, 0.03003552,-0.00944968,-0.02524897,-0.00409488, 1.20291484,
 -0.03364284, 0.93642155, 0.01158492, 0.02735046,-0.00827056, 0.02647058,
  1.2943881 , 0.00757821, 1.24683485, 0.04466083,-0.09635957,-0.0688509 ,
  0.0922355 , 0.67368444, 0.13394792,-0.69271066,-0.21990721]

qacc:
[-1.31052324e+00, 1.19539130e+00,-5.71537651e+00, 1.22877404e+01,
 -2.28469099e-01,-1.05490787e+01, 2.55153555e+01,-3.86360048e+01,
  1.37395409e-01, 1.93875833e+00,-6.20673283e+00, 9.20074319e+00,
 -7.50620620e-01, 9.71135572e-01,-3.43523570e+00, 1.21729595e+01,
  7.58951672e+00,-9.96235839e-01, 3.14504430e+00,-1.21496228e+02,
  2.20817374e+02, 2.36078212e+00]

qfrc_actuator:
[ 3.53820462e-05, 1.00116534e-03, 1.45849777e-04,-3.03489853e-05,
  7.09279841e-04, 1.18390452e-01, 1.48001966e-02, 9.36908605e-03,
 -2.04785312e-06, 9.00185644e-04, 1.86929330e-04, 5.15616758e-05,
  8.63215066e-03,-1.55630045e-03, 0.00000000e+00,-1.16442754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005551701880732396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49984147e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.49984147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18912778, -0.05728113,  0.06172184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.83757046e-06, 5.60757779e-06,-5.19254486e-06, 1.89861849e-05,
 -6.20402805e-05,-1.04237056e-03,-3.01314117e-04,-1.36415200e-04,
  9.74600589e-07, 9.65572469e-05, 1.28988466e-05, 1.43395677e-05,
 -6.34178639e-05, 1.05171746e-05, 9.93209390e-06, 6.23174597e-05,
 -8.32585503e-04,-1.28092062e-03,-4.90103089e+00, 4.63324141e-04,
  3.89992414e-03,-6.03897761e-03]


--- Step 1756 ---
qpos:
[ 0.01866032, 0.03003715,-0.00944906,-0.02524951,-0.00408019, 1.20461799,
 -0.03355805, 0.93656744, 0.01158528, 0.02735092,-0.00827105, 0.02647046,
  1.29463109, 0.0075789 , 1.24697547, 0.04466596,-0.09637024,-0.0689579 ,
  0.09217767, 0.67333232, 0.13513704,-0.69244519,-0.22109098]

qacc:
[-6.70563678e+00,-2.88494833e+00, 1.33854240e+01,-2.80297513e+01,
 -8.00868515e-02,-5.19540390e+00, 1.54043211e+01,-4.65858889e+01,
 -8.91277519e+00, 5.33607720e-01,-1.68752925e+00, 3.95084371e+00,
 -1.28148512e+00, 1.87508046e+00, 1.43189747e+00,-4.37865346e+00,
  6.51900425e+00,-8.77324802e-01, 1.36528171e+00,-1.05237071e+02,
  1.89301546e+02, 1.30394309e+00]

qfrc_actuator:
[-4.72307810e-06, 9.76729159e-04, 1.56910903e-04,-7.32973669e-05,
  7.23146372e-04, 1.18333391e-01, 1.47399945e-02, 9.21874538e-03,
 -5.58585428e-05, 9.08355910e-04, 1.89790590e-04, 5.89512388e-05,
  8.60394729e-03,-1.49729640e-03, 0.00000000e+00,-1.18645614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.629939  , -4.04608548,  7.629939  , 18.56414125,
       18.72138835, -4.04608548, 18.72138835, 43.94037582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005698481501381997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.8706968e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.8706968e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18875997, -0.05733001,  0.06171505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03382836e-05,-2.16309205e-05, 1.22122519e-05,-4.25231239e-05,
 -2.17810686e-05,-7.16760751e-04,-3.07211856e-04,-1.91689417e-04,
 -5.37503223e-05, 6.54577383e-05, 2.49011187e-05, 1.22551422e-05,
 -5.76581565e-05, 4.71210370e-05, 6.95160911e-06,-1.83034979e-05,
 -5.43785769e-04,-1.60691904e-03,-4.90172289e+00,-7.16640634e-04,
  3.24187241e-03,-6.09543098e-03]


--- Step 1757 ---
qpos:
[ 0.01865942, 0.03003887,-0.00944843,-0.02525058,-0.00406573, 1.20632144,
 -0.03347725, 0.93670899, 0.01158499, 0.02735169,-0.00827142, 0.0264708 ,
  1.29487378, 0.00757972, 1.24711667, 0.04466611,-0.09635846,-0.06906801,
  0.09211915, 0.67322842, 0.1362738 ,-0.69191819,-0.22235596]

qacc:
[ 4.83901893e+00,-1.00443303e+00, 5.96011589e+00,-1.51274327e+01,
 -1.03311503e-01, 3.76616342e+00,-2.77371599e+00,-4.83700171e+01,
 -5.53063257e+00, 1.03126461e+00,-4.99299469e+00, 1.24732318e+01,
 -7.46338517e-01, 8.82721858e-01, 1.60145122e+01,-5.45941913e+01,
  5.61170351e+00,-7.75444448e-01,-1.70575419e-01,-9.14258927e+01,
  1.62707870e+02, 5.56371063e-01]

qfrc_actuator:
[ 2.55251484e-05, 9.97044217e-04, 1.63100652e-04,-9.83563213e-05,
  7.07946454e-04, 1.18721605e-01, 1.46714714e-02, 9.01880403e-03,
 -8.76616082e-05, 9.12794465e-04, 1.91608998e-04, 8.10863293e-05,
  8.58897177e-03,-1.49823898e-03, 0.00000000e+00,-1.45004900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.6441167 , -4.01923584,  7.6441167 , 19.63410138,
       20.91641149, -4.01923584, 20.91641149, 48.41693302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005745175847975015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66221970e-15, -4.83110985e-15,  1.00000000e+00, -4.66792447e-29,
        1.00000000e+00,  4.83110985e-15, -1.00000000e+00,  0.00000000e+00,
       -9.66221970e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1886275 , -0.05734722,  0.06171261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90608221e-05, 8.84652876e-06, 1.73316819e-06,-2.63924690e-05,
 -2.77346728e-05,-9.40062955e-05,-2.54036116e-04,-2.32900553e-04,
 -3.33552896e-05, 4.66834852e-05, 1.88338983e-05, 2.60429661e-05,
 -3.31836466e-05,-7.66803310e-07,-3.83960095e-06,-2.64837623e-04,
 -1.57379357e-04,-1.90667965e-03,-4.90189370e+00,-1.71416394e-03,
  2.68839555e-03,-6.14876310e-03]


--- Step 1758 ---
qpos:
[ 0.0186589 , 0.03004045,-0.00944797,-0.0252512 ,-0.00405138, 1.20802765,
 -0.03340013, 0.93684649, 0.01158466, 0.02735278,-0.00827199, 0.02647107,
  1.29511642, 0.00757983, 1.24725743, 0.04466646,-0.09632731,-0.06918086,
  0.09205467, 0.67333805, 0.13736511,-0.69116461,-0.22369218]

qacc:
[ 3.16618263e+00, 1.17466728e+00,-6.32167884e+00, 1.43127418e+01,
 -4.89600778e-02, 6.63189129e+00,-8.84365070e+00,-4.12122610e+01,
 -3.09110758e-01, 8.50468946e-01,-2.18497698e+00, 1.24471551e+00,
  4.68817487e-01,-1.01666430e+00,-1.30316833e+00, 3.47790323e+00,
  4.84111054e+00,-6.87780315e-01,-1.49039288e+00,-7.96876666e+01,
  1.40240524e+02, 4.07604827e-02]

qfrc_actuator:
[ 4.36934140e-05, 9.72983585e-04, 1.48802547e-04,-7.71443526e-05,
  7.10936928e-04, 1.19071844e-01, 1.45649326e-02, 8.82707364e-03,
 -8.84859797e-05, 9.14960773e-04, 1.75024332e-04, 7.62059949e-05,
  8.57126620e-03,-1.55247406e-03, 0.00000000e+00,-1.42774672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.73776541, -3.83585236,  7.73776541, 19.98334254,
       22.88937444, -3.83585236, 22.88937444, 54.80931121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00571094721793218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86006516e-15,  1.45801955e-14,  1.00000000e+00, -7.08607001e-29,
        1.00000000e+00, -1.45801955e-14, -1.00000000e+00,  0.00000000e+00,
        4.86006516e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18868252, -0.05733876,  0.06171362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90133306e-05,-1.99401080e-05,-1.31960331e-05, 2.11328417e-05,
 -1.29369183e-05, 2.21844390e-04,-1.65254827e-04,-2.05264137e-04,
 -1.78485395e-06, 3.32415006e-05,-3.72504537e-06,-1.72156546e-06,
 -3.57198943e-05,-6.17094772e-05,-3.61343732e-05, 5.94152000e-06,
  2.79559265e-04,-2.18174543e-03,-4.90172884e+00,-2.56324314e-03,
  2.22088491e-03,-6.19948675e-03]


--- Step 1759 ---
qpos:
[ 0.01865825, 0.03004213,-0.00944779,-0.02525124,-0.00403683, 1.20973633,
 -0.0333252 , 0.93698026, 0.01158467, 0.02735366,-0.00827278, 0.02647101,
  1.29535858, 0.0075799 , 1.24739736, 0.04467203,-0.09632549,-0.06928902,
  0.09200276, 0.67311701, 0.138524  ,-0.69075161,-0.22491511]

qacc:
[-1.06373306e+00, 2.14688963e+00,-9.91785474e+00, 2.03803605e+01,
  8.84886454e-02, 2.77518186e+00, 2.63568988e+00,-4.72898287e+01,
  2.87694319e+00,-3.81278662e-01, 2.38517873e+00,-7.73508999e+00,
  9.30795171e-02,-2.78629560e-01,-1.70574174e+01, 5.78402193e+01,
 -7.33030116e+00, 1.17433195e+00, 3.14074767e+00, 1.22705426e+02,
 -2.13597212e+02, 1.19882796e+00]

qfrc_actuator:
[ 3.68302581e-05, 9.93503521e-04, 1.40135303e-04,-4.66789020e-05,
  7.42563036e-04, 1.19236947e-01, 1.44723684e-02, 8.64171116e-03,
 -7.10769592e-05, 8.62382903e-04, 1.47670909e-04, 5.54506711e-05,
  8.54658477e-03,-1.54912493e-03, 0.00000000e+00,-1.14833141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0057072073823776215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.94529995e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.94529995e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00732671, -0.08341688,  0.06171328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.32176369e-06, 7.49600520e-06,-1.37024103e-05, 2.95628334e-05,
  2.42105109e-05, 2.29785508e-04,-7.84859909e-05,-1.86109311e-04,
  1.73714493e-05,-3.48670654e-05,-2.10121459e-05,-1.94949315e-05,
 -5.80287920e-05,-2.24687928e-05,-1.73185193e-05, 2.74787081e-04,
  7.37083039e-04,-2.43399705e-03,-4.90135611e+00,-3.29036955e-03,
  1.82467224e-03,-6.24800295e-03]


--- Step 1760 ---
qpos:
[ 0.01865821, 0.03004386,-0.00944745,-0.02525095,-0.00402219, 1.21144618,
 -0.0332513 , 0.93711121, 0.0115849 , 0.02735383,-0.00827311, 0.02647141,
  1.29560039, 0.00757971, 1.2475376 , 0.04467717,-0.09634889,-0.06939325,
  0.09195627, 0.67261163, 0.13974208,-0.69063114,-0.22604065]

qacc:
[ 5.25665559e+00, 2.93541154e-01,-2.38967295e+00, 7.95992471e+00,
  3.36114924e-02,-4.51306108e-01, 9.21231530e+00,-4.15710581e+01,
  1.80982150e+00,-1.24986591e+00, 1.13521236e+00, 6.68355428e+00,
 -1.63793177e-01,-7.29573347e-02, 1.76088682e+00,-5.48045757e+00,
 -6.30704259e+00, 9.81542302e-01, 1.35767966e+00, 1.06150596e+02,
 -1.83256640e+02, 6.15824371e-01]

qfrc_actuator:
[ 6.85505333e-05, 1.00508541e-03, 1.52792733e-04,-2.87324058e-05,
  7.37841246e-04, 1.19254644e-01, 1.44059170e-02, 8.49697531e-03,
 -6.08389299e-05, 8.12853736e-04, 1.67204179e-04, 7.87303150e-05,
  8.52840968e-03,-1.56487115e-03, 0.00000000e+00,-1.18132505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.88312185,   3.52748731,   7.88312185,
        20.93834076, -27.4920861 ,   3.52748731, -27.4920861 ,
        70.07484546,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00582330704464145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.53258188e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.53258188e-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([-0.0076061 , -0.08338128,  0.06170788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15325064e-05, 1.41464046e-05, 1.35201466e-05, 1.83653953e-05,
  9.21458609e-06, 1.04438749e-04,-4.03383172e-05,-1.42253777e-04,
  1.07383575e-05,-7.42193495e-05, 9.06667947e-06, 2.06782088e-05,
 -5.24488451e-05,-3.59957298e-05, 2.09462341e-05,-2.02829421e-05,
  6.76274639e-05,-2.07564018e-03,-4.90186920e+00,-2.20318909e-03,
  2.45577187e-03,-6.26211270e-03]


--- Step 1761 ---
qpos:
[ 0.0186589 , 0.03004537,-0.00944682,-0.02525041,-0.00400774, 1.21315617,
 -0.03317811, 0.93724091, 0.01158455, 0.02735397,-0.00827317, 0.02647167,
  1.29584195, 0.00757904, 1.24767825, 0.04467923,-0.09639406,-0.0694942 ,
  0.09190907, 0.67186074, 0.14101208,-0.69076226,-0.22708198]

qacc:
[ 6.23552873e+00,-6.07835033e-01, 7.16115259e-01, 3.15103646e+00,
 -7.80637943e-02,-5.95719010e-02, 3.01435950e+00,-1.72839856e+01,
 -4.84442728e+00,-1.08860670e+00, 4.44349848e+00,-7.37131671e+00,
 -1.40356496e-01,-2.02247028e-01, 9.94670711e+00,-3.38857141e+01,
 -5.43984883e+00, 8.20112525e-01,-1.78863364e-01, 9.21279899e+01,
 -1.57640883e+02, 2.22853725e-01]

qfrc_actuator:
[ 1.04982361e-04, 9.75804728e-04, 1.60151320e-04,-1.82863147e-05,
  7.11355828e-04, 1.19219708e-01, 1.43548645e-02, 8.43045464e-03,
 -9.04152998e-05, 8.54504119e-04, 1.96538955e-04, 7.45074593e-05,
  8.51414439e-03,-1.59183717e-03, 0.00000000e+00,-1.34494123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.84691558,   3.60731101,   7.84691558,
        23.0314271 , -31.31331   ,   3.60731101, -31.31331   ,
        76.75161616,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005844575807876305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49789224e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.49789224e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00767279, -0.08337573,  0.0617066 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73484366e-05,-1.78477372e-05, 1.25547170e-05, 1.18705751e-05,
 -2.11743019e-05,-8.64008249e-06,-4.38045882e-05,-6.56879343e-05,
 -2.92886352e-05, 2.90666534e-06, 1.58366995e-05,-6.68824432e-06,
 -4.91773352e-05,-4.96851321e-05, 2.37495434e-06,-1.63202918e-04,
 -3.82556217e-04,-1.78481879e-03,-4.90191106e+00,-1.26457421e-03,
  2.99605479e-03,-6.27938139e-03]


--- Step 1762 ---
qpos:
[ 0.01865933, 0.03004649,-0.00944599,-0.02524973,-0.00399342, 1.21486703,
 -0.03310692, 0.93736816, 0.01158419, 0.02735459,-0.0082737 , 0.02647185,
  1.29608297, 0.00757856, 1.247819  , 0.04467865,-0.09641271,-0.06959899,
  0.09186876, 0.67140392, 0.14222704,-0.69057908,-0.22822966]

qacc:
[-2.19677372e+00,-7.97246122e-01, 1.47337047e+00, 1.04121526e+00,
 -5.93014104e-02, 2.36266316e+00,-1.22619522e+00,-2.80336634e+01,
 -8.66741884e-02, 1.81032919e+00,-5.23544007e+00, 4.43506873e+00,
 -7.66570850e-01, 8.69187367e-01, 8.17898326e+00,-2.82379557e+01,
  6.62776664e+00,-9.60463043e-01, 1.72200369e+00,-1.11639091e+02,
  1.93402140e+02,-5.48125493e+00]

qfrc_actuator:
[ 9.06252001e-05, 9.40010527e-04, 1.64144482e-04,-1.23766540e-05,
  7.07543883e-04, 1.19295786e-01, 1.42598733e-02, 8.30390837e-03,
 -8.99283759e-05, 8.97212464e-04, 1.78497212e-04, 7.19580893e-05,
  8.49157609e-03,-1.57195550e-03, 0.00000000e+00,-1.47759033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005850017587916249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48905715e-15,  4.74452858e-15,  1.00000000e+00,  4.50211028e-29,
        1.00000000e+00, -4.74452858e-15, -1.00000000e+00,  0.00000000e+00,
       -9.48905715e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18826866, -0.05739656,  0.06170599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32815599e-05,-4.27256781e-05, 2.23554323e-06, 5.80338687e-06,
 -1.59903975e-05, 4.15741080e-05,-1.07978815e-04,-1.27452975e-04,
 -3.69937938e-07, 4.73023379e-05,-1.57227640e-05,-2.00659647e-06,
 -5.97922612e-05,-5.67650487e-06,-2.16473403e-05,-1.42485587e-04,
 -6.79635199e-04,-1.54816433e-03,-4.90165284e+00,-4.52176820e-04,
  3.45885855e-03,-6.29923673e-03]


--- Step 1763 ---
qpos:
[ 0.01865959, 0.03004726,-0.00944506,-0.02524932,-0.0039791 , 1.21657772,
 -0.03303704, 0.93749197, 0.0115835 , 0.02735549,-0.0082744 , 0.02647201,
  1.2963234 , 0.00757811, 1.24795946, 0.0446778 ,-0.09640855,-0.06970718,
  0.09182896, 0.67119944, 0.14339464,-0.69012516,-0.22947015]

qacc:
[-1.49489922e+00,-1.26817129e+00, 5.00299050e+00,-9.63477428e+00,
  2.16655745e-03,-2.55563430e+00, 1.52181053e+01,-5.31516759e+01,
 -2.87928729e+00, 7.96694078e-01,-2.18298974e+00, 1.77808471e+00,
 -4.90896048e-01, 4.27699761e-01, 4.41411396e-01,-2.06475323e+00,
  5.70254634e+00,-8.48269187e-01, 1.29222604e-01,-9.67876537e+01,
  1.66014912e+02,-5.26666325e+00]

qfrc_actuator:
[ 8.19927022e-05, 9.18319856e-04, 1.66078152e-04,-2.69466696e-05,
  7.17363870e-04, 1.19242403e-01, 1.41756034e-02, 8.12529451e-03,
 -1.07242389e-04, 9.04546315e-04, 1.68166768e-04, 7.03950416e-05,
  8.45341061e-03,-1.57770394e-03, 0.00000000e+00,-1.48435907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.27995772, -4.64639563,  7.27995772, 23.80986915,
       23.77379961, -4.64639563, 23.77379961, 45.88507635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005906743796075767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.69896386e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.69896386e-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([-0.18811907, -0.0574179 ,  0.06170323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03930299e-06,-4.49301278e-05,-6.43884214e-06,-1.62143742e-05,
  6.23193732e-07,-7.44729596e-05,-9.65266630e-05,-1.81312455e-04,
 -1.73061861e-05, 3.04339590e-05,-2.56726338e-06,-1.19693817e-07,
 -7.07349086e-05,-2.09275273e-05,-2.95213850e-05,-1.83080846e-05,
 -3.19220539e-04,-1.88410858e-03,-4.90191086e+00,-1.46946123e-03,
  2.86795993e-03,-6.35226107e-03]


--- Step 1764 ---
qpos:
[ 0.01866009, 0.03004772,-0.00944414,-0.02524908,-0.00396493, 1.21828451,
 -0.03296708, 0.93761195, 0.01158261, 0.02735629,-0.00827447, 0.02647146,
  1.29656329, 0.00757761, 1.24809974, 0.04467683,-0.09642984,-0.06980926,
  0.09179461, 0.67072786, 0.14457645,-0.68997853,-0.23054591]

qacc:
[ 2.05526317e+00,-7.75524081e-01, 2.92499299e+00,-5.77766402e+00,
 -6.23464242e-02,-1.18389178e+01, 4.04433361e+01,-7.72458849e+01,
 -1.70347971e+00,-3.38708394e+00, 1.49360600e+01,-2.83326464e+01,
 -3.97352941e-01, 2.81904702e-01, 1.39499070e-01,-7.96845758e-01,
 -6.36167158e+00, 1.52581672e+00, 1.36075002e+00, 1.16020516e+02,
 -1.81850841e+02, 4.17662411e+01]

qfrc_actuator:
[ 9.45683056e-05, 9.05212399e-04, 1.66819237e-04,-3.56875066e-05,
  6.99771068e-04, 1.18828000e-01, 1.40978777e-02, 7.91740954e-03,
 -1.17152650e-04, 8.90666552e-04, 1.97857198e-04, 3.39037854e-05,
  8.42721338e-03,-1.58099249e-03, 0.00000000e+00,-1.48791743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005936269962374563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.35118375e-15,  9.35118375e-15,  1.00000000e+00, -8.74446376e-29,
        1.00000000e+00, -9.35118375e-15, -1.00000000e+00,  0.00000000e+00,
        9.35118375e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00702522, -0.08834626,  0.06170163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22940098e-05,-4.02993096e-05,-9.91303057e-06,-1.12073736e-05,
 -1.72314371e-05,-4.98995348e-04,-1.12946367e-04,-2.14996486e-04,
 -1.04043224e-05, 2.57073708e-06, 3.56539820e-05,-3.52784098e-05,
 -6.76479777e-05,-2.55762270e-05,-1.83239439e-05,-8.95646788e-06,
  1.06636150e-04,-2.19614008e-03,-4.90180518e+00,-2.34626458e-03,
  2.36207730e-03,-6.40312059e-03]


--- Step 1765 ---
qpos:
[ 0.01866073, 0.03004778,-0.00944318,-0.02524895,-0.00395097, 1.21998247,
 -0.03289655, 0.93773001, 0.01158195, 0.02735678,-0.00827431, 0.02647052,
  1.29680282, 0.007577  , 1.24823973, 0.04467713,-0.09647306,-0.06990618,
  0.09175953, 0.67002618, 0.14577152,-0.69009619,-0.23147967]

qacc:
[ 1.26792223e+00,-8.47288857e-01, 2.65935682e+00,-4.10746255e+00,
 -9.38185839e-02,-1.64223362e+01, 4.35421273e+01,-5.44740972e+01,
  1.99970323e+00,-1.83112400e+00, 7.48689145e+00,-1.40841919e+01,
 -1.00326821e-01,-6.50473736e-02,-4.27662219e+00, 1.43424561e+01,
 -5.48361496e+00, 1.29049775e+00,-1.82246495e-01, 1.00531030e+02,
 -1.56220855e+02, 3.56303920e+01]

qfrc_actuator:
[ 1.01772026e-04, 8.79593726e-04, 1.66894718e-04,-4.09174624e-05,
  6.83631773e-04, 1.18058744e-01, 1.40054599e-02, 7.80024522e-03,
 -1.04867737e-04, 8.46567791e-04, 1.97560812e-04, 1.26635879e-05,
  8.41886554e-03,-1.58273885e-03, 0.00000000e+00,-1.41857988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.07602323,   3.06016758,   8.07602323,
        17.50345054, -23.40094059,   3.06016758, -23.40094059,
        70.39328858,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0059691400562389765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00711409, -0.08833149,  0.06169994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54634487e-06,-5.07060788e-05,-9.87401396e-06,-7.52077799e-06,
 -2.60866203e-05,-1.09282949e-03,-2.13555170e-04,-1.38351124e-04,
  1.19834483e-05,-3.68417880e-05, 3.39755129e-06,-2.05831020e-05,
 -4.91125732e-05,-2.47498878e-05,-1.25874240e-05, 6.57923430e-05,
 -3.70076269e-04,-1.70893208e-03,-4.90217533e+00,-1.41423162e-03,
  2.96044872e-03,-6.41949348e-03]


--- Step 1766 ---
qpos:
[ 0.01866145, 0.03004747,-0.0094428 ,-0.02524849,-0.00393711, 1.22166801,
 -0.03282581, 0.93784786, 0.01158179, 0.02735702,-0.00827472, 0.02646973,
  1.29704198, 0.00757632, 1.24837929, 0.04468092,-0.09649005,-0.07000663,
  0.09173115, 0.66961011, 0.14691949,-0.68990168,-0.23253523]

qacc:
[ 6.88170434e-01, 1.80126073e+00,-8.49614423e+00, 1.52709823e+01,
 -4.33815158e-02,-1.71846353e+01, 3.67992790e+01,-2.63885932e+01,
  4.22892839e+00, 1.58079433e+00,-6.71809411e+00, 1.03254058e+01,
  4.24688172e-02,-1.94245855e-01,-1.11755755e+01, 3.81365273e+01,
  6.55920572e+00,-8.80840505e-01, 1.67466747e+00,-1.14750416e+02,
  1.88799315e+02,-1.42539654e+01]

qfrc_actuator:
[ 1.05749135e-04, 8.46685288e-04, 1.31024302e-04,-2.62980718e-05,
  6.86249536e-04, 1.17189605e-01, 1.39214507e-02, 7.77263516e-03,
 -7.96198164e-05, 8.20107573e-04, 1.61677086e-04, 1.82698395e-05,
  8.40525389e-03,-1.58346828e-03, 0.00000000e+00,-1.23584056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006080719892316386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12904265e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12904265e-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([-0.18766981, -0.05749891,  0.06169489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17884239e-06,-6.36372077e-05,-4.78324542e-05, 1.19573323e-05,
 -1.24683028e-05,-1.53843122e-03,-3.30522692e-04,-6.78950039e-05,
  2.55883386e-05,-4.72579199e-05,-4.37942929e-05, 3.74441833e-06,
 -4.44595257e-05,-1.92713865e-05,-1.26135177e-06, 1.84164899e-04,
 -6.48809204e-04,-1.32384204e-03,-4.90218485e+00,-6.79631707e-04,
  3.42710215e-03,-6.43828010e-03]


--- Step 1767 ---
qpos:
[ 0.01866188, 0.03004675,-0.00944286,-0.02524787,-0.00392365, 1.22333932,
 -0.03275552, 0.93796473, 0.01158227, 0.02735709,-0.00827565, 0.0264697 ,
  1.29728079, 0.00757562, 1.24851925, 0.04468315,-0.09648448,-0.07011022,
  0.09170307, 0.66943917, 0.14802676,-0.68943851,-0.23369598]

qacc:
[-2.60222797e+00, 1.03425719e+00,-5.15495940e+00, 9.01065244e+00,
 -1.68257718e-01,-1.91937196e+01, 4.21077688e+01,-3.90937461e+01,
  5.52434168e+00, 2.75524523e+00,-1.33568336e+01, 2.73562601e+01,
 -4.06624819e-01, 3.62362727e-01, 5.29465389e+00,-1.75749260e+01,
  5.63863650e+00,-7.86271420e-01, 7.58948467e-02,-9.91550291e+01,
  1.62048340e+02,-1.24103174e+01]

qfrc_actuator:
[ 9.00442094e-05, 8.27289433e-04, 1.09700747e-04,-1.79021256e-05,
  6.46835712e-04, 1.16338648e-01, 1.38426259e-02, 7.70904584e-03,
 -4.69514299e-05, 8.22029428e-04, 1.40657180e-04, 5.73676809e-05,
  8.38849637e-03,-1.58360055e-03, 0.00000000e+00,-1.32507548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006119042808848341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81437368e-14,  3.40195066e-15,  1.00000000e+00, -6.17240975e-29,
        1.00000000e+00, -3.40195066e-15, -1.00000000e+00,  0.00000000e+00,
        1.81437368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18756944, -0.05752143,  0.06169301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56033964e-05,-6.43430941e-05,-3.99468660e-05, 4.24781656e-06,
 -4.66751527e-05,-1.78730457e-03,-4.23732882e-04,-1.19120588e-04,
  3.34032690e-05,-3.33848724e-05,-3.60437839e-05, 3.56312375e-05,
 -4.34029449e-05,-1.62433718e-05, 1.71474682e-05,-7.97647004e-05,
 -3.09913929e-04,-1.68165116e-03,-4.90234815e+00,-1.59651288e-03,
  2.86622746e-03,-6.48662849e-03]


--- Step 1768 ---
qpos:
[ 0.01866176, 0.03004583,-0.00944276,-0.02524688,-0.00391066, 1.22499501,
 -0.0326851 , 0.93808041, 0.01158246, 0.02735703,-0.00827689, 0.02647011,
  1.29751928, 0.00757469, 1.24865965, 0.04468132,-0.09650417,-0.07020808,
  0.09168036, 0.66900142, 0.14915196,-0.68928109,-0.23469633]

qacc:
[-4.59393183e+00, 6.97682030e-02,-2.20934409e+00, 8.56320194e+00,
 -2.01107548e-01,-2.28207189e+01, 5.21338726e+01,-4.90603433e+01,
 -2.57730357e+00, 1.60223898e+00,-7.84915490e+00, 1.61736883e+01,
 -4.44213963e-01, 2.88012192e-01, 1.30104952e+01,-4.44669897e+01,
 -6.31406491e+00, 1.43105279e+00, 1.34311776e+00, 1.16765301e+02,
 -1.80346272e+02, 3.89635218e+01]

qfrc_actuator:
[ 6.28815516e-05, 8.51687940e-04, 1.32697743e-04, 4.53960876e-06,
  6.18038448e-04, 1.15487640e-01, 1.38207344e-02, 7.64249744e-03,
 -6.34391448e-05, 8.23260629e-04, 1.28729158e-04, 8.03894299e-05,
  8.36453790e-03,-1.60113675e-03, 0.00000000e+00,-1.53836011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006083668378443707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12461820e-15,  1.36869273e-14,  1.00000000e+00,  1.24887986e-28,
        1.00000000e+00, -1.36869273e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12461820e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0074115 , -0.08827863,  0.06169426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76361489e-05,-1.96314027e-05, 4.94295809e-06, 1.83884695e-05,
 -5.58089012e-05,-1.94461860e-03,-4.27565374e-04,-1.33511657e-04,
 -1.55216543e-05,-2.33346185e-05,-2.20214810e-05, 2.10380807e-05,
 -4.98679861e-05,-3.22910109e-05,-6.08128167e-06,-2.16684442e-04,
  1.01271569e-04,-2.01296820e-03,-4.90217462e+00,-2.40245242e-03,
  2.37847493e-03,-6.53369514e-03]


--- Step 1769 ---
qpos:
[ 0.01866201, 0.03004471,-0.00944246,-0.02524494,-0.00389798, 1.22663422,
 -0.0326152 , 0.93819283, 0.0115821 , 0.02735706,-0.00827835, 0.02647007,
  1.29775729, 0.00757341, 1.24879998, 0.04467728,-0.09650121,-0.07030904,
  0.09165817, 0.66880814, 0.15023907,-0.688853  ,-0.23580805]

qacc:
[ 3.13708162e+00, 1.11333252e+00,-8.32262046e+00, 2.44723447e+01,
 -1.31229185e-01,-2.58111589e+01, 6.48576378e+01,-8.38155933e+01,
 -4.64895248e+00,-1.74554248e-01, 2.72655081e+00,-1.02902871e+01,
 -3.08427871e-01, 7.34833989e-03, 6.57873394e+00,-2.31255674e+01,
  5.66347912e+00,-7.72833655e-01, 1.27359415e-01,-1.01118618e+02,
  1.62013645e+02,-1.56258224e+01]

qfrc_actuator:
[ 8.24570772e-05, 8.49070743e-04, 1.46364151e-04, 5.28870894e-05,
  6.13597516e-04, 1.14590420e-01, 1.37616125e-02, 7.46824017e-03,
 -9.09774739e-05, 8.41857021e-04, 1.22249340e-04, 5.82638649e-05,
  8.32561747e-03,-1.62889983e-03, 0.00000000e+00,-1.64540275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061168770219434815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63003219e-14, -4.53754024e-15,  1.00000000e+00,  1.64714171e-28,
        1.00000000e+00,  4.53754024e-15, -1.00000000e+00,  0.00000000e+00,
        3.63003219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18755239, -0.05754045,  0.06169264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87650117e-05,-1.17657374e-05, 1.08655632e-05, 4.80368715e-05,
 -3.67439191e-05,-2.07878764e-03,-4.96371218e-04,-2.46417739e-04,
 -2.80025064e-05, 1.91123220e-06,-1.32692840e-05,-2.34754101e-05,
 -7.26895947e-05,-4.83157348e-05,-3.14351241e-05,-1.20914246e-04,
 -3.56182235e-04,-1.55209029e-03,-4.90252692e+00,-1.52909006e-03,
  2.94468328e-03,-6.54899091e-03]


--- Step 1770 ---
qpos:
[ 0.01866318, 0.03004315,-0.00944153,-0.02524312,-0.00388568, 1.2282566 ,
 -0.03254631, 0.9383017 , 0.01158175, 0.02735721,-0.00827991, 0.0264694 ,
  1.29799465, 0.0075721 , 1.24893976, 0.04467497,-0.09652311,-0.07040452,
  0.09164082, 0.6683517 , 0.15134582,-0.68872602,-0.23676344]

qacc:
[ 7.93767344e+00,-2.60578146e+00, 8.92781805e+00,-1.16939521e+01,
 -1.67172427e-01,-2.54164130e+01, 6.36018505e+01,-8.57904107e+01,
  1.39450673e-01,-8.28850257e-01, 5.81949955e+00,-1.65203036e+01,
 -3.43823726e-01, 1.94605945e-01,-5.98304512e+00, 1.98112544e+01,
 -6.21747447e+00, 1.36981617e+00, 1.21244404e+00, 1.15688318e+02,
 -1.77269903e+02, 3.71038120e+01]

qfrc_actuator:
[ 1.29389143e-04, 8.12555941e-04, 1.72071931e-04, 4.50472746e-05,
  5.88291537e-04, 1.13725839e-01, 1.36984868e-02, 7.28517195e-03,
 -8.92779258e-05, 8.52948316e-04, 1.19080206e-04, 2.75240724e-05,
  8.29372218e-03,-1.62708010e-03, 0.00000000e+00,-1.54691716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062100804739422324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93887792e-15,  4.46943896e-15,  1.00000000e+00,  3.99517692e-29,
        1.00000000e+00, -4.46943896e-15, -1.00000000e+00,  0.00000000e+00,
       -8.93887792e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00771391, -0.08822162,  0.06168848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74752108e-05,-3.87549715e-05, 2.62821250e-05,-7.03554077e-06,
 -4.66199615e-05,-2.13703007e-03,-5.37726187e-04,-2.63916788e-04,
  8.80046877e-07, 8.41832971e-06,-5.20339219e-06,-3.15695067e-05,
 -8.11195525e-05,-2.86889347e-05,-3.08388037e-05, 8.70779447e-05,
  3.53825773e-05,-1.89094056e-03,-4.90236956e+00,-2.31101168e-03,
  2.46119234e-03,-6.59444921e-03]


--- Step 1771 ---
qpos:
[ 0.01866387, 0.03004133,-0.00944001,-0.02524212,-0.00387363, 1.22986242,
 -0.03247867, 0.93840998, 0.01158178, 0.02735713,-0.00828139, 0.02646876,
  1.29823122, 0.00757149, 1.24907939, 0.04467345,-0.09656644,-0.07049536,
  0.09162218, 0.6676687 , 0.1524706 ,-0.68885772,-0.23758424]

qacc:
[-4.09959535e+00,-3.66844911e+00, 1.60668686e+01,-3.10276179e+01,
 -1.03563524e-01,-1.93517692e+01, 3.80705688e+01,-2.93534283e+01,
  3.14447793e+00,-5.31727184e-01, 1.38368793e+00,-1.09905886e+00,
 -1.00376259e+00, 1.39756716e+00,-2.56381872e+00, 8.87650426e+00,
 -5.35669895e+00, 1.15962167e+00,-3.23652431e-01, 1.00136783e+02,
 -1.52143478e+02, 3.15245858e+01]

qfrc_actuator:
[ 1.03268549e-04, 8.09291087e-04, 2.04502196e-04, 4.18477457e-06,
  5.86178081e-04, 1.12941040e-01, 1.36514111e-02, 7.25817922e-03,
 -7.03788606e-05, 8.23963716e-04, 1.17867041e-04, 2.74720130e-05,
  8.27672754e-03,-1.57218920e-03, 0.00000000e+00,-1.50568201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.06098219,   3.09957141,   8.06098219,
        17.06752351, -21.92671842,   3.09957141, -21.92671842,
        65.66066256,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0062170730273294825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.92882406e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.92882406e-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([-0.00773795, -0.08821671,  0.06168802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47477541e-05,-1.97548257e-05, 2.74198233e-05,-4.17543263e-05,
 -2.91440746e-05,-2.09782879e-03,-5.38224601e-04,-1.11226776e-04,
  1.89280498e-05,-2.66912036e-05,-1.18984796e-06,-4.81207081e-07,
 -6.52113293e-05, 2.77819569e-05,-6.68027340e-06, 4.16703753e-05,
 -3.90794196e-04,-1.45128790e-03,-4.90266408e+00,-1.47955952e-03,
  3.00237680e-03,-6.60959636e-03]


--- Step 1772 ---
qpos:
[ 0.0186639 , 0.03003963,-0.00943853,-0.02524162,-0.00386193, 1.23145382,
 -0.03241368, 0.93851633, 0.01158134, 0.02735661,-0.00828223, 0.02646879,
  1.29846719, 0.00757148, 1.24921912, 0.04467109,-0.09658388,-0.07058961,
  0.09160994, 0.66726262, 0.15355701,-0.6886791 ,-0.23854127]

qacc:
[-5.69099447e+00,-7.41381226e-01, 4.98280823e+00,-1.36555883e+01,
 -1.45925424e-01,-1.51033801e+01, 3.04153423e+01,-3.97492591e+01,
 -3.92310214e+00,-9.22005404e-01,-4.28343984e-01, 1.15759636e+01,
 -9.52549378e-01, 1.32078972e+00, 2.81116706e+00,-9.39733355e+00,
  6.47326673e+00,-8.54326323e-01, 1.60064281e+00,-1.17703029e+02,
  1.84028793e+02,-2.30253085e+01]

qfrc_actuator:
[ 6.98553027e-05, 8.25960976e-04, 2.05244894e-04,-2.02389293e-05,
  5.62483789e-04, 1.12352601e-01, 1.35613627e-02, 7.16351742e-03,
 -9.47754396e-05, 8.06742610e-04, 1.53180460e-04, 6.31973170e-05,
  8.25272998e-03,-1.53943211e-03, 0.00000000e+00,-1.55183033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00624815463754063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77688148e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.77688148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18722787, -0.05762809,  0.06168653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41366848e-05, 9.53344450e-06,-1.40339635e-06,-2.51346059e-05,
 -4.06348560e-05,-1.87493517e-03,-5.68999764e-04,-1.74201446e-04,
 -2.38532507e-05,-3.23851792e-05, 2.96556382e-05, 3.45350761e-05,
 -5.05979669e-05, 2.56204781e-05,-2.32143323e-06,-4.55243813e-05,
 -6.33658931e-04,-1.10595392e-03,-4.90262424e+00,-8.22318070e-04,
  3.42462305e-03,-6.62689276e-03]


--- Step 1773 ---
qpos:
[ 0.01866387, 0.03003804,-0.00943766,-0.02524104,-0.00385072, 1.233033  ,
 -0.03235117, 0.93861952, 0.01158062, 0.02735606,-0.0082825 , 0.0264692 ,
  1.29870269, 0.00757166, 1.24935864, 0.04466953,-0.09657906,-0.07068694,
  0.09159772, 0.66709432, 0.1546101 ,-0.68823356,-0.23961521]

qacc:
[-5.02568494e-01, 1.99959241e+00,-7.27563530e+00, 9.64478265e+00,
 -2.16634306e-01,-1.47308832e+01, 3.52604687e+01,-5.96637598e+01,
 -2.45110885e+00,-8.64616521e-01, 1.41612736e+00, 4.25632214e+00,
 -4.16209862e-01, 4.73636923e-01,-2.68606618e+00, 9.04553565e+00,
  5.56393941e+00,-7.67910368e-01, 5.36053582e-03,-1.01471978e+02,
  1.57979019e+02,-1.96628207e+01]

qfrc_actuator:
[ 6.79464110e-05, 8.18823941e-04, 1.69623845e-04,-1.70391415e-05,
  5.26035367e-04, 1.11921962e-01, 1.35006736e-02, 7.01208388e-03,
 -1.08960735e-04, 8.32384251e-04, 1.92081115e-04, 8.42078687e-05,
  8.22454432e-03,-1.53788734e-03, 0.00000000e+00,-1.50705444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006272694515106786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76993001e-14,  4.42482502e-15,  1.00000000e+00, -7.83163057e-29,
        1.00000000e+00, -4.42482502e-15, -1.00000000e+00,  0.00000000e+00,
        1.76993001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18716704, -0.0576504 ,  0.06168536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89545731e-06,-3.14075267e-06,-3.46916165e-05, 3.07076385e-06,
 -6.00276741e-05,-1.60151837e-03,-5.01305618e-04,-2.26621816e-04,
 -1.49004315e-05, 1.51561983e-05, 3.70750064e-05, 2.13248042e-05,
 -4.80886869e-05,-2.69557831e-06,-1.04378048e-05, 4.09973875e-05,
 -3.31474225e-04,-1.47761833e-03,-4.90274284e+00,-1.64326527e-03,
  2.89659746e-03,-6.67065277e-03]


--- Step 1774 ---
qpos:
[ 0.01866417, 0.03003653,-0.0094375 ,-0.02524041,-0.00384003, 1.23460087,
 -0.03229032, 0.93872035, 0.01158041, 0.0273556 ,-0.00828258, 0.02646919,
  1.29893793, 0.00757161, 1.24949803, 0.04466883,-0.09659891,-0.07077917,
  0.09159006, 0.66666385, 0.1556855 ,-0.68808666,-0.24053709]

qacc:
[ 2.73785998e+00, 2.19782101e+00,-7.90993900e+00, 9.84496418e+00,
 -2.19409085e-01,-1.44014323e+01, 3.39202891e+01,-4.96671326e+01,
  4.48083021e+00,-1.32236558e+00, 6.70550538e+00,-1.45631483e+01,
  1.12920574e-02,-2.28431980e-01,-2.80751678e+00, 9.50810811e+00,
 -6.16566906e+00, 1.27306885e+00, 1.13888111e+00, 1.15820997e+02,
 -1.75396046e+02, 3.47148605e+01]

qfrc_actuator:
[ 8.45986010e-05, 8.15109347e-04, 1.30506736e-04,-1.54048761e-05,
  4.99986742e-04, 1.11465292e-01, 1.34584965e-02, 6.89960125e-03,
 -8.15023473e-05, 8.30260900e-04, 1.97434023e-04, 6.09154531e-05,
  8.20983138e-03,-1.55489742e-03, 0.00000000e+00,-1.46229203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062595969692919515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86816699e-15,  1.33022505e-14,  1.00000000e+00,  1.17966579e-28,
        1.00000000e+00, -1.33022505e-14, -1.00000000e+00,  0.00000000e+00,
       -8.86816699e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00785391, -0.08818997,  0.06168578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65720075e-05,-1.24593337e-05,-4.39250134e-05, 3.59754808e-07,
 -6.08401142e-05,-1.46439708e-03,-4.23052343e-04,-1.78665820e-04,
  2.70228672e-05, 1.49391590e-05, 1.37966225e-05,-2.09436703e-05,
 -3.98764521e-05,-2.89260545e-05,-3.40700864e-06, 4.50094521e-05,
  5.25820803e-05,-1.82422448e-03,-4.90254239e+00,-2.38166783e-03,
  2.42803426e-03,-6.71396959e-03]


--- Step 1775 ---
qpos:
[ 0.01866466, 0.03003499,-0.00943727,-0.02523981,-0.00382964, 1.23616007,
 -0.03223236, 0.93881856, 0.01158054, 0.02735471,-0.00828235, 0.02646929,
  1.29917279, 0.00757163, 1.24963774, 0.04466564,-0.09664001,-0.07086709,
  0.09158085, 0.66600766, 0.15678139,-0.68819629,-0.24132812]

qacc:
[ 1.69611286e+00,-3.04864243e-01, 1.17450717e+00,-1.79248148e+00,
 -1.33791578e-01,-8.03338537e+00, 1.78744803e+01,-4.03997900e+01,
  2.84208519e+00,-1.15654017e+00, 2.77174957e+00,-7.55944079e-01,
 -5.55180426e-01, 5.85007685e-01, 8.04501843e+00,-2.73252707e+01,
 -5.31372185e+00, 1.07951152e+00,-3.87165418e-01, 1.00267948e+02,
 -1.50521201e+02, 2.93922744e+01]

qfrc_actuator:
[ 9.42792398e-05, 8.31197478e-04, 1.42910440e-04,-1.47059090e-05,
  4.98138921e-04, 1.11210028e-01, 1.33743394e-02, 6.77544173e-03,
 -6.52611309e-05, 7.75858188e-04, 2.00559843e-04, 6.49599250e-05,
  8.19254889e-03,-1.54720027e-03, 0.00000000e+00,-1.59544226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.14345889,   2.87590927,   8.14345889,
        15.08860867, -18.27025377,   2.87590927, -18.27025377,
        60.37063152,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006260752343188521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86653044e-15,  8.86653044e-15,  1.00000000e+00,  7.86153621e-29,
        1.00000000e+00, -8.86653044e-15, -1.00000000e+00,  0.00000000e+00,
       -8.86653044e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00786077, -0.08818599,  0.06168564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01654889e-05, 1.20963016e-07, 4.44656978e-06,-1.34629558e-06,
 -3.71166837e-05,-1.17012406e-03,-4.27807992e-04,-1.82811772e-04,
  1.70367583e-05,-4.40698218e-05, 7.19143158e-06, 4.75453073e-06,
 -4.43329646e-05,-9.93901292e-06, 2.60213085e-07,-1.31795927e-04,
 -3.68644012e-04,-1.40093985e-03,-4.90283552e+00,-1.58314690e-03,
  2.95309789e-03,-6.72856442e-03]


--- Step 1776 ---
qpos:
[ 0.01866561, 0.03003362,-0.00943669,-0.02523959,-0.00381933, 1.23771262,
 -0.03217736, 0.93891404, 0.01158052, 0.02735349,-0.00828266, 0.02647019,
  1.29940716, 0.00757179, 1.24977761, 0.04465955,-0.0966557 ,-0.07095849,
  0.09157739, 0.66562119, 0.15784365,-0.6880001 ,-0.24225953]

qacc:
[ 3.92840686e+00,-1.53464314e+00, 7.39153641e+00,-1.46822096e+01,
 -3.15265992e-02,-5.41685520e+00, 1.28068379e+01,-3.87479968e+01,
 -1.29558472e+00, 2.66293737e+00,-1.34708042e+01, 2.81971774e+01,
 -7.01380939e-01, 7.69813173e-01, 9.07963991e+00,-3.12714529e+01,
  6.35280747e+00,-8.68954310e-01, 1.43894389e+00,-1.17547911e+02,
  1.79591274e+02,-2.66029099e+01]

qfrc_actuator:
[ 1.17525293e-04, 8.59226166e-04, 1.67964139e-04,-3.22623003e-05,
  5.10816303e-04, 1.11041982e-01, 1.32846446e-02, 6.64547495e-03,
 -7.35192110e-05, 7.43823651e-04, 1.66656089e-04, 1.02773282e-04,
  8.16309359e-03,-1.54262863e-03, 0.00000000e+00,-1.74357768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006353741492990957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.46047861e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.46047861e-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([-0.18697158, -0.05772271,  0.06168162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35466986e-05, 2.90104608e-05, 2.55926721e-05,-1.74225528e-05,
 -8.85880680e-06,-9.20973840e-04,-3.76362701e-04,-1.79990554e-04,
 -7.77742955e-06,-5.49539826e-05,-4.19498560e-05, 3.62666891e-05,
 -5.47779253e-05,-8.39407269e-06,-1.90386876e-05,-1.56445510e-04,
 -6.11006648e-04,-1.06955577e-03,-4.90280033e+00,-9.49567638e-04,
  3.36430399e-03,-6.74522610e-03]


--- Step 1777 ---
qpos:
[ 0.01866752, 0.03003253,-0.00943583,-0.02524028,-0.00380919, 1.23925949,
 -0.03212436, 0.93900746, 0.01158074, 0.02735207,-0.00828396, 0.02647085,
  1.29964131, 0.00757148, 1.24991682, 0.04465606,-0.09664954,-0.071053  ,
  0.09157338, 0.66546631, 0.15887661,-0.68754086,-0.24331126]

qacc:
[ 8.24693350e+00,-2.31165851e+00, 1.25928386e+01,-2.90015066e+01,
 -6.96780499e-02,-5.56923328e+00, 1.34054078e+01,-3.19192052e+01,
  2.07083478e+00, 2.04843356e+00,-6.69929036e+00, 4.43409305e+00,
  3.56180044e-01,-7.77043313e-01,-8.88928121e+00, 2.95692929e+01,
  5.46087178e+00,-7.80882116e-01,-1.38291611e-01,-1.01282342e+02,
  1.54166161e+02,-2.26777876e+01]

qfrc_actuator:
[ 1.66324644e-04, 8.76492022e-04, 1.82561197e-04,-7.81580860e-05,
  4.96590465e-04, 1.10874451e-01, 1.32283553e-02, 6.54870001e-03,
 -6.06223499e-05, 7.25298759e-04, 1.11251264e-04, 8.91257312e-05,
  8.14766077e-03,-1.57553055e-03, 0.00000000e+00,-1.59749647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006363542673870327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74466187e-14,  4.36165467e-15,  1.00000000e+00, -7.60961258e-29,
        1.00000000e+00, -4.36165467e-15, -1.00000000e+00,  0.00000000e+00,
        1.74466187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18694835, -0.05773983,  0.06168115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.94990242e-05, 3.80755107e-05, 2.31447857e-05,-4.41074224e-05,
 -1.93954698e-05,-7.72290074e-04,-2.88204925e-04,-1.37721411e-04,
  1.26460440e-05,-5.63235176e-05,-7.06522673e-05,-1.67464986e-05,
 -4.60734201e-05,-4.77031326e-05,-2.99313484e-05, 1.34101814e-04,
 -3.14231646e-04,-1.44562798e-03,-4.90287261e+00,-1.72861138e-03,
  2.85268833e-03,-6.78723378e-03]


--- Step 1778 ---
qpos:
[ 0.01867   , 0.03003193,-0.00943518,-0.02524152,-0.00379954, 1.2408008 ,
 -0.03207255, 0.93910105, 0.01158147, 0.0273504 ,-0.00828538, 0.02647095,
  1.29987488, 0.00757155, 1.25005566, 0.04465563,-0.09662457,-0.07115033,
  0.09156341, 0.6655105 , 0.15988381,-0.68685453,-0.24446637]

qacc:
[ 4.87940955e+00, 9.96261231e-02, 2.82629485e+00,-1.21343919e+01,
 -2.13950938e-01,-3.79050139e+00, 3.20495830e+00, 2.70044365e+00,
  4.24434208e+00,-1.16149544e+00, 6.04379452e+00,-1.54605001e+01,
 -4.53415021e-01, 6.07284482e-01,-9.73797816e+00, 3.33882015e+01,
  4.70488609e+00,-7.03327320e-01,-1.49135254e+00,-8.75524324e+01,
  1.32647507e+02,-1.93598690e+01]

qfrc_actuator:
[ 1.94264070e-04, 9.04874190e-04, 1.73057105e-04,-1.04869215e-04,
  4.48588170e-04, 1.10655674e-01, 1.31923373e-02, 6.56101469e-03,
 -3.53687259e-05, 7.32617362e-04, 1.14630797e-04, 6.30579068e-05,
  8.12998422e-03,-1.54161353e-03, 0.00000000e+00,-1.43900159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006293184971476455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52833432e-14,  3.30781342e-15,  1.00000000e+00, -1.16710716e-28,
        1.00000000e+00, -3.30781342e-15, -1.00000000e+00,  0.00000000e+00,
        3.52833432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18710689, -0.05772472,  0.06168405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93987404e-05, 5.26075621e-05,-3.15346204e-07,-2.51394528e-05,
 -5.92703712e-05,-7.22574676e-04,-2.27503256e-04,-2.05910156e-05,
  2.56022768e-05,-3.94196699e-05,-1.75065832e-05,-3.12479591e-05,
 -5.24418731e-05, 9.45578314e-06,-1.01124327e-07, 1.61854788e-04,
  6.41407714e-05,-1.79843413e-03,-4.90264419e+00,-2.43640961e-03,
  2.39435908e-03,-6.82911538e-03]


--- Step 1779 ---
qpos:
[ 0.01867176, 0.03003163,-0.00943488,-0.02524303,-0.0037903 , 1.24233603,
 -0.03202143, 0.93919377, 0.01158214, 0.02734875,-0.00828639, 0.026471  ,
  1.30010778, 0.00757229, 1.25019459, 0.04465608,-0.09662709,-0.07124242,
  0.09156326, 0.66526107, 0.16092014,-0.68650075,-0.245457  ]

qacc:
[-6.17330220e+00, 8.10170966e-01,-1.10007950e+00,-3.40992856e+00,
 -1.76337340e-01,-7.62531177e+00, 1.70255416e+01,-2.09865997e+01,
 -3.95152219e-01,-1.22316771e+00, 4.55246968e+00,-5.91369363e+00,
 -8.99230544e-01, 1.27497295e+00,-2.46250582e+00, 9.00248202e+00,
 -6.87340799e+00, 1.31102967e+00, 2.45590294e+00, 1.30307152e+02,
 -1.94782855e+02, 3.54225868e+01]

qfrc_actuator:
[ 1.56435702e-04, 9.04100959e-04, 1.49465239e-04,-1.20079875e-04,
  4.33977732e-04, 1.10337278e-01, 1.31507185e-02, 6.51311388e-03,
 -3.85560887e-05, 7.73329050e-04, 1.52806625e-04, 6.54713154e-05,
  8.10034903e-03,-1.50377309e-03, 0.00000000e+00,-1.39882326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006450410034975283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.60583295e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.60583295e-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([-0.00829468, -0.0880892 ,  0.0616773 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69507940e-05, 2.75223070e-05,-1.36367492e-05,-1.34578021e-05,
 -4.89873144e-05,-7.79084216e-04,-2.12962687e-04,-7.48161628e-05,
 -2.45586145e-06, 1.38005222e-05, 2.68312335e-05,-4.84014237e-07,
 -5.35890801e-05, 2.81742849e-05, 1.47071377e-05, 4.84713449e-05,
  4.82762449e-04,-2.12602710e-03,-4.90223430e+00,-3.07412017e-03,
  1.98741789e-03,-6.87062401e-03]


--- Step 1780 ---
qpos:
[ 0.01867202, 0.03003157,-0.00943456,-0.02524473,-0.00378125, 1.24386433,
 -0.03197025, 0.93928528, 0.01158277, 0.02734764,-0.00828718, 0.02647069,
  1.30034044, 0.00757271, 1.25033335, 0.0446587 ,-0.09665324,-0.07133006,
  0.09156603, 0.66475979, 0.1619832 ,-0.68643199,-0.24630672]

qacc:
[-1.28817449e+01,-7.75747856e-02, 1.55015151e+00,-4.98756657e+00,
 -8.15649972e-02,-1.12942290e+01, 2.83792678e+01,-3.43711360e+01,
 -3.76059465e-01,-6.58138197e-01, 4.96711452e+00,-1.21811502e+01,
  1.78628171e-01,-4.77233762e-01,-6.83819829e+00, 2.34840454e+01,
 -5.90777802e+00, 1.11082296e+00, 7.31437403e-01, 1.12498420e+02,
 -1.66636972e+02, 2.97192713e+01]

qfrc_actuator:
[ 8.02066248e-05, 9.21320853e-04, 1.53146270e-04,-1.28434860e-04,
  4.39514651e-04, 1.09961860e-01, 1.31412102e-02, 6.44780300e-03,
 -4.07092894e-05, 8.33916187e-04, 1.75867613e-04, 4.91679654e-05,
  8.07954538e-03,-1.53501370e-03, 0.00000000e+00,-1.28666395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.28374159,   2.44262199,   8.28374159,
        12.52907608, -13.2014794 ,   2.44262199, -13.2014794 ,
        53.40696023,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006503498457980768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53558305e-15,  1.28033746e-14,  1.00000000e+00,  1.09284267e-28,
        1.00000000e+00, -1.28033746e-14, -1.00000000e+00,  0.00000000e+00,
       -8.53558305e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00841214, -0.08806255,  0.06167504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72942261e-05, 2.92093911e-05, 7.22309262e-06,-7.90596049e-06,
 -2.28942641e-05,-8.66026694e-04,-1.91809143e-04,-9.47599087e-05,
 -2.22764616e-06, 7.38989581e-05, 2.92315521e-05,-1.47869285e-05,
 -4.10374699e-05,-3.57158797e-05, 7.36819976e-06, 1.15688900e-04,
 -1.03775652e-04,-1.63865307e-03,-4.90282331e+00,-2.16210714e-03,
  2.60105229e-03,-6.88280311e-03]


--- Step 1781 ---
qpos:
[ 0.01867171, 0.03003187,-0.00943429,-0.02524618,-0.00377261, 1.2453847 ,
 -0.03191908, 0.93937509, 0.01158302, 0.02734696,-0.00828769, 0.02647053,
  1.30057278, 0.00757282, 1.25047239, 0.04466029,-0.09669975,-0.07141393,
  0.09156581, 0.66404166, 0.16307057,-0.68660778,-0.24703525]

qacc:
[-4.91246741e+00, 1.10892503e+00,-4.30206043e+00, 8.36429489e+00,
 -1.75630829e-01,-1.33326883e+01, 3.44482057e+01,-4.46884342e+01,
 -3.20235563e+00, 1.02251449e-01,-2.02866775e-01, 2.19700353e+00,
 -1.36843821e-01,-1.25806849e-01, 3.52070085e+00,-1.16878398e+01,
 -5.08960926e+00, 9.42232099e-01,-7.51319040e-01, 9.73543171e+01,
 -1.42903022e+02, 2.50392295e+01]

qfrc_actuator:
[ 5.30180730e-05, 9.49288085e-04, 1.55220856e-04,-1.14905539e-04,
  4.03827045e-04, 1.09502252e-01, 1.31150080e-02, 6.35498929e-03,
 -5.99795250e-05, 8.52634038e-04, 1.89890452e-04, 5.74894409e-05,
  8.05870090e-03,-1.55374206e-03, 0.00000000e+00,-1.34598362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.17532179,   2.7840421 ,   8.17532179,
        14.35065549, -16.77998141,   2.7840421 , -16.77998141,
        57.9106715 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006466576495104549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.29215917e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.29215917e-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([-0.00833065, -0.088072  ,  0.06167658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.94305182e-05, 4.54285423e-05, 8.72697486e-06, 1.48822265e-05,
 -4.90020298e-05,-9.94627593e-04,-2.23651823e-04,-1.24725948e-04,
 -1.93146779e-05, 6.54985680e-05, 3.24002477e-05, 1.22171697e-05,
 -4.96766328e-05,-3.88043129e-05, 1.29052602e-05,-5.26952768e-05,
 -4.60520588e-04,-1.26099118e-03,-4.90297498e+00,-1.43949534e-03,
  3.08287420e-03,-6.89759863e-03]


--- Step 1782 ---
qpos:
[ 0.01867176, 0.03003229,-0.00943449,-0.0252467 ,-0.00376442, 1.24689651,
 -0.03186877, 0.93946185, 0.0115827 , 0.02734615,-0.00828777, 0.02647123,
  1.30080472, 0.00757293, 1.25061165, 0.04465984,-0.09676384,-0.07149461,
  0.09155749, 0.6631361 , 0.16417992,-0.68699377,-0.24765909]

qacc:
[   3.11770942,   3.4081295 , -15.78881625,  32.40718776,  -0.19028052,
  -14.09307487,  38.73044494, -63.62451874,  -4.91173062,   0.41163619,
   -5.31375339,  19.51881061,  -0.49508761,   0.46699933,   6.53816708,
  -22.30665448,  -4.3953553 ,   0.80013392,  -2.02011678,  84.4834398 ,
 -122.88399816,  21.19658788]

qfrc_actuator:
[ 7.26775991e-05, 9.30234896e-04, 1.20878093e-04,-7.08509566e-05,
  3.79205292e-04, 1.09013660e-01, 1.30433089e-02, 6.19339118e-03,
 -8.91708338e-05, 8.10617864e-04, 1.98331808e-04, 9.79533001e-05,
  8.04317219e-03,-1.54707953e-03, 0.00000000e+00,-1.45261083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.0834127 ,   3.04059467,   8.0834127 ,
        16.43235363, -20.72561833,   3.04059467, -20.72561833,
        63.73536395,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006357726640987674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73128940e-15,  4.36564470e-15,  1.00000000e+00,  3.81177073e-29,
        1.00000000e+00, -4.36564470e-15, -1.00000000e+00,  0.00000000e+00,
       -8.73128940e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00809145, -0.08810966,  0.06168113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88158576e-05, 8.76969572e-06,-2.33724169e-05, 4.65945833e-05,
 -5.30921207e-05,-1.10174747e-03,-2.98779020e-04,-1.99015189e-04,
 -2.97387395e-05, 1.85219268e-06, 2.63996926e-05, 4.46334150e-05,
 -4.98903124e-05,-1.61451852e-05,-4.55225340e-06,-1.08956810e-04,
 -6.60559729e-04,-9.66040332e-04,-4.90284625e+00,-8.61034645e-04,
  3.46295429e-03,-6.91422028e-03]


--- Step 1783 ---
qpos:
[ 0.01867205, 0.03003261,-0.00943472,-0.02524635,-0.00375663, 1.24839813,
 -0.03181876, 0.93954754, 0.01158203, 0.02734545,-0.00828776, 0.02647241,
  1.30103635, 0.00757304, 1.25075044, 0.04466147,-0.09679898,-0.0715786 ,
  0.0915611 , 0.6625409 , 0.16523024,-0.68703628,-0.24843445]

qacc:
[ 2.01889677e+00, 1.72432158e+00,-1.00751136e+01, 2.53937553e+01,
 -1.73779470e-01,-1.43620986e+01, 3.29138747e+01,-3.45309233e+01,
 -2.96851641e+00, 8.98766137e-01,-4.99259070e+00, 1.29766874e+01,
 -5.75989459e-02,-2.20882938e-02,-6.93865957e+00, 2.32891520e+01,
  7.23767347e+00,-8.30892590e-01, 2.97842547e+00,-1.39626031e+02,
  2.00745449e+02,-1.97225277e+01]

qfrc_actuator:
[ 8.42323452e-05, 9.18552042e-04, 1.18394188e-04,-2.70081416e-05,
  3.61421090e-04, 1.08422708e-01, 1.29984368e-02, 6.13456786e-03,
 -1.06210086e-04, 8.21315158e-04, 2.03173353e-04, 1.21438519e-04,
  8.03617885e-03,-1.54312690e-03, 0.00000000e+00,-1.33765698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006484026091088377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71224330e-14,  1.07015206e-15,  1.00000000e+00, -1.83236070e-29,
        1.00000000e+00, -1.07015206e-15, -1.00000000e+00,  0.00000000e+00,
        1.71224330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18717531, -0.05947457,  0.06167573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21040692e-05,-9.61667314e-06,-1.94139425e-06, 4.43168937e-05,
 -4.86428778e-05,-1.28018127e-03,-3.03613066e-04,-1.03396505e-04,
 -1.79151266e-05, 1.91162418e-05, 1.00298214e-05, 2.53482791e-05,
 -3.65895506e-05,-1.21225853e-05,-1.83809252e-05, 1.07365804e-04,
 -7.55797463e-04,-7.33789412e-04,-4.90254414e+00,-3.93419916e-04,
  3.76368243e-03,-6.93210059e-03]


--- Step 1784 ---
qpos:
[ 0.01867179, 0.03003296,-0.00943504,-0.02524549,-0.00374904, 1.24989027,
 -0.03176989, 0.93963119, 0.01158116, 0.02734467,-0.00828731, 0.0264735 ,
  1.30126759, 0.00757323, 1.25088903, 0.04466508,-0.09680929,-0.07166559,
  0.09156941, 0.66221181, 0.16622973,-0.68678459,-0.24933937]

qacc:
[-4.74812665e+00, 1.34355953e+00,-6.81543612e+00, 1.56390508e+01,
 -8.54010902e-02,-1.28958033e+01, 3.12550232e+01,-4.48350269e+01,
 -1.68610398e+00,-1.54241110e+00, 5.66096042e+00,-7.63360890e+00,
 -2.06457580e-01, 1.72621455e-01,-6.33693677e+00, 2.17360570e+01,
  6.20650171e+00,-7.47909590e-01, 1.17600788e+00,-1.19880820e+02,
  1.71859826e+02,-1.67122435e+01]

qfrc_actuator:
[ 5.54030161e-05, 9.29239115e-04, 1.17010947e-04,-1.37023069e-06,
  3.65632008e-04, 1.07988425e-01, 1.29516977e-02, 6.03013373e-03,
 -1.15956579e-04, 8.10198679e-04, 2.23782922e-04, 1.17023412e-04,
  8.01300893e-03,-1.54079957e-03, 0.00000000e+00,-1.23507055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006564865042386993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69115895e-14,  1.05697434e-15,  1.00000000e+00, -1.78751161e-29,
        1.00000000e+00, -1.05697434e-15, -1.00000000e+00,  0.00000000e+00,
        1.69115895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18699444, -0.05951677,  0.06167236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84825502e-05, 6.79990884e-06,-2.07776480e-06, 2.60204801e-05,
 -2.40846547e-05,-1.22007596e-03,-3.38077807e-04,-1.52314167e-04,
 -1.02680453e-05, 2.74597612e-06, 2.66763773e-05,-2.75597544e-06,
 -4.46435296e-05,-9.64637303e-06, 1.34773366e-06, 1.05723756e-04,
 -5.49209125e-04,-1.08586207e-03,-4.90303609e+00,-1.20432093e-03,
  3.18988446e-03,-6.97163894e-03]


--- Step 1785 ---
qpos:
[ 0.01867153, 0.03003364,-0.00943575,-0.02524469,-0.00374128, 1.2513748 ,
 -0.03172339, 0.93971183, 0.01158087, 0.02734384,-0.00828656, 0.0264742 ,
  1.30149841, 0.00757346, 1.25102783, 0.04466788,-0.09679827,-0.07175528,
  0.09157621, 0.66211109, 0.16718516,-0.68628001,-0.2503553 ]

qacc:
[-9.15881848e-03, 1.43024627e+00,-4.23985492e+00, 3.64388068e+00,
  7.67415388e-02,-8.70911959e+00, 2.25496482e+01,-4.96313947e+01,
  4.95079390e+00,-1.68767972e+00, 7.60781087e+00,-1.49356116e+01,
 -4.32868266e-01, 4.23467687e-01, 2.83262409e+00,-9.34695613e+00,
  5.33396838e+00,-6.74672380e-01,-3.75609317e-01,-1.03211643e+02,
  1.47429134e+02,-1.41722903e+01]

qfrc_actuator:
[ 5.62952937e-05, 9.53232815e-04, 9.86030390e-05,-4.38656135e-06,
  4.00749364e-04, 1.07722528e-01, 1.28692741e-02, 5.88197967e-03,
 -8.58315520e-05, 8.03893427e-04, 2.35689922e-04, 9.62272341e-05,
  7.99080442e-03,-1.53952374e-03, 0.00000000e+00,-1.28267722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006549336541395376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.39033738e-14,  4.23792173e-15,  1.00000000e+00, -1.43679844e-28,
        1.00000000e+00, -4.23792173e-15, -1.00000000e+00,  0.00000000e+00,
        3.39033738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18703347, -0.05952293,  0.06167304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.26773817e-08, 2.84607421e-05,-1.63601779e-05,-2.29115529e-06,
  2.10765166e-05,-1.02650061e-03,-3.67318081e-04,-1.96374147e-04,
  2.98224502e-05, 6.36914507e-07, 1.56654893e-05,-1.98105764e-05,
 -4.68499394e-05,-1.20269472e-05, 9.03105668e-06,-4.23032798e-05,
 -2.23376128e-04,-1.41180394e-03,-4.90309057e+00,-1.92735593e-03,
  2.68535802e-03,-7.01073311e-03]


--- Step 1786 ---
qpos:
[ 0.01867162, 0.03003438,-0.00943628,-0.02524464,-0.00373326, 1.2528521 ,
 -0.03167844, 0.93979107, 0.01158094, 0.02734304,-0.00828599, 0.02647501,
  1.30172884, 0.00757372, 1.25116706, 0.04466676,-0.09676887,-0.0718474 ,
  0.0915762 , 0.66220653, 0.16810213,-0.68555728,-0.25146652]

qacc:
[ 3.06926171e+00,-1.96204333e+00, 1.02215464e+01,-2.33458563e+01,
  1.09030241e-01,-7.70269808e+00, 1.65847809e+01,-2.61773161e+01,
  3.09572130e+00, 7.45253241e-01,-3.09023961e+00, 5.31788034e+00,
 -6.58806358e-01, 6.78776530e-01, 1.25927423e+01,-4.29577836e+01,
  4.59449857e+00,-6.09641159e-01,-1.70499721e+00,-8.91330206e+01,
  1.26758636e+02,-1.20287939e+01]

qfrc_actuator:
[ 7.46876846e-05, 9.49412643e-04, 1.05838944e-04,-4.19865677e-05,
  4.18607543e-04, 1.07435318e-01, 1.28203982e-02, 5.81588615e-03,
 -6.79874551e-05, 8.00467104e-04, 2.24611947e-04, 1.01462618e-04,
  7.96919401e-03,-1.53888294e-03, 0.00000000e+00,-1.48939777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00645652683303926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43907198e-14,  1.28965199e-14,  1.00000000e+00, -4.43520602e-28,
        1.00000000e+00, -1.28965199e-14, -1.00000000e+00,  0.00000000e+00,
        3.43907198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18724678, -0.05950023,  0.06167694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84033212e-05, 8.60060611e-06, 1.10187100e-05,-3.69937655e-05,
  3.00569636e-05,-9.47629980e-04,-3.00473797e-04,-1.10369859e-04,
  1.87163283e-05,-6.53986985e-07,-9.70443629e-06, 5.41649924e-06,
 -4.82634760e-05,-1.37243207e-05,-5.08482215e-06,-2.08945285e-04,
  1.66210813e-04,-1.71111048e-03,-4.90286870e+00,-2.56855698e-03,
  2.24459949e-03,-7.04920688e-03]


--- Step 1787 ---
qpos:
[ 0.01867125, 0.03003476,-0.00943678,-0.02524531,-0.00372533, 1.25432362,
 -0.03163521, 0.93986848, 0.01158123, 0.02734192,-0.00828539, 0.02647591,
  1.30195888, 0.00757378, 1.25130594, 0.04466584,-0.0967668 ,-0.0719347 ,
  0.0915856 , 0.66200724, 0.16906147,-0.68516226,-0.25242289]

qacc:
[-4.01927546e+00,-2.07412116e+00, 9.79041105e+00,-2.22234781e+01,
 -3.79039450e-02,-6.07028252e+00, 1.44528395e+01,-3.02571070e+01,
  1.83203075e+00,-3.02596914e-01, 9.39886049e-02, 1.63378615e+00,
 -1.32959250e-01,-8.26371103e-02,-1.17750865e+00, 3.35155416e+00,
 -6.83223093e+00, 1.20872059e+00, 2.35370003e+00, 1.33078849e+02,
 -1.91199358e+02, 2.72324947e+01]

qfrc_actuator:
[ 4.99655912e-05, 8.93529298e-04, 9.25308243e-05,-8.18784950e-05,
  3.90458976e-04, 1.07262244e-01, 1.27740234e-02, 5.72762543e-03,
 -5.75278973e-05, 7.63207921e-04, 2.17838327e-04, 1.04210876e-04,
  7.94262813e-03,-1.55637138e-03, 0.00000000e+00,-1.46860236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006387236692862251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69094945e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.69094945e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00815738, -0.08807557,  0.06167981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41835325e-05,-5.03967221e-05,-1.14580369e-05,-3.98642439e-05,
 -1.07234751e-05,-7.73997735e-04,-2.72347402e-04,-1.26215664e-04,
  1.10059379e-05,-3.93702142e-05,-7.91645087e-06, 2.48779007e-06,
 -5.50812355e-05,-3.23385109e-05,-3.02209797e-05, 7.46149253e-06,
  5.84030025e-04,-1.98456662e-03,-4.90248087e+00,-3.13512579e-03,
  1.86152093e-03,-7.08696685e-03]


--- Step 1788 ---
qpos:
[ 0.01867058, 0.0300345 ,-0.0094373 ,-0.02524607,-0.00371777, 1.2557916 ,
 -0.0315949 , 0.93994377, 0.01158164, 0.02734096,-0.00828504, 0.02647611,
  1.30218853, 0.00757364, 1.25144434, 0.04466748,-0.09678824,-0.07201789,
  0.0915976 , 0.66155499, 0.17005872,-0.68504832,-0.25324657]

qacc:
[-2.50429489e+00,-9.73061019e-01, 2.61246422e+00,-3.61953767e+00,
 -1.58075679e-01,-3.83795351e-01,-2.37933970e-02,-2.22061032e+01,
  1.03914068e+00,-5.74487082e-01, 5.33174033e+00,-1.72969252e+01,
  3.80212401e-02,-2.85542172e-01,-8.42585685e+00, 2.84173939e+01,
 -5.87774065e+00, 1.02430891e+00, 6.51192383e-01, 1.14869646e+02,
 -1.63690312e+02, 2.27695739e+01]

qfrc_actuator:
[ 3.55636934e-05, 8.42313104e-04, 8.47241140e-05,-8.73538795e-05,
  3.52699433e-04, 1.07230100e-01, 1.26766837e-02, 5.62705841e-03,
 -5.14949864e-05, 7.94746501e-04, 2.13522482e-04, 6.99416846e-05,
  7.92375349e-03,-1.56676527e-03, 0.00000000e+00,-1.33161957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.10792781,   2.97460644,   8.10792781,
        14.81390997, -16.83822745,   2.97460644, -16.83822745,
        54.53256391,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006441254733190148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.61806488e-15,  1.29270973e-14,  1.00000000e+00,  1.11406564e-28,
        1.00000000e+00, -1.29270973e-14, -1.00000000e+00,  0.00000000e+00,
       -8.61806488e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00827367, -0.08805104,  0.06167758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51226250e-05,-8.34843182e-05,-2.10014567e-05,-8.80296637e-06,
 -4.40260185e-05,-5.31848659e-04,-2.86559570e-04,-1.32840836e-04,
  6.33903432e-06, 8.02999373e-06,-1.33334114e-05,-3.61831147e-05,
 -5.49628065e-05,-3.23620863e-05,-1.52244128e-05, 1.33044179e-04,
 -6.93639729e-06,-1.55489060e-03,-4.90305552e+00,-2.29747698e-03,
  2.45038363e-03,-7.09859280e-03]


--- Step 1789 ---
qpos:
[ 0.01867009, 0.03003402,-0.00943781,-0.02524694,-0.00371034, 1.25725719,
 -0.03155638, 0.94001784, 0.01158074, 0.02734014,-0.00828504, 0.02647555,
  1.30241777, 0.00757336, 1.25158299, 0.04466769,-0.09682995,-0.07209761,
  0.09160636, 0.66088483, 0.17108981,-0.68517578,-0.25395602]

qacc:
[ 1.51904824e+00,-5.33690038e-01, 1.97312758e+00,-3.81887892e+00,
 -5.58352289e-02,-4.23074998e-01, 1.38661967e-01,-1.29009977e+01,
 -1.11893762e+01,-3.33016139e-01, 4.64410150e+00,-1.71460344e+01,
 -3.55326131e-01, 2.10789101e-01, 4.70343890e+00,-1.58420046e+01,
 -5.06941196e+00, 8.69056828e-01,-8.12142938e-01, 9.94075878e+01,
 -1.40495744e+02, 1.91275385e+01]

qfrc_actuator:
[ 4.51180655e-05, 8.65331745e-04, 9.80091338e-05,-9.02837635e-05,
  3.62745440e-04, 1.07247095e-01, 1.26394133e-02, 5.57336828e-03,
 -1.19123196e-04, 7.96206416e-04, 1.93183887e-04, 3.19746953e-05,
  7.90418260e-03,-1.57282591e-03, 0.00000000e+00,-1.41138570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.9566181 ,   3.35842304,   7.9566181 ,
        17.41524087, -20.79850355,   3.35842304, -20.79850355,
        57.91120124,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006406291720591754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.66509888e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.66509888e-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([-0.00819238, -0.08806037,  0.06167912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.08730601e-06,-2.83651423e-05,-6.83631103e-06,-7.39806812e-06,
 -1.55762664e-05,-3.51616366e-04,-1.80884269e-04,-7.92475430e-05,
 -6.74403247e-05, 1.67918218e-06,-2.15673221e-05,-3.87876693e-05,
 -5.49659937e-05,-2.82956190e-05, 5.49256535e-06,-7.48237821e-05,
 -3.76476572e-04,-1.22029017e-03,-4.90320710e+00,-1.62206367e-03,
  2.92067871e-03,-7.11260149e-03]


--- Step 1790 ---
qpos:
[ 0.01866971, 0.03003352,-0.00943773,-0.02524791,-0.00370281, 1.25872167,
 -0.03151854, 0.9400902 , 0.01157903, 0.02733939,-0.00828527, 0.0264742 ,
  1.30264659, 0.00757298, 1.25172153, 0.04466796,-0.09684668,-0.07218067,
  0.09161999, 0.66048065, 0.17207438,-0.68500502,-0.25480157]

qacc:
[ 1.03071880e+00,-1.86947588e+00, 7.01715729e+00,-9.57605893e+00,
  4.24613595e-02,-2.50717145e+00, 9.95698316e+00,-2.77512518e+01,
 -6.86992522e+00,-8.99558742e-01, 6.71272088e+00,-2.01859467e+01,
 -2.67606123e-01, 1.35947651e-01,-3.23009300e-01, 9.35652278e-01,
  6.24740808e+00,-8.35683562e-01, 1.21913508e+00,-1.22610824e+02,
  1.72118712e+02,-2.07784764e+01]

qfrc_actuator:
[ 5.09410830e-05, 8.97216614e-04, 1.41688993e-04,-9.16222687e-05,
  3.83631428e-04, 1.07329335e-01, 1.26559686e-02, 5.49451260e-03,
 -1.58554410e-04, 7.97328250e-04, 1.81197471e-04,-7.88808377e-06,
  7.88420935e-03,-1.57626195e-03, 0.00000000e+00,-1.40521963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0063642123188838925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74447829e-14,  8.72239147e-15,  1.00000000e+00, -1.52160226e-28,
        1.00000000e+00, -8.72239147e-15, -1.00000000e+00,  0.00000000e+00,
        1.74447829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18747015, -0.05950948,  0.06168093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08073239e-06, 1.43247461e-05, 3.67372734e-05,-2.92965034e-06,
  1.18120479e-05,-1.64233079e-04,-7.81453606e-05,-9.46494738e-05,
 -4.14062734e-05,-4.05175409e-06,-1.56254067e-05,-4.12862319e-05,
 -5.47134875e-05,-2.43549126e-05,-1.02959397e-05, 1.69199578e-06,
 -5.93855519e-04,-9.57697762e-04,-4.90308670e+00,-1.07207396e-03,
  3.29810477e-03,-7.12832002e-03]


--- Step 1791 ---
qpos:
[ 0.01866976, 0.03003304,-0.00943714,-0.02524924,-0.00369544, 1.26018699,
 -0.03148149, 0.94015989, 0.0115779 , 0.02733854,-0.00828537, 0.02647307,
  1.30287494, 0.00757278, 1.2518597 , 0.04467063,-0.0968419 ,-0.07226672,
  0.09163234, 0.66030502, 0.17301867,-0.6845777 ,-0.25576396]

qacc:
[ 3.59738225e+00,-2.16858484e+00, 9.27365990e+00,-1.62821971e+01,
 -6.89185506e-02,-1.35324387e+00, 1.12802613e+01,-4.14535388e+01,
  4.90259603e+00,-5.81851587e-02,-9.09052643e-01, 4.56043482e+00,
 -2.82935557e-01, 3.06135496e-01,-7.77146927e+00, 2.64424995e+01,
  5.37734818e+00,-7.49080046e-01,-3.21958006e-01,-1.05676637e+02,
  1.47818772e+02,-1.77420054e+01]

qfrc_actuator:
[ 7.22659032e-05, 8.98809611e-04, 1.67514822e-04,-1.09733077e-04,
  3.57586774e-04, 1.07521405e-01, 1.26689311e-02, 5.36601860e-03,
 -1.27791258e-04, 7.98265301e-04, 1.91988714e-04, 4.71662640e-06,
  7.86933653e-03,-1.56036749e-03, 0.00000000e+00,-1.27739516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00636763165421661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74354153e-14,  1.08971346e-15,  1.00000000e+00, -1.89996067e-29,
        1.00000000e+00, -1.08971346e-15, -1.00000000e+00,  0.00000000e+00,
        1.74354153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18746825, -0.0595204 ,  0.06168087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15073579e-05, 1.70880487e-05, 3.32149055e-05,-1.62805848e-05,
 -1.91765427e-05, 6.89997324e-05,-3.38000546e-05,-1.35992028e-04,
  2.95483439e-05,-6.31235515e-06, 6.61568207e-06, 1.10935335e-05,
 -4.85793381e-05,-3.80741620e-06,-7.84201529e-06, 1.25861699e-04,
 -3.13620142e-04,-1.28330823e-03,-4.90322384e+00,-1.76618555e-03,
  2.80070916e-03,-7.16554923e-03]


--- Step 1792 ---
qpos:
[ 0.0186704 , 0.03003264,-0.00943675,-0.02525107,-0.00368847, 1.26165452,
 -0.03144571, 0.94022846, 0.0115768 , 0.02733707,-0.00828486, 0.02647283,
  1.30310278, 0.0075728 , 1.251998  , 0.04467311,-0.0968606 ,-0.07234892,
  0.09164705, 0.65987597, 0.17400452,-0.68442973,-0.25659711]

qacc:
[   5.14135924,  -0.35828228,   3.52546607, -11.95844319,  -0.17024775,
    4.43162976,  -8.65801948,  -6.78897024,   0.31040042,  -0.70979564,
   -2.37713634,  17.1448921 ,  -0.56719055,   0.64888669,   0.81025428,
   -2.43632887,  -5.87078166,   0.96511691,   0.59318113, 115.61342201,
 -162.47435859,  20.20308667]

qfrc_actuator:
[ 1.02545097e-04, 8.82186445e-04, 1.46952057e-04,-1.37607478e-04,
  3.21355865e-04, 1.07742374e-01, 1.26446098e-02, 5.31591360e-03,
 -1.26978062e-04, 7.45964984e-04, 2.16174866e-04, 4.81061788e-05,
  7.84156585e-03,-1.55085826e-03, 0.00000000e+00,-1.29196727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006338612482574765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.7576187e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.7576187e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00803077, -0.08807255,  0.06168215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09123766e-05,-8.84258776e-07,-1.35053918e-05,-2.63088760e-05,
 -4.73868236e-05, 2.34419042e-04,-2.15942446e-05,-5.02394864e-05,
  1.67275745e-06,-5.39471191e-05, 2.40922029e-05, 4.35670378e-05,
 -5.31114644e-05,-2.97886744e-06, 7.53991863e-06,-9.20604545e-06,
  4.27555373e-05,-1.58766311e-03,-4.90306860e+00,-2.39000064e-03,
  2.36013935e-03,-7.20251559e-03]


--- Step 1793 ---
qpos:
[ 0.01867037, 0.03003217,-0.00943658,-0.02525286,-0.00368193, 1.263126  ,
 -0.03141211, 0.9402979 , 0.01157504, 0.02733519,-0.00828429, 0.02647242,
  1.30333006, 0.00757277, 1.25213636, 0.04467507,-0.09689958,-0.07242783,
  0.09165836, 0.65922844, 0.17502746,-0.68452188,-0.25731896]

qacc:
[  -5.80262703,   0.59466191,  -2.4043963 ,   3.50673525,  -0.18665599,
   12.5228589 , -36.38250149,  39.109648  ,  -5.71791023,  -0.98776113,
    3.38110842,  -5.81730775,  -0.45964185,   0.35514395,   1.69484118,
   -5.71092232,  -5.06789999,   0.82003456,  -0.85334154, 100.13521817,
 -139.5461388 ,  16.88901188]

qfrc_actuator:
[ 6.68366874e-05, 8.72332256e-04, 1.34590267e-04,-1.35543090e-04,
  2.97065455e-04, 1.08067735e-01, 1.25809629e-02, 5.36560305e-03,
 -1.61576150e-04, 7.15537000e-04, 2.12358145e-04, 3.82032055e-05,
  7.80075157e-03,-1.56303524e-03, 0.00000000e+00,-1.31934168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.02835721,   3.18312071,   8.02835721,
        15.97403071, -18.50681068,   3.18312071, -18.50681068,
        55.3136029 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006308942106107815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.79880498e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.79880498e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00795966, -0.08807896,  0.06168349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48050371e-05,-1.42413745e-05,-1.51155411e-05, 1.04967871e-06,
 -5.18677367e-05, 4.35378925e-04,-2.46151763e-05, 5.68819305e-05,
 -3.45748331e-05,-5.37074217e-05,-1.04749765e-05,-1.05309493e-05,
 -6.84157828e-05,-2.54235906e-05,-1.99877378e-06,-2.79176133e-05,
 -3.41603952e-04,-1.26253802e-03,-4.90323620e+00,-1.72097480e-03,
  2.83369485e-03,-7.21641163e-03]


--- Step 1794 ---
qpos:
[ 0.01866922, 0.03003177,-0.00943661,-0.02525497,-0.00367564, 1.26460186,
 -0.03137991, 0.94036666, 0.01157287, 0.02733383,-0.00828444, 0.02647115,
  1.30355666, 0.00757313, 1.25227489, 0.04467501,-0.09691399,-0.07251029,
  0.09167383, 0.65884108, 0.17600741,-0.68432035,-0.25817723]

qacc:
[-9.59173341e+00, 2.14165782e-02, 1.46531684e+00,-6.83767656e+00,
 -1.05918939e-01, 8.39470097e+00,-1.90335303e+01, 5.84434978e+00,
 -3.46132450e+00, 8.72999640e-01, 1.58375946e+00,-1.59795623e+01,
 -9.63822197e-01, 1.17689952e+00, 6.47248544e+00,-2.20376639e+01,
  6.13933561e+00,-8.85921914e-01, 1.04319077e+00,-1.21413878e+02,
  1.68372514e+02,-2.24790019e+01]

qfrc_actuator:
[ 1.03241980e-05, 8.84398042e-04, 1.27227092e-04,-1.51367383e-04,
  2.97887664e-04, 1.08346589e-01, 1.25306373e-02, 5.33161897e-03,
 -1.81225115e-04, 7.87049025e-04, 1.92063388e-04,-2.99164528e-06,
  7.77343650e-03,-1.53480111e-03, 0.00000000e+00,-1.42500233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0063900860398099085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.08588427e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.08588427e-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([-0.18743335, -0.05955582,  0.06168014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.75294675e-05, 1.03210597e-06,-1.21209741e-05,-1.69304566e-05,
 -2.93647891e-05, 5.02758550e-04, 3.08602851e-05,-1.83438096e-05,
 -2.06850316e-05, 3.89082476e-05,-3.30274709e-05,-4.40588900e-05,
 -6.81524720e-05, 4.96311486e-06,-8.12695993e-06,-1.08389076e-04,
 -5.74801425e-04,-1.00713940e-03,-4.90313243e+00,-1.17188889e-03,
  3.21714752e-03,-7.23200314e-03]


--- Step 1795 ---
qpos:
[ 0.0186681 , 0.03003136,-0.00943646,-0.02525693,-0.0036692 , 1.2660795 ,
 -0.03134751, 0.94043328, 0.01157185, 0.02733332,-0.00828458, 0.02646964,
  1.30378275, 0.00757397, 1.25241341, 0.04467334,-0.09690726,-0.07259591,
  0.09168741, 0.65867723, 0.17695009,-0.68386608,-0.25915277]

qacc:
[ 1.81249652e-01,-1.94559467e-01, 6.47532918e-03, 2.42730617e+00,
  5.89527695e-02,-1.87015435e+00, 1.33468727e+01,-3.75366883e+01,
  9.87831304e+00, 6.00524594e-01, 4.68506461e-01,-5.14846876e+00,
 -8.31227053e-01, 1.13202665e+00, 4.92448517e+00,-1.70686134e+01,
  5.28590085e+00,-7.90625137e-01,-4.74084476e-01,-1.04694153e+02,
  1.44601117e+02,-1.92714798e+01]

qfrc_actuator:
[ 1.30514432e-05, 8.91750850e-04, 1.40696672e-04,-1.42069136e-04,
  3.31515549e-04, 1.08293733e-01, 1.24884104e-02, 5.21312322e-03,
 -1.20894692e-04, 8.83449869e-04, 2.15876429e-04,-8.92115035e-06,
  7.76490452e-03,-1.50048368e-03, 0.00000000e+00,-1.50491408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0063827513083901735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73941138e-14,  1.08713211e-15,  1.00000000e+00, -1.89096996e-29,
        1.00000000e+00, -1.08713211e-15, -1.00000000e+00,  0.00000000e+00,
        1.73941138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18745646, -0.05956103,  0.06168054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05406406e-06, 4.70461175e-06, 1.16173204e-05, 8.60166344e-06,
  1.65448133e-05, 2.16934988e-04, 5.62607382e-05,-1.00938967e-04,
  5.97365380e-05, 1.09488110e-04, 2.62767853e-05,-6.25571161e-06,
 -4.24333724e-05, 2.00861022e-05,-2.02143192e-05,-8.79675517e-05,
 -2.84657353e-04,-1.33697331e-03,-4.90322610e+00,-1.85329909e-03,
  2.72352209e-03,-7.26890224e-03]


--- Step 1796 ---
qpos:
[ 0.0186677 , 0.03003098,-0.00943618,-0.02525841,-0.00366269, 1.26755355,
 -0.03131342, 0.9404991 , 0.01157192, 0.02733343,-0.00828384, 0.02646839,
  1.3040088 , 0.0075746 , 1.25255146, 0.04467337,-0.09688228,-0.07268437,
  0.0916939 , 0.65870564, 0.17786022,-0.68319347,-0.26022933]

qacc:
[ 6.26943407e+00, 6.29590807e-01,-4.20340805e+00, 1.21360772e+01,
  3.45264481e-02,-1.06326464e+01, 3.06565796e+01,-3.36156282e+01,
  9.19868218e+00,-1.12075152e+00, 4.04165799e+00,-1.39335918e+00,
  2.49682871e-01,-4.38294742e-01,-5.87217950e+00, 1.94665485e+01,
  4.56276936e+00,-7.07630519e-01,-1.77393687e+00,-9.05740063e+01,
  1.24498667e+02,-1.65439584e+01]

qfrc_actuator:
[ 5.06318234e-05, 8.96334194e-04, 1.48611833e-04,-1.18048717e-04,
  3.31284025e-04, 1.07776411e-01, 1.24499893e-02, 5.15216426e-03,
 -6.72346719e-05, 9.23222274e-04, 2.65715620e-04, 6.01848308e-06,
  7.76765043e-03,-1.51602111e-03, 0.00000000e+00,-1.40920650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006299056947194702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76252260e-14,  9.91418964e-15,  1.00000000e+00, -1.74739833e-28,
        1.00000000e+00, -9.91418964e-15, -1.00000000e+00,  0.00000000e+00,
        1.76252260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18765261, -0.05953669,  0.06168414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76134364e-05, 1.00030949e-05, 1.06237287e-05, 2.47964026e-05,
  9.42250442e-06,-4.03134576e-04, 4.61959760e-06,-5.31679730e-05,
  5.54450926e-05, 1.06199465e-04, 7.54830071e-05, 2.04212024e-05,
 -1.47249720e-05,-1.92633699e-05,-2.24509017e-05, 8.74703472e-05,
  7.80241598e-05,-1.64749622e-03,-4.90304350e+00,-2.46852675e-03,
  2.28402018e-03,-7.30565150e-03]


--- Step 1797 ---
qpos:
[ 0.0186681 , 0.03003088,-0.00943619,-0.02525961,-0.00365631, 1.26901841,
 -0.03127723, 0.94056559, 0.01157159, 0.02733405,-0.00828269, 0.02646737,
  1.30423464, 0.00757511, 1.25268973, 0.04467149,-0.09688379,-0.07276878,
  0.09170805, 0.65844735, 0.1788223 ,-0.68283403,-0.26116538]

qacc:
[ 6.83509402e+00, 1.77912670e+00,-7.06421528e+00, 1.24387845e+01,
 -5.20045180e-02,-1.65930589e+01, 3.81692473e+01,-1.95109379e+01,
 -3.32713121e+00, 3.11890183e-02,-6.63976047e-02, 3.00899262e+00,
 -2.35018904e-01, 1.42320634e-01, 6.12986373e+00,-2.09274895e+01,
 -6.61997654e+00, 1.00887364e+00, 1.91531232e+00, 1.31362452e+02,
 -1.81828342e+02, 1.90788276e+01]

qfrc_actuator:
[ 9.06534163e-05, 9.16977350e-04, 1.35420859e-04,-1.03324043e-04,
  3.10740602e-04, 1.06931808e-01, 1.24122850e-02, 5.16074922e-03,
 -8.89677857e-05, 9.28928079e-04, 2.77049430e-04, 1.53289111e-05,
  7.75051177e-03,-1.52547382e-03, 0.00000000e+00,-1.51258995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006391641600730705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73699199e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.73699199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0081264 , -0.0880266 ,  0.06168025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11209154e-05, 2.95209818e-05,-8.95519249e-06, 1.60054519e-05,
 -1.50667039e-05,-1.08200338e-03,-1.20429265e-04,-2.68401578e-06,
 -2.00751250e-05, 8.15705117e-05, 4.32655129e-05, 1.68693396e-05,
 -2.93505679e-05,-1.83097414e-05,-2.18419631e-06,-1.01762194e-04,
  4.75899866e-04,-1.93659379e-03,-4.90269260e+00,-3.02053549e-03,
  1.89549187e-03,-7.34206487e-03]


--- Step 1798 ---
qpos:
[ 0.01866898, 0.03003077,-0.00943599,-0.02526027,-0.00364982, 1.27046946,
 -0.03123916, 0.94063112, 0.01157135, 0.0273348 ,-0.00828201, 0.02646692,
  1.30446009, 0.00757559, 1.2528278 , 0.04466972,-0.09690808,-0.07284978,
  0.0917233 , 0.65794269, 0.17983069,-0.68274324,-0.26198093]

qacc:
[ 4.10173684e+00, 4.93028234e-01,-4.01951751e+00, 1.29077815e+01,
  4.47516421e-02,-2.48396442e+01, 6.11544362e+01,-5.56271117e+01,
  7.32532337e-01, 2.65816991e+00,-1.17018483e+01, 2.24045750e+01,
 -2.76711750e-01, 1.95688427e-01,-6.09808243e-01, 1.77979117e+00,
 -5.69968042e+00, 8.55873575e-01, 2.75903300e-01, 1.13491861e+02,
 -1.55738014e+02, 1.57088225e+01]

qfrc_actuator:
[ 1.14027036e-04, 9.11481555e-04, 1.45438212e-04,-7.64367793e-05,
  3.31439758e-04, 1.05897878e-01, 1.23739231e-02, 5.08564204e-03,
 -8.38905354e-05, 8.78526513e-04, 2.29887232e-04, 3.89378553e-05,
  7.72145727e-03,-1.53127380e-03, 0.00000000e+00,-1.50170922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.19572397,   2.72339595,   8.19572397,
        13.33927116, -14.15281973,   2.72339595, -14.15281973,
        51.22752783,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006423119773364287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.64239703e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.64239703e-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([-0.00819068, -0.08800938,  0.061679  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45824476e-05, 9.86730685e-06, 1.55671885e-05, 2.81541708e-05,
  1.18662981e-05,-1.66968510e-03,-2.66622346e-04,-1.09295152e-04,
  4.51819220e-06, 4.83134177e-06,-2.44179108e-05, 2.89289907e-05,
 -4.86880618e-05,-1.77112776e-05,-1.61972086e-05, 4.05599936e-06,
 -7.55733931e-05,-1.55664613e-03,-4.90312802e+00,-2.24102138e-03,
  2.46310970e-03,-7.35437203e-03]


--- Step 1799 ---
qpos:
[ 0.01867013, 0.03003063,-0.00943531,-0.0252613 ,-0.00364319, 1.2719026 ,
 -0.03119924, 0.94069462, 0.01157118, 0.02733538,-0.00828173, 0.0264668 ,
  1.3046852 , 0.007576  , 1.2529656 , 0.04466941,-0.09695207,-0.07292786,
  0.09173402, 0.65722552, 0.18088026,-0.68288323,-0.26269268]

qacc:
[ 2.36476352e+00,-2.19196663e+00, 9.30992422e+00,-1.65542780e+01,
  6.22612041e-02,-3.19327659e+01, 7.99713483e+01,-8.15853046e+01,
  5.27371992e-01, 1.53002270e+00,-7.13727746e+00, 1.34373377e+01,
 -9.66330924e-02,-3.42585246e-02,-4.80918202e+00, 1.62236688e+01,
 -4.92025475e+00, 7.26746051e-01,-1.13136759e+00, 9.83197047e+01,
 -1.33741824e+02, 1.30035030e+01]

qfrc_actuator:
[ 1.27413534e-04, 9.08226568e-04, 1.68993765e-04,-9.58658791e-05,
  3.41204207e-04, 1.04705387e-01, 1.23523066e-02, 4.96169360e-03,
 -8.08015435e-05, 8.47915406e-04, 2.01599537e-04, 5.29317679e-05,
  7.70658114e-03,-1.53493264e-03, 0.00000000e+00,-1.42353452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.08152803,   3.04560037,   8.08152803,
        15.15247789, -17.29056787,   3.04560037, -17.29056787,
        54.51704121,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006370444717521309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71385809e-15,  8.71385809e-15,  1.00000000e+00,  7.59313228e-29,
        1.00000000e+00, -8.71385809e-15, -1.00000000e+00,  0.00000000e+00,
       -8.71385809e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00806864, -0.0880225 ,  0.06168131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41047297e-05, 6.69193826e-06, 2.84832856e-05,-1.79197270e-05,
  1.66141430e-05,-2.18503069e-03,-3.84598593e-04,-1.82578105e-04,
  3.22577058e-06,-3.17467228e-05,-2.93124100e-05, 1.39166517e-05,
 -4.40469351e-05,-1.99933235e-05,-9.90093334e-06, 7.56805885e-05,
 -4.28641272e-04,-1.26021762e-03,-4.90319100e+00,-1.59910996e-03,
  2.92623165e-03,-7.36884458e-03]


--- Step 1800 ---
qpos:
[ 0.01867143, 0.03003073,-0.0094347 ,-0.02526325,-0.0036366 , 1.27331513,
 -0.03115864, 0.94075753, 0.01157104, 0.0273361 ,-0.00828164, 0.02646645,
  1.30490997, 0.00757635, 1.25310376, 0.04466633,-0.09701308,-0.07300348,
  0.09173541, 0.65632427, 0.18196641,-0.68322187,-0.26331456]

qacc:
[ 1.29395387e+00,-1.35557829e+00, 9.17662845e+00,-2.50734217e+01,
 -1.47070797e-02,-2.99207710e+01, 6.61612185e+01,-5.12324899e+01,
  3.17408014e-01, 2.60249474e-01, 3.31650311e-01,-4.13440719e+00,
 -4.67727459e-01, 4.16885596e-01, 8.96214794e+00,-3.04627633e+01,
 -4.25925215e+00, 6.17724081e-01,-2.33371491e+00, 8.54484087e+01,
 -1.15196730e+02, 1.08299514e+01]

qfrc_actuator:
[ 1.34820298e-04, 9.24111154e-04, 1.64810368e-04,-1.42388203e-04,
  3.26575164e-04, 1.03462886e-01, 1.23045132e-02, 4.91639634e-03,
 -7.89157289e-05, 8.82678385e-04, 2.02500779e-04, 4.34316647e-05,
  7.68957011e-03,-1.53724587e-03, 0.00000000e+00,-1.57265555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.99477486,   3.26655045,   7.99477486,
        17.01236834, -20.49999621,   3.26655045, -20.49999621,
        58.80943054,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006250709168719656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88077652e-15,  1.77615530e-14,  1.00000000e+00,  1.57736383e-28,
        1.00000000e+00, -1.77615530e-14, -1.00000000e+00,  0.00000000e+00,
       -8.88077652e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00779919, -0.08805927,  0.06168642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.81967555e-06, 2.47430820e-05, 8.10479054e-08,-4.55990080e-05,
 -5.02889605e-06,-2.54523184e-03,-5.27141594e-04,-1.24598686e-04,
  1.97192896e-06, 1.15280936e-05,-8.79551483e-06,-1.16057937e-05,
 -4.40448863e-05,-1.83656809e-05, 1.08872155e-06,-1.46795256e-04,
 -6.44941067e-04,-1.02702120e-03,-4.90301660e+00,-1.06573054e-03,
  3.30592216e-03,-7.38492209e-03]


--- Step 1801 ---
qpos:
[ 0.01867247, 0.03003101,-0.00943471,-0.025265  ,-0.00363013, 1.27470488,
 -0.03111824, 0.94081935, 0.01157162, 0.02733718,-0.0082817 , 0.0264663 ,
  1.30513438, 0.00757667, 1.25324217, 0.04465949,-0.09704629,-0.07308357,
  0.09174686, 0.65571518, 0.18301012,-0.68322591,-0.26409706]

qacc:
[-2.30185276e+00, 2.39280059e+00,-9.04332313e+00, 1.33615505e+01,
 -4.80001661e-02,-3.12058200e+01, 6.79144044e+01,-5.71323490e+01,
  6.07397001e+00, 1.31724837e+00,-4.89460001e+00, 8.43269935e+00,
 -5.57957268e-01, 5.34823827e-01, 1.17944382e+01,-4.06151064e+01,
  6.95385360e+00,-1.11924378e+00, 2.51579494e+00,-1.39437016e+02,
  1.89411916e+02,-3.01905710e+01]

qfrc_actuator:
[ 1.20899264e-04, 9.15691377e-04, 1.26590759e-04,-1.33466583e-04,
  3.15186348e-04, 1.02146981e-01, 1.22236744e-02, 4.84665485e-03,
 -4.22470424e-05, 9.20910215e-04, 2.03121079e-04, 5.57640543e-05,
  7.67129027e-03,-1.53873985e-03, 0.00000000e+00,-1.76575005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006412213328440511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73141935e-14,  9.73923386e-15,  1.00000000e+00, -1.68626980e-28,
        1.00000000e+00, -9.73923386e-15, -1.00000000e+00,  0.00000000e+00,
        1.73141935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18741298, -0.05961477,  0.0616796 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36832467e-05, 3.47251282e-06,-3.46827398e-05, 9.09798333e-06,
 -1.44337693e-05,-2.84379227e-03,-6.45120401e-04,-1.62728948e-04,
  3.67336215e-05, 4.23379533e-05, 1.50770121e-06, 1.22950701e-05,
 -4.54366945e-05,-1.68431031e-05,-2.03350034e-05,-2.02138813e-04,
 -7.68403718e-04,-8.42009311e-04,-4.90269678e+00,-6.18896112e-04,
  3.61829322e-03,-7.40218698e-03]


--- Step 1802 ---
qpos:
[ 0.01867299, 0.03003125,-0.00943518,-0.02526559,-0.00362396, 1.27607009,
 -0.03107817, 0.94087973, 0.01157332, 0.02733814,-0.00828159, 0.02646669,
  1.30535829, 0.00757725, 1.25338034, 0.04465136,-0.0970556 ,-0.07316762,
  0.09176146, 0.65535656, 0.18401737,-0.6829429 ,-0.2650177 ]

qacc:
[-4.46943190e+00, 3.63696687e+00,-1.79412058e+01, 3.88928228e+01,
 -1.23183294e-01,-3.38197329e+01, 7.44185213e+01,-6.59161857e+01,
  9.60981934e+00, 4.11681794e-01,-3.97959148e+00, 1.30237813e+01,
 -6.59012068e-01, 7.91568002e-01, 3.57909247e+00,-1.28777465e+01,
  5.97246056e+00,-9.88300920e-01, 7.85920188e-01,-1.19960752e+02,
  1.62212003e+02,-2.60262951e+01]

qfrc_actuator:
[ 9.45382619e-05, 9.10429511e-04, 1.04042025e-04,-7.42746684e-05,
  2.88082797e-04, 1.00797457e-01, 1.21591365e-02, 4.76297829e-03,
  1.46014096e-05, 8.89945345e-04, 2.03613462e-04, 8.08532891e-05,
  7.64693656e-03,-1.52198996e-03, 0.00000000e+00,-1.82335333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006476202011612711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.42862382e-14,  3.21433483e-15,  1.00000000e+00, -1.10207450e-28,
        1.00000000e+00, -3.21433483e-15, -1.00000000e+00,  0.00000000e+00,
        3.42862382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18727244, -0.05964526,  0.06167698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67580245e-05,-1.01076571e-05,-2.57879920e-05, 5.83215032e-05,
 -3.56528256e-05,-3.06655902e-03,-7.01721893e-04,-1.90007684e-04,
  5.79419250e-05,-6.47427394e-06, 9.83659319e-06, 2.71916872e-05,
 -5.23793115e-05, 1.75649590e-06,-3.55155871e-05,-7.22794718e-05,
 -5.57672839e-04,-1.21172341e-03,-4.90308689e+00,-1.36957805e-03,
  3.05590813e-03,-7.43964549e-03]


--- Step 1803 ---
qpos:
[ 0.01867388, 0.03003132,-0.00943526,-0.02526618,-0.00361825, 1.2774099 ,
 -0.03103838, 0.94093806, 0.01157603, 0.0273383 ,-0.00828108, 0.02646709,
  1.30558162, 0.00757829, 1.2535178 , 0.04464658,-0.09704434,-0.07325517,
  0.09177325, 0.65521284, 0.18499301,-0.68241279,-0.26605732]

qacc:
[   3.1822551 ,  -1.35727514,   4.54507206,  -5.28816515,  -0.19975655,
  -36.05993842,  81.58731355, -78.47147648,   8.68095422,  -2.1127999 ,
    5.86243959,  -5.4163364 ,  -0.45589684,   0.65733131, -11.0916715 ,
   37.38778804,   5.14177698,  -0.87577516,  -0.70154411,-103.50470258,
  139.22147266, -22.4532401 ]

qfrc_actuator:
[ 1.14331202e-04, 9.07194443e-04, 1.26474620e-04,-7.47342718e-05,
  2.51773544e-04, 9.94741352e-02, 1.21223303e-02, 4.65398756e-03,
  6.51078401e-05, 8.00044981e-04, 2.03754448e-04, 7.76816171e-05,
  7.62429131e-03,-1.49457805e-03, 0.00000000e+00,-1.64086865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006448575330738067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44331257e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.44331257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18734039, -0.05963968,  0.06167822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90081131e-05,-1.17292723e-05, 1.91911831e-05,-6.46047590e-07,
 -5.72627440e-05,-3.17521537e-03,-7.24752800e-04,-2.24338734e-04,
  5.22030519e-05,-9.03350050e-05, 9.42044051e-07,-2.58490201e-06,
 -4.96489502e-05, 1.61181056e-05,-2.68304063e-05, 1.73388536e-04,
 -2.28131837e-04,-1.57030553e-03,-4.90308374e+00,-2.05896275e-03,
  2.54546375e-03,-7.47742807e-03]


--- Step 1804 ---
qpos:
[ 0.01867465, 0.03003117,-0.00943498,-0.02526781,-0.00361302, 1.27872397,
 -0.03099944, 0.94099473, 0.0115783 , 0.02733762,-0.00828048, 0.02646784,
  1.30580459, 0.00757962, 1.25365495, 0.04464496,-0.09701534,-0.07334583,
  0.09177714, 0.65525377, 0.18594098,-0.68166913,-0.26719965]

qacc:
[ -0.96864212, -3.40056025, 16.08056029,-34.34567774, -0.20009318,
 -34.34331132, 74.63633594,-67.7305657 , -3.81286723, -0.67359001,
  -0.61798477,  6.85363252, -0.22113444,  0.32626569,-10.0387753 ,
  34.47691185,  4.43763623, -0.77860045, -1.97463681,-89.59902826,
 119.78419748,-19.39316021]

qfrc_actuator:
[ 1.07877749e-04, 8.87585675e-04, 1.39734765e-04,-1.28019412e-04,
  2.27990310e-04, 9.81594575e-02, 1.20667497e-02, 4.56648564e-03,
  4.04594049e-05, 7.46519415e-04, 2.03401331e-04, 9.33517646e-05,
  7.61334636e-03,-1.47882643e-03, 0.00000000e+00,-1.47820778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006347613981973303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1875734 , -0.05960524,  0.06168251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90438459e-06,-2.22278150e-05, 1.31787889e-05,-5.31355221e-05,
 -5.73714954e-05,-3.23193892e-03,-7.68349402e-04,-2.07616697e-04,
 -2.31496559e-05,-1.03943563e-04,-1.89945868e-05, 1.17771705e-05,
 -3.22820550e-05, 8.85579274e-06, 5.22231499e-06, 1.68527448e-04,
  1.65860107e-04,-1.91087757e-03,-4.90283354e+00,-2.68542679e-03,
  2.08706876e-03,-7.51520050e-03]


--- Step 1805 ---
qpos:
[ 0.018675  , 0.03003107,-0.00943491,-0.02527006,-0.00360806, 1.28001157,
 -0.03096125, 0.94105175, 0.01157956, 0.02733669,-0.00828014, 0.02646836,
  1.30602722, 0.00758093, 1.25379228, 0.04464363,-0.09701317,-0.07343303,
  0.09178891, 0.65500266, 0.18694816,-0.68123933,-0.26820676]

qacc:
[-3.67968155e+00,-6.10485020e-01, 4.85982334e+00,-1.52171710e+01,
 -1.09843923e-01,-3.21260276e+01, 6.21482366e+01,-3.32740638e+01,
 -8.55977135e+00,-6.08389519e-02, 7.12861542e-01,-3.96255738e+00,
 -2.42219442e-01, 1.80986530e-01,-5.53203290e-01, 2.37819563e+00,
 -6.71022038e+00, 8.66428309e-01, 1.96943076e+00, 1.34569394e+02,
 -1.81887557e+02, 1.42824065e+01]

qfrc_actuator:
[ 8.60124948e-05, 8.93753459e-04, 1.29610397e-04,-1.58719407e-04,
  2.29665208e-04, 9.68072145e-02, 1.20183320e-02, 4.58107078e-03,
 -1.04721408e-05, 7.68445383e-04, 2.02898530e-04, 8.45042418e-05,
  7.58812129e-03,-1.48782897e-03, 0.00000000e+00,-1.47062924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062289882812291905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91174437e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.91174437e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00773545, -0.08802521,  0.06168751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20428945e-05,-5.81381658e-06,-1.49289230e-05,-3.22270111e-05,
 -3.19885823e-05,-3.30861479e-03,-7.76685572e-04,-1.08155499e-04,
 -5.16469909e-05,-3.96035387e-05,-2.39032619e-05,-1.37299969e-05,
 -3.89792736e-05,-1.41629098e-05, 1.80324012e-05, 1.69489851e-05,
  5.89235122e-04,-2.22997035e-03,-4.90243633e+00,-3.25054310e-03,
  1.67867664e-03,-7.55274614e-03]


--- Step 1806 ---
qpos:
[ 0.01867577, 0.03003064,-0.00943487,-0.02527193,-0.00360325, 1.28127243,
 -0.03092291, 0.94110782, 0.01158021, 0.02733566,-0.0082796 , 0.02646804,
  1.30624947, 0.00758199, 1.25392968, 0.04464241,-0.09703413,-0.07351728,
  0.09180201, 0.65450041, 0.18800833,-0.68107882,-0.269098  ]

qacc:
[ 3.64935377e+00, 4.10795538e-01,-3.66582390e+00, 1.04135096e+01,
 -6.58460526e-02,-3.71090537e+01, 8.05987716e+01,-6.39679291e+01,
 -5.29330294e+00,-2.41580442e+00, 1.20041277e+01,-2.69362375e+01,
 -1.38482574e-01,-1.10597686e-01,-2.77254306e-01, 1.11787035e+00,
 -5.77999445e+00, 7.36414841e-01, 3.32508644e-01, 1.16412214e+02,
 -1.55798960e+02, 1.13892431e+01]

qfrc_actuator:
[ 1.08517350e-04, 8.61968200e-04, 1.23639274e-04,-1.40365616e-04,
  2.28840849e-04, 9.54789485e-02, 1.20277147e-02, 4.53130801e-03,
 -4.09350780e-05, 7.82113949e-04, 2.20357551e-04, 4.36122026e-05,
  7.55433733e-03,-1.51150000e-03, 0.00000000e+00,-1.46571534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.39576991,  2.02430841,  8.39576991, 10.72250878,
       -8.65223626,  2.02430841, -8.65223626, 44.52130317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006274665881558825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84686966e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.84686966e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00783263, -0.08800011,  0.06168563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18631403e-05,-3.95000852e-05,-1.01194852e-05, 1.69667540e-05,
 -1.96636546e-05,-3.32536362e-03,-7.31834489e-04,-1.72777405e-04,
 -3.19904696e-05,-1.39897250e-05, 5.86803324e-06,-4.36809816e-05,
 -5.65959806e-05,-3.69872512e-05, 5.67524008e-06, 7.16297020e-06,
 -1.99518659e-05,-1.84233773e-03,-4.90290278e+00,-2.42999747e-03,
  2.29179320e-03,-7.56554723e-03]


--- Step 1807 ---
qpos:
[ 0.01867646, 0.03002993,-0.00943522,-0.02527286,-0.00359855, 1.28250702,
 -0.03088436, 0.94116251, 0.01158048, 0.02733428,-0.0082788 , 0.02646794,
  1.30647122, 0.00758304, 1.25406695, 0.04464228,-0.09707506,-0.07359903,
  0.09181082, 0.65378131, 0.18911582,-0.68114969,-0.26988943]

qacc:
[-7.01586908e-01, 2.65144857e+00,-1.39819492e+01, 3.11550107e+01,
 -4.56482291e-02,-3.74421329e+01, 8.33526372e+01,-7.18184559e+01,
 -3.15004245e+00,-6.85091097e-01, 8.21693132e-01, 2.98296646e+00,
 -3.05854102e-01, 2.07387447e-01,-3.41662074e+00, 1.17414217e+01,
 -4.99245804e+00, 6.26258654e-01,-1.07324582e+00, 1.00991467e+02,
 -1.33816683e+02, 9.12208355e+00]

qfrc_actuator:
[ 1.03704766e-04, 8.43260398e-04, 1.02304187e-04,-9.33231432e-05,
  2.26519635e-04, 9.42114437e-02, 1.20534275e-02, 4.46183277e-03,
 -5.90973104e-05, 7.55289766e-04, 2.30502464e-04, 5.52214070e-05,
  7.53141276e-03,-1.50821830e-03, 0.00000000e+00,-1.40909880e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.33395274,   2.26539369,   8.33395274,
        11.52309496, -10.61973578,   2.26539369, -10.61973578,
        47.7043527 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006235248184449135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90279738e-15,  4.45139869e-15,  1.00000000e+00,  3.96299006e-29,
        1.00000000e+00, -4.45139869e-15, -1.00000000e+00,  0.00000000e+00,
       -8.90279738e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00773992, -0.088005  ,  0.06168736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18788085e-06,-4.21350309e-05,-3.01454343e-05, 4.53355680e-05,
 -1.39596176e-05,-3.26675205e-03,-7.15508574e-04,-1.93206260e-04,
 -1.91053488e-05,-3.52843489e-05, 6.47495732e-06, 1.03659067e-05,
 -6.02407212e-05,-2.07097616e-05,-5.99703220e-07, 5.68506100e-05,
 -4.27061117e-04,-1.54035304e-03,-4.90298945e+00,-1.74457525e-03,
  2.80076402e-03,-7.58062777e-03]


--- Step 1808 ---
qpos:
[ 0.01867639, 0.03002943,-0.00943604,-0.02527362,-0.00359395, 1.28371642,
 -0.03084684, 0.94121595, 0.01158087, 0.02733264,-0.00827822, 0.0264687 ,
  1.30669227, 0.00758462, 1.25420435, 0.04464148,-0.09709168,-0.0736852 ,
  0.09182332, 0.65331501, 0.19019062,-0.68092622,-0.27082561]

qacc:
[-6.47520507e+00, 1.97062165e+00,-7.28557277e+00, 1.07362792e+01,
 -3.73175205e-02,-3.24141593e+01, 6.83744062e+01,-5.79415184e+01,
  1.05973912e+00, 2.00584005e+00,-1.12331479e+01, 2.64862561e+01,
 -9.58570239e-01, 1.25663630e+00, 2.31302096e+00,-7.58219999e+00,
  6.07644000e+00,-1.10782853e+00, 9.24756639e-01,-1.23612669e+02,
  1.64217187e+02,-2.98999647e+01]

qfrc_actuator:
[ 6.50849794e-05, 8.85750034e-04, 8.98737198e-05,-8.30472049e-05,
  2.23317120e-04, 9.30083742e-02, 1.20177978e-02, 4.39910319e-03,
 -5.21284350e-05, 7.39955814e-04, 2.18368694e-04, 9.75931006e-05,
  7.50437646e-03,-1.47115799e-03, 0.00000000e+00,-1.44673132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006227839685226964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34803277e-14,  1.11417349e-15,  1.00000000e+00, -5.95863636e-29,
        1.00000000e+00, -1.11417349e-15, -1.00000000e+00,  0.00000000e+00,
        5.34803277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18785747, -0.05957327,  0.06168772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87543926e-05, 1.46714662e-05,-2.32630606e-05, 8.31628904e-06,
 -1.15049534e-05,-3.16702711e-03,-7.64060910e-04,-1.84722779e-04,
  6.39268593e-06,-3.32483143e-05,-1.82579233e-05, 4.12877710e-05,
 -6.23122346e-05, 1.69228962e-05, 2.43885652e-06,-3.53413865e-05,
 -6.93394210e-04,-1.30298459e-03,-4.90283308e+00,-1.16716394e-03,
  3.22550194e-03,-7.59744282e-03]


--- Step 1809 ---
qpos:
[ 0.01867552, 0.03002916,-0.00943678,-0.02527464,-0.00358958, 1.28490123,
 -0.03081096, 0.94126789, 0.01158135, 0.02733115,-0.00827791, 0.02646887,
  1.30691271, 0.00758663, 1.25434175, 0.04464023,-0.09708734,-0.07377529,
  0.09183356, 0.65306577, 0.19123713,-0.6804491 ,-0.2718869 ]

qacc:
[-6.92786106e+00,-4.62868313e-01, 3.17828918e+00,-7.93580498e+00,
 -9.70402200e-02,-3.04082363e+01, 6.33185738e+01,-5.68304024e+01,
  6.70690894e-01,-2.49645304e-01, 3.62290045e+00,-1.33606150e+01,
 -8.05399625e-01, 1.03703237e+00, 1.39870397e+00,-4.73053231e+00,
  5.23753246e+00,-9.77795810e-01,-5.65760404e-01,-1.06825158e+02,
  1.41032635e+02,-2.59658473e+01]

qfrc_actuator:
[ 2.46375121e-05, 9.11310204e-04, 1.00781415e-04,-9.44301816e-05,
  2.01858100e-04, 9.18178937e-02, 1.19465315e-02, 4.32308839e-03,
 -4.81802798e-05, 7.67066441e-04, 2.10983013e-04, 6.89457241e-05,
  7.47490857e-03,-1.44987353e-03, 0.00000000e+00,-1.46858869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.42803035, -7.41480439,  4.42803035, 66.15869416,
       34.35163115, -7.41480439, 34.35163115, 29.15073696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0062260681134321955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78318484e-14, -7.80143366e-15,  1.00000000e+00,  1.39113982e-28,
        1.00000000e+00,  7.80143366e-15, -1.00000000e+00,  0.00000000e+00,
        1.78318484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18786538, -0.05957507,  0.06168785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15685166e-05, 2.93316200e-05, 1.13791728e-05,-1.13914728e-05,
 -2.83226857e-05,-3.10823826e-03,-7.85400445e-04,-1.96265727e-04,
  4.11839571e-06, 6.57003822e-06,-1.50630547e-05,-2.98999322e-05,
 -5.71712398e-05, 1.17039724e-05,-7.38224212e-06,-2.45176847e-05,
 -3.75026397e-04,-1.69381310e-03,-4.90290421e+00,-1.89264613e-03,
  2.67556540e-03,-7.63657767e-03]


--- Step 1810 ---
qpos:
[ 0.01867452, 0.03002912,-0.00943742,-0.02527544,-0.00358547, 1.28606153,
 -0.0307761 , 0.94131851, 0.01158187, 0.02733025,-0.00827821, 0.02646832,
  1.30713299, 0.00758831, 1.25447891, 0.04464006,-0.09710629,-0.07386271,
  0.09184519, 0.65256286, 0.1923397 ,-0.68024142,-0.2728347 ]

qacc:
[-1.14910587e+00, 4.79097994e-01,-2.17301790e+00, 5.56455304e+00,
 -1.07043014e-01,-3.16833559e+01, 6.72264668e+01,-5.81693955e+01,
  3.40909998e-01, 9.67524539e-01, 7.23068309e-01,-1.27112965e+01,
  1.94973367e-01,-4.79320216e-01,-3.62572971e+00, 1.20988489e+01,
 -5.81927029e+00, 6.67952639e-01, 3.46696149e-01, 1.17809725e+02,
 -1.55816056e+02, 9.26489479e+00]

qfrc_actuator:
[ 1.89544799e-05, 9.26622213e-04, 1.07568524e-04,-8.29468728e-05,
  1.87374365e-04, 9.06266770e-02, 1.19081579e-02, 4.25760406e-03,
 -4.60498131e-05, 8.19346198e-04, 1.88837322e-04, 3.42842264e-05,
  7.47062868e-03,-1.47367346e-03, 0.00000000e+00,-1.40992981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061599797261563255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01158018e-15,  1.35173703e-14,  1.00000000e+00,  1.21812866e-28,
        1.00000000e+00, -1.35173703e-14, -1.00000000e+00,  0.00000000e+00,
       -9.01158018e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00755996, -0.08800089,  0.06169069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88228394e-06, 3.35853669e-05, 1.38690326e-05, 1.29174076e-05,
 -3.11863507e-05,-3.08070975e-03,-7.43711885e-04,-1.84891088e-04,
  2.25087620e-06, 5.16137733e-05,-2.36647142e-05,-3.54808784e-05,
 -3.07407734e-05,-3.36371012e-05,-9.99157176e-06, 5.54973082e-05,
  1.74996220e-05,-2.06962192e-03,-4.90270812e+00,-2.55704506e-03,
  2.17658247e-03,-7.67586602e-03]


--- Step 1811 ---
qpos:
[ 0.01867414, 0.03002958,-0.00943812,-0.02527578,-0.00358144, 1.28719791,
 -0.03074229, 0.94136724, 0.01158241, 0.02732998,-0.00827892, 0.02646803,
  1.3073532 , 0.00758965, 1.25461622, 0.04463855,-0.09710417,-0.07395418,
  0.09185472, 0.65227753, 0.19341518,-0.679778  ,-0.27390959]

qacc:
[ 5.38181170e+00, 1.78579721e+00,-7.35768850e+00, 1.51042061e+01,
 -3.50062461e-02,-3.18024698e+01, 6.97079965e+01,-6.72711561e+01,
  1.59363663e-01, 2.54724087e+00,-8.93818441e+00, 1.35977650e+01,
  4.72222204e-02,-2.89894767e-01, 4.24493679e+00,-1.45367148e+01,
  5.26665538e+00,-1.01396303e+00,-5.25438631e-01,-1.07882877e+02,
  1.41529490e+02,-2.71650799e+01]

qfrc_actuator:
[ 5.15321780e-05, 9.71195774e-04, 1.11839483e-04,-5.81125993e-05,
  1.94945000e-04, 8.94802805e-02, 1.18717990e-02, 4.16335157e-03,
 -4.50053265e-05, 8.68479069e-04, 1.76029572e-04, 4.96468790e-05,
  7.47078984e-03,-1.48842669e-03, 0.00000000e+00,-1.48182331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006154990965306639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80377686e-14,  1.24009659e-14,  1.00000000e+00, -2.23685752e-28,
        1.00000000e+00, -1.24009659e-14, -1.00000000e+00,  0.00000000e+00,
        1.80377686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18803412, -0.05955057,  0.06169096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23887177e-05, 6.67832535e-05, 1.33735895e-05, 2.70073960e-05,
 -1.08105597e-05,-3.01188817e-03,-7.31168559e-04,-2.11375952e-04,
  1.12756293e-06, 7.16267344e-05,-6.27293197e-06, 1.60690850e-05,
 -2.34087179e-05,-3.16481077e-05,-9.54944942e-07,-7.06619546e-05,
 -4.26424323e-04,-1.76023639e-03,-4.90281379e+00,-1.83814671e-03,
  2.71785559e-03,-7.69147642e-03]


--- Step 1812 ---
qpos:
[ 0.01867416, 0.0300303 ,-0.0094384 ,-0.02527547,-0.0035773 , 1.28831072,
 -0.0307092 , 0.94141549, 0.01158262, 0.02732998,-0.00827909, 0.0264679 ,
  1.30757307, 0.00759109, 1.25475338, 0.0446372 ,-0.09712515,-0.07404313,
  0.09186529, 0.65174017, 0.19454837,-0.67958088,-0.27487362]

qacc:
[ 3.38573121e+00, 4.89096400e-01,-3.98353358e+00, 1.42873695e+01,
  5.36713403e-02,-2.98313905e+01, 6.09354985e+01,-4.36342229e+01,
 -2.85719130e+00,-7.95219341e-01, 2.63272172e+00,-7.67710604e-01,
 -3.15857413e-01, 3.28734051e-01,-6.55347430e-01, 2.04783392e+00,
 -5.77433926e+00, 6.31137985e-01, 2.60100343e-01, 1.17345743e+02,
 -1.53891425e+02, 7.77559015e+00]

qfrc_actuator:
[ 7.08522767e-05, 9.79694867e-04, 1.32470702e-04,-2.56019899e-05,
  2.15681766e-04, 8.83522438e-02, 1.18548393e-02, 4.14169514e-03,
 -6.23604852e-05, 8.79924868e-04, 2.04384679e-04, 5.88264794e-05,
  7.45231162e-03,-1.47985787e-03, 0.00000000e+00,-1.47030187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006177375857023555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.49310132e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.49310132e-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([-0.00759066, -0.08797263,  0.06169004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02848364e-05, 4.97664976e-05, 3.70082612e-05, 3.63585285e-05,
  1.42825835e-05,-2.95354548e-03,-6.97597793e-04,-1.36986992e-04,
 -1.72991930e-05, 5.09133744e-05, 4.29465577e-05, 1.23476593e-05,
 -3.81183701e-05,-5.90628997e-06,-1.18520714e-05, 6.65148463e-06,
 -3.19341503e-05,-2.15037574e-03,-4.90263324e+00,-2.51839352e-03,
  2.20256689e-03,-7.73146142e-03]


--- Step 1813 ---
qpos:
[ 0.01867475, 0.0300311 ,-0.0094383 ,-0.02527475,-0.00357314, 1.28939996,
 -0.03067668, 0.94146382, 0.01158261, 0.02732992,-0.00827874, 0.02646793,
  1.30779241, 0.0075927 , 1.2548905 , 0.04463565,-0.09716609,-0.07412993,
  0.09187134, 0.650985  , 0.19573325,-0.6796126 ,-0.27574216]

qacc:
[ 4.95822137e+00,-1.28582047e-01,-1.15772431e+00, 7.65501482e+00,
  7.41012035e-03,-2.92614055e+01, 5.79248909e+01,-3.44522653e+01,
 -1.76986964e+00,-1.26099225e+00, 3.73251347e+00,-1.89722980e+00,
 -5.44173901e-01, 5.97539422e-01, 6.14611830e-01,-2.13156052e+00,
 -4.98994752e+00, 5.36900621e-01,-1.12986054e+00, 1.01929104e+02,
 -1.32184366e+02, 5.87992283e+00]

qfrc_actuator:
[ 9.99539394e-05, 9.66600778e-04, 1.44711155e-04,-6.60508528e-06,
  2.08639925e-04, 8.71911896e-02, 1.18318624e-02, 4.14519939e-03,
 -7.26537995e-05, 8.51130984e-04, 2.21147776e-04, 6.42823198e-05,
  7.41735091e-03,-1.47534689e-03, 0.00000000e+00,-1.48069527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.4514535 ,  1.7775575 ,  8.4514535 , 10.13726595,
       -7.13608766,  1.7775575 , -7.13608766, 42.56511873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006140841173572983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.03966568e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.03966568e-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([-0.0075049 , -0.08797374,  0.06169164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97050593e-05, 2.39184393e-05, 2.83281411e-05, 2.31135493e-05,
  1.19794249e-06,-2.94520592e-03,-6.86131002e-04,-1.07392131e-04,
 -1.07847216e-05, 9.07460781e-06, 3.30002266e-05, 9.36540978e-06,
 -5.59135827e-05,-5.96314424e-06,-7.72989774e-06,-1.22158974e-05,
 -4.76705088e-04,-1.84571511e-03,-4.90270651e+00,-1.79182707e-03,
  2.75358204e-03,-7.74755587e-03]


--- Step 1814 ---
qpos:
[ 0.01867569, 0.03003208,-0.00943858,-0.02527411,-0.00356931, 1.29046594,
 -0.03064484, 0.94151147, 0.01158214, 0.02733006,-0.00827877, 0.02646771,
  1.30801109, 0.00759468, 1.25502748, 0.04463463,-0.09718289,-0.07422156,
  0.0918808 , 0.65047826, 0.19689028,-0.6793502 ,-0.27675903]

qacc:
[ 2.94053708e+00, 1.14198011e+00,-3.36513746e+00, 2.39543273e+00,
 -1.41040039e-01,-2.98530140e+01, 6.19044553e+01,-4.68047939e+01,
 -4.01255890e+00, 8.51589060e-01,-1.57395004e+00,-2.29440693e+00,
 -7.14952826e-01, 8.79995676e-01,-1.78978980e+00, 6.11023086e+00,
  6.03404854e+00,-1.20687394e+00, 8.52950128e-01,-1.24330022e+02,
  1.61791805e+02,-3.33547164e+01]

qfrc_actuator:
[ 1.16831397e-04, 9.58382320e-04, 1.16280846e-04,-1.34953635e-05,
  1.67238374e-04, 8.60552498e-02, 1.18054118e-02, 4.11017048e-03,
 -9.64549294e-05, 8.51672047e-04, 1.95236216e-04, 4.96994985e-05,
  7.38318061e-03,-1.45563865e-03, 0.00000000e+00,-1.45067739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006188141842497136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79411373e-14,  3.36396324e-15,  1.00000000e+00, -6.03533265e-29,
        1.00000000e+00, -3.36396324e-15, -1.00000000e+00,  0.00000000e+00,
        1.79411373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18796369, -0.05956716,  0.06168965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77465402e-05, 1.19737131e-05,-1.92156255e-05,-4.44098605e-06,
 -4.08222273e-05,-2.91208728e-03,-6.85739248e-04,-1.44679680e-04,
 -2.41154109e-05, 1.28280101e-05,-1.96514373e-05,-1.28701063e-05,
 -6.41118328e-05, 5.01907626e-06,-8.53408776e-06, 2.75488595e-05,
 -7.80882450e-04,-1.60644335e-03,-4.90254222e+00,-1.17355584e-03,
  3.21949321e-03,-7.76548755e-03]


--- Step 1815 ---
qpos:
[ 0.01867613, 0.03003286,-0.00943877,-0.0252732 ,-0.00356576, 1.29150974,
 -0.03061344, 0.94155689, 0.01158173, 0.02733022,-0.00827876, 0.02646731,
  1.30822925, 0.00759688, 1.25516437, 0.04463397,-0.09717888,-0.07431744,
  0.09188775, 0.65018464, 0.19802325,-0.67883421,-0.27790439]

qacc:
[-4.23062509e+00, 5.31447430e-02,-1.71356601e+00, 6.45320293e+00,
 -1.11497461e-01,-3.17786769e+01, 7.31239072e+01,-7.55361855e+01,
  5.37570107e-01,-4.34362132e-01, 2.34178891e+00,-5.49519337e+00,
 -5.29256458e-01, 6.04057360e-01,-1.11905881e+00, 3.86359113e+00,
  5.20171792e+00,-1.06191897e+00,-6.26411829e-01,-1.07543618e+02,
  1.38891475e+02,-2.90870997e+01]

qfrc_actuator:
[ 9.08705808e-05, 9.35192308e-04, 1.17318537e-04,-8.07293059e-08,
  1.58821851e-04, 8.50322516e-02, 1.18127116e-02, 3.99948069e-03,
 -9.25128313e-05, 8.51817400e-04, 1.97687324e-04, 4.11877441e-05,
  7.36016709e-03,-1.44483080e-03, 0.00000000e+00,-1.43258706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.78725572, -6.41049515,  5.78725572, 43.29216409,
       31.28650361, -6.41049515, 31.28650361, 36.88113927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006184967276383603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79503460e-14,  4.48758649e-15,  1.00000000e+00, -8.05537302e-29,
        1.00000000e+00, -4.48758649e-15, -1.00000000e+00,  0.00000000e+00,
        1.79503460e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18797293, -0.05956615,  0.06168981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54414986e-05,-2.06837206e-05, 9.79126724e-07, 1.31720846e-05,
 -3.24498494e-05,-2.78163694e-03,-6.46507089e-04,-2.20225301e-04,
  3.24191184e-06, 2.69391099e-06, 2.23483341e-06,-8.89129504e-06,
 -5.43994112e-05,-2.67148489e-06,-4.45273711e-06, 1.77471178e-05,
 -4.26080217e-04,-2.04800103e-03,-4.90257687e+00,-1.94740471e-03,
  2.62045442e-03,-7.80714347e-03]


--- Step 1816 ---
qpos:
[ 0.01867661, 0.03003335,-0.00943862,-0.0252718 ,-0.00356226, 1.29253209,
 -0.03058236, 0.94160092, 0.0115824 , 0.02733044,-0.00827851, 0.02646749,
  1.30844724, 0.00759865, 1.25530187, 0.04462815,-0.09715689,-0.07441707,
  0.09188713, 0.65007412, 0.19913513,-0.67809868,-0.27916127]

qacc:
[ 2.74689722e-01,-3.39931458e-01,-1.45323091e+00, 9.68568076e+00,
 -2.41984668e-02,-2.96214766e+01, 6.54804714e+01,-5.92827076e+01,
  9.26013374e+00, 5.56908277e-01,-4.31068882e+00, 1.37996369e+01,
 -2.76320335e-01, 4.50930632e-03, 1.64861732e+01,-5.63308121e+01,
  4.49609890e+00,-9.38108375e-01,-1.89383504e+00,-9.33457095e+01,
  1.19544886e+02,-2.53899793e+01]

qfrc_actuator:
[ 9.31652339e-05, 9.21082664e-04, 1.35713544e-04, 2.51911089e-05,
  1.70261289e-04, 8.40320031e-02, 1.18225487e-02, 3.93400283e-03,
 -3.67634256e-05, 8.69579129e-04, 2.16888579e-04, 7.18522262e-05,
  7.34918526e-03,-1.47486301e-03, 0.00000000e+00,-1.70571762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.67267454, -6.51210722,  5.67267454, 46.852121  ,
       33.28961679, -6.51210722, 33.28961679, 37.63483606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006106902951932475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18815263, -0.05953441,  0.06169314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54301704e-06,-2.49480903e-05, 1.46910131e-05, 2.46742628e-05,
 -7.68757770e-06,-2.68110201e-03,-6.16154721e-04,-1.71720581e-04,
  5.58460206e-05, 1.93435994e-05, 1.97237383e-05, 3.06845182e-05,
 -3.92336293e-05,-4.34859020e-05,-3.71312220e-06,-2.73516513e-04,
 -1.85692668e-11,-2.47389869e-03,-4.90235361e+00,-2.65804386e-03,
  2.07390398e-03,-7.84899925e-03]


--- Step 1817 ---
qpos:
[ 0.01867676, 0.03003371,-0.00943855,-0.02527044,-0.0035589 , 1.29353385,
 -0.03055244, 0.94164417, 0.0115834 , 0.02733018,-0.00827777, 0.02646808,
  1.30866512, 0.00759978, 1.25543877, 0.0446238 ,-0.09716121,-0.07451425,
  0.09189308, 0.64967496, 0.20031715,-0.67766427,-0.28029738]

qacc:
[-2.75695475e+00,-3.41041513e-03,-9.58411570e-03,-5.84924797e-01,
 -5.68357799e-02,-2.52544505e+01, 5.13480134e+01,-4.06637824e+01,
  2.74709264e+00,-1.17534280e+00, 1.48215372e+00, 5.34096025e+00,
  4.62498137e-01,-9.71427672e-01,-5.39322473e+00, 1.74378782e+01,
 -6.57680281e+00, 6.12437353e-01, 1.64236908e+00, 1.34519103e+02,
 -1.73921896e+02, 5.16535856e+00]

qfrc_actuator:
[ 7.65814296e-05, 9.12604511e-04, 1.28730147e-04, 2.17421264e-05,
  1.58010672e-04, 8.30535310e-02, 1.17807115e-02, 3.89568171e-03,
 -2.19865256e-05, 8.09098436e-04, 2.28163036e-04, 8.98386908e-05,
  7.34008319e-03,-1.51107560e-03, 0.00000000e+00,-1.61564340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006204616989657984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94674906e-15,  8.94674906e-15,  1.00000000e+00,  8.00443188e-29,
        1.00000000e+00, -8.94674906e-15, -1.00000000e+00,  0.00000000e+00,
       -8.94674906e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00763907, -0.08790044,  0.06168894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65511194e-05,-1.83616492e-05,-9.48411754e-06,-3.53307454e-06,
 -1.68659020e-05,-2.59607498e-03,-6.43228666e-04,-1.39553910e-04,
  1.64183323e-05,-4.42642548e-05, 1.87537675e-05, 2.00914128e-05,
 -4.01872335e-05,-5.75689356e-05,-3.67250446e-05, 7.33312162e-05,
  4.59661966e-04,-2.87771525e-03,-4.90197501e+00,-3.30507213e-03,
  1.57950448e-03,-7.89078206e-03]


--- Step 1818 ---
qpos:
[ 0.01867637, 0.03003373,-0.00943819,-0.02526913,-0.00355555, 1.29451528,
 -0.03052426, 0.94168493, 0.01158421, 0.02732931,-0.00827669, 0.02646788,
  1.30888275, 0.00760067, 1.25557489, 0.04462486,-0.09718819,-0.07460935,
  0.09189923, 0.6490272 , 0.20156208,-0.67748789,-0.28133001]

qacc:
[-4.65768199e+00,-1.37808427e+00, 4.47974803e+00,-5.57612671e+00,
 -4.56614763e-04,-2.62393312e+01, 5.85127784e+01,-6.68213758e+01,
 -1.46924537e+00,-3.38110145e+00, 1.42484469e+01,-2.81171012e+01,
  4.24448934e-01,-7.22670774e-01,-1.75188869e+01, 5.95042357e+01,
 -5.66572160e+00, 5.19433290e-01, 4.97976409e-02, 1.16558879e+02,
 -1.48871166e+02, 3.30194246e+00]

qfrc_actuator:
[ 4.90099100e-05, 8.89691124e-04, 1.42319183e-04, 1.91573414e-05,
  1.67151826e-04, 8.20425976e-02, 1.16910795e-02, 3.76709691e-03,
 -3.14617511e-05, 7.55452639e-04, 2.34330429e-04, 4.68844066e-05,
  7.33743658e-03,-1.51512491e-03, 0.00000000e+00,-1.32995800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.53586395,  1.31369842,  8.53586395,  9.30806859,
       -4.36445838,  1.31369842, -4.36445838, 36.99479238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00623342290359772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90540432e-15,  8.90540432e-15,  1.00000000e+00,  7.93062260e-29,
        1.00000000e+00, -8.90540432e-15, -1.00000000e+00,  0.00000000e+00,
       -8.90540432e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00770098, -0.08787727,  0.06168772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80611807e-05,-3.53143041e-05, 8.49888336e-06,-3.77119439e-06,
 -8.50958054e-07,-2.58561059e-03,-6.76476312e-04,-2.27335238e-04,
 -9.01128760e-06,-7.36555532e-05, 2.24004666e-08,-4.38141714e-05,
 -3.69922448e-05,-2.99579914e-05,-9.69710950e-06, 2.84848752e-04,
 -1.91414430e-04,-2.49999253e-03,-4.90229408e+00,-2.40866006e-03,
  2.27654435e-03,-7.90610043e-03]


--- Step 1819 ---
qpos:
[ 0.01867496, 0.03003347,-0.00943767,-0.02526786,-0.00355202, 1.29547637,
 -0.03049781, 0.94172456, 0.0115856 , 0.02732841,-0.00827605, 0.02646714,
  1.30909985, 0.00760199, 1.25571104, 0.04462828,-0.09723474,-0.07470269,
  0.09190011, 0.6481645 , 0.20286331,-0.67753298,-0.28227347]

qacc:
[-8.71708790e+00,-8.80819874e-01, 2.79381375e+00,-3.55097823e+00,
  7.75353979e-02,-2.39959543e+01, 4.83565047e+01,-4.22890977e+01,
  4.84408049e+00, 8.75026200e-02, 1.85963366e+00,-1.03361965e+01,
 -5.32119899e-01, 7.39438568e-01,-7.09351241e+00, 2.49808621e+01,
 -4.89413257e+00, 4.39997996e-01,-1.31686816e+00, 1.01291381e+02,
 -1.27770748e+02, 1.95168134e+00]

qfrc_actuator:
[-2.55500629e-06, 8.76140508e-04, 1.50148719e-04, 1.71124867e-05,
  1.89050539e-04, 8.10379018e-02, 1.16093180e-02, 3.71063801e-03,
 -1.86443309e-06, 7.77239099e-04, 2.19644668e-04, 2.16710815e-05,
  7.31737520e-03,-1.48225814e-03, 0.00000000e+00,-1.21546313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51250053,  1.45743323,  8.51250053,  9.55016748,
       -5.33729817,  1.45743323, -5.33729817, 39.81017832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006180624966160751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98147866e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.98147866e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00758083, -0.0878811 ,  0.06168996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23958155e-05,-3.17206096e-05, 1.44632236e-06,-3.33875297e-06,
  2.12946989e-05,-2.58254266e-03,-6.72880167e-04,-1.57932670e-04,
  2.93078263e-05,-2.12563723e-05,-3.14144298e-05,-2.92211632e-05,
 -4.51946870e-05, 1.52522986e-05, 2.57402022e-05, 1.28784594e-04,
 -6.52623720e-04,-2.20634413e-03,-4.90227619e+00,-1.64302626e-03,
  2.87080611e-03,-7.92384161e-03]


--- Step 1820 ---
qpos:
[ 0.0186726 , 0.03003323,-0.00943746,-0.02526663,-0.00354843, 1.29641754,
 -0.0304726 , 0.94176386, 0.01158733, 0.02732781,-0.00827641, 0.02646679,
  1.30931642, 0.0076035 , 1.25584749, 0.0446314 ,-0.09729826,-0.07479454,
  0.09189105, 0.64711519, 0.20421489,-0.67776853,-0.28313959]

qacc:
[-8.18177945e+00, 8.33972589e-01,-2.74295274e+00, 2.50594832e+00,
  2.45019731e-02,-2.33570304e+01, 4.52846780e+01,-3.05418511e+01,
  2.89883013e+00, 3.99660561e+00,-1.53095054e+01, 2.34149171e+01,
 -5.76657057e-01, 6.40395922e-01, 1.40969842e+00,-4.15459703e+00,
 -4.23979099e+00, 3.72187494e-01,-2.48433260e+00, 8.83260189e+01,
 -1.09995550e+02, 9.85139800e-01]

qfrc_actuator:
[-5.00729403e-05, 8.86036782e-04, 1.36789766e-04, 1.54011752e-05,
  1.82917400e-04, 8.00983630e-02, 1.15684680e-02, 3.69709740e-03,
  1.49973792e-05, 8.08445329e-04, 1.75338221e-04, 4.26629885e-05,
  7.28157445e-03,-1.48108244e-03, 0.00000000e+00,-1.23832223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.50577492,  1.49618511,  8.50577492,  9.70058964,
       -6.05009817,  1.49618511, -6.05009817, 43.03102029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006062810177815195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.1560101e-15,  9.1560101e-15,  1.0000000e+00,  8.3832521e-29,
        1.0000000e+00, -9.1560101e-15, -1.0000000e+00,  0.0000000e+00,
       -9.1560101e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00731653, -0.0879059 ,  0.06169494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90556914e-05,-7.69904643e-06,-1.98500327e-05,-3.08535484e-06,
  6.24852869e-06,-2.51267339e-03,-6.28870033e-04,-1.13235769e-04,
  1.77129751e-05, 1.16197278e-05,-5.35726534e-05, 1.84266162e-05,
 -5.43396027e-05,-5.25832355e-06, 2.14996871e-05,-1.34283209e-05,
 -9.79946152e-04,-1.97607844e-03,-4.90204616e+00,-9.85148905e-04,
  3.37949009e-03,-7.94350266e-03]


--- Step 1821 ---
qpos:
[ 0.01867141, 0.03003324,-0.00943783,-0.02526544,-0.003545  , 1.29733911,
 -0.03044811, 0.9418037 , 0.01158788, 0.02732784,-0.00827781, 0.02646666,
  1.30953272, 0.00760454, 1.25598431, 0.04463191,-0.0973343 ,-0.07489248,
  0.09189154, 0.64634526, 0.20554233,-0.6776657 ,-0.28418192]

qacc:
[ 1.00280887e+01, 1.86650565e+00,-6.01014336e+00, 6.04629653e+00,
 -6.55697206e-02,-2.28699437e+01, 4.24365224e+01,-1.82202004e+01,
 -1.01985320e+01, 4.21267799e+00,-1.46833024e+01, 1.95680486e+01,
 -1.44033065e-01,-1.98850425e-01, 8.45624290e+00,-2.87728184e+01,
  6.86984482e+00,-1.52061853e+00, 2.38601018e+00,-1.43955202e+02,
  1.82757183e+02,-4.38280086e+01]

qfrc_actuator:
[ 1.16952986e-05, 9.09814645e-04, 1.11127121e-04, 1.39065936e-05,
  1.60018352e-04, 7.91701272e-02, 1.15523752e-02, 3.72670904e-03,
 -4.67949618e-05, 8.62728547e-04, 1.31746515e-04, 5.51644418e-05,
  7.25765109e-03,-1.51659620e-03, 0.00000000e+00,-1.37737536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00624326189252232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18782959, -0.05958648,  0.06168717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.03373114e-05, 1.52348986e-05,-2.98021757e-05,-2.57122387e-06,
 -1.93361453e-05,-2.45254897e-03,-5.84072671e-04,-6.56822745e-05,
 -6.12704014e-05, 5.05427798e-05,-4.71394022e-05, 1.15068773e-05,
 -5.24128745e-05,-4.98470576e-05, 3.23431227e-06,-1.38204007e-04,
 -1.21355955e-03,-1.79401791e-03,-4.90168874e+00,-4.16942808e-04,
  3.81626873e-03,-7.96469064e-03]


--- Step 1822 ---
qpos:
[ 0.01867132, 0.03003349,-0.00943799,-0.02526468,-0.00354179, 1.29824155,
 -0.03042429, 0.94184425, 0.01158802, 0.02732811,-0.00827908, 0.0264663 ,
  1.30974868, 0.00760539, 1.2561211 , 0.0446311 ,-0.09734672,-0.07499572,
  0.09189474, 0.64581413, 0.20684926,-0.67727213,-0.28537688]

qacc:
[ 9.38817036e+00,-1.20971504e+00, 6.52513593e+00,-1.43828796e+01,
 -9.06714719e-02,-2.20680838e+01, 4.01602329e+01,-1.44103938e+01,
 -3.41574924e+00,-5.41557276e-01, 3.35868065e+00,-7.70209221e+00,
 -2.45045219e-01, 6.49461899e-02, 3.97119759e+00,-1.39282237e+01,
  5.90242602e+00,-1.32821473e+00, 6.79617990e-01,-1.24200012e+02,
  1.56269008e+02,-3.83232079e+01]

qfrc_actuator:
[ 6.62817717e-05, 9.41672523e-04, 1.31735371e-04,-5.19191606e-06,
  1.45002398e-04, 7.82563091e-02, 1.15333519e-02, 3.76372471e-03,
 -6.56204749e-05, 8.77153879e-04, 1.42284898e-04, 4.48371747e-05,
  7.24617684e-03,-1.52029204e-03, 0.00000000e+00,-1.44169134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.92691394, -5.1579686 ,  6.92691394, 24.75765222,
       21.65014704, -5.1579686 , 21.65014704, 37.71151259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006311081112499568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31937342e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31937342e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18767275, -0.05961284,  0.06168427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63514437e-05, 3.41378351e-05, 1.99957008e-05,-1.95315125e-05,
 -2.64572617e-05,-2.39446599e-03,-5.68697123e-04,-5.40784571e-05,
 -2.06024717e-05, 3.34408473e-05, 1.55900735e-05,-9.56241174e-06,
 -5.01658464e-05,-3.02445766e-05,-1.83304592e-05,-7.26085056e-05,
 -8.78711864e-04,-2.35116540e-03,-4.90196223e+00,-1.35118152e-03,
  3.06799507e-03,-8.01082706e-03]


--- Step 1823 ---
qpos:
[ 0.01867119, 0.03003349,-0.00943685,-0.02526417,-0.00353864, 1.29912512,
 -0.03040068, 0.94188284, 0.01158828, 0.02732833,-0.00827983, 0.02646652,
  1.3099643 , 0.00760634, 1.25625797, 0.04462782,-0.09733882,-0.07510363,
  0.0918948 , 0.64548729, 0.2081384 ,-0.67662786,-0.28670422]

qacc:
[-2.42596270e-01,-4.43549919e+00, 1.63783751e+01,-2.25236009e+01,
 -2.57125671e-02,-2.75841634e+01, 6.41285646e+01,-6.65734738e+01,
  1.01876146e+00,-2.94359335e-01,-1.51941506e+00, 1.08294785e+01,
 -5.18772072e-01, 5.74755869e-01, 7.64555094e+00,-2.64347928e+01,
  5.08301339e+00,-1.16496465e+00,-7.88065736e-01,-1.07473745e+02,
  1.33905643e+02,-3.35095844e+01]

qfrc_actuator:
[ 6.29102105e-05, 9.25041332e-04, 1.97285337e-04,-1.66997842e-05,
  1.52590896e-04, 7.73407730e-02, 1.15305707e-02, 3.66276432e-03,
 -5.89796202e-05, 8.67804271e-04, 1.66780769e-04, 7.44265102e-05,
  7.24218807e-03,-1.50497759e-03, 0.00000000e+00,-1.56792370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.81308762, -5.30741123,  6.81308762, 26.89457972,
       23.43794751, -5.30741123, 23.43794751, 38.72349708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006288051500313509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82803699e-15,  8.82803699e-15,  1.00000000e+00, -7.79342371e-29,
        1.00000000e+00, -8.82803699e-15, -1.00000000e+00,  0.00000000e+00,
        8.82803699e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18772359, -0.05960101,  0.06168522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71833903e-06, 5.76284437e-06, 7.43825077e-05,-9.73904757e-06,
 -8.03007905e-06,-2.36050060e-03,-5.38956731e-04,-1.89611064e-04,
  6.04832640e-06, 1.21602949e-05, 3.30062955e-05, 3.13796404e-05,
 -3.70875333e-05,-4.91826340e-06,-1.95845516e-05,-1.33318318e-04,
 -4.29891537e-04,-2.89951072e-03,-4.90186764e+00,-2.21896776e-03,
  2.37483588e-03,-8.05753730e-03]


--- Step 1824 ---
qpos:
[ 0.01867033, 0.03003327,-0.0094357 ,-0.02526336,-0.00353565, 1.29999015,
 -0.03037718, 0.94191957, 0.01158792, 0.02732865,-0.00828035, 0.02646778,
  1.31017969, 0.00760696, 1.25639427, 0.04462671,-0.09731336,-0.07521564,
  0.09188667, 0.64533541, 0.20941184,-0.67576654,-0.28814661]

qacc:
[-6.24242471e+00, 2.70891642e-01,-2.60602913e+00, 7.74346035e+00,
 -6.51133855e-02,-2.72321257e+01, 6.32994442e+01,-6.48752190e+01,
 -5.21716671e+00, 1.60879558e+00,-9.92712678e+00, 2.74780165e+01,
  2.19389895e-01,-5.28152453e-01,-7.44679899e+00, 2.47442255e+01,
  4.38792708e+00,-1.02585791e+00,-2.04469245e+00,-9.33128043e+01,
  1.15016309e+02,-2.93176464e+01]

qfrc_actuator:
[ 2.54535517e-05, 8.79705611e-04, 1.82131105e-04,-5.90886904e-06,
  1.38171243e-04, 7.64493453e-02, 1.15373320e-02, 3.57017945e-03,
 -9.06743567e-05, 8.79894301e-04, 1.81476737e-04, 1.27247491e-04,
  7.22139852e-03,-1.53173124e-03, 0.00000000e+00,-1.44559164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.77579808, -5.35493578,  6.77579808, 28.61722743,
       25.28252515, -5.35493578, 25.28252515, 40.62727677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0061922446359028716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48231251e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.48231251e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18793902, -0.05955852,  0.06168922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75085756e-05,-2.71823678e-05,-5.15417640e-06, 1.34178798e-05,
 -1.92261159e-05,-2.31570028e-03,-5.23331637e-04,-1.82508968e-04,
 -3.15160202e-05, 2.70562773e-05, 2.23648475e-05, 5.50953552e-05,
 -4.15404446e-05,-3.64340367e-05,-2.71368775e-05, 1.11659260e-04,
  7.78442536e-05,-3.42612485e-03,-4.90154593e+00,-3.01523504e-03,
  1.74027451e-03,-8.10439224e-03]


--- Step 1825 ---
qpos:
[ 0.01866972, 0.03003278,-0.00943498,-0.02526206,-0.00353269, 1.30083735,
 -0.03035475, 0.94195629, 0.01158719, 0.02732938,-0.00828048, 0.02646893,
  1.31039472, 0.00760711, 1.25653006, 0.0446297 ,-0.09727077,-0.0753291 ,
  0.09186985, 0.64537581, 0.210592  ,-0.6747175 ,-0.28965044]

qacc:
[ 2.11110836e+00, 1.86489586e+00,-9.27276668e+00, 1.88445082e+01,
 -9.67880777e-03,-2.05144747e+01, 3.86269742e+01,-2.22465795e+01,
 -3.21785952e+00,-7.48924564e-01, 3.98790663e+00,-6.97622104e+00,
  3.62696520e-01,-8.27415765e-01,-1.32052801e+01, 4.49763826e+01,
  4.28359082e+00,-3.62500657e-01,-2.17490066e+00,-9.80353084e+01,
  1.05671825e+02, 1.97348529e+01]

qfrc_actuator:
[ 3.92644642e-05, 8.52733166e-04, 1.54819456e-04, 1.78229371e-05,
  1.46170218e-04, 7.55973480e-02, 1.14965448e-02, 3.57206700e-03,
 -1.09182767e-04, 9.22467962e-04, 2.08107243e-04, 1.22304433e-04,
  7.19053214e-03,-1.56559266e-03, 0.00000000e+00,-1.23102976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.91424037,  -7.10190245,  -4.91424037,
        23.66780487, -10.4011729 ,  -7.10190245, -10.4011729 ,
        15.83357088,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00607543759782022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28424498e-15,  1.14212249e-15,  1.00000000e+00,  2.60888755e-30,
        1.00000000e+00, -1.14212249e-15, -1.00000000e+00,  0.00000000e+00,
       -2.28424498e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18618536, -0.06764513,  0.06169406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27074684e-05,-4.26798615e-05,-3.31064345e-05, 2.26488552e-05,
 -3.37694584e-06,-2.24803431e-03,-5.60090579e-04,-8.60915221e-05,
 -1.94245699e-05, 6.46642330e-05, 3.68808156e-05,-1.93862648e-06,
 -6.06370080e-05,-5.40584426e-05,-1.52496595e-06, 2.16974232e-04,
  6.09002714e-04,-3.92385722e-03,-4.90109320e+00,-3.73952955e-03,
  1.16431321e-03,-8.15110495e-03]


--- Step 1826 ---
qpos:
[ 0.01866997, 0.03003233,-0.0094347 ,-0.02526086,-0.00352956, 1.30166704,
 -0.03033321, 0.94199239, 0.01158659, 0.02733041,-0.00828025, 0.02647036,
  1.31060905, 0.0076072 , 1.25666629, 0.04463119,-0.09725815,-0.07544044,
  0.09186598, 0.64508148, 0.21186971,-0.67400505,-0.29102972]

qacc:
[ 7.35628459e+00, 1.08208128e+00,-3.36682582e+00, 2.25220313e+00,
  7.00381462e-02,-2.16389424e+01, 4.41446012e+01,-3.45281969e+01,
  1.10096715e+00,-3.28777627e-02,-5.64377470e-01, 4.85577525e+00,
 -6.56381941e-01, 5.32255241e-01, 5.22818071e+00,-1.71896356e+01,
 -7.49321351e+00, 5.30549556e-01, 3.24015820e+00, 1.57488037e+02,
 -1.94298325e+02,-5.75388576e+00]

qfrc_actuator:
[ 8.31520174e-05, 8.72405205e-04, 1.38393482e-04, 1.34843587e-05,
  1.67552299e-04, 7.47579797e-02, 1.14637491e-02, 3.54075589e-03,
 -1.02016404e-04, 9.29713880e-04, 2.23910261e-04, 1.36704889e-04,
  7.14831335e-03,-1.56793203e-03, 0.00000000e+00,-1.31897846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006271497250601936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85133948e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.85133948e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00779697, -0.08774124,  0.06168555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42439068e-05,-1.00493677e-05,-2.85402217e-05,-6.87411976e-06,
  1.93101187e-05,-2.20207318e-03,-5.40171319e-04,-1.16121621e-04,
  6.62096052e-06, 5.09051078e-05, 3.36263414e-05, 1.84067292e-05,
 -8.50158068e-05,-3.25047395e-05, 2.09730261e-05,-7.66126648e-05,
  1.21761893e-03,-4.07159754e-03,-4.90084111e+00,-4.32930450e-03,
  6.33980186e-04,-8.19437527e-03]


--- Step 1827 ---
qpos:
[ 0.01867005, 0.03003197,-0.00943468,-0.02526043,-0.00352669, 1.30247967,
 -0.0303122 , 0.94202746, 0.01158608, 0.02733113,-0.00827978, 0.02647205,
  1.31082265, 0.00760727, 1.25680246, 0.044633  ,-0.09727126,-0.07555001,
  0.09186776, 0.64449984, 0.21323426,-0.67358008,-0.2923029 ]

qacc:
[-1.42599214e+00,-7.76895536e-01, 6.23277815e+00,-1.93234717e+01,
 -1.05042524e-01,-2.27567575e+01, 4.93071797e+01,-4.40227065e+01,
  7.89630023e-01,-5.65014763e-01, 3.61845682e-01, 3.80390525e+00,
 -5.48032873e-01, 4.17134540e-01,-9.95741917e-01, 3.44399307e+00,
 -6.43342294e+00, 4.43830074e-01, 1.41060152e+00, 1.36037574e+02,
 -1.65675609e+02,-6.39579069e+00]

qfrc_actuator:
[ 7.33641138e-05, 8.84368398e-04, 1.28701147e-04,-2.50404949e-05,
  1.25776913e-04, 7.39507284e-02, 1.14537418e-02, 3.49015141e-03,
 -9.75525581e-05, 8.62462929e-04, 2.15326066e-04, 1.44593359e-04,
  7.10997757e-03,-1.56933603e-03, 0.00000000e+00,-1.30044281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.5683827 ,  1.08147802,  8.5683827 ,  9.03668364,
       -3.17167332,  1.08147802, -3.17167332, 33.76503976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006371871867217077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00802248, -0.08769666,  0.06168123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.49977423e-06, 1.80011502e-07,-1.55233542e-05,-4.00805698e-05,
 -3.05266111e-05,-2.14137010e-03,-5.06969794e-04,-1.34168322e-04,
  4.67717867e-06,-3.10924406e-05, 6.69079216e-06, 1.15852668e-05,
 -8.89021160e-05,-3.07810671e-05,-4.60373824e-06, 1.56846297e-05,
  2.62337434e-04,-3.64745750e-03,-4.90141996e+00,-3.21279380e-03,
  1.54856090e-03,-8.20928430e-03]


--- Step 1828 ---
qpos:
[ 0.01867106, 0.03003146,-0.00943443,-0.02526012,-0.00352403, 1.30327589,
 -0.03029242, 0.94206199, 0.01158562, 0.02733112,-0.00827908, 0.02647284,
  1.31103551, 0.00760776, 1.25693825, 0.04463769,-0.09730653,-0.07565809,
  0.09186888, 0.64367069, 0.21467596,-0.67340089,-0.29348511]

qacc:
[ 7.87449479e+00,-1.09944985e+00, 4.07114901e+00,-6.31400507e+00,
 -9.04572207e-02,-1.91244007e+01, 3.74749989e+01,-2.83523731e+01,
  5.13265516e-01,-3.43255075e+00, 1.46543000e+01,-3.00458890e+01,
 -6.21051809e-01, 7.66622669e-01,-9.20415017e+00, 3.15113068e+01,
 -5.53702730e+00, 3.69695900e-01,-1.65434272e-01, 1.17807072e+02,
 -1.41581622e+02,-6.63902230e+00]

qfrc_actuator:
[ 1.20814664e-04, 8.73874484e-04, 1.40774352e-04,-3.01076457e-05,
  1.17464493e-04, 7.31693210e-02, 1.14041435e-02, 3.46413501e-03,
 -9.47243212e-05, 7.86507248e-04, 2.09844394e-04, 9.52439676e-05,
  7.08997783e-03,-1.53469120e-03, 0.00000000e+00,-1.14821092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54570399,  1.24808661,  8.54570399,  9.22622576,
       -4.03881193,  1.24808661, -4.03881193, 36.29028681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006374347744642218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.70852257e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.70852257e-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([-0.00802789, -0.08768206,  0.06168109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72062212e-05,-1.53071350e-05, 8.81491370e-06,-6.37690737e-06,
 -2.63210795e-05,-2.07583134e-03,-5.31401258e-04,-1.07222576e-04,
  2.95672446e-06,-9.14994571e-05,-1.06976767e-05,-5.02315628e-05,
 -7.22550899e-05, 4.92007154e-06,-4.34818940e-06, 1.51640483e-04,
 -4.43715706e-04,-3.32144066e-03,-4.90154480e+00,-2.24208643e-03,
  2.34528439e-03,-8.22731521e-03]


--- Step 1829 ---
qpos:
[ 0.01867262, 0.03003108,-0.00943476,-0.02525917,-0.00352125, 1.30405564,
 -0.03027382, 0.9420977 , 0.0115859 , 0.02733053,-0.00827847, 0.02647304,
  1.31124789, 0.00760852, 1.25707406, 0.04464347,-0.0973609 ,-0.07576495,
  0.09186392, 0.64262757, 0.21618614,-0.67343209,-0.29458881]

qacc:
[ 4.79282322e+00, 3.13003210e+00,-1.36128930e+01, 2.55756974e+01,
  5.12383898e-02,-1.64250572e+01, 2.50405684e+01, 2.29147504e+00,
  6.21011243e+00,-1.78212402e+00, 7.68558693e+00,-1.73159096e+01,
 -4.69419659e-01, 5.87134014e-01,-3.25208469e+00, 1.15088892e+01,
 -4.77739676e+00, 3.06370033e-01,-1.51675423e+00, 1.02312078e+02,
 -1.21278626e+02,-6.60942421e+00]

qfrc_actuator:
[ 1.48334618e-04, 8.85637854e-04, 1.12279574e-04, 2.30521175e-06,
  1.47047881e-04, 7.23563252e-02, 1.13494592e-02, 3.52379436e-03,
 -5.73755545e-05, 7.59119018e-04, 2.06141728e-04, 6.58585381e-05,
  7.08100723e-03,-1.51434652e-03, 0.00000000e+00,-1.09597589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.5290647 ,  1.35714118,  8.5290647 ,  9.40673311,
       -4.84144996,  1.35714118, -4.84144996, 39.06285185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006298136903693546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81390038e-15,  8.81390038e-15,  1.00000000e+00,  7.76848399e-29,
        1.00000000e+00, -8.81390038e-15, -1.00000000e+00,  0.00000000e+00,
       -8.81390038e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00785859, -0.08769071,  0.06168426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88914536e-05, 4.77978622e-06,-3.07916585e-05, 3.19360409e-05,
  1.40444559e-05,-2.07497184e-03,-5.25619775e-04,-1.96903838e-05,
  3.74068528e-05,-8.29279628e-05,-2.56693637e-05,-3.46578106e-05,
 -4.40047636e-05, 4.74696068e-06, 1.15610742e-05, 5.93946852e-05,
 -9.70767006e-04,-3.06920705e-03,-4.90138179e+00,-1.39597455e-03,
  3.04040213e-03,-8.24790732e-03]


--- Step 1830 ---
qpos:
[ 0.01867346, 0.03003075,-0.00943512,-0.02525821,-0.00351842, 1.3048192 ,
 -0.03025647, 0.9421335 , 0.01158662, 0.02732944,-0.00827797, 0.02647287,
  1.31146025, 0.00760891, 1.25721001, 0.04464884,-0.0974318 ,-0.0758708 ,
  0.09184829, 0.64139872, 0.21775712,-0.67364368,-0.29562428]

qacc:
[-6.14282405e+00, 1.75365679e-01,-5.60010021e-01, 7.20981656e-01,
  2.64155073e-02,-1.77433973e+01, 3.20078215e+01,-1.64692918e+01,
  3.80807719e+00,-1.07484519e+00, 4.42097624e+00,-1.01745776e+01,
  1.84597721e-01,-4.59341652e-01, 1.44104249e+00,-4.79185253e+00,
 -4.13292176e+00, 2.52415846e-01,-2.66991489e+00, 8.91600793e+01,
 -1.04173363e+02,-6.40370698e+00]

qfrc_actuator:
[ 1.10627390e-04, 8.92761443e-04, 1.13417065e-04, 3.23385381e-06,
  1.45864028e-04, 7.15665112e-02, 1.12921685e-02, 3.52685039e-03,
 -3.55116920e-05, 7.43282565e-04, 2.03725107e-04, 4.85027303e-05,
  7.08398151e-03,-1.53811696e-03, 0.00000000e+00,-1.12086288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.53114691,  1.34399005,  8.53114691,  9.47044808,
       -5.29445658,  1.34399005, -5.29445658, 42.24359675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006159499357275243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01228298e-15,  1.80245660e-14,  1.00000000e+00,  1.62442489e-28,
        1.00000000e+00, -1.80245660e-14, -1.00000000e+00,  0.00000000e+00,
       -9.01228298e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00755109, -0.08771733,  0.06169005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68624020e-05, 4.82473140e-06,-5.59336219e-07, 6.87818322e-07,
  6.98273432e-06,-2.04737468e-03,-5.24789624e-04,-7.40895972e-05,
  2.29318744e-05,-6.89700028e-05,-2.39093329e-05,-2.24742658e-05,
 -1.78732163e-05,-3.27665979e-05, 7.75789822e-06,-2.10428343e-05,
 -1.36961983e-03,-2.87296678e-03,-4.90104393e+00,-6.57127455e-04,
  3.64733343e-03,-8.27060874e-03]


--- Step 1831 ---
qpos:
[ 0.01867385, 0.0300304 ,-0.00943517,-0.02525726,-0.00351556, 1.30556692,
 -0.03023984, 0.94216764, 0.01158725, 0.02732813,-0.00827767, 0.02647247,
  1.31167248, 0.00760902, 1.25734618, 0.0446522 ,-0.0974725 ,-0.07597981,
  0.0918477 , 0.64050939, 0.21917736,-0.6735238 ,-0.29677383]

qacc:
[-3.92258397e+00,-9.20338625e-01, 3.30873265e+00,-4.02147607e+00,
  9.49381218e-03,-2.16880803e+01, 4.90783520e+01,-5.18851358e+01,
 -7.53076204e-01,-2.56799961e-01, 1.49999035e+00,-5.15326737e+00,
 -1.06016686e-01,-8.07896652e-02, 6.40282850e+00,-2.19009718e+01,
  7.55279337e+00,-7.90754028e-01, 3.75801345e+00,-1.72732131e+02,
  1.85960811e+02, 2.82825473e+01]

qfrc_actuator:
[ 8.80941237e-05, 8.97141717e-04, 1.32015079e-04, 3.40099720e-06,
  1.43983755e-04, 7.08146719e-02, 1.12693544e-02, 3.44329715e-03,
 -4.07009990e-05, 7.52262608e-04, 2.02148773e-04, 3.83752781e-05,
  7.07279656e-03,-1.55230511e-03, 0.00000000e+00,-1.22645577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006331112141114578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38399684e-15,  2.19199842e-15,  1.00000000e+00,  9.60971414e-30,
        1.00000000e+00, -2.19199842e-15, -1.00000000e+00,  0.00000000e+00,
       -4.38399684e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18557374, -0.06767078,  0.06168261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36045376e-05, 6.99071090e-06, 1.95559778e-05, 3.68526555e-07,
  2.14095270e-06,-1.99546195e-03,-4.86384668e-04,-1.61126913e-04,
 -4.54273108e-06,-3.54461325e-05,-1.95385078e-05,-1.43468817e-05,
 -2.79854099e-05,-2.78272571e-05,-2.42934718e-06,-1.06630776e-04,
 -1.67695466e-03,-2.71956746e-03,-4.90060728e+00,-1.08979748e-05,
  4.17755751e-03,-8.29504603e-03]


--- Step 1832 ---
qpos:
[ 0.01867431, 0.03003032,-0.00943537,-0.02525667,-0.00351257, 1.30629899,
 -0.03022323, 0.94220083, 0.01158816, 0.02732681,-0.00827722, 0.02647155,
  1.31188428, 0.00760928, 1.25748233, 0.04465427,-0.09748727,-0.07609162,
  0.09185452, 0.63991007, 0.22046884,-0.67312001,-0.29802356]

qacc:
[ 5.99450167e-01, 6.93118088e-02, 1.78550722e+00,-7.90130346e+00,
  6.04392580e-02,-2.21140568e+01, 4.92939308e+01,-4.39623910e+01,
  2.37213524e+00,-1.45671948e+00, 7.33496569e+00,-1.64281356e+01,
 -5.26288109e-01, 5.81838830e-01, 3.92407647e+00,-1.36527852e+01,
  6.48027265e+00,-6.99252700e-01, 1.85522366e+00,-1.48883815e+02,
  1.58503632e+02, 2.31996550e+01]

qfrc_actuator:
[ 9.24467532e-05, 9.17674642e-04, 1.25252198e-04,-1.46232518e-05,
  1.59454568e-04, 7.00739775e-02, 1.12849487e-02, 3.39825842e-03,
 -2.62615822e-05, 7.76057898e-04, 2.18944250e-04, 1.48506274e-05,
  7.04780151e-03,-1.54295296e-03, 0.00000000e+00,-1.28995322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.75597426, -3.79889986,  7.75597426, 15.27584086,
       13.55540193, -3.79889986, 13.55540193, 36.31157285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006437870142392978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.72451913e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.72451913e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18533318, -0.06768831,  0.06167807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66739912e-06, 2.84984982e-05,-2.89467697e-06,-1.70414946e-05,
  1.66506544e-05,-1.95056736e-03,-4.35976911e-04,-1.21965587e-04,
  1.42914828e-05,-6.32164603e-07, 6.58400693e-06,-2.59954787e-05,
 -4.61681757e-05,-5.02311881e-06,-1.67338790e-05,-7.06202736e-05,
 -1.03716860e-03,-2.95992188e-03,-4.90144057e+00,-1.20110595e-03,
  3.06892370e-03,-8.34549051e-03]


--- Step 1833 ---
qpos:
[ 0.01867516, 0.03003042,-0.00943535,-0.02525631,-0.00350943, 1.30701585,
 -0.03020678, 0.94223286, 0.01158889, 0.02732568,-0.00827642, 0.02647031,
  1.31209568, 0.00760965, 1.257618  , 0.04465855,-0.09747975,-0.07620592,
  0.0918622 , 0.63955878, 0.22164985,-0.67247215,-0.29936118]

qacc:
[ 3.37693238e+00,-8.98194696e-01, 4.49204267e+00,-8.99056219e+00,
  6.40532276e-02,-2.15266387e+01, 4.84761486e+01,-4.58651705e+01,
 -1.51939236e+00,-1.39555828e+00, 6.67180880e+00,-1.28547788e+01,
 -1.82256727e-01, 1.65698401e-01,-7.38436600e+00, 2.48353384e+01,
  5.57329375e+00,-6.20708285e-01, 2.16094887e-01,-1.28635388e+02,
  1.35416325e+02, 1.91126361e+01]

qfrc_actuator:
[ 1.12584905e-04, 9.29857172e-04, 1.39123008e-04,-2.54605009e-05,
  1.67456116e-04, 6.93461219e-02, 1.12876749e-02, 3.34077909e-03,
 -3.58804247e-05, 8.08621265e-04, 2.46514973e-04, 1.41160966e-06,
  7.03052845e-03,-1.53753022e-03, 0.00000000e+00,-1.16833214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.62031264, -4.06418652,  7.62031264, 17.20484001,
       16.06581504, -4.06418652, 16.06581504, 38.75962026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0064448329124476775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30664006e-15,  2.15332003e-15,  1.00000000e+00,  9.27357431e-30,
        1.00000000e+00, -2.15332003e-15, -1.00000000e+00,  0.00000000e+00,
       -4.30664006e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.185317  , -0.06768249,  0.06167778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02561069e-05, 2.67946617e-05, 1.88119107e-05,-1.00500430e-05,
  1.77088932e-05,-1.90169850e-03,-4.33142841e-04,-1.30691423e-04,
 -9.20353767e-06, 3.25083017e-05, 2.73642524e-05,-1.37406300e-05,
 -4.23774614e-05,-6.52326342e-06,-1.88343435e-05, 1.14799138e-04,
 -3.86845049e-04,-3.17187197e-03,-4.90179293e+00,-2.15662496e-03,
  2.17715435e-03,-8.39199079e-03]


--- Step 1834 ---
qpos:
[ 0.01867625, 0.03003067,-0.00943462,-0.02525577,-0.00350646, 1.30771775,
 -0.03019031, 0.94226429, 0.01158881, 0.02732513,-0.00827551, 0.02646924,
  1.31230673, 0.00761009, 1.25775383, 0.04466187,-0.09745301,-0.07632242,
  0.09186513, 0.63941991, 0.22273562,-0.67161365,-0.30077588]

qacc:
[ 2.03365876e+00,-1.40659264e+00, 4.55743396e+00,-2.69703683e+00,
 -7.41741506e-02,-2.07007093e+01, 4.50791020e+01,-3.67166499e+01,
 -6.92426636e+00, 7.80007984e-01,-2.32203839e+00, 4.43789410e+00,
 -4.16613613e-01, 4.25548439e-01, 3.17393069e+00,-1.06826253e+01,
  4.80489606e+00,-5.53110403e-01,-1.18938849e+00,-1.11438578e+02,
  1.15981442e+02, 1.58253614e+01]

qfrc_actuator:
[ 1.24091199e-04, 9.54781776e-04, 1.82806463e-04,-1.42138413e-05,
  1.35406661e-04, 6.86317989e-02, 1.13005779e-02, 3.31192325e-03,
 -7.73414921e-05, 8.64006374e-04, 2.62524780e-04, 1.17845980e-05,
  7.01257502e-03,-1.53448767e-03, 0.00000000e+00,-1.22266790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.49497126, -4.29094194,  7.49497126, 19.45169548,
       18.8910972 , -4.29094194, 18.8910972 , 41.63336812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006371558123604973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35616769e-15,  8.71233537e-15,  1.00000000e+00, -3.79523938e-29,
        1.00000000e+00, -8.71233537e-15, -1.00000000e+00,  0.00000000e+00,
        4.35616769e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1854787 , -0.06765763,  0.06168086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21051727e-05, 4.33628091e-05, 5.11828006e-05, 1.28469391e-05,
 -2.17166831e-05,-1.86070121e-03,-4.13311328e-04,-1.00738409e-04,
 -4.17228512e-05, 7.86611358e-05, 2.56276653e-05, 1.24495360e-05,
 -4.09554164e-05,-8.69700659e-06, 1.96101097e-06,-5.08468878e-05,
  2.48689766e-04,-3.36023030e-03,-4.90183287e+00,-2.93204129e-03,
  1.45374246e-03,-8.43533851e-03]


--- Step 1835 ---
qpos:
[ 0.01867677, 0.03003129,-0.00943367,-0.02525579,-0.00350392, 1.30840518,
 -0.03017429, 0.94229409, 0.01158857, 0.02732523,-0.00827476, 0.02646865,
  1.31251748, 0.00761054, 1.25788985, 0.04466285,-0.09740965,-0.07644091,
  0.09185851, 0.63946329, 0.22373885,-0.6705726 ,-0.30225819]

qacc:
[ -4.80264547, -1.26464961,  7.55870201,-17.76446904, -0.17651081,
 -20.5882912 , 47.56482229,-51.00448725, -1.31334039,  2.33733222,
  -9.11685832, 17.30509434, -0.43961556,  0.44045125,  7.43499057,
 -25.48492981,  4.15321759, -0.49476802, -2.38885128,-96.85001533,
  99.62327514, 13.18021313]

qfrc_actuator:
[ 9.49141983e-05, 9.69539391e-04, 1.90545739e-04,-4.32939484e-05,
  9.73452532e-05, 6.79314126e-02, 1.12839717e-02, 3.22914382e-03,
 -8.39468030e-05, 8.97113282e-04, 2.53942652e-04, 3.60960710e-05,
  6.99955072e-03,-1.53287712e-03, 0.00000000e+00,-1.34478416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.4244546 , -4.41183076,  7.4244546 , 21.70145942,
       21.98661185, -4.41183076, 21.98661185, 45.63655932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006234594674319326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45186529e-15,  1.11296632e-14,  1.00000000e+00, -4.95477614e-29,
        1.00000000e+00, -1.11296632e-14, -1.00000000e+00,  0.00000000e+00,
        4.45186529e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18578098, -0.06761728,  0.06168661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88133874e-05, 5.01084676e-05, 2.34290309e-05,-2.52066764e-05,
 -5.08970544e-05,-1.81916341e-03,-4.31634076e-04,-1.52172834e-04,
 -7.80255240e-06, 8.29190421e-05, 1.12535997e-05, 2.88147684e-05,
 -3.59896789e-05,-1.03554472e-05,-8.80979333e-06,-1.25620456e-04,
  8.55224781e-04,-3.52876593e-03,-4.90167625e+00,-3.56762423e-03,
  8.62521840e-04,-8.47612216e-03]


--- Step 1836 ---
qpos:
[ 0.01867695, 0.03003195,-0.00943276,-0.02525575,-0.00350166, 1.30907869,
 -0.03015944, 0.94232234, 0.01158826, 0.02732609,-0.00827499, 0.0264684 ,
  1.31272786, 0.00761104, 1.25802541, 0.04466569,-0.09739576,-0.07655668,
  0.09186423, 0.6391652 , 0.22489008,-0.66984708,-0.30363991]

qacc:
[-3.03521027e+00, 3.04435920e-01,-1.23529800e+00, 2.26117844e+00,
 -1.23907724e-01,-1.77577141e+01, 3.90833091e+01,-4.32480449e+01,
 -7.06111524e-01, 4.45735427e+00,-1.58787596e+01, 2.27934975e+01,
 -1.52972801e-01, 1.03190328e-01,-6.34106092e+00, 2.11939588e+01,
 -7.36490566e+00, 6.77398109e-01, 3.08793395e+00, 1.66937252e+02,
 -1.81751601e+02,-3.37676452e+01]

qfrc_actuator:
[ 7.75331902e-05, 9.42420650e-04, 1.76922951e-04,-4.26511216e-05,
  9.14934284e-05, 6.72626465e-02, 1.12323584e-02, 3.15077676e-03,
 -8.77255864e-05, 9.16539726e-04, 1.95334737e-04, 5.06271598e-05,
  6.97883952e-03,-1.53210242e-03, 0.00000000e+00,-1.23950902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006292067907208862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82240180e-15,  1.76448036e-14,  1.00000000e+00,  1.55669547e-28,
        1.00000000e+00, -1.76448036e-14, -1.00000000e+00,  0.00000000e+00,
       -8.82240180e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00786784, -0.08768974,  0.06168407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82059958e-05, 4.61575382e-06,-1.27800098e-06, 3.10555462e-06,
 -3.58393770e-05,-1.76957479e-03,-4.62086459e-04,-1.48261693e-04,
 -3.97908773e-06, 6.93400743e-05,-3.91052470e-05, 1.90343633e-05,
 -4.19725525e-05,-1.03199662e-05,-2.17930455e-05, 9.62910616e-05,
  1.42572008e-03,-3.68051592e-03,-4.90140197e+00,-4.09352462e-03,
  3.76115903e-04,-8.51478590e-03]


--- Step 1837 ---
qpos:
[ 0.01867691, 0.03003251,-0.00943194,-0.02525533,-0.00349962, 1.30973841,
 -0.03014501, 0.94235112, 0.01158825, 0.02732729,-0.00827574, 0.02646766,
  1.31293762, 0.0076119 , 1.25816111, 0.04466738,-0.09740753,-0.07666855,
  0.09187656, 0.63858873, 0.22613909,-0.66940897,-0.30488878]

qacc:
[-1.80187034e+00, 8.80440329e-01,-4.92596597e+00, 1.16421114e+01,
 -8.71692189e-02,-1.60963714e+01, 2.95320324e+01,-1.07043126e+01,
  2.55627185e+00, 8.56000795e-01,-3.31634703e-01,-7.61770080e+00,
 -8.14394662e-01, 9.95996545e-01, 3.77022557e+00,-1.26881406e+01,
 -6.41598617e+00, 9.77289344e-01, 1.64975984e+00, 1.50680946e+02,
 -1.55306357e+02,-2.41876360e-01]

qfrc_actuator:
[ 6.72474216e-05, 9.25857983e-04, 1.68411983e-04,-2.45644287e-05,
  8.72578363e-05, 6.66180828e-02, 1.12316644e-02, 3.18215831e-03,
 -7.20692868e-05, 9.09644620e-04, 1.60855564e-04, 2.37355780e-05,
  6.94288152e-03,-1.51411672e-03, 0.00000000e+00,-1.30287126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00638598207288061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69265692e-15,  8.69265692e-15,  1.00000000e+00,  7.55622843e-29,
        1.00000000e+00, -8.69265692e-15, -1.00000000e+00,  0.00000000e+00,
       -8.69265692e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00960462, -0.0906961 ,  0.06168009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08178022e-05,-1.41542060e-05,-7.62553732e-06, 1.82976944e-05,
 -2.53727851e-05,-1.72365399e-03,-4.04791618e-04,-3.78455882e-05,
  1.55671419e-05, 2.45880474e-05,-2.43208704e-05,-2.49034476e-05,
 -5.97503292e-05, 5.27821683e-06,-1.35012467e-06,-6.12562861e-05,
  4.71631782e-04,-3.51642651e-03,-4.90177049e+00,-3.15171270e-03,
  1.23871096e-03,-8.53069453e-03]


--- Step 1838 ---
qpos:
[ 0.01867606, 0.03003309,-0.00943126,-0.02525506,-0.00349787, 1.31038467,
 -0.03013089, 0.94238003, 0.01158912, 0.02732835,-0.00827646, 0.02646731,
  1.31314686, 0.00761277, 1.25829687, 0.04466764,-0.09744175,-0.07677557,
  0.09188983, 0.63778734, 0.22744502,-0.66923226,-0.30598079]

qacc:
[-6.97829015e+00, 1.51338537e-01, 1.63887230e-01,-2.51718060e+00,
 -1.24277681e-01,-1.65693740e+01, 3.24345109e+01,-1.80843134e+01,
  7.49305539e+00, 5.37593782e-01,-3.90669471e+00, 1.09130264e+01,
 -5.45763282e-01, 4.95042942e-01, 4.49841246e+00,-1.54933582e+01,
 -5.61280492e+00, 1.20949487e+00, 2.37898194e-01, 1.35955568e+02,
 -1.32332725e+02, 2.63034427e+01]

qfrc_actuator:
[ 2.57113527e-05, 9.33516538e-04, 1.63029853e-04,-3.18582039e-05,
  6.62706786e-05, 6.59757342e-02, 1.12257171e-02, 3.18915404e-03,
 -2.73479672e-05, 8.87072045e-04, 1.58525859e-04, 4.36980714e-05,
  6.90846243e-03,-1.52163305e-03, 0.00000000e+00,-1.37638277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0064039439452140065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.66827563e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.66827563e-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([-0.01017534, -0.09389609,  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:
[-4.18593682e-05,-1.08209617e-06,-8.62809790e-06,-7.81083720e-06,
 -3.59717441e-05,-1.68136007e-03,-3.91266670e-04,-5.66287627e-05,
  4.51907636e-05,-1.49414563e-05,-1.11224423e-06, 1.96899988e-05,
 -6.36559466e-05,-1.97942507e-05,-1.17738120e-05,-7.80630230e-05,
 -2.81179797e-04,-3.17877754e-03,-4.90194070e+00,-2.27841527e-03,
  2.08668118e-03,-8.54863696e-03]


--- Step 1839 ---
qpos:
[ 0.01867541, 0.03003372,-0.00943067,-0.02525488,-0.00349611, 1.3110176 ,
 -0.03011702, 0.94240846, 0.01158983, 0.02732951,-0.00827732, 0.02646754,
  1.31335571, 0.00761331, 1.25843238, 0.04466833,-0.09749537,-0.07687854,
  0.09189845, 0.63679193, 0.22880062,-0.66928007,-0.3069373 ]

qacc:
[ 1.69371903e+00, 1.07375731e-01, 8.11525669e-02,-1.58217488e+00,
  5.77128804e-03,-1.76591255e+01, 3.74579605e+01,-2.96915981e+01,
 -1.36966067e+00, 1.71316249e+00,-8.27712409e+00, 1.82090021e+01,
 -5.00636621e-02,-2.59265004e-01,-1.70082110e+00, 5.40663288e+00,
 -4.84822983e+00, 1.01591397e+00,-1.16575685e+00, 1.17590697e+02,
 -1.13512382e+02, 2.24417141e+01]

qfrc_actuator:
[ 3.71224619e-05, 9.37856786e-04, 1.59613734e-04,-3.62555864e-05,
  8.86608539e-05, 6.53221438e-02, 1.12166955e-02, 3.16395172e-03,
 -3.68944176e-05, 9.08698286e-04, 1.57398067e-04, 7.33250651e-05,
  6.88563282e-03,-1.54425337e-03, 0.00000000e+00,-1.34871543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.02358707,   5.02553495,   7.02358707,
        35.38685442, -37.38595052,   5.02553495, -37.38595052,
        60.88621982,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006343702133672809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.75011847e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.75011847e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01004169, -0.09392292,  0.06168198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01890010e-05, 1.57702075e-06,-4.98535650e-06,-4.89585626e-06,
  1.17331776e-06,-1.66700422e-03,-3.85053765e-04,-8.76112336e-05,
 -8.22623612e-06, 1.38743885e-05,-3.67398359e-06, 2.93297075e-05,
 -6.01516413e-05,-4.30348805e-05,-1.78310909e-05, 2.09787171e-05,
 -8.24302198e-04,-2.72443716e-03,-4.90200919e+00,-1.54679995e-03,
  2.83901620e-03,-8.56856115e-03]


--- Step 1840 ---
qpos:
[ 0.01867524, 0.03003448,-0.00943042,-0.02525544,-0.00349409, 1.31163687,
 -0.03010296, 0.94243605, 0.01158973, 0.02733039,-0.00827744, 0.02646776,
  1.31356435, 0.00761348, 1.2585679 , 0.04466831,-0.09756578,-0.07697808,
  0.0918976 , 0.63562843, 0.23019959,-0.66952107,-0.3077762 ]

qacc:
[ 4.15713908e+00,-4.03682951e-01, 4.79918763e+00,-1.71277923e+01,
  1.10608650e-01,-1.99169643e+01, 4.50691983e+01,-4.03060741e+01,
 -6.87403466e+00,-2.44060619e+00, 8.17438667e+00,-9.19547186e+00,
  2.19789347e-02,-3.21673397e-01, 2.14158194e+00,-7.52163909e+00,
 -4.19943621e+00, 8.54449278e-01,-2.36450085e+00, 1.02046868e+02,
 -9.76459964e+01, 1.92387856e+01]

qfrc_actuator:
[ 6.18637452e-05, 9.40187279e-04, 1.39630256e-04,-7.44142819e-05,
  1.19136857e-04, 6.46315643e-02, 1.12236388e-02, 3.11999402e-03,
 -7.83152720e-05, 8.85634288e-04, 1.92655917e-04, 7.29195226e-05,
  6.88574075e-03,-1.55784590e-03, 0.00000000e+00,-1.38591387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006217999030215152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78549887e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78549887e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0097657 , -0.0939739 ,  0.06168732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50365302e-05, 1.94875490e-06,-2.04555055e-05,-3.83624021e-05,
  3.11016869e-05,-1.69565137e-03,-3.66459576e-04,-1.06488775e-04,
 -4.16551774e-05,-1.48406984e-05, 3.86830770e-05, 6.32009049e-07,
 -4.07006490e-05,-4.00568313e-05,-8.52709022e-06,-3.89124195e-05,
 -1.19410805e-03,-2.35688410e-03,-4.90187786e+00,-9.48042506e-04,
  3.45129860e-03,-8.58982601e-03]


--- Step 1841 ---
qpos:
[ 0.01867538, 0.03003509,-0.00943   ,-0.02525714,-0.00349178, 1.3122429 ,
 -0.03008907, 0.9424629 , 0.01158948, 0.02733028,-0.00827673, 0.02646771,
  1.31377291, 0.00761334, 1.25870325, 0.0446685 ,-0.09760674,-0.07708091,
  0.09191053, 0.63478237, 0.23146901,-0.66943501,-0.30875591]

qacc:
[ 2.56508135e+00,-3.03690409e+00, 1.53430373e+01,-3.52420475e+01,
  1.26027634e-01,-1.81365450e+01, 3.97076261e+01,-3.46987453e+01,
 -1.24452526e+00,-4.17886363e+00, 1.41421981e+01,-1.93846134e+01,
  1.64092319e-01,-4.06912499e-01,-8.83265660e-01, 2.70525460e+00,
  7.36330729e+00,-8.21185490e-01, 3.44177367e+00,-1.75175834e+02,
  1.74062441e+02, 9.81855265e+00]

qfrc_actuator:
[ 7.64831176e-05, 9.23448109e-04, 1.45497506e-04,-1.32146306e-04,
  1.36460892e-04, 6.39954539e-02, 1.12220557e-02, 3.08309112e-03,
 -8.48901756e-05, 7.82856594e-04, 2.13415448e-04, 5.48356420e-05,
  6.89428329e-03,-1.56584074e-03, 0.00000000e+00,-1.37229204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006356669611400065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.54955597e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.54955597e-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([-0.18550322, -0.06762095,  0.06168141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53494926e-05,-2.15365947e-05, 2.41177757e-06,-5.91053540e-05,
  3.55510869e-05,-1.65384055e-03,-3.79004944e-04,-1.00205467e-04,
 -7.79906575e-06,-1.03104733e-04, 2.24726744e-05,-1.73695654e-05,
 -2.17933535e-05,-2.89933377e-05,-1.14131197e-05, 9.64133240e-06,
 -1.44255422e-03,-2.05761844e-03,-4.90162445e+00,-4.54393122e-04,
  3.95187652e-03,-8.61201011e-03]


--- Step 1842 ---
qpos:
[ 0.01867603, 0.03003543,-0.00942922,-0.02525883,-0.00348922, 1.31283636,
 -0.03007565, 0.94248942, 0.01158915, 0.0273288 ,-0.00827575, 0.02646754,
  1.31398123, 0.0076133 , 1.25883897, 0.04466514,-0.09762241,-0.07718667,
  0.09192979, 0.63420792, 0.23262757,-0.66906866,-0.30985781]

qacc:
[ 4.47049765e+00,-1.34678522e+00, 4.19261346e+00,-4.28092950e+00,
  1.06938992e-01,-1.58326906e+01, 3.24001690e+01,-2.40532039e+01,
 -6.25541143e-01,-2.79447460e+00, 7.87995738e+00,-9.47422003e+00,
 -5.57876787e-01, 6.54273009e-01, 1.13234248e+01,-3.86869947e+01,
  6.32184748e+00,-7.30876618e-01, 1.58586437e+00,-1.50793160e+02,
  1.48619168e+02, 7.82015939e+00]

qfrc_actuator:
[ 1.02775475e-04, 9.13249711e-04, 1.66498903e-04,-1.29913378e-04,
  1.45754228e-04, 6.34148202e-02, 1.12156653e-02, 3.06840670e-03,
 -8.86445903e-05, 6.68568265e-04, 2.07334819e-04, 4.41641956e-05,
  6.88657899e-03,-1.55264177e-03, 0.00000000e+00,-1.55959885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.80899093, -5.31266594,  6.80899093, 29.02929614,
       26.13665039, -5.31266594, 26.13665039, 42.13446369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006446575398327721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.61095199e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.61095199e-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([-0.18530751, -0.06764449,  0.06167769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67324667e-05,-2.42921878e-05, 1.47964776e-05, 2.44147122e-07,
  3.01414612e-05,-1.57738314e-03,-3.76853131e-04,-7.69702789e-05,
 -4.01860891e-06,-1.68055232e-04,-2.52183285e-05,-1.46513323e-05,
 -2.58070624e-05,-1.61297128e-07,-6.71464565e-06,-1.88819727e-04,
 -9.25669174e-04,-2.35684020e-03,-4.90227716e+00,-1.41310873e-03,
  2.97819965e-03,-8.65326648e-03]


--- Step 1843 ---
qpos:
[ 0.0186763 , 0.03003555,-0.00942824,-0.02525979,-0.00348648, 1.31341769,
 -0.03006294, 0.94251519, 0.01158878, 0.02732686,-0.00827554, 0.02646824,
  1.31418906, 0.00761374, 1.25897479, 0.04465857,-0.09761631,-0.07729503,
  0.09194901, 0.63386618, 0.23369077,-0.6684612 ,-0.31106578]

qacc:
[-3.24264517e+00, 6.78194750e-01,-5.90784703e+00, 1.84140113e+01,
  7.86145924e-02,-1.52834135e+01, 3.21375900e+01,-2.87938257e+01,
 -3.83815421e-01, 3.28514932e+00,-1.62779546e+01, 3.28365771e+01,
 -9.44531160e-01, 1.25672756e+00, 9.97503820e+00,-3.44771262e+01,
  5.44163357e+00,-6.52945703e-01,-1.09984744e-02,-1.30145161e+02,
  1.27197084e+02, 6.26801873e+00]

qfrc_actuator:
[ 8.24733642e-05, 9.07161860e-04, 1.78571777e-04,-9.24022337e-05,
  1.50156192e-04, 6.28366006e-02, 1.11889875e-02, 3.03143741e-03,
 -9.07202467e-05, 6.90167278e-04, 1.85387153e-04, 9.11632522e-05,
  6.85849259e-03,-1.52702473e-03, 0.00000000e+00,-1.72177211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.47191973, -5.7184816 ,  6.47191973, 34.87896034,
       29.70018813, -5.7184816 , 29.70018813, 42.2496979 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006440487149923534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30954600e-15,  1.07738650e-14,  1.00000000e+00, -4.64304668e-29,
        1.00000000e+00, -1.07738650e-14, -1.00000000e+00,  0.00000000e+00,
        4.30954600e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18532645, -0.06764093,  0.06167805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95337185e-05,-1.66155958e-05, 8.87549751e-06, 3.69878029e-05,
  2.20731476e-05,-1.53143951e-03,-3.81232859e-04,-9.63721214e-05,
 -2.25403255e-06,-7.81757406e-05,-6.02689460e-05, 3.86410997e-05,
 -4.19736814e-05, 1.99756766e-05,-2.81808656e-05,-1.74471310e-04,
 -3.64963192e-04,-2.62433596e-03,-4.90251492e+00,-2.20682097e-03,
  2.17341654e-03,-8.69231574e-03]


--- Step 1844 ---
qpos:
[ 0.01867598, 0.03003546,-0.00942738,-0.02526026,-0.00348361, 1.31398692,
 -0.03005075, 0.94254068, 0.01158873, 0.02732532,-0.00827607, 0.02646903,
  1.31439635, 0.00761436, 1.25911003, 0.04465341,-0.0975914 ,-0.07740566,
  0.09196261, 0.63372507, 0.23466896,-0.66764628,-0.31236431]

qacc:
[-5.06122937e+00, 1.04049184e+00,-6.10714240e+00, 1.46896046e+01,
  5.16496653e-02,-1.49709333e+01, 3.02722245e+01,-2.20638370e+01,
  2.71645573e+00, 2.81192955e+00,-9.65189697e+00, 1.22001838e+01,
 -4.00293094e-01, 4.23277489e-01,-5.10630461e+00, 1.67191481e+01,
  4.70295909e+00,-5.64224316e-01,-1.40647038e+00,-1.12923593e+02,
  1.09005799e+02, 6.68354191e+00]

qfrc_actuator:
[ 5.26578918e-05, 8.85836981e-04, 1.67552041e-04,-6.99536195e-05,
  1.51590086e-04, 6.22466672e-02, 1.11683205e-02, 3.01713989e-03,
 -7.40389122e-05, 7.75200496e-04, 1.72589892e-04, 1.00812090e-04,
  6.81820805e-03,-1.52986527e-03, 0.00000000e+00,-1.63698548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.00554616, -6.20646374,  6.00554616, 43.38542648,
       33.62415536, -6.20646374, 33.62415536, 41.17202737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00635723471968092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.47835523e-07,  4.36598251e-15,  1.00000000e+00, -3.26503681e-21,
        1.00000000e+00, -4.36598251e-15, -1.00000000e+00,  3.76158192e-37,
        7.47835523e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18585074, -0.0678056 ,  0.06168165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03935825e-05,-2.72207952e-05,-1.20888262e-05, 2.27650072e-05,
  1.43621655e-05,-1.51907405e-03,-3.67281080e-04,-7.29146761e-05,
  1.65830617e-05, 3.05878410e-05,-3.50134615e-05, 4.96769888e-06,
 -5.78941826e-05,-6.26828687e-06,-3.56558978e-05, 7.07422534e-05,
  2.04786225e-04,-2.86399620e-03,-4.90248473e+00,-2.86918509e-03,
  1.50423343e-03,-8.72951061e-03]


--- Step 1845 ---
qpos:
[ 0.01867635, 0.030035  ,-0.00942656,-0.02526045,-0.00348083, 1.31454401,
 -0.03003921, 0.94256582, 0.01158889, 0.02732398,-0.00827646, 0.0264692 ,
  1.31460314, 0.00761501, 1.2592448 , 0.04465125,-0.09755011,-0.07751788,
  0.0919653 , 0.633761  , 0.23556009,-0.66665583,-0.31373307]

qacc:
[ 5.83054443e+00, 2.20714368e-01,-2.73825654e+00, 8.10812246e+00,
 -3.25323350e-02,-1.47735590e+01, 2.96502556e+01,-2.20418839e+01,
  1.71024256e+00,-1.39907549e+00, 7.97630771e+00,-1.90282203e+01,
 -1.56797236e-01, 5.65698679e-02,-9.76584470e+00, 3.31657738e+01,
  4.09708332e+00,-4.00845556e-01,-2.72604462e+00,-9.92129996e+01,
  9.28772671e+01, 1.38599740e+01]

qfrc_actuator:
[ 8.85074067e-05, 8.55450407e-04, 1.60663910e-04,-5.65805537e-05,
  1.33480859e-04, 6.16367650e-02, 1.11336055e-02, 2.99854512e-03,
 -6.42036632e-05, 7.91084530e-04, 1.83322901e-04, 7.07226118e-05,
  6.79192970e-03,-1.53192537e-03, 0.00000000e+00,-1.47838744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.45602451, -7.39801476,  4.45602451, 65.65679855,
       34.34495115, -7.39801476, 34.34495115, 29.32325723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006215911286038205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33957393e-14,  1.33957393e-14,  1.00000000e+00, -1.79445830e-28,
        1.00000000e+00, -1.33957393e-14, -1.00000000e+00,  0.00000000e+00,
        1.33957393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18820202, -0.06891753,  0.06168767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49533665e-05,-4.71456328e-05,-1.32178405e-05, 1.22333426e-05,
 -9.71613329e-06,-1.52865827e-03,-3.76610963e-04,-7.59036948e-05,
  1.03275811e-05, 2.60350695e-05, 1.29323682e-05,-2.98913284e-05,
 -5.74355831e-05,-1.71934222e-05,-1.02100442e-05, 1.57621863e-04,
  7.63225221e-04,-3.06848178e-03,-4.90229648e+00,-3.42300785e-03,
  9.46286909e-04,-8.76501463e-03]


--- Step 1846 ---
qpos:
[ 0.01867782, 0.03003405,-0.00942574,-0.02526081,-0.00347819, 1.31508907,
 -0.03002796, 0.94259018, 0.01158881, 0.02732289,-0.00827652, 0.02646968,
  1.31480965, 0.00761534, 1.25937939, 0.04465165,-0.09753813,-0.07762402,
  0.09198119, 0.63349801, 0.23654656,-0.6660006 ,-0.31491141]

qacc:
[ 9.58488748e+00,-1.03119683e+00, 3.42144112e+00,-5.98690142e+00,
 -6.04006310e-02,-1.63496536e+01, 3.58573544e+01,-3.25325478e+01,
 -1.93875363e+00, 2.28162335e-02,-9.11084611e-01, 5.53569088e+00,
  1.82387971e-01,-4.93529944e-01,-8.03412927e+00, 2.76380742e+01,
 -7.32991154e+00, 1.52162480e+00, 3.29946023e+00, 1.81471844e+02,
 -1.68477659e+02, 2.11551405e+01]

qfrc_actuator:
[ 1.44970283e-04, 8.19872983e-04, 1.56231032e-04,-6.64080472e-05,
  1.21548790e-04, 6.10552715e-02, 1.11263020e-02, 2.95978444e-03,
 -7.62359775e-05, 8.18781268e-04, 2.07587863e-04, 8.84753859e-05,
  6.77939641e-03,-1.55119155e-03, 0.00000000e+00,-1.34866054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006373846083270462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70920799e-15,  8.70920799e-15,  1.00000000e+00,  7.58503038e-29,
        1.00000000e+00, -8.70920799e-15, -1.00000000e+00,  0.00000000e+00,
       -8.70920799e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01010042, -0.09395407,  0.06168097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74656829e-05,-6.41283381e-05,-1.53802437e-05,-1.20670016e-05,
 -1.77071323e-05,-1.50736301e-03,-3.52202486e-04,-9.67171370e-05,
 -1.17246157e-05, 4.37027912e-05, 3.02210580e-05, 1.87372853e-05,
 -4.53326350e-05,-3.78017850e-05, 1.03451760e-05, 1.36660832e-04,
  1.29427672e-03,-3.19416051e-03,-4.90205473e+00,-3.86916112e-03,
  4.92819489e-04,-8.79845516e-03]


--- Step 1847 ---
qpos:
[ 0.01867962, 0.03003281,-0.00942506,-0.0252613 ,-0.00347585, 1.31562201,
 -0.03001607, 0.9426149 , 0.01158824, 0.02732251,-0.00827619, 0.02646997,
  1.31501586, 0.00761543, 1.25951419, 0.04465193,-0.09755136,-0.07772506,
  0.09200294, 0.63297898, 0.23761536,-0.66563279,-0.31592646]

qacc:
[ 2.75468006e+00,-2.55686281e-01, 8.96951104e-01,-2.70151152e+00,
 -1.25426877e-01,-1.69991123e+01, 3.55092792e+01,-1.90327797e+01,
 -4.17179779e+00,-5.30536153e-01, 4.11955504e+00,-8.74606504e+00,
 -1.06627242e-01,-1.21049825e-01, 6.88988669e-01,-1.93538975e+00,
 -6.30171267e+00, 1.27467164e+00, 1.46417692e+00, 1.55994531e+02,
 -1.44027630e+02, 1.79814250e+01]

qfrc_actuator:
[ 1.59834447e-04, 8.16955160e-04, 1.53240442e-04,-7.20585381e-05,
  9.56676527e-05, 6.04778195e-02, 1.11708489e-02, 2.98050529e-03,
 -1.01040758e-04, 8.88947430e-04, 2.39719502e-04, 8.09960755e-05,
  6.76445738e-03,-1.56269464e-03, 0.00000000e+00,-1.36128014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006465463889936525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.71715911e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.71715911e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01029669, -0.09392898,  0.0616772 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65197598e-05,-4.24298280e-05,-1.85484662e-05,-9.16481101e-06,
 -3.63585477e-05,-1.48729037e-03,-2.93999193e-04,-3.63789579e-05,
 -2.51383811e-05, 1.01685407e-04, 4.55424741e-05,-4.19417910e-06,
 -4.62079178e-05,-3.33358754e-05, 1.66233869e-05,-4.42952207e-06,
  3.57828247e-04,-2.69476253e-03,-4.90269220e+00,-3.02340553e-03,
  1.41790464e-03,-8.81189151e-03]


--- Step 1848 ---
qpos:
[ 0.01868124, 0.03003173,-0.00942442,-0.02526123,-0.00347396, 1.3161434 ,
 -0.0300037 , 0.94264   , 0.01158773, 0.02732292,-0.00827549, 0.02646945,
  1.31522161, 0.00761582, 1.25964918, 0.04465107,-0.09758632,-0.07782183,
  0.09202422, 0.63223981, 0.23875533,-0.66551175,-0.31680091]

qacc:
[-1.55023453e+00, 1.50243030e+00,-7.38175717e+00, 1.69930700e+01,
 -1.92334627e-01,-1.58507084e+01, 3.26370551e+01,-1.67260701e+01,
  4.36410515e-01,-1.63041101e+00, 1.06819026e+01,-2.55903225e+01,
 -6.60535564e-01, 8.35080534e-01, 3.77445210e+00,-1.26497167e+01,
 -5.43227597e+00, 1.06873039e+00,-1.15279067e-01, 1.34456770e+02,
 -1.23416243e+02, 1.53578552e+01]

qfrc_actuator:
[ 1.50088093e-04, 8.69132938e-04, 1.69013659e-04,-3.96696403e-05,
  6.16283160e-05, 5.99431956e-02, 1.12101980e-02, 3.00058755e-03,
 -9.76517694e-05, 9.30771954e-04, 2.58638934e-04, 4.10112670e-05,
  6.75341301e-03,-1.53397233e-03, 0.00000000e+00,-1.42214882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006460808230534847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.5919825e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.5919825e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01028073, -0.09393763,  0.06167752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27529073e-06, 2.42664114e-05, 4.41369361e-06, 2.97533899e-05,
 -5.54946697e-05,-1.42004532e-03,-2.86851837e-04,-3.33229055e-05,
  2.68565262e-06, 1.07914185e-04, 4.53888179e-05,-3.41325676e-05,
 -4.20388241e-05, 8.14412145e-06, 2.70685564e-06,-5.99850451e-05,
 -2.91158092e-04,-2.29183771e-03,-4.90292615e+00,-2.32617389e-03,
  2.17666885e-03,-8.82733375e-03]


--- Step 1849 ---
qpos:
[ 0.01868135, 0.03003115,-0.0094238 ,-0.02526082,-0.00347251, 1.3166539 ,
 -0.02999175, 0.94266445, 0.01158726, 0.0273236 ,-0.00827461, 0.02646889,
  1.31542698, 0.0076165 , 1.25978403, 0.0446505 ,-0.09764007,-0.07791501,
  0.09203963, 0.63131063, 0.2399569 ,-0.6656029 ,-0.31755371]

qacc:
[ -12.94874381,   1.39682627,  -5.4333907 ,  10.94388991,  -0.18596058,
  -14.24027448,  30.50245799, -27.03242367,   0.38436077,  -0.26257149,
    1.64762586,  -2.96741594,  -0.45802442,   0.60795442,  -1.01830339,
    3.3777275 ,  -4.69571962,   0.89698011,  -1.46826067, 116.24029731,
 -106.02688942,  13.18764725]

qfrc_actuator:
[ 7.26903972e-05, 9.18518686e-04, 1.78249763e-04,-2.06003394e-05,
  4.07232956e-05, 5.94207921e-02, 1.11930566e-02, 2.96687101e-03,
 -9.54437781e-05, 9.01967761e-04, 2.51733518e-04, 3.54537551e-05,
  6.73940382e-03,-1.51708288e-03, 0.00000000e+00,-1.40438845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006378854627214464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.74047394e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.74047394e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01009658, -0.09397263,  0.06168109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.76582122e-05, 6.51635544e-05, 1.58245893e-05, 2.08412448e-05,
 -5.36235201e-05,-1.36903725e-03,-3.29264593e-04,-8.48335442e-05,
  2.32578943e-06, 3.94324720e-05, 1.97828524e-05,-2.82926944e-08,
 -3.35582945e-05, 9.59475696e-06,-9.67882797e-06, 1.38192043e-05,
 -7.35985926e-04,-1.96513787e-03,-4.90289909e+00,-1.74771285e-03,
  2.80157617e-03,-8.84424446e-03]


--- Step 1850 ---
qpos:
[ 0.01868053, 0.0300305 ,-0.00942277,-0.02526082,-0.00347143, 1.31715391,
 -0.02998085, 0.94268763, 0.01158682, 0.02732439,-0.00827398, 0.02646867,
  1.31563188, 0.00761747, 1.25991918, 0.04464711,-0.09771009,-0.07800517,
  0.09204456, 0.63021672, 0.24121188,-0.66587686,-0.31820076]

qacc:
[ -7.95273357, -2.0524915 ,  8.96240436,-16.81751484, -0.15411478,
 -13.12163592, 28.79041746,-33.13800003,  0.25027018,  1.5404315 ,
  -6.70123821, 12.82839161, -0.79329977,  0.96602107,  9.03463517,
 -30.78682377, -4.07105839,  0.75381724, -2.62177859,100.8464596 ,
 -91.36258642, 11.39171024]

qfrc_actuator:
[ 2.71126075e-05, 8.77076408e-04, 1.83543680e-04,-4.50341715e-05,
  2.78656216e-05, 5.89096868e-02, 1.11427454e-02, 2.90173861e-03,
 -9.39584419e-05, 8.84254169e-04, 2.29373412e-04, 5.01247022e-05,
  6.70764775e-03,-1.50739864e-03, 0.00000000e+00,-1.55344873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006235653351466433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.90221892e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.90221892e-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([-0.00977966, -0.0940281 ,  0.06168721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.78184651e-05,-8.57653402e-07, 2.14239145e-05,-2.06883622e-05,
 -4.44754220e-05,-1.33928293e-03,-3.58778991e-04,-1.17169238e-04,
  1.56935374e-06, 8.38819811e-06,-1.17966805e-05, 1.70423142e-05,
 -4.66675119e-05, 4.79316084e-06,-6.00196864e-06,-1.50220432e-04,
 -1.03677831e-03,-1.69883009e-03,-4.90270836e+00,-1.26496803e-03,
  3.31793160e-03,-8.86221713e-03]


--- Step 1851 ---
qpos:
[ 0.01868021, 0.03002972,-0.00942189,-0.02526108,-0.00347048, 1.3176436 ,
 -0.02997054, 0.94271017, 0.01158744, 0.02732508,-0.00827377, 0.02646831,
  1.3158365 , 0.0076181 , 1.26005453, 0.04463995,-0.09775058,-0.07809784,
  0.09206164, 0.62943501, 0.24232533,-0.66583168,-0.31899556]

qacc:
[ 4.23056238e+00,-2.96951024e-01, 1.85873478e+00,-5.83458988e+00,
 -5.60840255e-02,-1.30504159e+01, 2.75461992e+01,-2.48474905e+01,
  8.99755195e+00, 7.67334034e-01,-2.40332694e+00, 9.45523490e-01,
 -3.11698171e-01, 7.48998189e-02, 1.17323867e+01,-4.05505740e+01,
  7.38479934e+00,-6.25940930e-01, 3.03841164e+00,-1.82220021e+02,
  1.64175574e+02, 1.17406980e+01]

qfrc_actuator:
[ 5.39081542e-05, 8.52520945e-04, 1.68322443e-04,-5.94396434e-05,
  3.76897305e-05, 5.84270698e-02, 1.11265822e-02, 2.87190306e-03,
 -3.96522806e-05, 8.55493785e-04, 1.98104236e-04, 4.10634490e-05,
  6.68124334e-03,-1.53764927e-03, 0.00000000e+00,-1.74635568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006338618200560531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37880540e-15,  4.37880540e-15,  1.00000000e+00,  1.91739367e-29,
        1.00000000e+00, -4.37880540e-15, -1.00000000e+00,  0.00000000e+00,
       -4.37880540e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18794671, -0.06897416,  0.06168287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54028324e-05,-2.14982695e-05,-1.34770363e-05,-1.41024933e-05,
 -1.64094591e-05,-1.30099624e-03,-3.23102156e-04,-8.26095850e-05,
  5.43579106e-05,-2.58122976e-05,-3.04163826e-05,-8.78110088e-06,
 -4.94944902e-05,-3.94311229e-05,-2.37627265e-05,-2.02993274e-04,
 -1.23676078e-03,-1.48049038e-03,-4.90241988e+00,-8.59821277e-04,
  3.74573936e-03,-8.88094029e-03]


--- Step 1852 ---
qpos:
[ 0.01867986, 0.03002922,-0.00942138,-0.02526154,-0.00346928, 1.31812312,
 -0.02996039, 0.94273285, 0.01158836, 0.02732549,-0.00827411, 0.02646754,
  1.316041  , 0.0076183 , 1.26018962, 0.04463152,-0.0977657 ,-0.07819277,
  0.09208368, 0.628921  , 0.24331741,-0.66551309,-0.31991771]

qacc:
[-2.02046072e-01, 9.84573057e-01,-2.09942200e+00,-1.08284927e+00,
  1.10780103e-01,-1.27088624e+01, 2.50482883e+01,-1.37437153e+01,
  2.56530274e+00, 3.02407920e-01, 1.22290435e-01,-6.22517889e+00,
  1.13097862e-01,-4.33304643e-01, 3.46394730e+00,-1.27261668e+01,
  6.34134650e+00,-5.66779380e-01, 1.24147608e+00,-1.56636742e+02,
  1.40377235e+02, 9.89515197e+00]

qfrc_actuator:
[ 5.20666998e-05, 8.91430627e-04, 1.58918624e-04,-6.78312011e-05,
  7.87906499e-05, 5.79478089e-02, 1.11308656e-02, 2.88087613e-03,
 -2.57013664e-05, 8.20264919e-04, 1.61758266e-04, 1.80929754e-05,
  6.68467897e-03,-1.55585156e-03, 0.00000000e+00,-1.80371516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.32213915, -7.47702414,  4.32213915, 71.88651408,
       36.56213306, -7.47702414, 36.56213306, 29.77132639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006430077209551618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31652291e-15,  1.29495687e-14,  1.00000000e+00, -5.58971102e-29,
        1.00000000e+00, -1.29495687e-14, -1.00000000e+00,  0.00000000e+00,
        4.31652291e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18774585, -0.06900458,  0.06167913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10595563e-06, 2.35291810e-05,-1.59930292e-05,-1.00535490e-05,
  3.13906955e-05,-1.26834790e-03,-2.90072200e-04,-4.08178061e-05,
  1.55380019e-05,-5.63283590e-05,-4.57394218e-05,-2.53033290e-05,
 -3.19271252e-05,-4.07630730e-05,-3.68149613e-05,-7.24411008e-05,
 -7.95429354e-04,-1.73422418e-03,-4.90303080e+00,-1.64407718e-03,
  2.86617780e-03,-8.91402699e-03]


--- Step 1853 ---
qpos:
[ 0.01867915, 0.03002895,-0.00942074,-0.02526213,-0.00346786, 1.31859267,
 -0.02995063, 0.94275477, 0.01158875, 0.02732584,-0.008275  , 0.02646613,
  1.31624523, 0.0076187 , 1.26032461, 0.04462139,-0.09775899,-0.07828976,
  0.09210451, 0.62863679, 0.24420495,-0.66495939,-0.32094974]

qacc:
[-3.12184189e+00,-2.94579445e-01, 2.03663400e+00,-4.59325116e+00,
  8.73873725e-02,-1.33099517e+01, 2.91553247e+01,-2.77322048e+01,
 -4.53000336e+00, 1.63137315e-01, 2.05886203e+00,-1.23083310e+01,
 -4.72545774e-01, 5.97417517e-01, 5.00661512e+00,-1.75970930e+01,
  5.45931563e+00,-5.14305877e-01,-3.04937941e-01,-1.35001191e+02,
  1.20313997e+02, 8.39125583e+00]

qfrc_actuator:
[ 3.33607321e-05, 9.14806205e-04, 1.71045932e-04,-7.25574535e-05,
  8.50603581e-05, 5.74567964e-02, 1.11117135e-02, 2.84160301e-03,
 -5.33849469e-05, 8.34642048e-04, 1.40418350e-04,-1.28841481e-05,
  6.68470982e-03,-1.53108598e-03, 0.00000000e+00,-1.88724504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006425447931323186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.3196328e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.3196328e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18776423, -0.06900714,  0.06167946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87277897e-05, 3.28130458e-05, 1.46705666e-05,-4.46684963e-06,
  2.47052342e-05,-1.25422689e-03,-3.02116223e-04,-8.61585599e-05,
 -2.72444175e-05,-2.76552324e-05,-3.94833303e-05,-3.54649839e-05,
 -2.66068027e-05, 5.86974671e-06,-2.66262981e-05,-9.26397683e-05,
 -3.05200239e-04,-1.95375700e-03,-4.90325624e+00,-2.28788327e-03,
  2.14809286e-03,-8.94539060e-03]


--- Step 1854 ---
qpos:
[ 0.01867788, 0.03002881,-0.00942025,-0.0252617 ,-0.00346645, 1.31905228,
 -0.02994208, 0.94277611, 0.01158915, 0.02732601,-0.00827616, 0.02646435,
  1.31644904, 0.00761942, 1.26045887, 0.044615  ,-0.09773343,-0.07838862,
  0.09211881, 0.62855019, 0.24500203,-0.66420272,-0.3220767 ]

qacc:
[-4.83914741e+00, 2.68181898e+00,-1.36023171e+01, 3.13220265e+01,
  4.34715987e-04,-1.07938275e+01, 2.06687270e+01,-1.84882172e+01,
  7.92763404e-02,-2.60223834e-01, 2.10371416e+00,-7.83328413e+00,
 -2.04920978e-01, 3.17226828e-01,-1.23479080e+01, 4.16511812e+01,
  4.71244845e+00,-4.67563088e-01,-1.62967793e+00,-1.16696414e+02,
  1.03387003e+02, 7.16561029e+00]

qfrc_actuator:
[ 4.88692226e-06, 9.11045314e-04, 1.60239421e-04,-2.18245083e-05,
  7.03827298e-05, 5.69448493e-02, 1.10432987e-02, 2.80972032e-03,
 -5.20813364e-05, 8.25403356e-04, 1.28304567e-04,-3.05179022e-05,
  6.66141374e-03,-1.51650695e-03, 0.00000000e+00,-1.68376676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006343667980360249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37531972e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.37531972e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1879562 , -0.06898726,  0.06168301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90082072e-05, 1.74256681e-05,-2.37879955e-06, 5.25598023e-05,
 -1.76525932e-07,-1.27099147e-03,-3.51303319e-04,-7.97622227e-05,
  4.98975511e-07,-3.43868921e-05,-2.39057032e-05,-2.08696902e-05,
 -3.61893687e-05, 1.05192772e-05,-2.51018619e-05, 1.94359808e-04,
  1.98912832e-04,-2.14508032e-03,-4.90323192e+00,-2.82038881e-03,
  1.55889292e-03,-8.97528292e-03]


--- Step 1855 ---
qpos:
[ 0.01867593, 0.03002848,-0.00942001,-0.02526062,-0.00346512, 1.31950226,
 -0.02993464, 0.94279757, 0.01158956, 0.02732595,-0.00827752, 0.02646342,
  1.31665235, 0.00762041, 1.26059241, 0.04461538,-0.09769154,-0.07848919,
  0.09212208, 0.62863387, 0.24572041,-0.66327008,-0.32328585]

qacc:
[-5.80508867e+00, 1.81433326e+00,-9.53093052e+00, 2.12825464e+01,
 -3.22039559e-02,-9.41723736e+00, 1.51956977e+01,-5.67026945e+00,
  1.02720647e-01, 2.00203988e+00,-1.11328957e+01, 2.61807654e+01,
 -2.56798199e-02, 5.04390297e-02,-2.15901146e+01, 7.39666202e+01,
  4.07942569e+00,-4.25824036e-01,-2.75922277e+00,-1.01224148e+02,
  8.91132315e+01, 6.16614371e+00]

qfrc_actuator:
[-2.91025723e-05, 8.73270847e-04, 1.35897593e-04, 7.83311682e-06,
  6.10122538e-05, 5.64953027e-02, 1.09995527e-02, 2.81791378e-03,
 -5.14652114e-05, 8.19904248e-04, 1.21657006e-04, 1.30888202e-05,
  6.62946945e-03,-1.50823978e-03, 0.00000000e+00,-1.33057338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006200758405218082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47615821e-15,  4.47615821e-15,  1.00000000e+00,  2.00359923e-29,
        1.00000000e+00, -4.47615821e-15, -1.00000000e+00,  0.00000000e+00,
       -4.47615821e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18828509, -0.06894936,  0.0616891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48309359e-05,-2.62786573e-05,-1.92198576e-05, 3.13446440e-05,
 -9.52172590e-06,-1.22721407e-03,-3.35307892e-04,-4.14991174e-05,
  6.19591532e-07,-3.05481067e-05,-1.74013411e-05, 4.09060160e-05,
 -4.76486815e-05, 2.89060805e-06, 8.72062174e-06, 3.60530994e-04,
  6.95711112e-04,-2.31295584e-03,-4.90305129e+00,-3.26396258e-03,
  1.07339284e-03,-9.00390160e-03]


--- Step 1856 ---
qpos:
[ 0.01867428, 0.03002785,-0.00941964,-0.02526024,-0.00346388, 1.31994248,
 -0.02992693, 0.94281787, 0.01158964, 0.02732564,-0.00827869, 0.02646298,
  1.31685516, 0.00762178, 1.26072655, 0.04461496,-0.09767868,-0.07858422,
  0.09213771, 0.62841834, 0.24655185,-0.66266097,-0.32431931]

qacc:
[ 2.55504832e+00,-2.20483033e+00, 1.02099042e+01,-2.22507270e+01,
 -3.97689964e-02,-1.55221244e+01, 3.75462250e+01,-3.98276003e+01,
 -2.89613668e+00, 1.45235354e-01,-3.10197227e+00, 1.16444681e+01,
 -7.34013851e-01, 9.43820722e-01, 3.40590734e+00,-1.04583077e+01,
 -7.25568914e+00, 1.38279536e+00, 3.09034067e+00, 1.82860184e+02,
 -1.61061166e+02, 9.11848624e+00]

qfrc_actuator:
[-1.28054597e-05, 8.50843572e-04, 1.39100009e-04,-2.84523476e-05,
  5.49031093e-05, 5.60336070e-02, 1.10242587e-02, 2.76091296e-03,
 -6.90205374e-05, 8.16769468e-04, 1.36091442e-04, 3.91235572e-05,
  6.60833740e-03,-1.48609142e-03, 0.00000000e+00,-1.38917153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006320108863647728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.78325871e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.78325871e-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([-0.00995148, -0.09405157,  0.06168404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52730117e-05,-3.97489266e-05,-3.50567931e-06,-3.74655397e-05,
 -1.17627100e-05,-1.21078064e-03,-2.55330038e-04,-1.04035334e-04,
 -1.75506055e-05,-2.20371474e-05, 7.41552272e-06, 2.49249583e-05,
 -4.33178918e-05, 1.13469614e-05, 4.16785283e-05,-3.79222128e-05,
  1.17308688e-03,-2.46123988e-03,-4.90277806e+00,-3.63600498e-03,
  6.71864629e-04,-9.03140425e-03]


--- Step 1857 ---
qpos:
[ 0.01867318, 0.0300271 ,-0.00941932,-0.02526031,-0.00346274, 1.32037316,
 -0.02991905, 0.9428363 , 0.0115895 , 0.02732508,-0.00827905, 0.02646213,
  1.31705745, 0.00762345, 1.26086109, 0.04461223,-0.09769079,-0.07867462,
  0.0921585 , 0.62794634, 0.24748053,-0.66232958,-0.32520195]

qacc:
[ 4.74047719e+00,-9.64662139e-01, 5.08462526e+00,-1.26684936e+01,
 -3.73956645e-02,-1.62119496e+01, 4.16165755e+01,-5.18887034e+01,
 -1.77440610e+00,-3.40487824e+00, 1.34118052e+01,-2.16889711e+01,
 -8.07734786e-01, 9.87217606e-01, 7.65621963e+00,-2.57292902e+01,
 -6.24170784e+00, 1.15794983e+00, 1.28941658e+00, 1.57171111e+02,
 -1.37877138e+02, 7.81704552e+00]

qfrc_actuator:
[ 1.52085082e-05, 8.55573894e-04, 1.40797557e-04,-4.99572516e-05,
  5.08001252e-05, 5.55686019e-02, 1.10358348e-02, 2.66602439e-03,
 -7.93781945e-05, 8.15159949e-04, 1.80599527e-04, 1.91115542e-05,
  6.57773224e-03,-1.47357049e-03, 0.00000000e+00,-1.51243913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006404052274174593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66812900e-15,  8.66812900e-15,  1.00000000e+00,  7.51364603e-29,
        1.00000000e+00, -8.66812900e-15, -1.00000000e+00,  0.00000000e+00,
       -8.66812900e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01013161, -0.09403314,  0.06168059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84484141e-05,-1.97967492e-05,-8.23662517e-06,-2.40581827e-05,
 -1.10761571e-05,-1.19115730e-03,-2.57964575e-04,-1.40547350e-04,
 -1.08829892e-05,-1.13130733e-05, 4.17507284e-05,-2.02097235e-05,
 -4.93181643e-05, 5.51602696e-06, 8.72069412e-06,-1.21424468e-04,
  3.44812335e-04,-2.09619516e-03,-4.90330298e+00,-2.95510379e-03,
  1.45635109e-03,-9.04325654e-03]


--- Step 1858 ---
qpos:
[ 0.01867242, 0.03002621,-0.00941928,-0.02526061,-0.00346152, 1.32079498,
 -0.02991202, 0.94285415, 0.01158923, 0.02732433,-0.00827916, 0.02646107,
  1.31725933, 0.00762487, 1.26099512, 0.04461242,-0.09772444,-0.07876114,
  0.09217825, 0.62725367, 0.24849295,-0.6622369 ,-0.32595456]

qacc:
[ 2.95103501e+00, 7.45964756e-02, 4.54453823e-01,-4.02837685e+00,
  2.99628464e-02,-1.03507666e+01, 2.09321438e+01,-1.93830544e+01,
 -1.04155085e+00,-1.40698950e+00, 5.53588482e+00,-9.38844207e+00,
  8.59978382e-02,-3.85980924e-01,-9.59311139e+00, 3.24096826e+01,
 -5.38427930e+00, 9.70443277e-01,-2.59590191e-01, 1.35474698e+02,
 -1.18315495e+02, 6.74896166e+00]

qfrc_actuator:
[ 3.21255389e-05, 8.41031229e-04, 1.23962741e-04,-6.25636468e-05,
  6.56861442e-05, 5.51585647e-02, 1.10040205e-02, 2.63835160e-03,
 -8.54103917e-05, 7.96820085e-04, 1.89223319e-04, 7.69382745e-06,
  6.54146249e-03,-1.50241725e-03, 0.00000000e+00,-1.35313919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006394147044317393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68155687e-15,  8.68155687e-15,  1.00000000e+00,  7.53694298e-29,
        1.00000000e+00, -8.68155687e-15, -1.00000000e+00,  0.00000000e+00,
       -8.68155687e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01010461, -0.0940449 ,  0.06168113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77425175e-05,-2.83070403e-05,-2.27651523e-05,-1.42073068e-05,
  8.31768081e-06,-1.12687476e-03,-2.98875973e-04,-7.36801357e-05,
 -6.35807607e-06,-1.68856716e-05, 1.07431718e-05,-1.08468396e-05,
 -6.01793696e-05,-3.86052007e-05,-1.44572666e-05, 1.52556478e-04,
 -2.31226142e-04,-1.79863807e-03,-4.90346249e+00,-2.37845460e-03,
  2.11528105e-03,-9.05675972e-03]


--- Step 1859 ---
qpos:
[ 0.01867256, 0.03002513,-0.00941945,-0.02526072,-0.00346005, 1.32120835,
 -0.02990543, 0.94287216, 0.01158925, 0.02732355,-0.00827977, 0.02646027,
  1.31746101, 0.00762564, 1.26112898, 0.0446148 ,-0.09777671,-0.07884441,
  0.09219166, 0.62637039, 0.24957763,-0.66234973,-0.32659452]

qacc:
[ 7.70500070e+00, 7.58886774e-01,-3.92804637e+00, 7.87929937e+00,
  1.09064254e-01,-9.56805243e+00, 1.74693356e+01,-7.82158538e+00,
  2.32550374e+00, 1.89579488e+00,-7.89679840e+00, 1.31076328e+01,
  4.34649223e-01,-9.58578720e-01,-6.97017361e+00, 2.38830544e+01,
 -4.65792762e+00, 8.14123009e-01,-1.58583308e+00, 1.17141854e+02,
 -1.01799618e+02, 5.87134939e+00]

qfrc_actuator:
[ 7.78764937e-05, 8.32748824e-04, 1.14005995e-04,-5.21091696e-05,
  9.18423090e-05, 5.47846340e-02, 1.10003772e-02, 2.65046775e-03,
 -7.10980748e-05, 7.86225657e-04, 1.58773973e-04, 1.91416605e-05,
  6.53375901e-03,-1.53788638e-03, 0.00000000e+00,-1.24162853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0063089421978424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.79880485e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.79880485e-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([-0.00991349, -0.09408025,  0.06168483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62624538e-05,-2.93804148e-05,-1.90877957e-05, 8.18021451e-06,
  3.10142892e-05,-1.06112236e-03,-2.60808217e-04,-3.16223310e-05,
  1.41175397e-05,-1.82551003e-05,-3.29771129e-05, 1.08893056e-05,
 -4.69750495e-05,-6.08985002e-05, 8.16060701e-06, 1.17679581e-04,
 -6.27585121e-04,-1.55523047e-03,-4.90338678e+00,-1.88850119e-03,
  2.66944519e-03,-9.07151400e-03]


--- Step 1860 ---
qpos:
[ 0.01867291, 0.03002405,-0.00941984,-0.02526073,-0.00345845, 1.32161354,
 -0.02989857, 0.94289048, 0.01158943, 0.02732351,-0.00828088, 0.02645985,
  1.31766235, 0.0076262 , 1.261263  , 0.04461717,-0.09784516,-0.07892493,
  0.0921942 , 0.62532171, 0.25072481,-0.66263989,-0.32713637]

qacc:
[ 1.73352940e+00, 8.14058038e-01,-3.34835015e+00, 5.47677020e+00,
  5.48060919e-02,-1.09900289e+01, 2.22516926e+01,-1.06702690e+01,
  1.42986623e+00, 3.16157504e+00,-1.14662158e+01, 1.83837510e+01,
 -1.43719728e-01,-7.08584090e-02, 3.23233828e-01,-7.44346257e-01,
 -4.04197425e+00, 6.83897788e-01,-2.71607227e+00, 1.01664798e+02,
 -8.78635871e+01, 5.14899772e+00]

qfrc_actuator:
[ 8.69782303e-05, 8.46076622e-04, 1.08231618e-04,-4.59127878e-05,
  8.90412135e-05, 5.44177436e-02, 1.10313344e-02, 2.66817931e-03,
 -6.26798636e-05, 8.86718066e-04, 1.58808448e-04, 4.39333939e-05,
  6.52188655e-03,-1.54134440e-03, 0.00000000e+00,-1.24800815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006164125066855576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.00551994e-15,  9.00551994e-15,  1.00000000e+00,  8.10993895e-29,
        1.00000000e+00, -9.00551994e-15, -1.00000000e+00,  0.00000000e+00,
       -9.00551994e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00959286, -0.09413393,  0.06169102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04436402e-05,-6.63641789e-06,-1.38974069e-05, 4.43845327e-06,
  1.54308645e-05,-1.00892050e-03,-2.07762655e-04,-2.19708589e-05,
  8.82296696e-06, 8.39810088e-05,-7.40384714e-06, 2.30846375e-05,
 -4.94678672e-05,-3.24190517e-05, 1.36914570e-05, 5.01149567e-07,
 -8.96801197e-04,-1.35529622e-03,-4.90316476e+00,-1.47090029e-03,
  3.13588025e-03,-9.08720573e-03]


--- Step 1861 ---
qpos:
[ 0.01867336, 0.03002305,-0.00942031,-0.02526171,-0.00345694, 1.32201095,
 -0.02989214, 0.94290853, 0.01158937, 0.0273242 ,-0.00828148, 0.02645932,
  1.31786315, 0.00762694, 1.26139709, 0.04461946,-0.09788422,-0.07900859,
  0.09220867, 0.62457757, 0.25174086,-0.66261008,-0.32783726]

qacc:
[ 9.12484896e-01,-1.68812156e+00, 1.03237563e+01,-2.72546112e+01,
 -3.77827034e-02,-9.51332763e+00, 1.92490094e+01,-1.48707709e+01,
 -2.08923652e+00,-6.73517152e-01, 4.25068056e+00,-7.50986324e+00,
 -5.68592681e-01, 6.25139882e-01, 3.57893702e-01,-1.01896898e+00,
  7.34527395e+00,-7.83058184e-01, 2.98118258e+00,-1.84208615e+02,
  1.59555616e+02, 3.42134155e+00]

qfrc_actuator:
[ 9.21793330e-05, 8.54510383e-04, 1.05054628e-04,-9.55122131e-05,
  6.88916035e-05, 5.40404489e-02, 1.10114918e-02, 2.65354741e-03,
 -7.55569519e-05, 9.46575205e-04, 1.95072356e-04, 4.09915598e-05,
  6.49688176e-03,-1.52575342e-03, 0.00000000e+00,-1.25277001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006308788299705756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39950975e-15,  8.79901949e-15,  1.00000000e+00,  3.87113720e-29,
        1.00000000e+00, -8.79901949e-15, -1.00000000e+00,  0.00000000e+00,
       -4.39950975e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18806217, -0.06900515,  0.0616849 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50732970e-06, 2.08890535e-06,-6.08920025e-06,-5.02751463e-05,
 -1.10956552e-05,-9.79710705e-04,-2.42016157e-04,-5.09758953e-05,
 -1.25913607e-05, 1.06298423e-04, 5.35122833e-05, 8.53315905e-07,
 -5.74360957e-05,-5.49378259e-06, 2.03774255e-06,-3.95505573e-06,
 -1.07676168e-03,-1.19028561e-03,-4.90285651e+00,-1.11378855e-03,
  3.52871466e-03,-9.10358575e-03]


--- Step 1862 ---
qpos:
[ 0.01867387, 0.0300225 ,-0.00942129,-0.02526331,-0.00345573, 1.32240098,
 -0.0298865 , 0.94292661, 0.01158949, 0.02732523,-0.00828118, 0.02645843,
  1.31806365, 0.00762754, 1.26153131, 0.04462033,-0.09789804,-0.07909504,
  0.09222791, 0.62409458, 0.25264448,-0.66230604,-0.32867526]

qacc:
[ 4.80459076e-01, 7.97952606e-01, 5.71787794e-01,-1.05240945e+01,
 -1.28021485e-01,-7.50633630e+00, 1.27363892e+01,-6.11127754e+00,
  1.65293853e+00,-2.82886447e+00, 1.22635010e+01,-2.01764196e+01,
 -2.63711210e-01, 1.33365807e-01, 4.51733640e+00,-1.54431270e+01,
  6.30968661e+00,-6.97879165e-01, 1.19461134e+00,-1.58360987e+02,
  1.36469205e+02, 2.71898343e+00]

qfrc_actuator:
[ 9.50548746e-05, 8.95423419e-04, 8.56324391e-05,-1.24286325e-04,
  3.84998108e-05, 5.36952800e-02, 1.09795151e-02, 2.65545898e-03,
 -6.53583766e-05, 9.46281187e-04, 2.34526965e-04, 2.17525152e-05,
  6.48533127e-03,-1.53456512e-03, 0.00000000e+00,-1.32750797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.42515935, -7.41651816,  4.42515935, 69.57442022,
       36.35946206, -7.41651816, 36.35946206, 30.33069646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006397983857455172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73527012e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73527012e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18786556, -0.06903538,  0.06168123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04292504e-06, 3.87153410e-05,-2.14614155e-05,-2.98692056e-05,
 -3.69654208e-05,-9.38940180e-04,-2.53174380e-04,-3.52423140e-05,
  9.86608177e-06, 7.02180081e-05, 6.80334572e-05,-1.28140290e-05,
 -4.18718610e-05,-2.37972052e-05,-3.56625071e-06,-7.56050456e-05,
 -7.03481784e-04,-1.44718776e-03,-4.90340363e+00,-1.79339750e-03,
  2.73356432e-03,-9.13211565e-03]


--- Step 1863 ---
qpos:
[ 0.01867304, 0.03002231,-0.00942259,-0.0252642 ,-0.00345486, 1.32278335,
 -0.02988063, 0.94294386, 0.01158974, 0.02732627,-0.00828048, 0.02645809,
  1.31826411, 0.00762748, 1.26166528, 0.04462197,-0.09789013,-0.07918399,
  0.09224579, 0.6238358 , 0.25345125,-0.66176609,-0.32963161]

qacc:
[-1.15815293e+01, 2.79828938e+00,-1.22175836e+01, 2.45417227e+01,
 -1.39603185e-01,-1.20694624e+01, 2.89386074e+01,-2.98743233e+01,
  1.05044669e+00, 2.35207214e-02,-2.39209554e+00, 1.12443821e+01,
  4.80041968e-01,-9.85894088e-01,-2.74971864e+00, 8.93921548e+00,
  5.43410494e+00,-6.23942620e-01,-3.42634107e-01,-1.36506295e+02,
  1.17003438e+02, 2.18790202e+00]

qfrc_actuator:
[ 2.55299046e-05, 9.19915176e-04, 7.46830045e-05,-8.72933999e-05,
  1.99640097e-05, 5.33188411e-02, 1.09940529e-02, 2.61385516e-03,
 -5.94052208e-05, 9.09976831e-04, 2.39778075e-04, 4.62847387e-05,
  6.48185076e-03,-1.57551306e-03, 0.00000000e+00,-1.28308760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00639195604279727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34226635e-15,  8.68453269e-15,  1.00000000e+00,  3.77105541e-29,
        1.00000000e+00, -8.68453269e-15, -1.00000000e+00,  0.00000000e+00,
       -4.34226635e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18788575, -0.06903618,  0.0616816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94176578e-05, 4.04637900e-05,-6.60924632e-06, 3.73330777e-05,
 -4.03518947e-05,-9.49304900e-04,-1.99479601e-04,-7.75053368e-05,
  6.26781472e-06, 1.64310568e-05, 2.76780423e-05, 2.96445927e-05,
 -3.05851710e-05,-5.74859885e-05,-1.37815741e-05, 3.89056320e-05,
 -2.62664289e-04,-1.67739222e-03,-4.90358540e+00,-2.36120403e-03,
  2.07363752e-03,-9.15959579e-03]


--- Step 1864 ---
qpos:
[ 0.01867172, 0.03002203,-0.00942354,-0.02526463,-0.00345427, 1.3231576 ,
 -0.02987413, 0.94296016, 0.01158972, 0.02732709,-0.00827984, 0.0264588 ,
  1.31846431, 0.00762697, 1.26179887, 0.04462645,-0.09786313,-0.07927449,
  0.09225704, 0.62377894, 0.25415281,-0.66102829,-0.33067776]

qacc:
[-4.12352239e+00,-1.06184521e-01,-1.72501422e+00, 9.21924439e+00,
 -1.21127081e-01,-1.39907283e+01, 3.47126701e+01,-3.59852838e+01,
 -2.34281241e+00, 2.05495860e+00,-1.21848462e+01, 3.06273783e+01,
  3.09400664e-01,-7.16140281e-01,-9.19440152e+00, 3.12273123e+01,
  4.77259782e+00,-3.88238132e-01,-1.65557633e+00,-1.20723620e+02,
  9.97969431e+01, 1.50079856e+01]

qfrc_actuator:
[ 2.71120366e-06, 8.98969664e-04, 8.65694220e-05,-6.51625658e-05,
  8.69075180e-06, 5.28913635e-02, 1.10180467e-02, 2.56473574e-03,
 -7.37589074e-05, 8.70023176e-04, 2.24657214e-04, 9.63164728e-05,
  6.46189582e-03,-1.59965277e-03, 0.00000000e+00,-1.13328262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.31098408, -8.32142593,  2.31098408, 88.15491698,
       22.08348814, -8.32142593, 22.08348814, 14.76927763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006309238315200792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55514102e-07,  4.55514102e-07,  1.00000000e+00, -2.07493097e-13,
        1.00000000e+00, -4.55514102e-07, -1.00000000e+00,  2.52435490e-29,
        4.55514102e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18880837, -0.07088549,  0.06168517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48266071e-05, 1.91723365e-06, 2.07441906e-05, 2.43699599e-05,
 -3.50866754e-05,-9.96784621e-04,-1.87169921e-04,-8.47483141e-05,
 -1.41627825e-05,-2.38196657e-05,-7.31153857e-06, 5.22671535e-05,
 -4.91062534e-05,-4.79597232e-05,-4.16183611e-06, 1.49698894e-04,
  2.05810479e-04,-1.88368923e-03,-4.90353133e+00,-2.83858768e-03,
  1.52378591e-03,-9.18613127e-03]


--- Step 1865 ---
qpos:
[ 0.01867082, 0.03002165,-0.00942374,-0.02526481,-0.00345391, 1.3235237 ,
 -0.02986765, 0.94297683, 0.01158952, 0.02732795,-0.00827943, 0.02645939,
  1.31866391, 0.0076269 , 1.26193331, 0.0446253 ,-0.09781943,-0.07936607,
  0.09225718, 0.62390059, 0.25475241,-0.66012196,-0.3317955 ]

qacc:
[ 3.67456578e+00,-1.76631951e+00, 5.07379597e+00,-2.02799489e+00,
 -9.49491250e-02,-1.00016589e+01, 1.89418907e+01,-7.01243829e+00,
 -1.47582558e+00, 4.45428140e-01,-9.80398211e-01,-7.86534521e-01,
 -1.24406371e+00, 1.55693273e+00, 1.84117285e+01,-6.22692666e+01,
  4.17528857e+00,-2.70382532e-01,-2.77768709e+00,-1.06013484e+02,
  8.56155827e+01, 1.94710265e+01]

qfrc_actuator:
[ 2.53420438e-05, 9.04320699e-04, 1.29385637e-04,-5.19896851e-05,
  1.86399979e-06, 5.24722985e-02, 1.10117110e-02, 2.58256809e-03,
 -8.21963422e-05, 8.81365355e-04, 2.15369989e-04, 8.99157967e-05,
  6.44273044e-03,-1.56040809e-03, 0.00000000e+00,-1.43744849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006173838375451872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79827031e-14,  8.99135155e-15,  1.00000000e+00, -1.61688805e-28,
        1.00000000e+00, -8.99135155e-15, -1.00000000e+00,  0.00000000e+00,
        1.79827031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18953854, -0.07192298,  0.06169092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19081663e-05, 1.17686863e-05, 4.66279672e-05, 1.44522374e-05,
 -2.75405615e-05,-1.01238414e-03,-2.25588782e-04,-1.90414779e-05,
 -8.85908093e-06,-1.29188874e-06,-1.33175911e-05,-6.66145761e-06,
 -5.48901010e-05, 1.36368057e-05, 1.22620909e-05,-2.96931333e-04,
  6.80181482e-04,-1.99612282e-03,-4.90338213e+00,-3.22263868e-03,
  1.07530382e-03,-9.21105696e-03]


--- Step 1866 ---
qpos:
[ 0.01866952, 0.03002137,-0.00942321,-0.02526452,-0.00345356, 1.32388191,
 -0.02986198, 0.94299397, 0.01158923, 0.02732866,-0.00827876, 0.02645955,
  1.31886314, 0.00762718, 1.26206806, 0.04461854,-0.09780504,-0.07945061,
  0.09226983, 0.62374307, 0.25544402,-0.65954995,-0.33269625]

qacc:
[-3.50955644e+00,-9.17408527e-01, 1.44523152e+00, 5.60969632e+00,
 -8.30989807e-03,-7.40884992e+00, 1.07208096e+01, 9.78046389e-01,
 -8.40285127e-01,-1.80379201e+00, 7.96608032e+00,-1.57597135e+01,
 -9.68983509e-01, 1.24401356e+00, 1.75305890e+01,-6.04080290e+01,
 -7.33006376e+00, 1.76091475e+00, 3.12661629e+00, 1.91347754e+02,
 -1.53539189e+02, 3.35917760e+01]

qfrc_actuator:
[ 3.51749470e-06, 9.25497352e-04, 1.72451379e-04,-2.64029020e-05,
  1.55107420e-05, 5.20793119e-02, 1.09698304e-02, 2.60412915e-03,
 -8.70768798e-05, 8.70043046e-04, 2.27519586e-04, 6.81589042e-05,
  6.43472937e-03,-1.53710097e-03, 0.00000000e+00,-1.72262826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0063022999774648494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80807823e-15,  4.40403912e-15,  1.00000000e+00,  3.87911211e-29,
        1.00000000e+00, -4.40403912e-15, -1.00000000e+00,  0.00000000e+00,
       -8.80807823e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0100742 , -0.09735184,  0.06168546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11830722e-05, 3.80335645e-05, 5.17463408e-05, 2.79862829e-05,
 -2.62175789e-06,-1.00040633e-03,-2.66615972e-04,-1.53952649e-05,
 -5.13638779e-06,-1.51222572e-05, 9.99584230e-06,-2.24065305e-05,
 -3.32843714e-05, 1.48752441e-05,-3.35982612e-05,-3.01532078e-04,
  1.12888823e-03,-2.05598471e-03,-4.90316332e+00,-3.52295840e-03,
  7.25646724e-04,-9.23434245e-03]


--- Step 1867 ---
qpos:
[ 0.01866831, 0.03002117,-0.00942208,-0.02526426,-0.00345302, 1.32423268,
 -0.02985707, 0.94301085, 0.01158922, 0.02732927,-0.00827829, 0.02646016,
  1.31906228, 0.00762722, 1.26220189, 0.04461441,-0.09781588,-0.07952921,
  0.09228777, 0.62334647, 0.25621467,-0.65926511,-0.33341076]

qacc:
[ 8.18345770e-01,-1.60783203e+00, 6.00629224e+00,-7.51125777e+00,
  8.51633116e-02,-8.14481963e+00, 1.52854944e+01,-1.14898595e+01,
  2.45762287e+00, 1.34732002e+00,-6.88947155e+00, 1.50849159e+01,
  3.48683147e-01,-5.88778460e-01,-9.35302190e+00, 3.06285588e+01,
 -6.30391660e+00, 1.48509954e+00, 1.32193705e+00, 1.64370340e+02,
 -1.31463693e+02, 2.89264681e+01]

qfrc_actuator:
[ 8.94434153e-06, 9.20505536e-04, 1.97638694e-04,-2.92088201e-05,
  4.13271338e-05, 5.17404731e-02, 1.09429146e-02, 2.59218635e-03,
 -7.20742229e-05, 8.63059690e-04, 2.16638581e-04, 9.08073548e-05,
  6.42810233e-03,-1.55894796e-03, 0.00000000e+00,-1.56812167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006394855674853053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68059485e-15,  4.34029742e-15,  1.00000000e+00,  3.76763635e-29,
        1.00000000e+00, -4.34029742e-15, -1.00000000e+00,  0.00000000e+00,
       -8.68059485e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01027381, -0.09732535,  0.06168163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81988957e-06, 2.81618134e-05, 4.03825113e-05, 1.15768887e-06,
  2.42342992e-05,-9.47484708e-04,-2.53857334e-04,-4.96686874e-05,
  1.48504219e-05,-1.43717392e-05,-1.35653308e-05, 2.19069383e-05,
 -2.15254497e-05,-2.44863120e-05,-5.24328078e-05, 1.32645063e-04,
  3.34527333e-04,-1.60288053e-03,-4.90376192e+00,-2.92440203e-03,
  1.48497640e-03,-9.24420495e-03]


--- Step 1868 ---
qpos:
[ 0.01866751, 0.0300209 ,-0.00942052,-0.02526435,-0.00345253, 1.32457644,
 -0.02985252, 0.9430274 , 0.01159008, 0.02733011,-0.0082781 , 0.026461  ,
  1.31926092, 0.00762762, 1.26233533, 0.04461273,-0.09784845,-0.07960279,
  0.09230478, 0.62274433, 0.25705328,-0.65922728,-0.33396482]

qacc:
[ 3.61004578e+00,-2.03498199e+00, 8.60992680e+00,-1.53308129e+01,
 -2.04520461e-02,-8.80514238e+00, 1.82960040e+01,-1.52509702e+01,
  7.40533395e+00, 1.53731402e+00,-6.06757337e+00, 1.04053370e+01,
 -4.15724510e-01, 5.64421785e-01,-7.97661958e+00, 2.71513662e+01,
 -5.43618860e+00, 1.25488853e+00,-2.30947539e-01, 1.41581604e+02,
 -1.12850897e+02, 2.49841382e+01]

qfrc_actuator:
[ 3.03816903e-05, 8.99790839e-04, 2.11946484e-04,-4.87327476e-05,
  2.09752896e-05, 5.14368344e-02, 1.09430121e-02, 2.57841980e-03,
 -2.77372082e-05, 8.94181282e-04, 2.10037471e-04, 1.03882396e-04,
  6.40098460e-03,-1.53641589e-03, 0.00000000e+00,-1.43983409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006391958286577917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68452965e-15,  4.34226482e-15,  1.00000000e+00,  3.77105276e-29,
        1.00000000e+00, -4.34226482e-15, -1.00000000e+00,  0.00000000e+00,
       -8.68452965e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01026301, -0.09733526,  0.06168186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15853905e-05, 3.42210564e-06, 2.51274236e-05,-1.69011120e-05,
 -6.10232054e-06,-8.81484534e-04,-2.16033891e-04,-5.03335668e-05,
  4.47691729e-05, 2.11973905e-05,-1.04973573e-05, 1.24117202e-05,
 -4.43042491e-05, 1.06618793e-05,-9.06434690e-06, 1.29023446e-04,
 -1.74464423e-04,-1.24752254e-03,-4.90399170e+00,-2.45323004e-03,
  2.07710909e-03,-9.25529088e-03]


--- Step 1869 ---
qpos:
[ 0.01866664, 0.03002078,-0.00941912,-0.02526465,-0.00345217, 1.32491349,
 -0.02984795, 0.94304466, 0.01159112, 0.02733129,-0.00827779, 0.0264616 ,
  1.31945894, 0.00762838, 1.26246881, 0.04461158,-0.09789983,-0.07967212,
  0.09231555, 0.62196477, 0.25795042,-0.65940229,-0.33438008]

qacc:
[-7.07230409e-01, 1.94153865e-01, 4.96224397e-01,-4.09454970e+00,
 -5.49316012e-02,-7.64687394e+00, 1.28373390e+01, 1.29447836e+00,
  1.53711095e+00,-3.80799754e-01, 3.02374373e+00,-7.61576535e+00,
 -6.90814136e-01, 8.51061075e-01,-1.44724552e+00, 5.30935346e+00,
 -4.70107178e+00, 1.06260936e+00,-1.56104640e+00, 1.22320229e+02,
 -9.71459452e+01, 2.16541736e+01]

qfrc_actuator:
[ 2.55570218e-05, 9.05255249e-04, 2.01890330e-04,-6.02007201e-05,
  8.59701377e-06, 5.11390984e-02, 1.09592101e-02, 2.61699238e-03,
 -1.97534359e-05, 9.30140199e-04, 2.23920946e-04, 9.34990214e-05,
  6.36161221e-03,-1.52327255e-03, 0.00000000e+00,-1.41692411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006312408000401476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.7939739e-15,  8.7939739e-15,  1.0000000e+00,  7.7333977e-29,
        1.0000000e+00, -8.7939739e-15, -1.0000000e+00,  0.0000000e+00,
       -8.7939739e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01008543, -0.09737373,  0.0616853 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19553757e-06, 1.18455061e-05,-6.85446925e-06,-1.07846729e-05,
 -1.60075686e-05,-8.31636074e-04,-1.82726017e-04, 5.07293331e-06,
  9.30538930e-06, 4.61600429e-05, 1.73837686e-05,-9.60251229e-06,
 -5.90487786e-05, 5.88152885e-06, 7.51017611e-06, 2.83547091e-05,
 -4.84564511e-04,-9.67524873e-04,-4.90398134e+00,-2.07966097e-03,
  2.54003689e-03,-9.26715514e-03]


--- Step 1870 ---
qpos:
[ 0.01866606, 0.03002106,-0.009418  ,-0.02526477,-0.0034518 , 1.32524363,
 -0.02984287, 0.94306224, 0.01159156, 0.02733267,-0.00827781, 0.02646212,
  1.31965676, 0.00762854, 1.26260253, 0.0446087 ,-0.09796753,-0.07973784,
  0.09231553, 0.62103132, 0.25889805,-0.65976112,-0.33467472]

qacc:
[ 2.50417918e+00, 1.68299399e+00,-6.03221207e+00, 9.40666107e+00,
  3.64645580e-03,-9.86726861e+00, 2.05666583e+01,-9.69323408e+00,
 -5.14282319e+00, 1.05259374e+00,-3.02787792e+00, 2.04671714e+00,
  7.30992514e-02,-5.12827823e-01, 5.55370021e+00,-1.89378018e+01,
 -4.07762981e+00, 9.01992587e-01,-2.69502262e+00, 1.06052741e+02,
 -8.39014753e+01, 1.88448021e+01]

qfrc_actuator:
[ 4.08134355e-05, 9.44002162e-04, 1.95393055e-04,-4.90766344e-05,
  1.88566306e-05, 5.07941648e-02, 1.09848459e-02, 2.63280818e-03,
 -5.09931747e-05, 9.15531901e-04, 1.96548344e-04, 8.71726480e-05,
  6.34154493e-03,-1.56916622e-03, 0.00000000e+00,-1.50954507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061721049909192055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.49693835e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.49693835e-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([-0.0097762 , -0.09743449,  0.06169128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51380201e-05, 4.34833310e-05,-5.28134377e-06, 1.11822514e-05,
  7.92722232e-07,-8.43017504e-04,-1.58107816e-04,-1.39322278e-05,
 -3.09472110e-05, 1.43428713e-05,-1.60467781e-05,-3.93847283e-06,
 -4.83187515e-05,-5.80139166e-05, 2.33489377e-06,-9.10154912e-05,
 -6.57646804e-04,-7.45724218e-04,-4.90381888e+00,-1.78137888e-03,
  2.90239841e-03,-9.27947490e-03]


--- Step 1871 ---
qpos:
[ 0.01866601, 0.03002196,-0.00941737,-0.02526512,-0.00345123, 1.32556654,
 -0.02983785, 0.94307857, 0.01159162, 0.02733386,-0.00827769, 0.02646224,
  1.31985425, 0.00762842, 1.26273634, 0.04460408,-0.09800496,-0.0798049 ,
  0.09232752, 0.62041216, 0.25967418,-0.65981237,-0.33512043]

qacc:
[ 4.53757556e+00, 1.72857380e+00,-4.01288912e+00, 4.20907340e-01,
  8.50685633e-02,-1.15079375e+01, 2.86744974e+01,-3.49460187e+01,
 -3.21519997e+00,-1.50790358e+00, 6.74464368e+00,-1.39232894e+01,
 -2.16173696e-01,-2.41391695e-02, 5.42628574e+00,-1.87815968e+01,
  7.56421741e+00,-3.37043186e-01, 3.00026238e+00,-1.95246344e+02,
  1.50933670e+02, 2.24436589e+01]

qfrc_actuator:
[ 6.77759210e-05, 9.84655659e-04, 1.73461430e-04,-6.02184381e-05,
  4.26133839e-05, 5.03882819e-02, 1.09623895e-02, 2.56405568e-03,
 -6.95526210e-05, 8.88345549e-04, 1.98090433e-04, 6.54623558e-05,
  6.32771976e-03,-1.57865862e-03, 0.00000000e+00,-1.59844049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006333031772001382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75306720e-14,  6.57400198e-15,  1.00000000e+00,  1.15246672e-28,
        1.00000000e+00, -6.57400198e-15, -1.00000000e+00,  0.00000000e+00,
       -1.75306720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1891962 , -0.07202176,  0.06168448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74165207e-05, 6.43411892e-05,-1.32305186e-05,-9.24841557e-06,
  2.41930904e-05,-9.05964190e-04,-2.06172404e-04,-9.85691781e-05,
 -1.94556574e-05,-2.27093205e-05, 2.37678667e-06,-2.17303311e-05,
 -5.21448560e-05,-3.75946023e-05,-1.29789398e-05,-9.45486755e-05,
 -7.37720376e-04,-5.68949528e-04,-4.90356405e+00,-1.54151940e-03,
  3.18596914e-03,-9.29201471e-03]


--- Step 1872 ---
qpos:
[ 0.01866594, 0.03002315,-0.00941661,-0.02526559,-0.00345029, 1.32588216,
 -0.0298331 , 0.94309467, 0.01159181, 0.02733495,-0.00827759, 0.02646243,
  1.32005118, 0.00762843, 1.26286981, 0.04460041,-0.09801642,-0.07987324,
  0.09234435, 0.62006314, 0.26030303,-0.65960034,-0.33569543]

qacc:
[-1.79124705e-01,-2.38798589e-01, 1.92793136e+00,-4.54987191e+00,
  1.60508411e-01,-9.21061320e+00, 1.89636994e+01,-1.45465078e+01,
  1.03629141e+00, 1.31815010e-01,-1.00504844e+00, 2.58049203e+00,
 -4.42180509e-01, 4.38484355e-01,-3.36192880e+00, 1.11418668e+01,
  6.49367679e+00,-3.18181965e-01, 1.20900415e+00,-1.67532065e+02,
  1.29321696e+02, 1.95593796e+01]

qfrc_actuator:
[ 6.59010847e-05, 9.90555513e-04, 1.78097853e-04,-6.66284266e-05,
  7.42734728e-05, 5.00199260e-02, 1.09469372e-02, 2.55253438e-03,
 -6.27342451e-05, 8.89426687e-04, 1.98875408e-04, 7.03882512e-05,
  6.30168140e-03,-1.56637628e-03, 0.00000000e+00,-1.54236100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0064301944016240745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18898062, -0.07205822,  0.06168048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05601389e-06, 3.87205837e-05, 1.59573455e-05,-4.29687172e-06,
  4.58902991e-05,-9.15157341e-04,-2.19428789e-04,-4.66127516e-05,
  6.24530658e-06,-1.21095785e-05,-4.37984269e-06, 3.60968178e-06,
 -6.17497394e-05,-1.06086876e-05,-1.98392817e-05, 4.84088643e-05,
 -4.66399013e-04,-7.11173833e-04,-4.90412643e+00,-2.04479435e-03,
  2.52708443e-03,-9.31147378e-03]


--- Step 1873 ---
qpos:
[ 0.01866654, 0.03002436,-0.00941515,-0.02526581,-0.00344926, 1.32619051,
 -0.02982804, 0.94311048, 0.01159242, 0.0273355 ,-0.0082773 , 0.02646308,
  1.32024767, 0.00762832, 1.26300286, 0.04459975,-0.09800553,-0.07994278,
  0.09235984, 0.61994658, 0.26080495,-0.6591621 ,-0.33638126]

qacc:
[ 5.75065815e+00,-1.41507485e+00, 3.97854430e+00,-5.69110734e-01,
  3.53883796e-02,-1.08978798e+01, 2.46256967e+01,-2.01355523e+01,
  3.64447036e+00,-3.44112365e-01,-1.70294846e+00, 9.51408763e+00,
 -1.47652646e-02,-1.88514765e-01,-9.73537763e+00, 3.31127816e+01,
  5.58885666e+00,-2.99015934e-01,-3.32898315e-01,-1.44123714e+02,
  1.11075556e+02, 1.70793096e+01]

qfrc_actuator:
[ 1.00321647e-04, 9.93454446e-04, 2.16010043e-04,-5.24546016e-05,
  5.71599160e-05, 4.96770397e-02, 1.09714428e-02, 2.53932213e-03,
 -4.10370514e-05, 8.36434835e-04, 1.99325699e-04, 9.09666483e-05,
  6.27899926e-03,-1.57684762e-03, 0.00000000e+00,-1.38355733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0064301463611824705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.15823825e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.15823825e-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([-0.18898806, -0.07206817,  0.06168059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43984014e-05, 2.76120612e-05, 4.77044703e-05, 1.62968407e-05,
  9.90929594e-06,-8.95743977e-04,-1.81242079e-04,-4.77746464e-05,
  2.18795308e-05,-6.05520578e-05,-2.48010578e-06, 1.99748362e-05,
 -5.65506798e-05,-2.78637000e-05,-6.36310163e-06, 1.58395758e-04,
 -1.38725342e-04,-8.22033429e-04,-4.90433455e+00,-2.43533110e-03,
  2.02257010e-03,-9.32959074e-03]


--- Step 1874 ---
qpos:
[ 0.01866755, 0.03002574,-0.00941352,-0.02526583,-0.00344842, 1.32649235,
 -0.02982329, 0.94312494, 0.01159363, 0.02733546,-0.00827719, 0.02646365,
  1.32044369, 0.00762831, 1.26313575, 0.04460165,-0.09797534,-0.08001344,
  0.09236872, 0.6200304 , 0.26119707,-0.65852869,-0.33716221]

qacc:
[ 3.50201458e+00, 1.52755867e-01,-1.05530092e+00, 4.01909164e+00,
 -7.81139838e-02,-9.99571097e+00, 2.50578769e+01,-3.32345933e+01,
  5.12849992e+00,-4.59145050e-01, 7.60134858e-01,-1.22254613e+00,
 -2.31646434e-01, 1.97391089e-01,-7.94226694e+00, 2.74797423e+01,
  4.82275047e+00,-2.79884874e-01,-1.65408602e+00,-1.24340246e+02,
  9.56612752e+01, 1.49520024e+01]

qfrc_actuator:
[ 1.20333947e-04, 9.94688125e-04, 2.19992244e-04,-4.40231629e-05,
  2.86792042e-05, 4.93878322e-02, 1.09661761e-02, 2.47198679e-03,
 -1.07649781e-05, 7.86990218e-04, 1.81612125e-04, 8.50364505e-05,
  6.26366588e-03,-1.56525828e-03, 0.00000000e+00,-1.25430983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006352000055541367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74783220e-14,  6.55437076e-15,  1.00000000e+00, -1.14559403e-28,
        1.00000000e+00, -6.55437076e-15, -1.00000000e+00,  0.00000000e+00,
        1.74783220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18917213, -0.07205688,  0.06168395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10163905e-05, 2.71737748e-05, 1.60913088e-05, 1.15744044e-05,
 -2.26705825e-05,-8.23835316e-04,-2.02894663e-04,-1.00230797e-04,
  3.08932791e-05,-8.29773276e-05,-2.98473533e-05,-8.22627335e-06,
 -5.00713256e-05,-9.89543546e-06, 1.21363980e-05, 1.36695204e-04,
  2.12132903e-04,-9.09727620e-04,-4.90431194e+00,-2.74021892e-03,
  1.63631535e-03,-9.34656279e-03]


--- Step 1875 ---
qpos:
[ 0.0186681 , 0.03002725,-0.00941235,-0.02526604,-0.00344768, 1.32678806,
 -0.02981891, 0.9431395 , 0.01159485, 0.02733507,-0.00827766, 0.0264638 ,
  1.32063926, 0.00762842, 1.26326878, 0.04460408,-0.09792846,-0.08008514,
  0.09236647, 0.62028731, 0.26149381,-0.65772619,-0.338025  ]

qacc:
[-3.93635548e+00, 1.03613381e+00,-2.60839937e+00,-1.71517600e-01,
 -4.44026064e-02,-6.90091727e+00, 1.25787975e+01,-5.94168866e+00,
  6.45426889e-02, 3.00585229e-01, 6.93664700e-02,-6.24895958e+00,
 -4.08603998e-01, 4.19015431e-01,-1.36653029e+00, 5.18056791e+00,
  4.17344344e+00,-2.61112192e-01,-2.78086908e+00,-1.07632485e+02,
  8.26478831e+01, 1.31328484e+01]

qfrc_actuator:
[ 9.61887797e-05, 9.77026286e-04, 1.86128634e-04,-5.68246035e-05,
  2.91180841e-05, 4.91152271e-02, 1.09613048e-02, 2.47986405e-03,
 -1.11984301e-05, 7.75456072e-04, 1.53290848e-04, 6.35378331e-05,
  6.24210824e-03,-1.55836114e-03, 0.00000000e+00,-1.23230900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006211926534690125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78724429e-14,  6.70216610e-15,  1.00000000e+00, -1.19784081e-28,
        1.00000000e+00, -6.70216610e-15, -1.00000000e+00,  0.00000000e+00,
        1.78724429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18949563, -0.07202861,  0.06168987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35304308e-05, 1.28762938e-06,-2.59060214e-05,-1.08636234e-05,
 -1.29582454e-05,-7.73222218e-04,-1.92428910e-04,-2.47189162e-05,
  4.44141758e-07,-6.44398408e-05,-4.94244479e-05,-2.62498490e-05,
 -4.85773712e-05,-7.90998870e-06, 1.70958173e-05, 3.03487002e-05,
  5.65870765e-04,-9.80212583e-04,-4.90414392e+00,-2.97971791e-03,
  1.34116686e-03,-9.36254313e-03]


--- Step 1876 ---
qpos:
[ 0.01866835, 0.03002849,-0.00941167,-0.0252667 ,-0.00344687, 1.32707775,
 -0.02981498, 0.943153  , 0.01159536, 0.0273343 ,-0.00827823, 0.02646366,
  1.32083451, 0.00762835, 1.26340195, 0.04460611,-0.09791087,-0.08014983,
  0.09237656, 0.6202621 , 0.26190193,-0.65724972,-0.33868143]

qacc:
[-2.52764668e+00, 1.33960239e-01, 8.89057913e-01,-7.55693652e+00,
  3.58506468e-02,-8.50072165e+00, 2.03758235e+01,-2.61386338e+01,
 -6.00342000e+00,-8.09484959e-01, 3.38907817e+00,-7.94868800e+00,
 -1.92864706e-01, 2.27882426e-02, 1.44245381e+00,-4.71692596e+00,
 -7.32345402e+00, 1.75206893e+00, 3.08245763e+00, 1.94404743e+02,
 -1.48086090e+02, 2.23193843e+01]

qfrc_actuator:
[ 8.17560779e-05, 9.30244505e-04, 1.47859468e-04,-8.20539770e-05,
  4.69032220e-05, 4.88193153e-02, 1.09391005e-02, 2.42545190e-03,
 -4.74566501e-05, 7.68896163e-04, 1.54587624e-04, 5.08344274e-05,
  6.22215758e-03,-1.57209119e-03, 0.00000000e+00,-1.25590722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006286015287872822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76617933e-14,  4.41544832e-15,  1.00000000e+00,  7.79847353e-29,
        1.00000000e+00, -4.41544832e-15, -1.00000000e+00,  0.00000000e+00,
       -1.76617933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01002535, -0.09747228,  0.0616867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51223719e-05,-5.19550671e-05,-4.16001727e-05,-2.62867142e-05,
  1.01160363e-05,-7.64159139e-04,-1.96443366e-04,-8.34382558e-05,
 -3.62662683e-05,-5.39061019e-05,-1.89991635e-05,-1.76841060e-05,
 -4.60015381e-05,-2.74940320e-05, 6.74282277e-06,-2.07251564e-05,
  9.10580624e-04,-1.03783865e-03,-4.90388881e+00,-3.16906724e-03,
  1.11658286e-03,-9.37765152e-03]


--- Step 1877 ---
qpos:
[ 0.01866878, 0.03002916,-0.00941133,-0.02526763,-0.00344591, 1.32736178,
 -0.02981209, 0.94316541, 0.01159578, 0.02733324,-0.00827887, 0.0264637 ,
  1.32102947, 0.00762832, 1.26353505, 0.04460851,-0.09791848,-0.08020861,
  0.09239178, 0.61999535, 0.26240486,-0.65705374,-0.3391605 ]

qacc:
[ 1.45415983e+00,-3.78268686e-01, 1.38252659e+00,-5.06411190e+00,
  5.69866600e-02,-6.47946754e+00, 1.44092793e+01,-2.16173726e+01,
 -8.01904480e-01, 2.00122855e-01,-2.02527804e+00, 5.47098398e+00,
 -2.08252536e-01, 1.76099829e-01,-1.23818549e+00, 4.21168182e+00,
 -6.29891173e+00, 1.47752512e+00, 1.28537102e+00, 1.66811764e+02,
 -1.27089010e+02, 1.96721467e+01]

qfrc_actuator:
[ 9.09226537e-05, 8.84083683e-04, 1.24925072e-04,-9.66629861e-05,
  5.71964751e-05, 4.85472495e-02, 1.08889643e-02, 2.37028362e-03,
 -5.12426953e-05, 7.65497279e-04, 1.55651459e-04, 6.11930521e-05,
  6.21915365e-03,-1.56244832e-03, 0.00000000e+00,-1.23512851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006375532565253354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.3534521e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.3534521e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01021981, -0.09745484,  0.061683  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.70605624e-06,-8.49883248e-05,-3.97184686e-05,-1.87868436e-05,
  1.62312242e-05,-7.37807107e-04,-2.24775448e-04,-8.54111046e-05,
 -4.86865431e-06,-3.82021081e-05,-1.30053329e-05, 7.05188396e-06,
 -3.26894454e-05,-9.10412825e-06,-3.21755812e-06, 1.95796257e-05,
  2.98534660e-04,-7.70261285e-04,-4.90439620e+00,-2.79047150e-03,
  1.62576095e-03,-9.38413649e-03]


--- Step 1878 ---
qpos:
[ 0.01866896, 0.03002942,-0.00941134,-0.02526874,-0.00344483, 1.32763994,
 -0.02980986, 0.94317776, 0.01159615, 0.02733167,-0.00827941, 0.02646388,
  1.32122403, 0.00762862, 1.26366794, 0.04461247,-0.09794782,-0.0802624 ,
  0.09240596, 0.61952095, 0.26298862,-0.65709941,-0.33948659]

qacc:
[-2.04963292e+00, 7.68415389e-02,-2.97568659e-01,-2.01488886e+00,
  5.36623617e-02,-6.03051520e+00, 1.04928077e+01,-6.11120683e+00,
 -4.06218628e-01,-6.65174390e-01, 8.19732317e-01, 1.79195412e+00,
 -4.03613083e-01, 5.69302173e-01,-4.98702721e+00, 1.70885861e+01,
 -5.43261630e+00, 1.24858958e+00,-2.60449368e-01, 1.43537601e+02,
 -1.09349432e+02, 1.73608756e+01]

qfrc_actuator:
[ 7.83979441e-05, 8.74211728e-04, 1.11225957e-04,-1.04896963e-04,
  6.29110341e-05, 4.82560425e-02, 1.08583554e-02, 2.36837943e-03,
 -5.36260485e-05, 7.28550015e-04, 1.56591697e-04, 6.72837446e-05,
  6.20502224e-03,-1.53890987e-03, 0.00000000e+00,-1.15283968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.65672634,  7.27335388, -4.65672634, 69.56217563,
       39.00742878,  7.27335388, 39.00742878, 33.61066354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006370540549581194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.71372701e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.71372701e-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([-0.0102057 , -0.09747054,  0.0616833 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23005689e-05,-6.64286845e-05,-3.68044175e-05,-1.36133796e-05,
  1.52601637e-05,-7.47929244e-04,-2.03367771e-04,-3.22421202e-05,
 -2.54305058e-06,-6.06489672e-05,-8.28839709e-06, 4.14481348e-06,
 -3.28463174e-05, 1.33316942e-05,-2.50796489e-06, 8.22359180e-05,
 -6.92937241e-05,-5.60958143e-04,-4.90456384e+00,-2.48937170e-03,
  2.02324446e-03,-9.39147048e-03]


--- Step 1879 ---
qpos:
[ 0.01866934, 0.03002965,-0.00941176,-0.02526999,-0.0034438 , 1.32791236,
 -0.02980783, 0.94318962, 0.0115958 , 0.02732979,-0.00828057, 0.02646451,
  1.32141816, 0.00762926, 1.26380111, 0.0446147 ,-0.09799596,-0.08031196,
  0.09241381, 0.6188673 , 0.26364144,-0.65735365,-0.3396802 ]

qacc:
[ 1.64222742e+00, 7.94714675e-01,-2.28632588e+00, 5.20535083e-01,
 -1.97106753e-02,-7.85938451e+00, 1.75524674e+01,-1.73324542e+01,
 -6.16730433e+00, 2.25084077e+00,-1.04833054e+01, 1.93680406e+01,
 -7.07127081e-01, 8.99758807e-01, 5.74696618e+00,-1.93240853e+01,
 -4.69878499e+00, 1.05761311e+00,-1.58410169e+00, 1.23893390e+02,
 -9.43540479e+01, 1.53501850e+01]

qfrc_actuator:
[ 8.87039024e-05, 9.03946095e-04, 1.03230156e-04,-1.09282187e-04,
  4.80802310e-05, 4.79913271e-02, 1.08572466e-02, 2.34458077e-03,
 -9.06806541e-05, 7.07309512e-04, 1.21805097e-04, 8.85353305e-05,
  6.17890873e-03,-1.52511644e-03, 0.00000000e+00,-1.24800863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.82849464,  7.16047599, -4.82849464, 67.68633503,
       39.81892694,  7.16047599, 39.81892694, 35.48729863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006289671419532461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.20644083e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.20644083e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01002631, -0.09751231,  0.06168678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92583495e-06,-1.56073311e-05,-2.67193681e-05,-8.76535880e-06,
 -5.85798898e-06,-7.21201491e-04,-1.71841338e-04,-5.25891541e-05,
 -3.71555418e-05,-5.66274759e-05,-4.81673205e-05, 1.84508813e-05,
 -3.94306074e-05, 1.00294531e-05, 4.88977785e-06,-9.16145426e-05,
 -2.68407741e-04,-3.97288789e-04,-4.90451076e+00,-2.24897313e-03,
  2.33258320e-03,-9.39933624e-03]


--- Step 1880 ---
qpos:
[ 0.01867019, 0.03003034,-0.0094123 ,-0.02527102,-0.00344288, 1.32817959,
 -0.02980583, 0.9432014 , 0.01159501, 0.02732807,-0.00828239, 0.02646532,
  1.32161195, 0.00763007, 1.26393467, 0.04461277,-0.0980604 ,-0.08035792,
  0.09241081, 0.6180582 , 0.2643534 ,-0.65778832,-0.33975854]

qacc:
[ 3.97565679e+00, 1.40947719e+00,-5.08954281e+00, 8.78502422e+00,
 -4.37664866e-02,-6.85048943e+00, 1.42817009e+01,-1.00730717e+01,
 -3.79663807e+00, 2.44047974e+00,-9.20743828e+00, 1.34520357e+01,
 -7.28672782e-01, 8.64002854e-01, 1.32239405e+01,-4.52656701e+01,
 -4.07649950e+00, 8.98298984e-01,-2.71229112e+00, 1.07323864e+02,
 -8.16878572e+01, 1.36085307e+01]

qfrc_actuator:
[ 1.12372398e-04, 9.74963550e-04, 1.16590030e-04,-9.35762709e-05,
  3.87978167e-05, 4.77802315e-02, 1.08736353e-02, 2.34360707e-03,
 -1.12341145e-04, 7.48764364e-04, 1.01772606e-04, 1.00770547e-04,
  6.16160125e-03,-1.51728827e-03, 0.00000000e+00,-1.46473253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061486832150135715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02813648e-15,  4.51406824e-15,  1.00000000e+00,  4.07536241e-29,
        1.00000000e+00, -4.51406824e-15, -1.00000000e+00,  0.00000000e+00,
       -9.02813648e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00971645, -0.09757451,  0.06169277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39536701e-05, 5.63977729e-05, 6.54653344e-06, 1.39452864e-05,
 -1.27631879e-05,-6.47197899e-04,-1.46116644e-04,-2.85166109e-05,
 -2.27743946e-05, 6.95606752e-07,-3.69887510e-05, 8.50783044e-06,
 -3.51274277e-05, 1.73103114e-06,-1.24088905e-05,-2.22208164e-04,
 -3.52838276e-04,-2.69203143e-04,-4.90431845e+00,-2.05625915e-03,
  2.57209267e-03,-9.40749760e-03]


--- Step 1881 ---
qpos:
[ 0.01867097, 0.03003143,-0.00941273,-0.02527152,-0.00344206, 1.32844175,
 -0.02980349, 0.94321339, 0.01159466, 0.02732664,-0.00828432, 0.02646622,
  1.32180562, 0.0076309 , 1.26406786, 0.04461059,-0.09809465,-0.08040555,
  0.09241975, 0.61755855, 0.26490008,-0.657915  ,-0.33999594]

qacc:
[-5.81166244e-01, 1.30332464e+00,-6.12433835e+00, 1.48360595e+01,
 -4.60418928e-02,-7.22591263e+00, 1.50862794e+01,-7.37860910e+00,
  3.70452169e+00, 8.57430078e-01,-2.82829482e+00, 4.18967492e+00,
 -1.00357370e-01, 9.54749528e-02, 2.16240983e-01,-1.51863332e+00,
  7.54673087e+00,-4.15666995e-01, 2.98584809e+00,-1.96614746e+02,
  1.47851525e+02, 1.70699350e+01]

qfrc_actuator:
[ 1.08204102e-04, 9.99270390e-04, 1.24899644e-04,-6.61203618e-05,
  3.29201413e-05, 4.75498001e-02, 1.09004474e-02, 2.35611482e-03,
 -8.92503140e-05, 7.91989886e-04, 1.08628521e-04, 1.07670319e-04,
  6.16556185e-03,-1.51302531e-03, 0.00000000e+00,-1.46722911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006347041940303666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18649694e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18649694e-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([-0.18920737, -0.07213321,  0.06168439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45288441e-06, 5.77823074e-05, 2.12451320e-05, 3.03694209e-05,
 -1.34287120e-05,-6.19798059e-04,-1.17574739e-04,-1.15057239e-05,
  2.24179561e-05, 3.64101091e-05, 2.77785602e-06, 5.82220604e-06,
 -1.43393915e-05,-2.94406128e-06,-3.44972977e-05,-1.73805992e-05,
 -3.60941614e-04,-1.68777434e-04,-4.90404223e+00,-1.90109991e-03,
  2.75607981e-03,-9.41577813e-03]


--- Step 1882 ---
qpos:
[ 0.01867238, 0.03003263,-0.00941319,-0.02527164,-0.00344134, 1.32869858,
 -0.02980096, 0.94322444, 0.01159492, 0.02732528,-0.00828606, 0.02646686,
  1.32199913, 0.0076318 , 1.26420097, 0.04460733,-0.09810299,-0.0804547 ,
  0.09243348, 0.61732503, 0.26530479,-0.65777803,-0.34036927]

qacc:
[ 5.43528856e+00, 1.00648962e+00,-4.98386471e+00, 1.15218368e+01,
 -4.01069733e-02,-9.09584308e+00, 2.31653890e+01,-2.76583531e+01,
  5.33162500e+00,-9.85396533e-01, 4.71164624e+00,-9.52915889e+00,
 -2.48369336e-01, 2.78211514e-01, 3.15362380e+00,-1.11560688e+01,
  6.47958976e+00,-3.80778288e-01, 1.19605357e+00,-1.68621516e+02,
  1.26817368e+02, 1.50511735e+01]

qfrc_actuator:
[ 1.40937874e-04, 9.77677384e-04, 1.12236924e-04,-4.97660642e-05,
  2.91324714e-05, 4.72564642e-02, 1.08976361e-02, 2.30543467e-03,
 -5.77616054e-05, 7.82806637e-04, 1.13576105e-04, 9.36502202e-05,
  6.15564646e-03,-1.51081270e-03, 0.00000000e+00,-1.52096498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006441023414406652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.46378079e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.46378079e-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([-0.18899885, -0.07217025,  0.06168052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26482767e-05, 1.63694497e-05, 2.93131946e-06, 2.01542899e-05,
 -1.17306669e-05,-6.61410144e-04,-1.38083423e-04,-7.26447401e-05,
  3.21513752e-05, 1.20795812e-05, 1.30481269e-05,-1.22458820e-05,
 -1.85943924e-05,-1.60189217e-06,-1.92651192e-05,-5.94630569e-05,
 -2.52927693e-04,-2.70166815e-04,-4.90455264e+00,-2.23276102e-03,
  2.30671269e-03,-9.42794897e-03]


--- Step 1883 ---
qpos:
[ 0.01867383, 0.03003373,-0.00941339,-0.02527155,-0.00344055, 1.32894986,
 -0.02979836, 0.94323483, 0.01159522, 0.02732411,-0.00828774, 0.02646697,
  1.32219224, 0.00763262, 1.26433388, 0.0446041 ,-0.09808902,-0.08050524,
  0.09244582, 0.61732068, 0.26558713,-0.65741451,-0.34085894]

qacc:
[ 3.25964184e-01,-4.43641393e-01, 5.34504523e-01, 2.65240385e+00,
  2.95387540e-02,-8.59693829e+00, 2.06141759e+01,-2.20447692e+01,
  2.61851593e-01,-9.91436852e-01, 6.10002717e+00,-1.53967062e+01,
 -2.53080548e-01, 1.38485030e-01,-3.42997836e-01, 8.19014632e-01,
  5.57742619e+00,-3.48471874e-01,-3.44358656e-01,-1.44985824e+02,
  1.09044570e+02, 1.32812968e+01]

qfrc_actuator:
[ 1.41880707e-04, 9.64172422e-04, 1.22593923e-04,-4.01331246e-05,
  4.43813582e-05, 4.69631743e-02, 1.08948289e-02, 2.27117029e-03,
 -5.71025553e-05, 7.95555781e-04, 1.17127843e-04, 6.73863466e-05,
  6.11611112e-03,-1.52763100e-03, 0.00000000e+00,-1.51575367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006438306127142482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.15550294e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.15550294e-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([-0.1890115 , -0.07217967,  0.06168072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89566340e-06,-2.91394466e-06, 1.47849999e-05, 1.08246599e-05,
  8.30590021e-06,-6.90197981e-04,-1.50342409e-04,-5.95065276e-05,
  1.59900561e-06, 2.17548438e-05, 7.26417334e-06,-2.55288563e-05,
 -4.99139334e-05,-2.12973480e-05,-1.80368342e-05,-1.14728099e-06,
 -5.90395851e-05,-3.49906295e-04,-4.90472371e+00,-2.48472501e-03,
  1.97267397e-03,-9.43936078e-03]


--- Step 1884 ---
qpos:
[ 0.01867493, 0.0300347 ,-0.00941309,-0.02527205,-0.00343979, 1.32919569,
 -0.02979562, 0.94324611, 0.01159553, 0.02732333,-0.00828921, 0.02646673,
  1.32238512, 0.00763301, 1.26446625, 0.04460427,-0.09805579,-0.08055706,
  0.09245151, 0.61751399, 0.26576364,-0.65685553,-0.34144835]

qacc:
[-2.93740640e+00,-2.76692192e+00, 1.20773626e+01,-2.29071702e+01,
 -1.35582846e-02,-6.03591718e+00, 9.21629297e+00, 5.71667020e+00,
  4.73413409e-02,-8.06749701e-01, 5.15285711e+00,-1.19530289e+01,
  3.77264961e-01,-7.78186532e-01,-1.11435838e+01, 3.77048555e+01,
  4.81341500e+00,-3.18585171e-01,-1.66407096e+00,-1.25017358e+02,
  9.40196319e+01, 1.17371563e+01]

qfrc_actuator:
[ 1.24092431e-04, 9.55685164e-04, 1.46480846e-04,-7.00152761e-05,
  3.54208576e-05, 4.67077651e-02, 1.09098160e-02, 2.31786090e-03,
 -5.68450793e-05, 8.39071060e-04, 1.37651974e-04, 5.18974476e-05,
  6.10143624e-03,-1.55576259e-03, 0.00000000e+00,-1.33382118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006357929065188436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74620228e-14,  2.18275285e-15,  1.00000000e+00, -3.81152801e-29,
        1.00000000e+00, -2.18275285e-15, -1.00000000e+00,  0.00000000e+00,
        1.74620228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18919938, -0.07216706,  0.06168416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77384133e-05,-6.64146611e-06, 2.54681646e-05,-2.92871699e-05,
 -4.08572086e-06,-6.70203560e-04,-1.39182612e-04, 2.05200916e-05,
  3.07237694e-07, 5.61507869e-05, 2.50627602e-05,-1.47959822e-05,
 -4.52084337e-05,-4.58418664e-05,-1.11046543e-05, 1.78968751e-04,
  1.81274942e-04,-4.13478071e-04,-4.90467418e+00,-2.67663469e-03,
  1.72649036e-03,-9.45009111e-03]


--- Step 1885 ---
qpos:
[ 0.0186765 , 0.03003573,-0.00941311,-0.02527322,-0.0034391 , 1.32943603,
 -0.02979299, 0.94325788, 0.01159583, 0.02732323,-0.00829084, 0.02646629,
  1.32257779, 0.00763301, 1.26459868, 0.04460525,-0.0980059 ,-0.08061004,
  0.09244605, 0.61787816, 0.26584819,-0.65612716,-0.34212346]

qacc:
[ 3.99909544e+00,-3.99156436e-01, 4.36550170e+00,-1.54657338e+01,
 -2.75083166e-02,-6.08418371e+00, 1.01267867e+01, 4.07436586e-01,
 -1.21622884e-02, 9.50995643e-01,-1.29056336e+00,-2.27084722e+00,
  1.52654971e-01,-4.79194795e-01,-2.37219482e+00, 8.36481671e+00,
  4.16577365e+00,-2.91034052e-01,-2.78942341e+00,-1.08159266e+02,
  8.13276364e+01, 1.03970922e+01]

qfrc_actuator:
[ 1.48689882e-04, 9.50289454e-04, 1.24891811e-04,-1.05144837e-04,
  2.97615469e-05, 4.64239569e-02, 1.08998734e-02, 2.34083284e-03,
 -5.68156031e-05, 8.82999422e-04, 1.32669606e-04, 4.29145762e-05,
  6.09635254e-03,-1.57253928e-03, 0.00000000e+00,-1.29778219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00621600110978366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.23259095e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.23259095e-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([-0.18952555, -0.07213691,  0.06169014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40751488e-05,-5.15046045e-06,-2.08513917e-05,-3.51042710e-05,
 -8.09368583e-06,-6.82907054e-04,-1.56573229e-04,-4.20989431e-07,
  5.36613619e-08, 7.99180029e-05, 9.21844398e-06,-5.99176227e-06,
 -3.83366964e-05,-4.08850564e-05, 1.29418171e-05, 4.41672230e-05,
  4.42913959e-04,-4.64935310e-04,-4.90448608e+00,-2.82317232e-03,
  1.54750432e-03,-9.46020175e-03]


--- Step 1886 ---
qpos:
[ 0.01867801, 0.03003681,-0.0094137 ,-0.02527444,-0.00343833, 1.32967089,
 -0.02979076, 0.94326986, 0.01159613, 0.02732352,-0.00829245, 0.02646647,
  1.32277022, 0.00763276, 1.26473106, 0.04460733,-0.09798537,-0.08065628,
  0.09245289, 0.6179584 , 0.26605126,-0.65572216,-0.34259685]

qacc:
[-5.51359355e-01, 1.54376615e+00,-5.23476508e+00, 5.32816909e+00,
  3.29631705e-02,-5.71878467e+00, 9.55004839e+00,-2.44087778e+00,
 -2.12638720e-02, 1.72118768e+00,-7.96648164e+00, 1.82114812e+01,
  5.18547249e-02,-2.87772413e-01,-3.43205323e+00, 1.18766376e+01,
 -7.33983607e+00, 1.68546923e+00, 3.07643266e+00, 1.95852593e+02,
 -1.45960900e+02, 1.78531452e+01]

qfrc_actuator:
[ 1.44786781e-04, 9.46594927e-04, 9.43865030e-05,-1.07599797e-04,
  4.38816499e-05, 4.61430777e-02, 1.08751620e-02, 2.34961062e-03,
 -5.69200653e-05, 8.91241266e-04, 1.30430996e-04, 7.33195855e-05,
  6.08637660e-03,-1.58236790e-03, 0.00000000e+00,-1.24152584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006262457434263707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.86411633e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.86411633e-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([-0.00997102, -0.09761955,  0.06168811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20406351e-06,-1.24153323e-05,-3.53634845e-05,-4.08144176e-06,
  9.32090651e-06,-6.90996714e-04,-1.76412920e-04,-1.59992370e-05,
 -7.72261996e-08, 5.46046459e-05, 1.52192644e-05, 3.40370663e-05,
 -3.86331219e-05,-3.08537033e-05, 7.10983141e-06, 5.95230164e-05,
  7.10264356e-04,-5.07281883e-04,-4.90421546e+00,-2.93534383e-03,
  1.42012859e-03,-9.46974182e-03]


--- Step 1887 ---
qpos:
[ 0.01867808, 0.03003755,-0.00941394,-0.02527604,-0.00343745, 1.32990054,
 -0.02978898, 0.94328183, 0.01159643, 0.02732378,-0.00829331, 0.02646701,
  1.32296226, 0.0076324 , 1.26486336, 0.04461074,-0.09799009,-0.08069682,
  0.09246486, 0.61779549, 0.26635505,-0.65559551,-0.34289683]

qacc:
[-1.23120970e+01,-2.16824725e+00, 8.73416146e+00,-1.56618854e+01,
  4.77716437e-02,-5.66342062e+00, 1.02131341e+01,-5.60881390e+00,
 -4.99044493e-03,-1.39710471e+00, 3.38493100e+00, 1.75484813e+00,
 -1.45764153e-01,-5.15115710e-03,-4.13119610e+00, 1.43034865e+01,
 -6.31311316e+00, 1.42500544e+00, 1.28192531e+00, 1.67997797e+02,
 -1.25402584e+02, 1.59372377e+01]

qfrc_actuator:
[ 7.08680893e-05, 9.26170710e-04, 1.12163334e-04,-1.26312052e-04,
  5.20003138e-05, 4.59016422e-02, 1.08596939e-02, 2.34996204e-03,
 -5.71027587e-05, 8.78084817e-04, 1.65227538e-04, 9.11264723e-05,
  6.06282522e-03,-1.58801266e-03, 0.00000000e+00,-1.17376425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.61644403,  6.56066562, -5.61644403, 51.36983227,
       36.5831988 ,  6.56066562, 36.5831988 , 39.95444937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006352366998403539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73865620e-15,  8.73865620e-15,  1.00000000e+00,  7.63641121e-29,
        1.00000000e+00, -8.73865620e-15, -1.00000000e+00,  0.00000000e+00,
       -8.73865620e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01016735, -0.09760279,  0.06168438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.40173715e-05,-3.48805084e-05, 1.07116241e-05,-2.05453277e-05,
  1.35927604e-05,-6.60336220e-04,-1.71459278e-04,-2.56194176e-05,
 -1.68652360e-07, 2.19901908e-05, 4.91436076e-05, 2.13385621e-05,
 -5.00506056e-05,-2.37677024e-05, 6.43517990e-06, 7.12025121e-05,
  2.35208914e-04,-3.41487542e-04,-4.90469088e+00,-2.70082010e-03,
  1.74613951e-03,-9.47348892e-03]


--- Step 1888 ---
qpos:
[ 0.01867727, 0.03003785,-0.00941392,-0.02527748,-0.00343647, 1.33012518,
 -0.0297875 , 0.94329301, 0.01159638, 0.02732418,-0.0082943 , 0.0264678 ,
  1.32315388, 0.00763199, 1.26499554, 0.04461594,-0.09801659,-0.08073253,
  0.09247578, 0.61742356, 0.2667446 ,-0.65570884,-0.3430472 ]

qacc:
[-7.59227652e+00,-9.99852983e-01, 2.08492938e+00, 4.52461059e-01,
  4.37996860e-02,-7.12444597e+00, 1.69434091e+01,-2.08146014e+01,
 -2.98657432e+00, 1.07357294e+00,-4.60842528e+00, 9.03577672e+00,
 -1.49965851e-01, 1.32468701e-02,-5.59354084e+00, 1.93198503e+01,
 -5.44494815e+00, 1.20758628e+00,-2.61605451e-01, 1.44511682e+02,
 -1.08021542e+02, 1.42223991e+01]

qfrc_actuator:
[ 2.73502481e-05, 8.96066414e-04, 1.22718468e-04,-1.18919876e-04,
  5.64523427e-05, 4.56680499e-02, 1.08499639e-02, 2.30987908e-03,
 -7.50827562e-05, 8.70103081e-04, 1.50489098e-04, 1.01374972e-04,
  6.04180229e-03,-1.59120047e-03, 0.00000000e+00,-1.08201275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.55638939,  6.61160448, -5.55638939, 52.53001956,
       36.88820845,  6.61160448, 36.88820845, 39.63719721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0063479848175829814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.74468872e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.74468872e-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([-0.01015546, -0.09761811,  0.06168464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56883122e-05,-4.83229705e-05, 3.96017483e-06, 5.87480039e-06,
  1.24477582e-05,-6.34812623e-04,-1.59434486e-04,-6.52177460e-05,
 -1.79800832e-05, 1.53813569e-05,-3.39861851e-06, 1.33067520e-05,
 -5.15666703e-05,-2.19233347e-05, 7.27226648e-06, 9.57270657e-05,
 -2.14340869e-05,-2.16870993e-04,-4.90483627e+00,-2.51642852e-03,
  1.99479080e-03,-9.47787335e-03]


--- Step 1889 ---
qpos:
[ 0.01867731, 0.03003805,-0.00941394,-0.02527816,-0.00343555, 1.33034508,
 -0.02978637, 0.94330499, 0.01159543, 0.0273247 ,-0.00829624, 0.02646842,
  1.32334525, 0.00763145, 1.26512772, 0.04462221,-0.09806193,-0.08076414,
  0.09248036, 0.61687113, 0.26720732,-0.65602942,-0.34306799]

qacc:
[ 7.39904197e+00, 1.57097831e+00,-9.03528476e+00, 2.24560036e+01,
 -2.80486118e-02,-3.90190263e+00, 3.57024148e+00, 9.15415225e+00,
 -7.75082163e+00, 2.50906188e+00,-7.96933119e+00, 6.46471499e+00,
 -4.34943097e-02,-9.88382501e-02,-3.20761285e+00, 1.12136159e+01,
 -4.70952039e+00, 1.02600970e+00,-1.58326869e+00, 1.24695387e+02,
 -9.33199950e+01, 1.26984851e+01]

qfrc_actuator:
[ 7.31080537e-05, 9.13658870e-04, 1.28883280e-04,-7.84945220e-05,
  4.09164030e-05, 4.54587972e-02, 1.08437162e-02, 2.35284843e-03,
 -1.21146622e-04, 8.47318707e-04, 8.88631236e-05, 8.93050637e-05,
  6.03829026e-03,-1.59290911e-03, 0.00000000e+00,-1.03011815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.60556028,  6.56996733, -5.60556028, 52.72697294,
       37.61853839,  6.56996733, 37.61853839, 40.73286793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006267894121984585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85642772e-15,  4.42821386e-15,  1.00000000e+00,  3.92181560e-29,
        1.00000000e+00, -4.42821386e-15, -1.00000000e+00,  0.00000000e+00,
       -8.85642772e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00997855, -0.09765878,  0.06168807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44084709e-05,-8.38089143e-06,-3.12234554e-06, 3.86124061e-05,
 -8.21438177e-06,-5.95156433e-04,-1.50746755e-04, 1.80280064e-05,
 -4.65851450e-05,-1.43258784e-05,-5.84011095e-05,-1.12690879e-05,
 -3.42923925e-05,-2.02992266e-05, 1.04219123e-05, 5.73478250e-05,
 -1.29312938e-04,-1.24077805e-04,-4.90476725e+00,-2.37142897e-03,
  2.18204798e-03,-9.48263497e-03]


--- Step 1890 ---
qpos:
[ 0.01867757, 0.03003828,-0.00941396,-0.02527836,-0.0034349 , 1.33056029,
 -0.02978481, 0.943317  , 0.01159393, 0.02732494,-0.00829843, 0.02646786,
  1.32353649, 0.0076308 , 1.26526038, 0.04462537,-0.09808024,-0.08079751,
  0.0924913 , 0.61659453, 0.26752427,-0.65607357,-0.34323377]

qacc:
[ 1.74138253e+00, 9.81728539e-01,-5.43131247e+00, 1.35237441e+01,
 -1.11478783e-01,-7.27757610e+00, 1.62381861e+01,-1.07290988e+01,
 -4.65410267e+00,-2.13848995e+00, 1.20720887e+01,-3.19323661e+01,
 -2.90399145e-01, 2.30344796e-01, 1.01150222e+01,-3.42992738e+01,
  6.75663948e+00,-4.40431390e-01, 1.58765988e+00,-1.76789151e+02,
  1.31360074e+02, 1.34750127e+01]

qfrc_actuator:
[ 8.22736370e-05, 9.24190220e-04, 1.32619690e-04,-5.44288249e-05,
  1.35161112e-05, 4.52481292e-02, 1.08752349e-02, 2.35560818e-03,
 -1.47860676e-04, 8.15610808e-04, 7.09929459e-05, 2.86572542e-05,
  6.03995915e-03,-1.59364602e-03, 0.00000000e+00,-1.19740089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006131452993023673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62140271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.62140271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1897344 , -0.0721632 ,  0.06169385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04548087e-05, 6.86296351e-06, 2.95441565e-06, 2.43500142e-05,
 -3.22681577e-05,-5.70392419e-04,-1.01782948e-04,-1.88107737e-05,
 -2.80809033e-05,-5.22824232e-05,-2.83964463e-05,-6.34982389e-05,
 -2.01220337e-05,-1.47595255e-05, 7.50343508e-06,-1.63600769e-04,
 -1.38083551e-04,-5.56495705e-05,-4.90456304e+00,-2.25735778e-03,
  2.32052922e-03,-9.48757908e-03]


--- Step 1891 ---
qpos:
[ 0.01867724, 0.03003836,-0.0094141 ,-0.02527859,-0.0034344 , 1.33077103,
 -0.0297826 , 0.9433272 , 0.01159247, 0.02732449,-0.00829959, 0.02646724,
  1.32372743, 0.00763018, 1.26539331, 0.04462451,-0.09807526,-0.08083247,
  0.09250229, 0.61655587, 0.26771553,-0.65588009,-0.34352374]

qacc:
[-4.98461123e+00, 1.11221552e-01,-5.80149457e-01, 4.86137379e-01,
 -6.13513678e-02,-1.07127741e+01, 3.15791887e+01,-4.55937756e+01,
  3.46537940e-01,-3.90492829e+00, 1.29043021e+01,-1.52261989e+01,
 -5.83627650e-01, 6.15749344e-01, 1.26319749e+01,-4.34421790e+01,
  5.82209783e+00,-3.97184062e-01, 1.30078750e-02,-1.52093048e+02,
  1.13127011e+02, 1.19915143e+01]

qfrc_actuator:
[ 5.20457027e-05, 8.94895647e-04, 1.17111714e-04,-5.79412077e-05,
  1.47264614e-05, 4.50384558e-02, 1.09110096e-02, 2.26367556e-03,
 -1.45209953e-04, 7.96665383e-04, 1.32297879e-04, 2.87056696e-05,
  6.01810507e-03,-1.59375576e-03, 0.00000000e+00,-1.40368897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.35514104,  -5.84798762,  -6.35514104,
        46.18877535, -40.80905922,  -5.84798762, -40.80905922,
        52.98449572,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006172031820369836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59759333e-14,  1.79879666e-14,  1.00000000e+00, -6.47133887e-28,
        1.00000000e+00, -1.79879666e-14, -1.00000000e+00,  0.00000000e+00,
        3.59759333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18964674, -0.0721843 ,  0.06169221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99226771e-05,-2.38089484e-05,-1.28869194e-05,-2.64265261e-06,
 -1.78491761e-05,-5.47194560e-04,-8.81851169e-05,-1.12182562e-04,
  1.81219772e-06,-5.67652303e-05, 4.48341843e-05,-4.40395270e-06,
 -3.59672073e-05,-8.83928202e-06,-1.92016737e-05,-2.15468947e-04,
 -8.34351756e-05,-1.11462085e-04,-4.90485079e+00,-2.43858343e-03,
  2.07278041e-03,-9.49472876e-03]


--- Step 1892 ---
qpos:
[ 0.01867758, 0.03003828,-0.00941469,-0.02527884,-0.00343368, 1.33097752,
 -0.02977982, 0.9433369 , 0.01159139, 0.02732384,-0.00830047, 0.02646695,
  1.32391795, 0.00762942, 1.2655259 , 0.04462318,-0.09805016,-0.08086886,
  0.09250793, 0.61672282, 0.26779802,-0.65548151,-0.3439203 ]

qacc:
[ 5.77475775e+00, 9.96785450e-01,-3.79834629e+00, 4.35136825e+00,
  8.93699206e-02,-7.98126659e+00, 2.03361116e+01,-2.07867446e+01,
  3.31676603e+00,-3.39134154e-01,-6.31725950e-01, 6.24884926e+00,
 -2.66825376e-01, 1.04751157e-01, 9.39833769e-01,-3.98935373e+00,
  5.03111743e+00,-3.58351493e-01,-1.33826028e+00,-1.31241395e+02,
  9.77132541e+01, 1.06761965e+01]

qfrc_actuator:
[ 8.76474640e-05, 8.77381411e-04, 9.01869238e-05,-5.99434998e-05,
  5.08432882e-05, 4.48487967e-02, 1.09489575e-02, 2.24102793e-03,
 -1.25302903e-04, 8.03638581e-04, 1.51178079e-04, 4.67794384e-05,
  5.98215729e-03,-1.61134719e-03, 0.00000000e+00,-1.41819263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.42974694,  -5.76585909,  -6.42974694,
        45.48804113, -41.09482331,  -5.76585909, -41.09482331,
        54.4628936 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061299845392023405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81113511e-14,  2.26391889e-15,  1.00000000e+00, -4.10026300e-29,
        1.00000000e+00, -2.26391889e-15, -1.00000000e+00,  0.00000000e+00,
        1.81113511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18974845, -0.07218122,  0.06169406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47220632e-05,-3.36125754e-05,-3.35178815e-05,-3.51701058e-06,
  2.55656973e-05,-5.14467194e-04,-8.26641038e-05,-4.39739877e-05,
  1.99359890e-05,-1.56707398e-05, 1.25429839e-05, 1.71113652e-05,
 -5.72323446e-05,-2.80286458e-05,-3.63986067e-05,-2.97831558e-05,
  4.72603789e-05,-1.55833754e-04,-4.90488558e+00,-2.57065258e-03,
  1.89977243e-03,-9.50142723e-03]


--- Step 1893 ---
qpos:
[ 0.01867835, 0.03003789,-0.00941531,-0.02527842,-0.00343267, 1.33117982,
 -0.02977694, 0.94334696, 0.01159056, 0.02732315,-0.00830117, 0.02646652,
  1.32410792, 0.00762856, 1.26565796, 0.04462431,-0.09805039,-0.08089964,
  0.09251862, 0.61664532, 0.26798336,-0.65536105,-0.34414438]

qacc:
[ 3.64196179e+00, 1.03192182e+00,-7.06329275e+00, 1.87597027e+01,
  1.26637525e-01,-5.13222025e+00, 9.35752252e+00,-1.21719170e+00,
  2.11389502e+00,-8.89558490e-01, 3.67766969e+00,-6.39672197e+00,
 -1.43698277e-01,-6.37621910e-02,-8.22761001e+00, 2.76319268e+01,
 -6.33179175e+00, 1.40232120e+00, 1.26212520e+00, 1.68801921e+02,
 -1.25103752e+02, 1.46795483e+01]

qfrc_actuator:
[ 1.08466222e-04, 8.66997973e-04, 9.22882936e-05,-2.55310338e-05,
  7.21012235e-05, 4.46372020e-02, 1.09525167e-02, 2.25936601e-03,
 -1.13160497e-04, 8.08205959e-04, 1.62697476e-04, 3.97815785e-05,
  5.94842704e-03,-1.62152053e-03, 0.00000000e+00,-1.28405657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062008412961086085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95219674e-15,  1.34282951e-14,  1.00000000e+00,  1.20212740e-28,
        1.00000000e+00, -1.34282951e-14, -1.00000000e+00,  0.00000000e+00,
       -8.95219674e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00982842, -0.09773507,  0.0616911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18212768e-05,-3.62309974e-05,-9.08389314e-06, 3.17457601e-05,
  3.63251477e-05,-5.15133210e-04,-1.08016185e-04,-2.67228497e-07,
  1.27166137e-05,-8.33436957e-07, 1.04360961e-05,-6.89936675e-06,
 -6.98994364e-05,-3.13731407e-05,-2.19772640e-05, 1.27387076e-04,
  2.21677332e-04,-1.91614713e-04,-4.90475734e+00,-2.66618800e-03,
  1.78326622e-03,-9.50769545e-03]


--- Step 1894 ---
qpos:
[ 0.01867901, 0.03003727,-0.00941594,-0.02527761,-0.00343167, 1.33137805,
 -0.02977436, 0.94335753, 0.01158954, 0.02732204,-0.00830131, 0.02646672,
  1.32429698, 0.00762838, 1.26578987, 0.04462699,-0.09807248,-0.08092565,
  0.09252823, 0.6163575 , 0.26825629,-0.65548066,-0.34421955]

qacc:
[-8.60603533e-01, 5.40448674e-01,-4.02718845e+00, 1.10536419e+01,
 -6.24087601e-03,-3.67172187e+00, 4.47313596e+00, 4.54585137e+00,
 -1.61655837e+00,-7.91862309e-01,-6.18319982e-01, 1.09526026e+01,
 -1.04212090e+00, 1.37630862e+00,-4.80818666e+00, 1.67584858e+01,
 -5.46575346e+00, 1.19155377e+00,-2.67499184e-01, 1.45291505e+02,
 -1.07909846e+02, 1.31844837e+01]

qfrc_actuator:
[ 1.02643212e-04, 8.61109177e-04, 9.38164257e-05,-5.44503576e-06,
  4.87663887e-05, 4.44318305e-02, 1.09356857e-02, 2.28387425e-03,
 -1.23444095e-04, 7.75746353e-04, 1.87525507e-04, 7.13446368e-05,
  5.91072806e-03,-1.57395078e-03, 0.00000000e+00,-1.20549968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.83182074,  6.36997988, -5.83182074, 46.50668637,
       34.67089971,  6.36997988, 34.67089971, 40.37813925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006206931292995273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34151198e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34151198e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00983981, -0.09774626,  0.06169091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19891368e-06,-2.66401009e-05,-5.96600120e-06, 1.88389711e-05,
 -1.91820922e-06,-5.12890875e-04,-1.30133467e-04, 6.14769786e-06,
 -9.91456080e-06,-3.10295029e-05, 2.57184402e-05, 3.17575380e-05,
 -8.02785848e-05, 2.20801350e-05, 1.99942384e-06, 8.23854104e-05,
  9.08795082e-06,-1.06056967e-04,-4.90492404e+00,-2.54047500e-03,
  1.95536803e-03,-9.51048806e-03]


--- Step 1895 ---
qpos:
[ 0.01867995, 0.03003659,-0.00941687,-0.02527691,-0.0034308 , 1.33157242,
 -0.02977204, 0.94336692, 0.01158806, 0.02732051,-0.00830137, 0.02646768,
  1.32448541, 0.0076289 , 1.26592201, 0.04462857,-0.0981135 ,-0.0809476 ,
  0.09253154, 0.61588792, 0.268604  ,-0.65580788,-0.34416564]

qacc:
[ 2.30691988e+00, 5.39917621e-01,-1.58985471e+00, 2.18988847e-01,
 -5.35300577e-02,-6.39323938e+00, 1.71745631e+01,-2.62249882e+01,
 -3.91550640e+00, 7.89930137e-01,-6.81979821e+00, 2.01156561e+01,
 -1.05660401e+00, 1.47807614e+00, 3.74795662e+00,-1.23748670e+01,
 -4.73220720e+00, 1.01539844e+00,-1.57760796e+00, 1.25461086e+02,
 -9.33650588e+01, 1.18384030e+01]

qfrc_actuator:
[ 1.16695544e-04, 8.57957944e-04, 7.72366505e-05,-1.17080006e-05,
  3.43753973e-05, 4.42495152e-02, 1.09247373e-02, 2.22303732e-03,
 -1.46842942e-04, 7.39203358e-04, 1.84390979e-04, 1.07574956e-04,
  5.89732893e-03,-1.52800067e-03, 0.00000000e+00,-1.26688660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.83719271,  6.36505759, -5.83719271, 47.47423128,
       35.6169783 ,  6.36505759, 35.6169783 , 41.29956633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006137123935593951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04514098e-15, -4.52257049e-15,  1.00000000e+00, -4.09072877e-29,
        1.00000000e+00,  4.52257049e-15, -1.00000000e+00,  0.00000000e+00,
       -9.04514098e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00968472, -0.09778281,  0.06169393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38934325e-05,-1.84497729e-05,-2.21525709e-05,-7.24204763e-06,
 -1.55411730e-05,-4.92698430e-04,-1.26134730e-04,-7.96350553e-05,
 -2.37060121e-05,-4.71870296e-05,-5.26411835e-06, 3.64110469e-05,
 -4.83813282e-05, 3.35947444e-05, 5.92507093e-06,-5.74464288e-05,
 -6.22089875e-05,-4.63866940e-05,-4.90487319e+00,-2.44421973e-03,
  2.07912252e-03,-9.51357858e-03]


--- Step 1896 ---
qpos:
[ 0.01868071, 0.03003609,-0.00941784,-0.02527669,-0.00343007, 1.33176324,
 -0.02977063, 0.94337586, 0.01158631, 0.02731909,-0.00830165, 0.02646868,
  1.32467367, 0.00762939, 1.26605406, 0.04463009,-0.09812774,-0.08097144,
  0.09254083, 0.61569137, 0.26880823,-0.65586144,-0.34425579]

qacc:
[-1.58068830e+00,-6.48558199e-01, 4.66732921e+00,-1.29863878e+01,
 -6.25346564e-02,-2.95806125e+00, 4.94110024e+00,-7.21276794e+00,
 -2.31022131e+00, 8.24402481e-01,-2.88596115e+00, 3.75521269e+00,
 -9.79337208e-02, 4.13230050e-02, 9.66988491e-02,-4.98071706e-01,
  6.69459063e+00,-4.71377727e-01, 1.49774742e+00,-1.75184028e+02,
  1.29758700e+02, 1.29174147e+01]

qfrc_actuator:
[ 1.06837491e-04, 8.91883770e-04, 8.56000735e-05,-3.34316346e-05,
  2.54685386e-05, 4.40824482e-02, 1.08818923e-02, 2.20124488e-03,
 -1.60013759e-04, 7.71401975e-04, 1.82488468e-04, 1.10721201e-04,
  5.89319228e-03,-1.53656617e-03, 0.00000000e+00,-1.26819241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006189953095599776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.24198594e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.24198594e-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([-0.18962666, -0.0722346 ,  0.06169172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.45544951e-06, 1.87595082e-05, 1.58986440e-06,-2.34197222e-05,
 -1.80952894e-05,-4.68052471e-04,-1.56139897e-04,-4.18623597e-05,
 -1.38876257e-05, 6.32524251e-06,-1.10223215e-05, 1.65266813e-06,
 -2.07750106e-05,-9.88893289e-06,-8.31461812e-06,-4.77892677e-06,
 -4.00186973e-05,-6.19616324e-06,-4.90468393e+00,-2.37094482e-03,
  2.16453430e-03,-9.51679210e-03]


--- Step 1897 ---
qpos:
[ 0.01868133, 0.03003614,-0.00941892,-0.02527677,-0.00342948, 1.33194997,
 -0.02976905, 0.94338516, 0.01158579, 0.02731792,-0.00830235, 0.0264697 ,
  1.32486179, 0.00762936, 1.26618609, 0.04463123,-0.09811891,-0.08099696,
  0.09254986, 0.6157303 , 0.26888876,-0.65567975,-0.34446931]

qacc:
[-1.07821165e+00, 4.13685150e-01, 8.82023341e-01,-6.40953399e+00,
 -5.58909520e-02,-5.23036887e+00, 9.84325890e+00,-1.82440410e+00,
  1.05147760e+01, 1.53187977e+00,-5.08767512e+00, 5.97824695e+00,
  1.75998808e-01,-5.60850914e-01, 1.07763980e+00,-3.89785815e+00,
  5.76823328e+00,-4.20539542e-01,-6.81053478e-02,-1.50677008e+02,
  1.11767741e+02, 1.14963122e+01]

qfrc_actuator:
[ 1.00731512e-04, 9.47837862e-04, 9.10258423e-05,-4.62691225e-05,
  1.99239218e-05, 4.38725020e-02, 1.08916747e-02, 2.22036526e-03,
 -9.60434886e-05, 7.91232511e-04, 1.63839562e-04, 1.12189897e-04,
  5.86796387e-03,-1.57737701e-03, 0.00000000e+00,-1.28729369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.41234834,  -5.78520229,  -6.41234834,
        45.23362869, -40.56459913,  -5.78520229, -40.56459913,
        53.59837652,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006221001513244895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78463712e-14,  1.11539820e-14,  1.00000000e+00, -1.99058104e-28,
        1.00000000e+00, -1.11539820e-14, -1.00000000e+00,  0.00000000e+00,
        1.78463712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18956059, -0.07225212,  0.06169048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.37153624e-06, 6.57931657e-05, 8.70208438e-06,-1.24323314e-05,
 -1.62397984e-05,-5.02004324e-04,-1.00992468e-04,-2.19740605e-07,
  6.35614685e-05, 2.12040603e-05,-1.86262216e-05, 1.39237120e-06,
 -3.82881555e-05,-4.83931175e-05,-7.18243492e-06,-2.10845604e-05,
 -3.62240009e-05,-3.93507936e-05,-4.90493352e+00,-2.48831964e-03,
  2.00315109e-03,-9.52112258e-03]


--- Step 1898 ---
qpos:
[ 0.01868223, 0.03003643,-0.00941929,-0.02527668,-0.003429  , 1.33213258,
 -0.02976725, 0.94339289, 0.01158639, 0.02731675,-0.00830289, 0.02647037,
  1.32504969, 0.00762866, 1.26631817, 0.04463111,-0.09809014,-0.08102399,
  0.09255324, 0.61597267, 0.26886227,-0.65529497,-0.34478869]

qacc:
[ 2.30567446e+00,-1.30653238e+00, 4.37145987e+00,-2.64315616e+00,
 -4.48907554e-02,-8.67646251e+00, 2.49754402e+01,-3.72078445e+01,
  9.52783382e+00,-1.18019774e+00, 5.61752269e+00,-1.17612107e+01,
  1.58686854e-01,-6.62040444e-01, 3.86568602e+00,-1.34507440e+01,
  4.98394708e+00,-3.75553178e-01,-1.41134036e+00,-1.29982397e+02,
  9.65563640e+01, 1.02332838e+01]

qfrc_actuator:
[ 1.14643339e-04, 9.63303590e-04, 1.30284802e-04,-3.60019884e-05,
  1.64406021e-05, 4.36565437e-02, 1.08968072e-02, 2.13914123e-03,
 -4.04420977e-05, 7.85687308e-04, 1.70930888e-04, 9.48981196e-05,
  5.84606282e-03,-1.61930333e-03, 0.00000000e+00,-1.35223937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.46868966,  -5.72213518,  -6.46868966,
        45.00299133, -41.11130221,  -5.72213518, -41.11130221,
        55.11136769,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006170636176436539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1896803 , -0.07224587,  0.06169266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37502102e-05, 5.35281860e-05, 5.35008725e-05, 1.31456316e-05,
 -1.30852439e-05,-5.14725650e-04,-1.04779795e-04,-9.90064762e-05,
  5.74669318e-05, 2.59301634e-06, 9.24174656e-06,-1.70013423e-05,
 -5.28182738e-05,-6.49166589e-05,-8.60062997e-06,-6.77195528e-05,
  4.91784568e-05,-6.52586339e-05,-4.90494000e+00,-2.56635945e-03,
  1.90334823e-03,-9.52512521e-03]


--- Step 1899 ---
qpos:
[ 0.01868329, 0.03003685,-0.00941907,-0.02527679,-0.00342874, 1.3323117 ,
 -0.02976683, 0.94339962, 0.01158661, 0.02731615,-0.00830327, 0.02647007,
  1.32523725, 0.00762768, 1.26644983, 0.04463322,-0.09808685,-0.08104545,
  0.09256178, 0.61596902, 0.26893994,-0.6551893 ,-0.34493544]

qacc:
[ 1.38781992e+00,-1.91502764e+00, 7.90526053e+00,-1.24067234e+01,
 -9.59686552e-02,-2.56945510e+00, 4.93927087e+00,-1.37319427e+01,
 -3.17941285e+00,-1.66095106e+00, 1.11426239e+01,-2.86957140e+01,
  1.14650265e-01,-4.12478883e-01,-7.39157958e+00, 2.48751152e+01,
 -6.37079828e+00, 1.38916849e+00, 1.29024943e+00, 1.69829079e+02,
 -1.25406482e+02, 1.41502991e+01]

qfrc_actuator:
[ 1.22472040e-04, 9.54569605e-04, 1.53564031e-04,-4.77359948e-05,
 -3.53133405e-06, 4.34919118e-02, 1.08280288e-02, 2.08825106e-03,
 -6.12479118e-05, 8.53838318e-04, 1.93054093e-04, 4.89526512e-05,
  5.83682095e-03,-1.62602497e-03, 0.00000000e+00,-1.23063218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006107369853328999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08920739e-15,  4.54460370e-15,  1.00000000e+00,  4.13068455e-29,
        1.00000000e+00, -4.54460370e-15, -1.00000000e+00,  0.00000000e+00,
       -9.08920739e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00961783, -0.09784363,  0.06169535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.24478949e-06, 3.28064195e-05, 4.13778592e-05,-7.33599744e-06,
 -2.77125047e-05,-4.74122464e-04,-1.84506304e-04,-7.14637109e-05,
 -1.91255289e-05, 7.08504088e-05, 2.32255625e-05,-4.58454363e-05,
 -5.14965292e-05,-3.78940153e-05,-1.47083425e-05, 1.16000456e-04,
  1.83458659e-04,-8.58090693e-05,-4.90479060e+00,-2.61595176e-03,
  1.84918809e-03,-9.52880026e-03]


--- Step 1900 ---
qpos:
[ 0.01868477, 0.03003733,-0.00941905,-0.02527663,-0.00342872, 1.33248735,
 -0.02976763, 0.94340569, 0.01158659, 0.02731617,-0.00830349, 0.02646956,
  1.32542438, 0.00762679, 1.26658137, 0.04463673,-0.09810557,-0.08106219,
  0.09256937, 0.61575362, 0.2691063 ,-0.65532468,-0.34493309]

qacc:
[ 3.68758020e+00, 1.20286669e+00,-5.32371584e+00, 1.02934012e+01,
 -9.80618016e-02,-2.42077562e+00, 3.73387275e+00,-8.74404659e+00,
 -2.14568285e+00,-1.00377191e-01, 2.44792095e+00,-6.86393533e+00,
 -2.95558412e-01, 2.78851139e-01,-4.39538376e+00, 1.51899591e+01,
 -5.50122785e+00, 1.18313226e+00,-2.37081535e-01, 1.46207516e+02,
 -1.08260863e+02, 1.27555221e+01]

qfrc_actuator:
[ 1.44403610e-04, 9.31335000e-04, 1.31579779e-04,-3.68598734e-05,
 -1.54811526e-05, 4.33235644e-02, 1.07696640e-02, 2.05562608e-03,
 -7.35989423e-05, 8.94627757e-04, 2.06395392e-04, 3.98435529e-05,
  5.82454180e-03,-1.61173481e-03, 0.00000000e+00,-1.15984485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.02583236,  6.18676985, -6.02583236, 42.77316046,
       33.24879053,  6.18676985, 33.24879053, 41.02024774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006121618961872861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06805072e-15,  1.36020761e-14,  1.00000000e+00,  1.23344316e-28,
        1.00000000e+00, -1.36020761e-14, -1.00000000e+00,  0.00000000e+00,
       -9.06805072e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00964784, -0.09785133,  0.0616948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21803769e-05, 3.32425592e-06,-1.03749678e-05, 1.35677022e-05,
 -2.83219943e-05,-4.70119936e-04,-1.74410824e-04,-5.36858695e-05,
 -1.28878810e-05, 8.32633327e-05, 2.92641007e-05,-6.15776567e-06,
 -4.70542316e-05,-8.83603801e-06, 3.99194579e-06, 7.48780600e-05,
  1.65406431e-05,-3.53607523e-05,-4.90497283e+00,-2.54504641e-03,
  1.94819760e-03,-9.53010101e-03]


--- Step 1901 ---
qpos:
[ 0.01868651, 0.03003764,-0.00941946,-0.02527595,-0.00342903, 1.33265919,
 -0.02976882, 0.94341165, 0.01158676, 0.02731626,-0.00830277, 0.02646965,
  1.32561108, 0.00762604, 1.26671298, 0.04464039,-0.0981008 ,-0.08108066,
  0.09257725, 0.61577768, 0.26914704,-0.6552202 ,-0.34505682]

qacc:
[ 2.14939428e+00, 2.04101554e+00,-9.80703233e+00, 1.96305300e+01,
 -1.43743987e-01,-4.10887848e+00, 7.58839171e+00,-5.38967818e+00,
  1.70840234e+00,-1.27413393e+00, 2.11477569e+00, 6.80469307e+00,
 -4.28845863e-01, 4.64109763e-01,-3.05534350e-01, 1.31731870e+00,
  5.87284700e+00,-4.35958153e-01, 7.40815752e-02,-1.53576988e+02,
  1.13676867e+02, 1.13710893e+01]

qfrc_actuator:
[ 1.56709544e-04, 8.99414352e-04, 1.00752238e-04,-1.28084438e-05,
 -4.02746302e-05, 4.31366381e-02, 1.07534491e-02, 2.05177498e-03,
 -6.30967929e-05, 8.83217330e-04, 2.49887133e-04, 7.02157661e-05,
  5.80513528e-03,-1.60286447e-03, 0.00000000e+00,-1.15512582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006077807247426202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.28335438e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.28335438e-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([-0.18990393, -0.07224387,  0.06169671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29517355e-05,-3.16384774e-05,-3.09579220e-05, 2.40963348e-05,
 -4.15257746e-05,-4.83948332e-04,-1.29802221e-04,-2.40907867e-05,
  1.01525216e-05, 4.09304200e-05, 6.40863145e-05, 3.48352165e-05,
 -4.49487319e-05,-4.75593784e-06, 6.65677520e-06, 8.61069368e-06,
 -1.52726600e-05,-6.12451504e-06,-4.90493375e+00,-2.49528099e-03,
  2.01007101e-03,-9.53162534e-03]


--- Step 1902 ---
qpos:
[ 0.01868735, 0.03003779,-0.00942046,-0.02527601,-0.00342967, 1.33282726,
 -0.02976973, 0.94341853, 0.01158741, 0.02731619,-0.0083016 , 0.02646982,
  1.32579751, 0.00762535, 1.26684494, 0.04464141,-0.09811808,-0.08109441,
  0.09258423, 0.61558948, 0.26927679,-0.65535718,-0.34503126]

qacc:
[-7.73615181e+00,-5.94649070e-02, 3.08566892e+00,-1.49171017e+01,
 -1.35152616e-01,-4.14212400e+00, 5.67596880e+00, 7.98701274e+00,
  4.02324125e+00,-1.31673775e+00, 4.05825423e+00,-3.28769391e+00,
 -4.77143759e-01, 5.09068687e-01, 8.54547018e+00,-2.90610372e+01,
 -5.51357967e+00, 1.18269878e+00,-2.28713114e-01, 1.46538122e+02,
 -1.08433360e+02, 1.26749943e+01]

qfrc_actuator:
[ 1.09988894e-04, 8.80242725e-04, 6.49245742e-05,-5.22211700e-05,
 -5.48207820e-05, 4.29757803e-02, 1.07799374e-02, 2.10039871e-03,
 -3.92300962e-05, 8.40791940e-04, 2.57384658e-04, 7.02877162e-05,
  5.79744486e-03,-1.59733181e-03, 0.00000000e+00,-1.29586971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006077577775533423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13376238e-15,  9.13376238e-15,  1.00000000e+00,  8.34256152e-29,
        1.00000000e+00, -9.13376238e-15, -1.00000000e+00,  0.00000000e+00,
       -9.13376238e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00954842, -0.09789083,  0.06169678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63546949e-05,-4.22344563e-05,-4.53437892e-05,-4.13713190e-05,
 -3.90727937e-05,-4.55884427e-04,-8.38532561e-05, 2.99570323e-05,
  2.41753109e-05,-4.81361460e-06, 2.50413347e-05, 4.71899698e-06,
 -3.13802941e-05,-6.32895397e-06, 3.07474152e-08,-1.40312850e-04,
  1.68910843e-05,-2.05349889e-05,-4.90498069e+00,-2.54435584e-03,
  1.94721262e-03,-9.53384863e-03]


--- Step 1903 ---
qpos:
[ 0.01868624, 0.03003755,-0.00942129,-0.02527622,-0.00343041, 1.332992  ,
 -0.02977045, 0.94342486, 0.01158833, 0.02731624,-0.0083009 , 0.02646933,
  1.32598384, 0.00762464, 1.26697695, 0.04464006,-0.09811196,-0.08110992,
  0.09259137, 0.6156399 , 0.26928144,-0.65525527,-0.34513122]

qacc:
[-1.66769956e+01,-1.29951836e+00, 4.55612773e+00,-7.17506550e+00,
 -4.68062857e-02,-5.80768316e+00, 1.47537996e+01,-1.69186065e+01,
  2.38405639e+00, 1.05506458e-01, 2.60369592e+00,-1.33139569e+01,
 -2.44230048e-01, 2.45411815e-01, 7.25820729e+00,-2.51905813e+01,
  5.85267405e+00,-4.39866424e-01, 4.16204582e-02,-1.52972365e+02,
  1.13239623e+02, 1.13615782e+01]

qfrc_actuator:
[ 1.11505380e-05, 8.68766741e-04, 7.96895431e-05,-5.76454115e-05,
 -4.53500231e-05, 4.28320460e-02, 1.07960268e-02, 2.07302087e-03,
 -2.54485665e-05, 8.33205258e-04, 2.25635638e-04, 3.47097512e-05,
  5.80211144e-03,-1.59376857e-03, 0.00000000e+00,-1.41464089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006093233578528062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.27757358e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.27757358e-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([-0.18987668, -0.07226449,  0.06169617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00199814e-04,-4.62419398e-05,-9.62753569e-07,-9.60313312e-06,
 -1.36079723e-05,-4.12592394e-04,-8.19411301e-05,-4.26040384e-05,
  1.44877431e-05,-4.90488960e-06,-2.95093637e-05,-3.48296885e-05,
 -1.31598711e-05,-5.31390548e-06,-1.97543016e-05,-1.27529204e-04,
 -3.37598802e-06,-1.07620741e-06,-4.90494841e+00,-2.50983236e-03,
  1.98883852e-03,-9.53485827e-03]


--- Step 1904 ---
qpos:
[ 0.0186843 , 0.03003693,-0.0094217 ,-0.02527582,-0.00343118, 1.33315333,
 -0.02977102, 0.94343222, 0.01158907, 0.02731667,-0.00830047, 0.02646837,
  1.32616987, 0.00762427, 1.26710844, 0.04464063,-0.09808559,-0.08112698,
  0.09259327, 0.61589666, 0.26917782,-0.65494705,-0.3453389 ]

qacc:
[-7.12050927e+00,-3.90085306e-01,-1.89348861e+00, 1.20304317e+01,
 -6.54447804e-03,-3.14890072e+00, 2.77848538e+00, 1.15279750e+01,
 -1.60759220e+00, 2.90508221e-01, 1.70560433e+00,-9.74369762e+00,
 -2.77345160e-01, 4.40126982e-01,-6.52994648e+00, 2.17745880e+01,
  5.06009581e+00,-3.90439030e-01,-1.30856267e+00,-1.32006668e+02,
  9.79224020e+01, 1.01440446e+01]

qfrc_actuator:
[-2.87899114e-05, 8.62213345e-04, 1.06521487e-04,-2.52220741e-05,
 -3.93024462e-05, 4.26641630e-02, 1.08058579e-02, 2.12539184e-03,
 -3.54703769e-05, 8.81828583e-04, 2.24343171e-04, 1.39531167e-05,
  5.78755673e-03,-1.57358199e-03, 0.00000000e+00,-1.30642499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.68931401,  -5.46258684,  -6.68931401,
        40.18126162, -38.62890134,  -5.46258684, -38.62890134,
        55.94011524,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0060579341991626665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83267594e-14,  2.29084492e-15,  1.00000000e+00, -4.19837637e-29,
        1.00000000e+00, -2.29084492e-15, -1.00000000e+00,  0.00000000e+00,
        1.83267594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18996172, -0.07226206,  0.06169771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28744124e-05,-3.30340862e-05, 1.68486473e-05, 3.02304093e-05,
 -1.99918849e-06,-4.14577367e-04,-8.16392775e-05, 3.68144616e-05,
 -9.59579103e-06, 3.82916008e-05,-7.15268593e-06,-2.26667143e-05,
 -2.32910661e-05, 1.60208145e-05,-2.60173784e-05, 9.79481297e-05,
  1.48912969e-05,-9.38655078e-06,-4.90498512e+00,-2.54162982e-03,
  1.94965517e-03,-9.53622881e-03]


--- Step 1905 ---
qpos:
[ 0.0186819 , 0.0300365 ,-0.00942227,-0.02527576,-0.00343177, 1.33331062,
 -0.02977035, 0.94344083, 0.01159002, 0.0273175 ,-0.00830068, 0.0264672 ,
  1.32635579, 0.00762387, 1.26723971, 0.04464277,-0.09808433,-0.08113865,
  0.09259967, 0.61591155, 0.26917629,-0.65491369,-0.34537682]

qacc:
[-3.99934936e+00, 1.21455475e-02, 1.79134722e+00,-7.60560564e+00,
  7.17473619e-02,-6.49043351e+00, 1.21706679e+01, 6.65332535e+00,
  1.84280265e+00, 1.87246684e+00,-5.00253156e+00, 1.98312580e+00,
  6.69662516e-02,-1.23972255e-01,-5.09817549e+00, 1.73355576e+01,
 -6.27823815e+00, 1.35152682e+00, 1.12404240e+00, 1.67046486e+02,
 -1.23375311e+02, 1.40738928e+01]

qfrc_actuator:
[-5.14791878e-05, 8.94268316e-04, 1.04785794e-04,-4.17990295e-05,
 -1.76067920e-05, 4.24476885e-02, 1.08651505e-02, 2.18876874e-03,
 -2.39135915e-05, 8.92845819e-04, 1.88050819e-04, 2.16662936e-06,
  5.78279489e-03,-1.57927296e-03, 0.00000000e+00,-1.22511578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006136873124252304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3568266e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3568266e-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([-0.00967811, -0.09790673,  0.06169438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39498046e-05, 1.83745153e-05,-5.42240884e-06,-1.68161044e-05,
  2.05006523e-05,-4.61791880e-04,-3.01956336e-05, 4.96077771e-05,
  1.12919324e-05, 2.99618175e-05,-3.00547364e-05,-1.08333956e-05,
 -1.29723884e-05,-6.23821900e-06,-2.66079198e-06, 8.30717628e-05,
  9.34478484e-05,-1.50928081e-05,-4.90485716e+00,-2.55106477e-03,
  1.94802755e-03,-9.53735938e-03]


--- Step 1906 ---
qpos:
[ 0.01867993, 0.03003641,-0.00942268,-0.02527594,-0.00343216, 1.33346435,
 -0.02976931, 0.94344911, 0.01159111, 0.02731887,-0.00830198, 0.02646555,
  1.32654158, 0.00762344, 1.26737089, 0.04464619,-0.09810476,-0.08114569,
  0.09260455, 0.61571817, 0.26926168,-0.65511772,-0.34526809]

qacc:
[ 3.73553607e+00,-5.18815840e-01, 3.47063403e+00,-8.08049257e+00,
  8.80373306e-02,-6.25705562e+00, 1.54627209e+01,-1.50755160e+01,
  1.07615686e+00, 2.78532062e+00,-6.92355816e+00, 1.98487912e-01,
  8.00670544e-03,-6.87947901e-02,-4.00610848e+00, 1.38110343e+01,
 -5.42143941e+00, 1.15357134e+00,-3.81878235e-01, 1.43812820e+02,
 -1.06559238e+02, 1.26835528e+01]

qfrc_actuator:
[-2.83466512e-05, 9.31304865e-04, 1.21820741e-04,-5.15634662e-05,
 -4.45288136e-06, 4.22750635e-02, 1.08819591e-02, 2.16933134e-03,
 -1.74932142e-05, 9.16639126e-04, 1.31241101e-04,-2.20565117e-05,
  5.77325011e-03,-1.58251211e-03, 0.00000000e+00,-1.16037834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.12310525,  6.09051385, -6.12310525, 41.21444667,
       32.75241407,  6.09051385, 32.75241407, 41.56404162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00614025018556523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80810715e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80810715e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00968467, -0.09791743,  0.06169429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24438677e-05, 4.54927048e-05, 1.95952098e-05,-9.48925104e-06,
  2.52383803e-05,-4.33581805e-04,-7.56800176e-05,-3.28222087e-05,
  6.76538871e-06, 3.38577626e-05,-5.47014037e-05,-2.41889414e-05,
 -1.74593785e-05,-8.06835594e-06, 5.45544177e-06, 6.84300893e-05,
  1.89550871e-06,-1.06335383e-06,-4.90499845e+00,-2.53467085e-03,
  1.97171207e-03,-9.53730606e-03]


--- Step 1907 ---
qpos:
[ 0.01867998, 0.03003658,-0.00942261,-0.02527591,-0.00343236, 1.3336156 ,
 -0.02976963, 0.94345675, 0.01159123, 0.02731994,-0.0083031 , 0.026464  ,
  1.32672688, 0.00762335, 1.26750245, 0.04464735,-0.09814398,-0.08114879,
  0.09260273, 0.61534465, 0.26942126,-0.65552722,-0.34503219]

qacc:
[ 1.73054438e+01,-5.48223934e-01, 1.51932712e+00, 1.29383152e+00,
  7.92334982e-02,-6.40537451e-01,-5.15106583e-01,-5.44783182e+00,
 -8.22430345e+00,-6.75608294e-01, 1.47012478e+00, 2.21827165e-02,
 -7.98373650e-01, 9.98759339e-01, 7.48298672e+00,-2.51802668e+01,
 -4.69561646e+00, 9.87784355e-01,-1.67137928e+00, 1.24218027e+02,
 -9.23313311e+01, 1.14185120e+01]

qfrc_actuator:
[ 7.48222707e-05, 9.53369003e-04, 1.49860140e-04,-3.94542400e-05,
  3.46987544e-06, 4.21831418e-02, 1.08203906e-02, 2.13680549e-03,
 -6.74122327e-05, 8.76780897e-04, 1.33827898e-04,-1.79012526e-05,
  5.73953957e-03,-1.56651356e-03, 0.00000000e+00,-1.28344493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.10507616,  6.10858592, -6.10507616, 42.76475911,
       34.1087866 ,  6.10858592, 34.1087866 , 42.72555263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006069054382778306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14658985e-15,  4.57329493e-15,  1.00000000e+00,  4.18300530e-29,
        1.00000000e+00, -4.57329493e-15, -1.00000000e+00,  0.00000000e+00,
       -9.14658985e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00952753, -0.09795313,  0.06169734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03839190e-04, 5.11666949e-05, 3.95276413e-05, 1.45511203e-05,
  2.28056226e-05,-3.48626496e-04,-1.56130667e-04,-4.83127264e-05,
 -4.97031489e-05,-3.32858059e-05, 2.00966817e-06, 3.24614953e-06,
 -4.42153754e-05, 9.53609772e-06, 6.99119069e-06,-1.19279120e-04,
  3.16422945e-05,-3.50193956e-06,-4.90493016e+00,-2.53176359e-03,
  1.96896404e-03,-9.53737921e-03]


--- Step 1908 ---
qpos:
[ 0.01868023, 0.03003697,-0.0094219 ,-0.02527539,-0.00343241, 1.33376416,
 -0.02977074, 0.94346428, 0.01159041, 0.02732009,-0.00830308, 0.02646321,
  1.32691179, 0.00762325, 1.2676339 , 0.04464804,-0.09815627,-0.08115391,
  0.09260706, 0.61524531, 0.26943708,-0.65566201,-0.34494086]

qacc:
[ 1.75608797e+00,-5.45884370e-01, 3.03291381e-01, 6.89361727e+00,
  6.32498112e-02,-1.63920287e+00, 1.29020652e+00,-7.01391863e-01,
 -8.00434443e+00,-2.83520933e+00, 5.14944448e+00, 6.88453128e+00,
 -3.39783312e-01, 2.80155996e-01, 1.28045502e+00,-4.62740583e+00,
  6.72848305e+00,-5.05448427e-01, 1.53338952e+00,-1.75943300e+02,
  1.30114277e+02, 1.29246438e+01]

qfrc_actuator:
[ 8.22373098e-05, 9.66371917e-04, 1.84127745e-04,-1.45782434e-05,
  8.19110642e-06, 4.20512192e-02, 1.07844059e-02, 2.13237279e-03,
 -1.14586287e-04, 8.17115654e-04, 1.88985322e-04, 2.06636088e-05,
  5.71266832e-03,-1.57483488e-03, 0.00000000e+00,-1.30313191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061407827688837666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80795033e-14,  2.25993792e-15,  1.00000000e+00, -4.08585550e-29,
        1.00000000e+00, -2.25993792e-15, -1.00000000e+00,  0.00000000e+00,
        1.80795033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18978096, -0.07231821,  0.0616943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04560065e-05, 5.04303470e-05, 5.01998081e-05, 2.87126620e-05,
  1.81716323e-05,-3.57817120e-04,-1.23534996e-04,-2.03911718e-05,
 -4.86396973e-05,-7.77636823e-05, 4.86478426e-05, 3.72768207e-05,
 -4.72245788e-05,-1.56401561e-05,-1.48017459e-05,-2.64999847e-05,
  1.38901598e-04,-1.72561241e-05,-4.90472847e+00,-2.53854228e-03,
  1.94609363e-03,-9.53743438e-03]


--- Step 1909 ---
qpos:
[ 0.01867988, 0.03003752,-0.00942097,-0.02527454,-0.00343249, 1.33390956,
 -0.02977219, 0.94347275, 0.01158972, 0.02732   ,-0.0083026 , 0.02646285,
  1.32709631, 0.00762332, 1.26776484, 0.04465182,-0.09814538,-0.08116081,
  0.09261124, 0.61538253, 0.26932899,-0.65556058,-0.34497328]

qacc:
[-5.15520180e+00, 3.19705586e-01,-2.20523862e+00, 7.45661750e+00,
 -1.45333603e-02,-1.60100516e+00,-1.71343745e+00, 1.44357128e+01,
  1.11982099e+00,-7.11584392e-01, 2.65372649e-01, 6.60190996e+00,
 -1.43131298e-01, 1.46823569e-01,-1.00742477e+01, 3.41569021e+01,
  5.79833108e+00,-4.45001037e-01,-3.51521865e-02,-1.51293562e+02,
  1.12170572e+02, 1.15365099e+01]

qfrc_actuator:
[ 5.09594833e-05, 9.56137661e-04, 1.86257947e-04,-1.51410702e-07,
 -6.79808351e-06, 4.18787601e-02, 1.07637241e-02, 2.18002643e-03,
 -1.06490604e-04, 8.35064995e-04, 2.21380961e-04, 4.36594505e-05,
  5.70056146e-03,-1.56203689e-03, 0.00000000e+00,-1.13741764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.85911459,  -5.24779229,  -6.85911459,
        36.57171953, -36.5128413 ,  -5.24779229, -36.5128413 ,
        56.36038709,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00617652747232262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79748739e-14,  2.24685924e-15,  1.00000000e+00, -4.03870115e-29,
        1.00000000e+00, -2.24685924e-15, -1.00000000e+00,  0.00000000e+00,
        1.79748739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18970232, -0.07233631,  0.06169283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09608296e-05, 2.95423004e-05, 1.97070331e-05, 1.88778075e-05,
 -4.27451441e-06,-3.96200685e-04,-1.05496617e-04, 3.30174076e-05,
  6.64079736e-06,-1.39137916e-05, 2.36150162e-05, 2.20753127e-05,
 -3.99478707e-05,-2.60137394e-06,-1.27203282e-05, 1.61674886e-04,
  1.88362192e-05,-7.99465381e-06,-4.90497313e+00,-2.54228927e-03,
  1.93772170e-03,-9.53638778e-03]


--- Step 1910 ---
qpos:
[ 0.01867984, 0.03003839,-0.00942086,-0.02527381,-0.00343267, 1.33405166,
 -0.02977375, 0.9434807 , 0.01158878, 0.02731975,-0.00830228, 0.02646246,
  1.32728052, 0.00762328, 1.26789559, 0.04465818,-0.09811444,-0.08116927,
  0.09260989, 0.6157242 , 0.26911369,-0.6552552 ,-0.3451118 ]

qacc:
[ 2.69093032e+00, 2.43339522e+00,-7.54420712e+00, 6.43622990e+00,
 -3.94404743e-02,-4.91775764e+00, 1.18707381e+01,-1.42869342e+01,
 -2.07356576e+00, 1.74952789e-01,-7.93385338e-01, 5.91463051e-01,
  2.03300165e-02,-1.73368616e-01,-8.13185094e+00, 2.80091238e+01,
  5.01068620e+00,-3.92252231e-01,-1.38095354e+00,-1.30480593e+02,
  9.69952009e+01, 1.02904164e+01]

qfrc_actuator:
[ 6.81994546e-05, 9.49678186e-04, 1.33781266e-04,-9.78685695e-06,
 -1.57366799e-05, 4.17012582e-02, 1.07520966e-02, 2.15140449e-03,
 -1.19186249e-04, 8.10508232e-04, 2.04847056e-04, 3.95911285e-05,
  5.68135003e-03,-1.57222738e-03, 0.00000000e+00,-1.00584296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.86195074,  -5.24408323,  -6.86195074,
        37.34231006, -37.56210226,  -5.24408323, -37.56210226,
        57.78686037,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006130417936824353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.79127653e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.79127653e-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([-0.18981071, -0.07233054,  0.0616948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63436080e-05, 1.48962331e-05,-4.33125345e-05,-7.32501592e-06,
 -1.14761194e-05,-4.17317640e-04,-1.00325034e-04,-4.26477729e-05,
 -1.25077226e-05,-2.65149004e-05,-1.57402719e-05,-3.41834503e-06,
 -3.97196998e-05,-2.03289257e-05, 1.00371979e-05, 1.38474758e-04,
 -1.78777230e-06, 1.72425724e-06,-4.90497360e+00,-2.52217103e-03,
  1.96991747e-03,-9.53519508e-03]


--- Step 1911 ---
qpos:
[ 0.0186807 , 0.03003905,-0.00942116,-0.02527317,-0.00343295, 1.33419059,
 -0.02977518, 0.94348719, 0.01158736, 0.02731874,-0.00830214, 0.02646175,
  1.3274643 , 0.00762319, 1.26802677, 0.04466273,-0.09810891,-0.08117226,
  0.09261344, 0.61582119, 0.26900153,-0.65522773,-0.34507834]

qacc:
[ 7.68139271e+00, 6.96300977e-01,-2.58882682e+00, 2.06996272e+00,
 -4.13077765e-02,-7.01273348e+00, 2.08734403e+01,-3.30906462e+01,
 -4.16756036e+00,-1.14230491e+00, 3.97155993e+00,-8.58149830e+00,
 -4.74313407e-01, 3.93601485e-01, 6.18049720e+00,-2.05916793e+01,
 -6.35174594e+00, 1.36920639e+00, 1.22085408e+00, 1.68982669e+02,
 -1.24791192e+02, 1.43282969e+01]

qfrc_actuator:
[ 1.13872095e-04, 9.09759781e-04, 1.02740651e-04,-1.57818727e-05,
 -2.09720377e-05, 4.15576582e-02, 1.07635711e-02, 2.07810770e-03,
 -1.44036596e-04, 7.24964736e-04, 1.77145994e-04, 1.95748388e-05,
  5.65255703e-03,-1.57827139e-03, 0.00000000e+00,-1.10852515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006039313482899912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19163269e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.19163269e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00946605, -0.09800944,  0.06169864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61531409e-05,-4.08762593e-05,-3.35655754e-05,-7.00287212e-06,
 -1.20249220e-05,-3.96339029e-04,-8.29818281e-05,-8.95651694e-05,
 -2.52257149e-05,-1.03769624e-04,-3.52354135e-05,-2.17626378e-05,
 -5.30383078e-05,-2.14866577e-05, 1.67344313e-05,-9.44378866e-05,
  4.14085366e-05, 1.14133507e-05,-4.90481723e+00,-2.48663663e-03,
  2.03003133e-03,-9.53382641e-03]


--- Step 1912 ---
qpos:
[ 0.01868245, 0.03003918,-0.00942172,-0.02527223,-0.00343331, 1.3343266 ,
 -0.02977629, 0.94349203, 0.01158599, 0.02731712,-0.0083021 , 0.02646114,
  1.32764741, 0.00762358, 1.26815812, 0.04466538,-0.09812533,-0.08117057,
  0.0926158 , 0.61570746, 0.26897712,-0.65544045,-0.34489629]

qacc:
[ 7.60201105e+00, 6.29206472e-01,-4.50643781e+00, 1.04491048e+01,
 -3.45727818e-02,-7.52543179e+00, 2.33192110e+01,-3.75195686e+01,
  4.97059685e-01,-3.19543215e-01,-4.12790042e-01, 2.58999180e+00,
 -9.85369265e-01, 1.24303216e+00, 6.10219313e+00,-2.07593098e+01,
 -5.48580780e+00, 1.17083760e+00,-2.92904332e-01, 1.45479185e+02,
 -1.07862403e+02, 1.29578645e+01]

qfrc_actuator:
[ 1.58145609e-04, 8.67924539e-04, 8.44869725e-05,-1.83678589e-06,
 -2.39434514e-05, 4.14355762e-02, 1.07887023e-02, 1.99690740e-03,
 -1.40331035e-04, 7.09995990e-04, 1.78325587e-04, 2.57884553e-05,
  5.62336252e-03,-1.54632479e-03, 0.00000000e+00,-1.20636854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.41346448,  5.78396493, -6.41346448, 35.82680283,
       30.14971875,  5.78396493, 30.14971875, 42.06743602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006054560473578517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.16848572e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.16848572e-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([-0.00949977, -0.09801583,  0.06169803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56039656e-05,-7.19331760e-05,-3.10804929e-05, 1.08930218e-05,
 -1.00842313e-05,-3.61214070e-04,-6.46224779e-05,-9.74234915e-05,
  2.92969155e-06,-8.11854519e-05,-2.53372716e-05, 1.28227213e-07,
 -6.10047341e-05, 1.33145115e-05,-7.85290521e-06,-1.02103914e-04,
 -1.02863325e-05,-8.36828015e-06,-4.90498462e+00,-2.52366894e-03,
  1.98223907e-03,-9.53228271e-03]


--- Step 1913 ---
qpos:
[ 0.01868299, 0.03003898,-0.00942256,-0.02527149,-0.00343358, 1.33446   ,
 -0.02977728, 0.94349653, 0.01158433, 0.02731531,-0.008302  , 0.02646053,
  1.32782994, 0.00762434, 1.26828978, 0.04466381,-0.09811813,-0.08117067,
  0.0926186 , 0.61583447, 0.26882629,-0.65541256,-0.34484013]

qacc:
[-1.03491703e+01,-7.83216527e-02, 5.37724851e-01,-3.45995648e+00,
  3.56908969e-02,-4.34488798e+00, 1.06967920e+01,-1.14855955e+01,
 -2.47291654e+00,-4.30592596e-01, 1.11398799e+00,-8.79911276e-01,
 -1.06058488e+00, 1.29641071e+00, 1.33291932e+01,-4.56917259e+01,
  5.90125656e+00,-4.47731772e-01, 1.06820500e-01,-1.54042904e+02,
  1.14235009e+02, 1.18253071e+01]

qfrc_actuator:
[ 9.47157212e-05, 8.60830268e-04, 7.39119339e-05,-1.17770975e-05,
 -7.78044791e-06, 4.13274233e-02, 1.08040293e-02, 1.98274605e-03,
 -1.55348052e-04, 7.37533014e-04, 1.96838088e-04, 2.97096619e-05,
  5.59396358e-03,-1.52759173e-03, 0.00000000e+00,-1.42476419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006048675890794386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.67096219e-14,  2.29435137e-15,  1.00000000e+00, -8.42247712e-29,
        1.00000000e+00, -2.29435137e-15, -1.00000000e+00,  0.00000000e+00,
        3.67096219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19000394, -0.07233018,  0.0616983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.21252732e-05,-5.32614363e-05,-2.88834519e-05,-1.38866860e-05,
  1.01970326e-05,-3.24480392e-04,-6.56957440e-05,-2.89785213e-05,
 -1.49637053e-05,-2.30345463e-05,-1.35553027e-06,-4.27595779e-07,
 -5.74705560e-05, 8.66589328e-06,-1.91497592e-05,-2.26021372e-04,
  5.62231990e-05,-4.05683447e-05,-4.90493407e+00,-2.56719758e-03,
  1.91766150e-03,-9.53079056e-03]


--- Step 1914 ---
qpos:
[ 0.01868139, 0.03003854,-0.00942358,-0.02527124,-0.00343373, 1.33459073,
 -0.02977843, 0.94350224, 0.0115832 , 0.02731358,-0.00830212, 0.02645996,
  1.32801206, 0.00762509, 1.26842196, 0.04465459,-0.09809053,-0.08117234,
  0.09261639, 0.61616972, 0.26856606,-0.65517686,-0.34489192]

qacc:
[-1.83884986e+01,-7.91044731e-01, 4.47283418e+00,-1.25260310e+01,
  5.49432608e-02,-9.90697659e-01,-3.43608106e+00, 1.85391709e+01,
  4.44603275e+00, 7.97021407e-01,-2.84282975e+00, 3.75645513e+00,
 -9.24072059e-01, 9.46651522e-01, 2.39840781e+01,-8.25706900e+01,
  5.10224227e+00,-3.93994489e-01,-1.25076377e+00,-1.32884709e+02,
  9.88598507e+01, 1.05855602e+01]

qfrc_actuator:
[-1.38460239e-05, 8.56856616e-04, 6.80677856e-05,-3.56638097e-05,
  1.97740083e-06, 4.11929980e-02, 1.07957939e-02, 2.04365691e-03,
 -1.28015918e-04, 7.54898531e-04, 1.90107986e-04, 3.22969202e-05,
  5.56978545e-03,-1.53463988e-03, 0.00000000e+00,-1.81893418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.12960851,  -4.87395725,  -7.12960851,
        31.65416812, -33.67036811,  -4.87395725, -33.67036811,
        57.88926651,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006019459007679785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84439004e-14,  1.15274378e-14,  1.00000000e+00, -2.12610914e-28,
        1.00000000e+00, -1.15274378e-14, -1.00000000e+00,  0.00000000e+00,
        1.84439004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19007366, -0.07232937,  0.06169956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10387621e-04,-4.03247784e-05,-2.08697405e-05,-2.74336486e-05,
  1.57667009e-05,-3.28564093e-04,-8.01835057e-05, 4.87490517e-05,
  2.68801477e-05, 4.24139866e-06,-1.16497514e-05, 1.55036937e-06,
 -5.21420707e-05,-1.73999057e-05,-3.80579220e-05,-4.10124335e-04,
 -1.87535611e-05,-1.83800828e-05,-4.90497164e+00,-2.51562097e-03,
  1.99046688e-03,-9.52777571e-03]


--- Step 1915 ---
qpos:
[ 0.01867954, 0.03003778,-0.00942444,-0.02527027,-0.00343375, 1.33471839,
 -0.02977941, 0.94350727, 0.01158274, 0.02731213,-0.00830243, 0.0264594 ,
  1.32819377, 0.00762578, 1.26855335, 0.04464572,-0.09808796,-0.08116862,
  0.09261848, 0.61626451, 0.26840633,-0.65521529,-0.34477386]

qacc:
[-2.18321064e+00, 6.84399511e-01,-6.10942912e+00, 1.87498578e+01,
  5.28686338e-02,-5.63785070e+00, 1.48888588e+01,-1.87607709e+01,
  5.80058371e+00, 9.15567950e-01,-2.80219145e+00, 3.09505034e+00,
 -2.16295165e-01, 9.77029778e-02,-2.19151851e+00, 5.98110612e+00,
 -6.25739243e+00, 1.34913257e+00, 1.07253228e+00, 1.66165303e+02,
 -1.23094105e+02, 1.47511022e+01]

qfrc_actuator:
[-2.37988624e-05, 8.54797621e-04, 8.28291540e-05, 3.45720445e-06,
  7.81302528e-06, 4.10083805e-02, 1.07914114e-02, 2.00619359e-03,
 -9.37229534e-05, 7.83711573e-04, 1.86250831e-04, 3.40563260e-05,
  5.54874380e-03,-1.53915605e-03, 0.00000000e+00,-1.78087423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061084488847949064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08760182e-15,  4.54380091e-15,  1.00000000e+00, -4.12922535e-29,
        1.00000000e+00, -4.54380091e-15, -1.00000000e+00,  0.00000000e+00,
        9.08760182e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00962143, -0.0980316 ,  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:
[-1.31793184e-05,-3.00989558e-05, 2.93611382e-06, 3.61458732e-05,
  1.51325651e-05,-3.81490324e-04,-7.64926536e-05,-4.83729074e-05,
  3.50764284e-05, 2.89158807e-05,-4.34166927e-06, 1.57229938e-06,
 -5.33375686e-05,-2.08876084e-05,-6.68572039e-05, 9.51938995e-06,
 -2.01566016e-05, 2.14067419e-06,-4.90484126e+00,-2.45205176e-03,
  2.08656529e-03,-9.52462863e-03]


--- Step 1916 ---
qpos:
[ 0.01867826, 0.03003694,-0.00942494,-0.02526887,-0.00343353, 1.33484296,
 -0.02978038, 0.94351113, 0.0115827 , 0.02731104,-0.00830257, 0.02645848,
  1.3283751 , 0.0076264 , 1.26868381, 0.04464161,-0.098107  ,-0.08116028,
  0.09261886, 0.61615219, 0.26833202,-0.65549059,-0.34450906]

qacc:
[ 5.01678085e+00,-2.91894144e-01,-9.07187504e-01, 7.61991496e+00,
  1.04796571e-01,-6.08899661e+00, 1.73735907e+01,-2.66571264e+01,
  3.53918326e+00,-7.33767501e-01, 4.83864908e+00,-1.15956901e+01,
  1.73004308e-01,-3.55882425e-01,-1.58093145e+01, 5.32640735e+01,
 -5.40319795e+00, 1.15506792e+00,-4.25220916e-01, 1.43022109e+02,
 -1.06411914e+02, 1.33166921e+01]

qfrc_actuator:
[ 6.63076945e-06, 8.71801373e-04, 1.09694720e-04, 2.60989224e-05,
  2.90013597e-05, 4.08483954e-02, 1.07890768e-02, 1.94660000e-03,
 -7.33738089e-05, 8.19172268e-04, 2.01933010e-04, 1.75782158e-05,
  5.53492534e-03,-1.54210974e-03, 0.00000000e+00,-1.52390613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.49216788,  5.69548357, -6.49216788, 34.67643423,
       29.68255598,  5.69548357, 29.68255598, 42.47091591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006110874564118907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08399455e-15, -4.54199727e-15,  1.00000000e+00, -4.12594785e-29,
        1.00000000e+00,  4.54199727e-15, -1.00000000e+00,  0.00000000e+00,
       -9.08399455e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00962719, -0.09804212,  0.0616957 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00365440e-05, 2.36324993e-06, 2.22804996e-05, 2.21608503e-05,
  3.01095222e-05,-3.88315024e-04,-8.72249646e-05,-7.42421222e-05,
  2.13816318e-05, 5.08696764e-05, 2.11949095e-05,-1.53549173e-05,
 -4.66959049e-05,-2.10064541e-05,-2.97220767e-05, 2.48955433e-04,
 -1.39540159e-05,-4.30651723e-05,-4.90496529e+00,-2.52525957e-03,
  1.98850976e-03,-9.52215150e-03]


--- Step 1917 ---
qpos:
[ 0.01867702, 0.03003649,-0.00942585,-0.02526791,-0.0034332 , 1.33496451,
 -0.02978144, 0.94351495, 0.01158325, 0.02731018,-0.00830249, 0.02645773,
  1.328556  , 0.0076272 , 1.26881394, 0.04464155,-0.09814476,-0.08114796,
  0.09261241, 0.61586068, 0.26833049,-0.65597094,-0.34411698]

qacc:
[ 2.35351027e-01, 7.33169337e-01,-8.88823429e-03,-7.24091295e+00,
  4.36347789e-02,-3.81863118e+00, 7.75994719e+00,-5.39988076e+00,
  5.03438361e+00,-1.16919805e-02,-2.82479905e-01, 2.73614682e+00,
 -1.44186419e-01, 1.56773937e-01,-1.27290470e+01, 4.38368744e+01,
 -4.67947382e+00, 9.92306297e-01,-1.70766757e+00, 1.23505572e+02,
 -9.22931334e+01, 1.20020531e+01]

qfrc_actuator:
[ 7.29534523e-06, 9.00148147e-04, 9.02897309e-05, 3.37017115e-06,
  2.37236941e-05, 4.07044254e-02, 1.07880533e-02, 1.94550208e-03,
 -4.36446153e-05, 8.22905140e-04, 2.11295991e-04, 2.60276809e-05,
  5.52012628e-03,-1.52633141e-03, 0.00000000e+00,-1.31768404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.46671294,  5.72436901, -6.46671294, 36.30564268,
       31.25746866,  5.72436901, 31.25746866, 43.9473432 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006039178116893876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19183872e-15,  9.19183872e-15,  1.00000000e+00,  8.44898990e-29,
        1.00000000e+00, -9.19183872e-15, -1.00000000e+00,  0.00000000e+00,
       -9.19183872e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00947015, -0.09807773,  0.06169875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54179044e-06, 3.52665512e-05,-1.53933925e-05,-2.14262826e-05,
  1.24863646e-05,-3.78932115e-04,-8.92273082e-05,-1.68719381e-05,
  3.03691939e-05, 3.59499126e-05, 2.19656276e-05, 1.10678565e-05,
 -4.30047441e-05,-1.37233047e-06, 1.33592606e-05, 2.16155997e-04,
  9.98833496e-05,-9.75143403e-05,-4.90488268e+00,-2.60051974e-03,
  1.88004395e-03,-9.51965094e-03]


--- Step 1918 ---
qpos:
[ 0.01867545, 0.03003603,-0.00942685,-0.02526686,-0.00343298, 1.33508331,
 -0.02978267, 0.9435194 , 0.01158347, 0.02730955,-0.00830255, 0.02645711,
  1.32873672, 0.00762786, 1.26894433, 0.04464195,-0.09815543,-0.08113765,
  0.09261234, 0.61584569, 0.26818314,-0.65617534,-0.3438689 ]

qacc:
[-2.80375466e+00, 4.87983636e-01,-2.14131290e+00, 3.96144977e+00,
 -4.74130645e-02,-2.06675320e+00, 1.08265009e+00, 8.10603932e+00,
 -2.88434336e+00, 1.01790238e+00,-3.70096797e+00, 6.00513664e+00,
 -2.86334684e-02,-1.10087129e-01,-1.01932489e+00, 4.12129070e+00,
  6.77280627e+00,-5.00234919e-01, 1.59466442e+00,-1.76718808e+02,
  1.31261625e+02, 1.40393206e+01]

qfrc_actuator:
[-9.57882675e-06, 8.81595771e-04, 7.92478640e-05, 7.36706246e-06,
  2.61202731e-06, 4.05889935e-02, 1.07879155e-02, 1.97885154e-03,
 -6.18858041e-05, 8.25361812e-04, 1.98989077e-04, 3.12943752e-05,
  5.51540995e-03,-1.53505473e-03, 0.00000000e+00,-1.30287157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006122462306539185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62672065e-14,  6.80010122e-15,  1.00000000e+00, -2.46620675e-28,
        1.00000000e+00, -6.80010122e-15, -1.00000000e+00,  0.00000000e+00,
        3.62672065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18984067, -0.07239123,  0.06169519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68132691e-05,-2.89910350e-06,-6.38041495e-06, 4.55806057e-06,
 -1.37525019e-05,-3.43848514e-04,-8.50469853e-05, 1.91245005e-05,
 -1.73433359e-05, 2.76161067e-05,-1.78233272e-06, 7.78497851e-06,
 -2.58495010e-05,-1.95106875e-05, 2.69689068e-05, 2.78584279e-05,
  2.79796719e-04,-1.56921556e-04,-4.90466854e+00,-2.67567227e-03,
  1.76514095e-03,-9.51700207e-03]


--- Step 1919 ---
qpos:
[ 0.01867403, 0.03003556,-0.0094277 ,-0.02526544,-0.00343279, 1.33519999,
 -0.0297842 , 0.94352416, 0.01158311, 0.0273094 ,-0.00830286, 0.02645654,
  1.32891753, 0.00762785, 1.2690752 , 0.04463955,-0.09814275,-0.08112909,
  0.09261234, 0.61606932, 0.26791007,-0.65614246,-0.34374388]

qacc:
[ 1.33182025e+00, 3.04622627e-01,-2.69478721e+00, 8.87249384e+00,
 -1.04354680e-02,-1.42450242e+00, 6.50887804e-01, 4.43522749e+00,
 -4.83768955e+00, 1.40893223e+00,-4.31043176e+00, 5.14608262e+00,
  2.61647535e-01,-6.91406396e-01, 9.15044746e+00,-3.10735769e+01,
  5.83569245e+00,-4.37181799e-01, 1.72636043e-02,-1.51880104e+02,
  1.13233803e+02, 1.25642352e+01]

qfrc_actuator:
[-1.12673958e-06, 8.88400492e-04, 9.08391077e-05, 2.70392340e-05,
  7.67914389e-06, 4.05271251e-02, 1.07884290e-02, 1.99670427e-03,
 -9.04660729e-05, 8.62443645e-04, 1.91721034e-04, 3.46238250e-05,
  5.51673541e-03,-1.57596827e-03, 0.00000000e+00,-1.45419728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.36921374,  -4.50349483,  -7.36921374,
        26.90380878, -29.89160929,  -4.50349483, -29.89160929,
        57.54896737,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006162178924425589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80167281e-14,  2.25209102e-15,  1.00000000e+00, -4.05753116e-29,
        1.00000000e+00, -2.25209102e-15, -1.00000000e+00,  0.00000000e+00,
        1.80167281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18975148, -0.07241053,  0.06169353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.96345573e-06, 4.08591525e-06, 1.03813589e-05, 1.94179739e-05,
 -3.06514512e-06,-2.68957013e-04,-7.59963618e-05, 5.63619569e-06,
 -2.90810121e-05, 5.25097044e-05,-1.50336690e-06, 4.60642710e-06,
 -1.58274890e-05,-5.28518223e-05, 1.10138969e-05,-1.47332660e-04,
  5.24027780e-05,-1.12877983e-04,-4.90490956e+00,-2.58130121e-03,
  1.88858895e-03,-9.51129368e-03]


--- Step 1920 ---
qpos:
[ 0.01867307, 0.03003528,-0.00942849,-0.02526416,-0.00343259, 1.33531474,
 -0.02978579, 0.94352804, 0.01158242, 0.02730935,-0.00830312, 0.02645604,
  1.3290978 , 0.00762842, 1.269206  , 0.04463638,-0.09810991,-0.08112206,
  0.092607  , 0.61649923, 0.26752825,-0.6559047 ,-0.34372424]

qacc:
[ 3.91700773e+00,-2.21899845e-01, 1.77875301e+00,-4.52053275e+00,
  4.24860412e-03,-3.87286471e+00, 1.13822175e+01,-1.89132280e+01,
 -2.90166456e+00, 1.52151274e-01,-6.21466756e-01, 1.66101372e+00,
 -8.66429587e-01, 1.21014220e+00, 2.30451027e+00,-7.99583317e+00,
  5.04204471e+00,-3.82398720e-01,-1.33644516e+00,-1.30910129e+02,
  9.79811315e+01, 1.12280481e+01]

qfrc_actuator:
[ 2.21706107e-05, 9.10441221e-04, 9.80439874e-05, 2.02989504e-05,
  1.06583759e-05, 4.04445955e-02, 1.07895273e-02, 1.95206281e-03,
 -1.07134346e-04, 8.48971227e-04, 1.87632373e-04, 3.68227129e-05,
  5.49503883e-03,-1.52909572e-03, 0.00000000e+00,-1.48909089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.3463159 ,  -4.54075098,  -7.3463159 ,
        27.96060536, -31.26398801,  -4.54075098, -31.26398801,
        59.21723302,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006119324705663655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81429010e-14, -6.80358788e-15,  1.00000000e+00,  1.23436822e-28,
        1.00000000e+00,  6.80358788e-15, -1.00000000e+00,  0.00000000e+00,
        1.81429010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18985115, -0.07240595,  0.06169534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35317222e-05, 2.73323511e-05, 1.00126675e-05,-5.82830163e-06,
  1.15995666e-06,-2.46807962e-04,-6.01238773e-05,-5.46575052e-05,
 -1.75027640e-05, 1.57775842e-05, 6.73976306e-06, 4.49023565e-06,
 -4.24623181e-05, 2.78458478e-05,-1.54345372e-05,-4.26333231e-05,
 -6.08646495e-05,-7.29947618e-05,-4.90490324e+00,-2.47471673e-03,
  2.03636039e-03,-9.50553902e-03]


--- Step 1921 ---
qpos:
[ 0.0186724 , 0.03003525,-0.00942919,-0.02526333,-0.00343237, 1.33542747,
 -0.02978708, 0.94353135, 0.01158188, 0.02730922,-0.0083036 , 0.02645561,
  1.32927746, 0.00762981, 1.2693362 , 0.04463681,-0.09809385,-0.08110828,
  0.09264917, 0.61677379, 0.26719932,-0.65586147,-0.34357001]

qacc:
[ 2.45944415e+00,-8.43193184e-01, 5.31693406e+00,-1.32624366e+01,
  8.52802597e-03,-4.47377723e+00, 1.25779687e+01,-1.63106025e+01,
  1.27557876e+00, 6.55541846e-01,-2.78917022e+00, 4.45389726e+00,
 -6.92818643e-01, 1.12530123e+00,-1.17042015e+01, 3.98208330e+01,
 -4.19525380e+00, 1.68707274e+00, 1.18788133e+01, 1.14648417e+02,
 -8.38199481e+01, 2.34617374e+01]

qfrc_actuator:
[ 3.62585288e-05, 9.23652361e-04, 1.02641356e-04,-1.92212418e-06,
  1.23602584e-05, 4.03503409e-02, 1.08086183e-02, 1.92425673e-03,
 -9.89018555e-05, 8.23090598e-04, 1.67500915e-04, 3.83012160e-05,
  5.47023498e-03,-1.48380206e-03, 0.00000000e+00,-1.29526987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006010360072914042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16237836e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.16237836e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06726843, -0.08988806,  0.06169992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47844409e-05, 3.03409739e-05, 1.12835070e-05,-2.08192101e-05,
  2.37833748e-06,-2.44975896e-04,-3.77598080e-05,-3.80928425e-05,
  7.72438095e-06,-1.54753902e-05,-1.58821127e-05, 2.47763368e-06,
 -4.00994169e-05, 4.38359349e-05,-1.50832528e-05, 1.88762448e-04,
 -9.79080864e-05,-3.69786169e-05,-4.90473791e+00,-2.36284118e-03,
  2.19796000e-03,-9.49969178e-03]


--- Step 1922 ---
qpos:
[ 0.01867122, 0.03003585,-0.00943006,-0.02526211,-0.00343199, 1.33553777,
 -0.02978771, 0.94353535, 0.01158178, 0.02730877,-0.00830365, 0.02645553,
  1.32945693, 0.0076312 , 1.26946638, 0.04463852,-0.09809887,-0.08108993,
  0.09268862, 0.61684674, 0.26695254,-0.65604958,-0.3432716 ]

qacc:
[-4.43702063e+00, 2.12099227e+00,-7.93591133e+00, 1.43525441e+01,
  6.99401023e-02,-3.77431147e+00, 7.02172097e+00, 3.54365070e+00,
  3.83882722e+00,-9.11517998e-01, 1.09713762e+00, 4.63396226e+00,
 -5.89086276e-02, 2.48327766e-02,-3.86340578e+00, 1.34926633e+01,
 -5.26963287e+00, 1.14238221e+00,-6.79770096e-01, 1.39295064e+02,
 -1.04082524e+02, 1.37956478e+01]

qfrc_actuator:
[ 9.30271107e-06, 9.84707697e-04, 1.05627298e-04, 2.01815084e-05,
  3.10345163e-05, 4.02144021e-02, 1.08381525e-02, 1.95985404e-03,
 -7.60829092e-05, 8.07655181e-04, 1.91247902e-04, 5.70691843e-05,
  5.45956975e-03,-1.49317017e-03, 0.00000000e+00,-1.23456775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.11404574,  2.95787737, -8.11404574, 13.50124636,
       13.3453406 ,  2.95787737, 13.3453406 , 45.24528636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006011899638827513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23354590e-15,  4.61677295e-15,  1.00000000e+00,  4.26291849e-29,
        1.00000000e+00, -4.61677295e-15, -1.00000000e+00,  0.00000000e+00,
       -9.23354590e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00940406, -0.09814655,  0.06170018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65133356e-05, 7.94755739e-05, 9.92856513e-06, 2.33869230e-05,
  2.00701271e-05,-2.80760030e-04,-2.39255726e-05, 2.64024171e-05,
  2.30393594e-05,-2.72519038e-05, 1.86869548e-05, 1.76053397e-05,
 -2.02950806e-05,-5.90420100e-06, 1.18956450e-05, 6.88193500e-05,
 -8.87313565e-05,-1.07796158e-04,-4.90485453e+00,-2.44361273e-03,
  2.09213201e-03,-9.49483141e-03]


--- Step 1923 ---
qpos:
[ 0.01866971, 0.03003657,-0.00943038,-0.02526096,-0.00343142, 1.33564556,
 -0.02978765, 0.94354114, 0.01158162, 0.02730777,-0.00830328, 0.02645571,
  1.32963603, 0.00763284, 1.26959673, 0.04463994,-0.0981222 ,-0.08106763,
  0.09272044, 0.61674498, 0.26677584,-0.65643857,-0.34284791]

qacc:
[-2.67469937e+00,-1.53742890e+00, 6.00186898e+00,-8.21641880e+00,
  7.93710187e-02,-2.06768360e+00,-8.97154729e-01, 2.30652816e+01,
 -5.76163589e-01,-1.36015856e+00, 2.74622670e+00, 1.36174061e+00,
 -4.79788386e-01, 5.93197675e-01, 1.12436660e+00,-3.48379436e+00,
 -4.58006345e+00, 9.86507818e-01,-1.90602102e+00, 1.20505961e+02,
 -9.05164728e+01, 1.24804527e+01]

qfrc_actuator:
[-6.08663192e-06, 9.67457101e-04, 1.25621571e-04, 1.49731551e-05,
  4.19867874e-05, 4.00901781e-02, 1.08734808e-02, 2.05020252e-03,
 -8.03748282e-05, 7.63270532e-04, 2.05258789e-04, 6.81462107e-05,
  5.43606793e-03,-1.48160752e-03, 0.00000000e+00,-1.25284885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.23202041,  5.97902153, -6.23202041, 34.173555  ,
       26.61778301,  5.97902153, 26.61778301, 36.3804629 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00594225860483432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40126394e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40126394e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00923585, -0.09818438,  0.06170344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61368800e-05, 3.02231942e-05, 3.84432314e-05,-1.00750995e-06,
  2.27934696e-05,-2.84176349e-04,-2.16617484e-05, 8.19776811e-05,
 -3.62962841e-06,-5.49846131e-05, 1.12974824e-05, 1.08987002e-05,
 -3.48009850e-05, 4.97867453e-06, 9.63019284e-06,-1.37193923e-05,
  2.71616141e-05,-1.92427267e-04,-4.90486247e+00,-2.56882558e-03,
  1.92147909e-03,-9.49028365e-03]


--- Step 1924 ---
qpos:
[ 0.01866907, 0.03003689,-0.0094301 ,-0.02526086,-0.00343083, 1.33575143,
 -0.02978758, 0.94354657, 0.0115814 , 0.02730652,-0.00830365, 0.02645607,
  1.32981479, 0.00763441, 1.26972689, 0.04464282,-0.09812222,-0.08104701,
  0.09275201, 0.61688117, 0.26647279,-0.65659128,-0.342546  ]

qacc:
[ 7.41450093e+00,-4.35865153e+00, 1.91605663e+01,-3.78584398e+01,
  6.90998975e-03,-3.19767727e+00, 8.11653209e+00,-9.98344881e+00,
 -4.45785547e-01, 2.10454347e+00,-8.72705325e+00, 1.31373073e+01,
 -1.11977840e-01,-4.35880790e-03,-4.66995541e+00, 1.59555031e+01,
  5.82938964e+00,-4.18399380e-01,-6.53163916e-02,-1.51178729e+02,
  1.13056197e+02, 1.31892916e+01]

qfrc_actuator:
[ 3.87261142e-05, 9.03498207e-04, 1.37415971e-04,-4.18251911e-05,
  3.04651013e-05, 4.00095336e-02, 1.08764957e-02, 2.03001473e-03,
 -8.28420630e-05, 7.37362712e-04, 1.60009265e-04, 7.45690540e-05,
  5.41021364e-03,-1.49321682e-03, 0.00000000e+00,-1.17545707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0059555398283384214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86418537e-14,  1.16511586e-14,  1.00000000e+00, -2.17199194e-28,
        1.00000000e+00, -1.16511586e-14, -1.00000000e+00,  0.00000000e+00,
        1.86418537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19027852, -0.07238541,  0.06170313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43493881e-05,-3.91872784e-05, 2.27313618e-05,-5.41963984e-05,
  1.92754644e-06,-2.40352945e-04,-5.27505106e-05,-2.73064212e-05,
 -2.59635996e-06,-5.38253043e-05,-5.48318655e-05, 4.67065978e-06,
 -4.21633603e-05,-1.82609063e-05,-1.22243310e-06, 7.69336966e-05,
  2.06093089e-04,-2.78126263e-04,-4.90473251e+00,-2.68775506e-03,
  1.75325396e-03,-9.48551876e-03]


--- Step 1925 ---
qpos:
[ 0.01866829, 0.03003687,-0.00942965,-0.02526107,-0.00343044, 1.33585542,
 -0.02978804, 0.9435514 , 0.01158185, 0.02730537,-0.00830447, 0.02645608,
  1.32999351, 0.00763531, 1.26985737, 0.04464358,-0.09810203,-0.08102785,
  0.09277804, 0.61722365, 0.26606023,-0.65653972,-0.34234852]

qacc:
[-1.25317911e+00,-1.55292806e+00, 6.21222610e+00,-1.16339024e+01,
 -8.22906019e-02,-2.03525825e+00, 4.88264706e+00,-1.00019144e+01,
  5.62636319e+00, 6.57678998e-01,-7.48091909e-01,-4.43826374e+00,
  2.22902149e-01,-6.86430598e-01, 6.86480590e+00,-2.33962973e+01,
  5.05246116e+00,-3.66498172e-01,-1.38362638e+00,-1.30529679e+02,
  9.80692282e+01, 1.18553689e+01]

qfrc_actuator:
[ 2.98474597e-05, 8.82983323e-04, 1.44022415e-04,-5.75654004e-05,
  5.55521399e-06, 3.99022014e-02, 1.08427565e-02, 1.99819217e-03,
 -4.87011910e-05, 7.75726426e-04, 1.51207091e-04, 6.04229077e-05,
  5.40426144e-03,-1.53628353e-03, 0.00000000e+00,-1.29082179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.35739682,  -4.52277447,  -7.35739682,
        24.50295229, -25.81087998,  -4.52277447, -25.81087998,
        50.62406116,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005929927855783085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.34029623e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.34029623e-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([-0.19035211, -0.07238459,  0.06170446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.59992813e-06,-4.00511751e-05,-5.70856305e-07,-1.76902086e-05,
 -2.37799602e-05,-2.52154314e-04,-8.76747171e-05,-4.10726831e-05,
  3.40438127e-05,-2.81474352e-06,-2.64945528e-05,-1.82562154e-05,
 -3.12958069e-05,-5.83420990e-05, 4.96924566e-06,-1.11922007e-04,
 -1.10320004e-05,-2.22245291e-04,-4.90483805e+00,-2.54011475e-03,
  1.95000444e-03,-9.47694356e-03]


--- Step 1926 ---
qpos:
[ 0.01866706, 0.03003658,-0.00942915,-0.02526147,-0.00343029, 1.33595735,
 -0.02978892, 0.94355686, 0.01158236, 0.02730401,-0.00830505, 0.02645627,
  1.33017205, 0.00763591, 1.26998779, 0.04464364,-0.09806426,-0.08100998,
  0.09279403, 0.61774548, 0.26555241,-0.65631064,-0.34224082]

qacc:
[-3.80830215e+00,-9.19472518e-01, 3.53992134e+00,-6.67308853e+00,
 -1.00497134e-01,-5.24872023e-01,-2.83609363e+00, 1.10433747e+01,
  5.34053160e-01,-5.75390365e-01, 9.17626984e-01, 1.81192379e+00,
 -7.59488844e-03,-2.28517059e-01, 2.02985967e+00,-7.25971469e+00,
  4.39480615e+00,-3.21459891e-01,-2.50958375e+00,-1.13117834e+02,
  8.54024386e+01, 1.06505570e+01]

qfrc_actuator:
[ 7.17073395e-06, 8.70881784e-04, 1.47707248e-04,-6.67381030e-05,
 -9.43082454e-06, 3.97973399e-02, 1.08230262e-02, 2.03078384e-03,
 -4.65443112e-05, 7.63638664e-04, 1.64268204e-04, 6.98832763e-05,
  5.39958360e-03,-1.54432303e-03, 0.00000000e+00,-1.32356541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.30956141,  -4.59968357,  -7.30956141,
        25.69239236, -27.10449263,  -4.59968357, -27.10449263,
        51.70931646,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005838693741575231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80298428e-14,  1.18843259e-14,  1.00000000e+00, -4.51959044e-28,
        1.00000000e+00, -1.18843259e-14, -1.00000000e+00,  0.00000000e+00,
        3.80298428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1905751 , -0.07236503,  0.06170855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29117644e-05,-3.53773588e-05,-5.27287912e-06,-1.12517370e-05,
 -2.90371489e-05,-2.63446007e-04,-8.03507487e-05, 2.16394105e-05,
  3.15034223e-06,-1.98526463e-05, 8.60666093e-06, 8.07072367e-06,
 -3.44649373e-05,-3.23489224e-05,-1.39894603e-05,-3.92238468e-05,
 -1.38912098e-04,-1.72108364e-04,-4.90476962e+00,-2.39175234e-03,
  2.15409877e-03,-9.46832897e-03]


--- Step 1927 ---
qpos:
[ 0.0186666 , 0.03003638,-0.00942878,-0.02526201,-0.0034302 , 1.33605709,
 -0.02978937, 0.9435616 , 0.0115822 , 0.0273023 ,-0.00830598, 0.02645697,
  1.3303503 , 0.00763639, 1.27011786, 0.04464528,-0.09805111,-0.08098664,
  0.09281322, 0.6180332 , 0.26513961,-0.65635093,-0.34196404]

qacc:
[ 6.61247516e+00, 2.02408957e-01, 3.68156415e-02,-2.31763297e+00,
 -2.85059640e-02,-5.24470199e+00, 1.51122898e+01,-2.00483653e+01,
 -5.69737107e+00, 1.55381707e+00,-8.34593828e+00, 1.79940605e+01,
 -1.17312758e-02,-1.49745566e-01,-5.33093616e+00, 1.78986599e+01,
 -6.15427203e+00, 1.36763496e+00, 7.99508049e-01, 1.62009586e+02,
 -1.21314231e+02, 1.67499207e+01]

qfrc_actuator:
[ 4.75819585e-05, 8.99412512e-04, 1.49678281e-04,-7.19709101e-05,
 -5.89060729e-07, 3.96948823e-02, 1.08472866e-02, 1.99452035e-03,
 -8.09952214e-05, 7.21557561e-04, 1.36697826e-04, 9.31358731e-05,
  5.38503365e-03,-1.54920810e-03, 0.00000000e+00,-1.23629321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005895014008499698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41662753e-15,  2.35415688e-14,  1.00000000e+00,  2.21682185e-28,
        1.00000000e+00, -2.35415688e-14, -1.00000000e+00,  0.00000000e+00,
       -9.41662753e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00909494, -0.09825351,  0.06170627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97324010e-05, 7.17890487e-06,-6.37368088e-06,-7.14740653e-06,
 -8.31471199e-06,-2.63954026e-04,-3.58916004e-05,-4.58888146e-05,
 -3.43711332e-05,-5.10005510e-05,-3.03090889e-05, 2.28606057e-05,
 -3.99159973e-05,-2.22269491e-05,-1.34976896e-05, 8.26771637e-05,
 -2.05133548e-04,-1.27092779e-04,-4.90458921e+00,-2.24649844e-03,
  2.35950547e-03,-9.45963412e-03]


--- Step 1928 ---
qpos:
[ 0.01866559, 0.03003666,-0.0094286 ,-0.02526265,-0.00343011, 1.33615464,
 -0.02978927, 0.94356656, 0.01158197, 0.02730052,-0.00830732, 0.02645757,
  1.33052792, 0.00763756, 1.2702478 , 0.04464827,-0.09805926,-0.08095858,
  0.09282985, 0.61811898, 0.26480742,-0.65662454,-0.34154089]

qacc:
[-4.70336310e+00, 9.82956702e-01,-2.12285890e+00, 2.52852313e-01,
  1.67653294e-03,-3.99743905e+00, 9.13800811e+00,-4.06604626e+00,
 -5.87977354e-01, 8.65945589e-01,-2.79640731e+00, 1.76709049e+00,
 -8.35043271e-01, 1.22029284e+00,-4.16754752e+00, 1.44833321e+01,
 -5.32656019e+00, 1.17736248e+00,-6.39948199e-01, 1.39616807e+02,
 -1.05182833e+02, 1.51751521e+01]

qfrc_actuator:
[ 1.82919427e-05, 9.52058946e-04, 1.50794342e-04,-7.48099494e-05,
  4.72209787e-06, 3.95948260e-02, 1.08795217e-02, 2.00680066e-03,
 -8.34491825e-05, 7.32704224e-04, 1.20726905e-04, 8.87471727e-05,
  5.36457699e-03,-1.49899545e-03, 0.00000000e+00,-1.16779104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.80903297,  5.31261206, -6.80903297, 26.85191595,
       23.34638685,  5.31261206, 23.34638685, 38.55880407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005903160650199905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40363214e-15,  4.70181607e-15,  1.00000000e+00,  4.42141487e-29,
        1.00000000e+00, -4.70181607e-15, -1.00000000e+00,  0.00000000e+00,
       -9.40363214e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00910657, -0.09826338,  0.06170608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81287690e-05, 5.50578167e-05, 1.56454564e-06,-2.89211762e-06,
  3.91903884e-07,-2.55152548e-04,-2.49365387e-05, 2.37451870e-06,
 -3.48435370e-06,-2.25956702e-05,-2.94175591e-05,-7.17238252e-06,
 -4.57875064e-05, 3.44016009e-05, 7.17657026e-07, 7.08622104e-05,
 -1.15074831e-04,-2.49208333e-04,-4.90476357e+00,-2.43420904e-03,
  2.11168590e-03,-9.45364842e-03]


--- Step 1929 ---
qpos:
[ 0.0186639 , 0.03003707,-0.00942854,-0.02526397,-0.00342999, 1.3362502 ,
 -0.02978914, 0.94357233, 0.01158206, 0.02729833,-0.0083079 , 0.02645807,
  1.3307051 , 0.00763908, 1.27037754, 0.04465338,-0.09808592,-0.08092646,
  0.09283899, 0.61802966, 0.26454384,-0.65710073,-0.3409905 ]

qacc:
[-5.90349524e+00,-9.08748475e-01, 6.37971926e+00,-1.80916450e+01,
  1.19002391e-02,-1.29839787e+00,-6.11097668e-01, 1.12259391e+01,
  2.73234998e+00,-2.84559536e+00, 9.77266970e+00,-1.23429288e+01,
 -3.98419214e-01, 5.41416904e-01,-6.69537648e+00, 2.30892875e+01,
 -4.62607825e+00, 1.01777427e+00,-1.87147587e+00, 1.20753651e+02,
 -9.15356814e+01, 1.37233468e+01]

qfrc_actuator:
[-1.63041289e-05, 9.29987310e-04, 1.33760928e-04,-1.11698145e-04,
  7.87076112e-06, 3.94970800e-02, 1.08807355e-02, 2.04756278e-03,
 -6.70376197e-05, 7.22394897e-04, 1.65189127e-04, 8.59350437e-05,
  5.34061646e-03,-1.48751222e-03, 0.00000000e+00,-1.05767614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.72303462,  5.42103148, -6.72303462, 28.64723831,
       24.81701201,  5.42103148, 24.81701201, 39.41383314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005839422817100794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50627365e-15,  4.75313682e-15,  1.00000000e+00,  4.51846193e-29,
        1.00000000e+00, -4.75313682e-15, -1.00000000e+00,  0.00000000e+00,
       -9.50627365e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00895989, -0.09829814,  0.06170893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53974501e-05, 8.89798119e-06,-5.57122500e-06,-3.45313204e-05,
  3.37111261e-06,-2.44363367e-04,-5.15710882e-05, 3.25591354e-05,
  1.62962242e-05,-2.92520850e-05, 3.59583001e-05,-4.93217447e-06,
 -3.87504699e-05, 1.08899845e-05, 4.58215750e-06, 1.13349250e-04,
  6.91765090e-05,-3.71487883e-04,-4.90472965e+00,-2.61098920e-03,
  1.87205348e-03,-9.44744001e-03]


--- Step 1930 ---
qpos:
[ 0.01866352, 0.03003704,-0.00942815,-0.02526534,-0.0034297 , 1.33634373,
 -0.02978923, 0.94357787, 0.01158235, 0.02729577,-0.00830792, 0.02645855,
  1.33088212, 0.00764024, 1.2705078 , 0.04465541,-0.0980881 ,-0.08089597,
  0.09284944, 0.61818947, 0.26414653,-0.65733046,-0.34056578]

qacc:
[ 1.13593296e+01,-1.60570647e+00, 5.02034341e+00,-5.90558796e+00,
  7.49359759e-02,-2.46670087e+00, 5.31329324e+00,-6.00055287e+00,
  1.69613329e+00,-2.14713030e+00, 7.03495392e+00,-8.13094418e+00,
 -1.62251819e-01,-7.12374283e-02, 1.00915930e+01,-3.41632997e+01,
  6.11934654e+00,-4.06843063e-01, 3.25254197e-01,-1.57585627e+02,
  1.18591849e+02, 1.49777511e+01]

qfrc_actuator:
[ 5.27914312e-05, 8.80995156e-04, 1.41334877e-04,-1.15139948e-04,
  2.74488148e-05, 3.93836587e-02, 1.08636466e-02, 2.03371886e-03,
 -5.74164930e-05, 6.99571401e-04, 1.91647934e-04, 8.41048191e-05,
  5.32521175e-03,-1.51693741e-03, 0.00000000e+00,-1.22571514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0057503959577873826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93068970e-14,  2.41336212e-15,  1.00000000e+00, -4.65945340e-29,
        1.00000000e+00, -2.41336212e-15, -1.00000000e+00,  0.00000000e+00,
        1.93068970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19081201, -0.07237042,  0.06171282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80677068e-05,-4.66652847e-05, 7.53137262e-06,-3.92233375e-06,
  2.15602180e-05,-2.58357612e-04,-6.99054609e-05,-2.18055719e-05,
  1.00795501e-05,-3.18743746e-05, 2.47053885e-05,-1.93119794e-06,
 -3.19858884e-05,-3.53978748e-05, 1.13949324e-05,-1.61889865e-04,
  3.09452352e-04,-4.90890207e-04,-4.90456032e+00,-2.77639537e-03,
  1.64202918e-03,-9.44091358e-03]


--- Step 1931 ---
qpos:
[ 0.01866364, 0.03003671,-0.0094277 ,-0.02526639,-0.0034292 , 1.33643507,
 -0.02978979, 0.94358461, 0.01158275, 0.02729302,-0.00830793, 0.02645866,
  1.33105895, 0.00764129, 1.27063807, 0.04465578,-0.09806908,-0.08086689,
  0.09285571, 0.61856534, 0.26363332,-0.65734716,-0.34024858]

qacc:
[ 4.17856935e+00, 7.44467067e-02,-2.21285789e+00, 7.85148871e+00,
  8.42035127e-02, 4.73657385e-01,-7.49892321e+00, 2.18645797e+01,
  9.68475491e-01,-1.02312017e+00, 4.80984847e+00,-1.08976354e+01,
 -2.14587535e-01, 1.17906669e-01, 5.08242347e+00,-1.77102744e+01,
  5.29931764e+00,-3.55358735e-01,-1.04234331e+00,-1.35976163e+02,
  1.02917916e+02, 1.35108059e+01]

qfrc_actuator:
[ 7.58517193e-05, 8.69626988e-04, 1.45526655e-04,-9.88803844e-05,
  3.89718159e-05, 3.92616534e-02, 1.08358052e-02, 2.09434472e-03,
 -5.18755908e-05, 6.87132122e-04, 1.89438701e-04, 6.50808333e-05,
  5.32025543e-03,-1.51709424e-03, 0.00000000e+00,-1.30775246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.86769504,  -3.56176244,  -7.86769504,
        17.36095014, -19.27202815,  -3.56176244, -19.27202815,
        51.20698507,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0057562443916721745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92872809e-14,  1.20545506e-14,  1.00000000e+00, -2.32499503e-28,
        1.00000000e+00, -1.20545506e-14, -1.00000000e+00,  0.00000000e+00,
        1.92872809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19080472, -0.07238016,  0.06171266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50273728e-05,-3.60509585e-05,-4.65785249e-06, 1.44452797e-05,
  2.42467277e-05,-2.79889951e-04,-8.70746897e-05, 5.04420760e-05,
  5.81603237e-06,-2.51467048e-05,-5.78815724e-06,-1.95683448e-05,
 -2.97519534e-05,-1.78523922e-05,-1.73808137e-05,-9.06533544e-05,
  6.63232406e-06,-4.15603667e-04,-4.90469641e+00,-2.56596184e-03,
  1.91962699e-03,-9.42910108e-03]


--- Step 1932 ---
qpos:
[ 0.01866334, 0.03003639,-0.00942761,-0.0252676 ,-0.00342869, 1.3365241 ,
 -0.02979058, 0.94359065, 0.01158286, 0.0272899 ,-0.00830704, 0.02645851,
  1.33123562, 0.00764205, 1.27076756, 0.04466049,-0.09807209,-0.08083282,
  0.09286047, 0.61873278, 0.26320281,-0.65760494,-0.33977901]

qacc:
[-3.55763237e+00, 7.14758727e-01,-1.83551585e+00,-3.26311767e-01,
  1.11766515e-02,-3.66182724e+00, 9.72888070e+00,-1.51841391e+01,
 -2.36834225e+00,-3.53951987e+00, 1.30339777e+01,-1.87921693e+01,
  4.37158272e-01,-7.27691002e-01,-1.43419273e+01, 4.83851966e+01,
 -5.50641227e+00, 1.24945084e+00,-3.78980401e-01, 1.44147101e+02,
 -1.08911211e+02, 1.62705318e+01]

qfrc_actuator:
[ 5.38451985e-05, 8.80880567e-04, 1.30075804e-04,-1.06647926e-04,
  2.78164514e-05, 3.91354753e-02, 1.08196135e-02, 2.05628881e-03,
 -6.65309668e-05, 6.80875531e-04, 2.41363006e-04, 5.38348248e-05,
  5.31092681e-03,-1.53528903e-03, 0.00000000e+00,-1.07207863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005716130526295077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.71131624e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.71131624e-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([-0.00867837, -0.09837884,  0.06171444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12893697e-05,-9.23153631e-06,-2.29705293e-05,-9.18986638e-06,
  3.15415446e-06,-2.97142597e-04,-7.94666317e-05,-4.77173093e-05,
 -1.45014341e-05,-2.22505292e-05, 4.53719438e-05,-1.28990443e-05,
 -2.91479088e-05,-3.00686905e-05,-2.08955648e-05, 2.27750820e-04,
 -1.90921193e-04,-3.47941440e-04,-4.90463855e+00,-2.35967141e-03,
  2.19776294e-03,-9.41727397e-03]


--- Step 1933 ---
qpos:
[ 0.01866312, 0.03003633,-0.0094276 ,-0.02526859,-0.00342835, 1.33661097,
 -0.0297913 , 0.94359512, 0.01158315, 0.02728683,-0.00830597, 0.02645857,
  1.33141206, 0.00764239, 1.27089744, 0.04466359,-0.09805361,-0.08080014,
  0.09286148, 0.61911936, 0.26265422,-0.65764697,-0.33941778]

qacc:
[ 7.07139131e-01, 9.91031455e-01,-3.93220148e+00, 7.52169981e+00,
 -7.88008723e-02,-5.67073319e+00, 1.82945144e+01,-3.26620512e+01,
  1.43582702e+00,-5.96574553e-04,-8.02300218e-01, 4.10407141e+00,
 -6.44368422e-02,-2.51984762e-01, 5.45790412e+00,-1.82803856e+01,
  5.37321694e+00,-3.47864474e-01,-9.37255167e-01,-1.37647248e+02,
  1.04480360e+02, 1.41383297e+01]

qfrc_actuator:
[ 5.87615617e-05, 9.23251630e-04, 1.38737348e-04,-9.29795948e-05,
  3.14727874e-06, 3.90433000e-02, 1.08280956e-02, 1.97820630e-03,
 -5.74496516e-05, 6.96345003e-04, 2.53869958e-04, 6.50586221e-05,
  5.28832647e-03,-1.56409330e-03, 0.00000000e+00,-1.16595075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005707343715613822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89050697e-14,  2.43156685e-15,  1.00000000e+00, -9.46002779e-29,
        1.00000000e+00, -2.43156685e-15, -1.00000000e+00,  0.00000000e+00,
        3.89050697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19092716, -0.07238286,  0.06171487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29520980e-06, 3.20778793e-05, 3.61441726e-06, 1.23035431e-05,
 -2.28165590e-05,-2.74132730e-04,-6.01796836e-05,-9.03194211e-05,
  8.63857046e-06, 1.19443852e-05, 1.30799894e-05, 1.15950669e-05,
 -4.40416303e-05,-4.45602748e-05, 1.48270206e-05,-8.40853569e-05,
  1.70405478e-05,-4.99442387e-04,-4.90463380e+00,-2.57913211e-03,
  1.90366728e-03,-9.40977789e-03]


--- Step 1934 ---
qpos:
[ 0.01866366, 0.03003627,-0.00942742,-0.02526905,-0.00342825, 1.33669597,
 -0.02979209, 0.94359861, 0.01158423, 0.02728459,-0.00830539, 0.02645836,
  1.33158826, 0.00764215, 1.27102784, 0.04466188,-0.09805721,-0.0807624 ,
  0.09286108, 0.61929732, 0.26218751,-0.65793106,-0.33890303]

qacc:
[ 6.43993861e+00, 6.20199130e-01,-4.46855630e+00, 1.34180913e+01,
 -9.78870713e-02,-3.97288116e+00, 1.20434007e+01,-2.07493251e+01,
  6.75840831e+00, 1.88732694e+00,-4.00162827e+00,-4.90136186e-01,
 -2.15928818e-01,-1.76632902e-01, 1.53183253e+01,-5.24357842e+01,
 -5.52250256e+00, 1.26520371e+00,-3.53291118e-01, 1.44307241e+02,
 -1.09472798e+02, 1.69845808e+01]

qfrc_actuator:
[ 9.72530920e-05, 9.13038254e-04, 1.43976312e-04,-6.67549153e-05,
 -1.16752941e-05, 3.89722969e-02, 1.08334396e-02, 1.93050597e-03,
 -1.67101504e-05, 7.77843276e-04, 2.43092386e-04, 5.38917529e-05,
  5.26842696e-03,-1.59901186e-03, 0.00000000e+00,-1.41781883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005714971416059429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71328589e-15,  4.85664295e-15,  1.00000000e+00,  4.71739614e-29,
        1.00000000e+00, -4.85664295e-15, -1.00000000e+00,  0.00000000e+00,
       -9.71328589e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00867518, -0.09840407,  0.06171457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86275930e-05, 9.00388711e-06, 1.27377718e-05, 2.79649109e-05,
 -2.83069684e-05,-2.37727853e-04,-5.78710413e-05,-5.96727607e-05,
  4.09870098e-05, 9.14791397e-05,-6.27468013e-06,-9.97271171e-06,
 -5.25733532e-05,-5.82705280e-05,-7.05408456e-06,-2.55684831e-04,
 -2.06634854e-04,-4.25864086e-04,-4.90458036e+00,-2.35140166e-03,
  2.20880482e-03,-9.39677029e-03]


--- Step 1935 ---
qpos:
[ 0.01866499, 0.03003613,-0.00942737,-0.02526951,-0.00342821, 1.33677942,
 -0.02979294, 0.94360043, 0.01158544, 0.02728289,-0.0083043 , 0.02645764,
  1.33176409, 0.00764171, 1.27115774, 0.04466085,-0.09807999,-0.08072028,
  0.0928542 , 0.61929442, 0.2617902 ,-0.6584254 ,-0.33825479]

qacc:
[ 6.88048684e+00, 2.13463651e-01,-9.74164202e-01, 1.33666702e+00,
 -2.67265310e-02,-4.71658632e+00, 1.63357159e+01,-3.24570398e+01,
  1.16291618e+00,-1.73815520e+00, 9.37012981e+00,-1.93518914e+01,
 -9.37996280e-02,-1.24212407e-01,-2.78366466e+00, 8.69383096e+00,
 -4.79342390e+00, 1.09396975e+00,-1.61923977e+00, 1.24742833e+02,
 -9.53436542e+01, 1.54211687e+01]

qfrc_actuator:
[ 1.37436995e-04, 8.89178683e-04, 1.29195652e-04,-6.89068174e-05,
 -2.71764674e-06, 3.89145632e-02, 1.08369967e-02, 1.84782733e-03,
 -1.09281257e-05, 8.09379778e-04, 2.72186234e-04, 2.96849489e-05,
  5.25548230e-03,-1.60176347e-03, 0.00000000e+00,-1.37009326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.23569063,  4.71503531, -7.23569063, 21.62441742,
       19.93146028,  4.71503531, 19.93146028, 39.22317175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005676761923768647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.77866466e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.77866466e-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([-0.0085907 , -0.09842989,  0.06171623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13110878e-05,-1.49838467e-05,-1.03872300e-05,-7.82085651e-07,
 -7.76835791e-06,-2.02934796e-04,-5.13737667e-05,-9.27827529e-05,
  7.00843412e-06, 8.10610761e-05, 4.68915311e-05,-2.06950858e-05,
 -5.40049561e-05,-3.17312643e-05,-3.59476951e-05, 3.16135927e-05,
  2.60546235e-05,-5.93445117e-04,-4.90456253e+00,-2.59215419e-03,
  1.88725736e-03,-9.38861423e-03]


--- Step 1936 ---
qpos:
[ 0.01866646, 0.03003615,-0.00942757,-0.02527036,-0.00342802, 1.33686107,
 -0.02979349, 0.94360333, 0.01158637, 0.02728144,-0.00830301, 0.02645705,
  1.33193948, 0.0076412 , 1.27128744, 0.04466033,-0.09807791,-0.08067967,
  0.0928492 , 0.61954541, 0.26125495,-0.65867067,-0.33773108]

qacc:
[ 1.07776747e+00, 1.48483918e-01, 1.42878543e+00,-7.86849261e+00,
  6.45299045e-02,-1.33301073e+00,-7.09687220e-01, 1.41822516e+01,
 -2.42332537e+00, 7.47056972e-03,-6.23014636e-02, 1.63186265e+00,
 -2.48526225e-01, 1.18866164e-01,-1.86628769e+00, 6.10446097e+00,
  6.21666156e+00,-3.75837264e-01, 4.70167000e-01,-1.59073158e+02,
  1.21081895e+02, 1.71932203e+01]

qfrc_actuator:
[ 1.42778823e-04, 9.10479634e-04, 1.20375660e-04,-8.77702346e-05,
  2.04326367e-05, 3.88297253e-02, 1.08572601e-02, 1.90500253e-03,
 -2.57790569e-05, 7.93152386e-04, 2.71154664e-04, 3.35054531e-05,
  5.23608063e-03,-1.60311892e-03, 0.00000000e+00,-1.34145571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005773040212623259
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84623347e-14,  9.61558368e-15,  1.00000000e+00, -3.69837798e-28,
        1.00000000e+00, -9.61558368e-15, -1.00000000e+00,  0.00000000e+00,
        3.84623347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19077949, -0.07242858,  0.06171208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54137570e-06, 1.07591315e-05,-1.32220055e-05,-1.98803108e-05,
  1.85555320e-05,-2.10506983e-04,-2.80936680e-05, 4.75350310e-05,
 -1.46228546e-05, 3.79584419e-05, 2.07820672e-05, 8.51693934e-06,
 -5.45361514e-05,-2.30208972e-05,-1.45002240e-05, 2.54643310e-05,
  3.15219187e-04,-7.53852616e-04,-4.90439517e+00,-2.81559834e-03,
  1.58365961e-03,-9.38003596e-03]


--- Step 1937 ---
qpos:
[ 0.01866728, 0.03003634,-0.00942792,-0.02527143,-0.00342778, 1.33694088,
 -0.02979408, 0.94360795, 0.01158643, 0.02728047,-0.00830209, 0.02645651,
  1.33211445, 0.00764064, 1.27141707, 0.04465981,-0.09805431,-0.08064036,
  0.09284051, 0.62001645, 0.26060018,-0.65870075,-0.33731362]

qacc:
[-5.46663682e+00, 1.63950364e-01, 7.07610893e-01,-4.55144362e+00,
  2.41587654e-02, 6.49897722e-01,-8.57194598e+00, 2.85610671e+01,
 -7.48657851e+00, 1.80151530e+00,-5.70577147e+00, 6.91372241e+00,
 -3.00304772e-01, 2.01452430e-01,-2.08995942e-02, 3.26122129e-04,
  5.37690516e+00,-3.26509746e-01,-9.24734223e-01,-1.37092410e+02,
  1.05066737e+02, 1.54917623e+01]

qfrc_actuator:
[ 1.09817207e-04, 9.23151897e-04, 1.15322808e-04,-9.85151780e-05,
  1.64030827e-05, 3.87294908e-02, 1.08517069e-02, 1.99076416e-03,
 -7.03969492e-05, 8.19358758e-04, 2.52147173e-04, 3.59649543e-05,
  5.21814902e-03,-1.60368566e-03, 0.00000000e+00,-1.34213095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.13404262,  -2.90243476,  -8.13404262,
        13.89391767, -14.73423938,  -2.90243476, -14.73423938,
        49.9289131 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0057820977792721814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92010420e-14,  2.40013025e-15,  1.00000000e+00, -4.60850019e-29,
        1.00000000e+00, -2.40013025e-15, -1.00000000e+00,  0.00000000e+00,
        1.92010420e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19075912, -0.07244036,  0.06171168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27655831e-05, 1.51078579e-05,-5.14470925e-06,-1.11271405e-05,
  6.92197913e-06,-2.21304212e-04,-4.86223847e-05, 7.98292068e-05,
 -4.50375142e-05, 5.21276671e-05,-8.30734633e-06, 4.97350728e-06,
 -5.09484094e-05,-1.99405055e-05,-6.56274746e-06,-1.71847422e-06,
 -5.04940648e-05,-6.61670747e-04,-4.90449632e+00,-2.53200728e-03,
  1.95500927e-03,-9.36457688e-03]


--- Step 1938 ---
qpos:
[ 0.01866771, 0.03003643,-0.00942795,-0.02527263,-0.00342752, 1.33701902,
 -0.0297948 , 0.94361424, 0.01158561, 0.02728026,-0.00830185, 0.02645633,
  1.33228895, 0.00764031, 1.27154636, 0.04466161,-0.09801206,-0.08060219,
  0.09282333, 0.62067862, 0.25984153,-0.65854399,-0.33698702]

qacc:
[-3.43258386e+00,-1.25166027e+00, 4.79192405e+00,-7.29904745e+00,
  5.44252394e-03, 1.02405466e+00,-9.43360152e+00, 2.86644178e+01,
 -7.54959263e+00, 3.67517550e+00,-1.31713621e+01, 2.00157915e+01,
 -3.27365957e-01, 3.78743438e-01,-7.52398358e+00, 2.56420079e+01,
  4.66525853e+00,-2.83531627e-01,-2.11898842e+00,-1.18549951e+02,
  9.15109933e+01, 1.39389959e+01]

qfrc_actuator:
[ 9.00912683e-05, 9.12829984e-04, 1.30270293e-04,-1.04395377e-04,
  1.38526702e-05, 3.86562789e-02, 1.08486379e-02, 2.07484689e-03,
 -1.14418129e-04, 8.70680414e-04, 2.22839680e-04, 5.53739753e-05,
  5.20111322e-03,-1.58602553e-03, 0.00000000e+00,-1.21804818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.14084448,  -2.88330159,  -8.14084448,
        14.13844349, -15.53482178,  -2.88330159, -15.53482178,
        52.49808398,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005719459806399679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94113266e-14,  2.42641583e-15,  1.00000000e+00, -4.70999502e-29,
        1.00000000e+00, -2.42641583e-15, -1.00000000e+00,  0.00000000e+00,
        1.94113266e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19090369, -0.07243207,  0.06171432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06748346e-05,-3.42699933e-06, 1.70539466e-05,-5.62407497e-06,
  1.52984314e-06,-2.03284434e-04,-4.96346977e-05, 7.79723208e-05,
 -4.53240887e-05, 7.89788085e-05,-1.93873071e-05, 2.14554405e-05,
 -4.74856423e-05, 1.56478705e-08,-6.45912536e-06, 1.22423580e-04,
 -3.02690324e-04,-5.78458083e-04,-4.90440109e+00,-2.25891134e-03,
  2.31785806e-03,-9.34910500e-03]


--- Step 1939 ---
qpos:
[ 0.01866893, 0.03003651,-0.0094281 ,-0.02527387,-0.00342727, 1.33709526,
 -0.02979544, 0.9436215 , 0.01158495, 0.02728068,-0.00830196, 0.02645639,
  1.33246298, 0.00764062, 1.27167561, 0.04466452,-0.09799554,-0.0805579 ,
  0.0928111 , 0.62109834, 0.25917656,-0.65867022,-0.33647869]

qacc:
[ 6.80833988e+00, 2.08146691e-01,-6.02933392e-01, 8.53637973e-02,
 -2.37393689e-03,-1.06696970e+00,-1.53866149e+00, 1.38010944e+01,
  1.40837424e+00, 2.27726836e+00,-7.87946938e+00, 1.19186090e+01,
 -6.88576037e-01, 1.05327595e+00,-3.34929207e+00, 1.18165586e+01,
 -6.43396892e+00, 1.53066291e+00, 1.23643083e+00, 1.68096306e+02,
 -1.28258169e+02, 2.14673714e+01]

qfrc_actuator:
[ 1.31584246e-04, 9.06658414e-04, 1.21308643e-04,-1.07374123e-04,
  1.22111699e-05, 3.85465909e-02, 1.08471638e-02, 2.12177509e-03,
 -1.04467746e-04, 9.01101644e-04, 2.05567263e-04, 6.68687721e-05,
  5.19528738e-03,-1.53992802e-03, 0.00000000e+00,-1.16346754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005751859161628528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65099278e-15,  4.82549639e-15,  1.00000000e+00,  4.65708308e-29,
        1.00000000e+00, -4.82549639e-15, -1.00000000e+00,  0.00000000e+00,
       -9.65099278e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00877471, -0.09845165,  0.06171283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08888334e-05,-4.81525319e-06,-7.76125386e-06,-2.64164964e-06,
 -7.45270393e-07,-2.30032295e-04,-4.46800481e-05, 4.12864484e-05,
  8.64998148e-06, 7.14881223e-05,-2.60277298e-06, 1.46281375e-05,
 -2.94720986e-05, 3.49763158e-05, 7.92552228e-06, 5.99684474e-05,
 -4.73819442e-04,-5.03343823e-04,-4.90417983e+00,-1.99959055e-03,
  2.66712415e-03,-9.33356986e-03]


--- Step 1940 ---
qpos:
[ 0.01867029, 0.03003676,-0.00942873,-0.02527478,-0.00342717, 1.33716982,
 -0.0297961 , 0.94362787, 0.01158442, 0.02728161,-0.00830167, 0.0264562 ,
  1.33263676, 0.00764141, 1.27180508, 0.0446664 ,-0.09800125,-0.08050833,
  0.09279781, 0.62130907, 0.25859043,-0.65904145,-0.33581304]

qacc:
[ 1.20920502e+00, 2.26152473e+00,-9.08785454e+00, 1.53114254e+01,
 -6.66201078e-02,-3.67365363e+00, 1.11576950e+01,-1.89293693e+01,
  1.06196603e+00,-9.58149474e-01, 5.41569162e+00,-1.06605087e+01,
 -5.99141314e-01, 9.17498950e-01, 3.51991823e+00,-1.17070867e+01,
 -5.55817105e+00, 1.31841663e+00,-2.66666559e-01, 1.44592670e+02,
 -1.11263575e+02, 1.94783498e+01]

qfrc_actuator:
[ 1.37763227e-04, 9.20680681e-04, 9.83061292e-05,-9.08885936e-05,
 -6.62407318e-06, 3.84691790e-02, 1.08464847e-02, 2.07543372e-03,
 -9.83354229e-05, 9.36561837e-04, 2.30963561e-04, 5.58548635e-05,
  5.19087765e-03,-1.51277216e-03, 0.00000000e+00,-1.22131796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.51422864,  4.25712871, -7.51422864, 17.77015494,
       16.12199225,  4.25712871, 16.12199225, 37.09318137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005787541104175092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59149149e-15,  4.79574574e-15,  1.00000000e+00,  4.59983545e-29,
        1.00000000e+00, -4.79574574e-15, -1.00000000e+00,  0.00000000e+00,
       -9.59149149e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0088591 , -0.09845098,  0.06171124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.36938311e-06, 9.62550054e-06,-2.50436729e-05, 1.59603708e-05,
 -1.92835750e-05,-2.12672235e-04,-4.96262075e-05,-5.34933400e-05,
  6.41129463e-06, 7.55129491e-05, 4.03439998e-05,-7.75702563e-06,
 -1.08012871e-05, 3.05511166e-05, 6.52956363e-06,-5.43432595e-05,
 -2.47924452e-04,-7.37334344e-04,-4.90434308e+00,-2.33674279e-03,
  2.22717578e-03,-9.32369553e-03]


--- Step 1941 ---
qpos:
[ 0.01867034, 0.03003692,-0.00942927,-0.0252755 ,-0.00342741, 1.33724316,
 -0.02979725, 0.94363363, 0.01158431, 0.02728322,-0.00830146, 0.02645658,
  1.33281048, 0.00764206, 1.27193447, 0.04466825,-0.09802623,-0.0804542 ,
  0.0927783 , 0.62133873, 0.25807078,-0.65962525,-0.33501073]

qacc:
[-1.12750472e+01, 2.46082369e-02,-1.08187438e+00, 4.40137722e+00,
 -1.39889027e-01,-1.32172389e+00, 3.63438745e+00,-9.53822933e+00,
  3.59231646e+00, 2.30079963e+00,-9.32290497e+00, 1.88510017e+01,
  3.38781929e-02,-1.35832999e-01,-2.93471636e-02,-7.28281682e-02,
 -4.81633115e+00, 1.14017237e+00,-1.55507656e+00, 1.24793188e+02,
 -9.68675739e+01, 1.76281969e+01]

qfrc_actuator:
[ 6.98292775e-05, 9.11134347e-04, 1.02805730e-04,-8.08245809e-05,
 -3.56213955e-05, 3.84294164e-02, 1.08285965e-02, 2.04561191e-03,
 -7.67648072e-05, 9.74916796e-04, 2.28091630e-04, 8.49748261e-05,
  5.17666340e-03,-1.53258669e-03, 0.00000000e+00,-1.22065060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.49706221,  4.2872876 , -7.49706221, 18.56261606,
       17.3577653 ,  4.2872876 , 17.3577653 , 38.98941161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00574637987508321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66019519e-15,  4.83009760e-15,  1.00000000e+00,  4.66596856e-29,
        1.00000000e+00, -4.83009760e-15, -1.00000000e+00,  0.00000000e+00,
       -9.66019519e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00877286, -0.09847789,  0.06171293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.77154841e-05,-8.65440312e-06, 3.96018027e-06, 9.92278945e-06,
 -4.03941287e-05,-1.69227540e-04,-6.67820231e-05,-3.87980607e-05,
  2.17865932e-05, 8.85475788e-05, 1.74125316e-05, 3.35983084e-05,
 -1.26830054e-05,-1.31813991e-05,-6.99651767e-06,-2.42339154e-06,
  6.71181330e-05,-9.60610888e-04,-4.90427762e+00,-2.64954401e-03,
  1.81450903e-03,-9.31333551e-03]


--- Step 1942 ---
qpos:
[ 0.01866923, 0.03003689,-0.00942998,-0.02527606,-0.00342783, 1.33731518,
 -0.02979894, 0.94363934, 0.0115848 , 0.02728484,-0.00830125, 0.02645738,
  1.33298404, 0.00764257, 1.27206385, 0.04466974,-0.09802547,-0.08040138,
  0.09276202, 0.62163228, 0.25740524,-0.65995179,-0.33433439]

qacc:
[-9.94912452e+00, 5.79085155e-01,-3.02589527e+00, 6.07302408e+00,
 -8.03722843e-02,-3.77319094e-01,-7.64774961e-01, 9.66947438e-01,
  5.16356045e+00, 8.97729757e-01,-4.97696060e+00, 1.23524922e+01,
 -5.25712539e-02,-7.67103669e-02, 1.04856881e+00,-3.71145430e+00,
  6.43385156e+00,-3.28046627e-01, 8.10365222e-01,-1.64016467e+02,
  1.26259981e+02, 1.99934596e+01]

qfrc_actuator:
[ 1.20860494e-05, 8.87652287e-04, 8.79090701e-05,-7.46194330e-05,
 -3.49747535e-05, 3.83592084e-02, 1.08008719e-02, 2.04353865e-03,
 -4.62792293e-05, 9.25869102e-04, 2.08582995e-04, 1.01952030e-04,
  5.16188435e-03,-1.54466241e-03, 0.00000000e+00,-1.23872465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0057353559642647906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87150521e-14,  2.41969076e-15,  1.00000000e+00, -9.36784537e-29,
        1.00000000e+00, -2.41969076e-15, -1.00000000e+00,  0.00000000e+00,
        3.87150521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19085363, -0.07247844,  0.06171329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.97198922e-05,-2.71002446e-05,-1.58442897e-05, 6.17011303e-06,
 -2.32175999e-05,-1.78546287e-04,-6.96400276e-05,-9.90944700e-06,
  3.11577657e-05, 5.45118799e-06, 2.06635008e-06, 2.20223720e-05,
 -2.45039228e-05,-1.87679906e-05,-6.14402028e-06,-1.97251614e-05,
  4.30658224e-04,-1.17093100e-03,-4.90406390e+00,-2.93853111e-03,
  1.42894919e-03,-9.30240042e-03]


--- Step 1943 ---
qpos:
[ 0.01866812, 0.03003673,-0.0094306 ,-0.02527656,-0.00342807, 1.33738579,
 -0.02980002, 0.94364356, 0.01158532, 0.02728597,-0.00830096, 0.0264581 ,
  1.33315719, 0.00764327, 1.27219317, 0.04467099,-0.09800248,-0.0803497 ,
  0.09274321, 0.62215444, 0.25661334,-0.66005628,-0.33376511]

qacc:
[ 4.78428954e-02,-3.19943303e-01, 6.44501048e-01, 2.71850712e-01,
  7.80792049e-02,-6.02438371e+00, 2.05081700e+01,-3.43092974e+01,
  1.63013769e-01,-1.07769303e+00, 3.26000067e+00,-4.53110250e+00,
 -4.71683062e-01, 5.40519090e-01, 6.95711144e-01,-2.43328844e+00,
  5.55803847e+00,-2.84074046e-01,-6.35416575e-01,-1.41142595e+02,
  1.09555313e+02, 1.80511249e+01]

qfrc_actuator:
[ 1.40856971e-05, 8.91431988e-04, 9.71091160e-05,-7.07651995e-05,
  1.20250059e-06, 3.83068191e-02, 1.08384867e-02, 1.96902655e-03,
 -4.63013879e-05, 8.60272496e-04, 1.96796254e-04, 9.38077263e-05,
  5.13612530e-03,-1.53426762e-03, 0.00000000e+00,-1.24995154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.35380211, -2.19106529, -8.35380211, 11.13853962,
       -9.53996356, -2.19106529, -9.53996356, 45.00906703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005763199811953348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.85280074e-14,  7.22400138e-15,  1.00000000e+00, -2.78326379e-28,
        1.00000000e+00, -7.22400138e-15, -1.00000000e+00,  0.00000000e+00,
        3.85280074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1907856 , -0.07249705,  0.06171202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51212443e-07,-1.43895787e-05, 1.87836083e-06, 2.27150728e-06,
  2.24576412e-05,-1.65562783e-04,-5.59928093e-06,-8.20450358e-05,
  8.96758675e-07,-6.12283334e-05,-9.66818675e-06,-7.41769487e-06,
 -4.27463079e-05,-7.00595169e-07,-7.95933012e-06,-1.37896196e-05,
 -4.33990482e-05,-1.05974124e-03,-4.90418180e+00,-2.56559539e-03,
  1.91069761e-03,-9.28245060e-03]


--- Step 1944 ---
qpos:
[ 0.0186667 , 0.03003698,-0.00943136,-0.02527707,-0.00342817, 1.3374552 ,
 -0.02980045, 0.94364648, 0.01158548, 0.02728655,-0.00830071, 0.02645839,
  1.33332994, 0.00764431, 1.27232235, 0.04467275,-0.09796023,-0.080299  ,
  0.09271689, 0.62287507, 0.25571169,-0.65996815,-0.33328701]

qacc:
[-2.69788220e+00, 9.47324664e-01,-2.56267708e+00, 2.40585142e+00,
  5.98383785e-02,-5.57132969e+00, 1.89343600e+01,-3.06606221e+01,
 -2.96653997e+00,-1.50154360e+00, 6.10283669e+00,-1.30680330e+01,
 -4.83730517e-01, 6.58799544e-01,-1.71511474e+00, 5.79438343e+00,
  4.81572021e+00,-2.45486090e-01,-1.87470647e+00,-1.21848038e+02,
  9.54040522e+01, 1.62644432e+01]

qfrc_actuator:
[-2.02745335e-06, 9.47103572e-04, 1.02821606e-04,-6.82840110e-05,
  5.14229264e-06, 3.82657390e-02, 1.08788852e-02, 1.90578184e-03,
 -6.42830786e-05, 8.20757550e-04, 1.89553210e-04, 7.09322953e-05,
  5.12511096e-03,-1.51067012e-03, 0.00000000e+00,-1.22154000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.36092259,  -2.16373526,  -8.36092259,
        11.23763526, -10.05161353,  -2.16373526, -10.05161353,
        47.4769575 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005715484437447724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94248281e-14,  1.21405175e-14,  1.00000000e+00, -2.35827466e-28,
        1.00000000e+00, -1.21405175e-14, -1.00000000e+00,  0.00000000e+00,
        1.94248281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19089233, -0.07249474,  0.06171395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61097788e-05, 4.81280148e-05, 3.06182837e-06, 1.97739260e-06,
  1.71989977e-05,-1.36703697e-04, 4.89522055e-06,-7.01850685e-05,
 -1.79720422e-05,-7.61133512e-05,-2.13559483e-05,-2.59829295e-05,
 -3.29023380e-05, 1.35610680e-05,-8.44817582e-06, 2.58935442e-05,
 -3.86357526e-04,-9.58903411e-04,-4.90408528e+00,-2.21008297e-03,
  2.37399385e-03,-9.26248984e-03]


--- Step 1945 ---
qpos:
[ 0.0186651 , 0.03003792,-0.00943252,-0.02527722,-0.00342817, 1.33752307,
 -0.02980055, 0.94364936, 0.01158543, 0.02728674,-0.00830065, 0.02645874,
  1.33350241, 0.00764581, 1.27245153, 0.04467416,-0.0979438 ,-0.08024186,
  0.09269586, 0.62335308, 0.25490006,-0.66016615,-0.33262224]

qacc:
[-1.58825385e+00, 2.77450362e+00,-1.00833845e+01, 1.64326074e+01,
  4.34356366e-02,-2.96795217e+00, 7.32904220e+00,-5.85776426e+00,
 -1.85176337e+00, 1.56853295e-01,-1.51336424e+00, 3.06039473e+00,
 -5.49641879e-01, 8.38790088e-01, 1.16523844e+00,-3.92263045e+00,
 -6.45675094e+00, 1.60875722e+00, 1.32077902e+00, 1.68338488e+02,
 -1.30307073e+02, 2.45854112e+01]

qfrc_actuator:
[-1.09395239e-05, 9.97913003e-04, 8.88899036e-05,-4.88361113e-05,
  7.46172599e-06, 3.81607875e-02, 1.08851440e-02, 1.90294727e-03,
 -7.49287411e-05, 8.14908522e-04, 1.85131607e-04, 7.51012191e-05,
  5.12295596e-03,-1.47938241e-03, 0.00000000e+00,-1.24100980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0058140192835211615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.54780996e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.54780996e-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([-0.00895538, -0.09850317,  0.06170957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.36485231e-06, 7.84389938e-05,-3.53690855e-06, 2.16561475e-05,
  1.24736548e-05,-1.82195304e-04,-2.20581197e-05,-8.32737182e-06,
 -1.11944653e-05,-5.39670532e-05,-2.36827747e-05,-3.39155841e-07,
 -1.56587406e-05, 2.77150787e-05,-3.97809614e-06,-1.97792554e-05,
 -6.34235085e-04,-8.67521783e-04,-4.90385091e+00,-1.87507030e-03,
  2.81422765e-03,-9.24246487e-03]


--- Step 1946 ---
qpos:
[ 0.01866409, 0.03003914,-0.00943317,-0.0252768 ,-0.00342795, 1.33758965,
 -0.02980119, 0.94365221, 0.01158559, 0.02728658,-0.00830042, 0.02645945,
  1.33367459, 0.00764772, 1.27258088, 0.04467363,-0.09794967,-0.08017918,
  0.09267402, 0.62362204, 0.2541637 ,-0.6606117 ,-0.33179594]

qacc:
[ 5.11646513e+00, 6.57935956e-02,-2.10060345e+00, 1.08781535e+01,
  9.16925259e-02,-2.80886557e-01,-1.09149665e+00, 1.43335012e+00,
  1.86516250e+00,-1.92589527e-01,-1.54542196e+00, 7.85731846e+00,
 -6.51997211e-01, 9.19545661e-01, 6.13839433e+00,-2.09613511e+01,
 -5.57157031e+00, 1.38583137e+00,-2.02642607e-01, 1.44595880e+02,
 -1.13046184e+02, 2.22818525e+01]

qfrc_actuator:
[ 1.99688052e-05, 1.00985826e-03, 1.16742712e-04,-1.95708859e-05,
  2.65438699e-05, 3.80893413e-02, 1.08532371e-02, 1.90011864e-03,
 -6.34122326e-05, 8.11547741e-04, 2.00322376e-04, 9.51830455e-05,
  5.10481783e-03,-1.46148904e-03, 0.00000000e+00,-1.34179796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.71963593,  3.87220841, -7.71963593, 15.24175456,
       13.16850949,  3.87220841, 13.16850949, 34.88910842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00584836438854127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49173949e-15,  9.49173949e-15,  1.00000000e+00,  9.00931186e-29,
        1.00000000e+00, -9.49173949e-15, -1.00000000e+00,  0.00000000e+00,
       -9.49173949e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00903985, -0.09850341,  0.06170798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06602785e-05, 5.59859755e-05, 4.43717250e-05, 3.29244458e-05,
  2.64435965e-05,-1.77258079e-04,-7.03740755e-05,-9.04657914e-06,
  1.11715610e-05,-3.84586807e-05, 1.11098257e-06, 1.69421882e-05,
 -1.97676154e-05, 2.25701012e-05,-7.29864491e-06,-1.03141951e-04,
 -3.15686047e-04,-1.17635718e-03,-4.90397346e+00,-2.30487501e-03,
  2.25939022e-03,-9.23013255e-03]


--- Step 1947 ---
qpos:
[ 0.01866381, 0.03004063,-0.00943341,-0.02527603,-0.00342766, 1.33765537,
 -0.02980276, 0.94365567, 0.01158555, 0.02728606,-0.00829999, 0.02646005,
  1.33384668, 0.00764918, 1.27271004, 0.0446729 ,-0.09797481,-0.08011171,
  0.09264614, 0.62370997, 0.25349042,-0.66127181,-0.33082937]

qacc:
[ 6.21077408e+00,-3.10171154e-02,-9.15365067e-01, 6.31076842e+00,
  3.14641238e-02, 2.42025776e+00,-1.05089437e+01, 1.67925541e+01,
 -1.76333534e+00,-1.25791048e+00, 4.29340845e+00,-6.32808924e+00,
  2.24545550e-01,-5.61493148e-01, 3.27813368e-01,-1.61164268e+00,
 -4.82147069e+00, 1.19851831e+00,-1.50884233e+00, 1.24595157e+02,
 -9.84138426e+01, 2.01381863e+01]

qfrc_actuator:
[ 5.63123107e-05, 1.01636835e-03, 1.33396228e-04,-2.51896794e-06,
  2.00231256e-05, 3.80738848e-02, 1.08169280e-02, 1.93280360e-03,
 -7.44510412e-05, 7.92058976e-04, 2.09246004e-04, 8.89764873e-05,
  5.08242680e-03,-1.50501907e-03, 0.00000000e+00,-1.34764669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.71536584,  3.88070958, -7.71536584, 15.77794218,
       14.19840624,  3.88070958, 14.19840624, 36.86468018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005804975516593758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56268482e-15,  4.78134241e-15,  1.00000000e+00,  4.57224704e-29,
        1.00000000e+00, -4.78134241e-15, -1.00000000e+00,  0.00000000e+00,
       -9.56268482e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0089519 , -0.09853208,  0.06170971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72500449e-05, 4.83669807e-05, 3.48125527e-05, 2.16219403e-05,
  9.09273407e-06,-1.28000435e-04,-7.93281164e-05, 2.51790699e-05,
 -1.07259323e-05,-4.00334970e-05, 1.69986894e-06,-7.48866424e-06,
 -2.75976594e-05,-4.12015652e-05,-1.83715623e-05,-1.33285016e-05,
  8.36177497e-05,-1.46665727e-03,-4.90386576e+00,-2.70226254e-03,
  1.74342553e-03,-9.21712507e-03]


--- Step 1948 ---
qpos:
[ 0.01866362, 0.03004235,-0.00943337,-0.02527539,-0.0034275 , 1.33771972,
 -0.02980354, 0.94366119, 0.01158537, 0.0272851 ,-0.00829995, 0.02646062,
  1.33401867, 0.00764974, 1.27283875, 0.04467474,-0.09797365,-0.08004528,
  0.09262248, 0.6240695 , 0.25266378,-0.66166948,-0.32998754]

qacc:
[ 8.06823907e-01,-7.50441936e-01, 3.69974160e+00,-6.65999995e+00,
 -5.68054707e-02,-4.09049315e-01,-5.04895603e+00, 2.90121587e+01,
 -1.12935638e+00, 4.52679093e-01,-2.35387119e+00, 2.85596592e+00,
  7.05556886e-01,-1.40448621e+00,-8.56786039e+00, 2.87931963e+01,
  6.57638008e+00,-2.60871392e-01, 1.05325965e+00,-1.66900169e+02,
  1.30469471e+02, 2.34633150e+01]

qfrc_actuator:
[ 6.00456640e-05, 1.01952263e-03, 1.43248861e-04,-1.05659813e-05,
 -1.80391762e-06, 3.80210783e-02, 1.08673317e-02, 2.03942189e-03,
 -8.09321440e-05, 7.45279309e-04, 1.78803702e-04, 8.50819333e-05,
  5.05747495e-03,-1.56695234e-03, 0.00000000e+00,-1.20871644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005778540275494688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92128630e-14,  2.40160787e-15,  1.00000000e+00, -4.61417629e-29,
        1.00000000e+00, -2.40160787e-15, -1.00000000e+00,  0.00000000e+00,
        1.92128630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19072067, -0.07256043,  0.06171068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82880848e-06, 3.82775509e-05, 2.48602180e-05,-4.35670478e-06,
 -1.64605852e-05,-1.38817047e-04, 1.70081023e-05, 1.01122097e-04,
 -6.81002635e-06,-6.91279515e-05,-3.87614456e-05,-5.69777140e-06,
 -4.89232143e-05,-8.03229434e-05,-1.20486834e-05, 1.35344174e-04,
  5.22937874e-04,-1.73675190e-03,-4.90360986e+00,-3.06818448e-03,
  1.26537199e-03,-9.20335988e-03]


--- Step 1949 ---
qpos:
[ 0.01866313, 0.03004393,-0.00943301,-0.0252748 ,-0.00342753, 1.33778252,
 -0.02980361, 0.943669  , 0.01158512, 0.02728382,-0.00829977, 0.02646074,
  1.33419026, 0.00764983, 1.27296765, 0.04467587,-0.09794967,-0.07998109,
  0.09259835, 0.62465559, 0.2517401 ,-0.66182192,-0.3292781 ]

qacc:
[-2.54336584e+00,-1.20028937e+00, 4.25619394e+00,-5.63883897e+00,
 -7.87851336e-02,-3.25067808e-02,-7.07396561e+00, 3.37102133e+01,
 -6.45454947e-01,-1.74818038e+00, 7.53531124e+00,-1.53323999e+01,
 -8.57494466e-02,-2.98541428e-01, 2.47609934e+00,-8.25316888e+00,
  5.70755321e+00,-5.58773988e-01,-1.17667482e-01,-1.43163098e+02,
  1.18732289e+02,-2.79956270e+00]

qfrc_actuator:
[ 4.45532145e-05, 9.85078001e-04, 1.48977557e-04,-1.55691832e-05,
 -1.48827528e-05, 3.79289676e-02, 1.08974153e-02, 2.15321512e-03,
 -8.46716346e-05, 7.53367907e-04, 1.96262811e-04, 6.47793823e-05,
  5.03631882e-03,-1.58604223e-03, 0.00000000e+00,-1.25191479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59409053,  0.85345467, -8.59409053,  8.95337484,
        3.19222926,  0.85345467,  3.19222926, 40.78137165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005818871244930877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90796974e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90796974e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1894549 , -0.06960479,  0.06170882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53448228e-05,-8.15422207e-06, 1.65233759e-05,-2.59461373e-06,
 -2.28071105e-05,-1.62965239e-04, 7.76703070e-06, 1.12560177e-04,
 -3.96412921e-06,-3.87889752e-05,-1.78205138e-06,-2.47159952e-05,
 -6.43865225e-05,-5.42883972e-05, 7.77773828e-06,-3.76078373e-05,
 -6.52964562e-05,-1.60976606e-03,-4.90372006e+00,-2.58937687e-03,
  1.87404407e-03,-9.17805213e-03]


--- Step 1950 ---
qpos:
[ 0.0186628 , 0.03004504,-0.00943269,-0.02527352,-0.00342773, 1.3378437 ,
 -0.02980334, 0.94367503, 0.01158483, 0.02728281,-0.00829938, 0.02646019,
  1.33436158, 0.00764955, 1.27309707, 0.04467246,-0.09790592,-0.07991882,
  0.09256847, 0.62543826, 0.25073211,-0.66176202,-0.32868135]

qacc:
[ 1.40610798e+00, 8.96730333e-01,-7.05522492e+00, 1.95071275e+01,
 -7.31932305e-02,-6.11348790e+00, 2.10242803e+01,-3.78307629e+01,
 -3.70142732e-01,-1.60912206e+00, 9.07208784e+00,-2.11889449e+01,
 -3.51477132e-01, 9.73193041e-02, 1.45027837e+01,-4.95582956e+01,
  4.93845625e+00,-4.81259418e-01,-1.43571670e+00,-1.23325079e+02,
  1.03311687e+02,-1.66268916e+00]

qfrc_actuator:
[ 5.33845390e-05, 9.28354919e-04, 1.34322552e-04, 1.67332637e-05,
 -2.26068734e-05, 3.78140083e-02, 1.08973161e-02, 2.05721873e-03,
 -8.67685052e-05, 8.12176868e-04, 2.24329905e-04, 3.50668547e-05,
  5.03344626e-03,-1.59725605e-03, 0.00000000e+00,-1.49087944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.49059266, -1.58006742, -8.49059266,  9.83932685,
       -6.46419925, -1.58006742, -6.46419925, 43.37214889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005784497280642689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.59653856e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.59653856e-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([-0.18952791, -0.06960542,  0.06171014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.37526514e-06,-5.80479698e-05,-1.44167949e-05, 3.24695595e-05,
 -2.12022055e-05,-2.00623525e-04,-2.78514904e-05,-9.79589428e-05,
 -2.22921488e-06, 3.57321654e-05, 1.89923683e-05,-3.19151880e-05,
 -4.79422317e-05,-4.22427062e-05,-4.74047440e-06,-2.40990989e-04,
 -4.78659755e-04,-1.38167209e-03,-4.90369084e+00,-2.12455331e-03,
  2.44107898e-03,-9.15305613e-03]


--- Step 1951 ---
qpos:
[ 0.01866224, 0.03004602,-0.00943292,-0.02527222,-0.00342807, 1.33790333,
 -0.02980271, 0.94367848, 0.01158451, 0.02728213,-0.00829903, 0.02645965,
  1.33453269, 0.00764901, 1.27322642, 0.04466655,-0.09788803,-0.07985003,
  0.09254412, 0.62597954, 0.24980343,-0.66199369,-0.32789057]

qacc:
[-2.04593468e+00, 1.43112437e+00,-5.42968131e+00, 6.78740345e+00,
 -5.85618606e-02,-7.38003303e+00, 2.69389491e+01,-5.23511594e+01,
 -2.02605305e-01, 5.36971687e-01,-1.30162200e+00, 1.15413418e+00,
 -1.99141167e-01, 1.35280912e-02, 7.46509536e+00,-2.62270491e+01,
 -6.46111435e+00, 1.63095080e+00, 1.38118625e+00, 1.67180620e+02,
 -1.33694033e+02, 3.13176118e+01]

qfrc_actuator:
[ 4.09630890e-05, 9.29672681e-04, 1.07667974e-04, 1.74315630e-05,
 -2.70566857e-05, 3.77392898e-02, 1.09146893e-02, 1.92726400e-03,
 -8.78822921e-05, 8.29955573e-04, 2.23136661e-04, 3.56131215e-05,
  5.03089506e-03,-1.60364389e-03, 0.00000000e+00,-1.61242186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005868072854131393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89197212e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.89197212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00913237, -0.09855366,  0.06170638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22024747e-05,-3.27720751e-05,-3.93152157e-05,-1.65983192e-06,
 -1.69805494e-05,-1.94503794e-04,-2.79756806e-05,-1.38978704e-04,
 -1.16896269e-06, 4.03473619e-05, 7.43101403e-06, 2.11620476e-06,
 -3.74215519e-05,-2.96078418e-05,-3.33141096e-05,-1.36545070e-04,
 -7.58629419e-04,-1.19305334e-03,-4.90349605e+00,-1.71638851e-03,
  2.94200944e-03,-9.12899113e-03]


--- Step 1952 ---
qpos:
[ 0.01866153, 0.03004737,-0.00943426,-0.02527163,-0.00342866, 1.33796169,
 -0.02980235, 0.94368139, 0.01158418, 0.02728175,-0.00829901, 0.02645982,
  1.33470349, 0.00764817, 1.27335529, 0.04466153,-0.09789241,-0.0797756 ,
  0.09251914, 0.62631284, 0.24894087,-0.66247726,-0.32693203]

qacc:
[-1.28389503e+00, 2.12968582e+00,-3.84258988e+00,-7.07731294e+00,
 -1.04642413e-01,-1.87102708e+00, 5.19962333e+00,-9.96451707e+00,
 -1.07909386e-01, 2.83502435e+00,-1.25597641e+01, 2.53774039e+01,
  3.88520270e-02,-3.24571224e-01,-3.39928357e+00, 1.08364134e+01,
 -5.57132669e+00, 1.40918795e+00,-1.56447571e-01, 1.43493828e+02,
 -1.15894128e+02, 2.79896323e+01]

qfrc_actuator:
[ 3.38771746e-05, 9.65651925e-04, 5.65926680e-05,-1.81901041e-05,
 -4.72597275e-05, 3.76892862e-02, 1.09069033e-02, 1.90271840e-03,
 -8.84093841e-05, 8.40703913e-04, 2.04549566e-04, 7.16637300e-05,
  5.00723864e-03,-1.62486483e-03, 0.00000000e+00,-1.55721832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.60894118,  4.08543645, -7.60894118, 16.54934573,
       14.73757234,  4.08543645, 14.73757234, 36.08442758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005902279021998663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40503677e-15,  9.40503677e-15,  1.00000000e+00, -8.84547167e-29,
        1.00000000e+00, -9.40503677e-15, -1.00000000e+00,  0.00000000e+00,
        9.40503677e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00921725, -0.09855036,  0.06170478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.45440407e-06, 9.42433103e-06,-6.27539915e-05,-3.84213004e-05,
 -3.02397918e-05,-1.67654353e-04,-5.31573459e-05,-3.43455681e-05,
 -5.49572987e-07, 3.49570984e-05,-9.25940486e-06, 3.80799130e-05,
 -5.04542192e-05,-3.81628114e-05,-3.27009919e-05, 4.28440704e-05,
 -3.83926348e-04,-1.57687291e-03,-4.90358860e+00,-2.22327227e-03,
  2.30597431e-03,-9.11462874e-03]


--- Step 1953 ---
qpos:
[ 0.01866144, 0.03004875,-0.0094359 ,-0.02527114,-0.00342949, 1.33801872,
 -0.02980151, 0.94368326, 0.01158316, 0.02728129,-0.00829903, 0.02646046,
  1.3348739 , 0.00764709, 1.27348429, 0.04465447,-0.09791661,-0.07969749,
  0.09248938, 0.62644322, 0.24815954,-0.66317632,-0.32585718]

qacc:
[ 5.22298142e+00, 6.60668430e-01,-1.90779086e+00, 6.89096756e-01,
 -1.02330734e-01,-4.84905052e+00, 1.58466627e+01,-2.49832251e+01,
 -5.91351559e+00, 9.49297047e-01,-5.49385242e+00, 1.36092076e+01,
 -3.12511499e-01, 1.04930455e-01, 6.37534096e+00,-2.19676157e+01,
 -4.95345417e+00, 9.20560733e-01,-1.19478055e+00, 1.24451390e+02,
 -1.06936436e+02, 3.16574888e+00]

qfrc_actuator:
[ 6.55006918e-05, 9.68719896e-04, 4.49039015e-05,-2.16141163e-05,
 -5.89979804e-05, 3.76367012e-02, 1.09377537e-02, 1.85164506e-03,
 -1.24092615e-04, 8.11608889e-04, 1.93589239e-04, 9.27895230e-05,
  4.98691338e-03,-1.63707866e-03, 0.00000000e+00,-1.66464085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.547034  ,  1.23894577, -8.547034  ,  9.37003699,
        5.06134428,  1.23894577,  5.06134428, 43.55272768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005865729121200321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89272808e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89272808e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00895288, -0.09531924,  0.06170619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14106640e-05,-6.30285795e-06,-1.88009066e-05,-5.94074280e-06,
 -2.96068050e-05,-1.57155111e-04,-9.06415763e-06,-5.83818219e-05,
 -3.56894810e-05,-9.81589326e-06,-3.55888298e-06, 2.30449168e-05,
 -5.50675065e-05,-3.49963004e-05,-1.17189976e-05,-1.09533913e-04,
  7.21245575e-05,-1.93756238e-03,-4.90344526e+00,-2.69630215e-03,
  1.71022152e-03,-9.09937880e-03]


--- Step 1954 ---
qpos:
[ 0.01866172, 0.03004968,-0.0094369 ,-0.02527105,-0.00343037, 1.33807499,
 -0.02980113, 0.94368485, 0.01158137, 0.0272809 ,-0.00829893, 0.02646097,
  1.33504381, 0.00764632, 1.27361309, 0.04464718,-0.09791418,-0.07962174,
  0.09246571, 0.62684104, 0.24725989,-0.6635902 ,-0.32493215]

qacc:
[ 3.28756343e+00,-3.19537861e+00, 1.21597916e+01,-1.96193837e+01,
 -2.18221802e-02,-2.13608710e-01, 6.71248578e-02,-2.83873414e+00,
 -6.52659280e+00,-4.75423945e-01, 2.41974204e+00,-4.93524312e+00,
 -6.14091373e-01, 7.52358274e-01, 4.96067947e-01,-2.01743709e+00,
  6.65774076e+00,-5.91358941e-01, 1.52226258e+00,-1.66386611e+02,
  1.40139314e+02, 4.95398071e-01]

qfrc_actuator:
[ 8.41477389e-05, 9.34486662e-04, 7.42315155e-05,-4.15575999e-05,
 -4.78109378e-05, 3.76186448e-02, 1.09201273e-02, 1.83863033e-03,
 -1.62430629e-04, 8.29897987e-04, 2.04795550e-04, 8.71789537e-05,
  4.97392932e-03,-1.60832614e-03, 0.00000000e+00,-1.67179196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005885429528828909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43196261e-15,  9.43196261e-15,  1.00000000e+00,  8.89619186e-29,
        1.00000000e+00, -9.43196261e-15, -1.00000000e+00,  0.00000000e+00,
       -9.43196261e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18926825, -0.06969261,  0.06170518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95584043e-05,-4.19157481e-05, 2.55055571e-05,-2.09812924e-05,
 -6.30737687e-06,-1.08908323e-04,-5.11745891e-05,-1.92744067e-05,
 -3.93888412e-05, 1.30523579e-05, 9.54233531e-06,-5.70492998e-06,
 -4.94150500e-05, 5.88350882e-06,-2.10059180e-05,-1.55003898e-05,
  5.64989245e-04,-2.15547591e-03,-4.90324065e+00,-3.13704180e-03,
  1.18386244e-03,-9.08414128e-03]


--- Step 1955 ---
qpos:
[ 0.01866188, 0.03005021,-0.00943753,-0.02527118,-0.00343108, 1.33813059,
 -0.02980168, 0.94368732, 0.01157948, 0.02728064,-0.00829874, 0.02646175,
  1.33521318, 0.0076459 , 1.27374134, 0.04464316,-0.0978888 ,-0.07954802,
  0.09244189, 0.62747025, 0.24625788,-0.66375842,-0.32413406]

qacc:
[-1.03804178e+00,-2.02457487e+00, 7.45210880e+00,-1.17508775e+01,
  7.30927481e-02, 3.12650572e+00,-1.30761769e+01, 2.20228180e+01,
 -8.66452671e-01, 4.76565437e-01,-2.60519930e+00, 7.05642982e+00,
 -3.51122887e-01, 4.62509102e-01,-1.07173448e+01, 3.63795988e+01,
  5.73866818e+00,-5.06534583e-01,-3.76133093e-02,-1.42719186e+02,
  1.21441896e+02, 1.40178092e+00]

qfrc_actuator:
[ 7.72421660e-05, 9.13851211e-04, 9.18490130e-05,-5.33257808e-05,
 -2.29625071e-05, 3.75857613e-02, 1.08741776e-02, 1.88361264e-03,
 -1.66507137e-04, 8.40976684e-04, 2.11409177e-04, 1.01439197e-04,
  4.94939856e-03,-1.59095370e-03, 0.00000000e+00,-1.49549337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.5091922 , -1.47662619, -8.5091922 ,  9.58755406,
       -5.48132096, -1.47662619, -5.48132096, 40.22297223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005928375127477702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68181838e-15,  4.68181838e-15,  1.00000000e+00,  2.19194233e-29,
        1.00000000e+00, -4.68181838e-15, -1.00000000e+00,  0.00000000e+00,
       -4.68181838e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18916426, -0.06971918,  0.06170321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.35230287e-06,-3.97208213e-05, 1.13755309e-05,-1.30898267e-05,
  2.11188730e-05,-1.04101411e-04,-7.37043534e-05, 3.98420882e-05,
 -5.22668479e-06, 2.00965213e-05, 1.02896721e-05, 1.50395241e-05,
 -4.84151546e-05, 7.85124133e-06,-1.40659583e-05, 1.72177589e-04,
 -8.01471167e-05,-1.88194560e-03,-4.90344507e+00,-2.54707653e-03,
  1.88200742e-03,-9.05485381e-03]


--- Step 1956 ---
qpos:
[ 0.01866126, 0.0300503 ,-0.00943789,-0.02527144,-0.00343156, 1.3381847 ,
 -0.02980161, 0.94369031, 0.01157825, 0.02728041,-0.00829872, 0.02646307,
  1.33538239, 0.00764514, 1.2738695 , 0.04464092,-0.09784358,-0.07947604,
  0.09241257, 0.62829999, 0.24516706,-0.66371408,-0.32344375]

qacc:
[-6.61752255e+00,-1.60467570e+00, 5.40009436e+00,-7.67688451e+00,
  9.57093928e-02,-2.74066145e+00, 5.51871360e+00, 2.11738809e+00,
  5.58433957e+00, 1.62324260e+00,-8.01596706e+00, 1.76161190e+01,
  2.08610699e-01,-4.91150651e-01,-5.51215644e+00, 1.90210655e+01,
  4.95973369e+00,-4.33770174e-01,-1.37621773e+00,-1.22773180e+02,
  1.05573445e+02, 1.98539602e+00]

qfrc_actuator:
[ 3.76034964e-05, 8.83733481e-04, 1.02448800e-04,-6.01941346e-05,
 -7.87374670e-06, 3.74909328e-02, 1.09006377e-02, 1.90908246e-03,
 -1.32631395e-04, 8.29903190e-04, 1.97497954e-04, 1.27273519e-04,
  4.93926264e-03,-1.61606845e-03, 0.00000000e+00,-1.40783167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.50358781, -1.50856596, -8.50358781,  9.71919442,
       -6.10377461, -1.50856596, -6.10377461, 43.04253785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0058903378280370094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71205157e-15,  1.41361547e-14,  1.00000000e+00,  6.66102900e-29,
        1.00000000e+00, -1.41361547e-14, -1.00000000e+00,  0.00000000e+00,
       -4.71205157e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18924575, -0.06971901,  0.06170469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98385780e-05,-5.05546899e-05, 3.34574488e-06,-8.42957323e-06,
  2.75604699e-05,-1.66009479e-04,-1.18117655e-06, 2.11828652e-05,
  3.37281452e-05, 2.93238373e-06,-7.97480559e-06, 2.73425438e-05,
 -3.23526786e-05,-3.41452918e-05, 1.05951560e-05, 9.50136935e-05,
 -5.34956734e-04,-1.65532577e-03,-4.90338994e+00,-2.02650500e-03,
  2.49975282e-03,-9.02671504e-03]


--- Step 1957 ---
qpos:
[ 0.01866087, 0.03005001,-0.00943813,-0.02527178,-0.00343184, 1.33823747,
 -0.02980183, 0.9436943 , 0.01157812, 0.02728086,-0.00829944, 0.02646465,
  1.33555162, 0.00764378, 1.27399772, 0.04463941,-0.09782475,-0.07939908,
  0.09239016, 0.62886171, 0.2441779 ,-0.66396108,-0.32259229]

qacc:
[ 1.88739201e+00,-1.01639747e+00, 3.21611858e+00,-4.48546618e+00,
  8.80283970e-02, 7.41048668e-01,-6.61283114e+00, 1.82762448e+01,
  9.39610544e+00, 3.42810840e+00,-1.20505962e+01, 1.71860540e+01,
  4.61313702e-01,-8.99417440e-01,-2.21205664e+00, 7.71639948e+00,
 -6.59950893e+00, 1.24436480e+00, 1.72709850e+00, 1.65386992e+02,
 -1.44268819e+02, 9.25563635e+00]

qfrc_actuator:
[ 5.00348594e-05, 8.65899488e-04, 1.08788232e-04,-6.41365624e-05,
  1.23726797e-06, 3.74132873e-02, 1.08806108e-02, 1.95836623e-03,
 -7.67000591e-05, 8.94339495e-04, 1.71494885e-04, 1.41922768e-04,
  4.94307652e-03,-1.64839394e-03, 0.00000000e+00,-1.37315045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005959621021890335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86290877e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86290877e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00919988, -0.09532032,  0.06170155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12531490e-05,-4.57838032e-05,-3.97538130e-06,-6.15233696e-06,
  2.53858253e-05,-1.69436791e-04,-5.20703642e-05, 4.48301652e-05,
  5.69188675e-05, 6.56134921e-05,-2.54366129e-05, 1.50269946e-05,
 -2.00445815e-05,-5.00861673e-05, 1.22417711e-05, 4.06169382e-05,
 -8.53270175e-04,-1.46542333e-03,-4.90316712e+00,-1.56506152e-03,
  3.04959011e-03,-8.99942833e-03]


--- Step 1958 ---
qpos:
[ 0.01866132, 0.03004954,-0.00943841,-0.02527149,-0.0034318 , 1.33828946,
 -0.02980332, 0.94369782, 0.01157797, 0.02728194,-0.0083005 , 0.02646602,
  1.33572069, 0.00764225, 1.27412629, 0.04463566,-0.09782867,-0.07931779,
  0.09236829, 0.62919271, 0.24327431,-0.66445955,-0.32160168]

qacc:
[ 7.21663382e+00, 1.20794132e+00,-7.31527838e+00, 1.84563420e+01,
  1.32225536e-01, 1.61838369e+00,-5.54548119e+00,-1.74874421e-01,
 -1.69448465e-01, 1.41485961e+00,-2.94837253e+00,-5.07939098e-01,
 -2.11344433e-01, 9.60138081e-02, 7.33025926e+00,-2.48216382e+01,
 -5.68640120e+00, 1.08053467e+00, 1.36221214e-01, 1.41830302e+02,
 -1.24878259e+02, 8.83264923e+00]

qfrc_actuator:
[ 9.30255039e-05, 8.73299184e-04, 1.12611761e-04,-3.08141050e-05,
  2.44417844e-05, 3.73818992e-02, 1.08155952e-02, 1.93247559e-03,
 -7.92575866e-05, 9.32421979e-04, 1.56614319e-04, 1.32175781e-04,
  4.93927107e-03,-1.64912724e-03, 0.00000000e+00,-1.49420226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.48911595,  4.30115323, -7.48911595, 18.66888122,
       17.46849821,  4.30115323, 17.46849821, 39.05230134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005998991218426744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25341432e-15,  9.25341432e-15,  1.00000000e+00,  8.56256765e-29,
        1.00000000e+00, -9.25341432e-15, -1.00000000e+00,  0.00000000e+00,
       -9.25341432e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00929488, -0.09531481,  0.06169974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33042729e-05,-1.92671697e-05,-6.32790876e-06, 3.11064481e-05,
  3.81947225e-05,-1.34308565e-04,-1.02824122e-04,-3.13922785e-05,
 -8.66325187e-07, 7.01718655e-05,-3.94301954e-06,-7.52817009e-06,
 -2.53911418e-05,-2.02481794e-05, 6.90609788e-06,-1.17961345e-04,
 -4.15544294e-04,-1.77250468e-03,-4.90336753e+00,-2.17536319e-03,
  2.35116848e-03,-8.98516395e-03]


--- Step 1959 ---
qpos:
[ 0.01866193, 0.03004911,-0.00943846,-0.02527119,-0.00343146, 1.33834027,
 -0.02980546, 0.94369998, 0.01157814, 0.02728315,-0.00830126, 0.02646728,
  1.3358892 , 0.00764127, 1.27425539, 0.04462649,-0.09785224,-0.07923274,
  0.0923415 , 0.62932414, 0.24244287,-0.66517546,-0.32049054]

qacc:
[   1.44125138,  -0.62024926,   2.25446453,  -2.58575131,   0.12573065,
   -2.14510417,   7.94900963, -22.03812795,   2.70559863,  -0.9217723 ,
    3.96591329,  -6.38730991,  -1.25179298,   1.62197592,  17.31316083,
  -59.12898258,  -4.91259466,   0.94182657,  -1.2288744 , 121.98173517,
 -108.44458365,   8.30834961]

qfrc_actuator:
[ 1.00384109e-04, 8.95780537e-04, 1.32805455e-04,-2.90687507e-05,
  3.81617998e-05, 3.73072316e-02, 1.07779511e-02, 1.86255748e-03,
 -6.29704747e-05, 9.18947683e-04, 1.66077228e-04, 1.25902396e-04,
  4.90960624e-03,-1.61334910e-03, 0.00000000e+00,-1.77702187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.45355742,  4.36248308, -7.45355742, 19.90060646,
       19.24561747,  4.36248308, 19.24561747, 41.51862637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005957544290281391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.31779078e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.31779078e-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([-0.00921067, -0.09533574,  0.06170139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61450736e-06, 1.17655332e-05, 1.65172132e-05, 1.30639762e-06,
  3.62786185e-05,-1.70368895e-04,-7.65912909e-05,-7.76233405e-05,
  1.62892849e-05, 2.45985748e-05, 2.32084005e-05,-3.55227132e-06,
 -4.75174083e-05, 2.41064221e-05,-1.40386921e-05,-2.89424308e-04,
  7.10434210e-05,-2.05337665e-03,-4.90329953e+00,-2.70908077e-03,
  1.73780389e-03,-8.96999935e-03]


--- Step 1960 ---
qpos:
[ 0.01866297, 0.03004884,-0.0094383 ,-0.02527158,-0.00343089, 1.33838917,
 -0.02980723, 0.94370198, 0.0115785 , 0.02728406,-0.00830168, 0.02646886,
  1.33605716, 0.00764077, 1.27438413, 0.04461634,-0.09784923,-0.07915003,
  0.09232095, 0.62973056, 0.24148548,-0.66560732,-0.31951694]

qacc:
[ 3.67963557e+00,-1.80138499e+00, 9.63275141e+00,-2.19813985e+01,
  1.01912704e-01,-3.78367378e+00, 9.59944733e+00,-8.84179515e+00,
  1.67488676e+00,-6.85205025e-01, 5.45434166e-01, 4.56771930e+00,
 -7.95294459e-01, 1.05099009e+00, 2.50762047e+00,-9.35920558e+00,
  6.64531324e+00,-5.85646077e-01, 1.55917553e+00,-1.64228662e+02,
  1.43982354e+02, 8.24531862e+00]

qfrc_actuator:
[ 1.22206154e-04, 9.09421535e-04, 1.44796731e-04,-6.36478563e-05,
  4.60816924e-05, 3.71895526e-02, 1.07921133e-02, 1.85607182e-03,
 -5.34556906e-05, 8.74800236e-04, 1.71873443e-04, 1.39449567e-04,
  4.88044575e-03,-1.59182198e-03, 0.00000000e+00,-1.81552339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00597817941550037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1890174 , -0.0697858 ,  0.06170035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20778235e-05, 2.37040334e-05, 1.65046988e-05,-3.34785400e-05,
  2.93456042e-05,-2.29579913e-04,-3.02093310e-05,-1.55814893e-05,
  1.00029247e-05,-2.57814315e-05, 1.36045127e-05, 1.53307482e-05,
 -4.85634823e-05, 1.81847380e-05,-4.32142021e-05,-5.74099592e-05,
  5.73392728e-04,-2.30846462e-03,-4.90305841e+00,-3.17798965e-03,
  1.19588397e-03,-8.95393531e-03]


--- Step 1961 ---
qpos:
[ 0.01866358, 0.03004842,-0.00943785,-0.025272  ,-0.00343028, 1.33843644,
 -0.02980831, 0.94370282, 0.01157863, 0.02728441,-0.0083021 , 0.0264703 ,
  1.33622479, 0.00764051, 1.27451212, 0.04460976,-0.09782331,-0.07906931,
  0.09230035, 0.63037449, 0.24041929,-0.66579458,-0.31865992]

qacc:
[-3.72506803e+00,-1.02660933e+00, 3.48664432e+00,-4.30183458e+00,
  1.39851717e-02,-5.99997881e+00, 1.94261306e+01,-2.94463868e+01,
 -1.97858605e+00,-1.03352864e+00, 3.18825878e+00,-5.15313273e+00,
 -8.80927167e-02, 1.55139208e-01,-1.18975681e+01, 4.00118537e+01,
  5.72628448e+00,-4.96088854e-01,-1.18057554e-02,-1.40809640e+02,
  1.24603203e+02, 7.90698584e+00]

qfrc_actuator:
[ 9.91201797e-05, 8.82104329e-04, 1.51795943e-04,-6.60730372e-05,
  3.27067611e-05, 3.71360480e-02, 1.08366001e-02, 1.79820969e-03,
 -6.57616845e-05, 8.12619941e-04, 1.57567231e-04, 1.29006394e-04,
  4.87291028e-03,-1.57898981e-03, 0.00000000e+00,-1.62094583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.38688848, -2.0607956 , -8.38688848, 10.86126342,
       -9.05474875, -2.0607956 , -9.05474875, 45.48677613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006017720959837221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22461370e-15, -4.61230685e-15,  1.00000000e+00, -4.25467490e-29,
        1.00000000e+00,  4.61230685e-15, -1.00000000e+00,  0.00000000e+00,
       -9.22461370e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18892189, -0.06980638,  0.06169856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24328725e-05,-1.20739469e-05, 1.27693777e-05,-1.49124975e-06,
  3.95294847e-06,-1.87209445e-04,-4.36732379e-06,-6.59409887e-05,
 -1.20204545e-05,-7.31571748e-05,-1.74348727e-05,-1.07838734e-05,
 -2.86061658e-05, 7.37732319e-06,-2.80465207e-05, 1.85486438e-04,
 -9.44576101e-05,-2.06161615e-03,-4.90324069e+00,-2.54797425e-03,
  1.91126907e-03,-8.92223789e-03]


--- Step 1962 ---
qpos:
[ 0.01866356, 0.03004766,-0.0094372 ,-0.02527242,-0.00343001, 1.33848299,
 -0.02980981, 0.94370327, 0.01157862, 0.02728425,-0.00830238, 0.02647124,
  1.33639206, 0.00764045, 1.27463999, 0.04460483,-0.09777761,-0.07899026,
  0.09227432, 0.63122386, 0.23925889,-0.66577024,-0.31790189]

qacc:
[  -5.3566435 ,  -1.0229038 ,   2.9858777 ,  -3.0207005 ,  -0.14358506,
   -0.43040992,   1.02815673,  -4.78499019,  -1.2554397 ,  -2.08469423,
    8.5618007 , -17.02246236,  -0.28725835,   0.35475989,  -5.13866538,
   17.79283176,   4.94719242,  -0.4198151 ,  -1.36007195,-121.05947758,
  108.17368975,   7.45987552]

qfrc_actuator:
[ 6.75346200e-05, 8.48224185e-04, 1.55653922e-04,-6.73436742e-05,
 -1.10859674e-05, 3.71392627e-02, 1.08278008e-02, 1.78161614e-03,
 -7.30579905e-05, 7.93263403e-04, 1.66901579e-04, 1.04493742e-04,
  4.85172007e-03,-1.57132842e-03, 0.00000000e+00,-1.53921086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.37221022,  -2.11963981,  -8.37221022,
        11.19859477, -10.12036931,  -2.11963981, -10.12036931,
        48.61007002,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0059758136783263915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.64465211e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.64465211e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18901289, -0.06980216,  0.06170022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22429826e-05,-3.80570582e-05, 2.88636945e-06,-1.37312276e-06,
 -4.14638231e-05,-1.03502371e-04,-4.79020518e-05,-2.38116050e-05,
 -7.67174039e-06,-6.43447644e-05,-8.29967729e-06,-2.84633953e-05,
 -3.38043657e-05, 3.22231362e-06, 6.80490586e-06, 8.82930288e-05,
 -5.77087386e-04,-1.85318114e-03,-4.90315916e+00,-1.98246714e-03,
  2.55555866e-03,-8.89145131e-03]


--- Step 1963 ---
qpos:
[ 0.01866385, 0.03004702,-0.00943725,-0.02527284,-0.00343001, 1.33852899,
 -0.02981185, 0.94370386, 0.01157851, 0.02728378,-0.00830237, 0.02647185,
  1.33655922, 0.00764   , 1.27476814, 0.04459857,-0.09775801,-0.07890597,
  0.0922549 , 0.63180959, 0.23819093,-0.66603808,-0.31697793]

qacc:
[ 2.63940623e+00, 2.09693924e+00,-7.20030311e+00, 8.06698752e+00,
 -1.14049169e-01, 9.36157223e-01,-4.22131746e+00, 5.57488608e+00,
 -7.34911022e-01,-1.90210423e+00, 7.63156528e+00,-1.37281401e+01,
  4.19969176e-02,-3.26617674e-01, 4.41554732e+00,-1.48706555e+01,
 -6.52703589e+00, 1.31018879e+00, 1.65514091e+00, 1.62395615e+02,
 -1.45433667e+02, 1.46483160e+01]

qfrc_actuator:
[ 8.44717122e-05, 8.63915557e-04, 1.22078047e-04,-6.79418771e-05,
 -1.95126896e-05, 3.71230044e-02, 1.08056286e-02, 1.78945472e-03,
 -7.73396894e-05, 7.99771483e-04, 1.90282657e-04, 8.97073022e-05,
  4.83832945e-03,-1.60233883e-03, 0.00000000e+00,-1.61345680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00602138884932292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21899459e-15,  1.84379892e-14,  1.00000000e+00,  1.69979723e-28,
        1.00000000e+00, -1.84379892e-14, -1.00000000e+00,  0.00000000e+00,
       -9.21899459e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00938513, -0.09534314,  0.06169812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59860074e-05,-5.04247643e-06,-4.11243442e-05,-2.15194490e-06,
 -3.29250978e-05,-8.39159136e-05,-4.86182627e-05, 2.83415891e-06,
 -4.52790032e-06,-3.24038897e-05, 8.08593234e-06,-1.83858011e-05,
 -2.92957667e-05,-3.80315116e-05, 9.61961680e-06,-6.91791368e-05,
 -9.25171117e-04,-1.67532238e-03,-4.90290848e+00,-1.47468547e-03,
  3.13647408e-03,-8.86134592e-03]


--- Step 1964 ---
qpos:
[ 0.01866503, 0.03004664,-0.00943781,-0.02527365,-0.00343007, 1.33857396,
 -0.02981372, 0.94370489, 0.0115787 , 0.02728295,-0.00830179, 0.02647226,
  1.33672621, 0.0076394 , 1.27489661, 0.04458914,-0.0977609 ,-0.07881714,
  0.09223577, 0.63216835, 0.23720047,-0.66655799,-0.31591069]

qacc:
[ 7.61354181e+00, 9.65609785e-01,-1.35888262e+00,-4.57585895e+00,
 -2.27134124e-02,-1.03229326e+00, 8.55205570e-01, 4.99288965e+00,
  2.53362723e+00,-2.50336800e+00, 9.03661464e+00,-1.30491165e+01,
 -3.13682237e-01, 2.27545263e-01, 1.00845543e+01,-3.45318261e+01,
 -5.62229561e+00, 1.13818671e+00, 6.97994599e-02, 1.39177359e+02,
 -1.25866605e+02, 1.34991050e+01]

qfrc_actuator:
[ 1.29836511e-04, 8.91262438e-04, 1.02371226e-04,-8.58776561e-05,
 -6.65396548e-06, 3.70596845e-02, 1.08112149e-02, 1.81159333e-03,
 -6.20614173e-05, 7.86291244e-04, 2.21887365e-04, 8.07965950e-05,
  4.83493512e-03,-1.60277138e-03, 0.00000000e+00,-1.77897369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.51444672,  4.25674376, -7.51444672, 18.12625606,
       16.75254491,  4.25674376, 16.75254491, 38.20969791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006053898601062813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16948811e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.16948811e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0094636 , -0.0953397 ,  0.06169663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58327932e-05, 1.59708093e-05,-2.58795734e-05,-1.96146231e-05,
 -6.59490676e-06,-1.19476589e-04,-1.63267786e-05, 1.83182247e-05,
  1.51334662e-05,-3.07049217e-05, 2.52750394e-05,-1.03775497e-05,
 -2.71586354e-05,-1.84003898e-05,-7.15925597e-06,-1.69001752e-04,
 -4.62541542e-04,-2.03230804e-03,-4.90307355e+00,-2.13171343e-03,
  2.40316194e-03,-8.84569262e-03]


--- Step 1965 ---
qpos:
[ 0.01866675, 0.03004627,-0.00943826,-0.02527467,-0.00343009, 1.33861794,
 -0.02981529, 0.9437079 , 0.01157942, 0.02728219,-0.00830101, 0.02647287,
  1.33689274, 0.0076391 , 1.27502474, 0.04458015,-0.09778322,-0.07872433,
  0.09221147, 0.63233079, 0.2362751 ,-0.66729571,-0.31471937]

qacc:
[ 4.59367509e+00,-7.53367022e-01, 3.57949801e+00,-7.48091604e+00,
  1.35200469e-02, 1.23904389e+00,-9.69357392e+00, 3.19660658e+01,
  4.49491234e+00,-1.92639471e-02,-6.89980552e-01, 3.92685477e+00,
 -4.87568735e-01, 6.09236488e-01,-1.75226019e+00, 5.51824797e+00,
 -4.85557963e+00, 9.92597456e-01,-1.29018460e+00, 1.19613933e+02,
 -1.09284334e+02, 1.23506969e+01]

qfrc_actuator:
[ 1.56049118e-04, 8.89909468e-04, 1.08825361e-04,-9.60886138e-05,
  1.11563302e-06, 3.70220635e-02, 1.08329681e-02, 1.91296382e-03,
 -3.53938068e-05, 8.14260258e-04, 2.40269370e-04, 9.31556004e-05,
  4.81091902e-03,-1.58495862e-03, 0.00000000e+00,-1.74834231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.47293685,  4.32920219, -7.47293685, 19.36125271,
       18.51297657,  4.32920219, 18.51297657, 40.59289942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006006238019959156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.24224965e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.24224965e-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([-0.00936464, -0.09536363,  0.06169856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75575627e-05, 1.42704353e-06, 5.89628474e-06,-1.08027746e-05,
  3.86936332e-06,-1.06658782e-04,-2.98558984e-06, 9.77867988e-05,
  2.70975797e-05, 1.56029839e-05, 1.47950355e-05, 1.17147854e-05,
 -4.27072757e-05, 6.43041806e-06,-2.57141717e-05, 1.95055432e-05,
  5.00152770e-05,-2.35877951e-03,-4.90297286e+00,-2.71339834e-03,
  1.75203673e-03,-8.82897578e-03]


--- Step 1966 ---
qpos:
[ 0.01866773, 0.03004625,-0.00943909,-0.02527548,-0.00342977, 1.33866088,
 -0.02981653, 0.9437121 , 0.01158045, 0.02728197,-0.00830111, 0.02647399,
  1.33705904, 0.0076383 , 1.27515233, 0.04457455,-0.09777908,-0.07863359,
  0.09219328, 0.63277167, 0.23521776,-0.66775175,-0.31365623]

qacc:
[-6.30569480e+00, 2.02975633e+00,-7.43092662e+00, 1.15190455e+01,
  1.47122621e-01,-1.99256574e-01,-3.45002094e+00, 1.75007811e+01,
  2.64601080e+00, 4.16295619e+00,-1.59119435e+01, 2.55420845e+01,
  4.21585803e-01,-8.55578105e-01,-1.11582879e+01, 3.77269369e+01,
  6.61283329e+00,-5.18750628e-01, 1.52654880e+00,-1.61708428e+02,
  1.46052971e+02, 1.40444858e+01]

qfrc_actuator:
[ 1.17511315e-04, 9.24755708e-04, 9.50620776e-05,-8.39231496e-05,
  4.12729345e-05, 3.69647480e-02, 1.08464621e-02, 1.97139757e-03,
 -1.99947991e-05, 8.49060199e-04, 1.97619318e-04, 1.17953482e-04,
  4.78521264e-03,-1.62757909e-03, 0.00000000e+00,-1.56684927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060442453219555145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59206636e-15,  4.59206636e-15,  1.00000000e+00,  2.10870735e-29,
        1.00000000e+00, -4.59206636e-15, -1.00000000e+00,  0.00000000e+00,
       -4.59206636e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18883295, -0.06985486,  0.06169681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77321830e-05, 3.64248828e-05,-1.31070160e-05, 1.22228431e-05,
  4.24391302e-05,-1.14254261e-04,-4.88462532e-06, 5.74707680e-05,
  1.61954519e-05, 4.71123493e-05,-3.72012200e-05, 2.62040607e-05,
 -4.60636243e-05,-5.04269248e-05,-1.17767077e-05, 1.78847779e-04,
  5.77869486e-04,-2.65503929e-03,-4.90270171e+00,-3.22957739e-03,
  1.17195245e-03,-8.81119252e-03]


--- Step 1967 ---
qpos:
[ 0.0186679 , 0.03004674,-0.0094402 ,-0.02527616,-0.00342904, 1.33870299,
 -0.0298178 , 0.94371421, 0.01158131, 0.02728188,-0.00830155, 0.02647507,
  1.33722507, 0.00763703, 1.27528001, 0.04456946,-0.09775216,-0.0785446 ,
  0.09217491, 0.63345284, 0.23404647,-0.66796522,-0.31270149]

qacc:
[-7.00200128e+00, 1.66728128e+00,-5.49603747e+00, 7.69856019e+00,
  1.69218476e-01,-4.58012498e+00, 1.79332729e+01,-3.93145275e+01,
 -1.44232028e+00, 1.07138541e+00,-3.41782012e+00, 3.22896683e+00,
  1.11885943e-01,-5.00137428e-01,-1.41843004e+00, 5.11497670e+00,
  5.69669788e+00,-4.36210786e-01,-4.49152291e-02,-1.38545642e+02,
  1.26352685e+02, 1.29037797e+01]

qfrc_actuator:
[ 7.66824825e-05, 9.63202143e-04, 8.73727798e-05,-7.64322847e-05,
  6.50292208e-05, 3.69138047e-02, 1.08371055e-02, 1.86203968e-03,
 -2.91080757e-05, 8.34194068e-04, 1.72585211e-04, 1.14333855e-04,
  4.76914024e-03,-1.65253876e-03, 0.00000000e+00,-1.54651996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.38007385, -2.08833406, -8.38007385, 10.87483325,
       -8.98253831, -2.08833406, -8.98253831, 44.68152323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006078544294622408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56615503e-15,  1.36984651e-14,  1.00000000e+00, -6.25493153e-29,
        1.00000000e+00, -1.36984651e-14, -1.00000000e+00,  0.00000000e+00,
        4.56615503e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18875044, -0.06987266,  0.06169525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19146188e-05, 5.66268889e-05,-1.34547243e-06, 8.83999842e-06,
  4.88238807e-05,-1.13657533e-04,-3.06173548e-05,-1.11539036e-04,
 -8.62270058e-06, 4.93328162e-06,-1.89762239e-05,-2.38016168e-06,
 -5.06897296e-05,-5.07144314e-05, 1.28247000e-05, 2.84321971e-05,
 -1.33143341e-04,-2.42012720e-03,-4.90285301e+00,-2.53565999e-03,
  1.93644602e-03,-8.77574015e-03]


--- Step 1968 ---
qpos:
[ 0.01866792, 0.03004749,-0.00944133,-0.02527638,-0.00342812, 1.33874469,
 -0.02981937, 0.94371497, 0.0115824 , 0.02728159,-0.00830126, 0.02647502,
  1.33739051, 0.00763619, 1.27540769, 0.04456501,-0.09770556,-0.07845708,
  0.09215096, 0.63434168, 0.23277657,-0.66796887,-0.31183856]

qacc:
[-1.26086750e+00, 1.37859671e+00,-6.30550804e+00, 1.39910209e+01,
  8.59610033e-02,-2.03017226e+00, 8.73828998e+00,-2.29540246e+01,
  1.97943457e+00,-4.62342612e+00, 2.08388730e+01,-4.12732526e+01,
 -6.89115589e-01, 8.83387096e-01,-1.84835807e+00, 6.62684572e+00,
  4.91998952e+00,-3.65966230e-01,-1.39341906e+00,-1.19009129e+02,
  1.09653354e+02, 1.17720095e+01]

qfrc_actuator:
[ 7.03588036e-05, 9.68024958e-04, 8.33582450e-05,-5.39887852e-05,
  6.10010575e-05, 3.69201496e-02, 1.08320196e-02, 1.79683721e-03,
 -1.70675522e-05, 8.25237442e-04, 2.11211004e-04, 5.84957944e-05,
  4.75353474e-03,-1.61346496e-03, 0.00000000e+00,-1.51483988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.36251761,  -2.15756255,  -8.36251761,
        11.23485917, -10.07153403,  -2.15756255, -10.07153403,
        47.67272003,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00603161967973391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20335734e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.20335734e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18885387, -0.06986711,  0.06169715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52596109e-06, 3.65702321e-05, 7.83118824e-06, 2.49981507e-05,
  2.48121728e-05,-6.61508121e-05,-3.41176256e-05,-7.20429807e-05,
  1.17900399e-05,-1.02138228e-05, 3.72302811e-05,-5.63302437e-05,
 -5.26592844e-05, 1.21823295e-05, 5.25451874e-06, 3.40712376e-05,
 -6.59449513e-04,-2.21819948e-03,-4.90274032e+00,-1.90654074e-03,
  2.63094943e-03,-8.74103445e-03]


--- Step 1969 ---
qpos:
[ 0.01866821, 0.03004796,-0.00944223,-0.02527628,-0.00342695, 1.33878553,
 -0.02982067, 0.94371668, 0.01158362, 0.02728132,-0.0083006 , 0.02647465,
  1.33755551, 0.00763593, 1.2755354 , 0.04456064,-0.09768473,-0.07836394,
  0.09213323, 0.63497139, 0.23159099,-0.66826424,-0.31080517]

qacc:
[ 2.31756323e+00,-3.71877318e-01,-6.02990406e-01, 6.06229821e+00,
  1.02280584e-01,-2.49861398e-01,-2.48679506e+00, 1.36939677e+01,
  1.16880411e+00,-1.66509505e+00, 7.35974022e+00,-1.36114605e+01,
 -7.18636010e-01, 1.06676591e+00,-1.21688149e-01, 6.67226851e-01,
 -6.44361251e+00, 1.40190591e+00, 1.55439950e+00, 1.59327583e+02,
 -1.46087116e+02, 1.94481679e+01]

qfrc_actuator:
[ 8.43960265e-05, 9.17198135e-04, 8.14214055e-05,-4.07043654e-05,
  7.58441757e-05, 3.68720214e-02, 1.08475331e-02, 1.84698316e-03,
 -1.04168030e-05, 8.37849199e-04, 2.33829848e-04, 4.34362126e-05,
  4.74889902e-03,-1.57218044e-03, 0.00000000e+00,-1.51218379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006045592602806488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18208601e-15,  9.18208601e-15,  1.00000000e+00,  8.43107034e-29,
        1.00000000e+00, -9.18208601e-15, -1.00000000e+00,  0.00000000e+00,
       -9.18208601e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00948138, -0.09538352,  0.06169642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38281218e-05,-2.77056917e-05, 7.45073229e-06, 1.56095561e-05,
  2.94995828e-05,-9.38406436e-05,-3.46616613e-06, 4.55434397e-05,
  6.99269794e-06, 1.21913351e-05, 2.31463380e-05,-1.53055505e-05,
 -2.80476370e-05, 3.26027314e-05, 2.29986936e-06, 4.38500656e-06,
 -1.04985083e-03,-2.04300971e-03,-4.90245936e+00,-1.33732724e-03,
  3.26088131e-03,-8.70689027e-03]


--- Step 1970 ---
qpos:
[ 0.01866867, 0.03004777,-0.00944287,-0.02527667,-0.00342586, 1.33882542,
 -0.02982108, 0.94371792, 0.01158492, 0.0272811 ,-0.00830029, 0.02647519,
  1.33772018, 0.00763616, 1.27566293, 0.04455767,-0.0976861 ,-0.07826594,
  0.09211543, 0.63537796, 0.23047566,-0.66881124,-0.30962453]

qacc:
[ 1.44506616e+00,-2.58168490e+00, 9.99023593e+00,-1.83003680e+01,
 -3.36633991e-02,-4.43715387e+00, 1.39358958e+01,-1.69546437e+01,
  5.90663158e-01, 2.87708845e+00,-1.40047887e+01, 3.01971533e+01,
 -4.61309092e-01, 7.34123523e-01,-4.47482958e+00, 1.53642608e+01,
 -5.54968053e+00, 1.21721736e+00,-1.96890942e-02, 1.36437398e+02,
 -1.26476701e+02, 1.77422135e+01]

qfrc_actuator:
[ 9.25406270e-05, 8.51183887e-04, 8.04782508e-05,-6.84732566e-05,
  4.86325339e-05, 3.68273183e-02, 1.08926975e-02, 1.82256032e-03,
 -6.99822780e-06, 8.27754406e-04, 2.11413570e-04, 8.80025884e-05,
  4.73487515e-03,-1.54766084e-03, 0.00000000e+00,-1.43787853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.6543343 ,  3.99974289, -7.6543343 , 15.98563462,
       14.06434826,  3.99974289, 14.06434826, 35.5513995 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0060724549541672015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.14146777e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.14146777e-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([-0.00954677, -0.09538329,  0.06169518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.53638530e-06,-7.93024590e-05,-5.20361044e-06,-2.83932326e-05,
 -9.78725064e-06,-9.61953188e-05, 2.77075217e-05,-2.62318032e-05,
  3.62708609e-06, 8.57034409e-07,-1.75794165e-05, 4.55917350e-05,
 -2.05055233e-05, 2.77105013e-05,-2.11076361e-06, 7.40469767e-05,
 -5.43471855e-04,-2.46226088e-03,-4.90258517e+00,-2.06471154e-03,
  2.46698215e-03,-8.68914489e-03]


--- Step 1971 ---
qpos:
[ 0.01866957, 0.03004707,-0.00944354,-0.02527739,-0.00342525, 1.33886439,
 -0.02982118, 0.94371854, 0.0115859 , 0.02728077,-0.00830044, 0.02647628,
  1.33788463, 0.00763627, 1.27579032, 0.04455627,-0.09770664,-0.0781637 ,
  0.09209214, 0.63559147, 0.22941888,-0.6695756 ,-0.30831635]

qacc:
[ 3.77275308e+00,-1.27173647e+00, 4.93211401e+00,-1.01680405e+01,
 -2.00725411e-01,-3.11457296e+00, 9.97295852e+00,-1.52512367e+01,
 -2.68842203e+00, 2.31641174e+00,-1.08244959e+01, 2.13176782e+01,
  3.10945139e-02,-1.65827743e-01,-4.95646636e+00, 1.70256445e+01,
 -4.79209350e+00, 1.06106031e+00,-1.36962794e+00, 1.17156143e+02,
 -1.09853635e+02, 1.60998032e+01]

qfrc_actuator:
[ 1.14897237e-04, 8.29795381e-04, 8.00159247e-05,-8.46887629e-05,
 -3.58703019e-06, 3.67673584e-02, 1.09016792e-02, 1.78994128e-03,
 -2.32606164e-05, 8.04009557e-04, 1.80291903e-04, 1.13985152e-04,
  4.70989965e-03,-1.56883890e-03, 0.00000000e+00,-1.35744470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.61763405,  4.06920488, -7.61763405, 16.95061883,
       15.56445433,  4.06920488, 15.56445433, 37.7733378 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006019969170229872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22116869e-15, -9.22116869e-15,  1.00000000e+00, -8.50299520e-29,
        1.00000000e+00,  9.22116869e-15, -1.00000000e+00,  0.00000000e+00,
       -9.22116869e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00943663, -0.09541109,  0.06169733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25804403e-05,-6.80071783e-05,-1.84543788e-05,-2.03414746e-05,
 -5.80050174e-05,-1.08810641e-04,-7.49392095e-06,-3.52492405e-05,
 -1.61573334e-05,-2.49344865e-05,-3.15334434e-05, 2.62970291e-05,
 -2.86921338e-05,-1.77424022e-05, 4.36180992e-06, 8.36507765e-05,
  9.69046138e-06,-2.84449007e-03,-4.90244856e+00,-2.71435127e-03,
  1.75746808e-03,-8.67013127e-03]


--- Step 1972 ---
qpos:
[ 0.01867141, 0.03004596,-0.00944375,-0.02527764,-0.00342502, 1.33890249,
 -0.02982147, 0.94371913, 0.01158599, 0.02728032,-0.00830123, 0.02647734,
  1.33804905, 0.0076359 , 1.27591789, 0.04455416,-0.0977007 ,-0.07806395,
  0.09207655, 0.63608087, 0.22824743,-0.67004905,-0.30714575]

qacc:
[   8.17607709,  -0.92829288,   0.54565352,   6.95195067,  -0.16550509,
   -0.69921526,   0.94797272,  -0.58089783,  -7.63142799,   1.58224912,
   -5.69155229,   6.22356766,   0.21605672,  -0.55931698,   2.37603036,
   -7.98135515,   6.61962596,  -0.62496621,   1.92367382,-158.9950319 ,
  151.35978073,   3.82455998]

qfrc_actuator:
[ 1.63194561e-04, 8.35296356e-04, 1.15529564e-04,-5.84302654e-05,
 -1.71268282e-05, 3.67163476e-02, 1.08891674e-02, 1.78824609e-03,
 -6.87284416e-05, 7.89963925e-04, 1.44209170e-04, 1.11049226e-04,
  4.70498279e-03,-1.59927808e-03, 0.00000000e+00,-1.39832889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00610153203735532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.09790375e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.09790375e-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([-0.18629349, -0.0685756 ,  0.06169373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89362444e-05,-3.71706040e-05, 1.85070052e-05, 2.23157348e-05,
 -4.78121131e-05,-1.13994022e-04,-3.57258088e-05,-5.94749670e-06,
 -4.59505363e-05,-3.33669372e-05,-4.42024442e-05,-4.58425100e-06,
 -2.32276730e-05,-4.24510375e-05, 8.33150433e-06,-3.63322245e-05,
  5.74615744e-04,-3.19041499e-03,-4.90214432e+00,-3.29501034e-03,
  1.12240272e-03,-8.64984929e-03]


--- Step 1973 ---
qpos:
[ 0.01867314, 0.03004467,-0.00944362,-0.02527796,-0.0034251 , 1.33894015,
 -0.02982265, 0.94371935, 0.01158554, 0.02727947,-0.00830207, 0.02647836,
  1.3382131 , 0.0076357 , 1.27604504, 0.04455528,-0.09767195,-0.07796631,
  0.09206214, 0.63680839, 0.22697691,-0.67027206,-0.30609136]

qacc:
[-1.05548863e+00,-1.28707183e+00, 4.49016276e+00,-5.84098130e+00,
 -1.25528936e-01, 1.22998725e+00,-3.93549040e+00,-6.17641890e-01,
 -4.65530284e+00,-4.84413464e-01, 1.15552018e+00,-1.57858057e+00,
 -1.27129318e-01, 1.44377996e-01,-1.03745578e+01, 3.53888600e+01,
  5.70153198e+00,-5.26087477e-01, 2.94021734e-01,-1.36081325e+02,
  1.30949447e+02, 4.22004604e+00]

qfrc_actuator:
[ 1.55358623e-04, 8.39298343e-04, 1.36643655e-04,-6.05986789e-05,
 -2.51049678e-05, 3.67065337e-02, 1.08463787e-02, 1.76925535e-03,
 -9.55104696e-05, 7.64025305e-04, 1.41008324e-04, 1.08880921e-04,
  4.69078965e-03,-1.58159504e-03, 0.00000000e+00,-1.22631593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.44797491, -1.79401694, -8.44797491, 10.18642366,
       -7.29918873, -1.79401694, -7.29918873, 43.00803642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0061335285504279455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52522156e-15,  2.03634970e-14,  1.00000000e+00, -9.21493356e-29,
        1.00000000e+00, -2.03634970e-14, -1.00000000e+00,  0.00000000e+00,
        4.52522156e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18621969, -0.06859438,  0.0616923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.42071508e-06,-1.19509347e-05, 1.65007712e-05,-2.68385114e-06,
 -3.62290118e-05,-8.02998604e-05,-6.93689088e-05,-2.35489653e-05,
 -2.81394190e-05,-5.39176067e-05,-1.56823370e-05,-5.21456710e-06,
 -3.58729968e-05,-2.20937868e-07,-3.73062499e-06, 1.70256476e-04,
 -1.88260352e-04,-2.86015246e-03,-4.90234227e+00,-2.48805734e-03,
  1.96760503e-03,-8.60924678e-03]


--- Step 1974 ---
qpos:
[ 0.01867372, 0.0300434 ,-0.00944359,-0.02527829,-0.00342539, 1.33897738,
 -0.02982469, 0.943719  , 0.01158511, 0.02727834,-0.00830219, 0.02647962,
  1.33837681, 0.00763568, 1.27617216, 0.04455809,-0.09762351,-0.07787043,
  0.09204331, 0.63774174, 0.2256206 ,-0.6702785 ,-0.30513531]

qacc:
[-9.79231614e+00, 2.93283415e-01,-8.93386822e-01, 6.91109230e-01,
 -9.00453518e-02, 7.46211090e-01,-1.93204904e+00,-4.73795993e+00,
  2.51335375e-01,-1.89073073e+00, 5.17207575e+00,-1.92468622e+00,
 -2.58611927e-01, 3.12480995e-01,-5.14173964e+00, 1.79838280e+01,
  4.92368691e+00,-4.42211420e-01,-1.10376957e+00,-1.16774749e+02,
  1.13641710e+02, 4.36627703e+00]

qfrc_actuator:
[ 9.67849727e-05, 8.42317954e-04, 1.31302413e-04,-6.17427738e-05,
 -2.96843984e-05, 3.66858395e-02, 1.08039678e-02, 1.74024236e-03,
 -9.33175820e-05, 7.84550286e-04, 1.92710048e-04, 1.24952589e-04,
  4.67638778e-03,-1.57100624e-03, 0.00000000e+00,-1.14324125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.42107178, -1.91633164, -8.42107178, 10.57858357,
       -8.53483456, -1.91633164, -8.53483456, 46.14159142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0060843277428405396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56181468e-15, -2.28090734e-15,  1.00000000e+00, -1.04050766e-29,
        1.00000000e+00,  2.28090734e-15, -1.00000000e+00,  0.00000000e+00,
       -4.56181468e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18632739, -0.06858812,  0.06169433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87614701e-05,-3.32033309e-07,-5.85738797e-06,-1.13393350e-06,
 -2.59859415e-05,-7.96474176e-05,-6.67440393e-05,-3.39557905e-05,
  1.34748965e-06,-1.30620008e-05, 3.84703473e-05, 1.31195478e-05,
 -3.20557028e-05, 2.03134162e-06, 1.48526892e-05, 9.15535397e-05,
 -7.44139022e-04,-2.58379223e-03,-4.90225842e+00,-1.77492117e-03,
  2.71464503e-03,-8.57007844e-03]


--- Step 1975 ---
qpos:
[ 0.0186729 , 0.03004197,-0.00944358,-0.02527792,-0.00342596, 1.33901386,
 -0.02982666, 0.94372001, 0.01158506, 0.02727768,-0.00830254, 0.02648034,
  1.33854041, 0.0076355 , 1.27629935, 0.04456156,-0.09760044,-0.07776879,
  0.0920301 , 0.63842202, 0.22433492,-0.67057691,-0.30400292]

qacc:
[-1.19748890e+01, 1.31529120e+00,-7.89904363e+00, 2.00797904e+01,
 -1.23257562e-01, 1.15942804e+00,-7.78107680e+00, 2.30369481e+01,
  3.17261182e+00, 1.41416112e-01, 2.66848210e+00,-1.19947132e+01,
  6.29551204e-02,-2.08102558e-01,-1.86563671e+00, 6.66719535e+00,
 -6.34295206e+00, 1.44317741e+00, 1.40499115e+00, 1.54711930e+02,
 -1.47242622e+02, 2.68818035e+01]

qfrc_actuator:
[ 2.65875653e-05, 8.26870154e-04, 1.28145565e-04,-2.67813580e-05,
 -4.99424868e-05, 3.66587881e-02, 1.08153520e-02, 1.81208549e-03,
 -7.40936068e-05, 8.32995241e-04, 1.87841422e-04, 9.84413551e-05,
  4.67252311e-03,-1.58250878e-03, 0.00000000e+00,-1.11329055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00603885677222938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59616392e-15,  9.19232784e-15,  1.00000000e+00,  4.22494456e-29,
        1.00000000e+00, -9.19232784e-15, -1.00000000e+00,  0.00000000e+00,
       -4.59616392e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0095023 , -0.0954357 ,  0.06169616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.19055593e-05,-1.68678764e-05,-3.96910703e-06, 3.47282871e-05,
 -3.56130803e-05,-8.54395638e-05,-1.28272099e-05, 6.67530286e-05,
  1.92533227e-05, 4.96881628e-05,-2.36309169e-06,-2.54847146e-05,
 -1.90209481e-05,-1.85319670e-05, 1.32953988e-05, 3.61150872e-05,
 -1.14894517e-03,-2.34984717e-03,-4.90199390e+00,-1.14282892e-03,
  3.37749381e-03,-8.53201012e-03]


--- Step 1976 ---
qpos:
[ 0.0186716 , 0.03004072,-0.00944373,-0.02527751,-0.00342681, 1.33904949,
 -0.02982843, 0.94372187, 0.01158558, 0.02727756,-0.0083033 , 0.02648074,
  1.33870378, 0.00763501, 1.27642643, 0.04456671,-0.09759992,-0.07766352,
  0.09201747, 0.63885874, 0.22313872,-0.67112503,-0.30275372]

qacc:
[-4.22361056e+00, 7.59156603e-01,-2.50474154e+00, 3.23757176e+00,
 -1.13451016e-01,-1.88781800e-01,-2.48939755e+00, 1.26113281e+01,
  4.89099797e+00, 1.21719712e+00,-1.95646541e+00,-3.30639937e+00,
  1.48899074e-01,-4.23614687e-01,-5.30638774e+00, 1.82406232e+01,
 -5.63660674e+00, 9.05858430e-01, 1.42779412e-01, 1.33005980e+02,
 -1.34667227e+02,-1.72498402e+00]

qfrc_actuator:
[ 3.38526819e-06, 8.53774942e-04, 1.26263005e-04,-2.41234711e-05,
 -6.16913196e-05, 3.66106651e-02, 1.08229294e-02, 1.85397035e-03,
 -4.50086228e-05, 8.62046199e-04, 1.67443999e-04, 8.25714687e-05,
  4.64834332e-03,-1.60698737e-03, 0.00000000e+00,-1.02608536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.33031572,  2.27873142, -8.33031572, 10.95085977,
        8.46106011,  2.27873142,  8.46106011, 39.56730249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006065449620859177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15202577e-15,  1.83040515e-14,  1.00000000e+00,  1.67519151e-28,
        1.00000000e+00, -1.83040515e-14, -1.00000000e+00,  0.00000000e+00,
       -9.15202577e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00902057, -0.09220363,  0.06169498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53004028e-05, 1.81678882e-05,-4.63413577e-06, 2.48014662e-06,
 -3.27922840e-05,-9.61341872e-05,-8.67454403e-06, 4.05378583e-05,
  2.96650015e-05, 5.52897029e-05,-1.12970705e-05,-1.43184475e-05,
 -3.78462913e-05,-3.44542513e-05, 6.58365966e-06, 9.01017480e-05,
 -6.24950256e-04,-2.83614074e-03,-4.90207921e+00,-1.93011267e-03,
  2.54773137e-03,-8.51231922e-03]


--- Step 1977 ---
qpos:
[ 0.0186714 , 0.03003996,-0.00944376,-0.02527783,-0.00342758, 1.33908427,
 -0.02983026, 0.94372216, 0.01158644, 0.02727739,-0.00830351, 0.02648095,
  1.33886679, 0.00763429, 1.27655363, 0.04457186,-0.09761944,-0.0775563 ,
  0.09200035, 0.63906381, 0.22204467,-0.67188562,-0.30143543]

qacc:
[ 9.51680706e+00,-1.20203154e+00, 8.22636258e+00,-2.12200309e+01,
  3.32816446e-02,-3.64362839e+00, 1.37716061e+01,-2.96225111e+01,
  2.96473607e+00,-1.98512210e+00, 7.75635911e+00,-1.17772798e+01,
 -1.64996789e-01,-5.45348670e-02, 1.95206331e-01,-3.88749311e-01,
 -5.01143434e+00, 4.87594138e-01,-1.12009024e+00, 1.13821602e+02,
 -1.22437109e+02,-2.35715170e+01]

qfrc_actuator:
[ 6.12916875e-05, 9.05816986e-04, 1.43041290e-04,-5.82176966e-05,
 -3.27358732e-05, 3.65502965e-02, 1.08103122e-02, 1.77132740e-03,
 -2.81111314e-05, 8.43691039e-04, 1.91266351e-04, 7.30823059e-05,
  4.62264038e-03,-1.62129629e-03, 0.00000000e+00,-1.03009089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.04150165,  3.14976634, -8.04150165, 13.30236762,
       11.91252769,  3.14976634, 11.91252769, 39.04960729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006031809572346301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20306760e-15,  9.20306760e-15,  1.00000000e+00,  8.46964532e-29,
        1.00000000e+00, -9.20306760e-15, -1.00000000e+00,  0.00000000e+00,
       -9.20306760e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00740241, -0.08917146,  0.06169637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.71796044e-05, 6.13918589e-05, 2.00634633e-05,-3.34248787e-05,
  9.57812228e-06,-1.14264745e-04,-3.12556662e-05,-8.47970905e-05,
  1.77855160e-05, 9.64034859e-06, 3.33651174e-05,-7.78937937e-06,
 -5.24357252e-05,-3.34370138e-05, 9.94293502e-06, 1.13957418e-06,
 -3.58741921e-05,-3.11823332e-03,-4.90206962e+00,-2.66993497e-03,
  1.81177817e-03,-8.49277379e-03]


--- Step 1978 ---
qpos:
[ 0.01867156, 0.03003931,-0.00944373,-0.0252785 ,-0.00342815, 1.33911812,
 -0.02983221, 0.94372182, 0.01158716, 0.02727733,-0.00830344, 0.02648071,
  1.33902929, 0.00763366, 1.2766809 , 0.04457659,-0.09761293,-0.07745148,
  0.09199017, 0.63954829, 0.22082848,-0.67236188,-0.30023701]

qacc:
[ 3.01294269e+00,-7.42372620e-01, 4.36487336e+00,-1.06739148e+01,
  8.07418965e-02,-1.96198511e+00, 6.23506931e+00,-1.21852413e+01,
 -1.26143061e+00,-1.61208466e+00, 7.89692915e+00,-1.64202180e+01,
 -4.83526838e-01, 4.64828870e-01, 1.39383862e+00,-4.61203795e+00,
  6.50813509e+00,-6.01168399e-01, 1.73397761e+00,-1.53173128e+02,
  1.53007986e+02, 1.32754856e+01]

qfrc_actuator:
[ 7.76955155e-05, 8.83798053e-04, 1.35294553e-04,-7.81142821e-05,
 -1.51025570e-05, 3.65006714e-02, 1.08035071e-02, 1.74031870e-03,
 -3.62787028e-05, 8.50524105e-04, 2.05314657e-04, 4.96608334e-05,
  4.60137065e-03,-1.61170990e-03, 0.00000000e+00,-1.05230691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006111638705292272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54142939e-15, -6.81214408e-15,  1.00000000e+00, -3.09368713e-29,
        1.00000000e+00,  6.81214408e-15, -1.00000000e+00,  0.00000000e+00,
       -4.54142939e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18625557, -0.06862542,  0.06169289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80945760e-05, 1.50726713e-05, 6.25522368e-06,-1.72247255e-05,
  2.32884930e-05,-1.21730721e-04,-3.52373827e-05,-3.72794548e-05,
 -7.64505526e-06, 1.87991677e-05, 1.98838327e-05,-2.20056848e-05,
 -5.52668945e-05,-1.25556013e-05, 7.05990914e-07,-2.17886797e-05,
  5.40237719e-04,-3.22509781e-03,-4.90199823e+00,-3.30639634e-03,
  1.21236057e-03,-8.47301884e-03]


--- Step 1979 ---
qpos:
[ 0.01867156, 0.03003834,-0.00944356,-0.02527935,-0.00342868, 1.3391509 ,
 -0.02983365, 0.94372178, 0.01158743, 0.02727775,-0.00830366, 0.02648052,
  1.33919147, 0.00763306, 1.27680836, 0.04457936,-0.09758399,-0.07734867,
  0.09198051, 0.64027369, 0.21950687,-0.67259319,-0.29913999]

qacc:
[-1.26180077e+00,-1.21650782e+00, 4.45829538e+00,-7.55336142e+00,
  2.33801179e-02,-2.28797169e+00, 5.13537996e+00,-2.76488075e-01,
 -3.84328276e+00, 1.58166025e+00,-4.94757454e+00, 6.04920278e+00,
 -4.45631334e-01, 4.35960664e-01, 6.30379352e+00,-2.15510414e+01,
  5.60880962e+00,-5.00456185e-01, 1.32126172e-01,-1.31171316e+02,
  1.32295304e+02, 1.21382595e+01]

qfrc_actuator:
[ 6.95124536e-05, 8.35265451e-04, 1.30598927e-04,-8.95704083e-05,
 -2.21587424e-05, 3.64579112e-02, 1.08357867e-02, 1.75773588e-03,
 -5.91296076e-05, 8.90092457e-04, 1.95790065e-04, 5.37362102e-05,
  4.59343680e-03,-1.60575463e-03, 0.00000000e+00,-1.15604982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.23363499,  -2.60653634,  -8.23363499,
        12.71493344, -12.88355528,  -2.60653634, -12.88355528,
        49.33347186,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006135965672582941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.7851363e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.7851363e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1862003 , -0.06863648,  0.06169182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.64792196e-06,-3.95194645e-05,-1.40037877e-06,-1.09277188e-05,
  6.69883099e-06,-1.18340318e-04, 3.32773862e-06, 1.19045876e-05,
 -2.30682992e-05, 5.32467810e-05,-3.95220944e-06, 5.14171085e-06,
 -3.86791095e-05,-1.05575444e-05,-5.93134117e-06,-1.05732927e-04,
 -2.12839753e-04,-2.94990145e-03,-4.90214385e+00,-2.48086074e-03,
  2.03565583e-03,-8.43035139e-03]


--- Step 1980 ---
qpos:
[ 0.01867251, 0.0300368 ,-0.00944276,-0.02527999,-0.00342935, 1.33918299,
 -0.02983512, 0.94372195, 0.01158777, 0.02727808,-0.00830347, 0.02648006,
  1.33935354, 0.00763241, 1.27693623, 0.04457716,-0.09753565,-0.07724752,
  0.09196589, 0.64120711, 0.21809405,-0.67261252,-0.29812886]

qacc:
[ 8.06168110e+00,-2.06261413e+00, 5.36220340e+00,-2.26037597e+00,
 -6.17661767e-02,-4.53356846e-01,-2.23565788e-02, 2.80252869e+00,
  6.02085279e-01,-1.83991369e+00, 7.52591943e+00,-1.28029904e+01,
 -4.65197924e-01, 4.77019294e-01, 1.56354214e+01,-5.37097146e+01,
  4.84672077e+00,-4.15591461e-01,-1.24133731e+00,-1.12617839e+02,
  1.14754574e+02, 1.10224667e+01]

qfrc_actuator:
[ 1.17946760e-04, 8.06736130e-04, 1.63128612e-04,-7.82431350e-05,
 -4.39691331e-05, 3.64375437e-02, 1.08376684e-02, 1.76802089e-03,
 -5.49261583e-05, 8.60118824e-04, 2.08091612e-04, 3.84696647e-05,
  4.59883325e-03,-1.60195766e-03, 0.00000000e+00,-1.41349195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.18078643,  -2.76794332,  -8.18078643,
        13.65899545, -14.84462415,  -2.76794332, -14.84462415,
        52.51034727,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006080707160061129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12906176e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12906176e-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([-0.18632321, -0.0686254 ,  0.06169415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82012503e-05,-5.13527744e-05, 2.38286040e-05, 9.37801809e-06,
 -1.78568181e-05,-8.50428934e-05,-2.05744348e-05, 7.14536823e-06,
  3.54744146e-06,-8.13103983e-07, 2.29908502e-05,-1.30204003e-05,
 -1.69776455e-05,-8.06656934e-06,-1.81357774e-05,-2.64923514e-04,
 -7.73756456e-04,-2.71440734e-03,-4.90201528e+00,-1.73819847e-03,
  2.77729482e-03,-8.38872554e-03]


--- Step 1981 ---
qpos:
[ 0.01867402, 0.03003547,-0.00944245,-0.02528017,-0.0034302 , 1.33921485,
 -0.02983707, 0.94372256, 0.0115885 , 0.02727803,-0.00830211, 0.0264794 ,
  1.33951536, 0.00763206, 1.2770636 , 0.04457524,-0.09751376,-0.07714348,
  0.09195811, 0.64183788, 0.21681249,-0.67291544,-0.2970207 ]

qacc:
[ 4.89710300e+00, 2.59568214e+00,-1.08464089e+01, 1.95497363e+01,
 -8.06715616e-02, 1.73447570e+00,-6.95995582e+00, 1.14153126e+01,
  3.39111588e+00,-4.15088717e+00, 1.48826381e+01,-1.98026973e+01,
 -3.31646867e-01, 4.88230612e-01,-1.51996153e+00, 4.31766564e+00,
 -6.60834452e+00, 7.22988994e-01, 1.70861981e+00, 1.49988690e+02,
 -1.62558759e+02,-2.72255868e+01]

qfrc_actuator:
[ 1.46068332e-04, 8.43826275e-04, 1.46447154e-04,-5.35649520e-05,
 -5.67003998e-05, 3.64484017e-02, 1.08216564e-02, 1.79175750e-03,
 -3.48279155e-05, 8.42057809e-04, 2.68402835e-04, 2.96558952e-05,
  4.59091680e-03,-1.58164138e-03, 0.00000000e+00,-1.38658141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00612419783955994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81284644e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81284644e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00762628, -0.08918295,  0.06169223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95110930e-05, 1.37586451e-05,-2.40211802e-05, 2.34874579e-05,
 -2.32843346e-05,-4.02123811e-05,-3.48131799e-05, 2.07856831e-05,
  2.02026181e-05,-1.43354422e-05, 6.25196295e-05,-8.30673655e-06,
 -1.95831601e-05, 1.45973998e-05,-4.12718745e-05, 9.03678643e-06,
 -1.19231757e-03,-2.51068370e-03,-4.90171245e+00,-1.07080039e-03,
  3.44496135e-03,-8.34791648e-03]


--- Step 1982 ---
qpos:
[ 0.01867483, 0.03003511,-0.00944302,-0.02528046,-0.00343109, 1.33924642,
 -0.0298389 , 0.94372274, 0.01158877, 0.0272779 ,-0.00830067, 0.02647903,
  1.33967669, 0.00763228, 1.27719044, 0.04457593,-0.09751461,-0.07703689,
  0.09195076, 0.64220842, 0.2156416 ,-0.67346297,-0.2958288 ]

qacc:
[-6.12407120e+00, 3.48315443e+00,-1.00144753e+01, 8.54834386e+00,
 -1.09794236e-02,-1.43143432e+00, 5.11149822e+00,-9.31958275e+00,
 -3.87164833e+00, 2.46986406e-01,-2.21220222e+00, 6.99684334e+00,
 -5.19196339e-01, 8.16831716e-01,-8.63063953e+00, 2.91813735e+01,
 -5.68888860e+00, 6.36561859e-01, 1.10172251e-01, 1.28223952e+02,
 -1.40543603e+02,-2.24885443e+01]

qfrc_actuator:
[ 1.08733232e-04, 9.37504807e-04, 1.18860084e-04,-5.67200936e-05,
 -4.61286854e-05, 3.64423150e-02, 1.08308637e-02, 1.76997818e-03,
 -5.88017241e-05, 8.31467443e-04, 2.67844666e-04, 4.24979555e-05,
  4.56437775e-03,-1.55173108e-03, 0.00000000e+00,-1.24555770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.75527355,  3.80033012, -7.75527355, 15.17302831,
       13.33926818,  3.80033012, 13.33926818, 35.85759717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006160906415201749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.01022471e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.01022471e-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([-0.00771067, -0.08918336,  0.06169065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64664026e-05, 9.74672787e-05,-2.68816147e-05,-2.93860632e-06,
 -3.18654162e-06,-3.47300408e-05,-2.04323303e-06,-2.34846255e-05,
 -2.33882137e-05,-6.05175636e-06, 3.87986042e-06, 1.42271394e-05,
 -3.37242499e-05, 3.00858336e-05,-1.90199376e-05, 1.36003961e-04,
 -6.01596277e-04,-2.68828508e-03,-4.90214486e+00,-1.99007313e-03,
  2.59997808e-03,-8.33106394e-03]


--- Step 1983 ---
qpos:
[ 0.01867484, 0.03003536,-0.00944384,-0.02528114,-0.00343179, 1.33927746,
 -0.02984022, 0.94372231, 0.01158841, 0.02727777,-0.00829953, 0.02647883,
  1.33983756, 0.00763295, 1.27731719, 0.04457792,-0.09753511,-0.07692805,
  0.09193838, 0.64235425, 0.21456422,-0.67422179,-0.2945644 ]

qacc:
[-6.86571569e+00, 7.72801839e-01, 5.13619932e-02,-6.66775318e+00,
  7.83299927e-02,-3.13268760e+00, 1.06282643e+01,-1.59242851e+01,
 -5.42191609e+00, 1.21926746e+00,-5.06427195e+00, 8.54070898e+00,
 -5.40897546e-01, 7.57942889e-01,-4.04320250e+00, 1.40653165e+01,
 -4.91000324e+00, 5.62479584e-01,-1.26151788e+00, 1.09925923e+02,
 -1.21861580e+02,-1.86666745e+01]

qfrc_actuator:
[ 6.86819282e-05, 9.57767600e-04, 1.03057709e-04,-7.61734328e-05,
 -2.16634392e-05, 3.64084558e-02, 1.08548061e-02, 1.73934906e-03,
 -9.07767061e-05, 8.25214265e-04, 2.49131139e-04, 5.01830768e-05,
  4.53734644e-03,-1.53422461e-03, 0.00000000e+00,-1.18053883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.67241418,  3.96495113, -7.67241418, 16.63992543,
       15.48736393,  3.96495113, 15.48736393, 38.60532589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006115290305695929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07743516e-15,  9.07743516e-15,  1.00000000e+00,  8.23998291e-29,
        1.00000000e+00, -9.07743516e-15, -1.00000000e+00,  0.00000000e+00,
       -9.07743516e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00760948, -0.08920298,  0.06169258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10769803e-05, 6.90927469e-05, 9.27594402e-07,-1.62634983e-05,
  2.25814378e-05,-5.43882128e-05, 1.61946148e-05,-3.22359156e-05,
 -3.26618040e-05,-8.24479504e-06,-1.90067128e-05, 7.83584479e-06,
 -3.68708849e-05, 1.86007180e-05, 4.45314946e-06, 6.97357944e-05,
 -2.83679487e-05,-2.84719597e-03,-4.90223806e+00,-2.73437699e-03,
  1.91533922e-03,-8.31266964e-03]


--- Step 1984 ---
qpos:
[ 0.0186754 , 0.03003559,-0.00944455,-0.02528233,-0.00343211, 1.33930814,
 -0.02984163, 0.94372291, 0.01158802, 0.02727816,-0.00829859, 0.02647831,
  1.33999836, 0.00763331, 1.27744354, 0.04458369,-0.09752981,-0.07682184,
  0.09193252, 0.64278783, 0.21335471,-0.67470089,-0.29339781]

qacc:
[   4.75667631,  -1.4354302 ,   7.2168927 , -16.26905241,   0.1590858 ,
    1.54455092,  -7.74400506,  18.96011877,  -0.32777325,   0.55164718,
    0.41910471,  -6.16634302,   0.44224003,  -0.71868113, -12.04893554,
   41.18761796,   6.44836323,  -0.65736489,   1.63345224,-147.47940712,
  156.88697454,  25.49956593]

qfrc_actuator:
[ 9.83842555e-05, 9.16192662e-04, 9.40608505e-05,-1.05100426e-04,
  1.09374648e-05, 3.63937953e-02, 1.08516335e-02, 1.79251776e-03,
 -9.16854768e-05, 8.92525732e-04, 2.55384267e-04, 3.70164362e-05,
  4.53133859e-03,-1.55975348e-03, 0.00000000e+00,-9.83336837e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006097687729989483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55181978e-15,  9.10363956e-15,  1.00000000e+00, -4.14381266e-29,
        1.00000000e+00, -9.10363956e-15, -1.00000000e+00,  0.00000000e+00,
        4.55181978e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18627724, -0.06862193,  0.06169329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85302230e-05,-3.45631467e-06, 4.83444086e-06,-2.62489522e-05,
  4.59407559e-05,-4.27563844e-05,-1.29477758e-05, 5.13021445e-05,
 -1.86704027e-06, 5.90899977e-05, 2.46976112e-06,-1.40256224e-05,
 -1.99199743e-05,-2.86732916e-05, 6.32908973e-06, 2.00881864e-04,
  5.15068694e-04,-2.98872870e-03,-4.90210831e+00,-3.34382727e-03,
  1.35265158e-03,-8.29304221e-03]


--- Step 1985 ---
qpos:
[ 0.01867666, 0.03003585,-0.00944509,-0.02528352,-0.00343206, 1.33933864,
 -0.02984344, 0.9437245 , 0.01158831, 0.02727938,-0.00829804, 0.02647726,
  1.34015897, 0.00763341, 1.27757026, 0.04458876,-0.09750227,-0.07671779,
  0.09192686, 0.64346909, 0.21203137,-0.67493885,-0.29231452]

qacc:
[ 5.97612327e+00,-4.48125494e-01, 1.63352528e+00,-1.92483873e+00,
  1.61325826e-01, 2.53849075e+00,-1.05654083e+01, 2.06154441e+01,
  5.78677396e+00, 1.11318226e+00,-1.84372315e-01,-8.85767472e+00,
 -5.95427976e-02,-1.40951954e-01, 2.66231236e+00,-8.54026296e+00,
  5.56145121e+00,-5.39952374e-01, 4.94401377e-02,-1.26480349e+02,
  1.35470125e+02, 2.22376303e+01]

qfrc_actuator:
[ 1.33400658e-04, 9.26678118e-04, 1.06627944e-04,-1.03918494e-04,
  3.04020478e-05, 3.63906985e-02, 1.08325955e-02, 1.84130775e-03,
 -5.65456539e-05, 9.50194939e-04, 2.41120407e-04, 1.17704628e-05,
  4.51662387e-03,-1.57503292e-03, 0.00000000e+00,-1.02936238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.71465016,  -5.43141327,  -6.71465016,
        39.40085844, -38.03297777,  -5.43141327, -38.03297777,
        55.65509115,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006120743861941502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36040208e-14,  9.06934720e-15,  1.00000000e+00,  1.23379588e-28,
        1.00000000e+00, -9.06934720e-15, -1.00000000e+00,  0.00000000e+00,
       -1.36040208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1862252 , -0.06862292,  0.06169231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58476986e-05, 8.43815102e-06, 1.15470314e-05, 6.92485408e-07,
  4.66059847e-05,-2.79430481e-05,-2.74021867e-05, 4.83558958e-05,
  3.51083303e-05, 9.05958974e-05,-2.25383524e-06,-2.29030423e-05,
 -3.07965377e-05,-2.86723498e-05, 2.29965770e-05,-3.45591077e-05,
 -2.04178675e-04,-2.78625094e-03,-4.90221443e+00,-2.53532477e-03,
  2.11131585e-03,-8.25018436e-03]


--- Step 1986 ---
qpos:
[ 0.0186773 , 0.0300363 ,-0.00944559,-0.02528402,-0.00343182, 1.33936866,
 -0.02984469, 0.94372456, 0.01158901, 0.02728075,-0.00829769, 0.02647599,
  1.3403191 , 0.00763366, 1.27769729, 0.0445916 ,-0.09745549,-0.07661551,
  0.09191597, 0.64436388, 0.21060976,-0.67496795,-0.29130222]

qacc:
[-5.35456245e+00, 1.61402191e+00,-8.30910940e+00, 2.01973373e+01,
  7.35928771e-02,-4.75378255e+00, 1.78783975e+01,-3.28638786e+01,
  3.57473733e+00, 2.74646585e-01, 2.27263234e-01,-3.83896400e+00,
 -6.72761641e-01, 7.22430086e-01, 7.27318695e+00,-2.46098562e+01,
  4.80963605e+00,-4.42086337e-01,-1.30881905e+00,-1.08739625e+02,
  1.17372001e+02, 1.93963391e+01]

qfrc_actuator:
[ 1.00231356e-04, 9.50604428e-04, 1.14283930e-04,-6.72260416e-05,
  2.40763834e-05, 3.63589887e-02, 1.08576455e-02, 1.76284587e-03,
 -3.59848900e-05, 9.12801911e-04, 2.14829617e-04,-2.64171852e-06,
  4.48604533e-03,-1.56633555e-03, 0.00000000e+00,-1.14734479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.53950394,  -5.64106949,  -6.53950394,
        44.08423953, -41.09354164,  -5.64106949, -41.09354164,
        56.27473749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006064819811747592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28824404e-15,  1.14412202e-15,  1.00000000e+00,  2.61803040e-30,
        1.00000000e+00, -1.14412202e-15, -1.00000000e+00,  0.00000000e+00,
       -2.28824404e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18635051, -0.06860517,  0.06169469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21222716e-05, 3.10675763e-05, 1.08481105e-05, 3.74682757e-05,
  2.12094550e-05,-5.12744815e-05, 1.78541378e-05,-7.89424679e-05,
  2.16257963e-05, 1.17867313e-05,-8.66637566e-06,-1.10564974e-05,
 -5.25450712e-05,-7.03323610e-06, 2.19799164e-06,-1.18003786e-04,
 -7.51088752e-04,-2.60748500e-03,-4.90204654e+00,-1.78951175e-03,
  2.81434164e-03,-8.20777792e-03]


--- Step 1987 ---
qpos:
[ 0.01867718, 0.0300367 ,-0.00944585,-0.02528474,-0.00343152, 1.33939789,
 -0.02984488, 0.94372334, 0.01158962, 0.02728198,-0.00829809, 0.02647532,
  1.34047883, 0.00763377, 1.27782416, 0.04459435,-0.09743464,-0.07650984,
  0.09191118, 0.64496391, 0.20931056,-0.67527857,-0.29018874]

qacc:
[-6.39889970e+00,-1.23004339e+00, 5.28258800e+00,-9.65393868e+00,
  2.98120548e-02,-6.07483180e+00, 2.11947181e+01,-3.27602652e+01,
 -8.97909142e-01, 3.16425415e+00,-1.40983321e+01, 2.58700464e+01,
 -2.26012810e-01, 6.36393871e-02, 3.68732017e-02,-4.50041069e-01,
 -6.48082579e+00, 8.47183300e-01, 1.52764543e+00, 1.45627160e+02,
 -1.61699421e+02,-2.20048025e+01]

qfrc_actuator:
[ 6.26974041e-05, 9.29155638e-04, 1.19057609e-04,-8.09394038e-05,
  2.00844567e-05, 3.63104889e-02, 1.09083421e-02, 1.69890445e-03,
 -4.19353740e-05, 8.71976823e-04, 1.63524288e-04, 2.48574292e-05,
  4.46196001e-03,-1.57905535e-03, 0.00000000e+00,-1.14692236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006155685339759395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0077099 , -0.08923547,  0.06169079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84619856e-05,-2.54067554e-07, 1.38248942e-05,-1.12758419e-05,
  8.53776299e-06,-7.59451860e-05, 4.03511611e-05,-6.67492526e-05,
 -5.30777790e-06,-3.65388958e-05,-5.03380519e-05, 2.74874488e-05,
 -5.24419260e-05,-2.68504405e-05,-1.65021777e-05,-6.85710630e-06,
 -1.16804817e-03,-2.44801040e-03,-4.90170631e+00,-1.10687260e-03,
  3.46059510e-03,-8.16576874e-03]


--- Step 1988 ---
qpos:
[ 0.018678  , 0.03003708,-0.00944574,-0.02528563,-0.0034312 , 1.33942618,
 -0.02984497, 0.94372246, 0.01158945, 0.02728256,-0.00829835, 0.02647568,
  1.34063799, 0.00763424, 1.277951  , 0.04459638,-0.0974361 ,-0.07640121,
  0.09190621, 0.64531042, 0.20811417,-0.67583206,-0.28898785]

qacc:
[ 7.98413566e+00,-1.39825940e+00, 5.62615546e+00,-9.07524034e+00,
  8.71630484e-03,-9.55197872e-01, 9.20934466e-01, 3.76609095e+00,
 -6.51285047e+00, 9.03215293e-01,-8.79459424e+00, 2.68736062e+01,
 -7.30152091e-01, 8.97140599e-01, 2.20111128e+00,-7.57629859e+00,
 -5.57997877e+00, 7.40784701e-01,-4.72146808e-02, 1.24440150e+02,
 -1.39846644e+02,-1.78909803e+01]

qfrc_actuator:
[ 1.11680300e-04, 9.33907443e-04, 1.39624846e-04,-8.87401032e-05,
  1.75270125e-05, 3.62346704e-02, 1.09027027e-02, 1.71505475e-03,
 -8.11905785e-05, 8.29319606e-04, 1.68855791e-04, 7.67656293e-05,
  4.44177979e-03,-1.55114637e-03, 0.00000000e+00,-1.18322108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.85753328,  3.58412438, -7.85753328, 13.86047399,
       11.45290078,  3.58412438, 11.45290078, 33.74474141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006181441197588809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00776864, -0.0892409 ,  0.0616897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78610558e-05, 6.95918870e-06, 2.18288488e-05,-7.54994747e-06,
  2.48448222e-06,-1.12141977e-04,-1.78949849e-05, 1.35421378e-05,
 -3.94191417e-05,-7.23484746e-05,-7.47261479e-06, 4.91355406e-05,
 -5.30871939e-05, 7.90868645e-06,-1.10166442e-05,-3.93996980e-05,
 -5.95574667e-04,-2.66359230e-03,-4.90207779e+00,-2.01639410e-03,
  2.64177996e-03,-8.14817197e-03]


--- Step 1989 ---
qpos:
[ 0.0186794 , 0.03003754,-0.00944573,-0.0252859 ,-0.00343117, 1.33945354,
 -0.02984592, 0.94372149, 0.01158813, 0.0272824 ,-0.0082976 , 0.02647593,
  1.34079676, 0.00763497, 1.27807789, 0.04459695,-0.09745683,-0.07628997,
  0.09189565, 0.64543797, 0.20700436,-0.67659536,-0.2877112 ]

qacc:
[   4.97671715,   1.648829  ,  -8.37655108,  19.2693186 ,  -0.12367746,
    0.97790752,  -4.46510624,   3.37718565,  -9.8490659 ,  -4.05651761,
   13.58007014, -16.78598406,  -0.60094674,   0.73837858,   4.58332442,
  -15.79282066,  -4.81683835,   0.65034331,  -1.39778293, 106.63626555,
 -121.29933102, -14.61914132]

qfrc_actuator:
[ 1.40185396e-04, 9.36620002e-04, 1.33954387e-04,-5.74571625e-05,
 -1.96534657e-05, 3.61606758e-02, 1.08460262e-02, 1.70713786e-03,
 -1.39725547e-04, 8.03881915e-04, 2.25337711e-04, 7.16411193e-05,
  4.42929783e-03,-1.53480321e-03, 0.00000000e+00,-1.25864420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.78796901,  3.73286961, -7.78796901, 15.01543093,
       13.30879016,  3.73286961, 13.30879016, 36.40278897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006126826142642039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06034380e-15,  9.06034380e-15,  1.00000000e+00,  8.20898297e-29,
        1.00000000e+00, -9.06034380e-15, -1.00000000e+00,  0.00000000e+00,
       -9.06034380e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00764671, -0.08926599,  0.06169203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99004954e-05, 1.07902722e-05,-1.81236823e-06, 3.21878558e-05,
 -3.57164654e-05,-1.39315783e-04,-8.02848451e-05,-1.14602190e-05,
 -5.97147397e-05,-6.53664096e-05, 4.23139070e-05,-7.52714582e-06,
 -3.75815490e-05, 6.50584596e-06,-1.28508822e-05,-7.97871634e-05,
 -3.43542592e-05,-2.85461762e-03,-4.90212437e+00,-2.76116184e-03,
  1.97115698e-03,-8.12900605e-03]


--- Step 1990 ---
qpos:
[ 0.0186801 , 0.03003776,-0.00944615,-0.02528642,-0.00343164, 1.33947995,
 -0.02984728, 0.94372041, 0.01158681, 0.02728225,-0.00829698, 0.0264754 ,
  1.34095539, 0.00763539, 1.27820474, 0.04459625,-0.09745151,-0.07618526,
  0.09189212, 0.64583253, 0.20586992,-0.67703616,-0.28660069]

qacc:
[-6.03598179e+00, 3.90877800e-01,-7.66401510e-01,-2.72334707e+00,
 -2.11169086e-01,-3.38520389e-01,-1.87930252e-01,-4.82797242e-01,
 -3.21509396e-02,-1.18971630e+00, 7.53067538e+00,-2.06877452e+01,
 -9.58963058e-03,-2.27734549e-01, 3.74222578e+00,-1.32032839e+01,
  6.51128616e+00,-1.63046899e+00, 1.75890061e+00,-1.38183630e+02,
  1.73673367e+02,-4.02542934e+01]

qfrc_actuator:
[ 1.03122956e-04, 8.84762664e-04, 9.51028777e-05,-7.44592747e-05,
 -5.95507096e-05, 3.61236405e-02, 1.08306775e-02, 1.70283181e-03,
 -1.38117864e-04, 8.24636139e-04, 2.22809762e-04, 3.30363432e-05,
  4.41611445e-03,-1.56095379e-03, 0.00000000e+00,-1.32099258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006080425131642447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.5647426e-15,  9.1294852e-15,  1.0000000e+00,  4.1673750e-29,
        1.0000000e+00, -9.1294852e-15, -1.0000000e+00,  0.0000000e+00,
       -4.5647426e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18830025, -0.06043926,  0.06169398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61900375e-05,-4.48297171e-05,-3.57399919e-05,-1.59779809e-05,
 -6.10046409e-05,-1.30339104e-04,-5.21043572e-05,-1.10779706e-05,
 -1.65038635e-07,-7.40959324e-06,-1.10853730e-05,-4.00880190e-05,
 -3.10361082e-05,-3.27050581e-05,-1.80223785e-05,-6.91666869e-05,
  5.01433468e-04,-3.02358097e-03,-4.90195851e+00,-3.37784921e-03,
  1.41419418e-03,-8.10855363e-03]


--- Step 1991 ---
qpos:
[ 0.01868   , 0.03003768,-0.0094467 ,-0.02528749,-0.0034326 , 1.33950544,
 -0.02984858, 0.94371892, 0.01158552, 0.02728219,-0.00829647, 0.0264744 ,
  1.34111386, 0.0076357 , 1.27833126, 0.04459646,-0.09742374,-0.07608604,
  0.09188923, 0.64645699, 0.20471456,-0.67719959,-0.28563268]

qacc:
[-6.81268593e+00,-1.18077296e+00, 5.99397477e+00,-1.52054820e+01,
 -2.05890695e-01,-2.10655611e+00, 6.26236439e+00,-9.67731212e+00,
  2.41657629e-01,-5.60496510e-01, 4.14080875e+00,-1.21602387e+01,
  4.21823908e-02,-1.54833882e-01,-3.22041621e+00, 1.05576170e+01,
  5.61335889e+00,-1.37376571e+00, 1.57750428e-01,-1.18406237e+02,
  1.49716860e+02,-3.45385917e+01]

qfrc_actuator:
[ 6.32760170e-05, 8.71452486e-04, 8.99720322e-05,-1.02055582e-04,
 -8.30015726e-05, 3.60914280e-02, 1.08400098e-02, 1.68299134e-03,
 -1.36621960e-04, 8.37138891e-04, 2.21127551e-04, 1.05482538e-05,
  4.41847939e-03,-1.55886552e-03, 0.00000000e+00,-1.26860212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006131185662539007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35808523e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35808523e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18818325, -0.06045374,  0.06169183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09152199e-05,-4.64607774e-05,-1.93399937e-05,-3.10603628e-05,
 -5.94994320e-05,-1.15020481e-04,-2.24477633e-05,-2.55092541e-05,
  1.49065871e-06, 4.34653647e-06,-5.97089805e-06,-2.39694850e-05,
 -2.14553042e-05,-1.45434592e-05,-1.84670655e-05, 4.56591344e-05,
 -1.55352130e-04,-2.41761388e-03,-4.90247652e+00,-2.44011333e-03,
  2.16271505e-03,-8.06374686e-03]


--- Step 1992 ---
qpos:
[ 0.01867977, 0.03003745,-0.00944747,-0.02528787,-0.00343381, 1.33953016,
 -0.02984981, 0.94371649, 0.01158425, 0.02728212,-0.00829571, 0.02647347,
  1.34127217, 0.0076362 , 1.27845795, 0.04459491,-0.09737657,-0.07599146,
  0.09188146, 0.64727966, 0.20354133,-0.67712352,-0.28478713]

qacc:
[-1.14252510e+00, 1.83919650e+00,-9.79227611e+00, 2.23381912e+01,
 -1.06537469e-01,-2.76865002e+00, 9.73078572e+00,-1.87541301e+01,
  2.46650786e-01,-5.43776544e-01, 1.63892567e+00,-8.19387712e-01,
 -4.07559869e-01, 5.39967309e-01, 5.58826380e+00,-1.91015827e+01,
  4.85183255e+00,-1.15961190e+00,-1.21743675e+00,-1.01731056e+02,
  1.29445899e+02,-2.97383237e+01]

qfrc_actuator:
[ 5.76363555e-05, 8.81433246e-04, 8.71884046e-05,-6.45920495e-05,
 -7.86446386e-05, 3.60624614e-02, 1.08460867e-02, 1.63642911e-03,
 -1.35223926e-04, 8.44616141e-04, 2.37729865e-04, 1.54891794e-05,
  4.41952671e-03,-1.53991997e-03, 0.00000000e+00,-1.36206209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006097121530533774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55224248e-15,  1.36567274e-14,  1.00000000e+00,  6.21687347e-29,
        1.00000000e+00, -1.36567274e-14, -1.00000000e+00,  0.00000000e+00,
       -4.55224248e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18826124, -0.06043257,  0.0616933 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.84504135e-06,-2.13259672e-05,-1.58243665e-05, 3.42058906e-05,
 -3.08019119e-05,-9.79273040e-05,-1.97544696e-05,-5.12372281e-05,
  1.44456558e-06, 7.64228927e-06, 1.59309662e-05, 4.45502182e-06,
 -1.33902481e-05, 9.79291718e-06,-5.26813950e-06,-9.37100342e-05,
 -5.74559097e-04,-1.95558676e-03,-4.90262563e+00,-1.68979280e-03,
  2.76634185e-03,-8.02350181e-03]


--- Step 1993 ---
qpos:
[ 0.01867981, 0.03003731,-0.0094484 ,-0.02528783,-0.00343499, 1.33955426,
 -0.02985133, 0.94371354, 0.0115837 , 0.02728231,-0.00829572, 0.02647299,
  1.3414301 , 0.00763723, 1.27858501, 0.0445889 ,-0.09735536,-0.07589417,
  0.09187969, 0.64781453, 0.20245746,-0.67733971,-0.28382782]

qacc:
[ 2.38091564e+00, 1.45404765e+00,-6.75457637e+00, 1.41454833e+01,
  9.72962367e-03,-9.29531520e-01, 3.16067023e+00,-8.55021327e+00,
  6.08361341e+00, 3.39616613e+00,-1.35369574e+01, 2.23687850e+01,
 -9.94196861e-01, 1.35331880e+00, 1.41543412e+01,-4.84583797e+01,
 -6.49120939e+00, 6.79127271e-01, 1.49794708e+00, 1.38335735e+02,
 -1.67722771e+02,-4.67389005e+00]

qfrc_actuator:
[ 7.21773019e-05, 9.05358756e-04, 8.59507275e-05,-4.23840973e-05,
 -5.76431232e-05, 3.60356544e-02, 1.08324349e-02, 1.61001999e-03,
 -9.83900267e-05, 8.49130473e-04, 1.93983999e-04, 3.65359296e-05,
  4.39848805e-03,-1.51112023e-03, 0.00000000e+00,-1.59399295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006152890056727436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00770606, -0.08925994,  0.0616909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43348508e-05, 1.02130496e-05,-6.39471575e-06, 2.14168923e-05,
  2.79907066e-06,-8.65535108e-05,-3.65880821e-05,-3.10902787e-05,
  3.68784215e-05, 1.22617700e-05,-4.00582216e-05, 2.20124061e-05,
 -2.59750720e-05, 2.88558703e-05,-1.61672899e-05,-2.38577889e-04,
 -8.27314266e-04,-1.59977386e-03,-4.90253247e+00,-1.08383269e-03,
  3.25949895e-03,-7.98680871e-03]


--- Step 1994 ---
qpos:
[ 0.01867969, 0.0300375 ,-0.00944945,-0.0252879 ,-0.00343592, 1.33957744,
 -0.02985276, 0.9437134 , 0.01158359, 0.02728264,-0.00829567, 0.02647238,
  1.34158769, 0.00763864, 1.27871166, 0.04458283,-0.0973565 ,-0.07579443,
  0.09187764, 0.64810162, 0.20144983,-0.67780748,-0.2827707 ]

qacc:
[-1.47609415e+00, 5.37095591e-01,-8.09026634e-01,-1.19614948e+00,
  1.12471535e-01, 3.34636641e+00,-1.81919527e+01, 4.91082665e+01,
  3.80621616e+00,-2.67762577e-01, 1.78257028e+00,-4.28026643e+00,
 -4.92895292e-01, 7.09267104e-01,-3.68782941e-01, 5.10608676e-01,
 -5.58940831e+00, 6.10272624e-01,-6.87500361e-02, 1.18609668e+02,
 -1.44684071e+02,-3.83518473e+00]

qfrc_actuator:
[ 6.29634170e-05, 9.37461965e-04, 8.56819027e-05,-4.70778123e-05,
 -2.68290123e-05, 3.59925421e-02, 1.08427806e-02, 1.75545202e-03,
 -7.64989355e-05, 8.69363855e-04, 2.03707562e-04, 3.13338643e-05,
  4.38019967e-03,-1.49456037e-03, 0.00000000e+00,-1.58605149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006178819387366551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00776203, -0.08924796,  0.06168982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.79186452e-06, 3.74309968e-05, 1.80565484e-06,-4.05895089e-06,
  3.24650821e-05,-9.92495099e-05,-1.16902641e-05, 1.41063983e-04,
  2.29765967e-05, 1.97644750e-05, 8.08104815e-06,-5.63521332e-06,
 -2.56731902e-05, 1.96081736e-05,-3.78051204e-05,-8.26404300e-06,
 -4.13339774e-04,-1.84376519e-03,-4.90283970e+00,-1.86881834e-03,
  2.61541159e-03,-7.97216954e-03]


--- Step 1995 ---
qpos:
[ 0.01867911, 0.03003775,-0.00945016,-0.02528733,-0.00343653, 1.33959948,
 -0.02985303, 0.94371428, 0.01158375, 0.02728277,-0.00829452, 0.02647168,
  1.34174523, 0.00763956, 1.27883753, 0.04458118,-0.09737695,-0.07569249,
  0.09186994, 0.64817445, 0.20050738,-0.6784922 ,-0.2816292 ]

qacc:
[  -3.88463441,   0.45530168,  -4.17674197,  14.58910344,   0.13139599,
   -2.86648762,   5.45116038,   7.781445  ,   2.28903528,  -3.5080841 ,
   12.46701658, -15.52497442,   0.65443663,  -1.07282147, -14.62180394,
   49.30872926,  -4.82567487,   0.54975486,  -1.41262961, 101.97147501,
 -125.19932988,  -3.18873994]

qfrc_actuator:
[ 3.98345800e-05, 9.38699261e-04, 1.03765687e-04,-1.42923126e-05,
 -8.13193469e-06, 3.59402056e-02, 1.09027568e-02, 1.80556704e-03,
 -6.35899459e-05, 8.63530560e-04, 2.62740427e-04, 2.85375187e-05,
  4.36357143e-03,-1.53868136e-03, 0.00000000e+00,-1.34803374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006124602443883305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06363339e-15,  9.06363339e-15,  1.00000000e+00,  8.21494503e-29,
        1.00000000e+00, -9.06363339e-15, -1.00000000e+00,  0.00000000e+00,
       -9.06363339e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00763846, -0.08926047,  0.06169215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33714023e-05, 2.23702970e-05, 2.59071838e-05, 3.43739886e-05,
  3.78751746e-05,-1.05440677e-04, 4.33441535e-05, 5.00896592e-05,
  1.35896859e-05, 6.64326536e-06, 6.39116938e-05,-1.77988714e-06,
 -2.56643471e-05,-4.39170200e-05,-1.97229287e-05, 2.32414909e-04,
  3.33363012e-05,-2.06771189e-03,-4.90282842e+00,-2.53012207e-03,
  2.06805980e-03,-7.95601376e-03]


--- Step 1996 ---
qpos:
[ 0.01867861, 0.03003793,-0.00945   ,-0.0252864 ,-0.00343715, 1.33962084,
 -0.02985224, 0.94371192, 0.01158372, 0.02728292,-0.00829352, 0.02647067,
  1.34190246, 0.00764007, 1.27896317, 0.04458303,-0.09737149,-0.07559668,
  0.09186905, 0.64851678, 0.19953515,-0.67885925,-0.28064538]

qacc:
[ 6.44483265e-01,-1.78417179e+00, 4.66995934e+00, 3.50406676e-01,
 -6.14839077e-03,-9.30155672e+00, 3.59361741e+01,-6.83456572e+01,
 -1.63385050e+00,-2.28253385e-01, 2.18438548e+00,-7.44179172e+00,
  3.00233979e-01,-6.78730775e-01,-1.09262129e+01, 3.76208168e+01,
  6.47813460e+00,-1.53064155e+00, 1.70365382e+00,-1.34892033e+02,
  1.74377097e+02,-3.48934121e+01]

qfrc_actuator:
[ 4.42133634e-05, 9.39304351e-04, 1.50203458e-04, 4.77071751e-06,
 -3.23609034e-05, 3.59184261e-02, 1.09559136e-02, 1.63939509e-03,
 -7.38191240e-05, 8.42348613e-04, 2.43786879e-04, 9.43697435e-06,
  4.33727492e-03,-1.56522564e-03, 0.00000000e+00,-1.17171868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006192590971164848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48206183e-15,  4.48206183e-15,  1.00000000e+00,  2.00888782e-29,
        1.00000000e+00, -4.48206183e-15, -1.00000000e+00,  0.00000000e+00,
       -4.48206183e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18803786, -0.06044513,  0.06168925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70288847e-06, 1.99283488e-05, 5.54436583e-05, 2.15873616e-05,
 -1.85419781e-06,-7.02692574e-05, 3.89099014e-05,-1.66877184e-04,
 -9.82991871e-06,-4.35266357e-06,-9.78461032e-06,-1.66409191e-05,
 -4.91354025e-05,-4.56788614e-05, 1.61370662e-05, 1.86586572e-04,
  4.85554458e-04,-2.27017825e-03,-4.90261170e+00,-3.09074540e-03,
  1.59884588e-03,-7.93853332e-03]


--- Step 1997 ---
qpos:
[ 0.0186785 , 0.03003807,-0.0094495 ,-0.02528521,-0.0034379 , 1.33964223,
 -0.02985177, 0.94370967, 0.01158357, 0.02728326,-0.00829339, 0.02646981,
  1.3420592 , 0.00764054, 1.27908951, 0.04458162,-0.0973437 ,-0.07550603,
  0.09186858, 0.64909103, 0.19853753,-0.67895319,-0.2797968 ]

qacc:
[ 3.45120742e+00,-4.83614387e-01, 5.48369858e-01, 3.37414693e+00,
 -5.32814643e-02, 1.08886631e+00,-3.72726010e+00, 4.48053343e+00,
 -1.07398735e+00, 3.03476056e+00,-1.10813734e+01, 1.49836201e+01,
 -6.69685732e-01, 5.97689209e-01, 1.09375036e+01,-3.65946022e+01,
  5.58216076e+00,-1.29075016e+00, 1.04007076e-01,-1.15601276e+02,
  1.50222083e+02,-2.99427494e+01]

qfrc_actuator:
[ 6.47525475e-05, 9.21885886e-04, 1.59723548e-04, 1.56145465e-05,
 -4.66391000e-05, 3.59504809e-02, 1.09513494e-02, 1.64909635e-03,
 -7.98294362e-05, 8.47323934e-04, 1.96592969e-04, 1.63241328e-05,
  4.31052667e-03,-1.56336329e-03, 0.00000000e+00,-1.35279816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006232060173867009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.33610274e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.33610274e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18794825, -0.06045458,  0.06168761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06499902e-05, 6.09285363e-06, 2.12056070e-05, 1.40327543e-05,
 -1.53756934e-05,-4.37029888e-06,-1.88042532e-05, 4.88884903e-06,
 -6.29733758e-06,-2.11292430e-07,-4.98848030e-05, 6.03831024e-06,
 -6.12380901e-05,-2.34966850e-05, 2.50103985e-05,-1.69327926e-04,
 -8.51520934e-05,-1.78861088e-03,-4.90305338e+00,-2.27709171e-03,
  2.23278578e-03,-7.89901998e-03]


--- Step 1998 ---
qpos:
[ 0.0186783 , 0.03003827,-0.00944946,-0.02528351,-0.00343865, 1.33966411,
 -0.02985221, 0.94370823, 0.01158369, 0.02728357,-0.00829354, 0.02646972,
  1.34221562, 0.00764092, 1.27921618, 0.04457642,-0.09729662,-0.07541974,
  0.09186304, 0.64986515, 0.19751819,-0.67881138,-0.27906445]

qacc:
[-8.52260804e-01, 2.42759149e+00,-1.06615964e+01, 2.01227718e+01,
  1.46097917e-03, 4.49383210e+00,-1.55516829e+01, 2.26149578e+01,
  2.32989029e+00, 2.30980699e+00,-1.15482566e+01, 2.53170907e+01,
 -4.98897839e-01, 4.25601014e-01, 1.19809716e+01,-4.10999045e+01,
  4.82239447e+00,-1.09034414e+00,-1.26929768e+00,-9.93317429e+01,
  1.29783540e+02,-2.57887577e+01]

qfrc_actuator:
[ 5.91248512e-05, 9.11408854e-04, 1.29528411e-04, 3.92449186e-05,
 -3.70774692e-05, 3.59966441e-02, 1.09131089e-02, 1.69125740e-03,
 -6.55480046e-05, 8.50051718e-04, 1.86505599e-04, 5.62139232e-05,
  4.30483974e-03,-1.56240749e-03, 0.00000000e+00,-1.54769632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061877335696451305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48558027e-15,  8.97116054e-15,  1.00000000e+00,  4.02408607e-29,
        1.00000000e+00, -8.97116054e-15, -1.00000000e+00,  0.00000000e+00,
       -4.48558027e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18805027, -0.06043012,  0.06168951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02643160e-06,-2.09531511e-06,-2.58503368e-05, 2.48932627e-05,
  4.76642031e-07, 4.00657003e-05,-4.11191133e-05, 4.16187397e-05,
  1.40997405e-05,-7.45076696e-06,-1.60698948e-05, 3.82732947e-05,
 -4.19856845e-05,-2.02105384e-05,-1.31686564e-05,-2.02421919e-04,
 -4.38382246e-04,-1.42588452e-03,-4.90313905e+00,-1.62560373e-03,
  2.74620695e-03,-7.86356280e-03]


--- Step 1999 ---
qpos:
[ 0.01867803, 0.03003855,-0.00944948,-0.02528227,-0.0034392 , 1.33968624,
 -0.029853  , 0.94370592, 0.01158363, 0.02728348,-0.00829391, 0.0264698 ,
  1.34237173, 0.00764148, 1.27934212, 0.04457428,-0.0972755 ,-0.07533085,
  0.09186341, 0.65035577, 0.19657027,-0.67896721,-0.27821042]

qacc:
[-5.67918728e-01,-6.52540027e-01, 4.38532553e+00,-1.21407337e+01,
  8.32720862e-02,-2.20251862e-01, 2.89218728e+00,-1.27674008e+01,
 -1.48571125e+00, 4.41277067e-01,-3.09611387e+00, 6.80993639e+00,
 -8.69738986e-02, 1.20514992e-01,-1.03187092e+01, 3.45194790e+01,
 -6.48995630e+00, 6.50542401e-01, 1.48052363e+00, 1.34039248e+02,
 -1.70949121e+02, 5.13865795e+00]

qfrc_actuator:
[ 5.58878138e-05, 9.22754665e-04, 1.29426148e-04, 1.69346634e-05,
 -1.32913033e-05, 3.59975394e-02, 1.08908866e-02, 1.64563092e-03,
 -7.49439723e-05, 7.98324737e-04, 1.62927520e-04, 6.19711782e-05,
  4.30113879e-03,-1.54417433e-03, 0.00000000e+00,-1.37624434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006151734939367756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00769187, -0.08921583,  0.06169103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38523887e-06, 5.88836486e-06,-2.86367740e-06,-2.28136421e-05,
  2.40691170e-05, 1.61176464e-05,-1.78692492e-05,-4.46356641e-05,
 -8.98575665e-06,-5.75768578e-05,-2.57743130e-05, 5.62607272e-06,
 -3.03804280e-05, 2.89400513e-06,-3.22514994e-05, 1.57673846e-04,
 -6.40244567e-04,-1.15015981e-03,-4.90299336e+00,-1.09916635e-03,
  3.16770927e-03,-7.83126033e-03]


--- Step 2000 ---
qpos:
[ 0.01867772, 0.03003888,-0.00944919,-0.02528201,-0.00343966, 1.33970816,
 -0.02985361, 0.94370309, 0.01158347, 0.02728267,-0.00829467, 0.02647001,
  1.34252764, 0.00764218, 1.27946796, 0.04457314,-0.09727673,-0.0752396 ,
  0.09186346, 0.6506022 , 0.19568398,-0.67937908,-0.2772519 ]

qacc:
[-3.07584492e-01,-2.85157140e+00, 1.44116192e+01,-3.20263918e+01,
  3.75966632e-02,-1.65183570e+00, 6.13230227e+00,-1.11845662e+01,
 -9.54243224e-01, 3.84037335e-01,-3.26397366e+00, 6.52486772e+00,
 -1.67096250e-01, 2.24342080e-01,-3.14618640e+00, 1.08383055e+01,
 -5.58907114e+00, 5.90478056e-01,-8.15869524e-02, 1.15127872e+02,
 -1.47315121e+02, 4.24806504e+00]

qfrc_actuator:
[ 5.40924152e-05, 9.29398466e-04, 1.47161227e-04,-3.21848086e-05,
 -1.66702906e-05, 3.59713297e-02, 1.08958353e-02, 1.61970154e-03,
 -8.04553971e-05, 7.32064080e-04, 1.31306541e-04, 6.52848874e-05,
  4.29864127e-03,-1.53356711e-03, 0.00000000e+00,-1.32760465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006177823187690654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.49277598e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.49277598e-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([-0.00774653, -0.08919668,  0.06168995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89204943e-06, 8.35515803e-06, 1.78037852e-05,-4.94138725e-05,
  1.08432805e-05,-2.22814836e-05, 4.73215577e-06,-2.69776829e-05,
 -5.79451219e-06,-1.03536793e-04,-4.64887533e-05, 6.51922758e-08,
 -1.71729433e-05, 4.48352096e-06, 1.89724916e-06, 5.31194409e-05,
 -3.17953581e-04,-1.38974536e-03,-4.90327713e+00,-1.79287483e-03,
  2.62651029e-03,-7.81822853e-03]


--- Step 2001 ---
qpos:
[ 0.0186774 , 0.03003955,-0.00944941,-0.02528198,-0.00344023, 1.33972954,
 -0.02985371, 0.94369999, 0.01158324, 0.02728174,-0.00829553, 0.02647016,
  1.3426834 , 0.00764299, 1.27959431, 0.04456823,-0.09729727,-0.0751462 ,
  0.09185782, 0.65063738, 0.19485093,-0.68001162,-0.2762034 ]

qacc:
[-1.87678788e-01, 1.41789837e+00,-3.42343478e+00, 3.83178497e-02,
 -4.57144100e-02,-2.55464906e+00, 8.04196435e+00,-9.82289688e+00,
 -5.60545053e-01, 8.84308368e-03, 1.27523526e-02,-8.19739585e-01,
 -5.12374098e-01, 6.12637800e-01, 1.22054119e+01,-4.14649760e+01,
 -4.82622292e+00, 5.36760685e-01,-1.42162254e+00, 9.91456397e+01,
 -1.27355268e+02, 3.49418268e+00]

qfrc_actuator:
[ 5.31593466e-05, 9.50981227e-04, 1.21993660e-04,-4.34136780e-05,
 -3.63189494e-05, 3.59292027e-02, 1.09166877e-02, 1.60558411e-03,
 -8.36287244e-05, 7.81828842e-04, 1.48374465e-04, 6.71167903e-05,
  4.29154063e-03,-1.52757121e-03, 0.00000000e+00,-1.52934673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006123884183938964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81293929e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.81293929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00762231, -0.08920453,  0.06169228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.85333736e-07, 2.78008241e-05,-2.29662304e-05,-1.12192426e-05,
 -1.32424511e-05,-5.44886291e-05, 1.62136369e-05,-1.52482353e-05,
 -3.38056488e-06,-1.76985488e-05,-1.00249123e-05,-4.20909946e-06,
 -1.45785961e-05, 3.32191071e-06, 3.83169578e-06,-1.99202676e-04,
  6.09193782e-05,-1.61603926e-03,-4.90324232e+00,-2.39058574e-03,
  2.15372029e-03,-7.80380837e-03]


--- Step 2002 ---
qpos:
[ 0.01867672, 0.03004024,-0.00944956,-0.02528174,-0.00344096, 1.33975061,
 -0.02985427, 0.94369885, 0.01158262, 0.02728137,-0.00829626, 0.02646988,
  1.34283889, 0.00764395, 1.27972039, 0.0445633 ,-0.09729204,-0.07505848,
  0.09185872, 0.65094308, 0.1939839 ,-0.68033056,-0.27530652]

qacc:
[-3.02848377e+00, 2.68764702e-01,-1.82600777e+00, 5.39111676e+00,
 -6.69556806e-02, 4.18603331e+00,-1.81927728e+01, 3.87101561e+01,
 -3.26353888e+00,-5.04326463e-01, 4.66714732e+00,-1.26879100e+01,
 -2.93124846e-01, 3.44554907e-01,-3.21408234e-01, 6.00941238e-01,
  6.44288892e+00,-1.42106324e+00, 1.63328660e+00,-1.32270719e+02,
  1.74528604e+02,-3.09700945e+01]

qfrc_actuator:
[ 3.49883043e-05, 9.45697990e-04, 1.25039367e-04,-3.22733604e-05,
 -4.78152146e-05, 3.59134511e-02, 1.08934270e-02, 1.70503444e-03,
 -1.03153393e-04, 8.65382138e-04, 1.76770336e-04, 5.04407278e-05,
  4.27102946e-03,-1.52436471e-03, 0.00000000e+00,-1.52190069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006247277191102123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77713105e-14,  8.88565523e-15,  1.00000000e+00, -1.57909738e-28,
        1.00000000e+00, -8.88565523e-15, -1.00000000e+00,  0.00000000e+00,
        1.77713105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18791331, -0.06043197,  0.06168705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81905941e-05, 5.01773354e-06, 5.56576418e-06, 1.13165595e-05,
 -1.93226463e-05,-4.33295490e-05,-3.25493494e-05, 9.79598785e-05,
 -1.96330421e-05, 7.14462375e-05, 2.33799713e-05,-1.78595619e-05,
 -2.77295904e-05, 1.13611954e-06,-2.46830321e-05,-4.12009333e-06,
  4.62590100e-04,-1.82454737e-03,-4.90300330e+00,-2.90668781e-03,
  1.73900208e-03,-7.78811276e-03]


--- Step 2003 ---
qpos:
[ 0.01867687, 0.03004055,-0.00944918,-0.02528169,-0.00344183, 1.33977105,
 -0.02985529, 0.94369963, 0.01158178, 0.0272819 ,-0.00829717, 0.02646972,
  1.34299437, 0.00764464, 1.27984625, 0.04455879,-0.0972646 ,-0.07497557,
  0.09185978, 0.65148158, 0.19308783,-0.68037992,-0.27453962]

qacc:
[ 7.07267099e+00,-2.40765814e+00, 8.63976290e+00,-1.25395685e+01,
 -6.21011102e-02, 3.70354705e+00,-1.70124958e+01, 3.74062223e+01,
 -1.98140008e+00, 1.95413854e+00,-5.73308868e+00, 7.44131228e+00,
  2.11327978e-01,-4.04181769e-01,-1.59687804e+00, 5.07443734e+00,
  5.55110937e+00,-1.20030995e+00, 4.07972461e-02,-1.13357406e+02,
  1.50330099e+02,-2.65233851e+01]

qfrc_actuator:
[ 7.78266241e-05, 9.06740586e-04, 1.44638109e-04,-4.35673131e-05,
 -5.43269628e-05, 3.58602607e-02, 1.08622216e-02, 1.79949119e-03,
 -1.14393890e-04, 9.33087989e-04, 1.76270663e-04, 5.85565564e-05,
  4.27444333e-03,-1.54066047e-03, 0.00000000e+00,-1.49769824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006279176792899431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76810283e-14,  6.63038561e-15,  1.00000000e+00, -1.17232035e-28,
        1.00000000e+00, -6.63038561e-15, -1.00000000e+00,  0.00000000e+00,
        1.76810283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18784197, -0.06043958,  0.06168574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23072256e-05,-3.45454003e-05, 2.17066789e-05,-1.06670407e-05,
 -1.79306726e-05,-8.07260200e-05,-4.05365231e-05, 9.44979147e-05,
 -1.17927700e-05, 1.11737180e-04, 1.65340635e-05, 1.16427684e-05,
 -1.07312146e-05,-2.21572598e-05,-1.37813463e-05, 2.03811157e-05,
 -5.02876248e-05,-1.42121341e-03,-4.90339741e+00,-2.17702121e-03,
  2.29683621e-03,-7.75215516e-03]


--- Step 2004 ---
qpos:
[ 0.01867787, 0.03004092,-0.00944932,-0.02528107,-0.00344282, 1.33979032,
 -0.0298555 , 0.94370013, 0.01158115, 0.02728354,-0.00829878, 0.02647001,
  1.34314999, 0.00764484, 1.27997189, 0.04455558,-0.09721798,-0.07489671,
  0.09185554, 0.65222073, 0.19216683,-0.68019659,-0.27388435]

qacc:
[ 7.33400770e+00, 2.69327478e+00,-1.18929050e+01, 2.25369804e+01,
 -4.84576670e-02,-4.19529600e+00, 1.23802010e+01,-1.31446804e+01,
  1.80535757e+00, 4.36380385e+00,-1.53527092e+01, 2.35169281e+01,
  5.32978565e-01,-8.78319471e-01,-4.34158949e+00, 1.45437803e+01,
  4.79493117e+00,-1.01557776e+00,-1.32590002e+00,-9.74068602e+01,
  1.29852660e+02,-2.28038169e+01]

qfrc_actuator:
[ 1.20731622e-04, 9.18981602e-04, 1.20421421e-04,-1.47410858e-05,
 -5.77961877e-05, 3.57850355e-02, 1.08974391e-02, 1.78369291e-03,
 -1.02910542e-04, 9.90707745e-04, 1.40937075e-04, 8.11698132e-05,
  4.28154585e-03,-1.56830980e-03, 0.00000000e+00,-1.42836432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006228238388863577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78256347e-14,  6.68461302e-15,  1.00000000e+00, -1.19157470e-28,
        1.00000000e+00, -6.68461302e-15, -1.00000000e+00,  0.00000000e+00,
        1.78256347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18795959, -0.06041454,  0.06168793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.41240115e-05,-3.05114926e-06,-2.90570510e-05, 2.78870427e-05,
 -1.40669974e-05,-1.25107341e-04, 1.75643075e-05,-1.71944273e-05,
  1.11764979e-05, 1.24003233e-04,-9.80889677e-06, 2.82018542e-05,
 -3.76499939e-06,-3.65680940e-05,-6.02622993e-06, 6.82614206e-05,
 -3.59683304e-04,-1.11968763e-03,-4.90344446e+00,-1.59155082e-03,
  2.75066383e-03,-7.71987471e-03]


--- Step 2005 ---
qpos:
[ 0.01867834, 0.03004174,-0.00945023,-0.02528014,-0.00344404, 1.33980889,
 -0.02985538, 0.94369939, 0.01158067, 0.02728588,-0.00830066, 0.02647059,
  1.34330531, 0.00764505, 1.28009734, 0.04455421,-0.09719728,-0.07481512,
  0.09185715, 0.65267939, 0.19130673,-0.68031371,-0.27310183]

qacc:
[-4.55567544e+00, 3.41377785e+00,-1.25933955e+01, 1.88296361e+01,
 -9.57061156e-02,-3.91406187e+00, 1.42334784e+01,-2.63649965e+01,
  1.19929830e+00, 2.27437858e+00,-7.99511584e+00, 1.29486079e+01,
 -8.88622407e-02, 2.64241596e-02,-5.84227350e+00, 2.00511824e+01,
 -6.47906886e+00, 6.84637329e-01, 1.46549858e+00, 1.31231984e+02,
 -1.72803314e+02, 1.12451264e+01]

qfrc_actuator:
[ 9.23023550e-05, 9.61641502e-04, 8.85027973e-05, 1.96559651e-06,
 -7.71655078e-05, 3.57684044e-02, 1.09181668e-02, 1.72091633e-03,
 -9.58994757e-05, 1.00620522e-03, 1.20804378e-04, 9.43479812e-05,
  4.25889497e-03,-1.56692845e-03, 0.00000000e+00,-1.33300235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006151228039576032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35366022e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35366022e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00767224, -0.08914628,  0.06169118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71456919e-05, 3.61454288e-05,-3.51695867e-05, 1.61098589e-05,
 -2.76854476e-05,-8.30493903e-05,-2.27116148e-06,-6.63930866e-05,
  7.38443813e-06, 8.39840604e-05, 5.24756020e-06, 1.87003636e-05,
 -3.31394800e-05,-1.03089088e-05, 2.92848739e-06, 9.79538806e-05,
 -5.28188739e-04,-8.92345073e-04,-4.90326735e+00,-1.11737996e-03,
  3.12518504e-03,-7.69044935e-03]


--- Step 2006 ---
qpos:
[ 0.01867985, 0.03004274,-0.00945117,-0.02527939,-0.00344519, 1.339827  ,
 -0.02985541, 0.94369791, 0.01157993, 0.02728767,-0.0083019 , 0.02647143,
  1.34346032, 0.00764549, 1.28022301, 0.04455198,-0.09719891,-0.07473105,
  0.0918584 , 0.65289643, 0.1904995 ,-0.68068925,-0.27221009]

qacc:
[ 8.87406869e+00,-6.03876185e-02, 1.24014846e+00,-4.23186069e+00,
  2.82419467e-02,-1.48829096e+00, 5.64076352e+00,-1.32033727e+01,
 -2.15350275e+00,-1.99336665e+00, 4.98379959e+00,-1.21982704e+00,
 -4.77121378e-01, 6.02748061e-01, 2.98901592e+00,-9.86125052e+00,
 -5.58060038e+00, 6.20436785e-01,-9.33622006e-02, 1.12808319e+02,
 -1.48857659e+02, 9.38049451e+00]

qfrc_actuator:
[ 1.46382384e-04, 9.68885865e-04, 8.79357759e-05,-6.31958407e-06,
 -5.26595176e-05, 3.57514122e-02, 1.09126108e-02, 1.68429386e-03,
 -1.09337527e-04, 9.07629225e-04, 1.27390431e-04, 1.01846120e-04,
  4.25038013e-03,-1.54843939e-03, 0.00000000e+00,-1.38285936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006177220505143195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.49321432e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.49321432e-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([-0.00772599, -0.08912487,  0.06169012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33004901e-05, 2.08504135e-05, 3.12366359e-06,-7.64153770e-06,
  8.14474148e-06,-6.55015203e-05,-2.40291917e-05,-4.06995064e-05,
 -1.31878901e-05,-4.97892797e-05, 2.52200769e-05, 1.16399680e-05,
 -2.72446816e-05, 7.61598388e-06, 9.32864152e-06,-4.46716205e-05,
 -2.62510154e-04,-1.12253718e-03,-4.90353972e+00,-1.74699854e-03,
  2.64874990e-03,-7.67835040e-03]


--- Step 2007 ---
qpos:
[ 0.0186813 , 0.03004348,-0.00945163,-0.02527871,-0.00344588, 1.33984519,
 -0.0298561 , 0.94369667, 0.01157938, 0.02728878,-0.00830283, 0.02647171,
  1.34361519, 0.00764566, 1.28034871, 0.04454918,-0.09717787,-0.07465164,
  0.09186042, 0.65335207, 0.1896601 ,-0.68079051,-0.27144871]

qacc:
[-4.33434065e-01,-1.84198604e+00, 6.41680190e+00,-8.42131682e+00,
  1.91827505e-01, 2.28056896e+00,-7.79939738e+00, 9.50078442e+00,
  1.63911906e+00,-2.94238099e+00, 1.15687163e+01,-2.13564616e+01,
  1.45434113e-02,-2.26330388e-01, 1.73923360e+00,-6.05569352e+00,
  5.66382269e+00,-1.16618480e+00, 1.94681817e-01,-1.14931634e+02,
  1.53946632e+02,-2.52553612e+01]

qfrc_actuator:
[ 1.42100987e-04, 9.37221384e-04, 1.05739391e-04,-1.14918537e-05,
 -2.03091621e-06, 3.57875119e-02, 1.08916245e-02, 1.69886330e-03,
 -9.91984512e-05, 8.48099524e-04, 1.31454475e-04, 7.03521715e-05,
  4.23438165e-03,-1.57317015e-03, 0.00000000e+00,-1.41136404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061361589283594475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18817287, -0.06036662,  0.06169191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72309294e-06,-1.97002543e-05, 2.22241759e-05,-4.32463780e-06,
  5.54390184e-05,-6.18260997e-06,-3.77497483e-05, 1.09753687e-05,
  9.73855018e-06,-8.17229050e-05,-2.72006164e-06,-3.25311417e-05,
 -2.79392055e-05,-2.87440969e-05,-4.70670772e-06,-3.06942232e-05,
  7.40240010e-05,-1.34438168e-03,-4.90349229e+00,-2.29947005e-03,
  2.22356208e-03,-7.66497570e-03]


--- Step 2008 ---
qpos:
[ 0.01868132, 0.03004431,-0.00945194,-0.02527917,-0.00344606, 1.33986341,
 -0.02985733, 0.94369492, 0.01157964, 0.0272897 ,-0.00830389, 0.02647157,
  1.34376968, 0.00764566, 1.28047427, 0.04454673,-0.09717915,-0.07456969,
  0.09186203, 0.65356674, 0.18887134,-0.68115077,-0.27057672]

qacc:
[-1.23621918e+01,-2.61306732e+00, 1.42925138e+01,-3.41483720e+01,
  2.18521809e-01, 6.45766458e-01,-1.02075278e+00,-5.01215226e+00,
  6.95346929e+00,-7.24700244e-01, 3.95250338e+00,-1.07120449e+01,
 -1.62785853e-01,-2.97018905e-02,-1.21092778e+00, 3.98223511e+00,
 -5.57688462e+00, 6.35692712e-01,-1.02839430e-01, 1.12199161e+02,
 -1.49269003e+02, 1.07504236e+01]

qfrc_actuator:
[ 6.79710722e-05, 9.53590139e-04, 1.16323041e-04,-6.80728480e-05,
  2.83523718e-05, 3.57840905e-02, 1.08619440e-02, 1.67245207e-03,
 -5.75034676e-05, 8.65605095e-04, 1.34076815e-04, 5.16863492e-05,
  4.20323752e-03,-1.58791204e-03, 0.00000000e+00,-1.39150239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006150975410964987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.02477209e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.02477209e-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([-0.00765887, -0.08910959,  0.06169132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.42188431e-05, 9.72915902e-06, 9.09634960e-06,-5.67420431e-05,
  6.31406989e-05,-1.40178290e-05,-3.48851931e-05,-2.74273963e-05,
  4.19557806e-05,-3.01786170e-05,-1.57230216e-05,-2.28967297e-05,
 -5.21293519e-05,-2.96388093e-05,-8.51501161e-06, 1.68883933e-05,
 -2.56054322e-04,-1.05329530e-03,-4.90360092e+00,-1.72199790e-03,
  2.66461779e-03,-7.63348963e-03]


--- Step 2009 ---
qpos:
[ 0.01868217, 0.03004525,-0.00945216,-0.02527994,-0.00344593, 1.33988146,
 -0.02985856, 0.94369252, 0.01157972, 0.02729016,-0.00830459, 0.0264719 ,
  1.34392381, 0.00764569, 1.2805996 , 0.04454585,-0.09715783,-0.07449228,
  0.0918643 , 0.6540198 , 0.18804939,-0.68123815,-0.26983348]

qacc:
[ 7.16036949e+00,-7.77451517e-01, 4.32484896e+00,-1.01375476e+01,
  1.30014896e-01,-1.34907885e+00, 5.47761916e+00,-1.22766189e+01,
 -1.61194863e+00,-6.79166079e-01,-4.64274276e-01, 8.35530455e+00,
 -1.72998695e-01, 1.11598773e-01,-5.11559320e+00, 1.74081542e+01,
  5.64912309e+00,-1.13543242e+00, 1.63681875e-01,-1.14123932e+02,
  1.53717655e+02,-2.42882893e+01]

qfrc_actuator:
[ 1.13115328e-04, 9.63019210e-04, 1.22700639e-04,-8.34111129e-05,
  2.85913697e-05, 3.57747327e-02, 1.08627087e-02, 1.63985618e-03,
 -6.85864216e-05, 8.40341590e-04, 1.53909402e-04, 7.62952911e-05,
  4.19498752e-03,-1.57889958e-03, 0.00000000e+00,-1.30779670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006154194620560237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60802052e-14,  9.02005131e-15,  1.00000000e+00, -3.25445302e-28,
        1.00000000e+00, -9.02005131e-15, -1.00000000e+00,  0.00000000e+00,
        3.60802052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18813526, -0.06036774,  0.06169123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29846271e-05, 1.42672836e-05, 7.54196646e-06,-1.57090446e-05,
  3.75471039e-05,-2.48824609e-05,-6.77312589e-06,-3.46553432e-05,
 -9.86131373e-06,-4.63739636e-05, 1.08703950e-05, 2.23249494e-05,
 -4.14028298e-05,-1.18509552e-05,-4.92130813e-06, 8.29216816e-05,
  6.75869355e-05,-1.27313834e-03,-4.90355622e+00,-2.26251184e-03,
  2.25175811e-03,-7.62036167e-03]


--- Step 2010 ---
qpos:
[ 0.01868389, 0.03004651,-0.00945271,-0.02528055,-0.00344577, 1.33989968,
 -0.02985967, 0.94369005, 0.01157897, 0.02729035,-0.00830481, 0.02647214,
  1.34407749, 0.00764604, 1.28072504, 0.04454462,-0.0971588 ,-0.07441226,
  0.09186613, 0.65423246, 0.18727613,-0.68158507,-0.26897831]

qacc:
[ 7.52172475e+00, 1.65381511e+00,-6.02684663e+00, 9.25432867e+00,
  1.50233595e-02,-2.07421942e-01, 1.08036356e+00,-1.78995271e+00,
 -7.00261910e+00,-1.84759971e+00, 6.47582501e+00,-8.59070537e+00,
 -5.90518213e-01, 7.49326772e-01, 1.26445667e+00,-4.05724096e+00,
 -5.57471888e+00, 6.53071084e-01,-1.09048886e-01, 1.11666582e+02,
 -1.49664947e+02, 1.19895437e+01]

qfrc_actuator:
[ 1.57114287e-04, 9.85987704e-04, 1.08812863e-04,-7.43547347e-05,
  1.07465439e-05, 3.58152627e-02, 1.08814145e-02, 1.63940870e-03,
 -1.10656207e-04, 8.43038277e-04, 1.83620276e-04, 7.28938265e-05,
  4.17918290e-03,-1.55576739e-03, 0.00000000e+00,-1.32917895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006128043715585028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05854361e-15,  9.05854361e-15,  1.00000000e+00,  8.20572123e-29,
        1.00000000e+00, -9.05854361e-15, -1.00000000e+00,  0.00000000e+00,
       -9.05854361e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.007599  , -0.08909328,  0.06169238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52542703e-05, 3.18142149e-05,-1.05650100e-05, 9.62043061e-06,
  4.34024897e-06, 2.42764930e-05, 1.20292580e-05,-2.17764173e-06,
 -4.23753367e-05,-2.00460174e-05, 2.22456021e-05,-4.57794048e-06,
 -3.91848883e-05, 9.94957851e-06, 4.26121436e-06,-1.79903395e-05,
 -2.50565171e-04,-9.95268285e-04,-4.90365127e+00,-1.69944485e-03,
  2.67976235e-03,-7.58950360e-03]


--- Step 2011 ---
qpos:
[ 0.01868614, 0.03004804,-0.00945341,-0.0252814 ,-0.00344582, 1.33991775,
 -0.0298605 , 0.94368899, 0.01157841, 0.02729013,-0.00830457, 0.02647201,
  1.34423078, 0.00764666, 1.28085088, 0.04453981,-0.09713724,-0.07433666,
  0.09186849, 0.65468334, 0.1864687 ,-0.6816604 ,-0.26825035]

qacc:
[ 4.40457523e+00, 2.91662269e-01, 4.79305049e-01,-4.55017575e+00,
 -8.99134068e-02, 1.47657204e+00,-7.94718331e+00, 2.33873404e+01,
  1.64860551e+00,-2.59679178e+00, 1.00288201e+01,-1.68460172e+01,
 -7.95795629e-01, 9.66514760e-01, 1.15520642e+01,-3.93354156e+01,
  5.63538537e+00,-1.10525596e+00, 1.33391395e-01,-1.13360993e+02,
  1.53510282e+02,-2.33632400e+01]

qfrc_actuator:
[ 1.82295668e-04, 9.99076321e-04, 1.00892344e-04,-8.65308797e-05,
 -1.77997300e-05, 3.57966860e-02, 1.08930114e-02, 1.71117749e-03,
 -9.95996921e-05, 8.09233911e-04, 2.01249482e-04, 5.30561583e-05,
  4.15886550e-03,-1.54222197e-03, 0.00000000e+00,-1.51883659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006166374617053022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80044693e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.80044693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18811146, -0.06036781,  0.0616908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65079224e-05, 2.90811514e-05,-2.32873004e-06,-1.09946653e-05,
 -2.59808739e-05,-2.98416771e-06, 1.76286962e-05, 7.28209757e-05,
  9.80819546e-06,-4.06372231e-05, 1.60707686e-05,-2.00149523e-05,
 -3.76552250e-05, 7.43430995e-06,-3.87919348e-06,-1.90962607e-04,
  6.20293502e-05,-1.21345009e-03,-4.90360891e+00,-2.22982568e-03,
  2.27738501e-03,-7.57657720e-03]


--- Step 2012 ---
qpos:
[ 0.01868901, 0.03004913,-0.00945389,-0.02528198,-0.00344613, 1.3399357 ,
 -0.02986143, 0.94368882, 0.01157833, 0.0272897 ,-0.00830418, 0.02647199,
  1.34438385, 0.00764719, 1.28097682, 0.04453175,-0.09709619,-0.07426482,
  0.09186591, 0.65533976, 0.18563183,-0.68150126,-0.26763154]

qacc:
[ 5.42024808e+00,-6.17585384e-01, 1.79190855e-01, 4.56858730e+00,
 -1.11943996e-01, 1.60757397e+00,-7.27381762e+00, 1.66877788e+01,
  4.11424354e+00,-4.75292517e-01, 8.20057616e-01, 9.62738308e-01,
 -3.59347065e-01, 2.93652762e-01, 9.96179412e+00,-3.45703720e+01,
  4.87071187e+00,-9.38512371e-01,-1.23767442e+00,-9.74529941e+01,
  1.32689246e+02,-1.99909021e+01]

qfrc_actuator:
[ 2.13951733e-04, 9.35140589e-04, 9.65115278e-05,-7.56011345e-05,
 -3.47803680e-05, 3.57783927e-02, 1.08823806e-02, 1.75381289e-03,
 -7.51042462e-05, 8.07035724e-04, 2.11451756e-04, 5.91780085e-05,
  4.14650422e-03,-1.55226177e-03, 0.00000000e+00,-1.68180857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006129110737987595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18819915, -0.06035136,  0.06169242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24352307e-05,-4.86688559e-05, 9.46990591e-07, 1.18786619e-05,
 -3.23326632e-05,-1.44298584e-05,-7.09283571e-06, 4.47735677e-05,
  2.47682490e-05,-2.24538772e-05, 3.09399402e-06, 4.54662789e-06,
 -3.02062594e-05,-1.62383790e-05,-2.72655445e-05,-1.75041812e-04,
 -2.45884212e-04,-9.46992457e-04,-4.90369203e+00,-1.67890113e-03,
  2.69418463e-03,-7.54623724e-03]


--- Step 2013 ---
qpos:
[ 0.01869086, 0.03005022,-0.00945487,-0.02528208,-0.00344654, 1.33995369,
 -0.02986223, 0.94368879, 0.01157751, 0.02728968,-0.00830424, 0.02647201,
  1.3445365 , 0.00764792, 1.28110224, 0.04452479,-0.09708046,-0.07418993,
  0.09186827, 0.65572449, 0.18484654,-0.68163824,-0.26688286]

qacc:
[-8.77968231e+00, 2.36214842e+00,-1.03829840e+01, 1.93077080e+01,
 -3.89603322e-02,-4.71666412e-02,-7.05040778e-02, 1.66994527e+00,
 -6.33784613e+00, 1.89182626e+00,-6.05195453e+00, 6.99360332e+00,
 -3.55244896e-01, 4.08467465e-01,-4.03323930e+00, 1.30660294e+01,
 -6.32813574e+00, 7.59388705e-01, 1.23675616e+00, 1.25999793e+02,
 -1.70655450e+02, 1.61095131e+01]

qfrc_actuator:
[ 1.60407994e-04, 9.49867198e-04, 7.62004519e-05,-5.12251763e-05,
 -2.69319967e-05, 3.57958190e-02, 1.08941829e-02, 1.76117656e-03,
 -1.13922570e-04, 8.59276774e-04, 1.99579486e-04, 6.27953755e-05,
  4.12293630e-03,-1.54068667e-03, 0.00000000e+00,-1.61465502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062144499600750025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.46629642e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.46629642e-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([-0.00778065, -0.08902555,  0.06168881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.26188946e-05,-1.18145207e-05,-2.98451875e-05, 2.25543397e-05,
 -1.12571304e-05, 9.28114272e-06, 9.46667890e-06, 7.78344456e-06,
 -3.81020571e-05, 4.05382264e-05,-1.59725328e-05, 2.84976960e-06,
 -4.35840786e-05, 2.34908035e-07,-3.46063970e-05, 5.33411628e-05,
 -4.13608185e-04,-7.46293073e-04,-4.90353876e+00,-1.23017052e-03,
  3.04039634e-03,-7.51854488e-03]


--- Step 2014 ---
qpos:
[ 0.01869205, 0.03005128,-0.00945528,-0.02528196,-0.00344696, 1.33997184,
 -0.02986355, 0.94368991, 0.01157555, 0.02729005,-0.00830475, 0.02647172,
  1.34468891, 0.00764872, 1.28122773, 0.04451628,-0.09708653,-0.07411232,
  0.09186945, 0.65587506, 0.18410608,-0.68202991,-0.26602265]

qacc:
[-5.61168573e+00,-1.17097475e+00, 3.18509944e+00,-2.32725893e-01,
 -6.07641166e-03, 3.56914263e+00,-1.37617168e+01, 2.51682188e+01,
 -9.82116567e+00, 1.14210986e+00,-2.06090840e+00,-2.69182431e+00,
 -3.55890180e-01, 3.83648865e-01, 4.82000327e+00,-1.66339020e+01,
 -5.45191076e+00, 6.82528689e-01,-2.93287107e-01, 1.08337445e+02,
 -1.47018465e+02, 1.35830698e+01]

qfrc_actuator:
[ 1.28154625e-04, 9.76019742e-04, 1.17957652e-04,-3.68427532e-05,
 -2.20054624e-05, 3.57990539e-02, 1.08660029e-02, 1.81877930e-03,
 -1.71947895e-04, 8.72620767e-04, 1.74998407e-04, 4.71890298e-05,
  4.11930094e-03,-1.53415637e-03, 0.00000000e+00,-1.69649972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006224555524287752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00779875, -0.08901017,  0.06168843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37930118e-05, 1.42956421e-05, 3.64208353e-05, 1.32850280e-05,
 -1.72486273e-06, 1.03342988e-05,-2.50777507e-05, 5.83635840e-05,
 -5.91266644e-05, 3.28212756e-05,-1.80745048e-05,-1.43647546e-05,
 -2.58589982e-05,-3.31225078e-06,-1.13638905e-05,-8.35861960e-05,
 -1.71749788e-04,-9.70251554e-04,-4.90373390e+00,-1.80043619e-03,
  2.61841061e-03,-7.50689569e-03]


--- Step 2015 ---
qpos:
[ 0.01869388, 0.03005182,-0.00945497,-0.02528127,-0.00344736, 1.33998993,
 -0.02986537, 0.94369104, 0.01157359, 0.02729033,-0.00830538, 0.02647163,
  1.34484134, 0.00764906, 1.28135304, 0.04450751,-0.09711144,-0.07403225,
  0.09186422, 0.65582296, 0.18340458,-0.68264107,-0.26506636]

qacc:
[ 5.50390319e+00,-1.52610135e+00, 2.05629284e+00, 6.99163462e+00,
  7.25522819e-03, 1.29917592e+00,-4.34722165e+00, 3.92016277e+00,
  7.25547819e-02, 6.51538976e-01,-3.33317784e+00, 7.04950927e+00,
  3.04048722e-01,-6.30256591e-01, 5.02537353e-01,-2.21035733e+00,
 -4.70967531e+00, 6.14740457e-01,-1.60486050e+00, 9.33914511e+01,
 -1.27066977e+02, 1.14672509e+01]

qfrc_actuator:
[ 1.61976617e-04, 9.20300341e-04, 1.42833348e-04,-1.06430588e-05,
 -1.88731814e-05, 3.57758906e-02, 1.08321814e-02, 1.81669819e-03,
 -1.69782748e-04, 8.44749867e-04, 1.60717593e-04, 5.58703938e-05,
  4.11697143e-03,-1.56610643e-03, 0.00000000e+00,-1.70576739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006157271989500168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01554314e-15,  4.50777157e-15,  1.00000000e+00,  4.06400090e-29,
        1.00000000e+00, -4.50777157e-15, -1.00000000e+00,  0.00000000e+00,
       -9.01554314e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00764514, -0.08902307,  0.06169132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28372559e-05,-3.96837508e-05, 3.27657987e-05, 2.83299991e-05,
  2.11328080e-06,-2.07169777e-05,-3.29589802e-05,-1.12801342e-06,
  4.46852615e-07,-1.38996548e-05,-1.02217178e-05, 9.18596039e-06,
 -1.65993919e-05,-3.86836842e-05,-1.75103247e-05,-1.60275851e-05,
  1.44879294e-04,-1.18768660e-03,-4.90362863e+00,-2.30987660e-03,
  2.23414786e-03,-7.49405803e-03]


--- Step 2016 ---
qpos:
[ 0.01869542, 0.03005205,-0.00945489,-0.02528058,-0.00344774, 1.34000742,
 -0.02986649, 0.94369178, 0.01157271, 0.02729056,-0.00830621, 0.026472  ,
  1.34499359, 0.00764886, 1.28147758, 0.04450402,-0.09711037,-0.07395698,
  0.0918656 , 0.65604687, 0.18266001,-0.68294059,-0.26425363]

qacc:
[-2.56265961e+00, 2.35688922e-01,-1.46015700e+00, 2.13801895e+00,
  1.15130038e-02,-3.34035071e+00, 1.07572790e+01,-1.35086091e+01,
  9.16768213e+00, 1.38251874e+00,-6.94278688e+00, 1.50894013e+01,
  6.48793427e-01,-1.12210107e+00,-1.72181995e+01, 5.83673109e+01,
  6.49649549e+00,-1.20201346e+00, 1.65280380e+00,-1.29740307e+02,
  1.77526147e+02,-2.43722326e+01]

qfrc_actuator:
[ 1.45648999e-04, 8.86956664e-04, 1.21698187e-04,-1.32913339e-05,
 -1.68432271e-05, 3.57370371e-02, 1.08661765e-02, 1.79723886e-03,
 -1.14448351e-04, 8.45722155e-04, 1.52479524e-04, 7.87468273e-05,
  4.09410767e-03,-1.60288108e-03, 0.00000000e+00,-1.42361956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006209983576872476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78780348e-14,  1.11737717e-15,  1.00000000e+00, -1.99765080e-29,
        1.00000000e+00, -1.11737717e-15, -1.00000000e+00,  0.00000000e+00,
        1.78780348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18801748, -0.06037982,  0.06168908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53892220e-05,-4.75734396e-05,-2.43302785e-05,-2.66717768e-06,
  3.27800652e-06,-5.69133251e-05, 2.61422792e-05,-2.10506985e-05,
  5.53428736e-05,-8.52674037e-06,-1.20480657e-05, 2.21064595e-05,
 -4.06889580e-05,-5.19089384e-05,-1.17135597e-05, 2.78599509e-04,
  4.97909132e-04,-1.39189159e-03,-4.90333329e+00,-2.76292216e-03,
  1.88546142e-03,-7.48004092e-03]


--- Step 2017 ---
qpos:
[ 0.01869571, 0.03005213,-0.00945454,-0.02528067,-0.00344809, 1.34002421,
 -0.02986657, 0.94369296, 0.01157284, 0.02729075,-0.00830769, 0.02647266,
  1.34514562, 0.00764842, 1.28160236, 0.04450088,-0.0970869 ,-0.0738858 ,
  0.09186722, 0.65650854, 0.1818784 ,-0.68297218,-0.26356361]

qacc:
[-1.06425594e+01,-2.54536100e+00, 1.21249696e+01,-2.60282297e+01,
  1.15883248e-02,-2.99145959e+00, 7.72592652e+00,-1.11277693e+00,
  8.64617241e+00, 2.38645188e+00,-9.90351696e+00, 1.62723194e+01,
 -1.97880899e-02,-1.89398641e-01,-6.96615543e-01, 2.96155638e+00,
  5.59750772e+00,-1.01999852e+00, 6.05587793e-02,-1.11162478e+02,
  1.52975478e+02,-2.06588795e+01]

qfrc_actuator:
[ 8.21602485e-05, 9.02554397e-04, 1.44626741e-04,-5.06661358e-05,
 -1.54911462e-05, 3.57070870e-02, 1.09221091e-02, 1.82100873e-03,
 -6.37869140e-05, 8.28486912e-04, 1.12476237e-04, 9.20579330e-05,
  4.09089540e-03,-1.60679419e-03, 0.00000000e+00,-1.41587847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.14581357,  -4.85016756,  -7.14581357,
        31.63675409, -33.88676785,  -4.85016756, -33.88676785,
        58.5621698 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006245782851275979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77755623e-14, -8.88778117e-15,  1.00000000e+00, -1.57985308e-28,
        1.00000000e+00,  8.88778117e-15, -1.00000000e+00,  0.00000000e+00,
       -1.77755623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18793781, -0.06039334,  0.0616876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.39536454e-05,-1.61649825e-05, 1.00081186e-05,-4.03072458e-05,
  3.28707100e-06,-5.70680921e-05, 4.71401035e-05, 2.23616261e-05,
  5.22788147e-05,-2.35278770e-05,-4.24806786e-05, 1.29570935e-05,
 -3.50933434e-05,-2.90775605e-05, 2.46242614e-05, 2.15533961e-05,
  2.76354744e-05,-1.07362428e-03,-4.90372263e+00,-2.11674545e-03,
  2.36029063e-03,-7.44760446e-03]


--- Step 2018 ---
qpos:
[ 0.01869455, 0.03005247,-0.00945472,-0.02528051,-0.00344841, 1.34004039,
 -0.02986621, 0.94369375, 0.01157324, 0.0272908 ,-0.0083096 , 0.02647314,
  1.34529728, 0.00764814, 1.28172716, 0.04449856,-0.0970441 ,-0.07381808,
  0.09186362, 0.65717534, 0.18106485,-0.68277251,-0.26297869]

qacc:
[-1.24887150e+01, 2.36220256e+00,-8.92072008e+00, 1.37887875e+01,
  1.00823894e-02,-2.64323277e+00, 8.48662196e+00,-1.15453859e+01,
  2.22869447e+00, 6.27889596e-01,-1.68397263e+00,-8.78316195e-01,
 -3.32640363e-01, 3.71600534e-01,-2.42591718e+00, 8.59914022e+00,
  4.83548790e+00,-8.67004512e-01,-1.30596572e+00,-9.55055685e+01,
  1.32194527e+02,-1.75915033e+01]

qfrc_actuator:
[ 9.19005915e-06, 9.29723321e-04, 1.22575876e-04,-3.70795908e-05,
 -1.45566111e-05, 3.56650753e-02, 1.09373197e-02, 1.79902664e-03,
 -5.18049058e-05, 8.18096333e-04, 8.94609859e-05, 8.18430352e-05,
  4.07818151e-03,-1.59107010e-03, 0.00000000e+00,-1.37468310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.83897473,  -5.27401189,  -6.83897473,
        38.7124344 , -39.00057341,  -5.27401189, -39.00057341,
        59.2096163 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006198494636155703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79111718e-14,  1.11944824e-15,  1.00000000e+00, -2.00506298e-29,
        1.00000000e+00, -1.11944824e-15, -1.00000000e+00,  0.00000000e+00,
        1.79111718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18804801, -0.0603753 ,  0.06168964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.48388171e-05, 1.84409208e-05,-2.55539670e-05, 1.24576317e-05,
  2.87469515e-06,-6.37985973e-05, 1.00509454e-05,-2.17715659e-05,
  1.35052790e-05,-3.17396157e-05,-3.26476362e-05,-1.24416157e-05,
 -3.66678069e-05,-1.24285333e-06, 9.40738801e-06, 4.45925342e-05,
 -2.50557675e-04,-8.35373715e-04,-4.90375997e+00,-1.59245920e-03,
  2.75161372e-03,-7.41832531e-03]


--- Step 2019 ---
qpos:
[ 0.01869286, 0.03005311,-0.00945551,-0.02528019,-0.00344872, 1.3400558 ,
 -0.02986617, 0.94369571, 0.01157377, 0.02729064,-0.00831146, 0.02647277,
  1.34544853, 0.00764826, 1.28185206, 0.04449609,-0.09702671,-0.07374703,
  0.09186514, 0.65757028, 0.18029808,-0.68287194,-0.26225912]

qacc:
[-4.50098594e+00, 2.45325625e+00,-8.82184926e+00, 1.23324010e+01,
  8.23908257e-03, 1.85014629e+00,-9.68676858e+00, 2.24754593e+01,
  1.20906663e+00,-2.16389190e+00, 1.08537973e+01,-2.53267809e+01,
 -5.95840594e-01, 8.14944614e-01, 6.62596783e-01,-1.96724474e+00,
 -6.35563728e+00, 8.34297304e-01, 1.28074718e+00, 1.25282797e+02,
 -1.72754766e+02, 1.96067811e+01]

qfrc_actuator:
[-1.55028277e-05, 9.45735003e-04, 9.19850531e-05,-2.91377811e-05,
 -1.38800050e-05, 3.55982456e-02, 1.09105314e-02, 1.85676816e-03,
 -4.49312458e-05, 8.11920885e-04, 9.44299573e-05, 4.01363085e-05,
  4.06511342e-03,-1.56386440e-03, 0.00000000e+00,-1.38503681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006142454934699414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03729076e-15,  4.51864538e-15,  1.00000000e+00,  4.08363121e-29,
        1.00000000e+00, -4.51864538e-15, -1.00000000e+00,  0.00000000e+00,
       -9.03729076e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00760164, -0.08898284,  0.061692  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68677345e-05, 2.15464122e-05,-2.94963736e-05, 8.09247220e-06,
  2.37308313e-06,-1.00918813e-04,-3.87803048e-05, 5.56380177e-05,
  7.25826441e-06,-3.11761491e-05,-6.01845323e-06,-4.44360577e-05,
 -3.14773753e-05, 1.82383938e-05, 5.64694459e-06,-7.46636168e-06,
 -3.96487133e-04,-6.55390793e-04,-4.90357016e+00,-1.16273879e-03,
  3.07910603e-03,-7.39148811e-03]


--- Step 2020 ---
qpos:
[ 0.01869193, 0.03005351,-0.00945588,-0.02528013,-0.00344901, 1.34007062,
 -0.02986624, 0.94369832, 0.0115737 , 0.02729023,-0.008313  , 0.02647224,
  1.34559939, 0.00764895, 1.28197692, 0.04449385,-0.09703124,-0.07367299,
  0.09186565, 0.65773089, 0.17957195,-0.68322878,-0.26142384]

qacc:
[ 6.45714188e+00,-2.04323374e+00, 7.86304165e+00,-1.27219767e+01,
  6.66959366e-03, 6.18900095e-01,-4.27399996e+00, 1.15861377e+01,
 -5.20131518e+00,-1.58970598e+00, 5.89050629e+00,-9.10533431e+00,
 -6.54249680e-01, 9.81428204e-01,-7.01516038e-01, 2.52969360e+00,
 -5.47763866e+00, 7.45645498e-01,-2.50695962e-01, 1.07742423e+02,
 -1.48871625e+02, 1.66448248e+01]

qfrc_actuator:
[ 2.39258148e-05, 9.19396813e-04, 1.09820251e-04,-4.23484020e-05,
 -1.33635069e-05, 3.55879614e-02, 1.09123909e-02, 1.88992722e-03,
 -7.66115200e-05, 8.08405842e-04, 1.15875782e-04, 3.35164044e-05,
  4.05184918e-03,-1.53007968e-03, 0.00000000e+00,-1.37241772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006160539426057078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80215229e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80215229e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00763822, -0.08896556,  0.06169127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86527722e-05,-2.00539021e-05, 1.89362933e-05,-1.31499668e-05,
  1.91510318e-06,-7.21260709e-05,-2.06776055e-05, 3.03025566e-05,
 -3.14789503e-05,-2.40639088e-05, 1.27517936e-05,-9.02384701e-06,
 -2.47607193e-05, 3.19284874e-05,-2.00872287e-06, 1.20947580e-05,
 -1.82567172e-04,-8.78790007e-04,-4.90378670e+00,-1.71608025e-03,
  2.67685928e-03,-7.38000158e-03]


--- Step 2021 ---
qpos:
[ 0.01869251, 0.03005334,-0.00945587,-0.02527984,-0.00344928, 1.3400851 ,
 -0.02986663, 0.94370026, 0.01157256, 0.02728997,-0.00831391, 0.0264719 ,
  1.3457499 , 0.00764965, 1.28210187, 0.04449078,-0.09701295,-0.07360288,
  0.09186699, 0.65813441, 0.1788059 ,-0.68331314,-0.26071191]

qacc:
[ 1.30112592e+01,-1.36914720e+00, 2.78048709e+00, 1.06518817e+00,
  5.35499047e-03,-6.93113208e-01, 3.09172842e+00,-1.02144708e+01,
 -9.10923550e+00,-1.09030320e+00, 3.39430170e+00,-1.13929094e+00,
 -3.51113396e-01, 3.14135472e-01, 2.70899140e+00,-9.22420491e+00,
  5.70545136e+00,-9.82492383e-01, 2.05991900e-01,-1.12689440e+02,
  1.56292459e+02,-1.96382521e+01]

qfrc_actuator:
[ 1.00763585e-04, 8.68075763e-04, 1.20414614e-04,-3.23950593e-05,
 -1.29471010e-05, 3.55762109e-02, 1.08958410e-02, 1.85513365e-03,
 -1.30728531e-04, 8.59874641e-04, 1.64663499e-04, 4.76094641e-05,
  4.01717818e-03,-1.54592724e-03, 0.00000000e+00,-1.41735164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00611475573553856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81564575e-14, -7.94345014e-15,  1.00000000e+00,  1.44224915e-28,
        1.00000000e+00,  7.94345014e-15, -1.00000000e+00,  0.00000000e+00,
        1.81564575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18824402, -0.0603467 ,  0.06169325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.79560509e-05,-5.91808114e-05, 8.32873382e-06, 9.49219384e-06,
  1.54545499e-06,-5.48798907e-05,-3.21360220e-05,-3.68412196e-05,
 -5.50504419e-05, 4.02823505e-05, 4.51005060e-05, 1.33342533e-05,
 -3.96900531e-05,-1.20342022e-05,-2.84345753e-06,-4.52362837e-05,
  1.14627566e-04,-1.09746507e-03,-4.90369375e+00,-2.21717014e-03,
  2.30535754e-03,-7.36735751e-03]


--- Step 2022 ---
qpos:
[ 0.01869367, 0.03005272,-0.00945546,-0.02527909,-0.00344955, 1.34009905,
 -0.02986776, 0.94370215, 0.01157112, 0.02729017,-0.00831463, 0.02647138,
  1.3459004 , 0.00764946, 1.28222709, 0.0444845 ,-0.09701659,-0.07352971,
  0.09186737, 0.65830352, 0.17807922,-0.68365572,-0.2598829 ]

qacc:
[ 4.93033666e+00,-7.88755961e-01, 3.26943186e-02, 7.43907069e+00,
  4.33989542e-03, 1.20264237e+00,-4.66187553e+00, 3.82040564e+00,
 -2.52795924e+00,-3.20050909e-01, 2.80342156e+00,-6.65477102e+00,
  2.82217630e-01,-8.74542896e-01, 1.00624124e+01,-3.46809242e+01,
 -5.48527516e+00, 7.67925520e-01,-2.41427569e-01, 1.07571771e+02,
 -1.49459668e+02, 1.76005243e+01]

qfrc_actuator:
[ 1.27972595e-04, 8.55441301e-04, 1.44287527e-04,-8.92672934e-06,
 -1.25939973e-05, 3.55280689e-02, 1.08507648e-02, 1.85163541e-03,
 -1.44347273e-04, 8.90763973e-04, 1.76180791e-04, 3.83302106e-05,
  4.00162684e-03,-1.60898325e-03, 0.00000000e+00,-1.58459486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061223004765516426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06704129e-15,  9.06704129e-15,  1.00000000e+00,  8.22112378e-29,
        1.00000000e+00, -9.06704129e-15, -1.00000000e+00,  0.00000000e+00,
       -9.06704129e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00754613, -0.08895925,  0.06169296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94598222e-05,-4.35705979e-05, 1.30016743e-05, 2.14038610e-05,
  1.26458262e-06,-8.59890871e-05,-6.05621903e-05,-6.92216163e-06,
 -1.52211420e-05, 6.33010397e-05, 2.58701243e-05,-5.72753098e-06,
 -3.84740130e-05,-7.57432989e-05,-9.75421855e-06,-1.70882214e-04,
 -1.91747217e-04,-8.56478891e-04,-4.90378946e+00,-1.68052583e-03,
  2.70047471e-03,-7.33765277e-03]


--- Step 2023 ---
qpos:
[ 0.01869479, 0.03005212,-0.00945497,-0.02527812,-0.00344981, 1.34011253,
 -0.02986948, 0.94370397, 0.01156987, 0.02729051,-0.00831502, 0.02647009,
  1.34605059, 0.00764903, 1.28235185, 0.0444796 ,-0.09699749,-0.07346035,
  0.09186843, 0.65871511, 0.17731171,-0.68372727,-0.25917559]

qacc:
[-2.29341039e-01, 2.75075271e-01,-1.91246175e+00, 5.79374906e+00,
  3.63482742e-03, 8.33335044e-01,-3.34035419e+00, 2.41180184e+00,
  1.64836511e+00,-2.33486675e+00, 1.18248100e+01,-2.57240814e+01,
  3.75750993e-02,-2.82612158e-01,-4.90136240e+00, 1.61095425e+01,
  5.68758597e+00,-9.54437103e-01, 1.70993754e-01,-1.11846050e+02,
  1.55954258e+02,-1.87218956e+01]

qfrc_actuator:
[ 1.25740457e-04, 8.83888896e-04, 1.58212147e-04, 4.58855789e-06,
 -1.22816712e-05, 3.55116716e-02, 1.08246110e-02, 1.84880902e-03,
 -1.34012520e-04, 8.73438821e-04, 1.83261482e-04,-2.42314397e-06,
  3.99220487e-03,-1.61070222e-03, 0.00000000e+00,-1.50298268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061364268629788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -5.6538553e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  5.6538553e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18819841, -0.06035878,  0.0616924 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38884148e-06, 7.70782725e-06, 7.26615717e-06, 1.25138406e-05,
  1.05670312e-06,-7.61107162e-05,-5.00813986e-05,-7.32714915e-06,
  9.91003021e-06, 2.31641230e-05, 2.31510836e-05,-3.72543095e-05,
 -4.71508103e-05,-3.28502809e-05,-2.66571211e-05, 7.01321451e-05,
  9.89673543e-05,-1.07623880e-03,-4.90370447e+00,-2.18102559e-03,
  2.33155135e-03,-7.32499928e-03]


--- Step 2024 ---
qpos:
[ 0.01869554, 0.03005186,-0.00945498,-0.02527768,-0.00344991, 1.34012544,
 -0.02987127, 0.94370676, 0.0115691 , 0.02729044,-0.0083148 , 0.02646941,
  1.34620011, 0.00764907, 1.28247628, 0.04447702,-0.09695872,-0.07339424,
  0.09186467, 0.6593361 , 0.1765089 ,-0.68356481,-0.25857236]

qacc:
[-3.28227088e+00, 7.65377199e-01, 1.74131441e-01,-8.86550391e+00,
  6.46287081e-02, 1.13491705e+00,-6.58119333e+00, 1.72951320e+01,
  4.11066876e+00,-9.62721188e-01, 5.58898952e-02, 9.88023269e+00,
 -6.30486485e-01, 8.24277239e-01,-7.40560649e+00, 2.53327341e+01,
  4.91532139e+00,-8.13384833e-01,-1.20379651e+00,-9.60949094e+01,
  1.34854625e+02,-1.58253083e+01]

qfrc_actuator:
[ 1.06214051e-04, 9.01179406e-04, 1.30811520e-04,-2.33381713e-05,
  5.75636599e-06, 3.54967319e-02, 1.08277092e-02, 1.89968284e-03,
 -1.09675452e-04, 8.27318266e-04, 2.05214427e-04, 2.73579574e-05,
  3.96518479e-03,-1.57591024e-03, 0.00000000e+00,-1.38188012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.4815325 ,  -4.31433057,  -7.4815325 ,
        25.53721861, -29.30797578,  -4.31433057, -29.30797578,
        59.45967675,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006103138796879265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81910171e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.81910171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18827707, -0.0603485 ,  0.06169384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95638164e-05, 2.36466640e-05,-2.44829428e-05,-2.71037583e-05,
  1.86599072e-05,-6.71466315e-05,-1.77151527e-05, 4.69663859e-05,
  2.46364235e-05,-2.99867615e-05, 2.83020366e-05, 3.08521095e-05,
 -5.85561567e-05, 1.41980600e-05,-5.96870080e-06, 1.21273165e-04,
 -2.00077194e-04,-8.41255914e-04,-4.90378461e+00,-1.64748730e-03,
  2.72251367e-03,-7.29530940e-03]


--- Step 2025 ---
qpos:
[ 0.01869536, 0.03005175,-0.00945501,-0.02527758,-0.00344984, 1.34013816,
 -0.0298729 , 0.94371009, 0.01156932, 0.02729034,-0.00831473, 0.02646979,
  1.34634919, 0.00764924, 1.28260093, 0.04447354,-0.09694493,-0.07332453,
  0.09186538, 0.65969106, 0.17574821,-0.6836975 ,-0.25783328]

qacc:
[-7.97558409e+00,-4.55708509e-01, 3.42391641e+00,-9.58482778e+00,
  7.54880250e-02, 2.07908013e-01,-2.10900599e+00, 8.24204858e+00,
  8.42223631e+00, 2.52981917e+00,-1.35705238e+01, 3.21463747e+01,
 -5.18565182e-01, 5.44549350e-01, 3.07304834e+00,-1.01717175e+01,
 -6.24399979e+00, 8.99876975e-01, 1.11515005e+00, 1.21948058e+02,
 -1.70784494e+02, 2.20447854e+01]

qfrc_actuator:
[ 5.89223312e-05, 9.11459055e-04, 1.32434085e-04,-3.99497395e-05,
  1.65296927e-05, 3.55184431e-02, 1.08480859e-02, 1.92850978e-03,
 -5.95475844e-05, 8.35423150e-04, 2.00188236e-04, 8.06360598e-05,
  3.94362563e-03,-1.57309113e-03, 0.00000000e+00,-1.43383558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006191788270700958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96528576e-15,  8.96528576e-15,  1.00000000e+00,  8.03763488e-29,
        1.00000000e+00, -8.96528576e-15, -1.00000000e+00,  0.00000000e+00,
       -8.96528576e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00769311, -0.08890419,  0.06169007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.78507162e-05, 1.72851161e-05, 2.55558516e-06,-1.69737039e-05,
  2.17970224e-05,-1.75676292e-05, 6.59481802e-06, 2.73973495e-05,
  5.08363798e-05,-1.48796807e-06,-6.66890736e-06, 5.35727650e-05,
 -4.72540527e-05,-6.66856561e-06, 7.83844945e-06,-4.65819951e-05,
 -3.62886889e-04,-6.61956512e-04,-4.90362400e+00,-1.20688678e-03,
  3.05167583e-03,-7.26799270e-03]


--- Step 2026 ---
qpos:
[ 0.01869495, 0.03005162,-0.00945495,-0.02527768,-0.00344946, 1.34015141,
 -0.02987482, 0.94371232, 0.01157014, 0.02729051,-0.00831512, 0.02647044,
  1.34649795, 0.00764943, 1.28272604, 0.04446579,-0.09695267,-0.07325163,
  0.0918645 , 0.65981671, 0.17502395,-0.68408416,-0.25697741]

qacc:
[-1.89233752e+00,-6.65983248e-01, 3.09742264e+00,-6.39702113e+00,
  1.27858197e-01,-3.72511614e-01, 4.34064008e+00,-1.69093757e+01,
  5.09871065e+00, 2.17873411e+00,-8.41536805e+00, 1.36727952e+01,
 -6.17747745e-01, 6.23966376e-01, 1.36665714e+01,-4.66510052e+01,
 -5.38168164e+00, 7.99990401e-01,-3.96498072e-01, 1.04835828e+02,
 -1.47205735e+02, 1.88265405e+01]

qfrc_actuator:
[ 4.89305276e-05, 8.99822625e-04, 1.33427836e-04,-4.97436442e-05,
  4.06101034e-05, 3.55797614e-02, 1.08431078e-02, 1.87313710e-03,
 -3.01503686e-05, 8.58097766e-04, 1.79481723e-04, 9.40646336e-05,
  3.93067306e-03,-1.57154491e-03, 0.00000000e+00,-1.65835901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006197849711205829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.9565178e-15,  8.9565178e-15,  1.0000000e+00,  8.0219211e-29,
        1.0000000e+00, -8.9565178e-15, -1.0000000e+00,  0.0000000e+00,
       -8.9565178e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00770344, -0.08889286,  0.06168985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13792452e-05,-2.18183651e-06, 4.29467646e-06,-9.29384805e-06,
  3.69596055e-05, 5.36353428e-05,-6.86821479e-06,-5.50521720e-05,
  3.08833932e-05, 2.27811790e-05,-1.99839094e-05, 1.41738291e-05,
 -3.82014278e-05,-1.13833048e-05,-5.72255789e-06,-2.27023849e-04,
 -1.39728312e-04,-8.93433529e-04,-4.90377854e+00,-1.75417994e-03,
  2.65801864e-03,-7.25621783e-03]


--- Step 2027 ---
qpos:
[ 0.01869478, 0.03005149,-0.00945515,-0.02527786,-0.0034488 , 1.34016488,
 -0.02987669, 0.94371319, 0.01157061, 0.0272907 ,-0.00831537, 0.0264709 ,
  1.34664655, 0.00764935, 1.28285066, 0.0444591 ,-0.09697901,-0.07317587,
  0.09185685, 0.65974379, 0.17433118,-0.6846898 ,-0.25602081]

qacc:
[ 1.94409034e+00, 5.68149499e-01,-1.60790338e+00, 3.77148893e-01,
  1.24479160e-01,-2.20702395e+00, 1.03438769e+01,-2.49006842e+01,
 -2.92016103e+00,-7.58518726e-01, 3.57910132e+00,-7.23689640e+00,
  1.49451849e-01,-3.80590623e-01,-3.94627558e+00, 1.26900007e+01,
 -4.65097219e+00, 7.13228177e-01,-1.69200301e+00, 9.03578279e+01,
 -1.27299472e+02, 1.61054130e+01]

qfrc_actuator:
[ 6.09820608e-05, 8.92912138e-04, 1.16191991e-04,-5.54732641e-05,
  5.47267877e-05, 3.55754220e-02, 1.08410703e-02, 1.80417882e-03,
 -4.87040223e-05, 8.53718822e-04, 1.85237929e-04, 8.39451223e-05,
  3.92288881e-03,-1.58845009e-03, 0.00000000e+00,-1.59213501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006127611408002144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05918270e-15,  4.52959135e-15,  1.00000000e+00,  4.10343956e-29,
        1.00000000e+00, -4.52959135e-15, -1.00000000e+00,  0.00000000e+00,
       -9.05918270e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00754465, -0.08891032,  0.06169284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17197659e-05,-7.63979130e-06,-1.74771533e-05,-5.85451199e-06,
  3.59582866e-05, 2.22501722e-05, 6.04884520e-06,-6.88054177e-05,
 -1.76407497e-05, 4.85011832e-06, 8.49166241e-06,-9.56095647e-06,
 -3.04289063e-05,-2.87609619e-05,-3.20397424e-05, 5.19325248e-05,
  1.64366137e-04,-1.11864585e-03,-4.90363872e+00,-2.25404202e-03,
  2.29146075e-03,-7.24326116e-03]


--- Step 2028 ---
qpos:
[ 0.01869475, 0.03005145,-0.00945565,-0.02527744,-0.00344818, 1.34017733,
 -0.02987781, 0.94371468, 0.01157017, 0.02729091,-0.00831551, 0.02647053,
  1.3467951 , 0.00764856, 1.28297495, 0.04445419,-0.09697917,-0.07310421,
  0.09185591, 0.65995099, 0.17358786,-0.68498485,-0.25520131]

qacc:
[ 1.24011868e+00, 2.18374855e+00,-1.02301073e+01, 2.12845377e+01,
 -2.13668314e-02,-2.28370335e+00, 4.55014401e+00, 3.93385369e+00,
 -7.80974581e+00,-1.94739086e+00, 1.04616954e+01,-2.48000115e+01,
  5.66335887e-01,-1.09107768e+00,-5.97647650e+00, 2.00260963e+01,
  6.54432947e+00,-1.02587216e+00, 1.67873465e+00,-1.27790576e+02,
  1.79930255e+02,-1.91297337e+01]

qfrc_actuator:
[ 6.81468000e-05, 9.06562717e-04, 1.06096346e-04,-2.32729066e-05,
  2.72472015e-05, 3.54607845e-02, 1.08583097e-02, 1.83428384e-03,
 -9.53260314e-05, 8.51007000e-04, 1.88711045e-04, 4.23050474e-05,
  3.91287753e-03,-1.63390702e-03, 0.00000000e+00,-1.49709887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006195680812562894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79193063e-14,  3.35986994e-15,  1.00000000e+00, -6.02065387e-29,
        1.00000000e+00, -3.35986994e-15, -1.00000000e+00,  0.00000000e+00,
        1.79193063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18806759, -0.060397  ,  0.06168994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.50519431e-06, 5.53025341e-06,-1.40245433e-05, 3.11552972e-05,
 -6.23070256e-06,-1.03299907e-04, 2.02507658e-05, 2.93730647e-05,
 -4.71364768e-05, 1.33525734e-06, 5.19101806e-06,-4.13245237e-05,
 -3.24161547e-05,-6.08621620e-05,-1.00174723e-05, 9.36005343e-05,
  5.09374266e-04,-1.33078042e-03,-4.90331352e+00,-2.70674347e-03,
  1.95288888e-03,-7.22908845e-03]


--- Step 2029 ---
qpos:
[ 0.01869411, 0.03005144,-0.00945651,-0.02527731,-0.00344758, 1.34018868,
 -0.02987856, 0.94371655, 0.01156883, 0.02729113,-0.0083156 , 0.02646968,
  1.34694326, 0.00764777, 1.28309919, 0.04445011,-0.09695679,-0.07303605,
  0.09185531, 0.66039963, 0.17280092,-0.68501289,-0.25449854]

qacc:
[-5.18590454e+00, 4.45748524e-01,-2.42153871e-01,-4.38964181e+00,
 -8.96572966e-03,-1.78394973e+00, 3.29129823e+00, 2.22413992e+00,
 -7.68517415e+00,-1.13399489e+00, 6.13123915e+00,-1.46922554e+01,
 -2.47020450e-01, 1.60645795e-01,-2.51420337e+00, 8.75084370e+00,
  5.63729380e+00,-8.73156805e-01, 8.27121301e-02,-1.09395080e+02,
  1.55099703e+02,-1.59516984e+01]

qfrc_actuator:
[ 3.68650527e-05, 8.96970576e-04, 8.26600049e-05,-3.99987361e-05,
  2.82951643e-05, 3.53876338e-02, 1.08686532e-02, 1.85137558e-03,
 -1.40326773e-04, 8.49278974e-04, 1.90781519e-04, 1.79545520e-05,
  3.89619932e-03,-1.62494188e-03, 0.00000000e+00,-1.45694194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.90624904,  -3.47534214,  -7.90624904,
        17.75192083, -20.73748784,  -3.47534214, -20.73748784,
        55.81322762,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00623350237105344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78105816e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78105816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18798282, -0.06041492,  0.06168836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.10612712e-05,-8.05309409e-06,-2.29383975e-05,-1.63676218e-05,
 -2.63749176e-06,-1.25531439e-04,-6.70800717e-06, 1.52797226e-05,
 -4.63787742e-05,-1.70311287e-06, 1.55717528e-06,-2.49153933e-05,
 -4.70746294e-05,-1.66881168e-05, 4.01056169e-06, 4.36890134e-05,
  4.21570217e-05,-1.04096987e-03,-4.90369547e+00,-2.05982208e-03,
  2.41342884e-03,-7.19607381e-03]


--- Step 2030 ---
qpos:
[ 0.0186938 , 0.03005116,-0.00945722,-0.02527772,-0.00344699, 1.34019937,
 -0.02987931, 0.9437179 , 0.01156731, 0.0272914 ,-0.00831543, 0.02646887,
  1.34709094, 0.0076477 , 1.28322334, 0.0444472 ,-0.09691493,-0.07297086,
  0.09184956, 0.66105666, 0.17197628,-0.68481047,-0.25389539]

qacc:
[ 2.75004242e+00,-1.87808158e+00, 8.45610627e+00,-1.78436005e+01,
 -3.93362896e-03,-1.77370871e+00, 5.83355126e+00,-1.07092873e+01,
 -1.57316912e+00,-5.47412935e-01, 1.89678908e+00,-1.66944881e+00,
 -7.43041195e-01, 1.16231469e+00,-3.63627634e+00, 1.27044712e+01,
  4.86857029e+00,-7.44223691e-01,-1.28713628e+00,-9.39025786e+01,
  1.34073791e+02,-1.33706515e+01]

qfrc_actuator:
[ 5.42164627e-05, 8.73442793e-04, 8.69080052e-05,-6.76598421e-05,
  2.86979738e-05, 3.53753732e-02, 1.08749434e-02, 1.82515064e-03,
 -1.48498168e-04, 8.65909271e-04, 2.09779937e-04, 2.17295936e-05,
  3.89685770e-03,-1.56597965e-03, 0.00000000e+00,-1.39619838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.76814384,  -3.77395259,  -7.76814384,
        20.52953444, -24.48039803,  -3.77395259, -24.48039803,
        59.02577598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00618793038217242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79417504e-14,  1.56990316e-14,  1.00000000e+00, -2.81668107e-28,
        1.00000000e+00, -1.56990316e-14, -1.00000000e+00,  0.00000000e+00,
        1.79417504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18808883, -0.06040219,  0.0616903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64459251e-05,-3.34681320e-05,-7.94921720e-07,-2.91151922e-05,
 -1.16007909e-06,-8.26292073e-05,-1.85902424e-05,-2.98230751e-05,
 -9.52887788e-06, 1.49066013e-05, 1.79772224e-05, 3.27431965e-06,
 -2.66173009e-05, 4.30082684e-05, 3.31714609e-06, 6.29537847e-05,
 -2.37046096e-04,-8.19645405e-04,-4.90372133e+00,-1.52596886e-03,
  2.79900547e-03,-7.16592158e-03]


--- Step 2031 ---
qpos:
[ 0.01869439, 0.03005044,-0.00945782,-0.02527774,-0.00344655, 1.34020963,
 -0.02988041, 0.94371996, 0.01156604, 0.02729217,-0.00831553, 0.02646809,
  1.34723843, 0.00764801, 1.28334734, 0.04444605,-0.09689826,-0.07290173,
  0.09184862, 0.66144602, 0.17118991,-0.68490706,-0.25315111]

qacc:
[ 7.73054705e+00,-1.13869659e-01,-2.11846833e+00, 9.02021058e+00,
 -6.38016923e-02, 1.61283081e+00,-7.42861907e+00, 1.49895867e+01,
  2.18392723e+00, 1.45393581e+00,-4.33386371e+00, 4.86586793e+00,
 -2.51695731e-01, 4.60781313e-01,-5.48974904e+00, 1.89436480e+01,
 -6.29703198e+00, 9.86170180e-01, 1.20311170e+00, 1.21953151e+02,
 -1.73494947e+02, 2.52750764e+01]

qfrc_actuator:
[ 1.00066366e-04, 8.41843377e-04, 8.96548936e-05,-4.82614177e-05,
  1.09576013e-05, 3.53641262e-02, 1.08612555e-02, 1.86244763e-03,
 -1.34927123e-04, 9.11252927e-04, 2.03209384e-04, 2.42953786e-05,
  3.89196176e-03,-1.54876751e-03, 0.00000000e+00,-1.30604253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006105721179185411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.36374925e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.36374925e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0074913 , -0.08888506,  0.06169376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63204044e-05,-5.16992476e-05,-5.25850960e-06, 1.73735276e-05,
 -1.84285979e-05,-6.15588622e-05,-3.28508761e-05, 3.35925203e-05,
  1.32971676e-05, 5.75153291e-05,-1.16825997e-06, 3.89128473e-06,
 -7.99149610e-06, 2.38052854e-05, 5.14501032e-06, 9.33519402e-05,
 -3.86742020e-04,-6.48675117e-04,-4.90351764e+00,-1.08088351e-03,
  3.12664941e-03,-7.13797992e-03]


--- Step 2032 ---
qpos:
[ 0.01869414, 0.03004954,-0.00945879,-0.02527719,-0.00344629, 1.34021964,
 -0.02988145, 0.94372138, 0.01156494, 0.02729337,-0.0083154 , 0.02646698,
  1.34738566, 0.00764862, 1.28347125, 0.04444665,-0.0969033 ,-0.07282911,
  0.09184642, 0.66160464, 0.1704365 ,-0.68526111,-0.25228539]

qacc:
[-7.15937000e+00, 1.98086734e+00,-9.79933614e+00, 2.04298009e+01,
 -7.47919199e-02,-1.60785048e+00, 6.17507414e+00,-1.26822120e+01,
  1.47220329e+00,-7.44210448e-01, 4.85585448e+00,-1.12469862e+01,
 -2.47790507e-01, 3.93159042e-01,-5.42684174e+00, 1.88385586e+01,
 -5.42891183e+00, 8.73045037e-01,-3.15872628e-01, 1.04820040e+02,
 -1.49598987e+02, 2.17054409e+01]

qfrc_actuator:
[ 5.57915171e-05, 8.41195340e-04, 7.37258113e-05,-1.90936030e-05,
  2.29024506e-07, 3.53712932e-02, 1.08714541e-02, 1.83031621e-03,
 -1.26432052e-04, 9.37843531e-04, 2.17214336e-04, 8.37853481e-06,
  3.87307399e-03,-1.53878948e-03, 0.00000000e+00,-1.21703240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006122970111548089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06604968e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.06604968e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0075276 , -0.08887105,  0.06169305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29406531e-05,-2.98523057e-05,-2.66401611e-05, 2.71116958e-05,
 -2.16203751e-05,-3.23687422e-05,-4.60386498e-06,-3.41506302e-05,
  8.90664332e-06, 5.86543801e-05, 2.58682809e-05,-1.34173449e-05,
 -1.70866272e-05, 1.51409992e-05, 9.88260767e-06, 9.42274508e-05,
 -1.77175078e-04,-8.92812202e-04,-4.90370183e+00,-1.64294310e-03,
  2.72896332e-03,-7.12579489e-03]


--- Step 2033 ---
qpos:
[ 0.01869302, 0.03004846,-0.00945966,-0.02527667,-0.00344605, 1.3402293 ,
 -0.029882  , 0.943721  , 0.01156361, 0.02729447,-0.00831487, 0.02646574,
  1.34753274, 0.00764916, 1.28359596, 0.04444196,-0.09688539,-0.0727598 ,
  0.09184509, 0.66200947, 0.16963647,-0.68534382,-0.25153683]

qacc:
[-7.48526771e+00,-5.53464460e-01, 1.77764528e+00,-2.35630925e+00,
 -4.91812521e-03,-4.83382495e+00, 1.89155328e+01,-3.69789560e+01,
 -1.98063018e+00,-1.53222023e+00, 5.83061465e+00,-8.64677719e+00,
 -5.30370642e-01, 5.20783703e-01, 1.72546215e+01,-5.85217168e+01,
  5.73901072e+00,-8.29921000e-01, 2.18045996e-01,-1.10769487e+02,
  1.58259151e+02,-1.48491922e+01]

qfrc_actuator:
[ 1.20731591e-05, 8.41271994e-04, 8.25246880e-05,-1.99118625e-05,
  1.15465889e-05, 3.53539890e-02, 1.08957027e-02, 1.73984767e-03,
 -1.38753059e-04, 8.99807819e-04, 2.25434875e-04,-5.27263426e-07,
  3.85645460e-03,-1.55097625e-03, 0.00000000e+00,-1.50222078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006107769769329717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63544491e-14,  9.08861226e-15,  1.00000000e+00, -3.30411492e-28,
        1.00000000e+00, -9.08861226e-15, -1.00000000e+00,  0.00000000e+00,
        3.63544491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18827552, -0.06038827,  0.0616937 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49764216e-05,-2.09292929e-05, 3.12912431e-07,-2.48534396e-06,
 -1.45911320e-06,-3.72022757e-05, 1.63833674e-05,-9.23537553e-05,
 -1.20364943e-05,-5.10013033e-07, 2.30439369e-05,-5.75933172e-06,
 -2.12832539e-05,-1.17785618e-05, 1.18232549e-05,-2.79393144e-04,
  1.20212391e-04,-1.13041263e-03,-4.90357879e+00,-2.16156349e-03,
  2.35525285e-03,-7.11238915e-03]


--- Step 2034 ---
qpos:
[ 0.01869207, 0.03004706,-0.00946007,-0.02527652,-0.00344575, 1.34023902,
 -0.02988276, 0.94372058, 0.01156215, 0.02729529,-0.00831491, 0.02646449,
  1.34767965, 0.00764938, 1.28372035, 0.04443693,-0.09688924,-0.07268691,
  0.09184257, 0.66218315, 0.16886824,-0.68568498,-0.2506653 ]

qacc:
[ 1.50920091e+00,-2.48064936e+00, 9.78183965e+00,-1.66475623e+01,
  2.01657019e-02, 5.54303880e-01,-1.62692970e+00, 8.63281748e-01,
 -1.18193074e+00, 1.25077000e+00,-4.99655656e+00, 6.10377974e+00,
  4.43558091e-02,-2.93302664e-01, 5.39118137e-01,-2.57282429e+00,
 -5.44163670e+00, 8.98385741e-01,-2.96781284e-01, 1.04772654e+02,
 -1.50332347e+02, 2.26604842e+01]

qfrc_actuator:
[ 2.23196161e-05, 8.24108564e-04, 1.05849117e-04,-3.83453140e-05,
  1.82450005e-05, 3.53754505e-02, 1.08924250e-02, 1.74004976e-03,
 -1.45473910e-04, 8.41096621e-04, 1.76649044e-04,-5.29674362e-06,
  3.83586995e-03,-1.57621185e-03, 0.00000000e+00,-1.50850460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060842750171409485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12370842e-15,  4.56185421e-15,  1.00000000e+00,  4.16210277e-29,
        1.00000000e+00, -4.56185421e-15, -1.00000000e+00,  0.00000000e+00,
       -9.12370842e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00743769, -0.08887175,  0.06169472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.93282137e-06,-2.88725354e-05, 1.89790325e-05,-1.93618141e-05,
  5.83520221e-06, 1.24564493e-06,-1.14097313e-05,-2.56465669e-06,
 -7.07043133e-06,-5.45349833e-05,-4.62693994e-05,-4.10672538e-06,
 -3.47738924e-05,-3.33192970e-05,-3.07128048e-05,-2.14716615e-05,
 -1.94450175e-04,-8.99530055e-04,-4.90366031e+00,-1.59805429e-03,
  2.75672620e-03,-7.08077590e-03]


--- Step 2035 ---
qpos:
[ 0.01869194, 0.0300455 ,-0.00945998,-0.02527626,-0.00344569, 1.34024896,
 -0.02988368, 0.94372084, 0.01156061, 0.02729555,-0.00831515, 0.02646356,
  1.34782602, 0.0076501 , 1.28384457, 0.04443182,-0.09687023,-0.07261722,
  0.09184076, 0.66260251, 0.16805243,-0.68575633,-0.24990906]

qacc:
[ 7.04559394e+00,-1.40305384e+00, 4.24479738e+00,-3.14655276e+00,
 -9.76188610e-02, 1.89013289e+00,-7.22736254e+00, 1.40202812e+01,
 -5.86201505e-01, 4.27935897e-01,-3.89536067e+00, 9.93100951e+00,
 -7.23936983e-01, 9.76149974e-01, 6.97136600e-02,-4.61329100e-01,
  5.71775075e+00,-8.02110749e-01, 1.78339760e-01,-1.09840001e+02,
  1.57864975e+02,-1.38552953e+01]

qfrc_actuator:
[ 6.42474086e-05, 8.32312751e-04, 1.37479552e-04,-3.14931625e-05,
 -1.33882349e-05, 3.54021570e-02, 1.08908839e-02, 1.77587086e-03,
 -1.48837937e-04, 8.05714640e-04, 1.65499307e-04, 1.00929019e-05,
  3.81824049e-03,-1.53799912e-03, 0.00000000e+00,-1.51006494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061307491755137195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81090923e-14,  1.24500009e-14,  1.00000000e+00, -2.25458216e-28,
        1.00000000e+00, -1.24500009e-14, -1.00000000e+00,  0.00000000e+00,
        1.81090923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18822579, -0.06040873,  0.06169275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21828947e-05,-4.78899584e-06, 2.73562741e-05, 5.89908142e-06,
 -2.81850806e-05, 2.50215876e-05,-2.68155138e-06, 3.54762616e-05,
 -3.58578378e-06,-7.56452782e-05,-2.82632697e-05, 1.13727835e-05,
 -4.34620122e-05, 2.05136668e-05,-1.80570844e-05,-7.03084056e-06,
  1.00673867e-04,-1.14239214e-03,-4.90354521e+00,-2.12510678e-03,
  2.37926278e-03,-7.06714021e-03]


--- Step 2036 ---
qpos:
[ 0.01869266, 0.03004387,-0.00945923,-0.0252763 ,-0.00344606, 1.34025903,
 -0.02988469, 0.9437236 , 0.01155905, 0.02729524,-0.00831523, 0.02646244,
  1.34797203, 0.00765099, 1.28396928, 0.04442167,-0.09683145,-0.07255027,
  0.09183416, 0.66323412, 0.16719541,-0.68559473,-0.249251  ]

qacc:
[  7.30071067, -2.5365911 , 10.09560946,-16.04757697, -0.18447616,
   4.69208166,-20.23710119, 46.49023057, -0.2293201 , -1.56279105,
   5.24172457, -8.16132377, -0.82955783,  0.95368731, 16.04670196,
 -54.86549716,  4.93964631, -0.6851633 , -1.19865873,-94.25564404,
 136.5542256 ,-11.44660626]

qfrc_actuator:
[ 1.06716427e-04, 8.37955589e-04, 1.73877415e-04,-4.52966620e-05,
 -5.00085644e-05, 3.54140793e-02, 1.08904276e-02, 1.90336778e-03,
 -1.50200924e-04, 7.84718396e-04, 1.76772266e-04, 1.76427126e-06,
  3.79709592e-03,-1.53340226e-03, 0.00000000e+00,-1.77519278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.10099071,  -2.99344725,  -8.10099071,
        14.81938172, -16.73273918,  -2.99344725, -16.73273918,
        53.91919422,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006097869315363352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82067369e-14,  3.41376317e-15,  1.00000000e+00, -6.21534881e-29,
        1.00000000e+00, -3.41376317e-15, -1.00000000e+00,  0.00000000e+00,
        1.82067369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18830302, -0.06040311,  0.06169416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37000397e-05, 8.93739981e-06, 3.89971574e-05,-1.29462114e-05,
 -5.32744690e-05, 2.62394270e-05, 5.16415657e-06, 1.29005767e-04,
 -1.49332798e-06,-6.86589635e-05,-7.43990996e-06,-1.23250385e-05,
 -3.84490038e-05, 7.93206837e-07,-1.17896896e-05,-2.68409345e-04,
 -2.10681584e-04,-9.13453844e-04,-4.90360944e+00,-1.55534313e-03,
  2.78294312e-03,-7.03500096e-03]


--- Step 2037 ---
qpos:
[ 0.0186932 , 0.03004212,-0.00945853,-0.02527679,-0.00344686, 1.34026934,
 -0.02988629, 0.94372823, 0.01155748, 0.0272949 ,-0.0083157 , 0.0264612 ,
  1.34811797, 0.00765142, 1.28409376, 0.04440976,-0.09681748,-0.0724791 ,
  0.09183183, 0.66360298, 0.16637212,-0.68572878,-0.24845009]

qacc:
[-1.58840740e+00,-9.49576648e-01, 5.09764652e+00,-1.28277522e+01,
 -1.83741917e-01, 5.13904365e+00,-2.02257545e+01, 3.90787541e+01,
 -5.09848077e-02, 7.94956098e-01,-2.38635060e+00, 9.30988017e-01,
  1.20888670e-01,-4.39318017e-01, 4.96633879e+00,-1.79213937e+01,
 -6.20116758e+00, 1.05552392e+00, 1.06637290e+00, 1.18961535e+02,
 -1.71964210e+02, 2.77802491e+01]

qfrc_actuator:
[ 9.58952765e-05, 8.06531521e-04, 1.59519164e-04,-7.11445345e-05,
 -7.15710037e-05, 3.54171221e-02, 1.08551039e-02, 1.99501333e-03,
 -1.50376219e-04, 8.08086933e-04, 1.65717270e-04,-2.68053208e-06,
  3.78982449e-03,-1.56661601e-03, 0.00000000e+00,-1.85618059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006154652069040881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.50969044e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.50969044e-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([-0.00759187, -0.08882554,  0.06169172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.54121371e-06,-1.88630754e-05,-8.14942034e-06,-2.43680167e-05,
 -5.30425282e-05, 2.23814176e-05,-2.58254938e-05, 9.55931659e-05,
 -2.43426241e-07,-1.70820054e-05,-2.65749027e-05,-7.88131193e-06,
 -2.74119622e-05,-4.14069225e-05,-3.94018961e-05,-9.83447114e-05,
 -3.87148946e-04,-7.33615736e-04,-4.90343145e+00,-1.07581394e-03,
  3.12821445e-03,-7.00503897e-03]


--- Step 2038 ---
qpos:
[ 0.01869395, 0.03004035,-0.00945801,-0.02527793,-0.00344788, 1.34027964,
 -0.02988814, 0.94373255, 0.01155592, 0.02729499,-0.00831631, 0.02646019,
  1.34826367, 0.00765173, 1.28421743, 0.0444016 ,-0.0968249 ,-0.07240421,
  0.09182775, 0.66374532, 0.16557761,-0.68611733,-0.24752621]

qacc:
[ 1.80744450e+00,-8.93817293e-01, 5.86925938e+00,-1.68283654e+01,
 -8.98330587e-02, 7.04333644e-02, 3.87832006e-01,-3.96472110e+00,
  7.03104661e-02, 1.43610322e+00,-5.24407002e+00, 9.03782621e+00,
  2.19433709e-01,-3.98766148e-01,-1.25650866e+01, 4.21541851e+01,
 -5.34572663e+00, 9.31122697e-01,-4.37452187e-01, 1.02172055e+02,
 -1.48309888e+02, 2.39641484e+01]

qfrc_actuator:
[ 1.07052172e-04, 8.06194008e-04, 1.50654228e-04,-1.03936034e-04,
 -6.61736206e-05, 3.53969230e-02, 1.08349144e-02, 1.97601654e-03,
 -1.49851382e-04, 8.75522631e-04, 1.77257797e-04, 1.29724947e-05,
  3.78021104e-03,-1.56868764e-03, 0.00000000e+00,-1.65041501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006161341952343691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.5047939e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.5047939e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00760536, -0.08881723,  0.06169144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08785261e-05,-1.35609437e-05,-1.45943966e-05,-3.43518708e-05,
 -2.59456665e-05,-1.00595206e-05,-1.59497111e-05,-1.68465541e-05,
  5.11348664e-07, 5.20716458e-05, 4.47666671e-06, 1.38523593e-05,
 -3.40611983e-05,-2.02926337e-05,-3.03204296e-05, 1.94977354e-04,
 -1.53593919e-04,-1.00008786e-03,-4.90355286e+00,-1.66413065e-03,
  2.71673093e-03,-6.99197025e-03]


--- Step 2039 ---
qpos:
[ 0.01869551, 0.0300388 ,-0.00945745,-0.02527985,-0.00344899, 1.34028968,
 -0.02988948, 0.9437352 , 0.01155507, 0.02729563,-0.00831688, 0.026459  ,
  1.34840903, 0.00765201, 1.28434061, 0.04439825,-0.09685079,-0.07232602,
  0.09181676, 0.66369144, 0.16480764,-0.68672538,-0.24649616]

qacc:
[ 7.00791905e+00,-1.44514212e+00, 8.81632329e+00,-2.24431638e+01,
 -3.98894922e-02,-4.53064217e+00, 1.77900933e+01,-3.45167250e+01,
  6.03208626e+00, 2.17021789e-01, 1.02188539e+00,-4.59855392e+00,
  1.54687928e-01,-2.88255369e-01,-1.53040108e+01, 5.24075382e+01,
 -4.62062223e+00, 8.24130912e-01,-1.72628197e+00, 8.79754478e+01,
 -1.28332131e+02, 2.07040080e+01]

qfrc_actuator:
[ 1.48826147e-04, 8.42223966e-04, 1.62985171e-04,-1.40515424e-04,
 -6.24010946e-05, 3.53806948e-02, 1.08591832e-02, 1.89206962e-03,
 -1.13413561e-04, 9.15691615e-04, 1.84515206e-04, 4.88211092e-06,
  3.76388570e-03,-1.56997922e-03, 0.00000000e+00,-1.40167329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006091953470171899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11220867e-15, -4.55610434e-15,  1.00000000e+00, -4.15161734e-29,
        1.00000000e+00,  4.55610434e-15, -1.00000000e+00,  0.00000000e+00,
       -9.11220867e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0074501 , -0.08883847,  0.06169438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20935702e-05, 2.40239132e-05, 6.56018773e-06,-3.83291282e-05,
 -1.15593979e-05,-2.54814769e-05, 1.99886059e-05,-8.50898561e-05,
  3.64696432e-05, 7.08076382e-05, 1.90510472e-05,-5.43131152e-06,
 -3.80612509e-05,-1.52538752e-05, 7.22971780e-06, 2.55632773e-04,
  1.63627756e-04,-1.25653813e-03,-4.90338037e+00,-2.20947271e-03,
  2.32899107e-03,-6.97757704e-03]


--- Step 2040 ---
qpos:
[ 0.01869618, 0.03003749,-0.00945684,-0.02528151,-0.00345013, 1.34029925,
 -0.02989014, 0.94373719, 0.01155535, 0.02729659,-0.00831729, 0.02645809,
  1.34855441, 0.00765169, 1.28446413, 0.04439488,-0.0968504 ,-0.0722512 ,
  0.09181247, 0.66392096, 0.16397911,-0.68702448,-0.24559555]

qacc:
[-7.63783000e+00, 7.54344011e-01,-3.28586607e+00, 7.52441317e+00,
 -1.39216647e-02,-3.60457986e+00, 1.23762604e+01,-1.82045090e+01,
  9.67173263e+00, 5.42223986e-01,-2.50845471e+00, 6.85804751e+00,
  3.66676236e-01,-7.83517908e-01, 5.21441419e-01,-1.19306593e+00,
  6.57150638e+00,-8.43183507e-01, 1.67387683e+00,-1.25307758e+02,
  1.81948237e+02,-1.33763466e+01]

qfrc_actuator:
[ 1.01764206e-04, 8.64333956e-04, 1.70132958e-04,-1.25724084e-04,
 -5.96362846e-05, 3.53493410e-02, 1.08917306e-02, 1.85938629e-03,
 -5.61297523e-05, 9.21455226e-04, 1.89069669e-04, 1.83656548e-05,
  3.76485259e-03,-1.60635527e-03, 0.00000000e+00,-1.41374502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00619050898908121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79342769e-14,  1.12089231e-15,  1.00000000e+00, -2.01023930e-29,
        1.00000000e+00, -1.12089231e-15, -1.00000000e+00,  0.00000000e+00,
        1.79342769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18809056, -0.06046677,  0.06169016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58208979e-05, 3.53214845e-05, 1.16039765e-05, 1.53049258e-05,
 -4.06642750e-06,-4.41601170e-05, 2.73360384e-05,-3.48199926e-05,
  5.83772413e-05, 4.90584619e-05, 2.13389068e-05, 1.70722379e-05,
 -2.07540431e-05,-5.01449348e-05, 2.94504253e-05, 2.59974160e-06,
  5.23162676e-04,-1.49666535e-03,-4.90302342e+00,-2.70950117e-03,
  1.96760991e-03,-6.96180269e-03]


--- Step 2041 ---
qpos:
[ 0.01869629, 0.03003681,-0.00945609,-0.02528234,-0.00345113, 1.3403084 ,
 -0.02988984, 0.9437391 , 0.01155632, 0.02729755,-0.00831719, 0.02645771,
  1.34869974, 0.00765069, 1.28458752, 0.04439344,-0.09682737,-0.07217926,
  0.09180848, 0.66439482, 0.16309995,-0.68705797,-0.24480457]

qacc:
[-4.89038012e+00, 2.13886151e+00,-9.89191881e+00, 2.34585001e+01,
  6.06953705e-02,-3.25670335e+00, 1.01493891e+01,-9.51353592e+00,
  5.86629533e+00,-3.24741664e-01,-1.13601299e+00, 9.61082028e+00,
  5.39228140e-01,-1.04521131e+00,-6.09613931e+00, 2.09015687e+01,
  5.65864887e+00,-7.19059621e-01, 7.68365595e-02,-1.07114911e+02,
  1.56901688e+02,-1.07753015e+01]

qfrc_actuator:
[ 7.37914653e-05, 9.31229513e-04, 1.91901933e-04,-8.08381701e-05,
 -3.97469690e-05, 3.53447448e-02, 1.09466222e-02, 1.85713561e-03,
 -2.25521248e-05, 9.06576271e-04, 2.09622438e-04, 4.44073090e-05,
  3.75487244e-03,-1.64544403e-03, 0.00000000e+00,-1.31311153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.30574482,  -2.36672344,  -8.30574482,
        11.82606112, -11.193878  ,  -2.36672344, -11.193878  ,
        47.91999636,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0062280723243079705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78261100e-14,  3.34239563e-15,  1.00000000e+00, -5.95819122e-29,
        1.00000000e+00, -3.34239563e-15, -1.00000000e+00,  0.00000000e+00,
        1.78261100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18800555, -0.06048817,  0.06168856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92929272e-05, 8.97245061e-05, 3.10356869e-05, 4.71047171e-05,
  1.74849375e-05,-2.47851917e-05, 4.83358782e-05,-3.56842927e-06,
  3.53053160e-05, 1.76873861e-05, 3.38989795e-05, 2.92130254e-05,
 -3.16819726e-05,-5.90196730e-05, 9.60442900e-06, 1.03598600e-04,
  3.13400965e-05,-1.20947762e-03,-4.90338649e+00,-1.99837340e-03,
  2.45727172e-03,-6.92482420e-03]


--- Step 2042 ---
qpos:
[ 0.0186964 , 0.03003659,-0.00945528,-0.02528294,-0.00345181, 1.34031771,
 -0.02988939, 0.9437413 , 0.01155665, 0.0272985 ,-0.00831677, 0.02645731,
  1.34884452, 0.00764959, 1.28471097, 0.04439288,-0.0967847 ,-0.07211042,
  0.09179981, 0.66507657, 0.16219599,-0.68685585,-0.24412018]

qacc:
[ 6.47475940e-02, 9.08069783e-01,-3.28866482e+00, 6.72359659e+00,
  1.39604918e-01, 2.75942000e-01,-1.26193284e+00, 4.41494339e+00,
 -5.43753275e+00,-9.55659356e-01, 3.48626658e+00,-4.33757564e+00,
 -3.05241565e-01, 1.29691823e-01,-2.56839786e+00, 9.16623058e+00,
  4.91169288e+00,-7.76650504e-01,-1.17156809e+00,-9.06525452e+01,
  1.37957141e+02,-2.06542919e+01]

qfrc_actuator:
[ 7.50602633e-05, 9.35760960e-04, 1.86825514e-04,-7.18217308e-05,
 -9.74596862e-06, 3.53740759e-02, 1.09611134e-02, 1.87282583e-03,
 -5.64616325e-05, 8.97271388e-04, 2.21616207e-04, 4.21110852e-05,
  3.71702648e-03,-1.65034090e-03, 0.00000000e+00,-1.27106715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.25633652,  -2.53370957,  -8.25633652,
        12.38258627, -12.20742705,  -2.53370957, -12.20742705,
        48.41543974,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00618478332239155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79508799e-14,  3.36578998e-15,  1.00000000e+00, -6.04188915e-29,
        1.00000000e+00, -3.36578998e-15, -1.00000000e+00,  0.00000000e+00,
        1.79508799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18760082, -0.05886065,  0.06169039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44829939e-07, 6.31382728e-05, 1.89089021e-05, 1.48519008e-05,
  4.03322007e-05, 2.49097299e-05, 1.50311511e-05, 1.62958131e-05,
 -3.28688823e-05, 8.82070514e-06, 2.08216218e-05, 2.00444373e-07,
 -6.70669570e-05,-3.00118222e-05, 1.31617434e-05, 4.84169063e-05,
 -2.73105358e-04,-9.82734534e-04,-4.90339168e+00,-1.39892169e-03,
  2.87453379e-03,-6.89049700e-03]


--- Step 2043 ---
qpos:
[ 0.01869618, 0.03003606,-0.00945413,-0.02528336,-0.00345214, 1.34032692,
 -0.02988902, 0.94374543, 0.01155623, 0.02729951,-0.00831648, 0.02645691,
  1.3489886 , 0.00764892, 1.28483521, 0.04438683,-0.09672502,-0.07204425,
  0.0917817 , 0.66593818, 0.16127041,-0.68644952,-0.24352669]

qacc:
[ -2.81599628, -0.92766632,  1.89480252,  1.17842596,  0.1450167 ,
   3.40213746,-15.21954388, 35.67876899, -6.43602375,  0.44360382,
  -1.45118701,  1.58489289, -1.31186043,  1.5583368 , 17.95076192,
 -60.78874929,  4.25113929, -0.66500788, -2.35970078,-77.91329982,
 119.66383252,-17.41201522]

qfrc_actuator:
[ 5.80188872e-05, 8.67276484e-04, 1.83418582e-04,-6.63031986e-05,
  8.32528797e-06, 3.53523538e-02, 1.09517784e-02, 1.96994666e-03,
 -9.43087750e-05, 8.91313508e-04, 2.10694139e-04, 4.09034126e-05,
  3.68913594e-03,-1.61727128e-03, 0.00000000e+00,-1.56569771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.26240063,  -2.51386409,  -8.26240063,
        13.08921127, -14.63532226,  -2.51386409, -14.63532226,
        56.73876351,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006076479208371725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14192671e-14,  1.59869739e-14,  1.00000000e+00, -1.82559525e-28,
        1.00000000e+00, -1.59869739e-14, -1.00000000e+00,  0.00000000e+00,
        1.14192671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18784759, -0.0588264 ,  0.06169494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70078052e-05,-2.86375711e-05, 1.24701678e-05, 9.16517559e-06,
  4.19050257e-05,-4.57069215e-06,-2.28142239e-06, 9.87045696e-05,
 -3.88041836e-05, 3.23548062e-06,-6.54197165e-06,-1.06061656e-07,
 -6.80231471e-05, 8.38658800e-06, 7.36538754e-06,-2.91141104e-04,
 -4.30720574e-04,-7.68543817e-04,-4.90321776e+00,-8.97424960e-04,
  3.22196452e-03,-6.85876479e-03]


--- Step 2044 ---
qpos:
[ 0.01869611, 0.0300354 ,-0.00945304,-0.0252837 ,-0.00345232, 1.34033514,
 -0.02988799, 0.9437497 , 0.01155639, 0.02730057,-0.00831661, 0.02645687,
  1.34913238, 0.00764847, 1.28495948, 0.04437731,-0.09669342,-0.07197301,
  0.09177381, 0.6665041 , 0.16037363,-0.68638038,-0.24276441]

qacc:
[ 1.21922840e+00, 9.80526089e-02,-9.24792978e-01, 2.38120374e+00,
  6.17305247e-02,-2.83907432e+00, 7.39177598e+00,-4.16630397e+00,
  4.96484806e+00, 1.98616761e+00,-8.49428510e+00, 1.53040393e+01,
 -6.37566479e-01, 7.78084808e-01, 1.05696798e+01,-3.67468541e+01,
 -7.01822656e+00, 1.26596944e+00, 2.55644054e+00, 1.32419296e+02,
 -1.96641460e+02, 3.75041482e+01]

qfrc_actuator:
[ 6.58316316e-05, 8.62089448e-04, 1.80719034e-04,-6.29445606e-05,
  1.34118643e-06, 3.52469256e-02, 1.09638291e-02, 1.97214913e-03,
 -6.31374907e-05, 8.87302998e-04, 1.86347736e-04, 5.80910214e-05,
  3.69388206e-03,-1.59741786e-03, 0.00000000e+00,-1.73675012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062598644032887535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86778813e-15,  1.33016822e-14,  1.00000000e+00,  1.17956499e-28,
        1.00000000e+00, -1.33016822e-14, -1.00000000e+00,  0.00000000e+00,
       -8.86778813e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00783049, -0.08874393,  0.06168705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.30685600e-06,-1.82314875e-05,-6.76658345e-06, 2.74274970e-06,
  1.77778255e-05,-1.05491300e-04, 1.37869480e-05, 4.30550562e-06,
  3.00396257e-05,-3.61090863e-06,-2.45006833e-05, 1.70973632e-05,
 -2.80532183e-05, 6.92664688e-06,-3.48130737e-05,-1.87593619e-04,
 -4.91972641e-04,-6.02697240e-04,-4.90288867e+00,-4.83526494e-04,
  3.51500288e-03,-6.82930257e-03]


--- Step 2045 ---
qpos:
[ 0.01869578, 0.03003469,-0.00945232,-0.02528363,-0.00345245, 1.34034249,
 -0.0298873 , 0.94375297, 0.01155692, 0.02730189,-0.00831719, 0.02645769,
  1.3492763 , 0.00764763, 1.28508289, 0.04437113,-0.09668594,-0.07189732,
  0.09176925, 0.66681618, 0.1595012 ,-0.68660077,-0.24185723]

qacc:
[-2.16102791e+00, 1.83605512e+00,-8.29969393e+00, 1.58339801e+01,
  2.18636413e-02,-1.92086314e+00, 6.95343122e+00,-1.70903340e+01,
  3.15832107e+00, 3.38472403e+00,-1.52483214e+01, 3.08533038e+01,
  6.60456500e-01,-9.52983327e-01,-1.14401274e+01, 3.79809436e+01,
 -6.03025068e+00, 1.11087718e+00, 8.30717702e-01, 1.13343625e+02,
 -1.69030876e+02, 3.23320932e+01]

qfrc_actuator:
[ 5.27115661e-05, 8.59323767e-04, 1.60934905e-04,-4.30859459e-05,
 -2.86330680e-06, 3.51809812e-02, 1.09347504e-02, 1.91842059e-03,
 -4.48482917e-05, 9.19945197e-04, 1.72049084e-04, 1.03712849e-04,
  3.70754658e-03,-1.62095982e-03, 0.00000000e+00,-1.54946060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006332581517570719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76595920e-15,  4.38297960e-15,  1.00000000e+00,  3.84210204e-29,
        1.00000000e+00, -4.38297960e-15, -1.00000000e+00,  0.00000000e+00,
       -8.76595920e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0079918 , -0.08870927,  0.06168395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29122972e-05,-1.42258880e-05,-2.42925575e-05, 1.88968421e-05,
  6.29705494e-06,-1.21524408e-04,-4.80235456e-05,-5.63762714e-05,
  1.91712033e-05, 2.62689225e-05,-1.74824959e-05, 4.49488934e-05,
 -3.39158818e-09,-2.73821751e-05,-3.92342217e-05, 1.71874412e-04,
 -3.44209101e-04,-9.08205579e-04,-4.90329198e+00,-1.14760568e-03,
  3.06682631e-03,-6.81620337e-03]


--- Step 2046 ---
qpos:
[ 0.01869496, 0.03003375,-0.00945181,-0.02528263,-0.00345257, 1.34034987,
 -0.02988763, 0.94375484, 0.01155698, 0.02730329,-0.00831757, 0.02645835,
  1.34942025, 0.00764631, 1.28520625, 0.04436549,-0.09669923,-0.07181773,
  0.09176207, 0.6669094 , 0.15864933,-0.68707014,-0.24082538]

qacc:
[-4.28490940e+00, 2.19889165e+00,-1.22602749e+01, 2.90348760e+01,
  4.09776725e-03, 3.39376929e-01, 1.81313039e+00,-1.78680301e+01,
 -4.03871567e+00,-8.12069196e-01, 3.76800007e+00,-7.11725442e+00,
  3.78125641e-01,-7.17272531e-01,-1.74620491e+00, 5.89702312e+00,
 -5.19370768e+00, 9.78150926e-01,-6.53645676e-01, 9.72160764e+01,
 -1.45713025e+02, 2.79017983e+01]

qfrc_actuator:
[ 2.73676415e-05, 8.40218322e-04, 1.49005848e-04, 4.07018131e-06,
 -5.36431880e-06, 3.52277551e-02, 1.08994821e-02, 1.84996990e-03,
 -6.98157123e-05, 9.21088690e-04, 1.81721984e-04, 9.47268187e-05,
  3.69990572e-03,-1.65227070e-03, 0.00000000e+00,-1.52537688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006313890399073145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75838184e-14,  8.79190922e-15,  1.00000000e+00,  1.54595336e-28,
        1.00000000e+00, -8.79190922e-15, -1.00000000e+00,  0.00000000e+00,
       -1.75838184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00795001, -0.08871115,  0.06168472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57234694e-05,-3.12550431e-05,-1.72047085e-05, 4.60750055e-05,
  1.21609768e-06,-3.15863528e-05,-6.61634033e-05,-7.48029634e-05,
 -2.43941918e-05, 1.41135462e-05, 1.44902803e-05,-7.59463357e-06,
 -1.43343292e-05,-3.93023290e-05, 1.53514060e-06, 2.87322238e-05,
 -6.27387465e-05,-1.20977864e-03,-4.90327836e+00,-1.77892336e-03,
  2.63426340e-03,-6.80176550e-03]


--- Step 2047 ---
qpos:
[ 0.01869383, 0.03003274,-0.0094515 ,-0.02528144,-0.0034527 , 1.34035746,
 -0.02988827, 0.94375513, 0.01155673, 0.02730456,-0.00831739, 0.02645786,
  1.34956394, 0.00764471, 1.28532992, 0.04435749,-0.09673046,-0.07173468,
  0.0917472 , 0.66681306, 0.15781475,-0.68775394,-0.23968596]

qacc:
[-2.55941896e+00, 8.89600362e-01,-4.06109712e+00, 7.66392174e+00,
 -2.60101145e-03,-1.55556722e+00, 8.66003914e+00,-2.59688306e+01,
 -2.53752050e+00,-4.09642169e+00, 1.92129497e+01,-3.98884197e+01,
 -2.42436170e-01, 3.68081515e-02, 7.58767063e+00,-2.58229423e+01,
 -4.48428278e+00, 8.64068676e-01,-1.92453619e+00, 8.35754318e+01,
 -1.26014331e+02, 2.41133638e+01]

qfrc_actuator:
[ 1.27908935e-05, 8.47033342e-04, 1.41766146e-04, 1.36444526e-05,
 -6.82224703e-06, 3.52706093e-02, 1.08968049e-02, 1.77348941e-03,
 -8.45349322e-05, 9.03420811e-04, 2.05309057e-04, 3.59171720e-05,
  3.67415955e-03,-1.67023824e-03, 0.00000000e+00,-1.65101322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00622193501887465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.92184683e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.92184683e-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([-0.00774722, -0.08874227,  0.06168858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53361636e-05,-1.22233640e-05,-1.42150266e-05, 8.53805577e-06,
 -7.40040022e-07, 1.01433037e-05,-1.85844958e-05,-8.10921972e-05,
 -1.54248431e-05,-7.16369104e-06, 2.80120893e-05,-5.78539633e-05,
 -4.21076450e-05,-3.29710268e-05, 1.32208937e-06,-1.24417109e-04,
  2.93518311e-04,-1.49680084e-03,-4.90299891e+00,-2.36798859e-03,
  2.22490391e-03,-6.78581358e-03]


--- Step 2048 ---
qpos:
[ 0.01869323, 0.03003247,-0.00945189,-0.02528125,-0.00345284, 1.34036518,
 -0.02988929, 0.94375485, 0.01155632, 0.02730574,-0.00831723, 0.0264574 ,
  1.34970696, 0.00764372, 1.28545313, 0.04435175,-0.09673457,-0.07165539,
  0.0917407 , 0.66700475, 0.15694045,-0.68811342,-0.23869285]

qacc:
[ 4.44907181e+00, 8.49543269e-01, 2.56763584e+00,-1.92397190e+01,
 -4.40587802e-03, 2.40926801e-01, 5.96775725e-01,-7.15563600e+00,
 -1.49073194e+00, 3.54174862e-03,-2.82959119e-01, 8.18814698e-01,
 -7.05526052e-01, 9.77840415e-01,-7.40507574e+00, 2.50912451e+01,
  6.77837234e+00,-9.41780361e-01, 2.09493508e+00,-1.25150617e+02,
  1.90875085e+02,-2.61951828e+01]

qfrc_actuator:
[ 4.01778784e-05, 9.22568532e-04, 1.19669432e-04,-3.44580580e-05,
 -7.64227863e-06, 3.52754072e-02, 1.08778956e-02, 1.74618621e-03,
 -9.30900071e-05, 8.92390670e-04, 2.01299137e-04, 3.70216844e-05,
  3.64822739e-03,-1.62696283e-03, 0.00000000e+00,-1.52651053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00612825977486027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18772258, -0.05890017,  0.06169247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69386822e-05, 6.61580229e-05,-2.60693259e-05,-4.89516378e-05,
 -1.25667544e-06, 4.28641136e-06,-2.14256105e-05,-2.94134855e-05,
 -9.00394183e-06,-1.17821586e-05,-4.05671396e-06, 6.39280225e-07,
 -5.50929191e-05, 2.38898547e-05,-1.70940518e-05, 1.16897438e-04,
  6.84448662e-04,-1.76327942e-03,-4.90255668e+00,-2.91068070e-03,
  1.84245136e-03,-6.76828607e-03]


--- Step 2049 ---
qpos:
[ 0.01869366, 0.03003282,-0.00945232,-0.02528166,-0.00345284, 1.34037323,
 -0.02989123, 0.94375461, 0.01155649, 0.02730688,-0.00831741, 0.02645696,
  1.34984923, 0.00764373, 1.28557602, 0.04434918,-0.09671536,-0.07157933,
  0.09173597, 0.66744495, 0.15603165,-0.6881943 ,-0.2378234 ]

qacc:
[ 8.75870919e+00,-3.20863956e-01, 4.87765592e+00,-1.57722230e+01,
  5.72301625e-02, 2.96122744e+00,-9.21886408e+00, 8.17175319e+00,
  5.02540785e+00, 9.80835472e-01,-3.71302003e+00, 4.86795302e+00,
 -9.75457804e-01, 1.51789474e+00,-9.98992281e+00, 3.44622030e+01,
  5.83351560e+00,-8.05991929e-01, 4.41389931e-01,-1.06798628e+02,
  1.64593371e+02,-2.15732117e+01]

qfrc_actuator:
[ 9.20419295e-05, 9.67558870e-04, 1.24737501e-04,-6.27975496e-05,
  9.67970609e-06, 3.52928641e-02, 1.08316806e-02, 1.74800638e-03,
 -6.24462683e-05, 8.85353256e-04, 1.81090451e-04, 3.78553028e-05,
  3.62222960e-03,-1.56544906e-03, 0.00000000e+00,-1.36209799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48563177, -1.6064963 , -8.48563177,  9.81279701,
       -6.21400771, -1.6064963 , -6.21400771, 41.45920996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006189108640222013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79383347e-14,  8.96916736e-15,  1.00000000e+00, -1.60891926e-28,
        1.00000000e+00, -8.96916736e-15, -1.00000000e+00,  0.00000000e+00,
        1.79383347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18758417, -0.05893495,  0.06168987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26764135e-05, 7.45303855e-05, 1.38343921e-05,-2.73621181e-05,
  1.65796743e-05, 1.47016066e-05,-4.86850941e-05, 6.47582444e-07,
  3.03798731e-05,-1.44846492e-05,-2.31346955e-05, 1.99124521e-07,
 -4.78649698e-05, 5.58583748e-05, 2.82832506e-06, 1.68260909e-04,
  1.24879528e-04,-1.39405263e-03,-4.90308673e+00,-2.08872789e-03,
  2.38380052e-03,-6.72691838e-03]


--- Step 2050 ---
qpos:
[ 0.01869435, 0.03003301,-0.00945156,-0.02528206,-0.00345268, 1.34038129,
 -0.02989309, 0.9437547 , 0.01155737, 0.02730812,-0.0083179 , 0.02645618,
  1.34999139, 0.00764366, 1.28569885, 0.04434859,-0.096676  ,-0.07150603,
  0.09172733, 0.66809982, 0.15509283,-0.6880349 ,-0.23705869]

qacc:
[ 2.39549173e+00,-3.52848993e+00, 1.21740075e+01,-1.35818284e+01,
  6.96129402e-02, 3.86049425e-01,-1.94370040e+00, 5.66432553e+00,
  6.05520421e+00, 2.18280656e-01, 8.56917404e-01,-6.50075500e+00,
  1.22046737e-01,-2.23924660e-01,-6.06448941e+00, 2.10762617e+01,
  5.03327188e+00,-6.90570324e-01,-9.79192936e-01,-9.13857842e+01,
  1.42316182e+02,-1.78479082e+01]

qfrc_actuator:
[ 1.04625558e-04, 9.40781013e-04, 1.81238043e-04,-6.15157978e-05,
  1.99924610e-05, 3.52999262e-02, 1.08407861e-02, 1.76692940e-03,
 -2.67305933e-05, 8.98444054e-04, 1.69247365e-04, 2.07566594e-05,
  3.61752744e-03,-1.58241193e-03, 0.00000000e+00,-1.26432518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.44842453, -1.79189838, -8.44842453, 10.26665788,
       -7.68649494, -1.79189838, -7.68649494, 44.87657288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006162405561654663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60321311e-14,  1.80160655e-14,  1.00000000e+00, -6.49157235e-28,
        1.00000000e+00, -1.80160655e-14, -1.00000000e+00,  0.00000000e+00,
        3.60321311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18764654, -0.05893576,  0.06169099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41445878e-05, 1.65948012e-05, 7.26501016e-05, 4.41738783e-06,
  2.01106315e-05, 5.63898399e-06, 6.45282391e-06, 1.79601323e-05,
  3.66046600e-05, 1.93360077e-07,-1.76890309e-05,-1.85183823e-05,
 -1.50099369e-05,-1.16247259e-05, 1.67752832e-05, 1.06824069e-04,
 -2.17605166e-04,-1.10973012e-03,-4.90320575e+00,-1.41795051e-03,
  2.82912213e-03,-6.68935901e-03]


--- Step 2051 ---
qpos:
[ 0.01869416, 0.03003342,-0.00945016,-0.02528279,-0.00345237, 1.34038892,
 -0.02989351, 0.94375534, 0.01155799, 0.02730942,-0.00831857, 0.02645554,
  1.35013358, 0.00764315, 1.28582177, 0.04434885,-0.09666118,-0.07142806,
  0.09172257, 0.66849724, 0.15416953,-0.68817218,-0.23614032]

qacc:
[-7.60644868e+00,-2.13824101e+00, 9.46187567e+00,-1.64187205e+01,
  6.22143385e-02,-3.52900178e+00, 9.71484861e+00,-1.89523492e+00,
 -2.29020284e+00, 8.90256710e-01,-3.65372214e+00, 6.35936443e+00,
  3.54568221e-01,-6.58783610e-01,-2.50423229e+00, 8.84033298e+00,
 -6.13286110e+00, 1.16988721e+00, 9.72947229e-01, 1.13181988e+02,
 -1.73920840e+02, 3.84847625e+01]

qfrc_actuator:
[ 5.84744527e-05, 9.60236865e-04, 2.14109953e-04,-7.83546828e-05,
  2.60165261e-05, 3.52831772e-02, 1.09179548e-02, 1.79578986e-03,
 -4.15863420e-05, 9.05749246e-04, 1.62514211e-04, 2.87743891e-05,
  3.61492014e-03,-1.61026086e-03, 0.00000000e+00,-1.22436224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006133208559309801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05091531e-15,  1.35763730e-14,  1.00000000e+00,  1.22878602e-28,
        1.00000000e+00, -1.35763730e-14, -1.00000000e+00,  0.00000000e+00,
       -9.05091531e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00755428, -0.08875141,  0.06169218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57375779e-05, 4.39169108e-05, 4.53881417e-05,-1.35308210e-05,
  1.79080078e-05,-1.18786555e-05, 7.95261935e-05, 2.96442502e-05,
 -1.37788607e-05, 2.94397677e-06,-9.52034991e-06, 7.05227957e-06,
 -1.23308712e-05,-3.50009238e-05, 1.63721889e-05, 4.73349961e-05,
 -4.10630969e-04,-8.88139212e-04,-4.90305684e+00,-8.63791028e-04,
  3.20166160e-03,-6.65472042e-03]


--- Step 2052 ---
qpos:
[ 0.01869342, 0.0300343 ,-0.00944877,-0.02528336,-0.00345195, 1.34039623,
 -0.02989321, 0.94375566, 0.01155773, 0.02731063,-0.00831923, 0.02645431,
  1.35027549, 0.00764285, 1.28594546, 0.04434391,-0.09666751,-0.07134595,
  0.09171575, 0.66867256, 0.15325927,-0.68856479,-0.23508962]

qacc:
[-4.74298711e+00, 9.64221830e-01,-3.17096171e+00, 5.53379449e+00,
  4.85403148e-02,-2.90412096e+00, 9.64055248e+00,-1.19101839e+01,
 -7.43980290e+00,-1.32135195e+00, 7.05319048e+00,-1.71629800e+01,
 -7.94718572e-01, 9.48692388e-01, 1.69313642e+01,-5.73986364e+01,
 -5.28680934e+00, 1.03164962e+00,-5.17805362e-01, 9.71588624e+01,
 -1.50023337e+02, 3.32054401e+01]

qfrc_actuator:
[ 3.13935365e-05, 9.89374105e-04, 2.15149644e-04,-7.02129943e-05,
  2.94195698e-05, 3.52525855e-02, 1.09458088e-02, 1.77702147e-03,
 -8.60910439e-05, 8.91825347e-04, 1.58852131e-04,-1.74893937e-06,
  3.60290950e-03,-1.59100656e-03, 0.00000000e+00,-1.50279594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006138138348401788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04364615e-15,  9.04364615e-15,  1.00000000e+00,  8.17875357e-29,
        1.00000000e+00, -9.04364615e-15, -1.00000000e+00,  0.00000000e+00,
       -9.04364615e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00756464, -0.08874292,  0.06169197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84022137e-05, 6.24452916e-05, 1.52145675e-05, 1.13283658e-05,
  1.39846519e-05,-2.07644754e-05, 3.54429237e-05,-1.60949781e-05,
 -4.49038371e-05,-1.39825119e-05,-3.98729837e-06,-3.05886066e-05,
 -2.60616195e-05, 5.84150766e-06, 9.50813540e-06,-2.74454638e-04,
 -1.60958987e-04,-1.21232028e-03,-4.90310982e+00,-1.52363961e-03,
  2.76293784e-03,-6.63951093e-03]


--- Step 2053 ---
qpos:
[ 0.01869304, 0.0300355 ,-0.0094476 ,-0.02528345,-0.00345159, 1.34040336,
 -0.02989265, 0.94375749, 0.01155764, 0.02731179,-0.00832023, 0.02645309,
  1.35041711, 0.00764298, 1.28606923, 0.04433537,-0.09665032,-0.07126682,
  0.09171089, 0.66909895, 0.15231155,-0.6886772 ,-0.23416127]

qacc:
[ 3.16373399e+00, 2.02062773e+00,-8.63720212e+00, 1.71127982e+01,
 -2.65721739e-02, 1.63152548e+00,-8.72402646e+00, 2.52277346e+01,
  1.33585777e+00, 9.00169267e-01,-3.39071411e+00, 4.20642224e+00,
 -7.90570242e-01, 1.08582022e+00, 1.11190631e+01,-3.84985189e+01,
  5.87982964e+00,-7.42576603e-01, 4.92972671e-01,-1.06827802e+02,
  1.66337310e+02,-1.99713243e+01]

qfrc_actuator:
[ 5.12788766e-05, 9.88463693e-04, 1.97463321e-04,-4.74417323e-05,
  1.34708554e-05, 3.52492467e-02, 1.09619708e-02, 1.85459073e-03,
 -7.66634023e-05, 8.83032491e-04, 1.39160683e-04,-1.46843473e-06,
  3.59593492e-03,-1.56169777e-03, 0.00000000e+00,-1.68251569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006124618718888461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81272186e-14,  4.53180465e-15,  1.00000000e+00, -8.21490137e-29,
        1.00000000e+00, -4.53180465e-15, -1.00000000e+00,  0.00000000e+00,
        1.81272186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18773507, -0.05895819,  0.06169252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90742872e-05, 3.75811051e-05,-2.54694059e-06, 2.61893415e-05,
 -7.68557721e-06,-8.42446532e-06, 1.56536928e-05, 7.76223986e-05,
  8.11200546e-06,-1.87965114e-05,-2.41314780e-05,-1.04865971e-06,
 -1.94292604e-05, 2.53924666e-05,-3.12711134e-05,-1.94929590e-04,
  1.76657632e-04,-1.52383623e-03,-4.90287163e+00,-2.14914964e-03,
  2.34156751e-03,-6.62271951e-03]


--- Step 2054 ---
qpos:
[ 0.01869326, 0.0300368 ,-0.0094468 ,-0.02528322,-0.00345149, 1.34041038,
 -0.02989189, 0.94376023, 0.01155834, 0.02731295,-0.00832156, 0.02645257,
  1.3505587 , 0.00764274, 1.28619262, 0.04432638,-0.09661283,-0.07119023,
  0.09170231, 0.66974234, 0.15133118,-0.6885479 ,-0.23333636]

qacc:
[ 5.01348847e+00, 1.82047147e+00,-7.65205435e+00, 1.36417085e+01,
 -1.10636164e-01, 8.86633374e-01,-4.94380106e+00, 1.49407505e+01,
  6.84168915e+00, 2.34286846e+00,-1.12716029e+01, 2.37847508e+01,
  1.96959785e-01,-4.59389265e-01, 7.76107766e-01,-3.61001328e+00,
  5.07418368e+00,-6.37483813e-01,-9.31026074e-01,-9.13632546e+01,
  1.43888591e+02,-1.63605710e+01]

qfrc_actuator:
[ 8.08900684e-05, 9.69492315e-04, 1.68760003e-04,-3.40336634e-05,
 -1.39573881e-05, 3.52445015e-02, 1.09712842e-02, 1.89949342e-03,
 -3.55569769e-05, 8.95087905e-04, 1.27954429e-04, 3.46836543e-05,
  3.58134178e-03,-1.59768483e-03, 0.00000000e+00,-1.69600750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.50719549, -1.48808662, -8.50719549,  9.61904903,
       -5.61788315, -1.48808662, -5.61788315, 40.75306267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006105579029639374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81837467e-14, -4.54593667e-15,  1.00000000e+00,  8.26621609e-29,
        1.00000000e+00,  4.54593667e-15, -1.00000000e+00,  0.00000000e+00,
        1.81837467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18778034, -0.05896383,  0.06169332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01741406e-05, 2.58958187e-06,-2.03771371e-05, 1.54331347e-05,
 -3.19704142e-05,-4.05646440e-06, 1.17174690e-05, 4.69214701e-05,
  4.13408539e-05,-3.51008567e-06,-1.80969464e-05, 3.44932288e-05,
 -1.96217620e-05,-3.23192509e-05,-3.86395632e-05,-2.89140484e-05,
 -1.95178789e-04,-1.23026395e-03,-4.90301903e+00,-1.43694506e-03,
  2.80794966e-03,-6.58283257e-03]


--- Step 2055 ---
qpos:
[ 0.01869417, 0.03003797,-0.00944651,-0.02528314,-0.00345182, 1.34041729,
 -0.02989119, 0.94376143, 0.01155884, 0.0273139 ,-0.00832232, 0.02645142,
  1.35070027, 0.00764189, 1.28631548, 0.04431957,-0.09659956,-0.07110883,
  0.09169715, 0.67013223, 0.15036162,-0.68871236,-0.23235631]

qacc:
[   5.97837647,   0.92361351,  -2.9166945 ,   1.24930024,  -0.18336459,
   -2.62299774,  11.55993037, -27.84296606,  -1.70087   ,  -3.18678688,
   13.60902521, -25.29159722,   0.57185296,  -1.03579807,  -7.45958166,
   24.81381997,  -6.05426491,   1.204111  ,   0.85340105, 110.485521  ,
 -172.64387536,  40.87737923]

qfrc_actuator:
[ 1.15972972e-04, 9.39782352e-04, 1.33694386e-04,-4.40207909e-05,
 -4.80495111e-05, 3.52211603e-02, 1.09586985e-02, 1.81827556e-03,
 -4.71618889e-05, 8.84093948e-04, 1.57464370e-04, 2.91088084e-06,
  3.57281618e-03,-1.63671402e-03, 0.00000000e+00,-1.57596336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006168804341436282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34980334e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34980334e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0076334 , -0.08871073,  0.06169059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59582961e-05,-3.18565625e-05,-3.65328895e-05,-1.02871924e-05,
 -5.29845548e-05,-2.19280287e-05,-1.06741804e-05,-7.98935851e-05,
 -1.03938254e-05,-1.52256532e-05, 2.77515328e-05,-3.18781153e-05,
 -2.67337164e-05,-5.28241511e-05,-2.18594710e-05, 1.13298317e-04,
 -4.12773312e-04,-9.98696313e-04,-4.90288962e+00,-8.44266185e-04,
  3.19993379e-03,-6.54586656e-03]


--- Step 2056 ---
qpos:
[ 0.01869549, 0.03003883,-0.00944628,-0.02528319,-0.00345229, 1.34042394,
 -0.02989028, 0.9437613 , 0.01155852, 0.02731447,-0.00832233, 0.02644955,
  1.35084148, 0.00764089, 1.28643799, 0.04431588,-0.09660716,-0.07102319,
  0.09168949, 0.67030338, 0.14940095,-0.68912957,-0.23124265]

qacc:
[ 3.55421939e+00,-4.98930908e-01, 1.67436774e+00,-3.46356941e+00,
 -5.48390057e-02,-3.17781363e+00, 1.26757101e+01,-2.62153741e+01,
 -7.07195827e+00,-4.03002495e+00, 1.66943511e+01,-2.99541269e+01,
  7.47397081e-02,-2.80862584e-01,-9.98150760e+00, 3.41143014e+01,
 -5.21857275e+00, 1.06109064e+00,-6.23493337e-01, 9.47938190e+01,
 -1.48936114e+02, 3.53022889e+01]

qfrc_actuator:
[ 1.36239402e-04, 9.21559406e-04, 1.30591364e-04,-4.99545188e-05,
 -3.26055195e-05, 3.52044540e-02, 1.09686530e-02, 1.75223724e-03,
 -8.97103331e-05, 8.59500230e-04, 1.92883760e-04,-3.30650258e-05,
  3.55195401e-03,-1.64166841e-03, 0.00000000e+00,-1.41376406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061653308902928985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.00375863e-15, -4.50187932e-15,  1.00000000e+00, -4.05338348e-29,
        1.00000000e+00,  4.50187932e-15, -1.00000000e+00,  0.00000000e+00,
       -9.00375863e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00762525, -0.08870618,  0.06169073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13010131e-05,-4.40589394e-05,-1.45575171e-05,-8.76705416e-06,
 -1.58663981e-05,-3.33733842e-05, 2.10046982e-06,-6.88503546e-05,
 -4.28559679e-05,-2.87663794e-05, 3.45908068e-05,-3.62858696e-05,
 -4.66582708e-05,-2.68601199e-05, 1.56007973e-06, 1.65497272e-04,
 -1.42185209e-04,-1.34657977e-03,-4.90288674e+00,-1.53713415e-03,
  2.74515421e-03,-6.52965517e-03]


--- Step 2057 ---
qpos:
[ 0.01869705, 0.03003945,-0.00944591,-0.02528264,-0.0034526 , 1.34043048,
 -0.02988935, 0.94376073, 0.01155802, 0.02731474,-0.00832193, 0.02644798,
  1.35098218, 0.00764007, 1.28656075, 0.04431181,-0.09662954,-0.07093218,
  0.09172003, 0.67031815, 0.14844243,-0.68972966,-0.2300248 ]

qacc:
[ 2.00688944e+00, 4.93289201e-01,-4.71028566e+00, 1.49028027e+01,
  6.19996974e-02,-9.70305494e-01, 3.91852036e+00,-8.54535290e+00,
 -1.37412781e+00,-9.47141124e-01, 1.56099949e+00, 3.04312961e+00,
 -5.76210627e-01, 6.28653265e-01, 1.59519262e+00,-4.90157898e+00,
 -3.69401387e+00, 1.34196875e+00, 9.54809613e+00, 6.94472521e+01,
 -1.07143293e+02, 2.97512198e+01]

qfrc_actuator:
[ 1.47621091e-04, 9.28229412e-04, 1.46431956e-04,-1.79163247e-05,
 -5.32278859e-06, 3.52096827e-02, 1.09741367e-02, 1.73121335e-03,
 -9.68561952e-05, 8.44731506e-04, 2.13688635e-04,-1.79727959e-05,
  3.52904649e-03,-1.62639397e-03, 0.00000000e+00,-1.44111056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006087163915095168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60129051e-07, -9.11937842e-15,  1.00000000e+00,  8.75578015e-21,
        1.00000000e+00,  9.11937842e-15, -1.00000000e+00,  0.00000000e+00,
        9.60129051e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06554937, -0.07915589,  0.06169402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19850667e-05,-2.13794301e-05, 4.62998115e-06, 2.94740012e-05,
  1.79059411e-05,-1.49379691e-05,-2.83330735e-06,-2.35512810e-05,
 -8.40947933e-06,-2.52975136e-05, 1.78666765e-05, 1.43547692e-05,
 -5.19651893e-05,-3.78226579e-06, 1.66209409e-05,-1.84669716e-05,
  2.12403537e-04,-1.67870498e-03,-4.90260380e+00,-2.19482152e-03,
  2.30845296e-03,-6.51173953e-03]


--- Step 2058 ---
qpos:
[ 0.01869873, 0.03003983,-0.00944532,-0.02528207,-0.00345314, 1.34043715,
 -0.02988881, 0.94376094, 0.01155745, 0.02731454,-0.00832093, 0.0264473 ,
  1.35112243, 0.00763984, 1.28668321, 0.04431049,-0.09662765,-0.07084387,
  0.0917538 , 0.67059249, 0.14744106,-0.69004203,-0.22892976]

qacc:
[ 1.07872636e+00,-8.38413723e-01, 2.40852018e+00,-2.05192556e+00,
 -9.10002697e-02, 2.57110647e+00,-9.80829606e+00, 1.75780668e+01,
 -6.74718285e-01,-4.58711901e-01,-3.03146273e+00, 1.78499291e+01,
 -4.99929940e-01, 7.98749381e-01,-8.70441546e+00, 2.98985018e+01,
  6.06637949e+00,-6.76375005e-01, 8.11220640e-01,-1.09067489e+02,
  1.71902795e+02,-1.78810228e+01]

qfrc_actuator:
[ 1.53687378e-04, 9.14370290e-04, 1.55696634e-04,-1.70204521e-05,
 -4.21717214e-05, 3.52280216e-02, 1.09592882e-02, 1.77235707e-03,
 -1.00849170e-04, 8.18195157e-04, 2.43519857e-04, 2.70429500e-05,
  3.52624165e-03,-1.58151360e-03, 0.00000000e+00,-1.29588649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006178625183443594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.98438562e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.98438562e-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([-0.18763253, -0.05904641,  0.06169041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40421052e-06,-2.36249237e-05, 6.42413797e-06, 7.10422570e-07,
 -2.62682703e-05, 8.76817230e-06,-1.87927352e-05, 4.00751257e-05,
 -4.24845313e-06,-3.63925175e-05, 2.72985057e-05, 4.48314892e-05,
 -2.94300327e-05, 3.16226061e-05, 1.07021976e-06, 1.45339849e-04,
  5.43706218e-04,-1.95287689e-03,-4.90220795e+00,-2.70659389e-03,
  1.95434951e-03,-6.49009045e-03]


--- Step 2059 ---
qpos:
[ 0.01870047, 0.03004004,-0.00944463,-0.02528148,-0.00345398, 1.34044376,
 -0.02988841, 0.94376199, 0.01155649, 0.02731376,-0.00831921, 0.02644751,
  1.35126247, 0.00763984, 1.28680553, 0.04431156,-0.09660481,-0.07075789,
  0.09178497, 0.6710913 , 0.14640234,-0.6901065 ,-0.22793825]

qacc:
[ 5.18608073e-01,-5.17013905e-01, 1.46256430e+00,-1.37186649e+00,
 -1.29095251e-01, 1.74222469e+00,-7.50349339e+00, 1.62906851e+01,
 -3.28038223e+00,-9.43304378e-01,-1.51266491e+00, 1.62550131e+01,
 -1.13490021e-01, 2.11674051e-01,-7.45761009e+00, 2.58328939e+01,
  5.23894593e+00,-5.81469008e-01,-6.52564259e-01,-9.31699832e+01,
  1.48661265e+02,-1.44036345e+01]

qfrc_actuator:
[ 1.56579637e-04, 9.06042037e-04, 1.60895477e-04,-1.67311937e-05,
 -6.39389379e-05, 3.52185286e-02, 1.09503972e-02, 1.81423776e-03,
 -1.20718712e-04, 7.84884793e-04, 2.78413577e-04, 7.15431884e-05,
  3.51953434e-03,-1.57259768e-03, 0.00000000e+00,-1.17436051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48621887, -1.60339209, -8.48621887,  9.60504754,
       -5.12692042, -1.60339209, -5.12692042, 35.77144133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006178463622596095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49231028e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49231028e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18765124, -0.05905917,  0.06169072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06842166e-06,-2.02069914e-05, 1.12068030e-06,-4.90181778e-07,
 -3.72896516e-05,-7.16016592e-06,-8.14669147e-06, 4.25325798e-05,
 -2.00093785e-05,-4.61073063e-05, 3.22816957e-05, 4.47575346e-05,
 -1.36212901e-05, 1.13866890e-05, 1.38956020e-05, 1.29158679e-04,
  4.42591331e-05,-1.62499661e-03,-4.90257863e+00,-1.89116363e-03,
  2.47418391e-03,-6.44498672e-03]


--- Step 2060 ---
qpos:
[ 0.01870258, 0.03004032,-0.0094443 ,-0.02528056,-0.00345495, 1.34045054,
 -0.02988843, 0.94376215, 0.01155529, 0.02731282,-0.00831745, 0.0264479 ,
  1.35140226, 0.00764003, 1.28692842, 0.04430974,-0.09656381,-0.07067391,
  0.09180852, 0.67178458, 0.14533099,-0.6899564 ,-0.22703426]

qacc:
[ 3.12582983e+00, 1.78805381e+00,-7.67473180e+00, 1.41037829e+01,
 -5.82959924e-02,-1.65248647e-01, 2.64217942e+00,-1.27536466e+01,
 -1.96859659e+00, 5.38784369e-02,-1.26475907e+00, 4.44961837e+00,
 -5.79517855e-01, 6.98156369e-01, 9.66593959e+00,-3.24475854e+01,
  4.53890634e+00,-5.00261239e-01,-1.90481008e+00,-7.98377313e+01,
  1.28975155e+02,-1.16568778e+01]

qfrc_actuator:
[ 1.75335103e-04, 9.18826034e-04, 1.45924580e-04, 9.57643481e-07,
 -5.87283677e-05, 3.52279761e-02, 1.09272348e-02, 1.76743066e-03,
 -1.32022782e-04, 7.83310143e-04, 2.80472755e-04, 7.98688535e-05,
  3.49982775e-03,-1.56738585e-03, 0.00000000e+00,-1.33410289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43821851, -1.83936   , -8.43821851, 10.04634013,
       -6.46838563, -1.83936   , -6.46838563, 38.31062614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006104200240887224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54696349e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.54696349e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18783819, -0.05904469,  0.06169413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88363482e-05, 1.67380773e-06,-1.90368797e-05, 1.68491544e-05,
 -1.68253022e-05, 5.12664865e-06,-2.42489018e-05,-4.62638080e-05,
 -1.19100128e-05,-1.87742632e-05,-1.95184085e-06, 8.33588126e-06,
 -2.33385061e-05, 5.24986358e-06, 1.76465807e-05,-1.51469190e-04,
 -2.78617673e-04,-1.36216557e-03,-4.90262527e+00,-1.20697657e-03,
  2.91239009e-03,-6.40298529e-03]


--- Step 2061 ---
qpos:
[ 0.01870421, 0.03004059,-0.00944387,-0.0252791 ,-0.00345598, 1.34045766,
 -0.02988946, 0.9437628 , 0.01155397, 0.02731203,-0.00831608, 0.02644803,
  1.35154181, 0.0076401 , 1.28705103, 0.04430907,-0.09650703,-0.07059165,
  0.09182019, 0.67264674, 0.14423111,-0.68961965,-0.22620451]

qacc:
[-4.12264673e+00, 8.39616687e-01,-5.22807944e+00, 1.42404870e+01,
 -2.21336842e-02, 4.00830489e+00,-1.35393964e+01, 1.72102544e+01,
 -1.09635421e+00, 7.59842026e-01,-1.30159458e+00,-2.70842330e+00,
 -2.13095005e-02,-1.10468784e-01,-3.90781968e+00, 1.30374076e+01,
  3.94597106e+00,-4.30776084e-01,-2.97146717e+00,-6.86551006e+01,
  1.12318164e+02,-9.48532750e+00]

qfrc_actuator:
[ 1.50020695e-04, 9.26336489e-04, 1.54771583e-04, 2.87482025e-05,
 -5.51291399e-05, 3.52485848e-02, 1.08780948e-02, 1.79307600e-03,
 -1.38189331e-04, 8.00594593e-04, 2.63229014e-04, 6.68458044e-05,
  3.47765947e-03,-1.58219262e-03, 0.00000000e+00,-1.26770887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.40708126, -1.97680591, -8.40708126, 10.43609977,
       -7.65402807, -1.97680591, -7.65402807, 41.18788308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005971176787250711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64825890e-15,  4.64825890e-15,  1.00000000e+00, -2.16063108e-29,
        1.00000000e+00, -4.64825890e-15, -1.00000000e+00,  0.00000000e+00,
        4.64825890e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18815767, -0.05900909,  0.0617    ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47662805e-05, 5.21977267e-06, 7.41884120e-06, 2.75270609e-05,
 -6.34293381e-06, 1.72648035e-05,-5.22606478e-05, 2.40252606e-05,
 -6.52330126e-06, 6.74461274e-06,-2.10849708e-05,-1.37353409e-05,
 -3.28785117e-05,-1.85089703e-05,-1.35938952e-05, 5.91274427e-05,
 -4.77707958e-04,-1.14870058e-03,-4.90246033e+00,-6.26713288e-04,
  3.28704299e-03,-6.36339074e-03]


--- Step 2062 ---
qpos:
[ 0.01870517, 0.03004071,-0.00944295,-0.02527803,-0.00345687, 1.34046466,
 -0.0298904 , 0.94376443, 0.01155363, 0.02731115,-0.00831512, 0.02644805,
  1.35168134, 0.00764013, 1.2871731 , 0.04431252,-0.09647644,-0.07050642,
  0.09183928, 0.67321377, 0.14318396,-0.68959011,-0.22527106]

qacc:
[-5.65012069e+00,-2.36667975e+00, 9.74532348e+00,-1.69796663e+01,
  5.74899008e-02, 1.24838274e+00,-6.28118006e+00, 1.68590482e+01,
  8.27195836e+00, 7.60318825e-01,-2.41338983e+00, 1.06841090e+00,
  3.69000334e-01,-4.50896865e-01,-1.32763239e+01, 4.52107913e+01,
 -6.54875796e+00, 7.44058015e-01, 1.85791295e+00, 1.09524414e+02,
 -1.91638237e+02, 5.46715340e+00]

qfrc_actuator:
[ 1.16717335e-04, 9.12985510e-04, 1.77608411e-04, 9.01700808e-06,
 -3.47747770e-05, 3.52401417e-02, 1.08851331e-02, 1.84341492e-03,
 -8.80274028e-05, 7.75679516e-04, 2.34814179e-04, 5.91352571e-05,
  3.49662862e-03,-1.57329047e-03, 0.00000000e+00,-1.05076671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006026413521931576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.21130802e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.21130802e-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([-0.00818576, -0.08375237,  0.06169775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40262732e-05,-7.75326381e-06, 2.57688758e-05,-1.87190898e-05,
  1.66067457e-05,-8.43937256e-06, 5.16711040e-06, 4.98915141e-05,
  4.99735804e-05,-2.60817915e-05,-3.01021617e-05,-8.41997319e-06,
 -1.88593703e-06,-4.19275425e-06,-1.77275165e-06, 2.18023308e-04,
 -5.89586720e-04,-9.73100067e-04,-4.90216168e+00,-1.29678914e-04,
  3.61162970e-03,-6.32567394e-03]


--- Step 2063 ---
qpos:
[ 0.01870504, 0.03004088,-0.00944234,-0.02527786,-0.00345787, 1.34047111,
 -0.02989041, 0.94376526, 0.01155388, 0.02731015,-0.00831478, 0.02644763,
  1.35182062, 0.00764074, 1.2872955 , 0.0443155 ,-0.09646845,-0.07041851,
  0.0918594 , 0.67352663, 0.14218187,-0.68982523,-0.22424842]

qacc:
[-9.41885905e+00,-8.94393386e-01, 7.15882452e+00,-2.24182741e+01,
 -4.55095166e-02,-4.55063351e+00, 1.56302399e+01,-2.24655768e+01,
  5.13997734e+00, 6.88669833e-01,-9.03179208e-01,-5.31874434e+00,
 -6.15273598e-01, 9.83409453e-01, 1.93792287e+00,-5.93746933e+00,
 -5.64908508e+00, 6.68591869e-01, 2.57146992e-01, 9.39274770e+01,
 -1.65266859e+02, 4.80830043e+00]

qfrc_actuator:
[ 6.12400675e-05, 9.05024019e-04, 1.55138067e-04,-3.85308089e-05,
 -5.77922477e-05, 3.51968471e-02, 1.09251783e-02, 1.80137124e-03,
 -5.83726663e-05, 7.61143724e-04, 1.99878084e-04, 3.68251408e-05,
  3.49233606e-03,-1.53243016e-03, 0.00000000e+00,-1.08422311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006070415124863358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14453956e-15,  9.14453956e-15,  1.00000000e+00,  8.36226037e-29,
        1.00000000e+00, -9.14453956e-15, -1.00000000e+00,  0.00000000e+00,
       -9.14453956e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00827301, -0.08373429,  0.06169605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.64732912e-05,-7.80862710e-06,-2.15597289e-05,-4.73562406e-05,
 -1.32045382e-05,-4.54959379e-05, 4.04411809e-05,-4.09784513e-05,
  3.11090151e-05,-3.56626498e-05,-4.43259398e-05,-2.46355888e-05,
 -5.72527350e-06, 3.89770680e-05, 2.19240721e-05,-2.19007140e-05,
 -3.72610976e-04,-1.20909414e-03,-4.90264498e+00,-9.68570811e-04,
  3.13883307e-03,-6.31133473e-03]


--- Step 2064 ---
qpos:
[ 0.01870425, 0.03004097,-0.00944257,-0.02527716,-0.0034589 , 1.34047707,
 -0.02989048, 0.94376597, 0.01155414, 0.02730904,-0.00831464, 0.02644728,
  1.35195955, 0.00764171, 1.28741807, 0.04431742,-0.09648001,-0.07032819,
  0.09187507, 0.67361956, 0.14121832,-0.69028884,-0.22314881]

qacc:
[-5.72338613e+00, 3.32141286e+00,-1.41870217e+01, 2.45889379e+01,
 -1.17093151e-02,-7.14873949e-01, 1.77331792e+00,-2.56710917e+00,
  7.53406649e-02, 5.39940958e-01,-2.37026577e+00, 3.71362352e+00,
 -6.03482024e-01, 8.06236321e-01, 3.53463177e+00,-1.18326230e+01,
 -4.88835526e+00, 6.02554270e-01,-1.11551128e+00, 8.07756599e+01,
 -1.43007013e+02, 4.20938148e+00]

qfrc_actuator:
[ 2.86638933e-05, 8.82387312e-04, 1.06094644e-04,-1.33253040e-05,
 -5.33853966e-05, 3.51508590e-02, 1.09131555e-02, 1.79404415e-03,
 -5.87968170e-05, 7.70639286e-04, 1.96898854e-04, 4.16092665e-05,
  3.45813057e-03,-1.52625503e-03, 0.00000000e+00,-1.14071770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00603319361158202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20095638e-15,  9.20095638e-15,  1.00000000e+00,  8.46575982e-29,
        1.00000000e+00, -9.20095638e-15, -1.00000000e+00,  0.00000000e+00,
       -9.20095638e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00818118, -0.08374183,  0.06169781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42229358e-05,-3.35167014e-05,-5.49570613e-05, 2.32033206e-05,
 -3.39761330e-06,-6.45192345e-05,-1.75279659e-05,-8.44839443e-06,
  4.74471878e-07,-2.06145652e-05,-1.66503810e-05, 1.24379436e-06,
 -2.78167183e-05, 1.64537517e-05, 3.24143034e-06,-5.59065669e-05,
 -8.01040383e-05,-1.43115429e-03,-4.90274016e+00,-1.69324829e-03,
  2.72498581e-03,-6.29506699e-03]


--- Step 2065 ---
qpos:
[ 0.0187041 , 0.03004077,-0.00944305,-0.02527619,-0.00345963, 1.34048275,
 -0.02989103, 0.9437659 , 0.01155509, 0.02730773,-0.00831453, 0.02644698,
  1.35209834, 0.00764234, 1.28754064, 0.04431866,-0.09650855,-0.07023569,
  0.09188158, 0.67352127, 0.14028779,-0.6909502 ,-0.22198258]

qacc:
[ 5.56716540e+00, 8.93622108e-01,-4.94139525e+00, 1.04416088e+01,
  1.26546839e-01,-4.07926851e-01, 2.49716718e+00,-1.10526863e+01,
  5.82805537e+00,-6.85572396e-02,-4.08958637e-01, 1.64280848e+00,
  4.25465026e-02,-2.94265490e-01, 2.05914550e+00,-7.24525794e+00,
 -4.24419126e+00, 5.44541753e-01,-2.28758349e+00, 6.96823394e+01,
 -1.24218748e+02, 3.67150770e+00]

qfrc_actuator:
[ 6.30926419e-05, 8.68822915e-04, 9.50188092e-05, 1.20829572e-06,
 -1.48083677e-05, 3.51389389e-02, 1.08882491e-02, 1.75392694e-03,
 -2.36572572e-05, 7.59096189e-04, 1.95181047e-04, 4.45906087e-05,
  3.43795072e-03,-1.55865764e-03, 0.00000000e+00,-1.17474767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0059310925866980155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.3593466e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.3593466e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00794782, -0.08376991,  0.06170232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34208585e-05,-4.26750176e-05,-2.39616010e-05, 1.16494085e-05,
  3.65670866e-05,-5.13331436e-05,-3.97753359e-05,-4.27571011e-05,
  3.51434466e-05,-2.64166192e-05,-7.97142188e-06, 1.54901198e-06,
 -3.04337096e-05,-3.38406124e-05,-8.50846492e-06,-3.75821077e-05,
  2.51051721e-04,-1.63557723e-03,-4.90258191e+00,-2.32124579e-03,
  2.36083378e-03,-6.27707679e-03]


--- Step 2066 ---
qpos:
[ 0.01870437, 0.0300405 ,-0.00944321,-0.02527547,-0.00346013, 1.3404882 ,
 -0.0298917 , 0.94376637, 0.01155645, 0.02730664,-0.00831492, 0.02644669,
  1.35223698, 0.0076424 , 1.28766318, 0.04431912,-0.09651166,-0.07014632,
  0.09189301, 0.67370382, 0.13930047,-0.6913122 ,-0.22092075]

qacc:
[ 3.55710322e+00,-1.51460515e+00, 6.29654124e+00,-1.10268682e+01,
  9.38414132e-02, 9.47447773e-01,-4.54478023e+00, 1.02627223e+01,
  3.51222150e+00, 1.69804129e+00,-5.71716911e+00, 6.63999315e+00,
  1.83538111e-01,-6.03057323e-01, 2.25646314e+00,-8.01190568e+00,
  6.35722688e+00,-7.79519152e-01, 1.23074838e+00,-1.08115972e+02,
  1.84210040e+02,-5.36511390e+00]

qfrc_actuator:
[ 8.34186390e-05, 8.96441763e-04, 1.24223282e-04,-8.38244359e-06,
 -9.30297936e-06, 3.51474353e-02, 1.08915649e-02, 1.78361034e-03,
 -3.36159158e-06, 7.88320908e-04, 1.76374549e-04, 4.64638663e-05,
  3.42085421e-03,-1.59590410e-03, 0.00000000e+00,-1.21299926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005896192826424056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.70737244e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.70737244e-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([-0.18837397, -0.05901486,  0.06170389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12864379e-05,-6.71829421e-07, 1.78471915e-05,-1.20220230e-05,
  2.71124460e-05,-2.90027133e-05,-1.25120421e-05, 2.59896474e-05,
  2.13118944e-05, 1.29342778e-05,-2.51771630e-05, 4.97605658e-07,
 -4.05362594e-05,-5.42709047e-05,-1.08028286e-05,-4.20590713e-05,
  5.95936152e-04,-1.82084464e-03,-4.90226277e+00,-2.86732379e-03,
  2.03860529e-03,-6.25755227e-03]


--- Step 2067 ---
qpos:
[ 0.01870453, 0.03004033,-0.00944312,-0.02527488,-0.00346033, 1.34049368,
 -0.02989247, 0.94376716, 0.0115577 , 0.02730608,-0.00831574, 0.02644639,
  1.35237557, 0.00764192, 1.28778556, 0.04431978,-0.09649281,-0.07005958,
  0.09190333, 0.67412894, 0.13826398,-0.69141621,-0.21994742]

qacc:
[-8.76374906e-01,-8.72237971e-01, 3.88453779e+00,-6.76517669e+00,
  1.28547752e-01, 8.51605645e-01,-3.39739703e+00, 6.71197102e+00,
 -9.76855474e-01, 1.85610138e+00,-5.49811457e+00, 5.40770974e+00,
  3.25003884e-01,-7.14717801e-01,-8.54846101e-01, 2.54366795e+00,
  5.49109786e+00,-6.60771589e-01,-2.79388686e-01,-9.25487488e+01,
  1.59159644e+02,-3.99405548e+00]

qfrc_actuator:
[ 7.75065577e-05, 9.13162314e-04, 1.41615403e-04,-1.42786789e-05,
  1.18223703e-05, 3.51682410e-02, 1.08938975e-02, 1.80091503e-03,
 -9.72906103e-06, 8.41667934e-04, 1.65543733e-04, 4.76912982e-05,
  3.42691650e-03,-1.61793085e-03, 0.00000000e+00,-1.20017160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.11582087,  -2.9530033 ,  -8.11582087,
        13.84042501, -14.30246621,  -2.9530033 , -14.30246621,
        47.9442282 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005935172564138912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67645638e-15,  4.67645638e-15,  1.00000000e+00,  2.18692443e-29,
        1.00000000e+00, -4.67645638e-15, -1.00000000e+00,  0.00000000e+00,
       -4.67645638e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18829067, -0.05903187,  0.06170234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29136216e-06, 1.95327494e-05, 1.90377687e-05,-5.54323571e-06,
  3.71458712e-05, 3.06101506e-06,-4.00710258e-06, 1.66758159e-05,
 -5.74170067e-06, 5.54570920e-05,-1.12243990e-05, 9.23569932e-07,
 -2.72118638e-05,-4.74908346e-05,-1.22617691e-05, 8.50077933e-06,
  8.34488229e-05,-1.52889267e-03,-4.90266814e+00,-2.03833790e-03,
  2.52113510e-03,-6.21219831e-03]


--- Step 2068 ---
qpos:
[ 0.01870463, 0.03004032,-0.00944337,-0.02527468,-0.00346011, 1.34049859,
 -0.02989261, 0.94376678, 0.01155921, 0.02730607,-0.00831616, 0.02644535,
  1.352514  , 0.00764112, 1.28790793, 0.04431989,-0.09645492,-0.06997509,
  0.09190735, 0.67476397, 0.13718484,-0.69129683,-0.21904931]

qacc:
[-6.30455089e-01, 3.89396434e-01, 5.41077414e-01,-6.77464148e+00,
  1.81106740e-01,-4.42737211e+00, 1.59297012e+01,-2.69552446e+01,
  2.20998622e+00,-1.88652595e+00, 1.08847122e+01,-2.46278251e+01,
  2.93343766e-02,-2.73601601e-01, 1.63036070e+00,-5.73684613e+00,
  4.75764388e+00,-5.60505094e-01,-1.57411199e+00,-7.94555190e+01,
  1.37971742e+02,-2.96414890e+00]

qfrc_actuator:
[ 7.39551293e-05, 9.05451207e-04, 1.16352295e-04,-3.57207432e-05,
  4.21488975e-05, 3.51075006e-02, 1.09134115e-02, 1.73977518e-03,
  3.77090437e-06, 8.91331672e-04, 1.95133009e-04, 1.30572957e-05,
  3.42024150e-03,-1.63063019e-03, 0.00000000e+00,-1.22835645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.02132191,  -3.20080796,  -8.02132191,
        15.32962116, -16.77350653,  -3.20080796, -16.77350653,
        50.67128015,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0058948579026484385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70843845e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.70843845e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18839038, -0.05902303,  0.06170417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69902192e-06, 6.90734605e-06,-1.90764283e-05,-2.00560191e-05,
  5.22772680e-05,-5.93632992e-05, 2.01416661e-05,-6.07712381e-05,
  1.33488859e-05, 7.84291487e-05, 3.97124640e-05,-3.26236106e-05,
 -3.16205508e-05,-3.30710774e-05,-6.80063929e-06,-2.97735365e-05,
 -2.52444646e-04,-1.29069672e-03,-4.90271602e+00,-1.32252765e-03,
  2.94155404e-03,-6.16930890e-03]


--- Step 2069 ---
qpos:
[ 0.01870468, 0.03004009,-0.0094435 ,-0.02527437,-0.00345963, 1.34050272,
 -0.02989241, 0.94376675, 0.01156086, 0.02730616,-0.00831549, 0.02644426,
  1.35265191, 0.00764048, 1.28802997, 0.044322  ,-0.09644053,-0.06988733,
  0.09191372, 0.6751359 , 0.13614925,-0.69145302,-0.21805416]

qacc:
[-3.62546913e-01,-3.96552629e-01, 5.67588362e-01, 1.18700396e+00,
  1.07376951e-01,-1.34852118e+00, 2.45467113e+00, 2.32536339e+00,
  1.31578934e+00,-3.05591825e+00, 1.12784126e+01,-1.39751466e+01,
 -3.43071018e-01, 3.43039380e-01,-6.50431375e+00, 2.20986137e+01,
 -5.87226017e+00, 8.14864671e-01, 5.87073492e-01, 9.64631156e+01,
 -1.72489125e+02, 7.77125592e+00]

qfrc_actuator:
[ 7.18302760e-05, 8.82983221e-04, 1.19257348e-04,-3.06821799e-05,
  4.22454736e-05, 3.50516831e-02, 1.09248010e-02, 1.75719617e-03,
  1.11129628e-05, 8.85293028e-04, 2.48323393e-04, 1.08857988e-05,
  3.38995853e-03,-1.61998687e-03, 0.00000000e+00,-1.12071686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005801594841286888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91365143e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91365143e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00764133, -0.08380157,  0.06170822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22837406e-06,-2.34026782e-05, 1.29099638e-06, 4.28401854e-06,
  3.09870291e-05,-8.65746917e-05, 2.81183496e-07, 1.48244772e-05,
  7.75946914e-06, 4.46414129e-05, 7.31619449e-05, 1.93168960e-06,
 -5.40744090e-05,-6.42632614e-06,-9.21641662e-06, 1.04476319e-04,
 -4.63641152e-04,-1.09364940e-03,-4.90253077e+00,-7.00647812e-04,
  3.31100263e-03,-6.12837688e-03]


--- Step 2070 ---
qpos:
[ 0.0187047 , 0.03003996,-0.00944373,-0.02527404,-0.00345915, 1.34050659,
 -0.02989178, 0.9437686 , 0.01156294, 0.02730611,-0.00831481, 0.02644326,
  1.35278933, 0.00763998, 1.28815168, 0.04432736,-0.09644646,-0.06979668,
  0.09191681, 0.67528019, 0.13515051,-0.69184739,-0.2169751 ]

qacc:
[-2.28386705e-01, 4.43850995e-01,-1.53585553e+00, 2.16638913e+00,
  9.89172611e-04, 1.69445437e+00,-9.80775081e+00, 3.05067637e+01,
  3.59038228e+00, 4.97214082e-03,-6.63287384e-01, 2.31528100e+00,
 -2.07722633e-01, 1.77707239e-01,-1.03287822e+01, 3.54552012e+01,
 -5.08238301e+00, 7.25384796e-01,-8.19042407e-01, 8.29098893e+01,
 -1.49371918e+02, 6.97901046e+00]

qfrc_actuator:
[ 7.05613258e-05, 9.05228447e-04, 1.20984804e-04,-2.78426442e-05,
  2.42071442e-05, 3.50880224e-02, 1.09668612e-02, 1.85621943e-03,
  3.25176853e-05, 8.28323869e-04, 2.26051024e-04, 1.00494969e-05,
  3.36685196e-03,-1.61344538e-03, 0.00000000e+00,-9.51657385e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.04847904,  7.00711326, -5.04847904, 58.91157015,
       36.22223832,  7.00711326, 36.22223832, 34.7337313 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00579837506970101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57357028e-15,  9.57357028e-15,  1.00000000e+00,  9.16532479e-29,
        1.00000000e+00, -9.57357028e-15, -1.00000000e+00,  0.00000000e+00,
       -9.57357028e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00763018, -0.08380151,  0.06170843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34147130e-06, 9.61702436e-06,-2.79513697e-06, 1.96586791e-06,
  2.69886488e-07,-1.10792029e-05, 2.55866805e-05, 9.67790540e-05,
  2.16452650e-05,-1.68105536e-05,-3.97792409e-06, 3.64655667e-06,
 -5.14244053e-05,-7.97920352e-06, 4.83608114e-06, 1.73135951e-04,
 -1.95595936e-04,-1.33819015e-03,-4.90269827e+00,-1.45827148e-03,
  2.88714989e-03,-6.11220564e-03]


--- Step 2071 ---
qpos:
[ 0.01870505, 0.03004008,-0.00944372,-0.0252744 ,-0.00345876, 1.3405107 ,
 -0.0298908 , 0.94377055, 0.01156526, 0.02730622,-0.00831502, 0.02644194,
  1.3529264 , 0.00763952, 1.28827419, 0.04432801,-0.09642995,-0.06970864,
  0.09191946, 0.67567419, 0.13409762,-0.69197888,-0.2159802 ]

qacc:
[ 2.82599286e+00,-1.77303560e+00, 9.77618693e+00,-2.25033735e+01,
 -3.75646891e-02,-4.40080549e-01, 1.62367145e+00,-4.55772590e-01,
  2.02329070e+00, 2.00252471e+00,-5.48054671e+00, 1.19550500e+00,
 -7.19447099e-01, 7.41766036e-01, 1.55513772e+01,-5.24924125e+01,
  5.60995534e+00,-6.52552890e-01,-1.09814915e-01,-9.27865761e+01,
  1.63577652e+02,-3.56907888e-01]

qfrc_actuator:
[ 8.75588041e-05, 9.36325127e-04, 1.39918244e-04,-6.17981447e-05,
  1.31904258e-05, 3.51261850e-02, 1.09915794e-02, 1.86050551e-03,
  4.42772670e-05, 8.29748357e-04, 1.76914803e-04,-7.85761188e-06,
  3.35339347e-03,-1.60940071e-03, 0.00000000e+00,-1.20937468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005827917799026167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76252009e-15,  4.76252009e-15,  1.00000000e+00,  2.26815976e-29,
        1.00000000e+00, -4.76252009e-15, -1.00000000e+00,  0.00000000e+00,
       -4.76252009e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18855731, -0.05901278,  0.06170721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69623610e-05, 3.59874953e-05, 2.06469269e-05,-3.36020721e-05,
 -1.08579805e-05, 3.99235859e-05, 2.82986742e-05, 6.95613156e-06,
  1.23880118e-05,-8.63124294e-06,-5.29762788e-05,-1.86938333e-05,
 -4.03694974e-05,-1.05295843e-05, 1.85928743e-05,-2.48102276e-04,
  1.22815246e-04,-1.56298562e-03,-4.90258056e+00,-2.12020654e-03,
  2.51184816e-03,-6.09424157e-03]


--- Step 2072 ---
qpos:
[ 0.01870561, 0.03004019,-0.00944283,-0.02527484,-0.00345862, 1.34051516,
 -0.0298901 , 0.94377152, 0.01156701, 0.02730615,-0.00831524, 0.02644177,
  1.35306338, 0.00763898, 1.28839693, 0.0443246 ,-0.09639401,-0.0696228 ,
  0.09191642, 0.67628427, 0.13299778,-0.69188276,-0.2150568 ]

qacc:
[ 1.75320245e+00,-2.61951182e+00, 9.57651997e+00,-1.21179132e+01,
 -1.06943006e-01,-4.83084445e-01, 4.13514048e+00,-1.51327806e+01,
 -4.82771300e+00, 2.20516916e+00,-1.30931062e+01, 3.33251138e+01,
 -3.44147271e-01, 3.21323897e-01, 1.26242213e+01,-4.36076000e+01,
  4.86024604e+00,-5.52110973e-01,-1.42402250e+00,-7.96660246e+01,
  1.41792098e+02, 1.63708263e-01]

qfrc_actuator:
[ 9.74187394e-05, 9.37023567e-04, 1.86637151e-04,-6.38493787e-05,
 -1.12757653e-05, 3.51295400e-02, 1.09703098e-02, 1.80898342e-03,
  1.47562009e-05, 8.30464038e-04, 1.83549529e-04, 5.31317007e-05,
  3.36170590e-03,-1.60681038e-03, 0.00000000e+00,-1.41468804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.97836945,  -3.30641767,  -7.97836945,
        16.06612953, -17.92798825,  -3.30641767, -17.92798825,
        51.89651037,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0058031872898316045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56563152e-15,  4.78281576e-15,  1.00000000e+00, -4.57506531e-29,
        1.00000000e+00, -4.78281576e-15, -1.00000000e+00,  0.00000000e+00,
        9.56563152e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18861789, -0.05900847,  0.06170832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03669993e-05, 2.36487748e-05, 5.55300325e-05,-4.50713570e-07,
 -3.08812305e-05, 3.11588076e-05,-1.00382370e-05,-4.93212119e-05,
 -2.91584635e-05,-1.58420208e-05,-2.31412831e-06, 5.84256992e-05,
 -1.48108900e-05,-9.67089296e-06,-2.46153255e-05,-2.18006603e-04,
 -2.31203173e-04,-1.32697635e-03,-4.90264477e+00,-1.37662956e-03,
  2.93617843e-03,-6.05003526e-03]


--- Step 2073 ---
qpos:
[ 0.01870627, 0.0300404 ,-0.00944224,-0.02527489,-0.00345889, 1.3405198 ,
 -0.0298896 , 0.94377188, 0.0115684 , 0.0273055 ,-0.00831521, 0.02644272,
  1.35320021, 0.00763867, 1.28851929, 0.04432074,-0.09638153,-0.06953342,
  0.09191574, 0.67663224, 0.13193839,-0.69206267,-0.21403346]

qacc:
[   0.96855814,   1.77016232,  -7.74808037,  14.8733222 ,  -0.17511577,
   -0.26846092,   2.41884939,  -9.31597705,  -3.11617452,   0.81521735,
   -8.69843856,  27.92310833,  -0.2857055 ,   0.42510679,   0.83642493,
   -3.67414323,  -5.86799177,   0.88714911,   0.59101658,  95.3565137 ,
 -173.01405148,   9.97177685]

qfrc_actuator:
[ 1.02992431e-04, 9.19660017e-04, 1.60529741e-04,-4.71129740e-05,
 -4.36122813e-05, 3.51295610e-02, 1.09574286e-02, 1.77826789e-03,
 -3.31775441e-06, 7.77771736e-04, 1.87628896e-04, 1.06846524e-04,
  3.36176631e-03,-1.58724148e-03, 0.00000000e+00,-1.42756369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005813945423936061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77396563e-15,  9.54793126e-15,  1.00000000e+00,  4.55814956e-29,
        1.00000000e+00, -9.54793126e-15, -1.00000000e+00,  0.00000000e+00,
       -4.77396563e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00765936, -0.08379513,  0.06170786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.88066100e-06, 7.29870748e-06,-1.44112413e-05, 1.96595687e-05,
 -5.05840271e-05, 1.37811742e-05,-9.37918021e-06,-3.12083755e-05,
 -1.89362767e-05,-5.95246034e-05, 2.55027459e-06, 5.40954939e-05,
 -1.08235344e-05, 1.38287568e-05,-3.82615263e-05,-2.87879193e-05,
 -4.57170921e-04,-1.12982147e-03,-4.90246264e+00,-7.24911620e-04,
  3.31229742e-03,-6.00764234e-03]


--- Step 2074 ---
qpos:
[ 0.018707  , 0.0300406 ,-0.00944243,-0.02527502,-0.00345942, 1.3405249 ,
 -0.02988966, 0.94377151, 0.01156955, 0.02730475,-0.00831496, 0.02644321,
  1.35333651, 0.0076392 , 1.28864118, 0.0443187 ,-0.09638936,-0.06944089,
  0.09191179, 0.67675347, 0.13091292,-0.69248109,-0.21292368]

qacc:
[ 5.07425847e-01, 1.95614631e+00,-6.61000814e+00, 6.23924006e+00,
 -1.08041480e-01, 9.06952107e-01,-7.41031948e-01,-8.02604497e+00,
 -1.94004081e+00,-1.69344228e+00, 7.81039428e+00,-1.60756083e+01,
 -7.66619957e-01, 1.22863393e+00,-6.12188449e+00, 2.06120058e+01,
 -5.07634977e+00, 7.85888513e-01,-8.18989588e-01, 8.18748912e+01,
 -1.49818926e+02, 8.97462664e+00]

qfrc_actuator:
[ 1.06000943e-04, 8.91339933e-04, 1.09301520e-04,-5.50390140e-05,
 -4.49034780e-05, 3.51631164e-02, 1.09318670e-02, 1.74231031e-03,
 -1.44958312e-05, 8.00023981e-04, 2.07665140e-04, 8.47725914e-05,
  3.33558221e-03,-1.54001622e-03, 0.00000000e+00,-1.32695631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.9117836 ,  6.29583922, -5.9117836 , 44.69885042,
       33.86262109,  6.29583922, 33.86262109, 40.43331413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005808804430683531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.9112763e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.9112763e-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([-0.0076468, -0.083797 ,  0.0617081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18091373e-06,-2.63879924e-05,-5.08257365e-05,-7.73137480e-06,
 -3.11824349e-05, 3.83734404e-05,-2.48534339e-05,-3.65342435e-05,
 -1.17576230e-05,-8.17038939e-06, 9.93377353e-06,-2.34834386e-05,
 -2.92341328e-05, 4.92832296e-05,-2.19042461e-05, 9.38542441e-05,
 -1.78289145e-04,-1.39109565e-03,-4.90258396e+00,-1.49982291e-03,
  2.88385670e-03,-5.99097641e-03]


--- Step 2075 ---
qpos:
[ 0.01870811, 0.03004035,-0.0094428 ,-0.0252749 ,-0.00345996, 1.34053013,
 -0.02988965, 0.94377037, 0.01157091, 0.02730429,-0.0083144 , 0.02644372,
  1.35347256, 0.00763984, 1.28876271, 0.04431951,-0.09637432,-0.06935087,
  0.09190804, 0.67713059, 0.12982861,-0.69263227,-0.2118944 ]

qacc:
[ 3.22279495e+00, 4.78987228e-01,-3.68336234e+00, 8.91440686e+00,
 -3.73843731e-03,-1.35891703e+00, 6.24850866e+00,-1.45320720e+01,
  1.72090162e+00,-4.33908765e-01, 1.98936203e+00,-2.29249711e+00,
 -3.11222459e-02, 3.62807322e-02,-9.15989107e+00, 3.12636699e+01,
  5.71744079e+00,-6.26367610e-01, 5.11573007e-02,-9.29843638e+01,
  1.67494902e+02, 2.88232625e+00]

qfrc_actuator:
[ 1.25229562e-04, 8.56526228e-04, 9.68577891e-05,-4.19298514e-05,
 -2.75606538e-05, 3.51631798e-02, 1.09346506e-02, 1.70356224e-03,
 -3.77583184e-06, 8.49234263e-04, 2.37203222e-04, 8.93623974e-05,
  3.31499312e-03,-1.54789151e-03, 0.00000000e+00,-1.17810802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005776518615335638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80489677e-15,  9.60979353e-15,  1.00000000e+00,  4.61740659e-29,
        1.00000000e+00, -9.60979353e-15, -1.00000000e+00,  0.00000000e+00,
       -4.80489677e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1886828 , -0.0590107 ,  0.06170949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93140724e-05,-6.04036319e-05,-2.44216505e-05, 1.00703741e-05,
 -1.08245521e-06, 1.52956192e-05, 6.38426466e-06,-3.91641362e-05,
  1.03713750e-05, 4.57094193e-05, 2.82676708e-05, 4.12708440e-06,
 -2.38209679e-05, 1.79325343e-07,-1.56095322e-06, 1.50860079e-04,
  1.50868142e-04,-1.63015336e-03,-4.90242456e+00,-2.18049546e-03,
  2.50282020e-03,-5.97245286e-03]


--- Step 2076 ---
qpos:
[ 0.01870909, 0.03003966,-0.00944333,-0.02527427,-0.00346042, 1.34053536,
 -0.02988979, 0.94376776, 0.0115717 , 0.02730415,-0.0083138 , 0.02644429,
  1.35360857, 0.00763974, 1.28888452, 0.0443194 ,-0.09633948,-0.06926296,
  0.09189915, 0.67772909, 0.1286933 ,-0.69255211,-0.21093338]

qacc:
[-1.04983523e+00, 9.01853948e-01,-6.17523296e+00, 1.54144299e+01,
  3.45726838e-02,-2.10422723e+00, 9.87709574e+00,-2.55822935e+01,
 -4.88223191e+00, 4.62340763e-01,-1.27314701e+00, 2.04360305e+00,
  3.34546822e-01,-8.44164355e-01, 3.14456672e+00,-1.05110874e+01,
  4.95122930e+00,-5.28732242e-01,-1.28501246e+00,-7.97897923e+01,
  1.45149254e+02, 2.98992345e+00]

qfrc_actuator:
[ 1.18346687e-04, 8.35999734e-04, 8.96516637e-05,-1.65219998e-05,
 -1.69342653e-05, 3.51432900e-02, 1.09185182e-02, 1.62797934e-03,
 -3.35128743e-05, 8.61023180e-04, 2.36767631e-04, 9.18993633e-05,
  3.29242947e-03,-1.60620189e-03, 0.00000000e+00,-1.23285534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.04498258,  -3.14086488,  -8.04498258,
        15.18327596, -16.76920134,  -3.14086488, -16.76920134,
        51.58884259,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005762950179378737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63241907e-15,  9.63241907e-15,  1.00000000e+00, -9.27834972e-29,
        1.00000000e+00, -9.63241907e-15, -1.00000000e+00,  0.00000000e+00,
        9.63241907e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18871493, -0.05901014,  0.06171007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.33942081e-06,-5.89001270e-05,-2.23358626e-05, 2.21729402e-05,
  9.98738531e-06,-1.13934668e-05,-1.35696983e-05,-7.58383018e-05,
 -2.94194584e-05, 4.33828843e-05, 1.26296001e-05, 5.55268887e-06,
 -3.40549370e-05,-6.39333043e-05, 1.38217059e-05,-4.70472058e-05,
 -2.22283622e-04,-1.39324935e-03,-4.90249617e+00,-1.40044118e-03,
  2.93727615e-03,-5.92634939e-03]


--- Step 2077 ---
qpos:
[ 0.01870964, 0.03003896,-0.00944412,-0.02527408,-0.00346077, 1.34054058,
 -0.02989073, 0.943765  , 0.01157143, 0.02730458,-0.00831332, 0.02644487,
  1.35374427, 0.00763927, 1.28900618, 0.04432034,-0.09632855,-0.06917224,
  0.09189341, 0.67805233, 0.127618  ,-0.69274911,-0.20989843]

qacc:
[-3.73941359e+00,-2.28648501e-01, 2.65018868e+00,-9.87164057e+00,
  4.28565897e-02, 1.85970822e+00,-5.77437873e+00, 3.18612298e+00,
 -8.99362295e+00, 1.09000257e+00,-2.78786279e+00, 2.60223881e+00,
  8.10758331e-02,-4.10236482e-01,-3.38925625e+00, 1.14946040e+01,
 -5.97970411e+00, 7.03962233e-01, 7.87520962e-01, 9.28816082e+01,
 -1.78140624e+02,-6.92415919e+00]

qfrc_actuator:
[ 9.61448587e-05, 8.59732541e-04, 8.56404179e-05,-3.73338653e-05,
 -1.04247714e-05, 3.51292651e-02, 1.08734808e-02, 1.62005865e-03,
 -8.68320616e-05, 9.03460992e-04, 2.36244500e-04, 9.31550029e-05,
  3.27399756e-03,-1.62295629e-03, 0.00000000e+00,-1.17634611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005834422973178793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.5144201e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.5144201e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00748209, -0.08154195,  0.06170696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24045118e-05,-1.28427500e-05,-1.81476808e-05,-2.36732307e-05,
  1.24112843e-05,-2.52996355e-05,-5.10437593e-05,-1.04159964e-05,
 -5.41661370e-05, 6.95335216e-05, 1.01812843e-05, 3.65890649e-06,
 -5.03324732e-05,-4.37915398e-05,-2.61701038e-06, 5.48052380e-05,
 -4.63706735e-04,-1.19326555e-03,-4.90231002e+00,-7.11772699e-04,
  3.32485910e-03,-5.88194821e-03]


--- Step 2078 ---
qpos:
[ 0.01871026, 0.03003834,-0.00944448,-0.02527456,-0.00346104, 1.34054549,
 -0.02989194, 0.94376422, 0.01157087, 0.02730538,-0.00831277, 0.02644547,
  1.35387954, 0.0076388 , 1.28912813, 0.04431925,-0.0963383 ,-0.06907901,
  0.09188505, 0.67813767, 0.12659332,-0.69318554,-0.20879952]

qacc:
[ 6.46462546e-01,-2.42839115e+00, 1.16019297e+01,-2.37208432e+01,
  3.91451765e-02, 3.74767156e+00,-1.67994631e+01, 3.79054607e+01,
 -2.50287253e+00, 3.46903836e-01,-6.44548743e-01, 6.96797681e-01,
 -5.22375417e-01, 4.72055927e-01, 6.58892932e+00,-2.23153220e+01,
 -5.16952015e+00, 6.25896750e-01,-6.53165276e-01, 7.96242121e+01,
 -1.54189854e+02,-5.53799358e+00]

qfrc_actuator:
[ 1.00618291e-04, 8.92018557e-04, 1.19201954e-04,-6.73837951e-05,
 -6.43794219e-06, 3.51187775e-02, 1.08650670e-02, 1.72302408e-03,
 -1.00333438e-04, 9.10657505e-04, 2.35803172e-04, 9.36745467e-05,
  3.25806971e-03,-1.61484144e-03, 0.00000000e+00,-1.28546048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.61101341,  5.55709263, -6.61101341, 33.56130638,
       29.65203963,  5.55709263, 29.65203963, 43.91200953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005834951461256302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51355836e-15,  9.51355836e-15,  1.00000000e+00,  9.05077926e-29,
        1.00000000e+00, -9.51355836e-15, -1.00000000e+00,  0.00000000e+00,
       -9.51355836e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00748424, -0.08154337,  0.06170692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82079412e-06, 2.03676536e-05, 2.78723223e-05,-3.16849147e-05,
  1.13203451e-05,-3.48185137e-05,-1.94856287e-05, 1.00468616e-04,
 -1.50621163e-05, 4.82977079e-05, 1.52923636e-05, 3.92169534e-06,
 -5.11469197e-05,-1.67062315e-05, 2.11327230e-06,-1.07021219e-04,
 -1.69930195e-04,-1.40585613e-03,-4.90252247e+00,-1.53504167e-03,
  2.89616171e-03,-5.86589856e-03]


--- Step 2079 ---
qpos:
[ 0.01871093, 0.03003788,-0.00944418,-0.02527576,-0.00346137, 1.34055033,
 -0.02989278, 0.94376498, 0.0115705 , 0.02730638,-0.00831236, 0.02644507,
  1.35401443, 0.00763837, 1.28925007, 0.04431687,-0.09636266,-0.06898388,
  0.09191451, 0.67805557, 0.12559996,-0.69379118,-0.20765136]

qacc:
[ 4.33491063e-01,-3.12075263e+00, 1.44892259e+01,-2.82171041e+01,
 -2.98135889e-02, 1.52100223e+00,-8.23866769e+00, 2.49614941e+01,
  1.58584678e+00,-1.38176682e+00, 9.55483401e+00,-2.67945213e+01,
 -4.29119867e-01, 4.02724776e-01, 3.94295467e+00,-1.37028755e+01,
 -3.65096392e+00, 4.76459670e-01, 9.45102379e+00, 5.59523818e+01,
 -1.09014625e+02,-9.22958343e-01]

qfrc_actuator:
[ 1.03009217e-04, 9.11581627e-04, 1.56978636e-04,-1.02582907e-04,
 -2.17490555e-05, 3.51462007e-02, 1.08961684e-02, 1.80166788e-03,
 -9.02826292e-05, 8.96690792e-04, 2.17525599e-04, 4.04726607e-05,
  3.24366666e-03,-1.60978610e-03, 0.00000000e+00,-1.34928207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005765338419667337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15834941e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15834941e-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([-0.06594531, -0.07427707,  0.06170988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51196971e-06, 3.53793140e-05, 4.43314825e-05,-3.39768266e-05,
 -8.62303166e-06, 7.33755932e-06, 2.50141926e-05, 7.93592668e-05,
  9.62891997e-06, 1.63251704e-05,-6.29872569e-06,-5.05305019e-05,
 -4.41313414e-05,-1.16502019e-05,-1.50149498e-05,-7.04191976e-05,
  1.61927757e-04,-1.59800301e-03,-4.90242950e+00,-2.22879694e-03,
  2.53030973e-03,-5.84788866e-03]


--- Step 2080 ---
qpos:
[ 0.01871163, 0.03003763,-0.00944345,-0.02527701,-0.00346196, 1.34055501,
 -0.02989256, 0.94376526, 0.01157094, 0.02730758,-0.00831217, 0.02644404,
  1.35414905, 0.00763773, 1.28937126, 0.04431908,-0.09636325,-0.06889139,
  0.0919458 , 0.67824333, 0.12453878,-0.69412005,-0.20657549]

qacc:
[ 2.11449341e-01,-1.04673051e+00, 4.37306252e+00,-6.21521731e+00,
 -1.10104856e-01,-3.87314930e+00, 1.33733963e+01,-1.70197385e+01,
  6.92676794e+00,-4.36780679e-01, 4.55532271e+00,-1.51674405e+01,
  3.18114938e-01,-5.65324700e-01,-1.50489278e+01, 5.09088397e+01,
  5.94098554e+00,-6.60470919e-01, 4.60993249e-01,-9.37556716e+01,
  1.75863363e+02, 9.64757730e+00]

qfrc_actuator:
[ 1.04146530e-04, 9.23407982e-04, 1.79132922e-04,-1.05033841e-04,
 -4.85128014e-05, 3.51430153e-02, 1.09504499e-02, 1.77662132e-03,
 -4.87102983e-05, 9.05533834e-04, 2.06481388e-04, 9.31132954e-06,
  3.23018948e-03,-1.62435639e-03, 0.00000000e+00,-1.10180751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005862170411813736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73469273e-15,  1.42040782e-14,  1.00000000e+00,  6.72519457e-29,
        1.00000000e+00, -1.42040782e-14, -1.00000000e+00,  0.00000000e+00,
       -4.73469273e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18849276, -0.05904121,  0.06170598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22385483e-06, 3.93258299e-05, 3.37494482e-05,-6.12589385e-08,
 -3.18594755e-05, 8.12130913e-06, 6.08876520e-05,-2.22458575e-05,
  4.18659054e-05, 1.44675982e-05,-1.02126198e-05,-3.16658178e-05,
 -3.87200066e-05,-2.80435018e-05,-1.76417789e-05, 2.40986925e-04,
  4.40146174e-04,-1.74706848e-03,-4.90218963e+00,-2.71221321e-03,
  2.26842801e-03,-5.82599989e-03]


--- Step 2081 ---
qpos:
[ 0.01871267, 0.03003755,-0.00944247,-0.02527724,-0.00346269, 1.34055935,
 -0.02989153, 0.94376493, 0.01157119, 0.02730817,-0.00831152, 0.0264434 ,
  1.35428334, 0.00763694, 1.28949272, 0.04432085,-0.09634326,-0.06880111,
  0.09197337, 0.67866429, 0.12341895,-0.69420972,-0.20556119]

qacc:
[ 3.03442432e+00, 1.64110204e+00,-9.89599205e+00, 2.72535086e+01,
 -5.77776712e-02,-3.70493477e+00, 1.28067597e+01,-1.80446789e+01,
 -1.62747525e+00,-1.26898814e+00, 1.74866599e+00, 4.59977101e+00,
 -2.14921875e-01, 5.59388613e-02, 1.77627940e+00,-5.59358141e+00,
  5.14639932e+00,-5.53600212e-01,-9.30765019e-01,-8.04815099e+01,
  1.52162977e+02, 8.67408958e+00]

qfrc_actuator:
[ 1.22289912e-04, 9.30479688e-04, 1.91877195e-04,-5.27087408e-05,
 -4.64245359e-05, 3.51038164e-02, 1.09822946e-02, 1.74401243e-03,
 -5.99361748e-05, 8.39230898e-04, 2.17660988e-04, 2.69055435e-05,
  3.21194566e-03,-1.63271862e-03, 0.00000000e+00,-1.13448642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.04390985,  -4.9970102 ,  -7.04390985,
        29.03362878, -28.75249219,  -4.9970102 , -28.75249219,
        49.16659165,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005869315986519644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72892850e-15,  9.45785699e-15,  1.00000000e+00,  4.47255294e-29,
        1.00000000e+00, -9.45785699e-15, -1.00000000e+00,  0.00000000e+00,
       -4.72892850e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18849021, -0.05904152,  0.06170593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81916945e-05, 3.60316445e-05, 2.50173430e-05, 5.51768364e-05,
 -1.67384320e-05,-2.34966233e-05, 3.97051673e-05,-3.10876019e-05,
 -9.98915002e-06,-6.17065630e-05, 1.17993100e-05, 1.72420972e-05,
 -4.36910723e-05,-2.59010737e-05, 1.77394279e-05,-2.17319273e-05,
 -7.51741067e-06,-1.51666218e-03,-4.90245207e+00,-1.91333251e-03,
  2.68932218e-03,-5.77895608e-03]


--- Step 2082 ---
qpos:
[ 0.01871462, 0.03003772,-0.00944161,-0.02527716,-0.00346349, 1.3405633 ,
 -0.02989065, 0.9437653 , 0.01157096, 0.02730761,-0.00831014, 0.02644303,
  1.35441725, 0.00763605, 1.28961437, 0.04432123,-0.09630537,-0.06871269,
  0.09199246, 0.67928728, 0.12224828,-0.69409166,-0.20459939]

qacc:
[ 7.70354012e+00, 1.25176802e+00,-5.24270887e+00, 1.03906144e+01,
 -2.85943763e-02, 1.10649292e+00,-5.66984502e+00, 1.33206426e+01,
 -4.05772330e+00,-3.03731911e+00, 7.49363528e+00,-3.20590413e+00,
 -3.69740805e-01, 2.55979655e-01, 4.50868968e+00,-1.52661968e+01,
  4.47363481e+00,-4.64060476e-01,-2.12141227e+00,-6.92949538e+01,
  1.32147819e+02, 7.77246316e+00]

qfrc_actuator:
[ 1.68050630e-04, 9.34656060e-04, 1.81228779e-04,-3.95973816e-05,
 -4.47971629e-05, 3.50610173e-02, 1.09649944e-02, 1.77820804e-03,
 -8.44072706e-05, 7.46318407e-04, 2.41594816e-04, 3.74892031e-05,
  3.19085653e-03,-1.63732406e-03, 0.00000000e+00,-1.20778687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.83422923,  -5.28015981,  -6.83422923,
        32.8383058 , -31.32511636,  -5.28015981, -31.32511636,
        49.18116407,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005804945128650811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43441023e-14,  1.43441023e-14,  1.00000000e+00, -2.05753271e-28,
        1.00000000e+00, -1.43441023e-14, -1.00000000e+00,  0.00000000e+00,
        1.43441023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18865229, -0.05902227,  0.06170891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62993975e-05, 3.18492661e-05, 1.77170886e-06, 1.65915995e-05,
 -8.26477283e-06,-4.89958469e-05,-1.82960769e-05, 3.39401475e-05,
 -2.47839479e-05,-1.24273252e-04, 1.32249998e-05, 8.68225184e-06,
 -4.87314063e-05,-2.25594699e-05, 1.46321421e-06,-7.32012173e-05,
 -3.12239193e-04,-1.31993786e-03,-4.90240933e+00,-1.19757798e-03,
  3.07083964e-03,-5.73329745e-03]


--- Step 2083 ---
qpos:
[ 0.01871675, 0.03003819,-0.0094411 ,-0.02527795,-0.00346432, 1.34056695,
 -0.02989003, 0.94376712, 0.01157078, 0.02730628,-0.0083088 , 0.0264421 ,
  1.35455083, 0.00763508, 1.28973561, 0.04432408,-0.09625187,-0.06862583,
  0.091999  , 0.6800858 , 0.12103344,-0.69379222,-0.20368249]

qacc:
[ 1.60524955e+00,-4.02534879e-01, 5.64371277e+00,-2.02606034e+01,
 -1.23105026e-02, 2.78421577e+00,-1.25392899e+01, 2.78048067e+01,
  4.61105892e-01,-2.04025651e+00, 8.14973434e+00,-1.71375354e+01,
  5.55780269e-03,-1.53901912e-01,-8.10953433e+00, 2.74384118e+01,
  3.90329607e+00,-3.89148915e-01,-3.13588272e+00,-5.98677854e+01,
  1.15256960e+02, 6.95305221e+00]

qfrc_actuator:
[ 1.76436886e-04, 9.36936460e-04, 1.56807716e-04,-8.51961023e-05,
 -4.34609004e-05, 3.50517420e-02, 1.09543533e-02, 1.85141321e-03,
 -8.09560436e-05, 7.09243721e-04, 2.37206560e-04, 8.32336785e-06,
  3.17872869e-03,-1.63967914e-03, 0.00000000e+00,-1.07356382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.72560648,  -5.41784038,  -6.72560648,
        36.07264502, -34.05889044,  -5.41784038, -34.05889044,
        50.91643803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00568376622420555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18894412, -0.0589879 ,  0.06171428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.74431770e-06, 2.11597782e-05,-1.70670846e-05,-4.38555110e-05,
 -3.54950071e-06,-3.89654592e-05,-2.13169655e-05, 7.19901656e-05,
  2.68069547e-06,-1.03469507e-04,-2.81373248e-05,-3.38648801e-05,
 -4.19235990e-05,-2.02861316e-05,-1.12572237e-05, 1.29484999e-04,
 -5.14039875e-04,-1.14985116e-03,-4.90216906e+00,-5.56497938e-04,
  3.41689313e-03,-5.68880461e-03]


--- Step 2084 ---
qpos:
[ 0.01871828, 0.03003879,-0.00944086,-0.02527893,-0.00346501, 1.34057077,
 -0.02989   , 0.94376873, 0.01157098, 0.02730478,-0.00830784, 0.02644111,
  1.35468413, 0.00763425, 1.28985711, 0.04432547,-0.0962242 ,-0.06853671,
  0.09201081, 0.68057921, 0.11990671,-0.69378595,-0.20271994]

qacc:
[-5.20013102e+00, 5.62964067e-01,-9.82824921e-01,-1.80473644e+00,
  5.80656033e-02, 1.46537228e+00,-4.08803918e+00, 1.11553271e+00,
  3.29200439e+00, 7.03569164e-01,-2.62204848e+00, 2.45687035e+00,
 -4.35691265e-01, 5.01244916e-01, 4.86072339e+00,-1.63152665e+01,
 -6.45818788e+00, 5.62679777e-01, 1.31584051e+00, 9.41172861e+01,
 -1.93791962e+02,-2.83760411e+01]

qfrc_actuator:
[ 1.44996100e-04, 9.37940108e-04, 1.42164889e-04,-9.39658664e-05,
 -2.45582125e-05, 3.50804097e-02, 1.09301312e-02, 1.84048792e-03,
 -6.10923035e-05, 7.41249417e-04, 2.34063799e-04, 9.28225510e-06,
  3.17731270e-03,-1.62289924e-03, 0.00000000e+00,-1.15542631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005740945793577472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62600214e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.62600214e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00502059, -0.07909099,  0.06171189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11488052e-05, 7.40882526e-06,-1.39041880e-05,-9.30955271e-06,
  1.68035762e-05, 5.08346163e-06,-3.21611386e-05,-1.10440471e-05,
  1.99056965e-05,-3.30835962e-05,-2.91516278e-05,-5.10593083e-06,
 -2.68806552e-05, 9.31523888e-07, 7.24527748e-06,-7.65407348e-05,
 -6.41018337e-04,-1.00110485e-03,-4.90180543e+00, 1.81604706e-05,
  3.73136335e-03,-5.64528383e-03]


--- Step 2085 ---
qpos:
[ 0.01871908, 0.03003957,-0.00944087,-0.02527931,-0.00346581, 1.34057455,
 -0.02989046, 0.94376918, 0.01157143, 0.02730342,-0.00830717, 0.0264408 ,
  1.35481718, 0.00763359, 1.28997877, 0.04432488,-0.09621886,-0.0684456 ,
  0.09202184, 0.68080959, 0.11885438,-0.69403302,-0.20171788]

qacc:
[-6.30403999e+00, 2.18575308e+00,-9.89751533e+00, 2.02922388e+01,
 -4.86349305e-02,-7.19812111e-01, 4.68125735e+00,-1.75428250e+01,
  2.00566183e+00, 2.37983082e+00,-1.10324160e+01, 2.29085669e+01,
 -4.76222949e-01, 5.73060959e-01, 6.26294970e+00,-2.14771921e+01,
 -5.58012694e+00, 5.00253118e-01,-1.93501863e-01, 8.04732930e+01,
 -1.67544461e+02,-2.38363935e+01]

qfrc_actuator:
[ 1.08130020e-04, 9.55976118e-04, 1.33443215e-04,-6.32261091e-05,
 -4.85284378e-05, 3.50604699e-02, 1.08981832e-02, 1.78014972e-03,
 -4.94887158e-05, 7.78904913e-04, 2.32013809e-04, 4.57866171e-05,
  3.16635310e-03,-1.61258025e-03, 0.00000000e+00,-1.25748311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.25745762,  4.68146193, -7.25745762, 21.39623244,
       19.78104459,  4.68146193, 19.78104459, 39.30201789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005790965190959778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00512922, -0.07908596,  0.06170985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77722015e-05, 1.88705683e-05,-9.23404361e-06, 3.03959056e-05,
 -1.40400667e-05,-2.37737007e-05,-3.49393952e-05,-6.13771742e-05,
  1.21724914e-05, 1.29671295e-05,-1.26433604e-05, 3.39811416e-05,
 -2.43566549e-05, 4.49241527e-06,-9.11267753e-06,-1.06282182e-04,
 -4.03043561e-04,-1.16485591e-03,-4.90243827e+00,-9.25144104e-04,
  3.28017219e-03,-5.63122638e-03]


--- Step 2086 ---
qpos:
[ 0.01871977, 0.03004021,-0.00944087,-0.0252793 ,-0.00346709, 1.34057774,
 -0.02989085, 0.94376961, 0.01157097, 0.02730237,-0.00830693, 0.0264409 ,
  1.35495012, 0.00763279, 1.29009986, 0.04432708,-0.09623286,-0.0683527 ,
  0.09202692, 0.68081215, 0.11786508,-0.69449951,-0.20068149]

qacc:
[  -0.88551979,   0.54301832,  -3.86635688,  10.71759249,  -0.19995511,
   -1.00606848,   2.38547119,  -1.8851179 ,  -7.68584202,   2.50128534,
  -10.10107623,  17.90764134,   0.24673656,  -0.39202954,  -9.29758761,
   31.24435503,  -4.83726716,   0.44639731,  -1.48763581,  69.03921091,
 -145.35400784, -20.12378758]

qfrc_actuator:
[ 1.03884636e-04, 9.30873466e-04, 1.28374365e-04,-4.49797705e-05,
 -9.80250766e-05, 3.50115112e-02, 1.08972453e-02, 1.77997126e-03,
 -9.61033682e-05, 8.01960124e-04, 2.12943052e-04, 6.74180069e-05,
  3.16032728e-03,-1.62398010e-03, 0.00000000e+00,-1.10426050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.08945902,  4.93217474, -7.08945902, 24.35711869,
       22.59685731,  4.93217474, 22.59685731, 41.11686208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00576169985902749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61294101e-15, -1.92690187e-14,  1.00000000e+00,  6.96178280e-29,
        1.00000000e+00,  1.92690187e-14, -1.00000000e+00,  0.00000000e+00,
        3.61294101e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00505764, -0.07909822,  0.06171121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34277055e-06,-1.51990171e-05,-1.26441820e-06, 1.93272839e-05,
 -5.77940166e-05,-7.08142131e-05,-1.13676475e-05,-3.33542998e-06,
 -4.62582182e-05, 2.91988785e-05,-1.67649474e-05, 2.24127773e-05,
 -1.77107800e-05,-1.54049377e-05,-1.92093476e-05, 1.45412990e-04,
 -1.23565554e-04,-1.31167417e-03,-4.90265724e+00,-1.67986528e-03,
  2.91571719e-03,-5.61485984e-03]


--- Step 2087 ---
qpos:
[ 0.01872006, 0.03004064,-0.00944088,-0.02527872,-0.00346874, 1.34058042,
 -0.02989155, 0.9437704 , 0.01156962, 0.02730152,-0.00830661, 0.0264409 ,
  1.35508288, 0.00763211, 1.29022061, 0.04433272,-0.09626369,-0.0682582 ,
  0.09202163, 0.68061638, 0.11692938,-0.69515657,-0.19961515]

qacc:
[-3.44020467e+00, 9.87806818e-01,-6.32735166e+00, 1.64529002e+01,
 -1.56798594e-01, 7.89508688e-01,-4.13036083e+00, 8.02709279e+00,
 -7.68358318e+00,-1.76900137e-01, 1.50877446e+00,-3.71499686e+00,
  7.02997628e-02,-6.11919700e-02,-1.09562543e+01, 3.75548683e+01,
 -4.20780922e+00, 3.99849355e-01,-2.59276171e+00, 5.94499274e+01,
 -1.26596940e+02,-1.70848637e+01]

qfrc_actuator:
[ 8.33698997e-05, 9.15645417e-04, 1.25313412e-04,-1.65179873e-05,
 -1.09175804e-04, 3.49812095e-02, 1.08790365e-02, 1.79745336e-03,
 -1.41103686e-04, 8.16029781e-04, 2.19415995e-04, 6.23453377e-05,
  3.15725771e-03,-1.61267093e-03, 0.00000000e+00,-9.26115939e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.97831723,  5.08820848, -6.97831723, 27.31763094,
       25.62076809,  5.08820848, 25.62076809, 43.7744379 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005669042579739478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22399749e-15, -9.79197994e-15,  1.00000000e+00,  1.19853589e-29,
        1.00000000e+00,  9.79197994e-15, -1.00000000e+00,  0.00000000e+00,
        1.22399749e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00484356, -0.07912448,  0.06171526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06784978e-05,-2.31879448e-05,-5.69512382e-06, 2.81423023e-05,
 -4.53059353e-05,-7.18217702e-05,-3.34551191e-05, 1.49477661e-05,
 -4.63482657e-05, 2.79128268e-05, 1.12256416e-05,-3.96185730e-06,
 -1.54812854e-05, 2.61436974e-06, 6.23619188e-06, 1.83519646e-04,
  1.74276034e-04,-1.44266345e-03,-4.90260085e+00,-2.29046877e-03,
  2.61622661e-03,-5.59675983e-03]


--- Step 2088 ---
qpos:
[ 0.01871976, 0.03004112,-0.00944076,-0.02527785,-0.00347051, 1.34058312,
 -0.02989269, 0.94377065, 0.01156842, 0.02730072,-0.00830612, 0.02644051,
  1.35521534, 0.00763183, 1.29034167, 0.04433777,-0.09626868,-0.06816847,
  0.09202228, 0.68071262, 0.11596033,-0.69550416,-0.19863913]

qacc:
[-5.08655750e+00, 3.11726365e-01,-2.21270573e+00, 6.97821885e+00,
 -5.13849469e-02, 2.89511951e-01, 1.82359360e-01,-6.32353586e+00,
  1.36848796e+00,-1.20761048e+00, 6.04833349e+00,-1.31236848e+01,
 -5.48399499e-01, 7.79510702e-01, 2.33389743e+00,-7.33224600e+00,
  6.46039913e+00,-1.19276947e+00, 1.48391102e+00,-9.06983530e+01,
  1.98202671e+02,-8.09603632e+00]

qfrc_actuator:
[ 5.34327174e-05, 9.41965079e-04, 1.41249749e-04,-1.94917709e-08,
 -9.72320443e-05, 3.50155279e-02, 1.08685850e-02, 1.77190952e-03,
 -1.31516462e-04, 8.06936727e-04, 2.23120174e-04, 4.16152999e-05,
  3.14532078e-03,-1.58793061e-03, 0.00000000e+00,-9.65577626e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005687306779986641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76053401e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76053401e-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([-0.18797729, -0.05561545,  0.06171446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05502472e-05, 1.33571018e-05, 1.14138907e-05, 1.58552788e-05,
 -1.48318331e-05,-1.15253992e-05,-2.78708882e-05,-2.83330416e-05,
  8.23687217e-06, 8.67156888e-06, 1.07222068e-05,-1.92197043e-05,
 -1.84872216e-05, 2.17164975e-05, 2.09122593e-05,-2.89917236e-05,
  4.74685699e-04,-1.55901883e-03,-4.90236509e+00,-2.78990689e-03,
  2.36579559e-03,-5.57734208e-03]


--- Step 2089 ---
qpos:
[ 0.01871979, 0.03004163,-0.00944043,-0.02527713,-0.00347228, 1.34058642,
 -0.02989425, 0.9437702 , 0.01156804, 0.0272999 ,-0.00830556, 0.02644023,
  1.35534768, 0.0076318 , 1.2904632 , 0.04433933,-0.09625133,-0.06808275,
  0.09202273, 0.68106077, 0.11496274,-0.69558486,-0.19774099]

qacc:
[ 2.85965972e+00,-9.11339201e-01, 3.93640572e+00,-6.98910516e+00,
 -2.94268184e-03, 7.27887853e-01, 3.60166341e-02,-8.60958604e+00,
  6.94339681e+00, 1.50894581e-02,-5.90429340e-01, 2.51152596e+00,
 -5.56908998e-01, 7.54519654e-01, 1.13099283e+01,-3.84372214e+01,
  5.58452849e+00,-1.00244828e+00,-4.89048358e-02,-7.79084755e+01,
  1.71088811e+02,-7.03663726e+00]

qfrc_actuator:
[ 7.14524310e-05, 9.39775309e-04, 1.50683686e-04,-8.39777140e-06,
 -8.92852504e-05, 3.50882834e-02, 1.08630276e-02, 1.73904590e-03,
 -8.98765603e-05, 8.01772164e-04, 2.25048129e-04, 4.73222079e-05,
  3.14405737e-03,-1.57320793e-03, 0.00000000e+00,-1.15069311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005748291590316881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41424562e-15, -1.93139650e-14,  1.00000000e+00,  4.66286554e-29,
        1.00000000e+00,  1.93139650e-14, -1.00000000e+00,  0.00000000e+00,
        2.41424562e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18783664, -0.05562693,  0.06171187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71311692e-05, 8.28491198e-06, 1.41394362e-05,-7.10472437e-06,
 -8.18183744e-07, 6.00591609e-05,-1.18158845e-05,-3.46817358e-05,
  4.18824131e-05, 1.09907558e-06, 4.37781216e-06, 6.07646824e-06,
 -5.26768669e-06, 1.69058610e-05, 1.95214074e-06,-1.85064504e-04,
  3.26472091e-05,-1.24228883e-03,-4.90285756e+00,-1.94626692e-03,
  2.74719607e-03,-5.53151822e-03]


--- Step 2090 ---
qpos:
[ 0.018719  , 0.03004246,-0.00944065,-0.0252765 ,-0.00347416, 1.34059048,
 -0.02989605, 0.94377038, 0.01156816, 0.02729919,-0.00830507, 0.02644071,
  1.35548001, 0.00763172, 1.29058444, 0.04434102,-0.09621462,-0.06800041,
  0.09201773, 0.68162672, 0.11394068,-0.69543436,-0.19691012]

qacc:
[-7.04739947e+00, 1.83541163e+00,-5.52176149e+00, 4.60299563e+00,
 -4.42596601e-02, 2.72068273e+00,-8.96268407e+00, 1.45167765e+01,
  4.28396481e+00, 1.86463371e+00,-9.64537133e+00, 2.27475198e+01,
  4.41458150e-02,-8.54040173e-02,-8.10217378e-01, 2.20189546e+00,
  4.84258656e+00,-8.43856539e-01,-1.36427011e+00,-6.71111082e+01,
  1.48197700e+02,-6.15254234e+00]

qfrc_actuator:
[ 2.87945739e-05, 9.55998892e-04, 1.20572647e-04,-1.36183512e-05,
 -1.01555332e-04, 3.51480059e-02, 1.08605716e-02, 1.77318951e-03,
 -6.52275263e-05, 8.16760363e-04, 2.25941598e-04, 8.62936325e-05,
  3.13854157e-03,-1.58226902e-03, 0.00000000e+00,-1.13602056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005727897273183305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47994561e-15, -1.93827328e-14,  1.00000000e+00,  1.64364520e-28,
        1.00000000e+00,  1.93827328e-14, -1.00000000e+00,  0.00000000e+00,
        8.47994561e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18788419, -0.05561232,  0.06171277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21581207e-05, 2.34544645e-05,-2.69165074e-05,-4.51923033e-06,
 -1.27513294e-05, 8.95717613e-05, 6.92814420e-06, 3.47998378e-05,
  2.58735534e-05, 1.68045168e-05, 1.87153217e-06, 3.92876383e-05,
 -4.91037715e-06,-4.86924977e-06,-2.36585314e-05, 3.70046556e-06,
 -2.39442643e-04,-9.93328817e-04,-4.90295450e+00,-1.22465773e-03,
  3.07969249e-03,-5.48859253e-03]


--- Step 2091 ---
qpos:
[ 0.01871805, 0.03004341,-0.00944148,-0.02527557,-0.00347616, 1.34059463,
 -0.02989739, 0.94377201, 0.01156857, 0.02729892,-0.00830474, 0.02644196,
  1.35561211, 0.00763144, 1.29070545, 0.04434349,-0.09616105,-0.06792091,
  0.09200276, 0.68238147, 0.11289759,-0.69508254,-0.19613749]

qacc:
[-1.39585599e+00, 2.47215759e+00,-9.87623802e+00, 1.60512606e+01,
 -4.87032883e-02, 1.35535829e+00,-7.27207417e+00, 2.32229047e+01,
  2.50423731e+00, 2.62680276e+00,-1.17980820e+01, 2.51203152e+01,
  2.66858831e-02,-2.15046190e-01,-2.73895409e+00, 9.07002526e+00,
  4.21304516e+00,-7.11715537e-01,-2.48852868e+00,-5.79925493e+01,
  1.28870032e+02,-5.41338195e+00]

qfrc_actuator:
[ 2.17590347e-05, 9.47455456e-04, 8.51842737e-05, 8.04724296e-07,
 -1.08102570e-04, 3.51285080e-02, 1.08777225e-02, 1.84649147e-03,
 -5.07873753e-05, 8.61477952e-04, 2.26318983e-04, 1.26785487e-04,
  3.10916634e-03,-1.60539780e-03, 0.00000000e+00,-1.09246003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005642317823703724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83835951e-15,  9.83835951e-15,  1.00000000e+00, -9.67933179e-29,
        1.00000000e+00, -9.83835951e-15, -1.00000000e+00,  0.00000000e+00,
        9.83835951e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18808087, -0.05557728,  0.06171644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.25711787e-06,-1.22155570e-06,-3.40215840e-05, 1.44071767e-05,
 -1.40795192e-05, 3.24279790e-05, 3.64794472e-05, 7.70074368e-05,
  1.52004235e-05, 5.62132367e-05, 5.43904689e-06, 4.20397219e-05,
 -3.35107475e-05,-2.54542390e-05,-1.19328732e-05, 4.03818075e-05,
 -3.92533924e-04,-7.94648517e-04,-4.90279264e+00,-6.04401893e-04,
  3.37187355e-03,-5.44802112e-03]


--- Step 2092 ---
qpos:
[ 0.01871806, 0.03004426,-0.00944238,-0.02527447,-0.0034781 , 1.34059892,
 -0.02989811, 0.94377347, 0.01156916, 0.02729905,-0.00830466, 0.026443  ,
  1.35574383, 0.007631  , 1.29082622, 0.04434778,-0.09613433,-0.06783909,
  0.09199485, 0.68282296, 0.11192476,-0.69504009,-0.19530724]

qacc:
[ 8.20779896e+00, 3.82223082e-01,-2.21959140e+00, 5.11932972e+00,
  2.21240518e-02,-1.77909338e+00, 6.37502639e+00,-7.69167446e+00,
  1.43887069e+00, 7.78120705e-01,-1.13177910e+00,-2.34786812e+00,
 -4.30636272e-02,-1.61580329e-01,-5.87406889e+00, 2.00035009e+01,
 -6.71392481e+00, 5.80379932e-01, 1.76109101e+00, 9.20225202e+01,
 -2.04281460e+02,-1.80238092e+01]

qfrc_actuator:
[ 7.12712183e-05, 9.41880234e-04, 8.23968312e-05, 8.90017716e-06,
 -9.34108950e-05, 3.51328390e-02, 1.09060142e-02, 1.83568226e-03,
 -4.24659669e-05, 8.70402256e-04, 2.08761752e-04, 1.14612075e-04,
  3.08147142e-03,-1.61904331e-03, 0.00000000e+00,-9.96777270e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005766326508503353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62677905e-15, -1.92535581e-14,  1.00000000e+00,  1.85349750e-28,
        1.00000000e+00,  1.92535581e-14, -1.00000000e+00,  0.00000000e+00,
        9.62677905e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00506893, -0.07910306,  0.06171101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92695801e-05,-1.26945807e-05,-6.73355565e-06, 7.14481918e-06,
  6.37230064e-06, 3.16956846e-05, 4.10442724e-05,-6.97308629e-06,
  8.78393558e-06, 4.32940470e-05,-3.82464677e-06,-8.76154923e-06,
 -5.04817000e-05,-2.89643526e-05,-3.20897003e-06, 9.58936476e-05,
 -4.61966873e-04,-6.33687687e-04,-4.90246657e+00,-6.85417333e-05,
  3.63073998e-03,-5.40936576e-03]


--- Step 2093 ---
qpos:
[ 0.01871798, 0.03004489,-0.00944323,-0.02527363,-0.00347994, 1.34060381,
 -0.02989865, 0.94377442, 0.01157018, 0.02729932,-0.00830463, 0.02644322,
  1.35587518, 0.0076306 , 1.29094693, 0.04435317,-0.09613078,-0.0677552 ,
  0.09198766, 0.68299464, 0.11101162,-0.69526451,-0.19442738]

qacc:
[-8.16937371e-01,-9.61555217e-01, 4.03172058e+00,-8.22735091e+00,
  4.60943230e-02,-5.76285218e-01, 3.90015880e+00,-9.65964681e+00,
  3.75383756e+00,-1.37033434e+00, 8.60555316e+00,-2.28358079e+01,
 -2.52765695e-01, 2.09119793e-01,-3.37328024e+00, 1.17464654e+01,
 -5.79084383e+00, 5.19234407e-01, 1.82466919e-01, 7.87742528e+01,
 -1.76271906e+02,-1.52119374e+01]

qfrc_actuator:
[ 6.48959086e-05, 9.20494364e-04, 8.11269321e-05,-4.52499185e-06,
 -8.38497376e-05, 3.51869062e-02, 1.09229150e-02, 1.81096911e-03,
 -2.00565421e-05, 8.57707842e-04, 1.98336688e-04, 7.15092762e-05,
  3.07078444e-03,-1.60919910e-03, 0.00000000e+00,-9.42175757e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.89063197,  6.31563392, -5.89063197, 46.87076157,
       35.66146638,  6.31563392, 35.66146638, 41.89804037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005833203940686364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0052224 , -0.07908522,  0.06170811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94601289e-06,-2.95750810e-05,-4.47777508e-06,-1.40668990e-05,
  1.33278775e-05, 7.93946411e-05, 2.75654824e-05,-2.27115647e-05,
  2.26830101e-05, 1.03471472e-05,-2.26094282e-06,-4.15533943e-05,
 -4.23712886e-05,-1.06349573e-05, 6.54107066e-06, 5.89306028e-05,
 -3.00314425e-04,-8.07413444e-04,-4.90305043e+00,-9.15511410e-04,
  3.25592397e-03,-5.39777595e-03]


--- Step 2094 ---
qpos:
[ 0.01871712, 0.03004497,-0.00944393,-0.02527292,-0.00348166, 1.34060856,
 -0.02989844, 0.94377683, 0.01157112, 0.02729937,-0.00830427, 0.02644295,
  1.35600627, 0.00763024, 1.29106827, 0.04435416,-0.09614727,-0.06766944,
  0.09197578, 0.68293289, 0.11014928,-0.6957196 ,-0.19350464]

qacc:
[-6.54478245e+00,-1.39756445e+00, 4.51608467e+00,-6.66897522e+00,
  4.95281119e-02, 3.00403744e-01,-4.23914976e+00, 2.07547291e+01,
 -7.00056949e-01,-2.20417464e+00, 9.53708483e+00,-1.84927508e+01,
 -5.99834191e-01, 6.28825576e-01, 1.43182757e+01,-4.86030489e+01,
 -5.00943338e+00, 4.65877725e-01,-1.17310052e+00, 6.76386444e+01,
 -1.52601148e+02,-1.29086396e+01]

qfrc_actuator:
[ 2.56580090e-05, 8.72045299e-04, 8.06718590e-05,-1.27690514e-05,
 -7.74446055e-05, 3.51460076e-02, 1.09509071e-02, 1.88482936e-03,
 -2.50377034e-05, 8.32149135e-04, 2.09853261e-04, 4.60525235e-05,
  3.06499052e-03,-1.60316587e-03, 0.00000000e+00,-1.17852003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.57568582,  6.59533961, -5.57568582, 54.93601376,
       39.14162393,  6.59533961, 39.14162393, 41.72660774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005816371145735626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77197464e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77197464e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00518575, -0.07908865,  0.0617088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93928565e-05,-6.65302744e-05,-7.60048938e-06,-9.94031918e-06,
  1.42839417e-05, 7.70082700e-06, 4.59904037e-05, 7.65356073e-05,
 -4.31047451e-06,-2.20197560e-05, 1.19337685e-05,-2.59021775e-05,
 -2.91357241e-05,-7.07689767e-06, 6.19578341e-06,-2.32990038e-04,
 -6.95609981e-05,-9.68145029e-04,-4.90320161e+00,-1.60258894e-03,
  2.94651177e-03,-5.38403565e-03]


--- Step 2095 ---
qpos:
[ 0.0187165 , 0.03004444,-0.0094443 ,-0.02527232,-0.00348312, 1.34061279,
 -0.0298976 , 0.94377911, 0.01157165, 0.02729918,-0.00830377, 0.02644273,
  1.35613726, 0.00762945, 1.29118956, 0.04435299,-0.09618115,-0.067582  ,
  0.09195458, 0.68266821, 0.10933034,-0.69637456,-0.1925447 ]

qacc:
[ 1.95533861e+00,-1.95793389e+00, 6.27784763e+00,-8.24945207e+00,
  1.06235562e-01,-2.60079346e+00, 7.95112272e+00,-8.10873434e+00,
 -3.50317911e+00,-6.23289776e-01, 1.52762444e+00,-6.19292738e-01,
  2.50272034e-02,-3.20370899e-01, 6.41110789e+00,-2.25569123e+01,
 -4.34686056e+00, 4.19189039e-01,-2.33230554e+00, 5.82721643e+01,
 -1.32595116e+02,-1.10203293e+01]

qfrc_actuator:
[ 3.84200236e-05, 8.43271845e-04, 9.83419619e-05,-1.79201701e-05,
 -5.52319283e-05, 3.50841611e-02, 1.09671759e-02, 1.87404443e-03,
 -4.61055143e-05, 8.16927288e-04, 2.16431842e-04, 4.89400740e-05,
  3.05148249e-03,-1.63492465e-03, 0.00000000e+00,-1.28257033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005732453497724291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.69464113e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.69464113e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00499841, -0.07910926,  0.06171233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15919226e-05,-6.79791047e-05, 2.65749945e-06,-8.45451304e-06,
  3.06535602e-05,-4.63178682e-05, 2.52516185e-05,-7.42007740e-06,
 -2.12006709e-05,-2.61841241e-05, 2.60080646e-06, 1.85282153e-06,
 -3.03955559e-05,-4.02929580e-05,-2.77119771e-05,-1.17290690e-04,
  1.98210818e-04,-1.11462056e-03,-4.90306863e+00,-2.16538961e-03,
  2.68692470e-03,-5.36861906e-03]


--- Step 2096 ---
qpos:
[ 0.01871706, 0.03004347,-0.00944448,-0.02527214,-0.00348418, 1.34061668,
 -0.02989652, 0.94378022, 0.01157193, 0.02729853,-0.00830337, 0.02644293,
  1.35626789, 0.00762859, 1.29130999, 0.04435625,-0.09618808,-0.06749929,
  0.09194132, 0.68271214, 0.10846896,-0.69670829,-0.19166682]

qacc:
[ 1.02353307e+01,-1.98472877e+00, 7.96160599e+00,-1.51719004e+01,
  1.71860016e-01,-3.12771191e+00, 1.20739785e+01,-2.38938524e+01,
 -2.18558641e+00, 5.84239876e-01,-4.74530985e+00, 1.26302244e+01,
  1.53462059e-01,-3.15253490e-01,-1.46481440e+01, 4.93474312e+01,
  6.73431346e+00,-1.17996896e+00, 1.98703716e+00,-9.08500159e+01,
  2.08531808e+02,-1.08399485e+00]

qfrc_actuator:
[ 9.94503976e-05, 8.26579078e-04, 1.08890300e-04,-3.89383829e-05,
 -2.37154212e-05, 3.50634177e-02, 1.09762219e-02, 1.81348248e-03,
 -5.87114000e-05, 7.72512598e-04, 2.02333413e-04, 6.84788362e-05,
  3.03334177e-03,-1.63565225e-03, 0.00000000e+00,-1.04145214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0057870300235751335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.59233856e-15, -9.59233856e-15,  1.00000000e+00,  9.20129590e-29,
        1.00000000e+00,  9.59233856e-15, -1.00000000e+00,  0.00000000e+00,
        9.59233856e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18772025, -0.05557837,  0.06170986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13466310e-05,-5.44911178e-05,-3.44759139e-06,-2.40011182e-05,
  4.96293478e-05,-4.16744576e-05, 2.63900816e-06,-6.13754058e-05,
 -1.32362511e-05,-5.84444599e-05,-1.91244187e-05, 1.85435016e-05,
 -4.36095591e-05,-1.94180688e-05,-2.77965061e-05, 2.30570051e-04,
  4.80924987e-04,-1.24658794e-03,-4.90275395e+00,-2.63073606e-03,
  2.46559285e-03,-5.35187865e-03]


--- Step 2097 ---
qpos:
[ 0.01871766, 0.03004218,-0.00944459,-0.02527222,-0.00348499, 1.34062024,
 -0.02989537, 0.94378128, 0.01157136, 0.02729727,-0.00830304, 0.02644339,
  1.35639814, 0.00762793, 1.2914302 , 0.04436263,-0.09617178,-0.06742053,
  0.09192955, 0.68302186, 0.10757129,-0.69676546,-0.19085977]

qacc:
[ 3.33940717e-01,-1.17607543e+00, 4.66438683e+00,-9.05367226e+00,
  1.06177177e-01,-6.60636483e-01, 1.72075061e+00,-1.70754527e+00,
 -7.18515149e+00,-9.19052915e-02,-1.89579393e+00, 6.79432855e+00,
 -1.80135850e-01, 2.15882599e-01,-9.81595312e+00, 3.38694829e+01,
  5.80979501e+00,-9.89501276e-01, 3.72772046e-01,-7.79850164e+01,
  1.79678196e+02,-1.06340054e+00]

qfrc_actuator:
[ 9.96224231e-05, 8.17218881e-04, 1.15184254e-04,-5.13682925e-05,
 -2.23774410e-05, 3.50496244e-02, 1.09810680e-02, 1.81291386e-03,
 -1.01735675e-04, 7.28641051e-04, 1.93779670e-04, 7.98629022e-05,
  3.02309944e-03,-1.61795320e-03, 0.00000000e+00,-8.82979155e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005863595040699769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.46708476e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.46708476e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18753839, -0.05559286,  0.06170651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94507894e-06,-4.15142027e-05,-6.20522601e-06,-1.53500689e-05,
  3.06648254e-05,-3.81996229e-05,-4.80968983e-06,-3.15847161e-06,
 -4.34339066e-05,-7.96952889e-05,-2.23369635e-05, 8.57934950e-06,
 -3.62790248e-05, 1.69240073e-06, 1.22595785e-05, 1.67617324e-04,
  5.86717972e-05,-9.75052925e-04,-4.90325786e+00,-1.85560288e-03,
  2.79767420e-03,-5.31012386e-03]


--- Step 2098 ---
qpos:
[ 0.01871827, 0.03004054,-0.00944494,-0.02527173,-0.00348579, 1.34062356,
 -0.02989418, 0.94378199, 0.01156993, 0.02729559,-0.00830292, 0.02644432,
  1.35652812, 0.00762721, 1.29155096, 0.04436652,-0.09613537,-0.06734509,
  0.09191372, 0.68356093, 0.10664251,-0.69658346,-0.19011394]

qacc:
[-1.72838650e-02, 1.37762811e+00,-7.95703679e+00, 1.83777188e+01,
  4.68787407e-03,-1.04503071e+00, 3.76635065e+00,-7.35035056e+00,
 -7.31034176e+00, 9.85710929e-01,-6.23602124e+00, 1.48328905e+01,
 -4.04555153e-01, 3.48404084e-01, 8.42890785e+00,-2.81871157e+01,
  5.02637102e+00,-8.30681344e-01,-1.01439477e+00,-6.71087135e+01,
  1.55313427e+02,-1.04609911e+00]

qfrc_actuator:
[ 9.94615850e-05, 7.94565206e-04, 1.01208430e-04,-2.31317238e-05,
 -3.91538465e-05, 3.50401143e-02, 1.09834758e-02, 1.79441395e-03,
 -1.44569599e-04, 7.20946789e-04, 1.88557118e-04, 1.04110988e-04,
  3.00696042e-03,-1.62494276e-03, 0.00000000e+00,-1.02311601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005853787526911791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37073651e-15, -9.48294604e-15,  1.00000000e+00,  2.24815664e-29,
        1.00000000e+00,  9.48294604e-15, -1.00000000e+00,  0.00000000e+00,
        2.37073651e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18755629, -0.05558127,  0.06170687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13507713e-07,-4.77595486e-05,-2.38292605e-05, 2.59486781e-05,
  1.34343737e-06,-3.17000949e-05,-5.70838280e-06,-1.98543567e-05,
 -4.41368114e-05,-5.64828220e-05,-2.41280866e-05, 2.02296696e-05,
 -3.31418974e-05,-1.51712591e-05, 2.11822764e-05,-1.29934705e-04,
 -1.92279819e-04,-7.61893898e-04,-4.90333299e+00,-1.18053001e-03,
  3.09405400e-03,-5.27064192e-03]


--- Step 2099 ---
qpos:
[ 0.01871955, 0.03003898,-0.00944592,-0.02527129,-0.00348681, 1.34062644,
 -0.02989263, 0.94378281, 0.01156869, 0.02729379,-0.008303  , 0.02644514,
  1.35665779, 0.00762645, 1.29167195, 0.04436774,-0.09607987,-0.06727385,
  0.09191121, 0.68431436, 0.10570584,-0.69616951,-0.18944168]

qacc:
[ 5.83568872e+00, 1.78048907e+00,-6.02355064e+00, 6.28692888e+00,
 -9.23582882e-02,-1.36951598e+00, 3.52927880e+00,-1.41877338e+00,
  1.58305538e+00, 2.06837542e-01,-5.35058709e-01,-8.01663702e-01,
 -4.46793847e-01, 3.89976817e-01, 8.47024362e+00,-2.90377777e+01,
  4.77326424e+00,-1.04692238e+00, 3.32827469e+00,-6.18035254e+01,
  1.49263965e+02,-1.43880783e+01]

qfrc_actuator:
[ 1.34630985e-04, 8.17341844e-04, 7.53532765e-05,-2.44761234e-05,
 -6.66593551e-05, 3.50154782e-02, 1.10021783e-02, 1.80100445e-03,
 -1.33680539e-04, 7.35003782e-04, 1.85496029e-04, 1.00261617e-04,
  2.98728604e-03,-1.62881487e-03, 0.00000000e+00,-1.16051270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005784801446684057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91920680e-14, -4.79801699e-15,  1.00000000e+00,  9.20838681e-29,
        1.00000000e+00,  4.79801699e-15, -1.00000000e+00,  0.00000000e+00,
        1.91920680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15401528, -0.05877789,  0.06170972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51547819e-05,-7.68002804e-06,-3.77345681e-05,-3.70508526e-06,
 -2.67126366e-05,-4.39081911e-05, 1.12656148e-05, 5.01723622e-06,
  9.57182900e-06,-2.16082849e-05,-1.69838899e-05,-6.70806524e-06,
 -3.98503013e-05,-1.60264123e-05,-9.62571251e-06,-1.43041250e-04,
 -3.24304816e-04,-5.91800490e-04,-4.90313006e+00,-5.91687745e-04,
  3.35964375e-03,-5.23304685e-03]


--- Step 2100 ---
qpos:
[ 0.01872125, 0.0300374 ,-0.00944719,-0.02527122,-0.00348809, 1.34062902,
 -0.0298912 , 0.94378406, 0.01156794, 0.02729232,-0.00830332, 0.02644516,
  1.35678705, 0.0076259 , 1.29179301, 0.04436629,-0.09605113,-0.06720004,
  0.09191583, 0.68475691, 0.1048268 ,-0.69606753,-0.18870428]

qacc:
[ 3.52504338e+00,-6.13821263e-03, 1.51364978e+00,-7.44839811e+00,
 -1.09887432e-01, 6.83751069e-01,-3.57881615e+00, 8.28260305e+00,
  4.11774014e+00,-5.51829670e-01, 5.94345268e+00,-1.95930420e+01,
 -6.65430448e-01, 7.68412264e-01, 8.24105063e+00,-2.85259340e+01,
 -6.68912825e+00, 6.40455258e-01, 1.78418634e+00, 8.83765663e+01,
 -2.06052795e+02,-1.07301991e+01]

qfrc_actuator:
[ 1.54809515e-04, 8.13820780e-04, 6.06074443e-05,-4.31894102e-05,
 -8.26245788e-05, 3.49998091e-02, 1.09948046e-02, 1.82231211e-03,
 -1.09010178e-04, 7.79729629e-04, 1.83813449e-04, 6.21794836e-05,
  2.97083043e-03,-1.61305484e-03, 0.00000000e+00,-1.29509076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005860331379380371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73617852e-15, -1.89447141e-14,  1.00000000e+00, -8.97255480e-29,
        1.00000000e+00,  1.89447141e-14, -1.00000000e+00,  0.00000000e+00,
       -4.73617852e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00530754, -0.0790647 ,  0.06170648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12077784e-05,-1.56929741e-05,-2.10817897e-05,-2.04168496e-05,
 -3.17524431e-05,-3.76248871e-05,-1.45373428e-05, 2.04420998e-05,
  2.49385185e-05, 2.89100634e-05,-8.45167675e-06,-3.97246343e-05,
 -4.07121818e-05, 2.03802707e-06,-2.37853519e-05,-1.44561430e-04,
 -3.56144434e-04,-4.18957525e-04,-4.90277135e+00,-4.92986118e-05,
  3.60330958e-03,-5.19699320e-03]


--- Step 2101 ---
qpos:
[ 0.01872214, 0.03003558,-0.00944858,-0.02527101,-0.00348944, 1.3406316 ,
 -0.02989025, 0.94378521, 0.01156783, 0.02729111,-0.00830399, 0.02644508,
  1.35691605, 0.00762528, 1.29191378, 0.04436454,-0.09604547,-0.06712394,
  0.09192126, 0.68493182, 0.10399682,-0.69623457,-0.18791085]

qacc:
[-6.90391830e+00, 3.27073058e-01,-2.16291824e+00, 4.84319456e+00,
 -3.44117683e-02, 1.11383940e+00,-3.43902698e+00, 1.77074540e+00,
  5.50290700e+00, 1.11651194e+00,-3.09275921e+00, 1.81855318e+00,
 -1.70960253e-01, 7.31822051e-02, 4.53964557e-01,-2.20279003e+00,
 -5.76981740e+00, 5.71345087e-01, 1.99621703e-01, 7.57111081e+01,
 -1.77687775e+02,-9.04153960e+00]

qfrc_actuator:
[ 1.12733334e-04, 7.94609683e-04, 5.24414885e-05,-3.64703890e-05,
 -7.37843613e-05, 3.50073008e-02, 1.09721287e-02, 1.81658497e-03,
 -7.64433809e-05, 7.89206449e-04, 1.65323131e-04, 5.75527655e-05,
  2.95632540e-03,-1.62125782e-03, 0.00000000e+00,-1.30264465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.46742025,  7.39113883, -4.46742025, 70.14269832,
       37.17622569,  7.39113883, 37.17622569, 31.10676061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005923630895392024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05425281e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05425281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00544743, -0.07904561,  0.06170383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14556523e-05,-3.31406167e-05,-1.46793050e-05, 4.92515760e-06,
 -9.92504720e-06,-1.55696088e-05,-3.10933879e-05,-6.80291402e-06,
  3.33042687e-05, 2.22585582e-05,-1.49149221e-05,-4.45059081e-06,
 -3.52151174e-05,-1.65973901e-05,-2.98688982e-05,-1.92883988e-05,
 -2.57919949e-04,-5.86940519e-04,-4.90336176e+00,-8.09917751e-04,
  3.28479087e-03,-5.18641506e-03]


--- Step 2102 ---
qpos:
[ 0.01872183, 0.03003369,-0.00945014,-0.02527074,-0.0034908 , 1.34063388,
 -0.02988982, 0.94378699, 0.01156811, 0.0272899 ,-0.0083048 , 0.02644532,
  1.35704479, 0.00762478, 1.29203399, 0.04436568,-0.09605977,-0.0670458 ,
  0.09192204, 0.68487527, 0.10320872,-0.69663405,-0.18706903]

qacc:
[-1.03043720e+01, 5.11416799e-01,-2.18688503e+00, 3.52204071e+00,
  5.95797710e-05, 2.09556673e+00,-8.60963674e+00, 1.50698370e+01,
  3.33980201e+00, 1.02105876e+00,-4.96554871e+00, 1.05697961e+01,
 -2.08513226e-02, 2.53100814e-02,-9.55228133e+00, 3.22277552e+01,
 -4.99198085e+00, 5.11286242e-01,-1.16064163e+00, 6.50542588e+01,
 -1.53729243e+02,-7.66919900e+00]

qfrc_actuator:
[ 5.21088097e-05, 8.01704936e-04, 4.81729909e-05,-3.26031060e-05,
 -6.78881682e-05, 3.49752694e-02, 1.09406842e-02, 1.84825847e-03,
 -5.72474075e-05, 7.77466617e-04, 1.54707125e-04, 7.26165408e-05,
  2.95364452e-03,-1.60813386e-03, 0.00000000e+00,-1.14652954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00590319044725434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52634425e-15, -1.88071694e-14,  1.00000000e+00,  6.63205536e-29,
        1.00000000e+00,  1.88071694e-14, -1.00000000e+00,  0.00000000e+00,
        3.52634425e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00539794, -0.07904954,  0.06170476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18365826e-05,-1.41930902e-05,-1.27128100e-05, 2.04467369e-06,
  3.05811194e-08,-4.69481362e-05,-3.82303820e-05, 3.01424399e-05,
  2.01753759e-05,-2.50129064e-06,-7.98856264e-06, 1.54179086e-05,
 -2.47236888e-05, 2.88573503e-07,-1.75210819e-05, 1.50847458e-04,
 -7.53986651e-05,-7.45062615e-04,-4.90351740e+00,-1.43623946e-03,
  3.01660937e-03,-5.17390053e-03]


--- Step 2103 ---
qpos:
[ 0.01872079, 0.03003149,-0.00945161,-0.02527111,-0.00349198, 1.34063571,
 -0.02988946, 0.94379018, 0.01156793, 0.02728858,-0.00830538, 0.02644538,
  1.35717321, 0.00762487, 1.29215395, 0.04436965,-0.0960914 ,-0.06696583,
  0.09191352, 0.68461759, 0.10245645,-0.69723487,-0.18618531]

qacc:
[-6.20924727e+00,-1.92974420e+00, 8.98622276e+00,-1.98742489e+01,
  7.56399807e-02, 1.99069947e+00,-1.00882184e+01, 2.52130650e+01,
 -3.92671952e+00,-1.16255550e+00, 4.68847224e+00,-8.06912210e+00,
 -3.95180029e-01, 7.21266099e-01,-8.88016659e+00, 3.06169374e+01,
 -4.33278802e+00, 4.58928632e-01,-2.32347901e+00, 5.60820015e+01,
 -1.33490402e+02,-6.55272678e+00]

qfrc_actuator:
[ 1.65783079e-05, 7.71258760e-04, 4.63343619e-05,-6.59320738e-05,
 -4.60547547e-05, 3.49553096e-02, 1.09397037e-02, 1.91942227e-03,
 -8.15830619e-05, 7.70908686e-04, 1.66498505e-04, 6.36216982e-05,
  2.95274085e-03,-1.56462605e-03, 0.00000000e+00,-1.00179203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005815679235985714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77254238e-15,  4.77254238e-15,  1.00000000e+00, -2.27771608e-29,
        1.00000000e+00, -4.77254238e-15, -1.00000000e+00,  0.00000000e+00,
        4.77254238e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0051985 , -0.07907198,  0.06170852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73294201e-05,-4.08552801e-05,-6.22239295e-06,-3.43269235e-05,
  2.18498024e-05,-5.25168707e-05,-1.36314636e-05, 6.93367078e-05,
 -2.37505883e-05,-8.88537664e-06, 1.08468117e-05,-9.07518663e-06,
 -1.30665987e-05, 3.78526834e-05, 7.34279918e-06, 1.50583454e-04,
  1.55420406e-04,-8.90924491e-04,-4.90338787e+00,-1.95640770e-03,
  2.78741851e-03,-5.15982740e-03]


--- Step 2104 ---
qpos:
[ 0.01871968, 0.03002924,-0.00945344,-0.02527256,-0.00349266, 1.34063762,
 -0.029889  , 0.94379274, 0.01156746, 0.02728734,-0.00830587, 0.02644497,
  1.35730161, 0.00762496, 1.29227398, 0.04437465,-0.0960986 ,-0.06689112,
  0.09193326, 0.6846388 , 0.10168448,-0.6975397 ,-0.18538701]

qacc:
[-6.44424614e-01,-1.30474221e+00, 9.13784624e+00,-2.73397400e+01,
  2.14181247e-01,-1.20802620e+00, 5.34350920e+00,-1.17964378e+01,
 -2.47897915e+00,-1.06522222e+00, 5.97043739e+00,-1.43115666e+01,
  5.86977535e-02,-7.85122723e-02,-3.01434218e+00, 1.06867569e+01,
  6.10974129e+00,-1.31666208e+00, 7.06257598e+00,-7.83661342e+01,
  1.92340862e+02,-1.15739309e+01]

qfrc_actuator:
[ 1.38610716e-05, 7.71806092e-04, 2.80181932e-05,-1.20908284e-04,
  2.91499692e-06, 3.49961355e-02, 1.09567714e-02, 1.88900140e-03,
 -9.58363640e-05, 7.85326286e-04, 1.73664254e-04, 4.05555940e-05,
  2.94759282e-03,-1.57442196e-03, 0.00000000e+00,-9.53736794e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005811298478902979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.6865788e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.6865788e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15397421, -0.05874545,  0.06170867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80904431e-06,-2.49653972e-05,-2.86618132e-05,-5.75983856e-05,
  6.18797123e-05, 1.11839635e-05, 7.27879728e-06,-3.07840621e-05,
 -1.49568201e-05, 1.13462911e-05, 6.37524076e-06,-2.32431175e-05,
 -2.35881786e-06,-1.65184684e-06, 1.73233602e-05, 5.67486539e-05,
  4.09623822e-04,-1.02351706e-03,-4.90307627e+00,-2.39197298e-03,
  2.58865469e-03,-5.14448508e-03]


--- Step 2105 ---
qpos:
[ 0.01871821, 0.03002714,-0.00945538,-0.02527436,-0.00349279, 1.34063968,
 -0.0298883 , 0.94379284, 0.01156683, 0.02728686,-0.0083066 , 0.02644422,
  1.35743005, 0.00762452, 1.29239398, 0.04438087,-0.09608383,-0.06682009,
  0.0919579 , 0.68491186, 0.1008796 ,-0.6975829 ,-0.18465414]

qacc:
[ -3.17248348, -0.22667568,  2.57802758, -8.54499368,  0.22819169,
  -4.6812517 , 20.57267375,-46.56793467, -1.45483682,  0.94298686,
  -0.5003779 , -5.51461653,  0.46130341, -0.83065061, -3.7990606 ,
  13.10721317,  5.49034191, -0.92094641,  1.22691274,-71.13932937,
 171.01951189, -0.88008648]

qfrc_actuator:
[-5.03436028e-06, 8.08571622e-04, 3.57304410e-05,-1.34906963e-04,
  3.22623306e-05, 3.50020576e-02, 1.09667661e-02, 1.76357335e-03,
 -1.04026408e-04, 8.65424264e-04, 1.78113536e-04, 2.71626000e-05,
  2.93455737e-03,-1.61583465e-03, 0.00000000e+00,-8.92015494e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005832075709756339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36833099e-07,  4.36833109e-07,  1.00000000e+00,  1.90823161e-13,
        1.00000000e+00, -4.36833109e-07, -1.00000000e+00,  0.00000000e+00,
       -4.36833099e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17558918, -0.05666479,  0.06170795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90022950e-05, 1.45278448e-05,-2.91443465e-06,-1.71680938e-05,
  6.59153020e-05, 1.25999480e-05, 1.21087830e-05,-1.25585554e-04,
 -8.62790850e-06, 8.68083894e-05, 6.79528903e-06,-1.31332146e-05,
 -1.42948015e-05,-4.25736127e-05, 1.09489687e-05, 6.63240809e-05,
  6.51702875e-05,-7.71790976e-04,-4.90356347e+00,-1.72703709e-03,
  2.85473209e-03,-5.10718617e-03]


--- Step 2106 ---
qpos:
[ 0.01871652, 0.03002512,-0.00945668,-0.02527601,-0.00349275, 1.34064175,
 -0.02988773, 0.94379147, 0.01156678, 0.02728722,-0.00830712, 0.02644362,
  1.35755804, 0.00762422, 1.29251374, 0.04439014,-0.09604995,-0.06675293,
  0.09199583, 0.68540172, 0.10005988,-0.69739588,-0.18398773]

qacc:
[-1.82653156e+00,-1.33552567e+00, 4.27703479e+00,-2.73639018e+00,
  7.19481967e-02,-2.15382622e+00, 1.00656379e+01,-2.58099428e+01,
  5.07750889e+00, 8.37051926e-01,-2.01426137e+00, 3.64240867e+00,
 -1.98883504e-01, 1.88018521e-01,-9.56980475e+00, 3.29711743e+01,
  4.77937120e+00,-9.64585158e-01, 3.32101205e+00,-6.04594416e+01,
  1.49735984e+02,-9.17690099e+00]

qfrc_actuator:
[-1.55593028e-05, 8.31376438e-04, 7.66958298e-05,-1.24625004e-04,
  1.40954479e-05, 3.49869508e-02, 1.09545872e-02, 1.68975748e-03,
 -7.30793996e-05, 9.30980270e-04, 1.98964553e-04, 3.73807891e-05,
  2.90613233e-03,-1.60468619e-03, 0.00000000e+00,-7.33938480e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005796508510654781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.57665311e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.57665311e-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([-0.15400631, -0.05872616,  0.06170966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10637994e-05, 2.96922020e-05, 4.30663580e-05, 1.04828952e-05,
  2.07862601e-05,-9.55456216e-06,-1.20221958e-05,-7.59900623e-05,
  3.07224364e-05, 1.14963372e-04, 3.91806345e-05, 1.39224139e-05,
 -4.52143868e-05,-5.04376357e-06, 9.58464864e-06, 1.62500038e-04,
 -1.44155285e-04,-5.93891778e-04,-4.90363406e+00,-1.14836765e-03,
  3.09836322e-03,-5.07189584e-03]


--- Step 2107 ---
qpos:
[ 0.0187154 , 0.03002321,-0.00945776,-0.0252775 ,-0.00349285, 1.34064396,
 -0.02988804, 0.94379098, 0.01156677, 0.02728813,-0.00830755, 0.02644319,
  1.35768536, 0.00762481, 1.29263405, 0.04439688,-0.09599931,-0.06668903,
  0.09204029, 0.68608061, 0.09922738,-0.69700745,-0.1833792 ]

qacc:
[ 4.95026223e+00,-1.74321570e-01, 1.57470264e-01, 2.14349713e+00,
 -5.72038563e-02, 4.05687821e+00,-1.48161807e+01, 2.29668884e+01,
  2.23561680e-01, 8.24504447e-01,-2.58082378e+00, 4.95605718e+00,
 -1.31810793e+00, 1.83689562e+00, 8.61519383e+00,-2.86132065e+01,
  4.18857606e+00,-8.17154017e-01, 1.63402393e+00,-5.25401364e+01,
  1.30864825e+02,-8.06447097e+00]

qfrc_actuator:
[ 1.44368500e-05, 8.28070184e-04, 8.36703205e-05,-1.17885906e-04,
 -1.46738426e-05, 3.49948090e-02, 1.09116262e-02, 1.73566297e-03,
 -7.26046197e-05, 9.34162829e-04, 1.93810578e-04, 4.36636498e-05,
  2.88449365e-03,-1.54471031e-03, 0.00000000e+00,-8.75411048e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0057034180651274885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91988860e-14, -9.73296199e-15,  1.00000000e+00,  2.84191647e-28,
        1.00000000e+00,  9.73296199e-15, -1.00000000e+00,  0.00000000e+00,
        2.91988860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15415226, -0.05869836,  0.06171394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96900072e-05, 2.27343883e-05, 1.88184807e-05, 9.71639314e-06,
 -1.64858135e-05,-2.07849604e-06,-4.84315984e-05, 4.35055826e-05,
  1.41292447e-06, 7.61660062e-05, 2.39030304e-05, 1.28365748e-05,
 -4.46848415e-05, 4.77064481e-05, 1.93994674e-05,-1.31901643e-04,
 -2.41085913e-04,-4.36571380e-04,-4.90348953e+00,-6.46001520e-04,
  3.31212571e-03,-5.03859690e-03]


--- Step 2108 ---
qpos:
[ 0.01871465, 0.03002193,-0.00945923,-0.02527893,-0.00349317, 1.34064582,
 -0.02988843, 0.94379139, 0.01156607, 0.02728902,-0.00830745, 0.02644288,
  1.35781236, 0.00762579, 1.29275471, 0.0443999 ,-0.09597262,-0.06662259,
  0.09208685, 0.68648375, 0.09843694,-0.6968992 ,-0.18270671]

qacc:
[ 3.13491027e+00, 2.06592667e+00,-6.46590864e+00, 7.84861926e+00,
 -9.30314288e-02, 1.29690403e+00,-6.63460037e+00, 1.64260840e+01,
 -5.81121198e+00,-1.25113035e+00, 3.90302121e+00,-2.58882136e+00,
 -8.18066984e-01, 1.08140384e+00, 1.18406102e+01,-4.04874825e+01,
 -5.98616190e+00, 6.34083225e-01, 5.22231650e-01, 7.60841337e+01,
 -1.85182795e+02,-4.09956754e+00]

qfrc_actuator:
[ 3.25350393e-05, 8.80038633e-04, 7.03960648e-05,-1.13340397e-04,
 -3.18150434e-05, 3.49630480e-02, 1.09042509e-02, 1.78062809e-03,
 -1.07835321e-04, 8.99863305e-04, 2.08584763e-04, 4.75038439e-05,
  2.87228896e-03,-1.52723570e-03, 0.00000000e+00,-1.06798875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005744086154884247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08720593e-14, -1.93281054e-14,  1.00000000e+00,  2.10136307e-28,
        1.00000000e+00,  1.93281054e-14, -1.00000000e+00,  0.00000000e+00,
        1.08720593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00498527, -0.07908448,  0.06171253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89775390e-05, 6.90827586e-05,-5.88679732e-06, 6.36813238e-06,
 -2.68835461e-05,-4.10930475e-05,-1.20203089e-05, 4.44929742e-05,
 -3.51618863e-05, 1.37538651e-05, 3.38908565e-05, 8.18091279e-06,
 -2.34476417e-05, 2.15002875e-05,-1.12675880e-05,-1.98680805e-04,
 -2.62370245e-04,-3.13293739e-04,-4.90317534e+00,-2.15414430e-04,
  3.50232863e-03,-5.00713073e-03]


--- Step 2109 ---
qpos:
[ 0.01871516, 0.03002131,-0.00946064,-0.02528032,-0.0034937 , 1.3406472 ,
 -0.02988878, 0.9437913 , 0.01156565, 0.0272898 ,-0.0083065 , 0.02644261,
  1.35793939, 0.00762627, 1.29287542, 0.04439957,-0.09596669,-0.06655389,
  0.09212995, 0.68664848, 0.09768259,-0.69703344,-0.181979  ]

qacc:
[ 1.07777982e+01, 7.27908951e-01,-1.49148115e+00, 1.44787708e+00,
 -8.96211346e-02,-1.57580801e+00, 5.39409097e+00,-1.01070602e+01,
  2.35292142e+00,-2.44277989e+00, 8.32686453e+00,-8.93011332e+00,
  7.17859676e-02,-3.84958815e-01, 1.01875628e+01,-3.55464735e+01,
 -5.19024471e+00, 5.67459441e-01,-8.61583085e-01, 6.55160298e+01,
 -1.60293867e+02,-3.47242945e+00]

qfrc_actuator:
[ 9.67301533e-05, 9.29107362e-04, 8.10084542e-05,-1.10086013e-04,
 -4.18404064e-05, 3.49257018e-02, 1.09000272e-02, 1.75364524e-03,
 -9.27799226e-05, 8.96694979e-04, 2.52594036e-04, 4.98552232e-05,
  2.86041147e-03,-1.57064470e-03, 0.00000000e+00,-1.23576975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.10468553,  8.37598207, -2.10468553, 89.21105335,
       20.24650751,  8.37598207, 20.24650751, 13.72383053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005760038738851801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00500272, -0.07907931,  0.06171219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47779981e-05, 8.68315204e-05, 2.44109159e-05, 6.14113654e-06,
 -2.59136196e-05,-6.11050184e-05,-1.23261594e-05,-2.75361139e-05,
  1.40315868e-05, 1.18269016e-05, 5.12974926e-05, 4.27244546e-06,
 -1.94595949e-05,-4.19741362e-05,-3.09450791e-05,-1.81130766e-04,
 -1.98164947e-04,-4.56038091e-04,-4.90363864e+00,-8.22646640e-04,
  3.26000688e-03,-4.99593254e-03]


--- Step 2110 ---
qpos:
[ 0.01871609, 0.03002084,-0.00946113,-0.02528166,-0.0034944 , 1.34064849,
 -0.02988965, 0.94379158, 0.01156541, 0.0272912 ,-0.0083053 , 0.02644232,
  1.35806636, 0.00762627, 1.29299613, 0.04439586,-0.09597883,-0.06648315,
  0.09216488, 0.68660605, 0.09695933,-0.69737818,-0.18120345]

qacc:
[ 3.64275107e+00,-2.24275701e+00, 8.03720779e+00,-8.62234854e+00,
 -7.27163357e-02, 1.91256449e+00,-7.13337356e+00, 1.04593674e+01,
  1.55950092e+00, 8.05505832e-02, 9.79327037e-01,-2.19882241e+00,
 -2.99608356e-03,-3.04204053e-01, 1.02417024e+01,-3.58368667e+01,
 -4.51766506e+00, 5.09737539e-01,-2.04496230e+00, 5.66187094e+01,
 -1.39300745e+02,-2.97250723e+00]

qfrc_actuator:
[ 1.16536473e-04, 9.22896050e-04, 1.23404452e-04,-1.07593652e-04,
 -4.75162484e-05, 3.49385354e-02, 1.08798582e-02, 1.77329134e-03,
 -8.37401252e-05, 9.65559371e-04, 2.78110412e-04, 5.13502495e-05,
  2.85403685e-03,-1.59657791e-03, 0.00000000e+00,-1.40531241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005705088901314777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09463755e-14, -9.73011152e-15,  1.00000000e+00,  1.06509454e-28,
        1.00000000e+00,  9.73011152e-15, -1.00000000e+00,  0.00000000e+00,
        1.09463755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00486105, -0.0790949 ,  0.06171487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17265966e-05, 4.77114600e-05, 6.35722140e-05, 7.17899839e-06,
 -2.09913788e-05,-2.42176123e-05,-3.43336559e-05, 1.68111153e-05,
  9.45600352e-06, 8.62221940e-05, 3.44048945e-05, 3.85601118e-06,
 -2.70678968e-05,-4.25014663e-05,-3.63313271e-05,-1.84062321e-04,
 -6.01426675e-05,-5.91712881e-04,-4.90375528e+00,-1.33416781e-03,
  3.05004241e-03,-4.98323505e-03]


--- Step 2111 ---
qpos:
[ 0.01871656, 0.03002053,-0.00946101,-0.02528328,-0.00349509, 1.34064961,
 -0.02989019, 0.94379171, 0.01156458, 0.02729317,-0.00830412, 0.02644277,
  1.35819317, 0.00762595, 1.29311665, 0.0443901 ,-0.09600676,-0.06641057,
  0.09218759, 0.68638262, 0.09626291,-0.69790626,-0.18038624]

qacc:
[-3.91723117e+00,-2.08349480e+00, 8.93189922e+00,-1.49430516e+01,
  8.11364674e-03,-1.38300935e+00, 4.55640311e+00,-5.60012792e+00,
 -4.94982745e+00, 2.32469061e+00,-1.02679717e+01, 2.25474646e+01,
 -6.67704471e-02,-1.68644409e-01, 5.91820609e+00,-2.11113275e+01,
 -3.94857910e+00, 4.59591364e-01,-3.05298625e+00, 4.91275849e+01,
 -1.21601693e+02,-2.57241397e+00]

qfrc_actuator:
[ 9.22896257e-05, 9.19265625e-04, 1.48491662e-04,-1.23349552e-04,
 -3.27852075e-05, 3.49457752e-02, 1.09039255e-02, 1.76699741e-03,
 -1.13834538e-04, 9.88198767e-04, 2.75042609e-04, 8.78817060e-05,
  2.84564393e-03,-1.61185031e-03, 0.00000000e+00,-1.50352145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0055937331214045705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96190558e-15, -1.24047640e-14,  1.00000000e+00,  6.15512676e-29,
        1.00000000e+00,  1.24047640e-14, -1.00000000e+00,  0.00000000e+00,
        4.96190558e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00459409, -0.07912705,  0.06171992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35977336e-05, 3.65167671e-05, 4.30316088e-05,-1.13698572e-05,
  2.32543743e-06,-1.23761170e-05, 1.59157413e-05,-7.63789058e-06,
 -2.97833848e-05, 7.80662175e-05, 1.90834530e-05, 4.14863367e-05,
 -3.30701826e-05,-3.37215151e-05,-3.89722016e-05,-1.13529509e-04,
  1.21757172e-04,-7.17943221e-04,-4.90364227e+00,-1.76812991e-03,
  2.86578201e-03,-4.96928829e-03]


--- Step 2112 ---
qpos:
[ 0.01871605, 0.03002033,-0.00946108,-0.02528501,-0.00349568, 1.34065091,
 -0.02989087, 0.94379175, 0.01156375, 0.02729534,-0.00830307, 0.0264437 ,
  1.35831992, 0.00762513, 1.29323756, 0.04437813,-0.0960124 ,-0.06634211,
  0.09223158, 0.68641212, 0.09554286,-0.69816842,-0.17964079]

qacc:
[-8.44510492e+00, 4.39667586e-01,-8.24206141e-01,-1.00420913e+00,
  3.62147570e-02, 4.70291602e-01,-1.08285461e+00,-1.33195908e-01,
 -8.61698506e-02, 1.64731551e+00,-7.53875372e+00, 1.60653773e+01,
 -2.50546244e-01,-3.39725720e-02, 1.94064478e+01,-6.69753180e+01,
  5.57409672e+00,-1.03133016e+00, 5.31728411e+00,-6.93085689e+01,
  1.73937545e+02,-6.36115041e+00]

qfrc_actuator:
[ 4.23222676e-05, 8.99368054e-04, 1.27624381e-04,-1.31984168e-04,
 -2.36847311e-05, 3.49675243e-02, 1.09006275e-02, 1.76326107e-03,
 -1.13463058e-04, 9.65145270e-04, 2.54987572e-04, 1.09183069e-04,
  2.84137716e-03,-1.63843966e-03, 0.00000000e+00,-1.82520225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005520034063160956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01126118e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01126118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15446855, -0.05862356,  0.06172328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06423066e-05, 8.92674653e-06,-8.41253498e-06,-5.79883699e-06,
  1.04742534e-05, 1.77798732e-05,-4.13215706e-06,-3.81763622e-06,
 -4.68531738e-07, 2.62224590e-05,-1.80783379e-07, 2.61075823e-05,
 -2.96830974e-05,-4.38760518e-05,-3.19954902e-05,-3.33316966e-04,
  3.26802115e-04,-8.33667705e-04,-4.90338039e+00,-2.13889775e-03,
  2.70202919e-03,-4.95429375e-03]


--- Step 2113 ---
qpos:
[ 0.01871495, 0.0300206 ,-0.00946151,-0.02528722,-0.00349633, 1.34065259,
 -0.02989202, 0.94379278, 0.01156362, 0.02729734,-0.00830173, 0.02644421,
  1.35844651, 0.00762398, 1.29335791, 0.04436571,-0.09599856,-0.06627715,
  0.09228903, 0.68666193, 0.09480233,-0.69819916,-0.17895766]

qacc:
[-5.12969211e+00, 7.04423545e-01, 3.43751955e-01,-8.13869349e+00,
 -2.05912588e-02, 3.47717887e+00,-1.27737155e+01, 2.23234072e+01,
  5.98997545e+00,-1.92192954e+00, 8.26489056e+00,-1.58514279e+01,
  8.53243021e-02,-3.47188463e-01, 4.78628456e-01,-2.93601285e+00,
  4.86928584e+00,-8.73335481e-01, 3.36779130e+00,-6.00964022e+01,
  1.51511553e+02,-5.51038209e+00]

qfrc_actuator:
[ 1.31362142e-05, 9.40694409e-04, 1.15237089e-04,-1.54153483e-04,
 -3.57894833e-05, 3.49977006e-02, 1.08812520e-02, 1.81430937e-03,
 -7.73973835e-05, 9.32563542e-04, 2.60365076e-04, 8.57915372e-05,
  2.83425754e-03,-1.65377274e-03, 0.00000000e+00,-1.83216808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005509336008437761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25947916e-15, -2.01516666e-14,  1.00000000e+00,  2.53806042e-29,
        1.00000000e+00,  2.01516666e-14, -1.00000000e+00,  0.00000000e+00,
        1.25947916e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15449466, -0.05861474,  0.06172406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06569940e-05, 4.43279922e-05,-1.17708954e-05,-2.21844424e-05,
 -5.91439907e-06, 3.90813467e-05,-1.64803716e-05, 5.13738394e-05,
  3.60681672e-05,-1.69324806e-05, 1.16345581e-05,-2.17753770e-05,
 -3.38056522e-05,-3.46130860e-05,-5.45745505e-05,-3.02419031e-05,
  4.82159097e-05,-6.40166200e-04,-4.90375010e+00,-1.58495823e-03,
  2.91832556e-03,-4.92063949e-03]


--- Step 2114 ---
qpos:
[ 0.01871453, 0.03002113,-0.00946151,-0.0252897 ,-0.00349706, 1.34065394,
 -0.02989277, 0.94379306, 0.01156324, 0.02729919,-0.00830004, 0.02644443,
  1.35857275, 0.00762309, 1.29347732, 0.04435825,-0.0959676 ,-0.06621515,
  0.09235334, 0.68710446, 0.094044  ,-0.69802721,-0.17832892]

qacc:
[ 5.94881104e+00,-1.46635633e+00, 6.90176969e+00,-1.26320881e+01,
 -3.61311989e-02,-2.83482431e+00, 1.02815432e+01,-1.75223278e+01,
 -2.16957356e+00,-1.80241036e+00, 7.37522346e+00,-1.29011548e+01,
 -4.18267453e-03, 7.11484332e-02,-1.63483301e+01, 5.51796641e+01,
  4.27918757e+00,-7.42521500e-01, 1.71336860e+00,-5.23726714e+01,
  1.32701757e+02,-4.82629339e+00]

qfrc_actuator:
[ 4.96824057e-05, 9.65109848e-04, 1.43708997e-04,-1.66295447e-04,
 -4.27649239e-05, 3.49438937e-02, 1.08881259e-02, 1.77292048e-03,
 -9.16316196e-05, 9.30074795e-04, 2.80635281e-04, 7.18038554e-05,
  2.83076298e-03,-1.62680495e-03, 0.00000000e+00,-1.56482667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0054403104090518725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27545919e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.27545919e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15461036, -0.05859377,  0.06172745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56697818e-05, 4.58155624e-05, 3.54191719e-05,-1.10765456e-05,
 -1.04693243e-05,-3.38761517e-05, 1.41509190e-05,-3.95043575e-05,
 -1.31755715e-05,-1.05643939e-05, 1.74103753e-05,-1.47446446e-05,
 -2.94778566e-05, 9.25723614e-06,-2.86240056e-05, 2.58659178e-04,
 -1.13501530e-04,-4.88021570e-04,-4.90382046e+00,-1.10678390e-03,
  3.11102786e-03,-4.88889409e-03]


--- Step 2115 ---
qpos:
[ 0.01871422, 0.03002183,-0.00946143,-0.02529158,-0.00349802, 1.34065491,
 -0.0298933 , 0.94379147, 0.011562  , 0.02730101,-0.00829845, 0.02644484,
  1.35869849, 0.00762322, 1.29359704, 0.04434996,-0.0959215 ,-0.0661557 ,
  0.0924189 , 0.68771644, 0.09327015,-0.69767647,-0.17774791]

qacc:
[ 8.27738069e-01, 1.25368909e+00,-6.66636085e+00, 1.68056238e+01,
 -9.60513985e-02,-4.26915001e+00, 1.71622809e+01,-3.62763351e+01,
 -7.31434546e+00, 6.82221522e-01,-3.26337857e+00, 6.74677654e+00,
 -1.11063125e+00, 1.72942818e+00, 3.04501969e+00,-9.73823123e+00,
  3.78491899e+00,-6.34287059e-01, 3.13770367e-01,-4.58949201e+01,
  1.16929370e+02,-4.27241125e+00]

qfrc_actuator:
[ 5.36077424e-05, 9.61634436e-04, 1.42774425e-04,-1.36913743e-04,
 -6.43588263e-05, 3.49112714e-02, 1.08923053e-02, 1.67742288e-03,
 -1.35369876e-04, 9.27934180e-04, 2.74150135e-04, 8.12509500e-05,
  2.82414034e-03,-1.55717555e-03, 0.00000000e+00,-1.61743495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0053251432182709404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12730469e-14, -1.04243490e-14,  1.00000000e+00,  3.26001154e-28,
        1.00000000e+00,  1.04243490e-14, -1.00000000e+00,  0.00000000e+00,
        3.12730469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1547965 , -0.05856345,  0.06173289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.97852295e-06, 2.89851998e-05, 1.25051948e-05, 3.23559488e-05,
 -2.77817689e-05,-4.97895627e-05,-1.99573628e-06,-9.70153801e-05,
 -4.41202745e-05,-5.17681694e-06,-7.07492092e-06, 9.30189818e-06,
 -1.88772128e-05, 6.54997627e-05, 1.52786911e-05,-4.19039828e-05,
 -1.92990972e-04,-3.66552877e-04,-4.90368962e+00,-6.91063607e-04,
  3.28467513e-03,-4.85869661e-03]


--- Step 2116 ---
qpos:
[ 0.01871326, 0.03002279,-0.00946138,-0.02529275,-0.00349921, 1.34065587,
 -0.02989424, 0.94378909, 0.01156024, 0.02730272,-0.00829718, 0.02644539,
  1.35882407, 0.00762367, 1.29371704, 0.04433911,-0.09589722,-0.06609364,
  0.09248228, 0.68808101, 0.09252837,-0.6975793 ,-0.17710494]

qacc:
[-5.49251392e+00, 1.89224075e+00,-9.24808753e+00, 2.13847826e+01,
 -9.99098012e-02,-2.34136246e-01, 2.38210580e+00,-1.11975853e+01,
 -4.40142635e+00, 1.04269204e+00,-4.50207142e+00, 7.45664812e+00,
 -5.54581759e-01, 7.78525294e-01, 8.21855184e+00,-2.79718954e+01,
 -5.45237899e+00, 6.50932943e-01,-5.46380466e-01, 6.67136278e+01,
 -1.67752236e+02,-4.98636367e-02]

qfrc_actuator:
[ 2.05268153e-05, 9.76913744e-04, 1.42135160e-04,-1.01140075e-04,
 -7.67952945e-05, 3.49270433e-02, 1.08771430e-02, 1.63963163e-03,
 -1.60602189e-04, 9.08182488e-04, 2.51936429e-04, 8.66392698e-05,
  2.81034118e-03,-1.55155563e-03, 0.00000000e+00,-1.75170584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005381208653354001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28946754e-15, -2.06314807e-14,  1.00000000e+00,  2.66036247e-29,
        1.00000000e+00,  2.06314807e-14, -1.00000000e+00,  0.00000000e+00,
        1.28946754e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00401258, -0.07919169,  0.06173091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29295514e-05, 3.54359890e-05, 8.00186437e-06, 3.80796837e-05,
 -2.88553776e-05,-1.50863314e-05,-2.79769414e-05,-4.15970057e-05,
 -2.65189117e-05,-2.38142049e-05,-2.38729226e-05, 5.09576771e-06,
 -7.90338565e-06, 2.09429813e-05,-2.09472217e-06,-1.35604924e-04,
 -2.14140819e-04,-2.68090928e-04,-4.90342556e+00,-3.27003831e-04,
  3.44290619e-03,-4.82975851e-03]


--- Step 2117 ---
qpos:
[ 0.01871226, 0.03002359,-0.00946085,-0.02529381,-0.00350046, 1.34065693,
 -0.02989521, 0.94378694, 0.01155854, 0.02730409,-0.00829609, 0.02644602,
  1.35894951, 0.00762406, 1.29383673, 0.04432909,-0.09589195,-0.06602925,
  0.09253867, 0.68823046, 0.09181424,-0.69770276,-0.17640816]

qacc:
[-3.62119760e-01,-1.33023433e+00, 3.99989135e+00,-2.79665397e+00,
 -2.12736320e-02, 5.56996433e-01,-2.13993648e+00, 4.42695568e+00,
  4.74919929e-01, 2.05362649e-01,-1.71855501e+00, 3.62279071e+00,
  1.78356822e-02,-9.27363077e-02,-2.96166134e+00, 9.65549720e+00,
 -4.75597892e+00, 5.82698797e-01,-1.74658364e+00, 5.77700756e+01,
 -1.46001193e+02, 2.57344129e-02]

qfrc_actuator:
[ 1.91975372e-05, 9.50046694e-04, 1.59504445e-04,-9.73867180e-05,
 -6.58849632e-05, 3.49538722e-02, 1.08864231e-02, 1.65388545e-03,
 -1.56977523e-04, 8.77965205e-04, 2.38296538e-04, 8.95705120e-05,
  2.79222433e-03,-1.56631107e-03, 0.00000000e+00,-1.70213197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.82174793,  8.44203834, -1.82174793, 85.30860777,
       16.54547119,  8.44203834, 16.54547119, 12.2067902 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00537210397761527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87495882e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.87495882e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00396866, -0.0791956 ,  0.06173174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28118979e-06,-3.80952721e-06, 2.69841972e-05, 6.29085083e-06,
 -6.14196912e-06, 1.17506448e-05, 1.92196084e-06, 1.20123172e-05,
  2.84724083e-06,-4.83399042e-05,-2.13598818e-05, 1.17676068e-06,
 -1.77795822e-05,-1.00052308e-05,-1.95280865e-05, 4.09979338e-05,
 -1.61389352e-04,-3.95961740e-04,-4.90378605e+00,-8.38677165e-04,
  3.24558462e-03,-4.81790838e-03]


--- Step 2118 ---
qpos:
[ 0.01871125, 0.03002439,-0.00946065,-0.02529513,-0.00350153, 1.34065828,
 -0.02989621, 0.94378599, 0.01155724, 0.02730495,-0.00829509, 0.0264467 ,
  1.35907464, 0.0076244 , 1.29395578, 0.04432372,-0.09590336,-0.06596276,
  0.09258398, 0.68819181, 0.09112403,-0.69801895,-0.17566444]

qacc:
[-8.36606908e-02, 4.18703816e-01,-4.37215383e-01,-3.38873872e+00,
  7.33082947e-02, 2.54906966e+00,-1.03357981e+01, 2.27682775e+01,
  3.43136170e+00,-3.32054507e-01, 1.12280941e-03, 1.33336879e+00,
  1.71137706e-01,-3.09405836e-01,-1.50329899e+01, 5.11675778e+01,
 -4.16798295e+00, 5.24004377e-01,-2.77012957e+00, 5.02423636e+01,
 -1.27676364e+02, 6.68580146e-02]

qfrc_actuator:
[ 1.88270918e-05, 9.33695700e-04, 1.33916915e-04,-1.12526990e-04,
 -4.10579339e-05, 3.49872447e-02, 1.08923875e-02, 1.71642015e-03,
 -1.36403085e-04, 8.41738209e-04, 2.29782334e-04, 9.10303200e-05,
  2.76619360e-03,-1.57528499e-03, 0.00000000e+00,-1.45583876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.45275565,  8.51330006, -1.45275565, 87.63390124,
       13.4805679 ,  8.51330006, 13.4805679 , 10.93676079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0053025597455898105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92577976e-15, -3.14062381e-14,  1.00000000e+00,  1.23293974e-28,
        1.00000000e+00,  3.14062381e-14, -1.00000000e+00,  0.00000000e+00,
        3.92577976e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00378915, -0.07921795,  0.06173514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42468239e-07,-1.26692955e-05,-2.28454014e-05,-1.42475955e-05,
  2.11978195e-05, 4.06006639e-05, 8.83096055e-06, 6.32199105e-05,
  2.06473510e-05,-6.76888369e-05,-2.11216926e-05,-1.33525648e-06,
 -3.75283122e-05,-1.59501844e-05,-5.99230803e-06, 2.45748541e-04,
 -4.56468152e-05,-5.17482816e-04,-4.90386560e+00,-1.27833149e-03,
  3.07050766e-03,-4.80482065e-03]


--- Step 2119 ---
qpos:
[ 0.01870955, 0.03002567,-0.0094616 ,-0.02529593,-0.00350238, 1.34065979,
 -0.02989708, 0.94378581, 0.0115562 , 0.02730558,-0.00829459, 0.02644703,
  1.35919952, 0.00762464, 1.29407462, 0.04432231,-0.09592945,-0.06589438,
  0.09261474, 0.68798763, 0.09045459,-0.69850422,-0.17487954]

qacc:
[-5.93177413e+00, 4.88772063e+00,-1.86372423e+01, 2.89362389e+01,
  9.60249735e-02, 1.16115366e+00,-5.08684094e+00, 1.31080098e+01,
  2.17995360e+00, 3.72660027e-01,-3.28163813e-01,-4.61746277e+00,
  1.92689905e-01,-3.57627949e-01,-1.23414668e+01, 4.26466919e+01,
 -3.67093822e+00, 4.73396238e-01,-3.63994328e+00, 4.39074672e+01,
 -1.12250685e+02, 8.63171504e-02]

qfrc_actuator:
[-1.64913287e-05, 9.76827110e-04, 8.31844980e-05,-8.54280230e-05,
 -2.58370679e-05, 3.49888022e-02, 1.08963905e-02, 1.75359588e-03,
 -1.23779364e-04, 8.37715759e-04, 2.06575319e-04, 7.38557478e-05,
  2.75673941e-03,-1.58078353e-03, 0.00000000e+00,-1.25544708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.22567628,  8.54894698, -1.22567628, 91.40233531,
       11.86629052,  8.54894698, 11.86629052, 10.3376528 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005185152323215231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.33822373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.33822373e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00350331, -0.07925495,  0.06174055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53366845e-05, 3.06933879e-05,-5.66632531e-05, 2.54896274e-05,
  2.77488116e-05, 2.76362850e-05, 1.48024985e-05, 4.01198194e-05,
  1.32096214e-05,-4.63359659e-05,-3.98623037e-05,-2.08388948e-05,
 -3.12205942e-05,-1.92665693e-05, 2.30482332e-05, 2.12999136e-04,
  1.08643687e-04,-6.30905828e-04,-4.90375648e+00,-1.65851679e-03,
  2.91342916e-03,-4.79067520e-03]


--- Step 2120 ---
qpos:
[ 0.01870779, 0.03002741,-0.00946296,-0.02529645,-0.00350316, 1.34066134,
 -0.02989754, 0.94378641, 0.011556  , 0.02730626,-0.0082948 , 0.02644679,
  1.35932414, 0.007625  , 1.29419381, 0.04432099,-0.09593449,-0.06582928,
  0.09266201, 0.6880194 , 0.08975825,-0.69874318,-0.17415721]

qacc:
[-5.84551846e-01, 2.35953773e+00,-8.69901738e+00, 1.38848412e+01,
  2.76565751e-02, 3.01288857e-01,-2.54638513e+00, 1.13426766e+01,
  7.22273063e+00, 8.68513820e-01,-6.12962234e-01,-8.17315581e+00,
 -3.04612871e-01, 3.50891490e-01, 3.01729735e-01,-2.17065787e-01,
  5.26498091e+00,-8.19166572e-01, 4.12957119e+00,-6.33100978e+01,
  1.61954472e+02,-2.63973354e+00]

qfrc_actuator:
[-1.88393802e-05, 1.01965655e-03, 7.15581189e-05,-6.91551870e-05,
 -3.42554924e-05, 3.49890324e-02, 1.09168150e-02, 1.79327366e-03,
 -8.04367522e-05, 8.52936992e-04, 1.74991915e-04, 4.58697820e-05,
  2.75191039e-03,-1.56635526e-03, 0.00000000e+00,-1.26129731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0050704580991083326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.28438674e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.28438674e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15523673, -0.05848644,  0.06174577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36873106e-06, 4.93408403e-05,-1.13829737e-05, 1.61257450e-05,
  7.98043049e-06, 1.96112323e-05, 2.86907416e-05, 4.18732178e-05,
  4.37184017e-05,-1.98456360e-05,-4.68013356e-05,-3.17605207e-05,
 -2.38631227e-05, 9.60767752e-07, 3.11730303e-05, 8.28039565e-06,
  2.84505962e-04,-7.35500040e-04,-4.90352258e+00,-1.98945198e-03,
  2.77092740e-03,-4.77562309e-03]


--- Step 2121 ---
qpos:
[ 0.01870636, 0.0300296 ,-0.00946393,-0.02529683,-0.00350379, 1.34066285,
 -0.02989744, 0.94378852, 0.01155599, 0.02730696,-0.00829492, 0.02644651,
  1.3594484 , 0.00762599, 1.2943134 , 0.04431765,-0.09592102,-0.06576697,
  0.09271887, 0.68825789, 0.08903834,-0.69876657,-0.1734893 ]

qacc:
[ 2.83360642e+00,-2.14373058e-01, 9.65064479e-01, 6.47946814e-01,
  6.12815080e-02, 9.94440346e-01,-6.40984591e+00, 2.30552076e+01,
  1.51026710e+00,-3.18105930e-01, 1.33248676e+00,-2.19403469e+00,
 -8.62737333e-01, 1.25302520e+00, 6.78521055e+00,-2.26928328e+01,
  4.62501652e+00,-6.98376466e-01, 2.39989819e+00,-5.51694776e+01,
  1.41885509e+02,-2.15517228e+00]

qfrc_actuator:
[-1.75128628e-06, 1.06212641e-03, 1.00879702e-04,-5.93522305e-05,
 -2.12813068e-05, 3.49885275e-02, 1.09467636e-02, 1.86962360e-03,
 -7.26154991e-05, 8.79523501e-04, 1.92061393e-04, 4.72708448e-05,
  2.74454046e-03,-1.52241655e-03, 0.00000000e+00,-1.37084599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005052548734608989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37334527e-15, -1.09867622e-14,  1.00000000e+00,  1.50886178e-29,
        1.00000000e+00,  1.09867622e-14, -1.00000000e+00,  0.00000000e+00,
        1.37334527e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15527405, -0.05847892,  0.06174687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70028824e-05, 6.83583066e-05, 3.86666232e-05, 1.18364317e-05,
  1.76906791e-05, 1.72058467e-05, 3.82775487e-05, 7.87539246e-05,
  9.09986060e-06, 4.45316028e-06, 6.09970207e-06,-1.68925092e-06,
 -1.85620175e-05, 3.84980122e-05, 1.06148714e-05,-1.06128493e-04,
  4.16677592e-05,-5.74724688e-04,-4.90382697e+00,-1.49551653e-03,
  2.95963051e-03,-4.74374257e-03]


--- Step 2122 ---
qpos:
[ 0.0187048 , 0.03003202,-0.0094647 ,-0.02529739,-0.00350413, 1.34066374,
 -0.02989577, 0.94379049, 0.01155606, 0.02730754,-0.00829453, 0.02644623,
  1.35957231, 0.00762794, 1.29443347, 0.04430935,-0.09589119,-0.06570705,
  0.09277948, 0.6886784 , 0.08829767,-0.69859996,-0.17286895]

qacc:
[ -1.10185605, -0.61565947,  3.44644569, -7.17560502,  0.12542366,
  -5.29851798, 16.58352528,-15.60034574,  0.82358215, -1.56692197,
   5.35451439, -6.00899724, -1.2905232 ,  1.95333781, 15.84736473,
 -54.04469399,  4.08917956, -0.59808631,  0.93368754,-48.34620115,
 125.05851054, -1.78728508]

qfrc_actuator:
[-8.87593246e-06, 1.05097089e-03, 1.00875865e-04,-7.11615613e-05,
  4.42288882e-06, 3.49343896e-02, 1.10176112e-02, 1.86042894e-03,
 -6.80217684e-05, 8.77435654e-04, 2.20050182e-04, 4.82486016e-05,
  2.74099069e-03,-1.46131712e-03, 0.00000000e+00,-1.62930156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004983144023526308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34193539e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.34193539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15539082, -0.05846093,  0.06175028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.61324904e-06, 3.55060664e-05, 1.92736204e-05,-7.31662553e-06,
  3.61587008e-05,-3.47718589e-05, 8.08802544e-05,-5.72395474e-06,
  4.86364775e-06, 1.56999097e-06, 2.95950376e-05, 1.34573673e-06,
 -4.07904800e-06, 6.84950204e-05,-1.12672063e-05,-2.63967498e-04,
 -1.01888940e-04,-4.44697400e-04,-4.90387364e+00,-1.06127293e-03,
  3.13110538e-03,-4.71328174e-03]


--- Step 2123 ---
qpos:
[ 0.01870316, 0.03003386,-0.00946475,-0.02529836,-0.00350417, 1.34066431,
 -0.02989377, 0.94379099, 0.01155688, 0.02730782,-0.00829399, 0.02644671,
  1.35969626, 0.00762991, 1.29455364, 0.04429668,-0.09588028,-0.06564461,
  0.09283237, 0.68888713, 0.0875815 ,-0.69865129,-0.17219285]

qacc:
[-5.91405701e-01,-3.64160270e+00, 1.36031708e+01,-2.14519599e+01,
  1.27282183e-01,-3.77845770e+00, 1.48617503e+01,-2.97319583e+01,
  6.36209587e+00, 7.38424613e-01,-6.43273783e+00, 1.95313330e+01,
 -3.31354470e-01, 3.90534351e-01, 1.34188178e+01,-4.66508819e+01,
 -4.72866392e+00, 6.31957936e-01,-1.92848245e+00, 5.60926617e+01,
 -1.44441780e+02, 1.95508893e+00]

qfrc_actuator:
[-1.24491140e-05, 9.72154751e-04, 1.18818177e-04,-9.56629305e-05,
  1.98034497e-05, 3.49019275e-02, 1.10230013e-02, 1.78319671e-03,
 -2.98477417e-05, 8.40509440e-04, 2.18627558e-04, 8.44483748e-05,
  2.72909240e-03,-1.47927768e-03, 0.00000000e+00,-1.84909686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004904764607107946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.07362581e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.07362581e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00278745, -0.07934884,  0.06175411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76073774e-06,-5.53688525e-05, 2.73799761e-05,-2.24586925e-05,
  3.67471087e-05,-3.60518048e-05, 7.62437183e-06,-7.60318444e-05,
  3.83179723e-05,-2.99004995e-05, 2.58255692e-06, 3.73155101e-05,
  8.53824656e-07, 2.21279051e-06,-3.85167421e-05,-2.36811121e-04,
 -1.74698449e-04,-3.37827986e-04,-4.90374443e+00,-6.76875650e-04,
  3.28851898e-03,-4.68397344e-03]


--- Step 2124 ---
qpos:
[ 0.01870288, 0.03003479,-0.0094641 ,-0.02529889,-0.0035041 , 1.34066509,
 -0.02989281, 0.94379128, 0.01155781, 0.027308  ,-0.00829382, 0.02644798,
  1.35982025, 0.00763132, 1.2946733 , 0.04428377,-0.09588601,-0.0655799 ,
  0.09287367, 0.68890998, 0.08688645,-0.69889381,-0.17146788]

qacc:
[ 1.16091652e+01,-2.25929912e+00, 4.38602311e+00, 2.96727488e+00,
  4.49264184e-02, 2.66820775e+00,-7.95703588e+00, 4.32244467e+00,
  9.01993628e-01, 2.48474136e+00,-1.23724301e+01, 2.66073986e+01,
  4.06473247e-01,-7.88300049e-01,-6.05268233e-02,-9.77994648e-01,
 -4.16006973e+00, 5.67194119e-01,-2.89743399e+00, 4.89482079e+01,
 -1.26823050e+02, 1.82977288e+00]

qfrc_actuator:
[ 5.71145546e-05, 9.06725967e-04, 1.46921608e-04,-7.42220003e-05,
  1.11140534e-05, 3.49179082e-02, 1.09719871e-02, 1.77304288e-03,
 -2.54709260e-05, 8.36178851e-04, 1.99722012e-04, 1.23275810e-04,
  2.71216425e-03,-1.52635529e-03, 0.00000000e+00,-1.84901025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.90531061,  8.13301587, -2.90531061, 75.37593014,
       23.84099251,  8.13301587, 23.84099251, 17.15294464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004858239186557339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28482026e-15, -3.42785621e-14,  1.00000000e+00,  1.46877478e-28,
        1.00000000e+00,  3.42785621e-14, -1.00000000e+00,  0.00000000e+00,
        4.28482026e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00266177, -0.07936582,  0.06175649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94290307e-05,-9.17570530e-05, 1.92461184e-05, 1.95789363e-05,
  1.30251936e-05,-4.76048588e-06,-5.94308735e-05,-1.27724173e-05,
  5.48852784e-06,-1.89199999e-05,-2.34839590e-05, 3.83573439e-05,
 -1.75696159e-05,-4.55222400e-05,-4.58244322e-05,-1.84219093e-05,
 -8.39483257e-05,-4.57138019e-04,-4.90387775e+00,-1.10734921e-03,
  3.12226119e-03,-4.67076025e-03]


--- Step 2125 ---
qpos:
[ 0.01870377, 0.03003509,-0.00946373,-0.02529877,-0.00350401, 1.34066595,
 -0.02989251, 0.94379213, 0.01155844, 0.02730814,-0.00829384, 0.02644829,
  1.35994412, 0.00763245, 1.29479208, 0.0442759 ,-0.09587336,-0.06551771,
  0.09292365, 0.68913705, 0.08616591,-0.69892401,-0.17079462]

qacc:
[ 1.01330701e+01, 1.25553935e+00,-8.42083922e+00, 2.04434167e+01,
  8.17182159e-03, 2.88961391e+00,-1.04412955e+01, 1.54796467e+01,
 -2.55863573e+00,-1.45529035e+00, 9.13058660e+00,-2.51931972e+01,
  5.21011001e-01,-7.91755895e-01,-1.66492990e+01, 5.61872145e+01,
  4.59602117e+00,-6.32649675e-01, 2.17041080e+00,-5.39225162e+01,
  1.40062542e+02,-6.26600549e-01]

qfrc_actuator:
[ 1.15910068e-04, 8.67638734e-04, 1.27595417e-04,-4.36647650e-05,
  5.80914436e-06, 3.49270680e-02, 1.09416079e-02, 1.80246700e-03,
 -4.10326437e-05, 8.33571786e-04, 1.88525363e-04, 7.45853886e-05,
  2.70819237e-03,-1.53707464e-03, 0.00000000e+00,-1.57735866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004801837466482134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15603978e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15603978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15569786, -0.058415  ,  0.06175924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07815303e-05,-8.55986607e-05,-3.52492024e-05, 2.76706436e-05,
  2.39226757e-06,-5.48859289e-06,-3.84497979e-05, 2.72447392e-05,
 -1.54072297e-05,-1.64008071e-05,-1.66763523e-05,-4.95709324e-05,
 -2.42768852e-05,-2.80693071e-05,-2.33096055e-05, 2.64733494e-04,
  4.84762869e-05,-5.68944449e-04,-4.90381895e+00,-1.48389745e-03,
  2.97155049e-03,-4.65651966e-03]


--- Step 2126 ---
qpos:
[ 0.01870399, 0.03003524,-0.00946407,-0.02529866,-0.00350394, 1.34066723,
 -0.02989307, 0.9437933 , 0.01155853, 0.02730761,-0.00829316, 0.02644805,
  1.36006782, 0.007633  , 1.29491051, 0.04427263,-0.09584442,-0.0654577 ,
  0.09297667, 0.6895444 , 0.08542282,-0.69876663,-0.17016654]

qacc:
[-5.85778708e+00, 1.76364794e+00,-6.51428036e+00, 7.53164417e+00,
 -6.45010806e-03, 3.39081051e+00,-1.10577597e+01, 1.30852178e+01,
 -4.54037880e+00,-3.97587518e+00, 1.52735791e+01,-2.56509508e+01,
  6.03830149e-01,-1.09056153e+00,-1.44900850e+01, 4.97678237e+01,
  4.07232480e+00,-5.43451008e-01, 7.59276536e-01,-4.73454838e+01,
  1.23763210e+02,-3.70908007e-01]

qfrc_actuator:
[ 7.91100039e-05, 8.79951447e-04, 9.82695856e-05,-4.35138263e-05,
  2.57928832e-06, 3.49676740e-02, 1.09059168e-02, 1.81944743e-03,
 -6.81944015e-05, 7.78712424e-04, 2.17433592e-04, 4.58121339e-05,
  2.68537919e-03,-1.57929910e-03, 0.00000000e+00,-1.34324007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004740588173853068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.51292809e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.51292809e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15580125, -0.0584002 ,  0.06176225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50598493e-05,-4.16456048e-05,-5.04002348e-05,-4.19908143e-06,
 -1.81637058e-06, 3.08623969e-05,-4.03414720e-05, 1.63222767e-05,
 -2.76154943e-05,-6.96089226e-05, 2.17502617e-05,-3.10180715e-05,
 -4.10818032e-05,-5.64593877e-05, 1.85465423e-05, 2.45863833e-04,
 -9.47341579e-05,-4.43698447e-04,-4.90386622e+00,-1.05509834e-03,
  3.13877839e-03,-4.62601306e-03]


--- Step 2127 ---
qpos:
[ 0.01870342, 0.03003499,-0.00946415,-0.02529894,-0.00350404, 1.34066895,
 -0.02989387, 0.94379532, 0.01155796, 0.02730643,-0.00829216, 0.02644851,
  1.36019107, 0.00763313, 1.29502932, 0.04426952,-0.09583428,-0.06539504,
  0.09302156, 0.6897428 , 0.08470204,-0.698825  ,-0.16948172]

qacc:
[-6.73770341e+00,-2.00889540e+00, 8.05512909e+00,-1.48179325e+01,
 -7.20244169e-02, 2.68339655e+00,-9.82140713e+00, 1.81328541e+01,
 -5.70837056e+00,-2.81203366e-01,-3.23100069e+00, 1.55295583e+01,
 -1.11446982e-01,-2.52056232e-01, 7.46892713e-02, 5.55238634e-01,
 -4.70133477e+00, 6.62321701e-01,-2.03264362e+00, 5.47970441e+01,
 -1.43064625e+02, 3.20646258e+00]

qfrc_actuator:
[ 3.95994863e-05, 8.69621461e-04, 1.16740616e-04,-6.12106008e-05,
 -1.71315410e-05, 3.50090224e-02, 1.09029835e-02, 1.86447778e-03,
 -1.01959963e-04, 7.46416462e-04, 2.34094802e-04, 8.22428529e-05,
  2.65127024e-03,-1.60449879e-03, 0.00000000e+00,-1.34623912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0047427607181037765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85219817e-15, -1.17043963e-14,  1.00000000e+00,  6.84964469e-29,
        1.00000000e+00,  1.17043963e-14, -1.00000000e+00,  0.00000000e+00,
        5.85219817e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00234587, -0.07940991,  0.06176248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05445956e-05,-4.42212641e-05, 3.52044092e-06,-2.13036983e-05,
 -2.07831286e-05, 5.10137461e-05,-1.00750105e-06, 4.51558702e-05,
 -3.45992751e-05,-6.80554877e-05, 3.88832473e-06, 3.35980138e-05,
 -6.66490892e-05,-5.21829174e-05, 3.33095522e-05, 1.25122471e-05,
 -1.69296554e-04,-3.39363094e-04,-4.90374127e+00,-6.72419579e-04,
  3.29343949e-03,-4.59652014e-03]


--- Step 2128 ---
qpos:
[ 0.01870272, 0.03003417,-0.00946392,-0.02529941,-0.00350404, 1.3406708 ,
 -0.02989438, 0.94379959, 0.01155698, 0.0273049 ,-0.00829218, 0.02644947,
  1.36031373, 0.00763361, 1.29514779, 0.04427047,-0.09584071,-0.06533001,
  0.09305453, 0.68975753, 0.08400039,-0.6990729 ,-0.16874703]

qacc:
[-1.05121361e+00,-2.01769868e+00, 6.87915055e+00,-1.02101321e+01,
  3.99224994e-02, 3.26513251e+00,-1.50575071e+01, 3.90589433e+01,
 -3.44588210e+00, 3.38707461e+00,-1.47877073e+01, 2.50920703e+01,
 -3.59894414e-01, 4.55341358e-01,-1.27494097e+01, 4.39269604e+01,
 -4.14131572e+00, 5.93518797e-01,-2.97828902e+00, 4.78603270e+01,
 -1.25810150e+02, 2.97545673e+00]

qfrc_actuator:
[ 3.43466187e-05, 8.28246025e-04, 1.27700016e-04,-7.14880951e-05,
  6.68807259e-06, 3.50151324e-02, 1.09194416e-02, 1.97893828e-03,
 -1.21585355e-04, 7.10144450e-04, 1.72485473e-04, 1.03485347e-04,
  2.64236904e-03,-1.56616528e-03, 0.00000000e+00,-1.13386011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.74810517,  7.78064808, -3.74810517, 66.94636596,
       28.08917955,  7.78064808, 28.08917955, 22.16752427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004700796659510877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47611020e-15,  1.18088816e-14,  1.00000000e+00, -1.74312106e-29,
        1.00000000e+00, -1.18088816e-14, -1.00000000e+00,  0.00000000e+00,
        1.47611020e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00223367, -0.07942605,  0.06176461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44809392e-06,-6.62905311e-05, 1.52935267e-06,-1.24607254e-05,
  1.15394969e-05, 3.54818147e-05, 2.76487206e-05, 1.17015226e-04,
 -2.06666501e-05,-7.20700599e-05,-7.40238886e-05, 1.91151369e-05,
 -5.35626919e-05, 6.89719851e-06, 1.16922492e-05, 2.16242988e-04,
 -7.77703584e-05,-4.60865470e-04,-4.90385714e+00,-1.10084303e-03,
  3.12982193e-03,-4.58304500e-03]


--- Step 2129 ---
qpos:
[ 0.01870231, 0.03003307,-0.00946396,-0.02529965,-0.00350372, 1.34067252,
 -0.02989448, 0.94380419, 0.01155577, 0.02730297,-0.00829292, 0.02645032,
  1.36043618, 0.00763413, 1.29526642, 0.04427261,-0.09586181,-0.06526284,
  0.09307238, 0.68960971, 0.0833152 ,-0.69948815,-0.16796828]

qacc:
[ 2.45573239e+00, 8.43211246e-01,-4.52891743e+00, 9.13405138e+00,
  1.34382523e-01,-7.71818859e-01, 1.64024920e+00, 2.37656134e+00,
 -1.96295177e+00, 1.26668798e+00,-4.83887568e+00, 4.41270120e+00,
 -1.15942554e-01, 8.79699763e-02,-3.36025853e+00, 1.21278627e+01,
 -3.66786837e+00, 5.34804465e-01,-3.78239217e+00, 4.20259073e+01,
 -1.11289320e+02, 2.75661894e+00]

qfrc_actuator:
[ 4.93009104e-05, 8.21849722e-04, 1.16246012e-04,-5.96021564e-05,
  3.86768944e-05, 3.49824679e-02, 1.09293530e-02, 1.99129856e-03,
 -1.32728606e-04, 6.89198472e-04, 1.36133617e-04, 9.78031291e-05,
  2.64329606e-03,-1.56132455e-03, 0.00000000e+00,-1.08025484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.68880634,  7.80893621, -3.68880634, 70.42284578,
       29.186865  ,  7.80893621, 29.186865  , 22.42373361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0046128726526976915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01698284e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.01698284e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00201761, -0.07945681,  0.06176871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47461980e-05,-4.36548178e-05,-2.53790245e-05, 8.86077096e-06,
  3.88088388e-05,-4.11645820e-06, 2.34348799e-05, 1.69582913e-05,
 -1.17761413e-05,-7.56766870e-05,-5.96794208e-05,-1.09580205e-05,
 -2.32149583e-05,-5.89156177e-06, 2.63477139e-05, 6.64816983e-05,
  5.49909707e-05,-5.74585140e-04,-4.90378616e+00,-1.47803914e-03,
  2.98058618e-03,-4.56854093e-03]


--- Step 2130 ---
qpos:
[ 0.01870243, 0.03003211,-0.00946467,-0.02529943,-0.00350321, 1.34067412,
 -0.02989429, 0.94380648, 0.01155444, 0.02730073,-0.00829337, 0.02645101,
  1.3605585 , 0.00763443, 1.29538548, 0.04427273,-0.0958624 ,-0.06519819,
  0.09310393, 0.68968889, 0.0825981 ,-0.69966873,-0.1672437 ]

qacc:
[ 4.49759618e+00, 3.00154379e+00,-1.23473205e+01, 2.12430833e+01,
  8.33524933e-02,-4.83975587e+00, 2.03323488e+01,-4.42229337e+01,
 -1.05184822e+00,-1.53749982e+00, 5.58015838e+00,-8.59166873e+00,
 -1.40943783e-01,-3.48049477e-03, 6.76459478e+00,-2.27075382e+01,
  5.12748269e+00,-6.30598069e-01, 3.42723051e+00,-5.91111449e+01,
  1.55371363e+02, 1.77260947e+00]

qfrc_actuator:
[ 7.60180258e-05, 8.54133237e-04, 9.18003834e-05,-3.47600737e-05,
  3.98011093e-05, 3.49622658e-02, 1.09350844e-02, 1.87241727e-03,
 -1.38794878e-04, 7.13157036e-04, 1.68312320e-04, 9.41201648e-05,
  2.63413052e-03,-1.57639883e-03, 0.00000000e+00,-1.19168520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004632479979877618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.48939438e-15, -1.19830310e-14,  1.00000000e+00,  8.97456450e-29,
        1.00000000e+00,  1.19830310e-14, -1.00000000e+00,  0.00000000e+00,
        7.48939438e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1559969 , -0.0583726 ,  0.06176796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71358458e-05, 3.05758129e-06,-3.62671302e-05, 2.22700818e-05,
  2.40579569e-05,-1.73890746e-05, 8.09494630e-06,-1.17916074e-04,
 -6.44142441e-06,-3.10886971e-05, 8.84534146e-06,-9.19990336e-06,
 -2.15264375e-05,-2.24748417e-05, 1.54862596e-05,-1.05261190e-04,
  2.12679870e-04,-6.80095474e-04,-4.90358834e+00,-1.81225023e-03,
  2.84313261e-03,-4.55313573e-03]


--- Step 2131 ---
qpos:
[ 0.01870183, 0.03003124,-0.00946564,-0.02529996,-0.00350287, 1.34067562,
 -0.02989434, 0.94380771, 0.01155339, 0.02729873,-0.00829373, 0.02645193,
  1.36068055, 0.00763462, 1.29550404, 0.04427623,-0.0958449 ,-0.0651357 ,
  0.09314284, 0.68996787, 0.08185273,-0.69964292,-0.16656605]

qacc:
[-6.13968977e+00,-7.20594283e-01, 5.93648424e+00,-1.87140999e+01,
 -7.24635762e-02,-1.33029789e+00, 6.37724357e+00,-1.78790103e+01,
  2.40210310e+00, 5.64983205e-01,-2.56722464e+00, 6.38538813e+00,
  1.39019871e-01,-3.07016124e-01,-1.09999876e+01, 3.73342623e+01,
  4.52236805e+00,-5.40097913e-01, 1.83654245e+00,-5.16756490e+01,
  1.36764180e+02, 1.88502452e+00]

qfrc_actuator:
[ 3.84274105e-05, 8.56036607e-04, 7.78139215e-05,-7.34768282e-05,
  4.64760573e-06, 3.49495741e-02, 1.09205274e-02, 1.81930203e-03,
 -1.24074384e-04, 7.64114334e-04, 1.87625733e-04, 1.09484036e-04,
  2.61358179e-03,-1.58543593e-03, 0.00000000e+00,-1.00884188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0046185411912674085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50719845e-15, -1.20191959e-14,  1.00000000e+00, -5.41729010e-29,
        1.00000000e+00,  1.20191959e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50719845e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15602476, -0.05836893,  0.06176877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67946004e-05,-2.87247586e-06,-1.70334958e-05,-3.94048810e-05,
 -2.09367386e-05,-2.42785406e-05,-2.04943574e-05,-5.61287938e-05,
  1.45136053e-05, 3.50834668e-05, 1.36915483e-05, 1.41630782e-05,
 -3.66705344e-05,-2.07038838e-05,-8.75934535e-06, 1.78014747e-04,
  4.72795754e-07,-5.39140750e-04,-4.90380157e+00,-1.33421063e-03,
  3.02189379e-03,-4.52097027e-03]


--- Step 2132 ---
qpos:
[ 0.01870044, 0.03003019,-0.00946582,-0.02530134,-0.0035028 , 1.34067721,
 -0.02989439, 0.94380825, 0.01155321, 0.02729719,-0.00829427, 0.02645302,
  1.36080203, 0.00763546, 1.29562255, 0.04428152,-0.09581133,-0.06507507,
  0.09318369, 0.69042366, 0.08108223,-0.69943428,-0.1659293 ]

qacc:
[-6.75470872e+00,-4.13564696e+00, 1.79698832e+01,-3.36776141e+01,
 -1.15937767e-01,-1.02441089e+00, 4.87943483e+00,-1.21352627e+01,
  7.44474562e+00, 1.41269025e+00,-4.88957644e+00, 7.73143571e+00,
 -7.15006950e-01, 1.04424573e+00,-5.43073688e+00, 1.90787852e+01,
  4.01524598e+00,-4.64554602e-01, 4.88228107e-01,-4.54433049e+01,
  1.21160714e+02, 1.92644745e+00]

qfrc_actuator:
[-1.21198231e-06, 8.57479989e-04, 1.23222050e-04,-1.13789549e-04,
 -1.64778989e-05, 3.49769272e-02, 1.09297064e-02, 1.78758497e-03,
 -7.94856519e-05, 7.95343510e-04, 1.81555917e-04, 1.18189221e-04,
  2.59687418e-03,-1.53760692e-03, 0.00000000e+00,-9.20316129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004557011453417005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25621529e-14, -2.43629632e-14,  1.00000000e+00,  3.06051269e-28,
        1.00000000e+00,  2.43629632e-14, -1.00000000e+00,  0.00000000e+00,
        1.25621529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15612651, -0.0583559 ,  0.06177173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07063899e-05,-5.33483808e-06, 4.13784641e-05,-4.17854250e-05,
 -3.34986314e-05, 8.21750410e-06, 4.51477390e-07,-3.43453553e-05,
  4.50183760e-05, 5.43594807e-05, 3.37753261e-06, 1.09604276e-05,
 -3.94071750e-05, 3.29469688e-05, 1.40637732e-05, 9.69288801e-05,
 -1.24255516e-04,-4.21107712e-04,-4.90378504e+00,-9.05242839e-04,
  3.18763378e-03,-4.48981865e-03]


--- Step 2133 ---
qpos:
[ 0.01869962, 0.03002905,-0.00946553,-0.0253025 ,-0.00350286, 1.34067891,
 -0.02989406, 0.94380771, 0.01155323, 0.02729574,-0.00829472, 0.02645424,
  1.36092318, 0.00763679, 1.29574143, 0.04428518,-0.09576341,-0.06501604,
  0.09322194, 0.69103686, 0.08028926,-0.69906239,-0.16532839]

qacc:
[ 4.90094069e+00,-1.01690466e+00, 2.49109935e+00, 7.17923667e-01,
 -5.04060817e-02,-2.75796688e+00, 1.14339242e+01,-2.27255157e+01,
  1.63750188e+00, 1.37875058e-01,-8.49017821e-01, 2.81520337e+00,
 -7.31515683e-01, 1.03122749e+00, 5.60633627e+00,-1.86355505e+01,
  3.59008574e+00,-4.01524405e-01,-6.51587489e-01,-4.02177604e+01,
  1.08085280e+02, 1.92495457e+00]

qfrc_actuator:
[ 2.92915696e-05, 8.58876690e-04, 1.50076708e-04,-1.01413544e-04,
 -1.12626737e-05, 3.49926477e-02, 1.09529897e-02, 1.73323578e-03,
 -7.09385733e-05, 7.78919278e-04, 1.78232911e-04, 1.22876072e-04,
  2.58783246e-03,-1.50963415e-03, 0.00000000e+00,-1.01242044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044578718681306875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24523882e-14, -1.24523882e-14,  1.00000000e+00,  1.55061973e-28,
        1.00000000e+00,  1.24523882e-14, -1.00000000e+00,  0.00000000e+00,
        1.24523882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15628633, -0.05833566,  0.06177638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93194094e-05, 5.20417360e-06, 2.94240390e-05, 1.27733145e-05,
 -1.45803042e-05, 1.93114813e-05, 2.39340908e-05,-5.48822859e-05,
  9.87870923e-06, 1.52161512e-05, 8.72088189e-06, 7.34684602e-06,
 -2.04548050e-05, 2.85332369e-05, 1.34425683e-05,-8.57542422e-05,
 -1.86008772e-04,-3.20669725e-04,-4.90361067e+00,-5.18015679e-04,
  3.34253054e-03,-4.45948394e-03]


--- Step 2134 ---
qpos:
[ 0.01869918, 0.03002783,-0.00946516,-0.02530347,-0.00350324, 1.34068027,
 -0.02989328, 0.94380689, 0.01155266, 0.02729412,-0.00829453, 0.02645584,
  1.36104423, 0.00763819, 1.29586012, 0.04428973,-0.09573703,-0.06495372,
  0.09325629, 0.69141295, 0.07951797,-0.69893662,-0.16465912]

qacc:
[ 3.19390645e+00, 5.48803885e-02,-1.14102972e+00, 4.28855602e+00,
 -1.41447669e-01,-2.13193805e+00, 6.96246172e+00,-8.90238405e+00,
 -4.98329495e+00,-1.22367142e+00, 2.43547202e+00, 3.31527006e+00,
 -3.34873239e-02, 5.28974479e-02,-3.01244290e+00, 1.01196631e+01,
 -5.38405722e+00, 8.25641165e-01,-9.72971118e-01, 6.12481509e+01,
 -1.63377874e+02, 6.32455159e+00]

qfrc_actuator:
[ 4.75794723e-05, 8.42470417e-04, 1.48026898e-04,-9.36613858e-05,
 -4.35460449e-05, 3.49480744e-02, 1.09665999e-02, 1.71925733e-03,
 -1.01436635e-04, 7.69589853e-04, 2.11874524e-04, 1.42879177e-04,
  2.58339038e-03,-1.51143196e-03, 0.00000000e+00,-9.61639873e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004546402547045088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52623835e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52623835e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00181014, -0.07949341,  0.06177267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91458846e-05,-6.81902018e-06, 3.10295069e-06, 9.24511917e-06,
 -4.08987493e-05,-3.08710793e-05, 1.84989520e-05,-1.39665013e-05,
 -3.02089082e-05, 1.35439839e-06, 3.81322485e-05, 2.11010345e-05,
 -8.11542257e-06, 2.11095418e-06,-7.71396582e-06, 4.67370582e-05,
 -2.01795083e-04,-2.33898190e-04,-4.90332861e+00,-1.66264638e-04,
  3.48843767e-03,-4.42980370e-03]


--- Step 2135 ---
qpos:
[ 0.01869827, 0.03002643,-0.00946446,-0.02530434,-0.00350384, 1.34068142,
 -0.02989271, 0.94380801, 0.01155207, 0.02729186,-0.00829358, 0.02645669,
  1.36116518, 0.0076396 , 1.29597869, 0.04429517,-0.09572953,-0.06488846,
  0.09328238, 0.69158172, 0.07876487,-0.69902632,-0.16392996]

qacc:
[-3.98766798e+00,-9.20858590e-01, 2.55631543e+00,-1.29204615e+00,
 -8.80572761e-02, 3.63871466e+00,-1.61843342e+01, 3.66216725e+01,
 -1.04926247e-01,-4.50352821e+00, 1.79764508e+01,-3.17024375e+01,
 -9.27620781e-03,-1.04644324e-02,-2.85194159e+00, 9.73372946e+00,
 -4.72088484e+00, 7.33017266e-01,-2.06823207e+00, 5.32060693e+01,
 -1.43066869e+02, 5.84539123e+00]

qfrc_actuator:
[ 2.30024837e-05, 8.33163896e-04, 1.64354885e-04,-8.87331251e-05,
 -4.48076840e-05, 3.49387421e-02, 1.09564251e-02, 1.81787094e-03,
 -1.01402424e-04, 6.93725304e-04, 2.31592153e-04, 1.00750278e-04,
  2.57637229e-03,-1.51311072e-03, 0.00000000e+00,-9.15779625e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.34168989,  6.78624535, -5.34168989, 46.11065811,
       29.49732137,  6.78624535, 29.49732137, 31.85473186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004568956626142505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0018524 , -0.07948942,  0.06177187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40183022e-05,-1.20328353e-05, 1.56334333e-05, 4.92704667e-06,
 -2.54317072e-05,-2.32233703e-05,-1.45214781e-05, 9.79065019e-05,
 -8.57078576e-07,-6.62858987e-05, 2.54379071e-05,-4.03400521e-05,
 -1.06963893e-05,-2.87527188e-06,-4.91615784e-07, 4.69671757e-05,
 -1.63179804e-04,-3.75231554e-04,-4.90366372e+00,-6.71855022e-04,
  3.30501131e-03,-4.41676109e-03]


--- Step 2136 ---
qpos:
[ 0.01869775, 0.03002491,-0.00946359,-0.0253048 ,-0.00350427, 1.3406824 ,
 -0.02989229, 0.94381064, 0.01155183, 0.02728917,-0.00829269, 0.02645671,
  1.36128632, 0.00764024, 1.29609744, 0.04429943,-0.09573867,-0.06482058,
  0.09329645, 0.69156801, 0.07802709,-0.6993055 ,-0.16314805]

qacc:
[ 3.45749679e+00, 1.88106960e-01,-2.67502211e+00, 9.67613761e+00,
  6.94769901e-02, 2.73168506e+00,-1.22980726e+01, 2.83032096e+01,
  2.98515114e+00,-2.12622465e+00, 1.02900030e+01,-2.42833894e+01,
  5.23446298e-01,-1.01065333e+00, 3.74714248e+00,-1.28875773e+01,
 -4.16054501e+00, 6.54469127e-01,-3.00268359e+00, 4.64476962e+01,
 -1.25961063e+02, 5.39276066e+00]

qfrc_actuator:
[ 4.44064463e-05, 8.28243348e-04, 1.73682203e-04,-6.77316535e-05,
 -9.69636068e-06, 3.49328076e-02, 1.09502300e-02, 1.89318233e-03,
 -8.33845259e-05, 6.67259638e-04, 2.24843998e-04, 5.78310734e-05,
  2.57313819e-03,-1.56794644e-03, 0.00000000e+00,-9.79734947e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.22585014,  6.87584665, -5.22585014, 49.12826226,
       30.7750601 ,  6.87584665, 30.7750601 , 32.02633437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004534153602921698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53036145e-15, -1.22428916e-14,  1.00000000e+00,  1.87360495e-29,
        1.00000000e+00,  1.22428916e-14, -1.00000000e+00,  0.00000000e+00,
        1.53036145e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00176313, -0.07950418,  0.06177357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07029464e-05,-8.17049116e-06, 8.95010498e-06, 2.11278159e-05,
  2.00813896e-05,-1.86872155e-05,-9.51941206e-06, 7.64615655e-05,
  1.79642875e-05,-5.99403117e-05,-1.86900544e-05,-4.56637574e-05,
 -9.22558730e-06,-5.81921349e-05, 2.46809500e-06,-6.19992819e-05,
 -6.04109011e-05,-5.08162807e-04,-4.90373317e+00,-1.11944992e-03,
  3.13763333e-03,-4.40248074e-03]


--- Step 2137 ---
qpos:
[ 0.01869819, 0.03002372,-0.00946307,-0.02530537,-0.00350472, 1.3406834 ,
 -0.02989166, 0.94381239, 0.01155215, 0.0272866 ,-0.00829213, 0.02645617,
  1.36140752, 0.00764001, 1.29621593, 0.04430491,-0.09576255,-0.06475035,
  0.09329533, 0.69139261, 0.07730222,-0.69975212,-0.16231943]

qacc:
[ 8.13066507e+00, 1.15506930e+00,-3.02978086e+00, 1.40623108e+00,
 -8.60602030e-03,-2.05850948e+00, 8.55513853e+00,-1.76461573e+01,
  4.78498367e+00,-7.75715772e-02, 2.83134921e+00,-1.20597926e+01,
  7.06430492e-01,-1.30223992e+00,-4.12697117e+00, 1.37032687e+01,
 -3.68630519e+00, 5.87684616e-01,-3.79767885e+00, 4.07650007e+01,
 -1.11561202e+02, 4.97667373e+00]

qfrc_actuator:
[ 9.27171433e-05, 8.61482058e-04, 1.61072647e-04,-7.29490145e-05,
 -2.40609128e-05, 3.49467143e-02, 1.09641815e-02, 1.84764712e-03,
 -5.49352576e-05, 7.05957836e-04, 2.20466232e-04, 3.25703600e-05,
  2.56682712e-03,-1.61839290e-03, 0.00000000e+00,-9.12591790e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.27995735,  6.83438565, -5.27995735, 51.27503551,
       32.94083484,  6.83438565, 32.94083484, 34.08505968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004453610423613814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.23215166e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.23215166e-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([-0.00157019, -0.07953385,  0.06177724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89139001e-05, 3.14777808e-05,-1.24553907e-05,-4.84437028e-06,
 -2.49839410e-06, 4.00236078e-06, 1.14571751e-05,-4.45977091e-05,
  2.89495825e-05,-5.46358430e-07,-2.06215004e-05,-2.93616382e-05,
 -2.47659313e-05,-6.99743148e-05,-8.54737499e-06, 6.33347214e-05,
  8.32046213e-05,-6.31976356e-04,-4.90362107e+00,-1.51781126e-03,
  2.98363052e-03,-4.38709772e-03]


--- Step 2138 ---
qpos:
[ 0.01869886, 0.03002271,-0.00946265,-0.02530634,-0.00350526, 1.34068482,
 -0.029891  , 0.94381252, 0.01155247, 0.02728408,-0.00829167, 0.02645497,
  1.36152848, 0.00763945, 1.29633423, 0.04431213,-0.09579958,-0.064678  ,
  0.09327632, 0.69107286, 0.07658827,-0.70034756,-0.1614492 ]

qacc:
[ 1.97960402e+00,-2.92120925e-01, 3.06903021e+00,-9.94776771e+00,
 -3.42881453e-02,-2.26519646e+00, 1.14090704e+01,-2.89835012e+01,
 -5.54837845e-02,-1.01900614e+00, 6.52189108e+00,-1.77828066e+01,
  1.56904621e-01,-4.56848359e-01,-5.58813997e+00, 1.90790295e+01,
 -3.28438621e+00, 5.30776024e-01,-4.47205359e+00, 3.59877299e+01,
 -9.94566831e+01, 4.60368939e+00]

qfrc_actuator:
[ 1.03205692e-04, 8.63949313e-04, 1.53504320e-04,-9.35352904e-05,
 -3.24866991e-05, 3.49901552e-02, 1.09721704e-02, 1.76689598e-03,
 -5.60849515e-05, 7.12391165e-04, 2.17820622e-04, 2.14444055e-07,
  2.55334717e-03,-1.63030169e-03, 0.00000000e+00,-8.21967269e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.5807499 ,  6.5910551 , -5.5807499 , 51.64627575,
       36.41716826,  6.5910551 , 36.41716826, 39.47135211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00433711009492288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27991105e-14, -3.83973314e-14,  1.00000000e+00,  4.91451687e-28,
        1.00000000e+00,  3.83973314e-14, -1.00000000e+00,  0.00000000e+00,
        1.27991105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00129619, -0.07957531,  0.06178244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19288715e-05, 1.73433276e-05,-2.76208462e-06,-1.97631913e-05,
 -9.90193289e-06, 4.65508093e-05, 8.76843260e-06,-8.13241753e-05,
 -3.07669034e-07, 7.08931562e-07,-6.29036822e-06,-3.36597066e-05,
 -4.21409764e-05,-3.86890091e-05, 1.38428254e-06, 9.26288476e-05,
  2.51293923e-04,-7.46542533e-04,-4.90338607e+00,-1.87434824e-03,
  2.84075693e-03,-4.37073274e-03]


--- Step 2139 ---
qpos:
[ 0.01869965, 0.03002163,-0.00946224,-0.02530719,-0.00350559, 1.34068661,
 -0.02988998, 0.94381167, 0.01155277, 0.02728192,-0.00829142, 0.02645371,
  1.3616491 , 0.00763891, 1.29645247, 0.04432071,-0.0958133 ,-0.06460788,
  0.09327744, 0.69100983, 0.07583095,-0.70067973,-0.16063314]

qacc:
[ 1.04153384e+00, 2.09287137e-01,-1.42670990e+00, 3.76448197e+00,
  8.60707148e-02,-2.18322196e+00, 9.71191471e+00,-2.00297746e+01,
 -1.52064379e-01, 9.44506333e-01,-2.43105452e+00, 1.44492648e+00,
 -1.74653676e-01, 1.20705910e-01,-4.18531925e+00, 1.45400242e+01,
  5.82581074e+00,-5.57115713e-01, 5.03125667e+00,-6.50361272e+01,
  1.75291724e+02, 7.10634101e+00]

qfrc_actuator:
[ 1.09091821e-04, 8.47972206e-04, 1.48860087e-04,-8.75051327e-05,
 -1.77518364e-06, 3.50153915e-02, 1.09944416e-02, 1.71936682e-03,
 -5.68981812e-05, 7.52725586e-04, 2.16100835e-04,-5.73607253e-07,
  2.54624423e-03,-1.61926378e-03, 0.00000000e+00,-7.53776255e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004433557160301457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78178138e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.78178138e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15634465, -0.0583347 ,  0.06177805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.24366035e-06,-7.65965787e-06,-2.07827545e-06, 6.29514977e-06,
  2.48618724e-05, 5.02483158e-05, 2.99880307e-05,-4.77554116e-05,
 -8.28058875e-07, 3.80781903e-05,-3.48582347e-06,-1.62308085e-06,
 -3.67860033e-05,-1.04826508e-05, 8.29286760e-06, 7.29097434e-05,
  4.32571253e-04,-8.52140832e-04,-4.90306876e+00,-2.19541077e-03,
  2.70709367e-03,-4.35349393e-03]


--- Step 2140 ---
qpos:
[ 0.01870086, 0.03002084,-0.00946178,-0.02530765,-0.00350579, 1.34068864,
 -0.02988894, 0.94381028, 0.01155375, 0.0272806 ,-0.00829147, 0.0264524 ,
  1.36176952, 0.00763841, 1.29657126, 0.04432569,-0.09580589,-0.06454019,
  0.09327935, 0.69117929, 0.07504074,-0.70077234,-0.15986934]

qacc:
[ 3.50644759e+00, 9.86705815e-01,-4.58007125e+00, 1.07976844e+01,
  5.32076675e-02,-6.58271352e-01, 3.63732009e+00,-9.51743080e+00,
  5.75326238e+00, 1.80992281e+00,-4.61093046e+00, 3.47321697e+00,
 -5.03931311e-01, 5.31920252e-01, 1.17518580e+01,-3.98040504e+01,
  5.28230366e+00,-6.08692136e-01, 1.99190346e-01,-5.77253112e+01,
  1.59596159e+02, 3.06220596e+00]

qfrc_actuator:
[ 1.29986730e-04, 8.92112078e-04, 1.63668265e-04,-6.58768659e-05,
 -1.09116868e-06, 3.50118503e-02, 1.09894266e-02, 1.69177848e-03,
 -2.19915297e-05, 8.30838455e-04, 2.15099892e-04,-5.05325665e-07,
  2.54298366e-03,-1.61244365e-03, 0.00000000e+00,-9.47892846e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43200078, -1.8676562 , -8.43200078, 10.72918285,
       -9.44855545, -1.8676562 , -9.44855545, 51.29422899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004478095340774545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76912553e-08, -1.76912429e-08,  1.00000000e+00,  3.12980296e-16,
        1.00000000e+00,  1.76912429e-08, -1.00000000e+00,  0.00000000e+00,
        1.76912553e-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([-0.17773541, -0.05508137,  0.06177609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10771390e-05, 3.97326181e-05, 1.31966368e-05, 2.13539543e-05,
  1.53779464e-05, 2.86730517e-05, 6.82215527e-06,-2.63033410e-05,
  3.48890406e-05, 9.86957234e-05, 6.40469075e-06, 1.55506044e-06,
 -2.36707589e-05,-4.97907645e-06, 8.67375409e-06,-1.89746516e-04,
  1.26785651e-04,-6.92329254e-04,-4.90348228e+00,-1.63085655e-03,
  2.90794380e-03,-4.31747726e-03]


--- Step 2141 ---
qpos:
[ 0.01870264, 0.03002064,-0.0094616 ,-0.02530787,-0.00350577, 1.34069097,
 -0.02988887, 0.94380932, 0.01155548, 0.02727993,-0.00829152, 0.02645144,
  1.36188977, 0.00763796, 1.29669022, 0.04432733,-0.09578038,-0.06447468,
  0.09327216, 0.69154743, 0.07422465,-0.70065959,-0.15915082]

qacc:
[ 5.00760813e+00, 2.05210764e+00,-7.20605847e+00, 1.14215520e+01,
  9.41693056e-02, 3.73287945e+00,-1.25536100e+01, 1.55498495e+01,
  6.43983834e+00, 1.60114100e+00,-6.00372034e+00, 1.17869862e+01,
 -4.36721356e-01, 4.74476564e-01, 1.04144839e+01,-3.59613905e+01,
  4.52319730e+00,-5.44078528e-01,-2.27822596e+00,-4.86820695e+01,
  1.36819486e+02, 1.59462012e+00]

qfrc_actuator:
[ 1.59550671e-04, 9.36500899e-04, 1.54584585e-04,-5.29391194e-05,
  1.70778389e-05, 3.50087661e-02, 1.09327282e-02, 1.71160654e-03,
  1.59079477e-05, 8.59976708e-04, 2.14696336e-04, 1.78506523e-05,
  2.53670351e-03,-1.60817377e-03, 0.00000000e+00,-1.11745505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.02143797,  -3.2005171 ,  -8.02143797,
        15.59843966, -17.44901192,  -3.2005171 , -17.44901192,
        52.36872389,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004478457309584093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.47903005e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.47903005e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18921903, -0.05333626,  0.06177609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01926746e-05, 7.02746863e-05, 1.48942297e-06, 1.55119611e-05,
  2.72576475e-05, 1.33052767e-05,-5.10898965e-05, 2.02822939e-05,
  3.89508583e-05, 8.57857790e-05, 2.08447014e-05, 2.28420948e-05,
 -1.97609417e-05,-2.44176562e-06,-2.15516897e-05,-1.80043763e-04,
 -6.77773115e-05,-5.43209643e-04,-4.90360460e+00,-1.09691024e-03,
  3.10065367e-03,-4.28206704e-03]


--- Step 2142 ---
qpos:
[ 0.01870373, 0.03002091,-0.00946175,-0.02530826,-0.00350539, 1.34069331,
 -0.02988967, 0.94380862, 0.01155697, 0.02727954,-0.00829114, 0.02645107,
  1.36200975, 0.00763782, 1.29680853, 0.04433125,-0.09573759,-0.06441065,
  0.09326958, 0.69210546, 0.07337574,-0.70035235,-0.15846959]

qacc:
[-5.96575300e+00, 1.22475479e+00,-2.74021153e+00, 1.20941654e-02,
  1.54311823e-01, 2.81091683e+00,-9.72250199e+00, 1.15454392e+01,
 -2.10600968e+00, 3.70159004e-01,-3.27210829e+00, 1.25810415e+01,
 -1.85996838e-01, 3.22258947e-01,-7.85521685e+00, 2.61214633e+01,
  4.32194185e+00,-3.70236673e-01, 1.15590451e+00,-4.69388692e+01,
  1.29776080e+02, 6.49356281e+00]

qfrc_actuator:
[ 1.22965129e-04, 9.45100323e-04, 1.31472188e-04,-6.29859582e-05,
  4.55903276e-05, 3.49880441e-02, 1.08815089e-02, 1.72363990e-03,
  1.99558314e-06, 8.59585111e-04, 2.32230597e-04, 4.67841164e-05,
  2.52861572e-03,-1.58770888e-03, 0.00000000e+00,-9.87056550e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004441298198392507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49977141e-14,  2.49977141e-14,  1.00000000e+00, -6.24885709e-28,
        1.00000000e+00, -2.49977141e-14, -1.00000000e+00,  0.00000000e+00,
        2.49977141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15633409, -0.05834076,  0.06177771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56815024e-05, 4.88782961e-05,-7.88063993e-06,-6.68554912e-06,
  4.46208232e-05,-2.27621920e-05,-5.38398059e-05, 1.14070693e-05,
 -1.27458748e-05, 5.29111513e-05, 3.86231654e-05, 3.37779912e-05,
 -1.95284398e-05, 1.56470276e-05,-3.26642318e-05, 1.16975346e-04,
 -1.70943647e-04,-4.17701341e-04,-4.90350960e+00,-6.29738951e-04,
  3.27335324e-03,-4.24802663e-03]


--- Step 2143 ---
qpos:
[ 0.01870438, 0.03002124,-0.00946171,-0.02530875,-0.00350479, 1.34069529,
 -0.029891  , 0.94380912, 0.01155793, 0.02727936,-0.00829046, 0.02645107,
  1.3621296 , 0.00763768, 1.29692684, 0.04433497,-0.09567943,-0.06434789,
  0.09326664, 0.69283195, 0.07249748,-0.69987192,-0.15782049]

qacc:
[-3.82718067e+00,-6.23308487e-01, 2.76815407e+00,-4.83552714e+00,
  8.76844572e-02, 3.02364185e+00,-1.29059744e+01, 2.53530066e+01,
 -4.45510444e+00, 2.14677072e-01,-1.89735601e+00, 7.61909480e+00,
 -1.19751028e-01, 9.68013909e-02, 6.31218402e-01,-2.18785883e+00,
  3.84366277e+00,-3.16958877e-01,-9.13560492e-02,-4.13068002e+01,
  1.15419049e+02, 6.15269420e+00]

qfrc_actuator:
[ 1.00992449e-04, 9.32116607e-04, 1.35618406e-04,-6.87575686e-05,
  4.45723744e-05, 3.49569231e-02, 1.08516200e-02, 1.78423714e-03,
 -2.45501092e-05, 8.59340391e-04, 2.42336793e-04, 6.39371357e-05,
  2.51945821e-03,-1.59331053e-03, 0.00000000e+00,-1.00051992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004364759177387267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76926237e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.76926237e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15645156, -0.05832834,  0.06178112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29953921e-05, 1.24114601e-05, 1.30390641e-05,-4.07989045e-06,
  2.53499170e-05,-5.39161154e-05,-4.01367452e-05, 5.85996750e-05,
 -2.69044144e-05, 3.87800769e-05, 2.69646996e-05, 2.14159107e-05,
 -1.55122423e-05,-5.25728915e-06,-2.75895776e-06,-1.13145964e-05,
 -2.20817018e-04,-3.07953378e-04,-4.90322027e+00,-1.72434935e-04,
  3.45108296e-03,-4.21399042e-03]


--- Step 2144 ---
qpos:
[ 0.01870476, 0.03002109,-0.00946136,-0.02530925,-0.00350423, 1.34069699,
 -0.02989279, 0.94381171, 0.01155822, 0.02727958,-0.00828996, 0.02645094,
  1.36224938, 0.00763725, 1.29704527, 0.04433715,-0.09564551,-0.06428096,
  0.09326416, 0.69329273, 0.07163656,-0.69966897,-0.15708827]

qacc:
[-2.28471170e+00,-1.55752197e+00, 4.66040719e+00,-4.92805808e+00,
 -1.30292415e-02, 4.44058276e+00,-1.92319716e+01, 4.11267331e+01,
 -5.73773206e+00, 8.03106646e-01,-1.51048265e+00,-7.74689710e-01,
 -4.02540416e-03,-1.84181521e-01, 4.83540697e+00,-1.66411148e+01,
 -6.06131059e+00, 1.04157841e+00, 1.13624967e-01, 6.66238169e+01,
 -1.84722759e+02, 1.18227328e+01]

qfrc_actuator:
[ 8.78181606e-05, 8.70900197e-04, 1.37985659e-04,-7.19648862e-05,
  2.58477631e-05, 3.49554281e-02, 1.08345410e-02, 1.89068545e-03,
 -5.83018946e-05, 8.76890935e-04, 2.30196907e-04, 5.62553887e-05,
  2.50965623e-03,-1.61436545e-03, 0.00000000e+00,-1.08097114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004431846210942385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00152701, -0.07955967,  0.06177811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38413594e-05,-5.17790892e-05, 6.39249410e-06,-2.30314198e-06,
 -3.74609789e-06,-3.74212140e-05,-3.04749229e-05, 1.05010979e-04,
 -3.45280537e-05, 4.57165751e-05,-7.08249120e-08,-4.66988142e-06,
 -1.89457054e-05,-2.61215919e-05,-5.28508377e-06,-8.20770700e-05,
 -2.21462959e-04,-2.10632153e-04,-4.90281792e+00, 2.47651757e-04,
  3.61951616e-03,-4.18045305e-03]


--- Step 2145 ---
qpos:
[ 0.01870429, 0.03002052,-0.00946064,-0.02531013,-0.00350393, 1.3406989 ,
 -0.02989487, 0.94381274, 0.01155777, 0.02728035,-0.00828996, 0.02645072,
  1.36236889, 0.00763688, 1.29716384, 0.04433701,-0.09563274,-0.06421036,
  0.09325709, 0.69352226, 0.07078948,-0.69970796,-0.1562834 ]

qacc:
[-7.27984447e+00,-2.36017021e+00, 9.25640643e+00,-1.62580960e+01,
 -1.08740909e-01,-1.59704239e+00, 8.74990346e+00,-2.58163517e+01,
 -6.44330409e+00, 1.93353918e+00,-5.47826538e+00, 4.36430856e+00,
 -4.39804322e-01, 4.47682060e-01, 7.26921183e+00,-2.50492654e+01,
 -5.28671590e+00, 9.16461135e-01,-1.14436115e+00, 5.74931834e+01,
 -1.61076878e+02, 1.08391407e+01]

qfrc_actuator:
[ 4.44180876e-05, 8.52271060e-04, 1.56818717e-04,-9.14408043e-05,
 -3.34577136e-06, 3.49895237e-02, 1.08252823e-02, 1.81024139e-03,
 -9.60202126e-05, 9.04838458e-04, 2.05074969e-04, 5.17769937e-05,
  2.49414040e-03,-1.60890842e-03, 0.00000000e+00,-1.20020336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.72729913,  5.41573848, -6.72729913, 27.83206575,
       23.84443611,  5.41573848, 23.84443611, 38.25534448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004512025534844588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23029337e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23029337e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00171543, -0.07953541,  0.06177455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38214042e-05,-4.63654800e-05, 8.84539944e-06,-2.15153576e-05,
 -3.14088745e-05, 1.05832341e-05,-1.69635037e-05,-8.00242656e-05,
 -3.87121893e-05, 5.32729691e-05,-1.58552682e-05,-2.61241284e-06,
 -3.14827241e-05,-6.57429275e-06,-1.44370229e-05,-1.25151475e-04,
 -2.05377564e-04,-3.93231723e-04,-4.90328238e+00,-3.76102289e-04,
  3.40242910e-03,-4.16706239e-03]


--- Step 2146 ---
qpos:
[ 0.01870295, 0.0300201 ,-0.00945995,-0.02531129,-0.00350392, 1.34070117,
 -0.02989684, 0.94381138, 0.0115572 , 0.02728078,-0.00828966, 0.0264512 ,
  1.3624881 , 0.00763679, 1.29728249, 0.04433408,-0.09563849,-0.06413652,
  0.09324114, 0.69354929, 0.06995341,-0.69995867,-0.1554148 ]

qacc:
[-7.39945866e+00,-2.40238947e-01, 2.34563935e+00,-7.18396912e+00,
 -1.24731703e-01,-3.92916054e+00, 1.83098142e+01,-4.38235646e+01,
 -8.70359021e-01, 1.50001078e-01,-4.10185471e+00, 1.58946449e+01,
 -6.41639863e-01, 8.10642048e-01, 8.60921410e+00,-2.97840043e+01,
 -4.63164000e+00, 8.10709320e-01,-2.22138951e+00, 4.98279769e+01,
 -1.41146890e+02, 9.92246862e+00]

qfrc_actuator:
[ 1.32471567e-06, 8.94837628e-04, 1.67613673e-04,-1.02540026e-04,
 -2.08294270e-05, 3.50268449e-02, 1.08384904e-02, 1.69148736e-03,
 -1.00263627e-04, 8.49967891e-04, 2.08053276e-04, 8.47333787e-05,
  2.48586922e-03,-1.58776116e-03, 0.00000000e+00,-1.34130021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.70247255,  5.44643357, -6.70247255, 29.40601445,
       25.55948082,  5.44643357, 25.55948082, 40.09028963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004523145417623532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.6022579e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.6022579e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00174331, -0.07953472,  0.06177402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43846371e-05, 1.75458220e-05, 1.56649596e-06,-1.31937175e-05,
 -3.60440432e-05, 3.74421805e-05, 1.10027010e-05,-1.20787556e-04,
 -5.35546297e-06,-2.85091773e-05, 1.19319884e-05, 3.46402030e-05,
 -2.61593254e-05, 1.22150581e-05,-2.35292486e-05,-1.50589501e-04,
 -1.02413924e-04,-5.64108979e-04,-4.90340229e+00,-9.34654211e-04,
  3.20312437e-03,-4.15210841e-03]


--- Step 2147 ---
qpos:
[ 0.0187018 , 0.03001975,-0.00945884,-0.02531294,-0.00350431, 1.34070371,
 -0.02989837, 0.94380895, 0.01155694, 0.02728108,-0.00828903, 0.02645135,
  1.36260717, 0.00763688, 1.29740109, 0.04432878,-0.09566055,-0.0640598 ,
  0.09321263, 0.69339787, 0.06912603,-0.70039547,-0.15449   ]

qacc:
[   1.579121  ,  -2.11526992,   9.71259224, -18.8851495 ,  -0.17081643,
   -2.64333187,  11.26636481, -22.42452954,   2.55289971,  -1.78005794,
    7.45615676, -13.52066402,  -0.39823436,   0.52516545,   7.12821444,
  -24.94883791,  -4.07650575,   0.72106066,  -3.14085301,  43.38452083,
 -124.34393998,   9.08378736]

qfrc_actuator:
[ 1.20248718e-05, 9.02695320e-04, 1.91591208e-04,-1.26324010e-04,
 -4.88990586e-05, 3.50481101e-02, 1.08648822e-02, 1.63996333e-03,
 -8.47695370e-05, 8.52575136e-04, 2.27290865e-04, 6.83930400e-05,
  2.48728316e-03,-1.57520751e-03, 0.00000000e+00,-1.45862202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.79113511,  5.33547193, -6.79113511, 30.0496535 ,
       27.25542307,  5.33547193, 27.25542307, 43.32781419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004478672702142535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19727706e-15,  2.16904697e-14,  1.00000000e+00, -1.34421851e-28,
        1.00000000e+00, -2.16904697e-14, -1.00000000e+00,  0.00000000e+00,
        6.19727706e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00164377, -0.07955294,  0.06177592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.41429591e-06, 1.74261550e-05, 2.73403865e-05,-2.32314069e-05,
 -4.93681417e-05, 4.04837861e-05, 3.14236342e-05,-5.28779020e-05,
  1.53271623e-05,-9.41004852e-06, 1.60068221e-05,-1.64776538e-05,
 -9.70295238e-06, 1.06280331e-05,-3.02351409e-05,-1.29317840e-04,
  5.58310252e-05,-7.22577155e-04,-4.90328889e+00,-1.43638146e-03,
  3.01919937e-03,-4.13572331e-03]


--- Step 2148 ---
qpos:
[ 0.01870217, 0.03001927,-0.00945761,-0.02531516,-0.00350508, 1.34070642,
 -0.02989983, 0.94380595, 0.0115572 , 0.02728197,-0.00828903, 0.02645094,
  1.36272609, 0.00763716, 1.29751923, 0.04432442,-0.09569703,-0.0639805 ,
  0.09316843, 0.6930881 , 0.06830546,-0.70099662,-0.15351541]

qacc:
[  13.01146711,  -1.7211958 ,   8.25932742, -18.21067728,  -0.15786665,
   -0.98160321,   4.6483429 , -10.77442802,   4.51206239,   1.36727994,
   -1.36599592,  -7.87562619,  -0.13283297,   0.21316228,  -3.50244297,
   11.29501028,  -3.60528207,   0.64486522,  -3.92349932,  37.96521703,
 -110.18790623,   8.3296953 ]

qfrc_actuator:
[ 8.98065526e-05, 8.72010425e-04, 1.87527916e-04,-1.57394368e-04,
 -6.53406786e-05, 3.50419370e-02, 1.08633209e-02, 1.61066726e-03,
 -5.77928161e-05, 9.07358603e-04, 2.02876963e-04, 4.09707339e-05,
  2.47852601e-03,-1.56782453e-03, 0.00000000e+00,-1.40120741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.0428673 ,  4.99847948, -7.0428673 , 28.93602634,
       28.60226422,  4.99847948, 28.60226422, 48.93700953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004389968767613182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26449991e-14,  9.48374934e-15,  1.00000000e+00, -1.19922002e-28,
        1.00000000e+00, -9.48374934e-15, -1.00000000e+00,  0.00000000e+00,
        1.26449991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00144357, -0.07958627,  0.06177973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.80622583e-05,-1.62778191e-05, 2.09497753e-06,-2.98289131e-05,
 -4.56141468e-05, 2.07593744e-05, 8.37885471e-06,-2.83856107e-05,
  2.74239852e-05, 5.21075443e-05,-2.49683822e-05,-2.75955062e-05,
 -1.21704318e-05, 8.83408533e-06,-3.01869834e-05, 4.59139798e-05,
  2.47075424e-04,-8.68550818e-04,-4.90301955e+00,-1.88863010e-03,
  2.84854358e-03,-4.11803384e-03]


--- Step 2149 ---
qpos:
[ 0.01870277, 0.03001837,-0.00945689,-0.02531661,-0.003506  , 1.34070872,
 -0.02990102, 0.94380266, 0.0115571 , 0.02728327,-0.00828965, 0.02645091,
  1.36284451, 0.00763813, 1.2976369 , 0.04432308,-0.09570926,-0.06390436,
  0.09314957, 0.69304369, 0.06746712,-0.70131871,-0.15261292]

qacc:
[ 2.05782798e+00, 2.44534815e+00,-1.27324785e+01, 2.70486417e+01,
 -6.40684743e-02,-1.72035614e+00, 5.53785334e+00,-7.83449744e+00,
 -3.16301846e+00, 3.05705264e+00,-1.17208170e+01, 1.90516331e+01,
 -5.68523321e-01, 9.26820096e-01,-9.75075073e+00, 3.32377310e+01,
  6.06306880e+00,-7.90334670e-01, 6.33761378e+00,-6.19132300e+01,
  1.85891374e+02,-7.91829891e+00]

qfrc_actuator:
[ 9.99151226e-05, 8.18363457e-04, 1.49016953e-04,-1.21547263e-04,
 -5.69220212e-05, 3.49837882e-02, 1.08629142e-02, 1.59463442e-03,
 -7.75378441e-05, 9.21770248e-04, 1.70857408e-04, 6.05299876e-05,
  2.45302178e-03,-1.52810431e-03, 0.00000000e+00,-1.24130901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004486194316531605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47475465e-14,  1.23737733e-14,  1.00000000e+00, -3.06220529e-28,
        1.00000000e+00, -1.23737733e-14, -1.00000000e+00,  0.00000000e+00,
        2.47475465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15386628, -0.05666336,  0.06177521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23793767e-05,-6.35597012e-05,-4.26541974e-05, 3.46417556e-05,
 -1.85361818e-05,-4.59013801e-05, 3.76977453e-06,-1.58235985e-05,
 -1.89188331e-05, 3.71896779e-05,-2.52963961e-05, 2.03891579e-05,
 -2.99944174e-05, 3.98016661e-05,-9.79900953e-06, 1.58365606e-04,
  4.55890858e-04,-1.00239846e-03,-4.90264779e+00,-2.29794030e-03,
  2.68926896e-03,-4.09916055e-03]


--- Step 2150 ---
qpos:
[ 0.01870211, 0.03001679,-0.00945598,-0.02531695,-0.00350682, 1.34071044,
 -0.02990183, 0.94379956, 0.01155745, 0.0272846 ,-0.00829022, 0.02645112,
  1.36296242, 0.00763987, 1.29775498, 0.04431961,-0.09570028,-0.06383093,
  0.093148  , 0.69323156, 0.06661255,-0.70139728,-0.15177167]

qacc:
[-1.08048063e+01, 9.02048163e-01,-9.19769452e+00, 2.86937988e+01,
  4.27064172e-02,-1.49310284e+00, 3.56396200e+00,-5.53956174e-01,
  3.87574974e+00, 4.05167156e-01,-2.41293669e+00, 6.47713955e+00,
 -1.08861795e+00, 1.55500788e+00, 7.13221482e+00,-2.38058303e+01,
  5.30190982e+00,-6.77724281e-01, 4.32108009e+00,-5.35145523e+01,
  1.62528381e+02,-6.02892849e+00]

qfrc_actuator:
[ 3.45832574e-05, 7.86782126e-04, 1.61432157e-04,-6.44090500e-05,
 -3.36594952e-05, 3.49482291e-02, 1.08807477e-02, 1.60425274e-03,
 -5.36186300e-05, 9.11895368e-04, 1.70010696e-04, 7.20463345e-05,
  2.42815706e-03,-1.48732711e-03, 0.00000000e+00,-1.35967093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004550575104323384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43974223e-14,  1.21987111e-14,  1.00000000e+00, -2.97617107e-28,
        1.00000000e+00, -1.21987111e-14, -1.00000000e+00,  0.00000000e+00,
        2.43974223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15376921, -0.05668097,  0.06177226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49906482e-05,-7.44198942e-05,-4.76262869e-06, 5.36187957e-05,
  1.23070316e-05,-6.07086133e-05, 8.81360648e-06, 7.97951838e-06,
  2.33817643e-05, 6.52350724e-06, 4.41777974e-06, 1.26309088e-05,
 -3.02271853e-05, 4.57112075e-05, 1.10365345e-05,-1.11237875e-04,
  1.29100616e-04,-7.80060586e-04,-4.90316156e+00,-1.59953617e-03,
  2.91519846e-03,-4.05737478e-03]


--- Step 2151 ---
qpos:
[ 0.01870137, 0.03001519,-0.00945518,-0.02531701,-0.00350746, 1.34071188,
 -0.02990229, 0.94379795, 0.01155878, 0.02728522,-0.00829014, 0.02645117,
  1.36308011, 0.00764166, 1.29787288, 0.04431645,-0.09567265,-0.06375983,
  0.09315685, 0.69362367, 0.06574322,-0.70126189,-0.15098275]

qacc:
[-7.67609617e-01, 8.57958952e-01,-4.27475856e+00, 9.27149193e+00,
  7.44442309e-02, 1.27348958e+00,-7.66626958e+00, 2.41689571e+01,
  8.34465135e+00,-3.10188577e+00, 1.03233239e+01,-1.35021619e+01,
 -1.57464303e-01, 1.38464734e-01,-1.15715458e+00, 3.71786605e+00,
  4.66424573e+00,-5.83141128e-01, 2.60568959e+00,-4.65062316e+01,
  1.42927324e+02,-4.58093301e+00]

qfrc_actuator:
[ 3.19087872e-05, 8.22131613e-04, 1.68405410e-04,-4.84145513e-05,
 -1.94349745e-05, 3.49620617e-02, 1.09092895e-02, 1.68216219e-03,
 -4.17531375e-06, 8.34411421e-04, 1.87459062e-04, 6.09765100e-05,
  2.40902150e-03,-1.49953215e-03, 0.00000000e+00,-1.33926587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0045521904601089624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21943824e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21943824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15376752, -0.05668441,  0.06177219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59205751e-06,-4.92658804e-06,-7.11655154e-06, 1.36926897e-05,
  2.14952043e-05,-1.78013144e-05, 1.78979726e-05, 7.65253118e-05,
  5.01333261e-05,-7.24147289e-05, 1.97671755e-05,-1.03946464e-05,
 -2.37377916e-05,-5.33387951e-06,-1.19042855e-05, 1.46137595e-05,
 -6.53144446e-05,-6.00714916e-04,-4.90332206e+00,-9.96530165e-04,
  3.11476326e-03,-4.01795639e-03]


--- Step 2152 ---
qpos:
[ 0.01870129, 0.03001413,-0.00945487,-0.02531727,-0.00350807, 1.34071309,
 -0.02990187, 0.94379795, 0.01156   , 0.02728513,-0.00828975, 0.02645077,
  1.3631977 , 0.00764289, 1.29799086, 0.04431219,-0.0956285 ,-0.06369075,
  0.0931703 , 0.69419632, 0.06486045,-0.70093716,-0.15023877]

qacc:
[ 5.65705983e+00, 1.64308947e+00,-3.98272976e+00, 8.83369520e-01,
  1.26960861e-02, 6.51211052e-02,-3.86511906e+00, 2.20862714e+01,
 -8.87467170e-01,-2.73129415e+00, 1.03243372e+01,-1.81908722e+01,
  1.66471033e-01,-5.52621077e-01, 3.39255133e+00,-1.17778701e+01,
  4.12955707e+00,-5.03668661e-01, 1.15009760e+00,-4.06479643e+01,
  1.26473765e+02,-3.46958918e+00]

qfrc_actuator:
[ 6.61610519e-05, 8.79503557e-04, 1.54586827e-04,-5.67128654e-05,
 -2.85013230e-05, 3.49699501e-02, 1.09619004e-02, 1.76415816e-03,
 -1.11295322e-05, 7.88101026e-04, 1.97503875e-04, 3.66538456e-05,
  2.38798891e-03,-1.54309459e-03, 0.00000000e+00,-1.39695140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004503413407798709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.16323067e-15,  1.23264613e-14,  1.00000000e+00,  7.59708245e-29,
        1.00000000e+00, -1.23264613e-14, -1.00000000e+00,  0.00000000e+00,
       -6.16323067e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15384172, -0.05667683,  0.06177441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41207364e-05, 5.37831402e-05,-1.52282996e-05,-8.48654230e-06,
  3.63532828e-06, 3.83129411e-06, 5.34064796e-05, 8.37591715e-05,
 -5.50952792e-06,-8.31691914e-05,-2.84739166e-06,-2.69477691e-05,
 -3.43163474e-05,-5.05781163e-05,-6.08351117e-06,-5.88912158e-05,
 -1.66429086e-04,-4.53590166e-04,-4.90324056e+00,-4.69869345e-04,
  3.29393650e-03,-3.98039208e-03]


--- Step 2153 ---
qpos:
[ 0.01870092, 0.03001369,-0.00945509,-0.02531799,-0.00350857, 1.34071434,
 -0.02990081, 0.94379754, 0.01156078, 0.02728476,-0.00828886, 0.02645036,
  1.36331506, 0.00764365, 1.29810896, 0.04430592,-0.09556962,-0.06362342,
  0.09318343, 0.69492943, 0.06396544,-0.70044358,-0.14953363]

qacc:
[-2.41360498e+00, 1.40088533e+00,-1.88664788e+00,-5.51532257e+00,
  5.09239511e-02,-2.40754111e+00, 8.74207866e+00,-1.23507359e+01,
 -3.71397930e+00,-1.76575622e+00, 5.78689268e+00,-6.51423706e+00,
 -4.57102132e-02,-3.05142725e-01, 6.23742270e+00,-2.15783451e+01,
  3.68095406e+00,-4.36899856e-01,-8.17989780e-02,-3.57465302e+01,
  1.12669505e+02,-2.61320624e+00]

qfrc_actuator:
[ 5.08432193e-05, 9.14024175e-04, 1.28708099e-04,-7.92183573e-05,
 -1.59611527e-05, 3.49743320e-02, 1.09927703e-02, 1.74138466e-03,
 -3.34789432e-05, 8.14024067e-04, 2.38691342e-04, 4.02467072e-05,
  2.37114198e-03,-1.56939633e-03, 0.00000000e+00,-1.50021250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004414653630109705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51485874e-14, -1.25742937e-14,  1.00000000e+00,  3.16225723e-28,
        1.00000000e+00,  1.25742937e-14, -1.00000000e+00,  0.00000000e+00,
        2.51485874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15397591, -0.05666074,  0.06177845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43008018e-05, 6.11344959e-05,-1.69318294e-05,-2.08940712e-05,
  1.46882189e-05, 1.94572899e-05, 4.01516941e-05,-1.91478644e-05,
 -2.25384504e-05,-2.23275556e-05, 2.27232414e-05,-5.93579390e-07,
 -4.60223196e-05,-4.93621005e-05,-1.20880477e-05,-1.07933386e-04,
 -2.01066119e-04,-3.30919731e-04,-4.90299481e+00,-4.99149252e-06,
  3.45717680e-03,-3.94429003e-03]


--- Step 2154 ---
qpos:
[ 0.01870038, 0.03001388,-0.0094557 ,-0.02531863,-0.00350893, 1.34071558,
 -0.02989961, 0.94379689, 0.01156129, 0.02728444,-0.0082874 , 0.02645029,
  1.36343216, 0.00764403, 1.29822643, 0.04430281,-0.09553426,-0.06355193,
  0.09319595, 0.69540573, 0.06307095,-0.70022122,-0.14873859]

qacc:
[-1.57056828e+00, 2.02297439e+00,-6.32563982e+00, 7.70566669e+00,
  5.65385506e-02,-7.76258522e-01, 3.02162761e+00,-5.39415568e+00,
 -2.32559604e+00,-8.57696903e-01, 1.71581432e+00, 3.20549985e+00,
  3.06363354e-01,-6.41764833e-01,-1.04803498e+01, 3.52395163e+01,
 -5.88054715e+00, 1.03730610e+00,-1.51059882e-01, 6.01549347e+01,
 -1.81268431e+02, 2.05291415e+01]

qfrc_actuator:
[ 4.19640127e-05, 9.52286181e-04, 1.13590937e-04,-7.44136520e-05,
 -8.31200629e-06, 3.49586939e-02, 1.09927257e-02, 1.72813097e-03,
 -4.69392889e-05, 8.47652965e-04, 2.80508031e-04, 6.03240013e-05,
  2.36214680e-03,-1.58519127e-03, 0.00000000e+00,-1.32767554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004483245187301525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19095643e-15, -3.09547821e-15,  1.00000000e+00,  1.91639708e-29,
        1.00000000e+00,  3.09547821e-15, -1.00000000e+00,  0.00000000e+00,
        6.19095643e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00166863, -0.07955405,  0.06177547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27130599e-06, 6.80721897e-05,-5.28888127e-06, 6.43318291e-06,
  1.63298332e-05, 2.39479005e-06, 7.76612782e-06,-1.19327526e-05,
 -1.41294490e-05, 2.58101845e-05, 3.99795115e-05, 1.98960196e-05,
 -4.39158409e-05,-4.10933419e-05,-2.04378595e-05, 1.64346057e-04,
 -1.87696297e-04,-2.27026521e-04,-4.90263882e+00, 4.09488734e-04,
  3.60789132e-03,-3.90934525e-03]


--- Step 2155 ---
qpos:
[ 0.01869939, 0.03001388,-0.00945584,-0.02531951,-0.00350917, 1.34071656,
 -0.02989888, 0.94379683, 0.01156164, 0.02728441,-0.00828582, 0.02645046,
  1.3635488 , 0.00764488, 1.29834401, 0.04429973,-0.09551944,-0.06347677,
  0.09320299, 0.69565827, 0.06217612,-0.70023541,-0.14786506]

qacc:
[-3.81439921e+00,-1.99337671e+00, 7.76823611e+00,-1.24760092e+01,
  4.94598768e-02, 1.93833569e+00,-7.96120715e+00, 1.39523325e+01,
 -1.41611623e+00, 5.80122188e-01,-2.49604566e+00, 6.23513036e+00,
 -6.62281252e-01, 8.97670621e-01, 1.10850736e-01,-1.28191879e-02,
 -5.13457251e+00, 9.19049702e-01,-1.37054821e+00, 5.20112120e+01,
 -1.58141124e+02, 1.82224762e+01]

qfrc_actuator:
[ 1.92089631e-05, 9.03789463e-04, 1.22740733e-04,-8.90698458e-05,
 -3.65897573e-06, 3.49133101e-02, 1.09566324e-02, 1.75608794e-03,
 -5.50541878e-05, 8.67933301e-04, 2.86910968e-04, 7.21939981e-05,
  2.35787364e-03,-1.54134457e-03, 0.00000000e+00,-1.33131256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.29896686,  6.8196574 , -5.29896686, 48.41182555,
       30.90607671,  6.8196574 , 30.90607671, 32.65080701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004549392534452343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83028231e-14, -6.10094104e-15,  1.00000000e+00,  1.11664445e-28,
        1.00000000e+00,  6.10094104e-15, -1.00000000e+00,  0.00000000e+00,
        1.83028231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00181892, -0.07953002,  0.06177261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30013610e-05,-1.12481251e-05, 2.27873965e-05,-1.17965744e-05,
  1.43032684e-05,-4.29084610e-05,-3.50945357e-05, 2.79824664e-05,
 -8.52169315e-06, 4.38160394e-05, 1.73350264e-05, 1.47449037e-05,
 -3.55037951e-05, 2.12171061e-05, 7.81631252e-06, 2.67401269e-06,
 -1.82988848e-04,-4.15587624e-04,-4.90305469e+00,-2.18200041e-04,
  3.40585515e-03,-3.89448187e-03]


--- Step 2156 ---
qpos:
[ 0.01869883, 0.03001323,-0.00945528,-0.0253212 ,-0.00350932, 1.34071741,
 -0.02989888, 0.94379607, 0.01156119, 0.02728447,-0.00828376, 0.02645043,
  1.36366514, 0.00764616, 1.29846148, 0.04429764,-0.09552264,-0.06339834,
  0.09320037, 0.69571462, 0.0612803 ,-0.70045671,-0.14692273]

qacc:
[ 3.67479085e+00,-4.52803129e+00, 1.83313737e+01,-3.30867743e+01,
  3.89332036e-02, 5.95140842e-01,-7.12720415e-01,-7.39842737e+00,
 -6.72405142e+00,-1.64840923e+00, 6.89107722e+00,-1.12146096e+01,
 -4.28583767e-01, 6.53684566e-01,-3.12707172e+00, 1.08045233e+01,
 -4.50400430e+00, 8.18670201e-01,-2.41373860e+00, 4.51555662e+01,
 -1.38659591e+02, 1.62196916e+01]

qfrc_actuator:
[ 4.17245410e-05, 8.39295731e-04, 1.45769445e-04,-1.32874806e-04,
 -8.40504684e-07, 3.49035986e-02, 1.09172144e-02, 1.71927163e-03,
 -9.54660271e-05, 8.62177036e-04, 3.07806564e-04, 6.13516087e-05,
  2.35113556e-03,-1.51565433e-03, 0.00000000e+00,-1.27902594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.25028323,  6.85720809, -5.25028323, 50.87839289,
       32.34299075,  6.85720809, 32.34299075, 33.40006625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004549149854610357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83037995e-14, -3.05063325e-15,  1.00000000e+00,  5.58381794e-29,
        1.00000000e+00,  3.05063325e-15, -1.00000000e+00,  0.00000000e+00,
        1.83037995e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00181571, -0.07953079,  0.06177268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18413312e-05,-6.65834981e-05, 2.31095881e-05,-4.37244326e-05,
  1.12694750e-05,-3.94789770e-05,-5.09867133e-05,-3.84840990e-05,
 -4.06458780e-05, 2.29387811e-05, 3.25739216e-05,-8.08135255e-06,
 -1.93376285e-05, 2.38272744e-05, 1.52996432e-07, 5.26216724e-05,
 -9.05603830e-05,-5.95805785e-04,-4.90314349e+00,-7.95793948e-04,
  3.21475223e-03,-3.87798761e-03]


--- Step 2157 ---
qpos:
[ 0.01869854, 0.03001225,-0.00945455,-0.02532272,-0.00350955, 1.34071835,
 -0.02989956, 0.94379624, 0.01156095, 0.02728502,-0.00828219, 0.02645063,
  1.36378137, 0.00764726, 1.29857895, 0.04429586,-0.09554172,-0.06331697,
  0.09318454, 0.69559785, 0.06038293,-0.70086015,-0.14591977]

qacc:
[ 2.36129793e+00,-5.27934385e-01, 4.83301142e-01, 2.59152207e+00,
 -3.26423647e-02, 3.54329672e+00,-1.33214364e+01, 2.22244346e+01,
  1.75172317e+00, 2.51569255e+00,-8.97327288e+00, 1.33516472e+01,
  5.28505584e-02,-1.90802021e-01,-9.09430623e-01, 3.16463438e+00,
 -3.96995619e+00, 7.33174556e-01,-3.30357184e+00, 3.93774543e+01,
 -1.22246400e+02, 1.44896659e+01]

qfrc_actuator:
[ 5.52047654e-05, 8.36749683e-04, 1.58934833e-04,-1.22484577e-04,
 -1.68973924e-05, 3.49330156e-02, 1.08939985e-02, 1.76891381e-03,
 -8.35556861e-05, 8.94163093e-04, 2.83725494e-04, 7.27315299e-05,
  2.33759577e-03,-1.53650980e-03, 0.00000000e+00,-1.26516871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.37151993,  6.76265854, -5.37151993, 52.21854647,
       34.61694279,  6.76265854, 34.61694279, 36.13229547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004495568793301277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23479706e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23479706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00169087, -0.0795514 ,  0.06177505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40961125e-05,-3.68480008e-05, 7.51537709e-07, 7.49073657e-06,
 -9.39832991e-06,-3.55918881e-06,-3.78716326e-05, 4.60681944e-05,
  1.07292320e-05, 5.11544204e-05,-1.56336571e-05, 1.33297123e-05,
 -1.75317907e-05,-1.81820174e-05, 3.09666614e-06, 1.61852955e-05,
  5.79741957e-05,-7.65161032e-04,-4.90301108e+00,-1.32574950e-03,
  3.03451918e-03,-3.85993346e-03]


--- Step 2158 ---
qpos:
[ 0.01869876, 0.03001104,-0.00945432,-0.02532338,-0.0035099 , 1.34071972,
 -0.02990074, 0.94379731, 0.0115612 , 0.02728635,-0.00828194, 0.02645133,
  1.36389743, 0.00764839, 1.29869666, 0.04429224,-0.09557487,-0.06323296,
  0.09315247, 0.69532723, 0.05948356,-0.70142457,-0.14486314]

qacc:
[ 4.35548118e+00, 2.81288205e+00,-1.41016413e+01, 2.98997276e+01,
 -5.22214384e-02, 3.46236118e+00,-1.24467458e+01, 2.09245723e+01,
  4.12074511e+00, 5.70516219e+00,-2.10001030e+01, 3.12379999e+01,
 -3.12883282e-01, 3.18141484e-01, 5.91578220e+00,-2.01131521e+01,
 -3.51694410e+00, 6.60153083e-01,-4.06036796e+00, 3.45053623e+01,
 -1.08430139e+02, 1.30047986e+01]

qfrc_actuator:
[ 8.09971652e-05, 8.18061717e-04, 1.30943094e-04,-8.02450262e-05,
 -2.63946494e-05, 3.49857428e-02, 1.08807521e-02, 1.81582991e-03,
 -5.86861608e-05, 9.30582770e-04, 2.15689721e-04, 9.70960168e-05,
  2.33061831e-03,-1.53160896e-03, 0.00000000e+00,-1.36283449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.73925048,  6.45350918, -5.73925048, 51.2963824 ,
       37.93851163,  6.45350918, 37.93851163, 42.37593307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004399655682100115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00147021, -0.07958779,  0.06177925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61926037e-05,-3.87808283e-05,-3.52442559e-05, 4.08372208e-05,
 -1.50514289e-05, 4.47289254e-05,-1.69014014e-05, 4.67671788e-05,
  2.52050572e-05, 6.23315846e-05,-5.89593733e-05, 2.62694766e-05,
 -1.99306528e-05,-4.65033374e-06, 4.12934003e-07,-9.70021024e-05,
  2.40347841e-04,-9.22449291e-04,-4.90273102e+00,-1.81152223e-03,
  2.86463083e-03,-3.84041495e-03]


--- Step 2159 ---
qpos:
[ 0.01869928, 0.03000982,-0.00945481,-0.02532354,-0.00351022, 1.34072126,
 -0.02990197, 0.94379823, 0.01156071, 0.02728759,-0.00828161, 0.02645198,
  1.36401348, 0.00764907, 1.29881401, 0.04429016,-0.0955846 ,-0.06315099,
  0.09314299, 0.69531247, 0.05855838,-0.70172169,-0.14386852]

qacc:
[ 2.61738005e+00, 3.04521268e+00,-1.29865159e+01, 2.27984299e+01,
  1.16583426e-02, 1.12174648e-01, 1.71212507e-01,-1.83111171e+00,
 -6.28767147e+00,-3.83200998e-01, 1.41932978e+00,-2.26474139e+00,
  4.06604143e-01,-7.37831871e-01,-5.22368821e+00, 1.74050930e+01,
  5.85320736e+00,-5.08157600e-01, 5.64909068e+00,-5.76941857e+01,
  1.78951071e+02,-1.92336658e+00]

qfrc_actuator:
[ 9.60797571e-05, 8.25224646e-04, 9.65919561e-05,-5.51528377e-05,
 -1.41264624e-05, 3.49810611e-02, 1.08735789e-02, 1.80751039e-03,
 -9.74157644e-05, 8.98184133e-04, 2.11057073e-04, 9.33804503e-05,
  2.32226303e-03,-1.56464017e-03, 0.00000000e+00,-1.27686851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004430751819020105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26430384e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.26430384e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15395614, -0.05669799,  0.0617777 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58357161e-05,-2.00026109e-05,-4.52769407e-05, 2.30101842e-05,
  3.37494375e-06, 1.81542729e-05, 1.02591218e-06,-6.38478780e-06,
 -3.79638154e-05,-8.63852409e-06, 1.86895621e-06,-2.57929240e-06,
 -1.97436188e-05,-3.88763401e-05,-1.39926502e-05, 7.98578137e-05,
  4.41147243e-04,-1.06738679e-03,-4.90235409e+00,-2.25714285e-03,
  2.70426915e-03,-3.81954053e-03]


--- Step 2160 ---
qpos:
[ 0.0186993 , 0.03000898,-0.00945566,-0.02532347,-0.00351032, 1.34072222,
 -0.02990296, 0.94379911, 0.01155977, 0.02728817,-0.00828051, 0.02645296,
  1.36412949, 0.00764912, 1.29893171, 0.04428541,-0.09557382,-0.06307076,
  0.09314848, 0.69552217, 0.05760963,-0.70178503,-0.14292589]

qacc:
[-4.41641331e+00, 1.98611423e+00,-7.30091133e+00, 1.15044264e+01,
  9.43071846e-02,-1.52069456e+00, 4.16898501e+00,-3.90435263e+00,
 -3.89056875e+00,-2.39062197e+00, 5.89032835e+00,-1.07003725e+00,
  1.37484485e-01,-5.43043009e-01, 8.56497253e+00,-2.92739562e+01,
  5.12874687e+00,-4.36843098e-01, 3.74080819e+00,-4.98232705e+01,
  1.56811155e+02,-4.99879351e-01]

qfrc_actuator:
[ 6.92289110e-05, 8.83273633e-04, 9.43660695e-05,-4.03337054e-05,
  1.10994955e-05, 3.49065294e-02, 1.08697974e-02, 1.80222903e-03,
 -1.20016644e-04, 8.42790777e-04, 2.43610314e-04, 1.08668156e-04,
  2.31307339e-03,-1.60221224e-03, 0.00000000e+00,-1.42066016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.1785952 ,  -2.7744112 ,  -8.1785952 ,
        16.6175194 , -23.52738564,  -2.7744112 , -23.52738564,
        77.99196719,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0044794032024458655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15388409, -0.05671456,  0.06177549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63911378e-05, 3.85518089e-05,-1.11181745e-05, 1.28477453e-05,
  2.72210350e-05,-6.44877213e-05,-2.99729781e-07,-4.85199322e-06,
 -2.37113083e-05,-6.00136463e-05, 3.08909895e-05, 1.49284994e-05,
 -2.81401359e-05,-5.38375330e-05, 9.96376080e-07,-1.41468628e-04,
  1.24868815e-04,-8.59886554e-04,-4.90278648e+00,-1.52699263e-03,
  2.93268077e-03,-3.77396760e-03]


--- Step 2161 ---
qpos:
[ 0.01870002, 0.03000818,-0.00945619,-0.02532289,-0.00351031, 1.34072263,
 -0.02990363, 0.94379956, 0.01155856, 0.0272882 ,-0.00827895, 0.02645343,
  1.36424541, 0.00764911, 1.29904957, 0.04427765,-0.09554495,-0.06299204,
  0.09316244, 0.69592972, 0.05663937,-0.70164245,-0.14202705]

qacc:
[ 6.12249387e+00, 2.11114680e-01,-2.85816468e+00, 1.12516776e+01,
  4.63938289e-02,-2.29219240e+00, 7.45324409e+00,-1.09745786e+01,
 -2.23125732e+00,-3.02090777e+00, 1.18777172e+01,-2.09948211e+01,
 -2.81488507e-01, 2.49934468e-01, 9.39308116e+00,-3.24476455e+01,
  4.52190376e+00,-3.76134496e-01, 2.11886376e+00,-4.32616397e+01,
  1.38232876e+02, 5.20984959e-01]

qfrc_actuator:
[ 1.06678436e-04, 8.82710622e-04, 1.11342088e-04,-1.38525584e-05,
  8.38867190e-06, 3.48795203e-02, 1.08855244e-02, 1.78099203e-03,
 -1.32922595e-04, 8.09726335e-04, 2.62232648e-04, 8.17504295e-05,
  2.32468757e-03,-1.58889689e-03, 0.00000000e+00,-1.57444408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.00859069,  -3.23253029,  -8.00859069,
        20.38623763, -29.11030157,  -3.23253029, -29.11030157,
        80.75710787,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004469288380432063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15390142, -0.05671844,  0.06177599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66974250e-05, 1.92796669e-05, 2.40341705e-05, 2.80019772e-05,
  1.33732684e-05,-6.28907191e-05, 2.93692529e-06,-2.32953287e-05,
 -1.36200361e-05,-5.96509362e-05, 1.05251804e-05,-2.81352949e-05,
 -1.54076399e-05,-9.21250908e-06,-1.86774509e-05,-1.62302342e-04,
 -6.89152444e-05,-6.85747872e-04,-4.90289529e+00,-8.84029215e-04,
  3.13738811e-03,-3.73032417e-03]


--- Step 2162 ---
qpos:
[ 0.0187005 , 0.03000708,-0.00945655,-0.02532263,-0.00351025, 1.34072293,
 -0.02990427, 0.94379939, 0.01155755, 0.02728773,-0.00827688, 0.02645322,
  1.364361  , 0.00764949, 1.29916683, 0.0442721 ,-0.09550003,-0.06291461,
  0.09317938, 0.69651256, 0.05564949,-0.70131714,-0.14116532]

qacc:
[-2.09977659e+00,-1.53501614e+00, 6.24565983e+00,-1.18512398e+01,
  2.14997057e-02,-1.28013030e+00, 5.30219329e+00,-1.18303649e+01,
  1.72276546e+00,-3.51612089e+00, 1.44693749e+01,-2.67519609e+01,
 -2.96278619e-01, 4.75999208e-01,-7.55774305e+00, 2.52160601e+01,
  4.01317069e+00,-3.24463644e-01, 7.43671506e-01,-3.77814223e+01,
  1.22639147e+02, 1.24661594e+00]

qfrc_actuator:
[ 9.29249280e-05, 8.29406312e-04, 1.03793609e-04,-3.40121560e-05,
  6.69260620e-06, 3.48989935e-02, 1.08950419e-02, 1.75056717e-03,
 -1.22270864e-04, 7.90202795e-04, 2.90266183e-04, 4.79636782e-05,
  2.31151083e-03,-1.56311194e-03, 0.00000000e+00,-1.44876636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00441210185701988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29078306e-15,  1.25815661e-14,  1.00000000e+00, -7.91479030e-29,
        1.00000000e+00, -1.25815661e-14, -1.00000000e+00,  0.00000000e+00,
        6.29078306e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15398975, -0.0567125 ,  0.06177862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26766736e-05,-3.63163100e-05, 3.74298770e-07,-1.79573342e-05,
  6.20478582e-06,-1.54437231e-05,-3.13297217e-06,-3.27687709e-05,
  1.02345621e-05,-5.19412338e-05, 1.60143664e-05,-3.65306720e-05,
 -2.39281980e-05, 1.98791773e-05,-2.92320723e-05, 1.13672596e-04,
 -1.75609591e-04,-5.37164931e-04,-4.90278178e+00,-3.11939248e-04,
  3.32342660e-03,-3.68817785e-03]


--- Step 2163 ---
qpos:
[ 0.01869978, 0.03000612,-0.00945744,-0.02532262,-0.00351002, 1.3407231 ,
 -0.02990481, 0.9437985 , 0.01155736, 0.02728752,-0.00827484, 0.02645324,
  1.3644761 , 0.00765027, 1.2992841 , 0.04426636,-0.09544076,-0.06283831,
  0.09319464, 0.69725165, 0.0546417 ,-0.70082841,-0.14033517]

qacc:
[-1.03371620e+01, 1.16208480e+00,-2.76477663e+00,-9.05341522e-01,
  7.04594281e-02,-1.69438364e+00, 6.78632026e+00,-1.40606530e+01,
  7.03030247e+00, 9.16036708e-01,-3.77902205e+00, 7.67045057e+00,
 -6.58783216e-01, 8.52785212e-01, 6.45801695e-01,-2.06590208e+00,
  3.58646725e+00,-2.80517656e-01,-4.19281951e-01,-3.31992493e+01,
  1.09560580e+02, 1.75968410e+00]

qfrc_actuator:
[ 3.13703580e-05, 8.51307145e-04, 8.15549403e-05,-4.60199968e-05,
  2.33729265e-05, 3.48928687e-02, 1.09009967e-02, 1.71500722e-03,
 -8.00893466e-05, 8.49980064e-04, 3.05943380e-04, 6.36916037e-05,
  2.27815847e-03,-1.54802427e-03, 0.00000000e+00,-1.46123094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004317677918297659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.28567143e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.28567143e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15413408, -0.05669902,  0.06178294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19320576e-05, 9.39311676e-07,-3.02978086e-05,-1.38963247e-05,
  2.03466306e-05,-1.62672032e-05, 1.61633439e-06,-3.68764752e-05,
  4.24646424e-05, 3.24672090e-05, 5.63663517e-06, 1.33414463e-05,
 -4.08281626e-05, 1.56600799e-05,-1.78288194e-06,-1.00737692e-05,
 -2.19583463e-04,-4.08413479e-04,-4.90251679e+00, 2.01908989e-04,
  3.49459786e-03,-3.64719783e-03]


--- Step 2164 ---
qpos:
[ 0.01869833, 0.03000523,-0.00945833,-0.02532278,-0.00350976, 1.34072329,
 -0.02990538, 0.94379822, 0.01155699, 0.02728778,-0.00827309, 0.02645377,
  1.36459084, 0.00765147, 1.2994011 , 0.04426253,-0.09540455,-0.06275749,
  0.09320854, 0.69773982, 0.05362486,-0.70060584,-0.13940934]

qacc:
[-6.28623318e+00,-2.38324106e-01, 1.71401117e+00,-4.72007063e+00,
  1.41313975e-02, 1.18508970e+00,-5.09037608e+00, 1.14928169e+01,
 -1.57022294e+00, 2.45844003e+00,-1.00497612e+01, 1.91253449e+01,
 -3.80930210e-01, 5.83140756e-01,-6.12804971e+00, 2.09164225e+01,
 -5.76309980e+00, 1.12861876e+00,-3.39497742e-01, 5.59055193e+01,
 -1.78739212e+02, 2.61968696e+01]

qfrc_actuator:
[-4.55190574e-06, 8.64743654e-04, 8.66344552e-05,-5.30771732e-05,
  1.54378126e-05, 3.49069561e-02, 1.09047144e-02, 1.74771092e-03,
 -9.07052683e-05, 8.85780384e-04, 2.96811050e-04, 9.07359896e-05,
  2.27000702e-03,-1.52177797e-03, 0.00000000e+00,-1.35979058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044493533753771145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23811446e-15,  3.11905723e-15,  1.00000000e+00, -1.94570360e-29,
        1.00000000e+00, -3.11905723e-15, -1.00000000e+00,  0.00000000e+00,
        6.23811446e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0015815 , -0.07957389,  0.06177715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77207663e-05, 7.13503612e-06, 1.08601463e-06,-8.32899266e-06,
  4.08831929e-06, 4.29538906e-06,-3.62821690e-07, 3.14054097e-05,
 -9.36029398e-06, 5.56903442e-05,-1.29308769e-06, 2.88845129e-05,
 -2.48641633e-05, 2.15629809e-05,-5.26285688e-06, 9.99388091e-05,
 -2.17668511e-04,-2.95220553e-04,-4.90214954e+00, 6.67575388e-04,
  3.65385651e-03,-3.60712467e-03]


--- Step 2165 ---
qpos:
[ 0.01869714, 0.03000444,-0.00945917,-0.02532337,-0.00350981, 1.34072386,
 -0.02990609, 0.94379866, 0.01155684, 0.02728761,-0.00827077, 0.02645469,
  1.36470561, 0.00765243, 1.29951772, 0.04426226,-0.09538848,-0.06267267,
  0.09321632, 0.69800913, 0.05259908,-0.7006155 ,-0.13839984]

qacc:
[ 2.31117617e+00,-8.98541311e-01, 5.24556568e+00,-1.29626070e+01,
 -1.31498574e-01, 2.07331958e+00,-7.62111201e+00, 1.46177195e+01,
  1.91388727e+00,-1.34544238e+00, 2.36908782e+00, 3.61815525e+00,
  4.69490174e-01,-6.70487896e-01,-1.13891148e+01, 3.89257349e+01,
 -5.03580575e+00, 9.99347594e-01,-1.53062141e+00, 4.82489239e+01,
 -1.56062645e+02, 2.32941842e+01]

qfrc_actuator:
[ 1.04214117e-05, 8.73123212e-04, 9.00415587e-05,-7.48977976e-05,
 -2.49527608e-05, 3.49508249e-02, 1.09071999e-02, 1.78482941e-03,
 -7.90651446e-05, 8.18110493e-04, 3.08544323e-04, 1.06435983e-04,
  2.27165626e-03,-1.54226834e-03, 0.00000000e+00,-1.17426384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.1095439 ,  6.10411748, -6.1095439 , 34.91023182,
       26.29722506,  6.10411748, 26.29722506, 34.95696635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004509034069080486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3849983e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3849983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00171647, -0.07955254,  0.06177459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38807812e-05, 1.22716454e-05, 4.75054424e-06,-2.16335700e-05,
 -3.79745311e-05, 4.71169514e-05, 4.20548515e-06, 3.79641552e-05,
  1.13869746e-05,-3.55923684e-05, 2.40522805e-05, 1.85985641e-05,
 -5.53056945e-06,-1.98080575e-05, 6.34289172e-06, 1.89913434e-04,
 -2.00036584e-04,-5.16912306e-04,-4.90249730e+00,-3.25826830e-05,
  3.43921984e-03,-3.58964167e-03]


--- Step 2166 ---
qpos:
[ 0.0186958 , 0.03000428,-0.00946052,-0.02532391,-0.0035101 , 1.34072489,
 -0.02990675, 0.94379814, 0.01155752, 0.02728696,-0.00826819, 0.02645547,
  1.36482038, 0.00765294, 1.29963445, 0.04426321,-0.09539009,-0.0625843 ,
  0.09321391, 0.69808633, 0.05156453,-0.70082855,-0.13731685]

qacc:
[-1.36989885e+00, 2.35783878e+00,-7.45004650e+00, 8.81324029e+00,
 -9.94093849e-02,-1.14246224e+00, 6.42456658e+00,-1.69588121e+01,
  7.10186026e+00,-1.67466299e+00, 5.60135342e+00,-8.00781736e+00,
  3.73785965e-01,-6.92660845e-01,-3.55295721e+00, 1.25532356e+01,
 -4.42096134e+00, 8.89841417e-01,-2.54913772e+00, 4.18060034e+01,
 -1.36960637e+02, 2.07729445e+01]

qfrc_actuator:
[ 1.96526201e-06, 9.31658989e-04, 7.46421671e-05,-6.97353346e-05,
 -3.12279490e-05, 3.49766880e-02, 1.09090531e-02, 1.73548942e-03,
 -3.66493673e-05, 7.77833763e-04, 3.14324704e-04, 9.75098679e-05,
  2.26318726e-03,-1.57255250e-03, 0.00000000e+00,-1.11823906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.08222896,  6.13133491, -6.08222896, 36.4506915 ,
       27.59156248,  6.13133491, 27.59156248, 36.00694487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004504086327627603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84869296e-14, -1.23246197e-14,  1.00000000e+00,  2.27844377e-28,
        1.00000000e+00,  1.23246197e-14, -1.00000000e+00,  0.00000000e+00,
        1.84869296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00170226, -0.07955641,  0.06177486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.04323760e-06, 6.55010980e-05,-1.30072354e-05, 5.43557257e-06,
 -2.87148060e-05, 5.38875505e-05, 1.26628044e-05,-4.69198183e-05,
  4.27371337e-05,-5.44343359e-05, 2.00655985e-06,-9.26453571e-06,
 -1.52739943e-05,-3.78030599e-05, 2.21762414e-05, 6.69875706e-05,
 -9.76631465e-05,-7.26022226e-04,-4.90253212e+00,-6.83430421e-04,
  3.23525949e-03,-3.57028667e-03]


--- Step 2167 ---
qpos:
[ 0.01869402, 0.03000454,-0.00946203,-0.02532404,-0.0035104 , 1.34072615,
 -0.02990676, 0.94379771, 0.01155802, 0.0272865 ,-0.00826638, 0.02645612,
  1.364935  , 0.00765313, 1.29975143, 0.0442635 ,-0.0954073 ,-0.06249274,
  0.09319782, 0.69799377, 0.05052138,-0.70122056,-0.13616905]

qacc:
[-3.74735544e+00, 1.86540969e+00,-7.58399016e+00, 1.46832895e+01,
 -9.36817033e-03,-1.32975142e+00, 4.49377427e+00,-2.95869343e+00,
 -1.61685097e+00, 2.14729972e+00,-6.76477841e+00, 5.67534960e+00,
  6.21501884e-03,-2.47124908e-01, 2.32796735e+00,-7.62009501e+00,
 -3.90018509e+00, 7.96760778e-01,-3.41761374e+00, 3.63767584e+01,
 -1.20868441e+02, 1.85944143e+01]

qfrc_actuator:
[-2.02302716e-05, 9.48715564e-04, 6.62425061e-05,-4.87053373e-05,
 -1.69853701e-05, 3.49915165e-02, 1.09459118e-02, 1.74217314e-03,
 -4.74759963e-05, 8.07473861e-04, 2.81095153e-04, 9.19242645e-05,
  2.24864766e-03,-1.59065576e-03, 0.00000000e+00,-1.15673958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.19807053,  6.01420806, -6.19807053, 36.80419802,
       29.02896312,  6.01420806, 29.02896312, 38.55278137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004447259080008759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40423672e-14, -2.49642084e-14,  1.00000000e+00,  3.50556582e-28,
        1.00000000e+00,  2.49642084e-14, -1.00000000e+00,  0.00000000e+00,
        1.40423672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0015699 , -0.07958046,  0.06177739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24047690e-05, 5.12544936e-05, 3.73507220e-06, 2.34953763e-05,
 -2.72447481e-06, 4.56975133e-05, 4.74639235e-05, 7.58668318e-06,
 -9.59289450e-06,-7.73835402e-07,-4.45725220e-05,-8.03690356e-06,
 -3.04581170e-05,-3.32664876e-05, 1.42838621e-05,-3.26994694e-05,
  5.85170511e-05,-9.20637549e-04,-4.90235584e+00,-1.28568195e-03,
  3.04242019e-03,-3.54912288e-03]


--- Step 2168 ---
qpos:
[ 0.01869303, 0.03000495,-0.00946351,-0.02532389,-0.0035108 , 1.34072741,
 -0.02990591, 0.94379737, 0.01155804, 0.02728638,-0.00826567, 0.02645636,
  1.36504942, 0.00765287, 1.2998683 , 0.04426469,-0.09543835,-0.06239831,
  0.09316511, 0.69775012, 0.0494698 ,-0.70177082,-0.13496377]

qacc:
[ 6.70766412e+00, 6.75478719e-01,-3.28716703e+00, 7.88272670e+00,
 -3.68501045e-02,-2.13578429e+00, 6.79782115e+00,-4.84680945e+00,
 -4.11966457e+00, 2.67484533e+00,-7.10852834e+00, 1.40015576e+00,
  1.87290362e-01,-5.39688310e-01,-2.90657624e+00, 9.85832435e+00,
 -3.45839302e+00, 7.17416912e-01,-4.15601527e+00, 3.17982651e+01,
 -1.07324444e+02, 1.67240502e+01]

qfrc_actuator:
[ 2.06824814e-05, 9.40844098e-04, 6.19037116e-05,-3.62860161e-05,
 -2.60560491e-05, 3.49820297e-02, 1.09853879e-02, 1.74629904e-03,
 -7.18111118e-05, 8.25333564e-04, 2.25392453e-04, 7.06346162e-05,
  2.23048033e-03,-1.61915265e-03, 0.00000000e+00,-1.10855808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.50919575,  5.67601512, -6.50919575, 35.14294155,
       30.39747088,  5.67601512, 30.39747088, 43.49587055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004349301790872319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27632328e-14,  1.91448492e-14,  1.00000000e+00, -2.44350167e-28,
        1.00000000e+00, -1.91448492e-14, -1.00000000e+00,  0.00000000e+00,
        1.27632328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00134451, -0.07962058,  0.06178168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02774348e-05, 2.25732514e-05, 7.53749703e-06, 1.52048618e-05,
 -1.06792334e-05, 2.52962000e-05, 5.40372163e-05, 7.06832846e-06,
 -2.46137039e-05, 7.86792153e-06,-6.16469000e-05,-2.30254276e-05,
 -4.09612101e-05,-4.56201129e-05,-8.21495144e-07, 4.73400049e-05,
  2.46757177e-04,-1.10004665e-03,-4.90203918e+00,-1.84175356e-03,
  2.86048834e-03,-3.52624843e-03]


--- Step 2169 ---
qpos:
[ 0.01869287, 0.03000545,-0.00946494,-0.02532428,-0.00351129, 1.34072885,
 -0.02990516, 0.94379677, 0.01155776, 0.02728636,-0.00826589, 0.02645636,
  1.36516344, 0.00765274, 1.29998531, 0.0442651 ,-0.09544625,-0.06230482,
  0.09315357, 0.69775857, 0.04838249,-0.70205906,-0.13381027]

qacc:
[ 7.23125794e+00,-1.13449896e+00, 6.45497467e+00,-1.58385531e+01,
 -3.99737801e-02, 3.45826403e-02, 7.01819350e-01,-3.71649848e+00,
 -2.52162927e+00, 2.25691027e+00,-6.83424125e+00, 4.12459006e+00,
 -4.58699048e-01, 4.82091966e-01, 2.60238001e+00,-8.71043380e+00,
  5.78595114e+00,-2.35431219e-01, 5.29393254e+00,-5.45488672e+01,
  1.76177614e+02, 5.00593938e+00]

qfrc_actuator:
[ 6.29117801e-05, 9.35863754e-04, 5.98754909e-05,-6.45634693e-05,
 -3.12880604e-05, 3.49758267e-02, 1.09727166e-02, 1.73110216e-03,
 -8.61324726e-05, 8.18139013e-04, 1.74592423e-04, 5.80151563e-05,
  2.22079800e-03,-1.60037589e-03, 0.00000000e+00,-1.15167397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043084033260550395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15415532, -0.05674863,  0.06178335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34100016e-05, 9.86935374e-06, 4.09984301e-06,-2.67535504e-05,
 -1.15421597e-05, 1.85634262e-05,-1.36888256e-06,-1.26854848e-05,
 -1.50356666e-05,-1.65285229e-05,-5.75709594e-05,-1.48642545e-05,
 -4.05286715e-05,-4.51608359e-06, 2.26307709e-06,-4.11799670e-05,
  4.52037303e-04,-1.26438044e-03,-4.90163083e+00,-2.35513331e-03,
  2.68882167e-03,-3.50178107e-03]


--- Step 2170 ---
qpos:
[ 0.01869357, 0.03000576,-0.00946596,-0.02532498,-0.00351171, 1.34073096,
 -0.02990535, 0.94379635, 0.01155766, 0.02728637,-0.00826594, 0.02645649,
  1.36527715, 0.00765318, 1.30010255, 0.04426299,-0.09543385,-0.06221213,
  0.09315582, 0.69798845, 0.04726255,-0.70211773,-0.13269915]

qacc:
[ 7.33301847e+00,-2.07593359e+00, 8.34335833e+00,-1.43763400e+01,
  2.76432204e-02, 3.73112318e+00,-1.14525511e+01, 1.14748893e+01,
  1.49626376e+00,-1.94024625e-01, 1.97170656e-01, 1.71442955e+00,
 -8.14324303e-01, 1.17424012e+00, 8.08369872e+00,-2.75562480e+01,
  5.07503199e+00,-2.01347871e-01, 3.44472780e+00,-4.69773003e+01,
  1.54615645e+02, 5.93006786e+00]

qfrc_actuator:
[ 1.05557354e-04, 9.14865513e-04, 7.69536395e-05,-8.10536218e-05,
 -1.64222286e-05, 3.50246794e-02, 1.09293592e-02, 1.74012978e-03,
 -7.66878873e-05, 8.49271202e-04, 1.98016963e-04, 6.83385572e-05,
  2.22688209e-03,-1.55362665e-03, 0.00000000e+00,-1.28375632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.43408309,  -1.85823017,  -8.43408309,
        11.33401559, -12.24402714,  -1.85823017, -12.24402714,
        64.20921125,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0043543357808570465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15408688, -0.05676692,  0.06178125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39147624e-05,-1.57631475e-05, 1.87059278e-05,-1.64455827e-05,
  8.04566306e-06, 5.84610172e-05,-4.02571157e-05, 9.25353236e-06,
  9.00112207e-06, 9.35727440e-06, 1.24080905e-05, 7.33489873e-06,
 -1.52053419e-05, 3.60754235e-05,-7.09566384e-06,-1.34879610e-04,
  1.22534924e-04,-1.05102310e-03,-4.90200003e+00,-1.52825586e-03,
  2.93653034e-03,-3.44872706e-03]


--- Step 2171 ---
qpos:
[ 0.01869478, 0.03000585,-0.00946676,-0.02532553,-0.00351188, 1.34073343,
 -0.02990565, 0.94379464, 0.01155768, 0.02728655,-0.00826578, 0.02645637,
  1.36539073, 0.00765388, 1.30021938, 0.04426232,-0.09540354,-0.06212013,
  0.09316555, 0.69841378, 0.04611283,-0.70197381,-0.13162284]

qacc:
[ 4.35502588e+00,-5.68135263e-01, 9.18515013e-01, 1.75939801e+00,
  1.09190385e-01,-1.44272141e+00, 7.91197284e+00,-2.19978113e+01,
  9.74193024e-01,-8.57696806e-01, 4.42048905e+00,-9.11923844e+00,
 -1.35074287e-01, 2.77420615e-01,-4.97420838e+00, 1.65222954e+01,
  4.47947097e+00,-1.71150740e-01, 1.87329283e+00,-4.06715560e+01,
  1.36518439e+02, 6.48762940e+00]

qfrc_actuator:
[ 1.30352935e-04, 9.02267240e-04, 8.73682157e-05,-7.27183880e-05,
  1.03798652e-05, 3.50349879e-02, 1.09217420e-02, 1.67460478e-03,
 -7.10861769e-05, 8.67932274e-04, 2.11985855e-04, 5.66526637e-05,
  2.22112994e-03,-1.54384610e-03, 0.00000000e+00,-1.20087122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.35040309,  -2.2039839 ,  -8.35040309,
        12.7819736 , -15.70679092,  -2.2039839 , -15.70679092,
        68.14588888,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004343316204857853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.2780822e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.2780822e-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([-0.15410547, -0.05677357,  0.06178176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60698123e-05,-1.82378173e-05, 8.90138649e-06, 7.98851110e-06,
  3.15587566e-05, 3.50373647e-05,-4.93918006e-07,-6.47320235e-05,
  5.86779325e-06, 2.67739053e-05, 1.76835683e-05,-1.07134099e-05,
 -5.57176626e-06, 1.74674560e-05,-2.16906781e-05, 7.36989763e-05,
 -8.68906855e-05,-8.64435313e-04,-4.90205824e+00,-7.87345200e-04,
  3.16063175e-03,-3.39726426e-03]


--- Step 2172 ---
qpos:
[ 0.01869559, 0.03000587,-0.00946774,-0.02532595,-0.0035119 , 1.34073554,
 -0.02990551, 0.94379322, 0.01155741, 0.02728692,-0.00826601, 0.02645615,
  1.36550436, 0.00765426, 1.300336  , 0.04426293,-0.0953573 ,-0.06202871,
  0.09317745, 0.69901253, 0.04493592,-0.70164974,-0.13057519]

qacc:
[-3.44544636e+00, 6.39210765e-01,-2.92006513e+00, 5.27611061e+00,
  5.85503754e-02,-1.13219608e+00, 2.51160593e+00, 1.52237445e+00,
 -2.38327544e+00, 1.14963952e+00,-3.31143794e+00, 2.07555203e+00,
  3.58815037e-01,-5.89978753e-01,-4.22719356e+00, 1.42702436e+01,
  3.98012672e+00,-1.44493831e-01, 5.41067622e-01,-3.54084439e+01,
  1.21326438e+02, 6.79110190e+00]

qfrc_actuator:
[ 1.08938601e-04, 8.94792048e-04, 7.60488289e-05,-6.75998419e-05,
  8.61976860e-06, 3.49867153e-02, 1.09351082e-02, 1.69000357e-03,
 -8.55517400e-05, 8.61200852e-04, 1.84673500e-04, 4.98354497e-05,
  2.21359717e-03,-1.57392633e-03, 0.00000000e+00,-1.13398352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.25300623,  -2.54453631,  -8.25300623,
        14.63953285, -19.47081385,  -2.54453631, -19.47081385,
        71.78843854,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004286684422674943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47483530e-15,  1.29496706e-14,  1.00000000e+00, -8.38469843e-29,
        1.00000000e+00, -1.29496706e-14, -1.00000000e+00,  0.00000000e+00,
        6.47483530e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1541932 , -0.05677129,  0.06178436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06611605e-05,-1.54808056e-05,-1.37062695e-05, 4.80269542e-06,
  1.68910477e-05,-3.09499543e-05, 1.82606213e-05, 1.49370362e-05,
 -1.42839294e-05, 1.14283592e-05,-1.99783683e-05,-5.26721789e-06,
 -6.52437921e-06,-2.59612961e-05,-3.04843052e-06, 6.79230113e-05,
 -2.10082370e-04,-6.99003282e-04,-4.90190255e+00,-1.17671688e-04,
  3.36565829e-03,-3.34701705e-03]


--- Step 2173 ---
qpos:
[ 0.01869578, 0.03000566,-0.00946913,-0.02532524,-0.00351171, 1.34073735,
 -0.0299058 , 0.94379343, 0.01155698, 0.02728701,-0.00826638, 0.02645624,
  1.36561791, 0.00765456, 1.30045287, 0.04426199,-0.09533158,-0.06193276,
  0.09318371, 0.69938769, 0.04374429,-0.70156225,-0.12943611]

qacc:
[-5.21874696e+00, 3.18252015e+00,-1.65357973e+01, 3.69383516e+01,
  9.20278149e-02, 3.53957804e+00,-1.53650407e+01, 3.22984114e+01,
 -1.45894030e+00, 6.62628293e-01,-4.19171470e+00, 9.95358013e+00,
 -1.52540707e-01, 1.01908652e-01, 5.09502492e+00,-1.72652337e+01,
 -5.12796822e+00, 1.13326439e+00,-1.41179326e+00, 4.73960440e+01,
 -1.60039046e+02, 2.78403132e+01]

qfrc_actuator:
[ 7.82558391e-05, 8.72599160e-04, 5.20043795e-05,-1.11706365e-05,
  2.52443048e-05, 3.49571213e-02, 1.09073058e-02, 1.77063833e-03,
 -9.39593812e-05, 8.21396674e-04, 1.68615743e-04, 6.36441842e-05,
  2.21030990e-03,-1.57417365e-03, 0.00000000e+00,-1.21913836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004250290038206671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30605560e-14, -6.53027802e-15,  1.00000000e+00,  8.52890620e-29,
        1.00000000e+00,  6.53027802e-15, -1.00000000e+00,  0.00000000e+00,
        1.30605560e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00111674, -0.07967582,  0.06178607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12887807e-05,-3.34725933e-05,-2.87514084e-05, 5.53895300e-05,
  2.66051826e-05,-4.27098700e-05,-3.13449948e-05, 8.05875250e-05,
 -8.82009228e-06,-3.77818419e-05,-1.63408379e-05, 1.35054345e-05,
 -1.25612757e-05,-9.60385221e-06, 4.18757088e-06,-8.22232565e-05,
 -2.70402654e-04,-5.50481986e-04,-4.90160089e+00, 4.92396405e-04,
  3.55509740e-03,-3.29769669e-03]


--- Step 2174 ---
qpos:
[ 0.01869596, 0.03000489,-0.00947063,-0.02532384,-0.00351117, 1.34073912,
 -0.02990618, 0.94379283, 0.01155679, 0.02728692,-0.00826695, 0.02645615,
  1.36573121, 0.00765511, 1.30056987, 0.04425904,-0.09532387,-0.06183278,
  0.09318021, 0.69956649, 0.04253828,-0.70168207,-0.12821655]

qacc:
[-2.05211310e-01, 1.01931710e+00,-7.63318204e+00, 2.02383622e+01,
  1.49660742e-01,-1.20674319e+00, 5.53947517e+00,-1.41243159e+01,
  2.10519579e+00,-7.57523039e-02, 7.22708067e-01,-3.54202712e+00,
 -5.22651299e-01, 6.71911405e-01, 6.32746492e+00,-2.17185153e+01,
 -4.50437778e+00, 1.00605118e+00,-2.43669331e+00, 4.09148244e+01,
 -1.40537836e+02, 2.50107490e+01]

qfrc_actuator:
[ 7.78839201e-05, 8.23996273e-04, 3.83739651e-05, 2.17224638e-05,
  5.27648558e-05, 3.49743330e-02, 1.09087575e-02, 1.72920236e-03,
 -8.09751106e-05, 8.15396561e-04, 1.59214213e-04, 5.39551239e-05,
  2.19892823e-03,-1.55664224e-03, 0.00000000e+00,-1.32217531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.08880357,  4.93311674, -7.08880357, 20.87627296,
       17.58853834,  4.93311674, 17.58853834, 33.91078951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042698501072792674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62509075e-15,  1.30007260e-14,  1.00000000e+00, -2.11273595e-29,
        1.00000000e+00, -1.30007260e-14, -1.00000000e+00,  0.00000000e+00,
        1.62509075e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00116123, -0.07967232,  0.06178524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29446818e-06,-7.08763644e-05,-2.21501992e-05, 3.15471141e-05,
  4.32412500e-05,-1.01350430e-05,-8.10811675e-06,-4.17681351e-05,
  1.27127993e-05,-2.99282454e-05,-1.87483209e-05,-1.16100259e-05,
 -2.01744835e-05, 1.18715072e-05,-1.05671465e-05,-1.07842589e-04,
 -1.82710778e-04,-7.98683338e-04,-4.90168194e+00,-2.63958621e-04,
  3.32990449e-03,-3.27541318e-03]


--- Step 2175 ---
qpos:
[ 0.01869613, 0.03000387,-0.00947151,-0.02532318,-0.00351028, 1.34074108,
 -0.02990613, 0.94379239, 0.01155676, 0.02728708,-0.00826757, 0.02645587,
  1.36584422, 0.0076559 , 1.30068648, 0.04425754,-0.09533294,-0.06173048,
  0.09316485, 0.69955449, 0.04134787,-0.70199272,-0.1269649 ]

qacc:
[-3.23656270e-02,-3.58919913e+00, 1.54513458e+01,-2.91116865e+01,
  1.44129391e-01,-6.33335039e-01, 2.06423135e+00,-1.56701752e-01,
  1.33149531e+00, 9.10561019e-02, 9.02123591e-01,-4.11847103e+00,
 -2.40251391e-01, 3.36602642e-01,-4.96795713e+00, 1.65732687e+01,
 -4.19413215e+00, 5.79560646e-01,-2.96801187e+00, 3.30085787e+01,
 -1.32009486e+02,-2.41845296e+00]

qfrc_actuator:
[ 7.76061362e-05, 8.48736786e-04, 8.41247969e-05,-1.27778173e-05,
  6.88472397e-05, 3.50194773e-02, 1.09453324e-02, 1.74056858e-03,
 -7.32579023e-05, 8.65194429e-04, 1.71672249e-04, 4.82941852e-05,
  2.18270814e-03,-1.54649741e-03, 0.00000000e+00,-1.23959073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6331424 ,  0.23585845, -8.6331424 ,  8.66461292,
        1.03401053,  0.23585845,  1.03401053, 46.4843194 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004245454946090868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30754305e-14, -2.61508611e-14,  1.00000000e+00,  3.41933767e-28,
        1.00000000e+00,  2.61508611e-14, -1.00000000e+00,  0.00000000e+00,
        1.30754305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00044939, -0.07493152,  0.06178633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36931188e-07,-1.80755125e-05, 2.94992378e-05,-3.76848725e-05,
  4.16357167e-05, 3.66856039e-05, 3.24422250e-05, 9.85638459e-06,
  8.07946985e-06, 2.87053238e-05, 3.57215010e-06,-7.81702910e-06,
 -2.40937584e-05, 9.34715033e-06,-1.98422134e-05, 7.45578027e-05,
 -3.62711680e-05,-1.02718353e-03,-4.90153211e+00,-9.66955712e-04,
  3.11773916e-03,-3.25102618e-03]


--- Step 2176 ---
qpos:
[ 0.01869594, 0.03000321,-0.0094719 ,-0.02532232,-0.00350912, 1.34074347,
 -0.0299064 , 0.94379382, 0.01155648, 0.02728781,-0.00826854, 0.02645585,
  1.36595692, 0.00765688, 1.30080299, 0.04425667,-0.09532173,-0.06162854,
  0.09316283, 0.69976438, 0.04011671,-0.7020743 ,-0.12574633]

qacc:
[-2.99197235e+00,-4.93128810e-01, 1.62026970e+00, 7.67771641e-01,
  1.16502676e-01, 4.62405271e+00,-1.82844799e+01, 3.74417900e+01,
 -2.17083443e+00, 2.24097150e+00,-7.98442063e+00, 1.25622560e+01,
 -3.04181812e-01, 3.62209775e-01,-2.00576699e+00, 6.87904030e+00,
  5.07023291e+00,-8.89737099e-02, 3.33780027e+00,-4.49931985e+01,
  1.54734658e+02, 1.20830588e+01]

qfrc_actuator:
[ 5.96238458e-05, 9.17396055e-04, 1.29310547e-04, 2.20979036e-06,
  7.79383825e-05, 3.50456609e-02, 1.09314972e-02, 1.83623946e-03,
 -8.64620204e-05, 9.12614956e-04, 1.61673035e-04, 6.28696898e-05,
  2.16359726e-03,-1.54087334e-03, 0.00000000e+00,-1.20806597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004206785538747426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.59781093e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.59781093e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15431955, -0.05679395,  0.061788  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79940278e-05, 6.30758733e-05, 4.38025186e-05, 1.45032266e-05,
  3.36970607e-05, 5.31076737e-05,-2.68073881e-06, 9.79554325e-05,
 -1.29574844e-05, 6.38804474e-05,-3.89454857e-06, 1.57784173e-05,
 -2.90786983e-05, 2.95690274e-06,-2.43636050e-06, 3.27825956e-05,
  1.37717715e-04,-1.18391786e-03,-4.90142317e+00,-1.63432519e-03,
  2.94352764e-03,-3.22636681e-03]


--- Step 2177 ---
qpos:
[ 0.01869555, 0.03000317,-0.00947217,-0.02532095,-0.00350791, 1.3407462 ,
 -0.02990697, 0.94379433, 0.01155604, 0.02728897,-0.00826987, 0.02645602,
  1.36606933, 0.00765795, 1.30091921, 0.04425818,-0.0952926 ,-0.06152688,
  0.09316799, 0.70017021, 0.03884853,-0.70195349,-0.12455426]

qacc:
[-1.84537108e+00, 1.54594923e+00,-6.47138191e+00, 1.46462747e+01,
  2.41202756e-02,-3.11161100e-01, 3.45291330e+00,-1.39741130e+01,
 -1.34933890e+00, 2.00815470e+00,-7.14101043e+00, 1.07561007e+01,
 -9.11759197e-02, 8.05313551e-02,-7.63489294e+00, 2.61013408e+01,
  4.47958558e+00,-7.02635099e-02, 1.79127741e+00,-3.89119531e+01,
  1.36739984e+02, 1.19800092e+01]

qfrc_actuator:
[ 4.91174163e-05, 9.58636454e-04, 1.38525262e-04, 2.84910458e-05,
  6.50108629e-05, 3.50424061e-02, 1.09057368e-02, 1.78542172e-03,
 -9.41203154e-05, 9.22684966e-04, 1.38512288e-04, 7.14688485e-05,
  2.14809017e-03,-1.53799395e-03, 0.00000000e+00,-1.08266205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.35893735,  -2.171392  ,  -8.35893735,
        12.4817421 , -14.8030746 ,  -2.171392  , -14.8030746 ,
        65.62191644,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004202132496399731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1543278 , -0.05680162,  0.06178821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10087948e-05, 8.61999933e-05, 2.81496971e-05, 3.07808992e-05,
  6.98736983e-06, 2.85308716e-05,-1.28043546e-05,-4.70242947e-05,
 -8.01471440e-06, 4.56437275e-05,-9.89598512e-06, 1.15100763e-05,
 -2.92531924e-05,-2.95891737e-06,-2.48997996e-07, 1.26301701e-04,
 -8.85607489e-05,-9.90504827e-04,-4.90145806e+00,-8.29402888e-04,
  3.17451298e-03,-3.16981603e-03]


--- Step 2178 ---
qpos:
[ 0.01869572, 0.03000387,-0.0094729 ,-0.0253196 ,-0.00350672, 1.34074867,
 -0.02990734, 0.9437946 , 0.01155586, 0.02729038,-0.00827142, 0.02645665,
  1.36618134, 0.00765934, 1.30103515, 0.04426318,-0.09528254,-0.06142238,
  0.093165  , 0.70035975, 0.03759708,-0.70204992,-0.12332311]

qacc:
[ 4.83289490e+00, 2.22392887e+00,-6.47598790e+00, 6.42816880e+00,
 -1.42943405e-02,-1.31046471e+00, 4.36823564e+00,-6.42302083e+00,
  2.17700929e+00, 1.88757660e+00,-8.18886686e+00, 1.63137269e+01,
 -2.36924635e-01, 3.45702695e-01,-1.09498803e+01, 3.77425821e+01,
 -4.76689221e+00, 7.10507869e-01,-2.03370942e+00, 3.73055403e+01,
 -1.50166474e+02,-1.43856982e+00]

qfrc_actuator:
[ 7.86062081e-05, 9.83025849e-04, 1.08586975e-04, 2.56529444e-05,
  5.67330238e-05, 3.50036580e-02, 1.09084499e-02, 1.77303756e-03,
 -8.06937657e-05, 9.28003326e-04, 1.25371453e-04, 9.41958052e-05,
  2.12942901e-03,-1.51900098e-03, 0.00000000e+00,-9.02939722e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004220833771701203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57585139e-15,  3.94551083e-14,  1.00000000e+00, -2.59450929e-28,
        1.00000000e+00, -3.94551083e-14, -1.00000000e+00,  0.00000000e+00,
        6.57585139e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00039474, -0.07495297,  0.06178741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91958012e-05, 7.97220916e-05,-7.60182939e-06, 2.42399261e-06,
 -4.14747999e-06,-2.68998326e-05, 5.45626071e-06,-1.29888057e-05,
  1.32099866e-05, 2.92608119e-05,-4.53155113e-06, 2.45648240e-05,
 -3.35349709e-05, 1.11733772e-05, 1.15618327e-05, 1.86193638e-04,
 -2.27851046e-04,-8.14749326e-04,-4.90127973e+00,-9.31158095e-05,
  3.38756980e-03,-3.11416890e-03]


--- Step 2179 ---
qpos:
[ 0.01869693, 0.03000508,-0.00947389,-0.02531862,-0.00350575, 1.34075026,
 -0.0299071 , 0.94379509, 0.01155618, 0.02729204,-0.00827337, 0.02645722,
  1.36629294, 0.00766119, 1.30115148, 0.04426728,-0.09528928,-0.06131533,
  0.09315016, 0.70035863, 0.0363588 ,-0.70233741,-0.12205734]

qacc:
[ 8.92108633e+00, 6.11900599e-01, 3.80878027e-01,-6.84169430e+00,
 -8.85097195e-02,-2.40002648e+00, 5.96093005e+00,-1.94344236e+00,
  4.31218730e+00, 1.30737328e+00,-3.93587660e+00, 3.31102900e+00,
 -7.08975089e-01, 9.65328995e-01, 3.36644625e+00,-1.07626354e+01,
 -4.20153464e+00, 6.36132412e-01,-2.96380647e+00, 3.21251747e+01,
 -1.32374738e+02,-6.65977680e-01]

qfrc_actuator:
[ 1.31397202e-04, 9.96943113e-04, 9.11961923e-05, 5.66487191e-06,
  3.35605574e-05, 3.49263153e-02, 1.09278509e-02, 1.78339734e-03,
 -5.49661336e-05, 9.30475240e-04, 1.00485226e-04, 8.95504396e-05,
  2.11422224e-03,-1.49059996e-03, 0.00000000e+00,-9.58972587e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.55538516,  4.18365056, -7.55538516, 16.45665248,
       14.12290378,  4.18365056, 14.12290378, 34.1413565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004207859506351365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48412857e-14, -1.31922540e-14,  1.00000000e+00,  1.95790010e-28,
        1.00000000e+00,  1.31922540e-14, -1.00000000e+00,  0.00000000e+00,
        1.48412857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00036486, -0.07496241,  0.06178799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36679686e-05, 5.70208197e-05,-1.78179568e-06,-1.67947972e-05,
 -2.56243241e-05,-9.15624021e-05, 1.43770332e-05, 9.41348896e-06,
  2.61268989e-05, 1.89209524e-05,-1.85506960e-05,-3.07183523e-06,
 -2.85067500e-05, 2.36749042e-05, 2.31444026e-05,-4.48289171e-05,
 -9.19764307e-05,-1.00405234e-03,-4.90136843e+00,-8.79508531e-04,
  3.19122237e-03,-3.09079219e-03]


--- Step 2180 ---
qpos:
[ 0.01869807, 0.03000674,-0.00947476,-0.02531825,-0.00350516, 1.34075123,
 -0.0299066 , 0.94379433, 0.01155682, 0.02729332,-0.008275  , 0.02645673,
  1.36640457, 0.0076628 , 1.30126798, 0.04427005,-0.09527603,-0.0612086 ,
  0.09314792, 0.70057838, 0.03507192,-0.70239895,-0.12081228]

qacc:
[-5.67085616e-01,-9.97774815e-01, 6.96188945e+00,-1.79751292e+01,
 -1.62767383e-01,-3.66235070e+00, 1.35630346e+01,-2.60480216e+01,
  2.63275026e+00,-3.60194346e+00, 1.66023177e+01,-3.52604677e+01,
  6.30509719e-02,-2.07780288e-01, 4.29969003e+00,-1.46833931e+01,
  4.99802124e+00,-7.95339483e-02, 3.15016644e+00,-4.20905613e+01,
  1.53348145e+02, 1.91885658e+01]

qfrc_actuator:
[ 1.26457124e-04, 1.02224484e-03, 9.90630978e-05,-2.42455465e-05,
  1.64053334e-06, 3.48975541e-02, 1.09390302e-02, 1.71826535e-03,
 -3.99638035e-05, 8.77888816e-04, 1.04327960e-04, 3.33158974e-05,
  2.11707984e-03,-1.51008578e-03, 0.00000000e+00,-1.02920067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041970012715191185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65329802e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.65329802e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15433708, -0.0568197 ,  0.06178841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35873254e-06, 5.60802655e-05, 1.88348467e-05,-2.78629588e-05,
 -4.70660086e-05,-7.63283953e-05,-4.82081285e-06,-6.72406480e-05,
  1.57783723e-05,-4.59976638e-05, 5.36138301e-06,-5.61269972e-05,
 -5.59464308e-06,-1.90286509e-05, 9.59029662e-07,-7.08199662e-05,
  7.65321992e-05,-1.17363636e-03,-4.90125739e+00,-1.56679646e-03,
  3.01698953e-03,-3.06542114e-03]


--- Step 2181 ---
qpos:
[ 0.01869846, 0.03000846,-0.00947535,-0.02531855,-0.00350495, 1.34075191,
 -0.02990644, 0.94379348, 0.01155728, 0.02729374,-0.00827552, 0.02645626,
  1.36651634, 0.00766392, 1.30138464, 0.04427061,-0.09524511,-0.06110209,
  0.09315221, 0.70099311, 0.03374135,-0.70226064,-0.11958331]

qacc:
[-6.48631567e+00,-2.07441967e+00, 1.03671977e+01,-2.24737385e+01,
 -1.62579416e-01, 3.83534433e-01,-1.52884874e+00, 5.39377386e-01,
 -1.39483259e+00,-4.18004153e+00, 1.31328570e+01,-1.37753398e+01,
  2.37643316e-01,-5.31840025e-01, 6.85177446e+00,-2.37151305e+01,
  4.42008529e+00,-5.47815100e-02, 1.63162093e+00,-3.64504642e+01,
  1.35564055e+02, 1.79790176e+01]

qfrc_actuator:
[ 8.75690223e-05, 1.00099329e-03, 1.04060983e-04,-5.97280507e-05,
 -1.75161379e-05, 3.48980364e-02, 1.09276358e-02, 1.71575731e-03,
 -4.91516393e-05, 8.28299854e-04, 1.60349628e-04, 3.59178160e-05,
  2.12009939e-03,-1.54003060e-03, 0.00000000e+00,-1.14265107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.99859952,  -3.25717401,  -7.99859952,
        19.90869003, -27.68130417,  -3.25717401, -27.68130417,
        76.61297943,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004187829573678359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.31383777e-15, -1.32553511e-14,  1.00000000e+00, -4.39260830e-29,
        1.00000000e+00,  1.32553511e-14, -1.00000000e+00,  0.00000000e+00,
       -3.31383777e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15435155, -0.05682328,  0.06178882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89704473e-05, 1.27495443e-05, 1.79249887e-05,-3.29750659e-05,
 -4.69729038e-05,-4.47153467e-05,-2.88486358e-05,-6.50129143e-06,
 -8.73734139e-06,-7.66276656e-05, 4.52436961e-05,-2.74733839e-07,
 -4.55451306e-06,-3.68525788e-05,-1.03694943e-05,-1.17962098e-04,
 -1.38052816e-04,-9.85722465e-04,-4.90121475e+00,-7.48102950e-04,
  3.23876843e-03,-3.00700299e-03]


--- Step 2182 ---
qpos:
[ 0.01869838, 0.0300095 ,-0.00947497,-0.02531853,-0.00350492, 1.3407524 ,
 -0.02990649, 0.94379259, 0.01155728, 0.0272934 ,-0.00827509, 0.02645651,
  1.36662797, 0.00766475, 1.30150152, 0.04426746,-0.09523391,-0.06099341,
  0.09314927, 0.70118036, 0.03244772,-0.70234485,-0.11834255]

qacc:
[-3.98142061e+00,-2.95557148e+00, 7.87545703e+00,-3.40500464e+00,
 -7.39066864e-02, 2.56654458e-01,-1.06913769e+00, 6.08497188e-01,
 -3.87025904e+00,-2.15080376e+00, 3.18818949e+00, 8.33721662e+00,
 -2.38833317e-01, 5.14319733e-02, 1.16111455e+01,-4.00746452e+01,
 -4.93273713e+00, 5.43347314e-01,-1.80686574e+00, 3.42334174e+01,
 -1.55463749e+02,-1.86832469e+01]

qfrc_actuator:
[ 6.45348008e-05, 9.34254571e-04, 1.42629011e-04,-4.49903776e-05,
 -1.11089109e-05, 3.48982214e-02, 1.09209339e-02, 1.71464265e-03,
 -7.25005540e-05, 7.98896360e-04, 2.11256960e-04, 7.31536592e-05,
  2.10190262e-03,-1.55814507e-03, 0.00000000e+00,-1.33389404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004221015265458275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.94534119e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.94534119e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 9.73005954e-06, -7.20190048e-02,  6.17873614e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41694216e-05,-5.73887279e-05, 4.22565635e-05, 1.52612410e-05,
 -2.13530658e-05,-3.03972740e-05,-1.89246015e-05,-3.45519160e-06,
 -2.36326311e-05,-6.29298499e-05, 4.06449781e-05, 3.55138829e-05,
 -2.97502296e-05,-3.00075423e-05,-2.03010866e-05,-1.99715947e-04,
 -2.70722251e-04,-8.11219593e-04,-4.90097234e+00, 1.11120430e-05,
  3.44657348e-03,-2.94902371e-03]


--- Step 2183 ---
qpos:
[ 0.01869871, 0.03001002,-0.00947415,-0.02531763,-0.00350496, 1.3407533 ,
 -0.0299072 , 0.94379166, 0.01155735, 0.02729311,-0.00827465, 0.02645752,
  1.36673932, 0.00766518, 1.30161792, 0.04426503,-0.09524008,-0.06088278,
  0.09313525, 0.70116746, 0.03118471,-0.70262463,-0.11709115]

qacc:
[ 3.56887973e+00,-9.22024947e-02,-4.34959673e+00, 1.92276715e+01,
 -3.01806296e-02, 2.24060860e+00,-6.58264358e+00, 5.01139046e+00,
  5.46760272e-01, 1.54174930e+00,-8.59115371e+00, 2.15277010e+01,
  1.12452941e-01,-4.45454560e-01,-2.92344733e+00, 9.15249647e+00,
 -4.34179489e+00, 4.86544955e-01,-2.77100982e+00, 2.92834488e+01,
 -1.36871473e+02,-1.56953097e+01]

qfrc_actuator:
[ 8.65329476e-05, 9.11967604e-04, 1.65037023e-04,-8.41767769e-07,
 -7.17186043e-06, 3.49515117e-02, 1.08993099e-02, 1.71435221e-03,
 -6.84839790e-05, 8.35097719e-04, 2.23308371e-04, 1.12712365e-04,
  2.07632208e-03,-1.58692374e-03, 0.00000000e+00,-1.28537262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.86248669,  3.57324501, -7.86248669, 13.43680596,
       10.56278364,  3.57324501, 10.56278364, 31.87847147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004219638944579357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64442835e-15, -3.94662804e-14,  1.00000000e+00, -6.48994703e-29,
        1.00000000e+00,  3.94662804e-14, -1.00000000e+00,  0.00000000e+00,
       -1.64442835e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 1.19579930e-05, -7.20268704e-02,  6.17874194e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12679130e-05,-4.50472938e-05, 1.62721982e-05, 4.34485407e-05,
 -8.68263686e-06, 3.26638773e-05,-2.98268941e-05,-1.83968585e-06,
  3.29880083e-06, 1.09265860e-05, 5.28667084e-06, 3.89596233e-05,
 -4.83701387e-05,-4.42727644e-05,-3.43221588e-05, 3.41683452e-05,
 -1.41589200e-04,-9.80598445e-04,-4.90121938e+00,-8.32303977e-04,
  3.26193878e-03,-2.92611139e-03]


--- Step 2184 ---
qpos:
[ 0.01869896, 0.03001063,-0.00947352,-0.02531693,-0.00350503, 1.34075452,
 -0.02990851, 0.94379143, 0.01155781, 0.0272932 ,-0.00827474, 0.0264583 ,
  1.36685015, 0.00766578, 1.30173392, 0.04426481,-0.09522645,-0.06077257,
  0.09313328, 0.70137569, 0.02986378,-0.70268063,-0.11584572]

qacc:
[-7.29861962e-01, 2.18661518e-01, 2.01113969e-01,-3.39453998e+00,
 -9.50015985e-03, 3.23495010e+00,-1.14940958e+01, 1.78888337e+01,
  3.32166913e+00, 1.54285962e+00,-3.81438990e+00, 4.43345529e-01,
 -3.26810211e-01, 3.21922033e-01,-7.27793647e+00, 2.46484102e+01,
  4.94945926e+00,-1.04308958e-01, 3.01398249e+00,-3.89416569e+01,
  1.52662258e+02, 2.77129833e+01]

qfrc_actuator:
[ 8.15979779e-05, 9.34189994e-04, 1.60135515e-04,-1.07450062e-05,
 -4.75066071e-06, 3.49651277e-02, 1.08692592e-02, 1.75007677e-03,
 -4.83870995e-05, 8.56911239e-04, 1.94841883e-04, 1.00089231e-04,
  2.05697996e-03,-1.56861980e-03, 0.00000000e+00,-1.16696054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004173501724381828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66017148e-14,  1.33008574e-14,  1.00000000e+00, -3.53825614e-28,
        1.00000000e+00, -1.33008574e-14, -1.00000000e+00,  0.00000000e+00,
        2.66017148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15437288, -0.05682633,  0.06178944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33613606e-06, 2.22901134e-06,-1.07169545e-05,-1.04288123e-05,
 -2.70865364e-06, 2.57885299e-05,-2.71108667e-05, 3.57878772e-05,
  2.01951963e-05, 3.06898466e-05,-2.42143772e-05,-1.12164581e-05,
 -5.41083116e-05,-6.06147264e-06,-1.30084757e-05, 1.15695020e-04,
  1.82145584e-05,-1.13046419e-03,-4.90123214e+00,-1.54255194e-03,
  3.10419624e-03,-2.90112663e-03]


--- Step 2185 ---
qpos:
[ 0.01869846, 0.03001136,-0.009473  ,-0.02531637,-0.00350509, 1.34075559,
 -0.02991003, 0.94379235, 0.01155782, 0.02729291,-0.00827453, 0.02645792,
  1.36696072, 0.00766645, 1.30185015, 0.04426331,-0.09523028,-0.06066023,
  0.09312037, 0.70138266, 0.02857357,-0.70293341,-0.11458854]

qacc:
[-6.44463148e+00, 2.31606651e-01, 1.11098026e-02,-2.29018587e+00,
 -4.07716869e-04, 2.34447938e+00,-1.02176647e+01, 2.21871939e+01,
 -3.83793009e+00,-3.71410415e+00, 1.74114377e+01,-3.76128114e+01,
 -3.70463826e-01, 3.87624882e-01, 4.26903986e+00,-1.43700300e+01,
 -4.36307101e+00, 5.31326386e-01,-2.73676820e+00, 2.92959839e+01,
 -1.37767491e+02,-1.53904503e+01]

qfrc_actuator:
[ 4.30827319e-05, 9.47238825e-04, 1.57055696e-04,-1.68474504e-05,
 -3.25942925e-06, 3.49371173e-02, 1.08521143e-02, 1.80668792e-03,
 -7.22533619e-05, 7.98726106e-04, 1.95878565e-04, 3.90844598e-05,
  2.05739055e-03,-1.55797828e-03, 0.00000000e+00,-1.23917836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041730206117463475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31399429e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.31399429e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0001184 , -0.07205435,  0.06178946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86426390e-05, 1.16023070e-05,-4.31625257e-06,-6.58506114e-06,
 -1.08642830e-07,-1.79793607e-05,-1.41360912e-05, 5.74204361e-05,
 -2.32623155e-05,-4.65009368e-05, 4.00354808e-06,-6.07481831e-05,
 -2.76612560e-05,-3.78364509e-06, 4.75384494e-06,-6.78990377e-05,
 -1.85738006e-04,-9.51032304e-04,-4.90111915e+00,-7.26049568e-04,
  3.31046863e-03,-2.84196807e-03]


--- Step 2186 ---
qpos:
[ 0.01869854, 0.03001196,-0.00947271,-0.02531584,-0.00350529, 1.34075679,
 -0.02991181, 0.94379287, 0.01155685, 0.02729231,-0.0082743 , 0.02645683,
  1.36707141, 0.00766642, 1.3019662 , 0.0442623 ,-0.09521452,-0.06054826,
  0.09311895, 0.70160897, 0.02722222,-0.70296495,-0.11333174]

qacc:
[ 4.94046498e+00, 3.66552434e-01,-1.39774616e+00, 1.19611365e+00,
 -5.85183315e-02, 1.74441782e-01, 4.30326774e-01,-4.94161001e+00,
 -8.32046667e+00,-1.92969789e+00, 9.32418199e+00,-2.15318229e+01,
  5.81244041e-01,-1.04486336e+00,-1.80782425e+00, 5.80560811e+00,
  4.89514305e+00,-9.29561326e-02, 2.87421640e+00,-3.73815870e+01,
  1.51170662e+02, 3.07593736e+01]

qfrc_actuator:
[ 7.38823655e-05, 9.19195960e-04, 1.37321391e-04,-2.06527078e-05,
 -2.00912430e-05, 3.49554704e-02, 1.08425654e-02, 1.78634672e-03,
 -1.21811067e-04, 7.81907236e-04, 1.96233992e-04, 3.32515867e-06,
  2.05899636e-03,-1.60516566e-03, 0.00000000e+00,-1.21012294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004199494678303779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32185312e-14,  3.96555935e-14,  1.00000000e+00, -5.24188698e-28,
        1.00000000e+00, -3.96555935e-14, -1.00000000e+00,  0.00000000e+00,
        1.32185312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15433176, -0.05682698,  0.06178821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96752334e-05,-2.27738739e-05,-1.81111700e-05,-3.58840045e-06,
 -1.68968112e-05, 7.36335219e-06,-1.29889201e-05,-1.99641921e-05,
 -5.02536234e-05,-4.45981083e-05,-1.08561476e-05,-3.87938059e-05,
 -1.32020545e-05,-5.46396115e-05,-8.95091409e-06, 2.50810219e-05,
 -3.00393964e-05,-1.10833159e-03,-4.90115069e+00,-1.45298922e-03,
  3.15016083e-03,-2.81669113e-03]


--- Step 2187 ---
qpos:
[ 0.01869863, 0.03001222,-0.00947251,-0.02531604,-0.00350566, 1.34075818,
 -0.02991312, 0.94379208, 0.0115553 , 0.02729222,-0.008275  , 0.02645493,
  1.36718203, 0.00766587, 1.30208185, 0.0442643 ,-0.09518136,-0.06043792,
  0.09312592, 0.70202935, 0.02584731,-0.70279541,-0.11209514]

qacc:
[ 2.06210529e-01,-1.67937272e+00, 8.36745459e+00,-2.04233598e+01,
 -6.88795108e-02,-3.25943733e+00, 1.36510900e+01,-2.73375733e+01,
 -5.05335307e+00, 1.64605007e+00,-1.45344544e+00,-1.14131155e+01,
  5.29365495e-01,-9.34548662e-01,-9.78192052e+00, 3.31984614e+01,
  4.35153595e+00,-4.05882071e-01, 2.09686073e+00,-2.93972351e+01,
  1.37140439e+02, 9.45724247e+00]

qfrc_actuator:
[ 7.42337930e-05, 8.84449426e-04, 1.25496603e-04,-5.86282743e-05,
 -3.00265376e-05, 3.49836764e-02, 1.08731983e-02, 1.72090547e-03,
 -1.50573814e-04, 8.43256188e-04, 1.60837331e-04,-3.50169629e-05,
  2.05064266e-03,-1.63304639e-03, 0.00000000e+00,-1.05056029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004185569424803588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.63125439e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.63125439e-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([-0.15171768, -0.05473912,  0.06178884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20671416e-06,-5.13920001e-05,-1.88960223e-05,-3.96515236e-05,
 -1.99201934e-05, 2.91325327e-05, 3.00110293e-05,-6.60637458e-05,
 -3.02499568e-05, 3.25053851e-05,-4.72806839e-05,-4.13787866e-05,
 -2.78193887e-05,-4.73680957e-05,-3.06507623e-06, 1.59402198e-04,
 -2.23801759e-04,-9.29796952e-04,-4.90098530e+00,-6.30435428e-04,
  3.35280846e-03,-2.75658853e-03]


--- Step 2188 ---
qpos:
[ 0.01869839, 0.03001253,-0.00947234,-0.02531708,-0.00350617, 1.34075954,
 -0.02991376, 0.94379189, 0.01155376, 0.02729235,-0.00827589, 0.02645361,
  1.36729239, 0.0076652 , 1.30219748, 0.04426785,-0.09516782,-0.06032499,
  0.09312555, 0.7022237 , 0.02450499,-0.70284804,-0.11084232]

qacc:
[-2.93046773e+00,-1.62619809e+00, 9.46591500e+00,-2.41864047e+01,
 -6.04420215e-02,-8.25177778e-01, 1.39917274e+00, 5.87371837e+00,
  8.88881727e-02, 1.97584484e+00,-9.07941154e+00, 1.92120917e+01,
 -2.07267720e-02,-1.16597290e-01,-4.68687113e+00, 1.63597031e+01,
 -4.90563213e+00, 6.46563362e-01,-1.83576841e+00, 3.25097024e+01,
 -1.55373902e+02,-1.55606057e+01]

qfrc_actuator:
[ 5.66383670e-05, 9.16958443e-04, 1.36129191e-04,-9.86558772e-05,
 -3.57438747e-05, 3.49821835e-02, 1.09095826e-02, 1.75376628e-03,
 -1.49104595e-04, 8.62036270e-04, 1.58194538e-04,-3.52066251e-06,
  2.04165205e-03,-1.63148432e-03, 0.00000000e+00,-9.75185277e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004196519283651973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81092945e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.81092945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 5.84188787e-05, -7.20798575e-02,  6.17883942e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75767772e-05,-1.84047435e-06,-3.68581715e-06,-4.36545010e-05,
 -1.74880742e-05, 1.84983583e-05, 4.35597457e-05, 3.30838751e-05,
  5.96854515e-07, 2.54176251e-05,-3.17054507e-06, 3.04549870e-05,
 -3.34277231e-05,-1.93564210e-05, 1.46500723e-05, 8.34722950e-05,
 -3.20589442e-04,-7.25361076e-04,-4.90079320e+00, 1.54521979e-04,
  3.52803848e-03,-2.69665878e-03]


--- Step 2189 ---
qpos:
[ 0.01869863, 0.03001311,-0.00947223,-0.02531829,-0.00350679, 1.34076097,
 -0.02991481, 0.94379249, 0.01155293, 0.02729227,-0.00827637, 0.02645303,
  1.36740256, 0.00766448, 1.30231383, 0.04426692,-0.09517155,-0.06020977,
  0.093114  , 0.70221912, 0.02318912,-0.70309595,-0.10957489]

qacc:
[ 4.11264370e+00, 2.22831033e-01, 3.95363565e-01,-3.19458690e+00,
 -4.67124705e-02, 2.56148824e+00,-9.87500118e+00, 1.76862224e+01,
  6.15278438e+00, 1.03753995e-01,-3.94358434e+00, 1.63767807e+01,
 -4.99069994e-01, 4.68825895e-01, 1.46111503e+01,-4.94786797e+01,
 -4.31893373e+00, 5.74482070e-01,-2.79465792e+00, 2.76809146e+01,
 -1.36829746e+02,-1.27925548e+01]

qfrc_actuator:
[ 8.18882882e-05, 9.54074373e-04, 1.42455423e-04,-1.03989765e-04,
 -3.88851533e-05, 3.49630058e-02, 1.08780009e-02, 1.79094529e-03,
 -1.12107545e-04, 8.37621871e-04, 1.74824856e-04, 3.33117907e-05,
  2.03762460e-03,-1.63021576e-03, 0.00000000e+00,-1.21634575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.02065339,  3.20248279, -8.02065339, 11.78866932,
        7.89498428,  3.20248279,  7.89498428, 28.40943865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00419550811565092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48082963e-14, -5.29243655e-14,  1.00000000e+00,  1.31296334e-27,
        1.00000000e+00,  5.29243655e-14, -1.00000000e+00,  0.00000000e+00,
        2.48082963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 6.01773424e-05, -7.20904687e-02,  6.17884487e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47381703e-05, 3.34405406e-05, 3.97956517e-06,-6.38825058e-06,
 -1.34754787e-05, 5.61405748e-07,-2.20367283e-05, 3.97803268e-05,
  3.70214844e-05,-9.54643795e-06, 2.25541797e-05, 3.84090206e-05,
 -2.46444349e-05,-1.25045519e-05, 1.27024953e-05,-2.35387703e-04,
 -2.02663669e-04,-9.15358761e-04,-4.90103226e+00,-7.07147815e-04,
  3.34777733e-03,-2.67298808e-03]


--- Step 2190 ---
qpos:
[ 0.01869917, 0.03001376,-0.00947227,-0.02531917,-0.00350748, 1.34076247,
 -0.02991679, 0.94379356, 0.0115529 , 0.02729222,-0.00827698, 0.02645291,
  1.3675127 , 0.00766346, 1.30243011, 0.04426416,-0.09515591,-0.06009632,
  0.0931162 , 0.70243232, 0.02183972,-0.70312044,-0.10832136]

qacc:
[ 2.57611481e+00, 1.17740386e+00,-5.45362485e+00, 1.12775353e+01,
 -3.31363969e-02, 3.39933262e+00,-1.19468105e+01, 1.57605892e+01,
  6.77794135e+00, 1.34254412e+00,-6.63712470e+00, 1.46570868e+01,
  1.16775926e-02,-1.99236575e-01, 5.48857120e+00,-1.93403623e+01,
  4.84541101e+00,-4.44519121e-01, 3.43770172e+00,-3.14261913e+01,
  1.53004848e+02, 1.62465368e+01]

qfrc_actuator:
[ 9.66552508e-05, 9.40434778e-04, 1.28493007e-04,-8.88619643e-05,
 -4.04564031e-05, 3.49508875e-02, 1.08242166e-02, 1.81253866e-03,
 -7.22584294e-05, 8.40885837e-04, 1.66996354e-04, 5.51940617e-05,
  2.03657738e-03,-1.64687721e-03, 0.00000000e+00,-1.30473406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004173242678114267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66033660e-14,  2.66033660e-14,  1.00000000e+00, -7.07739084e-28,
        1.00000000e+00, -2.66033660e-14, -1.00000000e+00,  0.00000000e+00,
        2.66033660e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15173451, -0.05472827,  0.0617894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54978145e-05, 5.59650781e-06,-6.79339074e-06, 1.65728850e-05,
 -9.53472722e-06,-1.49309257e-05,-5.50152320e-05, 2.18876798e-05,
  4.09266918e-05, 4.25061678e-06,-5.68795689e-06, 2.30019020e-05,
 -1.67964406e-05,-2.58446778e-05,-2.50922067e-05,-1.00947790e-04,
 -5.23619721e-05,-1.08216937e-03,-4.90103793e+00,-1.43857711e-03,
  3.19322926e-03,-2.64717244e-03]


--- Step 2191 ---
qpos:
[ 0.01869988, 0.0300145 ,-0.00947306,-0.02531947,-0.00350823, 1.34076379,
 -0.02991908, 0.94379556, 0.01155301, 0.02729253,-0.00827782, 0.02645301,
  1.3676225 , 0.00766256, 1.302546  , 0.04426232,-0.09512309,-0.05998431,
  0.09312599, 0.7028377 , 0.02046054,-0.70294707,-0.10707919]

qacc:
[ 1.46134496e+00, 3.39000900e+00,-1.43002645e+01, 2.52807352e+01,
 -2.16756512e-02, 2.19252411e+00,-9.35041843e+00, 1.90248249e+01,
  1.12680405e+00, 1.58698664e+00,-5.95778631e+00, 1.00546087e+01,
 -2.54136779e-01, 2.62878432e-01,-3.38194369e+00, 1.10481376e+01,
  4.29344437e+00,-3.59740642e-01, 1.89876567e+00,-2.72669080e+01,
  1.35321449e+02, 1.47246150e+01]

qfrc_actuator:
[ 1.05119611e-04, 9.31954237e-04, 8.47201350e-05,-6.18760623e-05,
 -4.10737870e-05, 3.49429766e-02, 1.08110484e-02, 1.86029091e-03,
 -6.65665671e-05, 8.78342172e-04, 1.62623433e-04, 6.81023125e-05,
  2.01600852e-03,-1.63854110e-03, 0.00000000e+00,-1.24903678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041617466589272956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33384263e-14,  2.66768527e-14,  1.00000000e+00, -3.55827234e-28,
        1.00000000e+00, -2.66768527e-14, -1.00000000e+00,  0.00000000e+00,
        1.33384263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15175141, -0.05472289,  0.06178995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91563392e-06,-6.06179575e-06,-4.28865694e-05, 2.73130728e-05,
 -6.25247811e-06,-2.62812813e-05,-2.17057854e-05, 4.61983674e-05,
  6.89048441e-06, 3.96672564e-05,-3.39335081e-06, 1.33412819e-05,
 -3.57759698e-05,-2.95333485e-06,-2.45813780e-05, 4.64419823e-05,
 -2.18513094e-04,-8.67916449e-04,-4.90099611e+00,-5.94771735e-04,
  3.36665933e-03,-2.58628942e-03]


--- Step 2192 ---
qpos:
[ 0.0187    , 0.03001544,-0.00947474,-0.02531911,-0.00350901, 1.34076456,
 -0.02992052, 0.94379843, 0.01155283, 0.02729331,-0.00827848, 0.02645254,
  1.36773175, 0.0076623 , 1.30266211, 0.04425812,-0.0951096 ,-0.0598696 ,
  0.09312802, 0.7030207 , 0.01910756,-0.70299325,-0.10581723]

qacc:
[-5.12116047e+00, 4.10632598e+00,-1.70901205e+01, 2.99303693e+01,
 -1.27754875e-02,-1.49757198e+00, 2.22600661e+00, 8.54709881e+00,
 -2.36694710e+00,-1.07519997e+00, 7.19780793e+00,-1.79030298e+01,
 -1.02569329e+00, 1.37685873e+00, 7.62301979e+00,-2.59385304e+01,
 -4.83351627e+00, 6.76262396e-01,-1.94051020e+00, 3.01940543e+01,
 -1.53714099e+02,-1.19069917e+01]

qfrc_actuator:
[ 7.43045357e-05, 9.44259363e-04, 4.14673430e-05,-2.81508422e-05,
 -4.11145167e-05, 3.49200564e-02, 1.08575064e-02, 1.90533608e-03,
 -8.10258347e-05, 9.18233642e-04, 1.78229187e-04, 4.01617460e-05,
  1.99440734e-03,-1.59775011e-03, 0.00000000e+00,-1.37522022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004201355584282661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65158453e-15, -1.32126763e-14,  1.00000000e+00, -2.18218518e-29,
        1.00000000e+00,  1.32126763e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65158453e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 4.45191084e-05, -7.21193347e-02,  6.17882186e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05583167e-05, 1.21105252e-06,-4.88416346e-05, 3.25140594e-05,
 -3.73670082e-06,-4.03200171e-05, 4.02055538e-05, 4.46912872e-05,
 -1.42439143e-05, 6.19456203e-05, 2.38491069e-05,-2.60977432e-05,
 -4.03380646e-05, 3.17948894e-05,-7.71887717e-06,-1.27089844e-04,
 -3.09253644e-04,-6.74720213e-04,-4.90076404e+00, 1.81600136e-04,
  3.52961702e-03,-2.52618535e-03]


--- Step 2193 ---
qpos:
[ 0.01869974, 0.03001595,-0.00947584,-0.02531872,-0.00350966, 1.34076488,
 -0.02992128, 0.94379975, 0.01155283, 0.02729409,-0.00827873, 0.02645143,
  1.36784088, 0.00766216, 1.30277792, 0.04425443,-0.09511315,-0.05975248,
  0.09311852, 0.70300784, 0.01777548,-0.70323248,-0.10453749]

qacc:
[-3.15031354e+00,-2.07549798e+00, 6.45987060e+00,-6.49512366e+00,
  5.50132578e-02,-5.08941305e+00, 1.90857812e+01,-3.43047521e+01,
  1.48969241e+00,-2.45845062e+00, 1.14313921e+01,-2.30277338e+01,
 -1.15706271e-01, 1.79958426e-01,-2.02602630e+00, 6.45251587e+00,
 -4.25809738e+00, 6.01667022e-01,-2.88374579e+00, 2.56791284e+01,
 -1.35426526e+02,-9.62038511e+00]

qfrc_actuator:
[ 5.61243297e-05, 9.15653352e-04, 6.99736093e-05,-2.62153482e-05,
 -2.30567629e-05, 3.48885685e-02, 1.08854527e-02, 1.82417347e-03,
 -7.17134442e-05, 8.88316965e-04, 1.87749584e-04, 6.18391922e-06,
  1.99884637e-03,-1.59129659e-03, 0.00000000e+00,-1.34130565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.97388637,  3.31721466, -7.97388637, 12.12570623,
        8.38764571,  3.31721466,  8.38764571, 28.79849985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004194981547793221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15786582e-14, -2.64655044e-14,  1.00000000e+00,  3.06435028e-28,
        1.00000000e+00,  2.64655044e-14, -1.00000000e+00,  0.00000000e+00,
        1.15786582e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 5.97115479e-05, -7.21310236e-02,  6.17885271e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90708853e-05,-3.66501650e-05, 2.38748950e-05, 9.32786113e-07,
  1.58479054e-05,-4.45842210e-05, 2.59499079e-05,-8.01560614e-05,
  8.91863334e-06, 8.50681892e-06, 2.43507609e-05,-3.10045521e-05,
 -8.71999922e-06, 7.02108307e-06,-2.13913889e-05, 2.50424249e-05,
 -2.00851991e-04,-8.71041592e-04,-4.90096558e+00,-6.73334688e-04,
  3.36135011e-03,-2.50203922e-03]


--- Step 2194 ---
qpos:
[ 0.01870031, 0.03001583,-0.00947588,-0.02531866,-0.00350999, 1.34076486,
 -0.02992223, 0.94379874, 0.01155329, 0.02729493,-0.00827883, 0.02644959,
  1.36795011, 0.00766162, 1.30289312, 0.04425482,-0.0950976 ,-0.05964118,
  0.0931274 , 0.70320723, 0.01649268,-0.70324377,-0.10332363]

qacc:
[ 7.06064255e+00,-4.50533542e+00, 1.62351286e+01,-2.32008923e+01,
  1.32026975e-01,-3.95319730e+00, 1.71386479e+01,-4.16496047e+01,
  3.89749788e+00,-1.86622360e+00, 9.85713558e+00,-2.28248254e+01,
  6.83639934e-01,-9.91016828e-01,-1.33047527e+01, 4.50626671e+01,
  4.77378011e+00,-1.45482395e+00, 4.59700903e+00,-1.96417751e+01,
  1.56746631e+02,-3.14136920e+01]

qfrc_actuator:
[ 9.87969420e-05, 8.80786570e-04, 1.22682831e-04,-4.29846181e-05,
  5.71208213e-06, 3.48520650e-02, 1.08666119e-02, 1.70487009e-03,
 -4.84773234e-05, 8.87807046e-04, 1.93313636e-04,-3.11329490e-05,
  1.99758723e-03,-1.62295832e-03, 0.00000000e+00,-1.12451745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004180867392028623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14720928, -0.04963277,  0.06178913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21025878e-05,-5.04025173e-05, 4.81195680e-05,-1.74929565e-05,
  3.81329328e-05,-5.84988098e-05,-2.69575755e-05,-1.21739584e-04,
  2.35026015e-05, 7.92874986e-06, 9.24367080e-06,-3.67122435e-05,
 -4.37855350e-06,-3.13467854e-05,-8.51996512e-06, 2.15115691e-04,
 -5.89974901e-05,-1.04373382e-03,-4.90094364e+00,-1.40501768e-03,
  3.21579634e-03,-2.47573564e-03]


--- Step 2195 ---
qpos:
[ 0.01870104, 0.03001526,-0.0094753 ,-0.02531879,-0.00351015, 1.34076493,
 -0.02992396, 0.94379803, 0.01155402, 0.02729634,-0.00827938, 0.02644764,
  1.36805907, 0.00766106, 1.30300832, 0.04425711,-0.09508041,-0.05953657,
  0.09314458, 0.70363576, 0.01521432,-0.7030237 ,-0.10209268]

qacc:
[ 1.41886152e+00,-2.73939072e+00, 9.72444282e+00,-1.37467753e+01,
  7.59829021e-02, 2.77578281e+00,-9.53322189e+00, 1.16847598e+01,
  2.32288043e+00, 1.80438338e+00,-4.90322501e+00, 3.34805786e+00,
 -5.47314278e-02,-2.14641169e-02,-5.73145679e+00, 2.00441196e+01,
  4.10350631e-01,-1.67272933e+00, 2.07402610e+00,-6.27051516e+00,
  1.62283768e+02, 1.43732294e+01]

qfrc_actuator:
[ 1.05930809e-04, 8.60290956e-04, 1.53686016e-04,-5.28710822e-05,
  5.16813110e-06, 3.48836358e-02, 1.08380378e-02, 1.72385066e-03,
 -3.49919533e-05, 9.40383979e-04, 1.78844488e-04,-3.45941450e-05,
  1.97691742e-03,-1.62373804e-03, 0.00000000e+00,-1.03255229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.51890056,  7.88695859, -3.51890056,  9.54358746,
        0.40477332,  7.88695859,  0.40477332,  8.81696013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004696184700189217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40645393, -0.20322697,  0.8907828 , -0.08436291,  0.97913166,
        0.18488942, -0.90976816,  0.        , -0.41511673])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14720696, -0.04962916,  0.06178907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34227103e-06,-3.94732777e-05, 2.59140716e-05,-1.07218810e-05,
  2.19893320e-05,-9.72119837e-06,-4.66559203e-05, 1.36064085e-05,
  1.41798442e-05, 5.73312264e-05,-1.29682019e-05,-3.51451169e-06,
 -2.97566674e-05,-1.14343981e-05, 1.92022000e-05, 1.02657964e-04,
 -1.62776743e-04,-7.45362596e-04,-4.90129869e+00,-5.30177776e-04,
  3.32990289e-03,-2.41521575e-03]


--- Step 2196 ---
qpos:
[ 0.01870047, 0.03001463,-0.00947475,-0.02531904,-0.00351035, 1.34076542,
 -0.02992629, 0.94379821, 0.01155387, 0.02729831,-0.00828049, 0.02644636,
  1.36816765, 0.00766075, 1.30312368, 0.04425983,-0.0950792 ,-0.05942986,
  0.09315312, 0.70383998, 0.01394857,-0.70302697,-0.10083549]

qacc:
[-1.11433154e+01,-2.12084520e-01, 1.16020564e+00,-3.15407233e+00,
 -1.78927947e-02, 3.64662588e+00,-1.30412834e+01, 2.12681683e+01,
 -7.51729713e+00, 3.67312537e+00,-1.48211985e+01, 2.68508852e+01,
 -4.36070748e-01, 5.37443994e-01,-1.04800124e+00, 4.09400244e+00,
 -3.99549527e+00, 5.23398275e-01,-2.16050264e+00, 2.67678096e+01,
 -1.56574422e+02,-4.94737239e+00]

qfrc_actuator:
[ 3.88119976e-05, 8.66239537e-04, 1.53926540e-04,-5.86333664e-05,
 -1.29562004e-05, 3.49380046e-02, 1.08220666e-02, 1.77084827e-03,
 -8.06160828e-05, 9.71031021e-04, 1.52910109e-04,-3.20109042e-07,
  1.96060706e-03,-1.60622066e-03, 0.00000000e+00,-1.01492812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004189660447536547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.28097407e-15, -2.64991170e-14,  1.00000000e+00, -2.19438501e-28,
        1.00000000e+00,  2.64991170e-14, -1.00000000e+00,  0.00000000e+00,
       -8.28097407e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 5.92443427e-05, -7.21473246e-02,  6.17888831e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68888800e-05,-1.12168667e-05,-5.09239136e-06,-6.76477052e-06,
 -5.12993358e-06, 4.02746404e-05,-2.27824093e-05, 4.56492513e-05,
 -4.51846780e-05, 5.98449294e-05,-1.58160673e-05, 3.62158125e-05,
 -3.31307757e-05, 6.93083849e-06, 1.68037197e-05, 2.50264660e-05,
 -1.49995722e-04,-5.64067806e-04,-4.90100633e+00, 3.60664673e-04,
  3.37267465e-03,-2.35293636e-03]


--- Step 2197 ---
qpos:
[ 0.01869875, 0.03001468,-0.00947485,-0.02531942,-0.00351051, 1.34076606,
 -0.02992815, 0.94379856, 0.01155284, 0.02730038,-0.00828119, 0.02644583,
  1.3682759 , 0.00766045, 1.30323893, 0.0442641 ,-0.09509239,-0.05932122,
  0.09314944, 0.70384687, 0.01269259,-0.70322632,-0.0995551 ]

qacc:
[-9.85957494e+00, 2.46646923e+00,-6.93100690e+00, 5.29208936e+00,
  1.37185407e-02,-7.19177044e-01, 2.22471055e+00, 9.77018986e-02,
 -7.58692013e+00, 5.68319936e-01,-4.99687838e+00, 1.73514166e+01,
 -1.49746671e-01, 7.37916691e-02,-4.83463655e+00, 1.67114779e+01,
 -3.59774081e+00, 4.83500004e-01,-3.05610918e+00, 2.28510981e+01,
 -1.37716912e+02,-3.85546439e+00]

qfrc_actuator:
[-1.82044339e-05, 9.41116570e-04, 1.36122766e-04,-6.19181863e-05,
 -5.97356434e-06, 3.49524252e-02, 1.08492725e-02, 1.78069665e-03,
 -1.25158096e-04, 9.70542443e-04, 1.73627086e-04, 3.81071549e-05,
  1.93628052e-03,-1.61349343e-03, 0.00000000e+00,-9.34692086e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.51142485,  7.89028975, -3.51142485, 23.10870286,
        6.440642  ,  7.89028975,  6.440642  , 11.50265006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004184441672992707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29130198e-15,  1.32660832e-14,  1.00000000e+00, -1.09993102e-28,
        1.00000000e+00, -1.32660832e-14, -1.00000000e+00,  0.00000000e+00,
        8.29130198e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 6.03760902e-05, -7.21511296e-02,  6.17891727e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.89673534e-05, 6.72589958e-05,-2.09767715e-05,-4.06932714e-06,
  3.95235292e-06, 3.36147446e-05, 3.38326430e-05, 1.14467816e-05,
 -4.58405380e-05, 3.11904324e-05, 3.23783146e-05, 4.11522206e-05,
 -3.88210663e-05,-1.29584565e-05, 6.58874892e-06, 8.29022907e-05,
 -7.18110921e-05,-7.43723123e-04,-4.90118927e+00,-4.76548786e-04,
  3.23138429e-03,-2.32998722e-03]


--- Step 2198 ---
qpos:
[ 0.0186974 , 0.0300154 ,-0.00947525,-0.02531985,-0.00351077, 1.34076707,
 -0.02992973, 0.94379868, 0.01155197, 0.02730218,-0.00828111, 0.02644546,
  1.36838378, 0.00766032, 1.30335422, 0.04426896,-0.09509952,-0.05921896,
  0.09315995, 0.70409531, 0.01145001,-0.70317866,-0.09827752]

qacc:
[ 3.09474565e+00, 1.61930963e+00,-4.22477558e+00, 3.17495976e+00,
 -3.86872007e-02,-7.25822140e-01, 3.43007376e+00,-5.97722301e+00,
  1.42143422e+00,-2.24458514e+00, 6.86213187e+00,-5.41371657e+00,
 -3.55651120e-01, 4.00819427e-01,-1.69763101e+00, 6.11353329e+00,
  1.51360094e+00,-1.59503074e+00, 3.55032034e+00,-1.00973243e+01,
  1.72507261e+02, 4.76042784e+00]

qfrc_actuator:
[ 2.21732517e-06, 9.85613676e-04, 1.25864960e-04,-6.36653514e-05,
 -1.94895197e-05, 3.49784739e-02, 1.08660651e-02, 1.76860050e-03,
 -1.15429402e-04, 9.33850927e-04, 2.03841994e-04, 4.31651437e-05,
  1.92313208e-03,-1.59998600e-03, 0.00000000e+00,-9.06941400e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.58414385,  7.8575244 , -3.58414385,  3.66517215,
       -2.2675673 ,  7.8575244 , -2.2675673 ,  7.60203183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004666176271777699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39489463, -0.19744732,  0.89725848, -0.07953668,  0.9803135 ,
        0.180719  , -0.91527709,  0.        , -0.40282484])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14725191, -0.04964814,  0.06178906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87280651e-05, 7.75860721e-05, 9.14644939e-07, 3.31230621e-07,
 -1.11792248e-05, 5.16045735e-05, 2.75558710e-05,-9.82946062e-06,
  8.39972384e-06,-1.08828785e-05, 4.20555340e-05, 8.31563259e-06,
 -3.50575884e-05, 4.68262894e-07, 9.22141860e-06, 3.25256027e-05,
  4.77670066e-05,-9.04920447e-04,-4.90114871e+00,-1.20141451e-03,
  3.10616858e-03,-2.30480524e-03]


--- Step 2199 ---
qpos:
[ 0.01869699, 0.03001646,-0.00947592,-0.02532026,-0.00351115, 1.34076825,
 -0.02993102, 0.94379936, 0.01155122, 0.02730356,-0.00828104, 0.02644487,
  1.36849133, 0.00766055, 1.3034695 , 0.04427446,-0.09509988,-0.05912208,
  0.09317873, 0.70455304, 0.01022241,-0.70291538,-0.09700767]

qacc:
[ 8.08970937e+00, 1.23266979e+00,-3.89891973e+00, 4.56095709e+00,
 -5.03686042e-02, 4.32790101e-01,-2.30666974e+00, 8.42769519e+00,
  1.05899870e+00,-9.20506203e-01, 3.35971992e+00,-6.60819160e+00,
 -4.32016577e-01, 6.10727752e-01,-1.91470281e+00, 6.76302725e+00,
  1.69165933e+00,-1.34242473e+00, 2.06439806e+00,-9.23917102e+00,
  1.50185646e+02, 1.05998474e+00]

qfrc_actuator:
[ 5.02989758e-05, 9.76107847e-04, 1.02301006e-04,-6.45031231e-05,
 -2.74411189e-05, 3.49757316e-02, 1.08765943e-02, 1.79694488e-03,
 -1.09340810e-04, 8.75778273e-04, 1.85967301e-04, 2.85129697e-05,
  1.91670478e-03,-1.57418045e-03, 0.00000000e+00,-8.74840661e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.85004383, -8.15254727,  2.85004383, 11.09446955,
        0.85932769, -8.15254727,  0.85932769,  8.93677546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0046403774242324385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38933691, -0.19466846,  0.90028938, -0.07726986,  0.9808691 ,
        0.17867618, -0.91784865,  0.        , -0.39693055])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14729379, -0.04965961,  0.06178953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86525440e-05, 3.40726535e-05,-7.41795282e-06, 2.52185645e-06,
 -1.45562411e-05, 3.08945349e-05, 2.34722764e-05, 3.04750076e-05,
  6.33446680e-06,-5.51798656e-05,-1.46773373e-05,-1.35054180e-05,
 -2.34770585e-05, 1.77581323e-05, 4.38604869e-06, 3.43052062e-05,
 -1.26101448e-05,-6.90322310e-04,-4.90114495e+00,-2.66514136e-04,
  3.16252361e-03,-2.24171538e-03]


--- Step 2200 ---
qpos:
[ 0.01869716, 0.0300178 ,-0.00947685,-0.02532067,-0.00351149, 1.34076911,
 -0.0299317 , 0.94380143, 0.01155089, 0.02730459,-0.00828119, 0.02644412,
  1.36859861, 0.00766109, 1.30358482, 0.04427997,-0.09511283,-0.05902352,
  0.09318839, 0.70478058, 0.00899947,-0.70288239,-0.09570622]

qacc:
[ 4.96256933e+00, 1.06879134e+00,-3.26947356e+00, 3.44257339e+00,
  1.60222755e-02, 3.04346539e-01,-4.35659971e+00, 2.01617418e+01,
  3.61551507e+00,-2.30920335e-01, 8.44508170e-01,-3.11095441e+00,
 -4.15269539e-01, 5.72799649e-01, 7.57299052e-02,-8.10704275e-02,
 -3.14753842e+00, 4.17263959e-01,-2.27768583e+00, 2.50933598e+01,
 -1.61637107e+02,-4.97071161e-01]

qfrc_actuator:
[ 7.87447053e-05, 9.87537511e-04, 8.85957383e-05,-6.48570458e-05,
 -1.42372660e-05, 3.49380118e-02, 1.09010162e-02, 1.86659966e-03,
 -8.77090718e-05, 8.58383000e-04, 1.75230222e-04, 2.00807101e-05,
  1.90366820e-03,-1.55900388e-03, 0.00000000e+00,-8.75917451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004198324829358495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15694376e-14, -2.64444289e-14,  1.00000000e+00,  3.05947171e-28,
        1.00000000e+00,  2.64444289e-14, -1.00000000e+00,  0.00000000e+00,
        1.15694376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-3.76392180e-05, -7.21453643e-02,  6.17887081e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98728608e-05, 2.90474505e-05,-7.49957592e-06, 8.95462907e-07,
  4.60269807e-06,-1.51278400e-05, 3.40313235e-05, 7.19790754e-05,
  2.18035031e-05,-5.19124190e-05,-2.44269816e-05,-1.15699478e-05,
 -2.04462999e-05, 1.50913026e-05, 2.68383673e-06, 6.74694561e-07,
 -8.84760532e-07,-5.24929986e-04,-4.90093731e+00, 5.56829635e-04,
  3.22298089e-03,-2.18116977e-03]


--- Step 2201 ---
qpos:
[ 0.01869767, 0.03001931,-0.00947793,-0.02532039,-0.00351188, 1.34076946,
 -0.0299316 , 0.94380399, 0.01155082, 0.02730539,-0.00828127, 0.02644358,
  1.36870572, 0.0076618 , 1.30370033, 0.04428376,-0.09513751,-0.05892335,
  0.09318548, 0.70480605, 0.00777957,-0.70305112,-0.09437703]

qacc:
[ 2.91211537e+00, 2.08874669e+00,-1.00871279e+01, 2.23084449e+01,
 -2.40699688e-02,-1.91735397e+00, 4.45034162e+00, 2.07228147e+00,
  2.24161655e+00,-4.21766260e-02,-1.23569214e+00, 5.08897809e+00,
 -3.89862970e-01, 4.97600745e-01, 5.56497524e+00,-1.89463393e+01,
 -2.93151958e+00, 4.02991366e-01,-3.14264187e+00, 2.13850138e+01,
 -1.41831489e+02,-5.12134687e-02]

qfrc_actuator:
[ 9.53957155e-05, 9.93686868e-04, 8.08942592e-05,-2.93980258e-05,
 -2.39545371e-05, 3.48974692e-02, 1.09333199e-02, 1.88897263e-03,
 -7.48537048e-05, 8.65492553e-04, 1.86722174e-04, 3.31740738e-05,
  1.89732519e-03,-1.55029557e-03, 0.00000000e+00,-9.67536181e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.2320372 ,  8.54803259, -1.2320372 , 15.9472169 ,
        1.0537212 ,  8.54803259,  1.0537212 ,  8.78823761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004198267618579762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65279933e-15, -1.32223946e-14,  1.00000000e+00, -2.18539650e-29,
        1.00000000e+00,  1.32223946e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65279933e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-6.33535393e-05, -7.21435714e-02,  6.17887700e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75286123e-05, 2.08548321e-05,-2.60020991e-06, 3.64593556e-05,
 -6.99811437e-06,-4.00927316e-05, 3.53308186e-05, 2.45883054e-05,
  1.34803062e-05,-2.74893309e-05,-2.65026318e-06, 9.79706180e-06,
 -1.30188778e-05, 8.57591697e-06,-1.85040688e-06,-9.19652819e-05,
  6.17922135e-05,-6.90546121e-04,-4.90112478e+00,-3.04796282e-04,
  3.09145379e-03,-2.15875331e-03]


--- Step 2202 ---
qpos:
[ 0.01869769, 0.03002052,-0.00947863,-0.02531931,-0.00351236, 1.34076977,
 -0.02993117, 0.94380506, 0.01155057, 0.027306  ,-0.00828098, 0.02644318,
  1.36881243, 0.00766338, 1.30381567, 0.04428775,-0.09513935,-0.05882654,
  0.09319963, 0.70502368, 0.00661653,-0.70301012,-0.09313754]

qacc:
[-4.21474317e+00, 1.74292644e-01,-4.47923247e+00, 1.76877212e+01,
 -3.37545414e-02,-3.52716294e+00, 1.45165482e+01,-2.99309031e+01,
 -1.60585160e+00,-1.01986182e+00, 2.73314470e+00,-9.31935532e-01,
 -8.20292714e-01, 1.33344385e+00,-8.23205550e-01, 2.70444114e+00,
  5.70919264e+00,-8.39495904e-01, 4.26291726e+00,-2.21382642e+01,
  1.43794476e+02,-4.33484488e+01]

qfrc_actuator:
[ 6.94722949e-05, 9.61171174e-04, 9.45533835e-05, 9.09592568e-06,
 -2.95920281e-05, 3.49088152e-02, 1.09522035e-02, 1.81231945e-03,
 -8.50245212e-05, 8.69584071e-04, 2.11367698e-04, 4.11133577e-05,
  1.88967239e-03,-1.49220391e-03, 0.00000000e+00,-9.51972179e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004158556931042841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33486573e-14,  2.66973146e-14,  1.00000000e+00, -3.56373302e-28,
        1.00000000e+00, -2.66973146e-14, -1.00000000e+00,  0.00000000e+00,
        1.33486573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14742322, -0.04971715,  0.06179055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54105287e-05,-1.98679242e-05, 1.89007025e-05, 4.00044534e-05,
 -9.77459668e-06,-3.18175502e-06, 1.57856572e-05,-7.62477503e-05,
 -9.78355538e-06,-1.14304247e-05, 1.89720288e-05, 6.85925449e-06,
 -1.25650304e-05, 5.78777451e-05,-1.42944389e-05, 9.45953612e-06,
  1.72163087e-04,-8.40718730e-04,-4.90107712e+00,-1.05589005e-03,
  2.97348882e-03,-2.13394396e-03]


--- Step 2203 ---
qpos:
[ 0.01869705, 0.03002125,-0.0094787 ,-0.02531812,-0.00351276, 1.34076994,
 -0.02993105, 0.94380523, 0.01155054, 0.02730656,-0.00828043, 0.02644252,
  1.36891891, 0.00766564, 1.30393066, 0.04429389,-0.09512134,-0.0587327 ,
  0.09322427, 0.70541282, 0.00550172,-0.70278266,-0.09197294]

qacc:
[-5.59611117e+00,-2.13703289e+00, 6.20209346e+00,-4.82232271e+00,
  3.05570375e-02,-8.55612483e-01, 4.39065824e+00,-1.39729280e+01,
  1.92717469e+00,-1.33942448e+00, 5.76267167e+00,-1.05992067e+01,
 -4.31256105e-01, 8.30754856e-01,-6.93351046e+00, 2.36195753e+01,
  4.96266032e+00,-7.43816116e-01, 2.62474817e+00,-1.85757339e+01,
  1.28011567e+02,-3.59821344e+01]

qfrc_actuator:
[ 3.64542069e-05, 9.23594346e-04, 1.20548872e-04, 1.35365166e-05,
 -1.49833840e-05, 3.48800214e-02, 1.09276540e-02, 1.76680093e-03,
 -7.31588001e-05, 8.71905796e-04, 2.25813752e-04, 2.82069073e-05,
  1.88126013e-03,-1.45849705e-03, 0.00000000e+00,-8.37845010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.91711073,  5.17110781, -6.91711073, 19.90116789,
       15.06831829,  5.17110781, 15.06831829, 28.79243657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004146145169489877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33886174e-14,  1.33886174e-14,  1.00000000e+00,  1.79255075e-28,
        1.00000000e+00, -1.33886174e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33886174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14746313, -0.04973099,  0.06179119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37712038e-05,-4.31176055e-05, 2.55965094e-05, 5.02039170e-06,
  8.83242467e-06,-2.97590512e-05,-2.56109133e-05,-4.69164981e-05,
  1.15762922e-05, 1.13841145e-07, 1.46495562e-05,-1.26071015e-05,
 -1.52082717e-06, 4.84738020e-05,-7.93105285e-06, 1.12274184e-04,
  6.00985025e-05,-5.97579480e-04,-4.90148318e+00,-2.78416223e-04,
  3.11218475e-03,-2.07717089e-03]


--- Step 2204 ---
qpos:
[ 0.01869671, 0.0300214 ,-0.00947838,-0.02531651,-0.00351291, 1.34076964,
 -0.02993173, 0.9438063 , 0.01155031, 0.02730713,-0.00828025, 0.0264414 ,
  1.36902565, 0.00766753, 1.30404597, 0.04429797,-0.09511943,-0.05863697,
  0.09323947, 0.70558694, 0.00437743,-0.70277177,-0.09077302]

qacc:
[ 2.58148416e+00,-1.02590997e+00, 7.89955934e-01, 6.20432531e+00,
  1.10177545e-01, 3.05695888e+00,-1.25430684e+01, 2.15006485e+01,
 -1.73739028e+00, 1.25558130e-01, 1.49506986e+00,-8.80496505e+00,
  2.67011124e-01,-4.42566081e-01, 6.66974322e+00,-2.26976764e+01,
 -4.02430399e+00, 4.73729209e-01,-2.36034670e+00, 1.96223826e+01,
 -1.52282513e+02, 6.49571097e+00]

qfrc_actuator:
[ 5.27967028e-05, 8.83298381e-04, 1.35801557e-04, 3.34057741e-05,
  1.16526871e-05, 3.48272546e-02, 1.08775568e-02, 1.81095923e-03,
 -8.39150691e-05, 8.55350832e-04, 1.98594799e-04, 3.12918176e-06,
  1.88837043e-03,-1.49284570e-03, 0.00000000e+00,-9.50631238e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041854813820425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28924235e-15, -1.32627878e-14,  1.00000000e+00,  1.09938462e-28,
        1.00000000e+00,  1.32627878e-14, -1.00000000e+00,  0.00000000e+00,
        8.28924235e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-7.53593889e-05, -7.21334148e-02,  6.17895576e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53397346e-05,-5.89432724e-05, 9.66534968e-06, 1.90039541e-05,
  3.18548104e-05,-7.56498749e-05,-6.02090698e-05, 4.14256573e-05,
 -1.04150240e-05,-1.40269006e-05,-2.58393532e-05,-2.48128212e-05,
  1.76790853e-05,-2.00688302e-05, 6.88047583e-06,-1.08008848e-04,
  2.24642666e-05,-4.08645728e-04,-4.90164104e+00, 3.56736661e-04,
  3.22608562e-03,-2.02515956e-03]


--- Step 2205 ---
qpos:
[ 0.01869554, 0.03002131,-0.00947824,-0.02531467,-0.00351291, 1.34076917,
 -0.02993287, 0.94380819, 0.01154926, 0.02730773,-0.00828045, 0.02644033,
  1.36913264, 0.00766884, 1.30416122, 0.04430135,-0.09513198,-0.05853945,
  0.09324177, 0.70557144, 0.0032447 ,-0.70295136,-0.08954219]

qacc:
[-7.17539570e+00, 6.94926334e-01,-3.87528691e+00, 8.22907997e+00,
  5.86121479e-02, 2.45527859e+00,-9.97314050e+00, 1.83013521e+01,
 -6.98057309e+00, 1.22298138e+00,-4.48012361e+00, 5.90121825e+00,
  5.04000744e-01,-8.56141419e-01, 1.97167173e+00,-7.15254802e+00,
 -3.61591259e+00, 4.48929261e-01,-3.22501078e+00, 1.69405817e+01,
 -1.34142831e+02, 5.68600389e+00]

qfrc_actuator:
[ 9.30084925e-06, 8.77158201e-04, 1.26830182e-04, 4.44337050e-05,
  9.78266075e-06, 3.48492500e-02, 1.08659984e-02, 1.85424543e-03,
 -1.25660173e-04, 8.62941411e-04, 1.82419227e-04, 6.55618211e-06,
  1.88877865e-03,-1.53174757e-03, 0.00000000e+00,-9.83196316e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.37783713,  8.62809457,  0.37783713, 33.55443748,
       -1.09119962,  8.62809457, -1.09119962,  8.6841489 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004169449363649151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.32111545e-15, -1.33137847e-14,  1.00000000e+00,  1.10785540e-28,
        1.00000000e+00,  1.33137847e-14, -1.00000000e+00,  0.00000000e+00,
        8.32111545e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-4.31032234e-05, -7.21326731e-02,  6.17903663e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.30717400e-05,-3.62972143e-05,-1.93066840e-05, 9.20354914e-06,
  1.69520733e-05,-3.03807564e-05,-3.19912006e-05, 4.02073008e-05,
 -4.20512067e-05,-6.67862297e-06,-2.31202322e-05, 1.45014980e-06,
  4.02000637e-06,-4.07202241e-05,-1.18611276e-05,-3.84275565e-05,
  6.74112884e-05,-5.58693719e-04,-4.90172529e+00,-3.81677538e-04,
  3.12955581e-03,-2.00344721e-03]


--- Step 2206 ---
qpos:
[ 0.01869385, 0.03002105,-0.0094777 ,-0.02531312,-0.00351314, 1.34076851,
 -0.02993328, 0.94380914, 0.01154841, 0.02730866,-0.00828102, 0.02643928,
  1.36923974, 0.00766927, 1.3042766 , 0.04430261,-0.09512446,-0.05844507,
  0.09325967, 0.70575299, 0.0021571 ,-0.70291991,-0.08838357]

qacc:
[-4.38140398e+00,-1.93013549e+00, 7.77819426e+00,-1.31996002e+01,
 -9.22416982e-02,-3.87828849e+00, 1.42737007e+01,-2.31621732e+01,
  1.66096020e+00, 1.48432209e+00,-4.70555235e+00, 5.22933932e+00,
  4.60894299e-01,-1.02027783e+00, 6.51754832e+00,-2.26606021e+01,
  5.02002937e+00,-7.87500273e-01, 3.89963720e+00,-1.92293507e+01,
  1.45613924e+02,-3.28631265e+01]

qfrc_actuator:
[-1.58250557e-05, 8.91413751e-04, 1.57017218e-04, 3.24292022e-05,
 -2.69259693e-05, 3.48627362e-02, 1.09130629e-02, 1.80795674e-03,
 -1.14292975e-04, 9.02738918e-04, 1.73021766e-04, 9.00923672e-06,
  1.87450772e-03,-1.59076330e-03, 0.00000000e+00,-1.09243147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004118444961157472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69573355e-14, -1.34786677e-14,  1.00000000e+00,  3.63348968e-28,
        1.00000000e+00,  1.34786677e-14, -1.00000000e+00,  0.00000000e+00,
        2.69573355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14754878, -0.04976684,  0.06179269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63933863e-05,-9.64831693e-06, 2.06294779e-05,-1.40494430e-05,
 -2.66918497e-05,-8.36210528e-06, 3.86644749e-05,-4.72074398e-05,
  1.01356063e-05, 3.13140749e-05,-1.35762496e-05, 1.39812476e-06,
 -2.22736261e-05,-7.02176944e-05,-1.14566726e-05,-1.13329186e-04,
  1.58212380e-04,-6.99075536e-04,-4.90161333e+00,-1.03804169e-03,
  3.03918890e-03,-1.97966582e-03]


--- Step 2207 ---
qpos:
[ 1.86936000e-02, 3.00206532e-02,-9.47678719e-03,-2.53120696e-02,
 -3.51381077e-03, 1.34076795e+00,-2.99334520e-02, 9.43808151e-01,
  1.15483908e-02, 2.73097186e-02,-8.28189740e-03, 2.64375877e-02,
  1.36934659e+00, 7.66929049e-03, 1.30439238e+00, 4.42988695e-02,
 -9.50992577e-02,-5.83534769e-02, 9.32868973e-02, 7.06109896e-01,
  1.10795609e-03,-7.02701084e-01,-8.72855825e-02]

qacc:
[ 1.23255347e+01,-2.29074216e+00, 9.95270214e+00,-1.90487856e+01,
 -1.91445352e-01,-3.79182653e+00, 1.65323389e+01,-3.69497234e+01,
  7.09017466e+00,-2.94985864e-01, 3.93261776e+00,-1.44353981e+01,
 -3.58093288e-01, 8.73808050e-02, 1.57823600e+01,-5.42891582e+01,
  4.41766083e+00,-6.96303302e-01, 2.33079205e+00,-1.62035997e+01,
  1.29386434e+02,-2.73621501e+01]

qfrc_actuator:
[ 5.88449288e-05, 8.82410835e-04, 1.74665677e-04, 7.02172575e-06,
 -6.64835466e-05, 3.48712121e-02, 1.09232620e-02, 1.70935654e-03,
 -7.17447598e-05, 8.90540589e-04, 1.50079612e-04,-2.46072464e-05,
  1.85675787e-03,-1.60806300e-03, 0.00000000e+00,-1.35249206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.32400141,  2.30169013, -8.32400141, 12.24193451,
       13.03945161,  2.30169013, 13.03945161, 55.79319516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004102938997248139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70592135e-14, -1.35296068e-14,  1.00000000e+00,  3.66100519e-28,
        1.00000000e+00,  1.35296068e-14, -1.00000000e+00,  0.00000000e+00,
        2.70592135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14758143, -0.04977502,  0.06179348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.38972674e-05,-1.07434652e-05, 1.77063782e-05,-2.53831017e-05,
 -5.53314550e-05, 9.99996450e-06, 1.15814166e-05,-9.88121874e-05,
  4.28586412e-05, 2.54435217e-06,-1.81007496e-05,-3.27161270e-05,
 -4.57665200e-05,-4.34445300e-05,-2.02151656e-05,-2.68399595e-04,
  5.90575999e-05,-4.90517031e-04,-4.90193128e+00,-3.06379761e-04,
  3.14884043e-03,-1.92625888e-03]


--- Step 2208 ---
qpos:
[ 1.86938998e-02, 3.00204562e-02,-9.47636288e-03,-2.53113153e-02,
 -3.51479849e-03, 1.34076752e+00,-2.99338759e-02, 9.43807389e-01,
  1.15478483e-02, 2.73104301e-02,-8.28285811e-03, 2.64359012e-02,
  1.36945289e+00, 7.66938890e-03, 1.30450777e+00, 4.42943678e-02,
 -9.50913921e-02,-5.82598483e-02, 9.33042880e-02, 7.06259552e-01,
  4.12826621e-05,-7.02691770e-01,-8.61494058e-02]

qacc:
[ 4.71852087e+00, 1.01777428e+00,-1.99978603e+00,-2.49648051e+00,
 -1.32040757e-01, 1.22725322e+00,-4.27605916e+00, 6.30148240e+00,
 -4.46195665e+00,-2.04897566e-01, 7.32018867e-02, 3.38355350e-01,
 -5.33579291e-01, 4.83334082e-01, 1.77769329e+00,-6.91811277e+00,
 -4.33325492e+00, 5.09293085e-01,-2.45814705e+00, 1.64847172e+01,
 -1.47531632e+02, 1.07131253e+01]

qfrc_actuator:
[ 8.51342586e-05, 8.95009903e-04, 1.49160011e-04,-8.34306709e-06,
 -7.19235699e-05, 3.48764599e-02, 1.09115651e-02, 1.72276979e-03,
 -9.99651729e-05, 8.47218333e-04, 1.36847489e-04,-2.59703597e-05,
  1.82629665e-03,-1.60045771e-03, 0.00000000e+00,-1.37975359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004126177744595734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84984355e-14, -4.03602229e-14,  1.00000000e+00,  7.46600982e-28,
        1.00000000e+00,  4.03602229e-14, -1.00000000e+00,  0.00000000e+00,
        1.84984355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 5.57158814e-05, -7.21245713e-02,  6.17925827e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84392907e-05, 9.18964702e-06,-2.64330921e-05,-1.57129794e-05,
 -3.81377486e-05, 1.00760057e-05,-1.13211008e-05, 1.17602456e-05,
 -2.69600365e-05,-4.70498388e-05,-1.60681395e-05,-2.51551792e-06,
 -6.44372610e-05,-1.55956235e-05,-4.24155206e-05,-4.55340249e-05,
  3.00448706e-05,-3.27076950e-04,-4.90202012e+00, 3.00734902e-04,
  3.24182316e-03,-1.87686958e-03]


--- Step 2209 ---
qpos:
[ 1.86934790e-02, 3.00204642e-02,-9.47603246e-03,-2.53104337e-02,
 -3.51570206e-03, 1.34076708e+00,-2.99346672e-02, 9.43806466e-01,
  1.15466273e-02, 2.73110142e-02,-8.28409568e-03, 2.64348877e-02,
  1.36955852e+00, 7.66982430e-03, 1.30462264e+00, 4.42918528e-02,
 -9.50989544e-02,-5.81643037e-02, 9.33084400e-02, 7.06225940e-01,
 -1.04054460e-03,-7.02867178e-01,-8.49798150e-02]

qacc:
[-6.18882757e+00, 8.08010748e-01,-3.00288588e+00, 5.18053604e+00,
  3.55534997e-02, 7.16367042e-01,-2.00431425e+00,-1.33658556e-01,
 -5.79785208e+00, 2.00208814e+00,-1.02041254e+01, 2.23646445e+01,
 -5.49008487e-01, 6.33973528e-01,-6.73606057e+00, 2.25538042e+01,
 -3.85698538e+00, 4.79006811e-01,-3.30966917e+00, 1.43493231e+01,
 -1.30273820e+02, 9.23337081e+00]

qfrc_actuator:
[ 4.71987872e-05, 9.20278718e-04, 1.51733888e-04, 6.76164816e-08,
 -3.91000257e-05, 3.48619528e-02, 1.08871120e-02, 1.71323166e-03,
 -1.34119200e-04, 8.56653278e-04, 1.29343914e-04, 9.39036527e-06,
  1.79889818e-03,-1.57822604e-03, 0.00000000e+00,-1.26958751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   2.92956807,   8.12430968,   2.92956807,
        50.40636105, -15.06196285,   8.12430968, -15.06196285,
        14.06759991,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00410434228773339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45311309e-15, -1.35249809e-14,  1.00000000e+00,  1.14328193e-28,
        1.00000000e+00,  1.35249809e-14, -1.00000000e+00,  0.00000000e+00,
        8.45311309e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00010955, -0.07212419,  0.06179366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71018377e-05, 2.42849616e-05, 6.66895617e-07, 7.58019209e-06,
  1.02861852e-05,-1.07932399e-05,-2.34255347e-05,-9.29675747e-06,
 -3.49583628e-05,-2.03244311e-05,-1.92813522e-05, 3.27448559e-05,
 -6.37368040e-05, 2.97995940e-06,-2.60383477e-05, 1.01895462e-04,
  6.32035677e-05,-4.68663056e-04,-4.90205959e+00,-3.72561355e-04,
  3.16363400e-03,-1.85574343e-03]


--- Step 2210 ---
qpos:
[ 0.01869261, 0.03002045,-0.00947533,-0.02530912,-0.00351654, 1.34076644,
 -0.02993561, 0.94380406, 0.01154604, 0.02731116,-0.00828502, 0.0264343 ,
  1.36966392, 0.00767014, 1.30473713, 0.0442923 ,-0.09508761,-0.0580717 ,
  0.09332721, 0.70639062,-0.00208575,-0.7028326 ,-0.08387066]

qacc:
[-3.85924745e+00,-1.52304592e-01,-1.32156894e+00, 8.26809861e+00,
  2.88600790e-02,-2.40460035e+00, 1.05570046e+01,-2.61997013e+01,
  5.42743895e+00,-5.90648583e-01,-5.73897577e-01, 7.86101515e+00,
  1.45355932e-01,-2.96478843e-01,-9.55211748e+00, 3.25363173e+01,
  4.72788376e+00,-7.34426106e-01, 3.65549669e+00,-1.71239288e+01,
  1.45423106e+02,-2.56763773e+01]

qfrc_actuator:
[ 2.50381765e-05, 9.17561080e-04, 1.70955016e-04, 2.24376047e-05,
 -3.68475977e-05, 3.48356685e-02, 1.08729772e-02, 1.63696441e-03,
 -1.00458188e-04, 8.26651723e-04, 1.43255539e-04, 3.06084989e-05,
  1.79999516e-03,-1.58301603e-03, 0.00000000e+00,-1.11491074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004067298414718784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36481629e-14,  2.72963258e-14,  1.00000000e+00, -3.72544700e-28,
        1.00000000e+00, -2.72963258e-14, -1.00000000e+00,  0.00000000e+00,
        1.36481629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14765555, -0.04979806,  0.06179536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32341026e-05, 1.13067877e-05, 2.45771702e-05, 2.35793221e-05,
  8.33079573e-06,-3.71139763e-05,-1.91845480e-05,-7.74971905e-05,
  3.26298343e-05,-4.39671766e-05, 8.48149324e-06, 2.03222045e-05,
 -2.98248377e-05,-1.85888063e-05,-2.34972772e-06, 1.56667909e-04,
  1.41559995e-04,-6.03353341e-04,-4.90192016e+00,-9.79064257e-04,
  3.08816272e-03,-1.83270467e-03]


--- Step 2211 ---
qpos:
[ 0.01869148, 0.03002031,-0.0094743 ,-0.02530787,-0.00351746, 1.34076546,
 -0.02993585, 0.94380142, 0.01154586, 0.02731047,-0.00828554, 0.02643403,
  1.3697695 , 0.00766978, 1.30485184, 0.04429223,-0.09505951,-0.05798168,
  0.09335452, 0.70673162,-0.00309969,-0.70261151,-0.08281232]

qacc:
[-2.21171886e+00,-1.24377246e+00, 4.49273595e+00,-6.16660306e+00,
 -3.85794568e-02,-2.73058846e+00, 8.85713485e+00,-1.02223912e+01,
  3.51023971e+00,-1.59348725e+00, 2.78239032e+00, 2.48310535e+00,
  5.07914746e-01,-9.35058430e-01, 1.82977431e+00,-6.05421895e+00,
  4.18713211e+00,-6.47708372e-01, 2.13263053e+00,-1.44576129e+01,
  1.29199678e+02,-2.13486419e+01]

qfrc_actuator:
[ 1.23613172e-05, 8.98196504e-04, 1.81987560e-04, 1.73186351e-05,
 -5.29555187e-05, 3.48380336e-02, 1.09182202e-02, 1.62855909e-03,
 -8.04069840e-05, 7.55599525e-04, 1.51781201e-04, 4.33144336e-05,
  1.81284833e-03,-1.62145339e-03, 0.00000000e+00,-1.14832902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63556877, -0.11717011, -8.63556877,  8.64818122,
       -0.87096898, -0.11717011, -0.87096898, 72.82775491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004049753296288372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37072921e-14, -1.37072921e-14,  1.00000000e+00,  1.87889856e-28,
        1.00000000e+00,  1.37072921e-14, -1.00000000e+00,  0.00000000e+00,
        1.37072921e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14768626, -0.04980316,  0.06179626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33528127e-05,-6.97235613e-06, 1.72013934e-05,-3.32872305e-06,
 -1.11857813e-05,-2.42455818e-05, 3.35252947e-05,-1.18857388e-05,
  2.09897763e-05,-9.29996999e-05, 1.19990640e-06, 1.15122976e-05,
 -5.84327688e-06,-5.11424912e-05, 1.44007043e-05,-2.54276471e-05,
  5.34664841e-05,-4.16422122e-04,-4.90217711e+00,-2.82873012e-04,
  3.17971463e-03,-1.78144232e-03]


--- Step 2212 ---
qpos:
[ 0.01868986, 0.03002008,-0.00947307,-0.02530773,-0.00351823, 1.34076431,
 -0.02993564, 0.94379939, 0.01154455, 0.02730936,-0.0082864 , 0.02643459,
  1.36987503, 0.00766918, 1.30496693, 0.04428911,-0.09504915,-0.05788948,
  0.09337168, 0.70686944,-0.00413603,-0.70259619,-0.08171342]

qacc:
[-4.18150419e+00,-2.94544749e+00, 1.50008485e+01,-3.43502988e+01,
  6.80918041e-02,-4.06685016e-01,-1.81843846e-01, 7.29326643e+00,
 -9.70630138e+00, 2.15581217e+00,-1.19999203e+01, 2.73888051e+01,
 -1.64470702e-01, 2.82490774e-02, 9.83802375e+00,-3.35466876e+01,
 -4.43562906e+00, 5.45678114e-01,-2.53474460e+00, 1.45427496e+01,
 -1.45075265e+02, 1.34753471e+01]

qfrc_actuator:
[-1.23894170e-05, 8.86712857e-04, 1.87994984e-04,-3.94663341e-05,
 -2.66893570e-05, 3.48400504e-02, 1.09450462e-02, 1.66021996e-03,
 -1.39560063e-04, 7.49250767e-04, 1.39115156e-04, 8.63718775e-05,
  1.81142406e-03,-1.62620707e-03, 0.00000000e+00,-1.31006558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004052185096206848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19866828e-14, -4.10971981e-14,  1.00000000e+00,  4.92619077e-28,
        1.00000000e+00,  4.10971981e-14, -1.00000000e+00,  0.00000000e+00,
        1.19866828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00024378, -0.07211696,  0.06179629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51436380e-05,-1.19830868e-05, 6.55930735e-06,-5.65571640e-05,
  1.96550135e-05,-5.19194658e-06, 2.55475158e-05, 3.16344587e-05,
 -5.85740394e-05,-5.75751048e-05,-3.13165645e-05, 3.93400204e-05,
 -1.62044288e-05,-2.16069362e-05, 6.85962043e-07,-1.62031964e-04,
  3.18956700e-05,-2.68155368e-04,-4.90221891e+00, 3.02860819e-04,
  3.25937356e-03,-1.73362918e-03]


--- Step 2213 ---
qpos:
[ 0.0186883 , 0.03001974,-0.00947177,-0.02530791,-0.00351892, 1.34076342,
 -0.02993583, 0.94379775, 0.01154253, 0.02730814,-0.00828702, 0.02643559,
  1.36998054, 0.00766845, 1.30508169, 0.04428676,-0.09505455,-0.05779524,
  0.09337536, 0.70682731,-0.00519172,-0.70276257,-0.08057896]

qacc:
[ 5.22001483e-01,-9.81014055e-01, 4.64152037e+00,-1.02286446e+01,
  3.39393471e-02, 2.10521334e+00,-7.29016113e+00, 1.08281814e+01,
 -5.95943669e+00, 4.56843849e-02,-2.19157783e+00, 9.33137948e+00,
  1.57130177e-01,-2.65261131e-01,-2.85854053e+00, 9.22575125e+00,
 -3.93736834e+00, 5.10176693e-01,-3.37275332e+00, 1.27030079e+01,
 -1.28307156e+02, 1.16357829e+01]

qfrc_actuator:
[-8.54656345e-06, 8.79964156e-04, 1.90983343e-04,-5.51796939e-05,
 -2.84723392e-05, 3.48595718e-02, 1.09252799e-02, 1.67966673e-03,
 -1.73843528e-04, 7.81634673e-04, 1.67568962e-04, 1.11475302e-04,
  1.81742507e-03,-1.62868325e-03, 0.00000000e+00,-1.26200209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.58756172,   7.3171753 ,   4.58756172,
        54.07803404, -28.49001957,   7.3171753 , -28.49001957,
        26.49840982,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00402947915545409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72203246e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.72203246e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00030235, -0.07211679,  0.06179741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10755294e-06,-1.45264119e-05,-6.44874196e-07,-1.71020338e-05,
  9.83190631e-06, 2.26028335e-05,-1.69487418e-05, 2.07692228e-05,
 -3.60237438e-05,-4.57134253e-06, 1.40874950e-05, 2.23234488e-05,
 -7.66973071e-06,-1.24780736e-05,-2.11911582e-05, 3.83367520e-05,
  5.69173896e-05,-4.05622812e-04,-4.90223646e+00,-3.35905838e-04,
  3.19167896e-03,-1.71284372e-03]


--- Step 2214 ---
qpos:
[ 0.0186868 , 0.03001936,-0.00947025,-0.0253076 ,-0.00351971, 1.34076297,
 -0.02993665, 0.94379636, 0.01154081, 0.02730705,-0.00828684, 0.02643646,
  1.37008612, 0.00766761, 1.30519622, 0.04428562,-0.09504152,-0.0577037 ,
  0.09339301, 0.70698361,-0.0062174 ,-0.70272031,-0.07949643]

qacc:
[ 5.04340771e-01, 2.93597862e-01,-3.16114395e+00, 1.11674428e+01,
 -4.43849376e-02, 2.68832663e+00,-8.55610540e+00, 9.93119225e+00,
  2.52219212e+00,-2.30795815e+00, 8.97214213e+00,-1.24362867e+01,
  2.25199910e-01,-2.97931649e-01,-4.06089785e+00, 1.36535055e+01,
  4.60414785e+00,-6.73387364e-01, 3.49341745e+00,-1.55325664e+01,
  1.44812425e+02,-2.03647583e+01]

qfrc_actuator:
[-5.65352250e-06, 8.93869354e-04, 2.09974550e-04,-2.88370126e-05,
 -4.70687455e-05, 3.48892409e-02, 1.08959845e-02, 1.69174663e-03,
 -1.57682707e-04, 8.19376024e-04, 2.20241063e-04, 1.08127239e-04,
  1.82787967e-03,-1.62979074e-03, 0.00000000e+00,-1.19718138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004010226536467376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76847957e-14, -1.38423979e-14,  1.00000000e+00,  3.83223957e-28,
        1.00000000e+00,  1.38423979e-14, -1.00000000e+00,  0.00000000e+00,
        2.76847957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14775619, -0.04981981,  0.06179831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97904618e-06, 4.92031275e-06, 1.53105849e-05, 2.53638367e-05,
 -1.27854537e-05, 3.94857948e-05,-2.61946610e-05, 1.27399224e-05,
  1.50983419e-05, 3.90818149e-05, 5.42539833e-05,-2.61910072e-06,
  3.36589087e-06,-6.46892533e-06,-6.70192158e-06, 6.39594849e-05,
  1.27010750e-04,-5.37351804e-04,-4.90208306e+00,-9.16695144e-04,
  3.12497460e-03,-1.69022191e-03]


--- Step 2215 ---
qpos:
[ 0.01868569, 0.0300193 ,-0.0094689 ,-0.0253077 ,-0.0035205 , 1.34076272,
 -0.02993721, 0.94379579, 0.01153929, 0.02730643,-0.00828615, 0.02643691,
  1.37019169, 0.00766654, 1.30531076, 0.04428459,-0.09501214,-0.05761452,
  0.09341866, 0.70731639,-0.0072175 ,-0.7024926 ,-0.07845753]

qacc:
[ 3.34203974e+00, 1.15318202e-01, 1.86692396e+00,-8.65222654e+00,
 -2.01006644e-03, 9.59623702e-01,-4.51781123e+00, 1.33375219e+01,
  1.76979747e+00,-1.65986058e+00, 8.59346508e+00,-1.70038338e+01,
  1.51487797e-01,-3.06754430e-01,-2.88917984e-01, 9.99254163e-01,
  4.09041994e+00,-5.92693809e-01, 2.00171262e+00,-1.31112267e+01,
  1.28709949e+02,-1.68147615e+01]

qfrc_actuator:
[ 1.44006747e-05, 9.20142027e-04, 2.02867894e-04,-4.89473228e-05,
 -4.00950670e-05, 3.49069518e-02, 1.09146152e-02, 1.73491243e-03,
 -1.47473055e-04, 8.60138872e-04, 2.51297356e-04, 8.80898246e-05,
  1.81969682e-03,-1.64780887e-03, 0.00000000e+00,-1.19407494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.50758928,  -1.48583362,  -8.50758928,
        10.73838959, -12.03578467,  -1.48583362, -12.03578467,
        77.55088493,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003992072873803931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.78106903e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.78106903e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14778563, -0.04982359,  0.06179922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01406335e-05, 3.32731639e-05,-3.33991078e-06,-1.88790824e-05,
 -5.80574060e-07, 3.48143413e-05, 2.37469217e-05, 4.38760784e-05,
  1.06602860e-05, 7.37478613e-05, 4.57274664e-05,-1.65372038e-05,
 -8.12442410e-06,-1.91345061e-05, 2.31435238e-06, 5.41034873e-06,
  4.76009531e-05,-3.63606304e-04,-4.90229543e+00,-2.42262974e-04,
  3.20468193e-03,-1.64008072e-03]


--- Step 2216 ---
qpos:
[ 0.01868517, 0.0300197 ,-0.00946828,-0.02530836,-0.00352112, 1.3407626 ,
 -0.02993669, 0.94379674, 0.01153791, 0.0273063 ,-0.00828564, 0.02643717,
  1.37029694, 0.00766562, 1.3054255 , 0.04428193,-0.09500063,-0.057523  ,
  0.09343398, 0.70744806,-0.00824329,-0.70246869,-0.07737587]

qacc:
[ 5.06440174e+00, 1.43533407e+00,-1.88130044e+00,-7.05771872e+00,
  7.59492399e-02,-1.30782451e-01,-2.48194427e+00, 1.96854244e+01,
  1.13350707e+00, 7.43310007e-01,-8.69307521e-01,-2.63561662e+00,
 -4.99405810e-01, 5.56321964e-01, 5.27287629e+00,-1.78965167e+01,
 -4.46811684e+00, 5.87105297e-01,-2.58324435e+00, 1.32086179e+01,
 -1.43877997e+02, 1.55197966e+01]

qfrc_actuator:
[ 4.43954471e-05, 9.35734425e-04, 1.62671196e-04,-7.84908475e-05,
 -1.78373423e-05, 3.49353172e-02, 1.09791196e-02, 1.81380438e-03,
 -1.40864841e-04, 8.66807542e-04, 2.33845294e-04, 7.61371480e-05,
  1.79500861e-03,-1.64030287e-03, 0.00000000e+00,-1.28061863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003978963646279879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.5695053e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.5695053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00043671, -0.07211012,  0.06179995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05929840e-05, 3.26973677e-05,-3.44037103e-05,-2.86054268e-05,
  2.19156471e-05, 5.35898049e-05, 7.53038383e-05, 8.16500885e-05,
  6.94381551e-06, 5.66583349e-05, 2.83791936e-06,-7.53381591e-06,
 -3.32514852e-05,-1.08612567e-07,-9.25999821e-07,-8.65400086e-05,
  3.20635972e-05,-2.23783512e-04,-4.90230250e+00, 3.32088382e-04,
  3.27545966e-03,-1.59295935e-03]


--- Step 2217 ---
qpos:
[ 0.01868502, 0.03002011,-0.00946775,-0.02530866,-0.00352123, 1.34076268,
 -0.02993528, 0.9437969 , 0.01153696, 0.02730617,-0.0082851 , 0.02643733,
  1.37040172, 0.0076651 , 1.30554064, 0.0442749 ,-0.09500497,-0.05742929,
  0.09343566, 0.70740141,-0.00929139,-0.70262496,-0.07625665]

qacc:
[   3.12083927,   1.02165889,  -5.12579283,  11.43651933,   0.21451463,
   -3.48557091,  13.30821845, -20.78401078,   3.71490762,  -0.26811983,
    1.34437352,  -3.00804899,  -0.97872882,   1.19978944,  13.88842883,
  -47.49066566,  -3.96368531,   0.54566047,  -3.41119134,  11.53277807,
 -127.37912339,  13.47686386]

qfrc_actuator:
[ 6.22426762e-05, 9.26905267e-04, 1.56487183e-04,-6.01091062e-05,
  3.11613193e-05, 3.49345500e-02, 1.10169684e-02, 1.77108561e-03,
 -1.18675385e-04, 8.35058100e-04, 2.23277778e-04, 6.89820864e-05,
  1.77109895e-03,-1.61776986e-03, 0.00000000e+00,-1.50802951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.80061886,   7.17919462,   4.80061886,
        60.44632942, -34.64454054,   7.17919462, -34.64454054,
        31.80264393,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003957780944479676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75322839e-15,  2.80516542e-14,  1.00000000e+00, -4.91809565e-29,
        1.00000000e+00, -2.80516542e-14, -1.00000000e+00,  0.00000000e+00,
        1.75322839e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0004921 , -0.07211011,  0.06180099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87508622e-05, 1.11666722e-06,-4.66898276e-06, 1.80323442e-05,
  6.19512630e-05, 4.60650431e-05, 5.92968808e-05,-3.70048311e-05,
  2.24129443e-05, 1.93788374e-07, 1.21823604e-06,-4.77743005e-06,
 -4.07375551e-05, 1.49970519e-05,-1.35148499e-05,-2.33116227e-04,
  5.12144897e-05,-3.60196774e-04,-4.90230668e+00,-2.90996595e-04,
  3.21423628e-03,-1.57226599e-03]


--- Step 2218 ---
qpos:
[ 0.01868542, 0.03002053,-0.00946761,-0.02530803,-0.0035208 , 1.34076274,
 -0.02993349, 0.94379557, 0.01153664, 0.02730598,-0.00828438, 0.02643775,
  1.37050617, 0.00766483, 1.30565542, 0.04426755,-0.09499101,-0.05733831,
  0.09345069, 0.70755393,-0.0103089 ,-0.70257247,-0.07518696]

qacc:
[ 4.79512470e+00, 2.99859135e+00,-1.46352242e+01, 3.14164189e+01,
  2.27633133e-01,-3.60972349e+00, 1.48175101e+01,-3.02347794e+01,
  5.28400485e+00,-1.08111861e-01,-8.43450283e-01, 5.03907729e+00,
 -4.35155181e-01, 5.50688890e-01, 5.18926159e-01,-2.49325883e+00,
  4.57533061e+00,-6.82119421e-01, 3.33906485e+00,-1.36174395e+01,
  1.45202394e+02,-1.96966419e+01]

qfrc_actuator:
[ 9.05461687e-05, 9.21435043e-04, 1.34873328e-04,-1.36672001e-05,
  6.03000506e-05, 3.48984298e-02, 1.10208251e-02, 1.69260231e-03,
 -8.74916639e-05, 8.33811577e-04, 2.34462284e-04, 8.24339475e-05,
  1.75833192e-03,-1.60427252e-03, 0.00000000e+00,-1.51478020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003952779741622739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.21307193e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.21307193e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14834069, -0.04935504,  0.06180123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88479087e-05,-5.05139528e-06,-2.13452629e-05, 4.66771648e-05,
  6.57507394e-05,-1.49997348e-07, 1.85290639e-05,-7.62156813e-05,
  3.18405503e-05,-1.08841868e-06, 1.12023034e-05, 1.34069574e-05,
 -3.04398247e-05, 9.10131252e-06,-3.59256364e-05,-2.22871369e-05,
  1.15588343e-04,-4.91091106e-04,-4.90214347e+00,-8.61389755e-04,
  3.15309766e-03,-1.54976407e-03]


--- Step 2219 ---
qpos:
[ 0.01868651, 0.03002094,-0.00946769,-0.02530755,-0.00351991, 1.34076241,
 -0.02993157, 0.94379542, 0.01153668, 0.02730613,-0.008284  , 0.02643865,
  1.3706105 , 0.00766466, 1.30576982, 0.04426144,-0.09496077,-0.05724974,
  0.09347321, 0.70788359,-0.01130026,-0.70233438,-0.0741589 ]

qacc:
[ 5.83660327e+00, 2.82258782e-01,-4.13874881e-01,-1.78562091e+00,
  1.93313058e-01, 1.16228722e+00,-6.83952595e+00, 1.99464279e+01,
  3.19723355e+00, 2.41474066e+00,-1.00130410e+01, 1.87456261e+01,
 -2.52526594e-02, 5.76865133e-02,-4.36630732e+00, 1.44482333e+01,
  4.07009417e+00,-6.00250046e-01, 1.87142033e+00,-1.14326131e+01,
  1.29089100e+02,-1.62990076e+01]

qfrc_actuator:
[ 1.24781672e-04, 9.17984850e-04, 1.22080563e-04,-2.21206576e-05,
  7.72889986e-05, 3.48589996e-02, 1.10222010e-02, 1.75346250e-03,
 -6.90211275e-05, 8.68687394e-04, 2.23015376e-04, 1.07937027e-04,
  1.76290740e-03,-1.59622498e-03, 0.00000000e+00,-1.44467566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.39595088,  -2.02355768,  -8.39595088,
        12.60416742, -16.46282979,  -2.02355768, -16.46282979,
        76.94235334,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003936502824566923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82032828e-14,  1.41016414e-14,  1.00000000e+00, -3.97712581e-28,
        1.00000000e+00, -1.41016414e-14, -1.00000000e+00,  0.00000000e+00,
        2.82032828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14836673, -0.04935867,  0.06180205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50716618e-05,-8.69422252e-06,-1.48594963e-05,-8.50319332e-06,
  5.58448637e-05,-3.81811439e-05, 1.21599244e-06, 5.96324848e-05,
  1.94019133e-05, 3.71634106e-05,-9.83680460e-06, 2.61014641e-05,
 -9.11912713e-06, 4.12513356e-06,-2.02824081e-05, 6.39997551e-05,
  4.49829118e-05,-3.21249282e-04,-4.90234613e+00,-1.92521649e-04,
  3.22288529e-03,-1.49996243e-03]


--- Step 2220 ---
qpos:
[ 0.01868732, 0.03002096,-0.00946743,-0.02530819,-0.00351868, 1.34076176,
 -0.02992994, 0.94379671, 0.01153764, 0.02730662,-0.00828379, 0.02643984,
  1.37071472, 0.0076646 , 1.30588432, 0.04425417,-0.09494852,-0.05715865,
  0.09348539, 0.70801254,-0.01232075,-0.70229975,-0.07308556]

qacc:
[  -2.44527802,  -3.78579731,  17.54049596, -37.37260456,   0.14728762,
    2.80952447, -12.65006695,  27.87327322,   7.76329336,   1.49791318,
   -5.9241097 ,  10.93268116,  -0.25483418,   0.31382811,   3.70027794,
  -12.6515437 ,  -4.49501799,   0.62635892,  -2.58655727,  12.00042892,
 -143.83420913,  17.66355883]

qfrc_actuator:
[ 1.08973572e-04, 8.80251724e-04, 1.32320404e-04,-8.05542788e-05,
  8.68539223e-05, 3.48357011e-02, 1.10044240e-02, 1.82483117e-03,
 -2.26787537e-05, 8.89345039e-04, 2.16201353e-04, 1.22585040e-04,
  1.75657678e-03,-1.59138861e-03, 0.00000000e+00,-1.50744011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915600724648728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.31634433e-15, -1.41769182e-14,  1.00000000e+00, -7.53693788e-29,
        1.00000000e+00,  1.41769182e-14, -1.00000000e+00,  0.00000000e+00,
       -5.31634433e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00060624, -0.07210202,  0.06180311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47895493e-05,-4.60339688e-05, 6.31246249e-06,-5.94890289e-05,
  4.25651874e-05,-4.23879687e-05,-2.33606828e-05, 7.16411863e-05,
  4.69239349e-05, 4.05212751e-05, 5.45187487e-07, 1.64042312e-05,
 -1.01696088e-05, 4.11926921e-06,-3.47373076e-06,-6.20691007e-05,
  3.69620493e-05,-1.84540766e-04,-4.90234461e+00, 3.77823881e-04,
  3.28546745e-03,-1.45313375e-03]


--- Step 2221 ---
qpos:
[ 0.0186862 , 0.03002059,-0.00946704,-0.02530918,-0.00351749, 1.34076114,
 -0.02992919, 0.94379746, 0.01153915, 0.02730741,-0.00828363, 0.02644085,
  1.37081839, 0.00766501, 1.30599842, 0.04424922,-0.0949522 ,-0.05706525,
  0.09348391, 0.70796344,-0.01336666,-0.70244507,-0.0719724 ]

qacc:
[-1.64536380e+01,-1.54339256e+00, 6.19480607e+00,-1.19153395e+01,
 -1.85113199e-02, 1.51299104e+00,-3.76429756e+00,-2.99958451e+00,
  4.67519819e+00, 1.65060902e-01, 7.35534511e-01,-3.99541641e+00,
 -5.26473138e-01, 7.28283978e-01,-7.54495294e+00, 2.56554421e+01,
 -3.98662158e+00, 5.79670464e-01,-3.41160253e+00, 1.04603964e+01,
 -1.27401198e+02, 1.54037499e+01]

qfrc_actuator:
[ 1.05769318e-05, 8.57830041e-04, 1.38153918e-04,-9.69232952e-05,
  5.63850477e-05, 3.48399356e-02, 1.09577744e-02, 1.79526268e-03,
  4.19659189e-06, 9.01338645e-04, 2.12129769e-04, 1.12972856e-04,
  1.71707823e-03,-1.57076952e-03, 0.00000000e+00,-1.38172154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.66959707,   7.26509739,   4.66959707,
        67.16166199, -37.61677885,   7.26509739, -37.61677885,
        32.81431899,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038978880701843605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95818432e-14, -1.42413405e-14,  1.00000000e+00,  2.78871696e-28,
        1.00000000e+00,  1.42413405e-14, -1.00000000e+00,  0.00000000e+00,
        1.95818432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00065287, -0.0721012 ,  0.06180397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.88416407e-05,-4.94168712e-05,-4.95692459e-06,-1.92787278e-05,
 -5.31642515e-06,-2.16247388e-05,-5.54981295e-05,-2.98635567e-05,
  2.82651033e-05, 3.54654526e-05, 4.92164050e-06,-7.54355656e-06,
 -4.39696220e-05, 1.97041803e-05,-1.13178345e-05, 1.21199023e-04,
  5.02846606e-05,-3.20588463e-04,-4.90233830e+00,-2.38843822e-04,
  3.22960966e-03,-1.43250871e-03]


--- Step 2222 ---
qpos:
[ 0.0186846 , 0.03001994,-0.00946693,-0.02530999,-0.00351633, 1.34076084,
 -0.02992916, 0.94379713, 0.01154028, 0.0273085 ,-0.00828325, 0.02644172,
  1.37092183, 0.0076652 , 1.30611212, 0.04424813,-0.0949469 ,-0.05697542,
  0.09349344, 0.70813626,-0.01441056,-0.7023634 ,-0.07085918]

qacc:
[-4.13828658e+00, 7.89157315e-01,-4.03585744e+00, 7.60192731e+00,
 -1.43744532e-02, 5.01227639e-01, 1.09579657e+00,-1.37197186e+01,
 -3.22741541e+00,-4.98290319e-01, 2.97797489e+00,-6.04298148e+00,
  2.79661500e-01,-5.12543853e-01,-1.22929673e+01, 4.20605379e+01,
  2.24760476e+00,-8.90993696e-01, 2.74989171e+00,-5.95452540e+00,
  1.58368076e+02, 8.82448038e+00]

qfrc_actuator:
[-1.13576407e-05, 8.44764693e-04, 1.23665747e-04,-8.84000896e-05,
  5.54062249e-05, 3.48782024e-02, 1.09300139e-02, 1.74203832e-03,
 -1.61156044e-05, 9.25792221e-04, 2.27409751e-04, 1.06910879e-04,
  1.70032779e-03,-1.59435796e-03, 0.00000000e+00,-1.18143133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.50984202,  7.36533107, -4.50984202,  4.24250573,
       -2.69038891,  7.36533107, -2.69038891,  6.98902032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004111509926690564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28041177, -0.14020588,  0.94958494, -0.0397076 ,  0.99012237,
        0.1344656 , -0.95905816,  0.        , -0.2832092 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14842013, -0.04937394,  0.06180369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48299301e-05,-4.25677402e-05,-2.59648366e-05, 5.86699839e-06,
 -4.12114513e-06, 1.45544640e-05,-3.91812355e-05,-5.61930337e-05,
 -1.94690134e-05, 4.49614039e-05, 2.29381563e-05,-4.52390313e-06,
 -3.37413442e-05,-2.78466380e-05, 6.11926174e-06, 2.05145987e-04,
  1.09634744e-04,-4.51346685e-04,-4.90216516e+00,-8.06962721e-04,
  3.17311609e-03,-1.41007381e-03]


--- Step 2223 ---
qpos:
[ 0.01868413, 0.03001894,-0.00946638,-0.02531142,-0.0035152 , 1.3407606 ,
 -0.02992917, 0.94379649, 0.01154116, 0.02730975,-0.00828316, 0.02644222,
  1.37102537, 0.00766457, 1.30622593, 0.04424843,-0.09492341,-0.05688747,
  0.09351074, 0.70848171,-0.01542758,-0.70210023,-0.069792  ]

qacc:
[ 9.69104584e+00,-2.99567911e+00, 1.25856501e+01,-2.37387579e+01,
 -1.19954595e-02,-3.51556022e-01, 1.84887202e+00,-5.14388804e+00,
 -2.16020037e+00, 2.17129872e-01, 1.08107559e+00,-7.15646189e+00,
  6.79044807e-01,-1.23297437e+00,-4.15003303e+00, 1.45397953e+01,
  4.54774574e+00,-4.72979158e-01, 1.94335796e+00,-1.18314172e+01,
  1.26172911e+02,-1.83187538e+01]

qfrc_actuator:
[ 4.74207949e-05, 8.37347233e-04, 1.50604323e-04,-1.18568339e-04,
  5.43764420e-05, 3.48833386e-02, 1.09315291e-02, 1.72863917e-03,
 -2.85276903e-05, 9.04337417e-04, 2.00790174e-04, 8.52605065e-05,
  1.70254329e-03,-1.64395854e-03, 0.00000000e+00,-1.11639158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.27748389,  -7.99029888,  -3.27748389,
        73.15651101, -26.46506049,  -7.99029888, -26.46506049,
        19.49187863,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038884850784410493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85515568e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.85515568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14845585, -0.04938365,  0.06180445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80429781e-05,-3.63119805e-05, 1.51627584e-05,-3.27704887e-05,
 -3.46444805e-06, 3.83560242e-06,-1.74473210e-06,-1.54144432e-05,
 -1.29633415e-05, 8.18304835e-06,-1.46805855e-05,-1.90221430e-05,
 -2.02424531e-05,-6.61642512e-05, 2.35190812e-05, 7.67864810e-05,
  7.15365660e-05,-2.99766078e-04,-4.90214515e+00,-7.69862923e-05,
  3.19964062e-03,-1.35718872e-03]


--- Step 2224 ---
qpos:
[ 0.01868367, 0.03001827,-0.0094661 ,-0.02531325,-0.00351439, 1.34076   ,
 -0.02992872, 0.94379571, 0.01154119, 0.02731065,-0.00828314, 0.0264425 ,
  1.37112862, 0.00766364, 1.30633999, 0.0442482 ,-0.09491664,-0.05679695,
  0.09351777, 0.70862169,-0.0164749 ,-0.70204515,-0.06867664]

qacc:
[ 1.43355167e-01, 3.80250646e-01, 9.07506203e-01,-7.44754705e+00,
 -1.33505285e-01,-1.94335080e+00, 6.09360658e+00,-6.77028872e+00,
 -7.20694897e+00,-6.46352639e-01, 2.56160903e+00,-5.86764907e+00,
 -9.41903455e-02,-1.55946644e-01, 2.00469935e+00,-6.44354045e+00,
 -4.18046955e+00, 6.43955933e-01,-2.56796974e+00, 1.18490404e+01,
 -1.47280242e+02, 1.89260038e+01]

qfrc_actuator:
[ 4.66948637e-05, 8.86767782e-04, 1.48532277e-04,-1.35722531e-04,
  1.78189275e-05, 3.48509838e-02, 1.09502155e-02, 1.72103479e-03,
 -7.16801803e-05, 8.55371774e-04, 1.84946001e-04, 7.22937482e-05,
  1.68416325e-03,-1.65522150e-03, 0.00000000e+00,-1.14933378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038791898213916334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25212376e-14, -1.43099858e-14,  1.00000000e+00,  1.79178732e-28,
        1.00000000e+00,  1.43099858e-14, -1.00000000e+00,  0.00000000e+00,
        1.25212376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00068844, -0.07208804,  0.06180496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.56332399e-07, 3.08985810e-05,-8.83137630e-06,-1.88205366e-05,
 -3.86046616e-05,-3.10369080e-05, 1.87854597e-05,-7.89886599e-06,
 -4.35237903e-05,-4.82863583e-05,-1.66356301e-05,-1.34976387e-05,
 -4.32315853e-05,-3.62551524e-05, 1.61829377e-05,-2.63817575e-05,
  6.43671099e-05,-1.62455786e-04,-4.90214938e+00, 4.97038941e-04,
  3.26739959e-03,-1.30916333e-03]


--- Step 2225 ---
qpos:
[ 0.01868287, 0.03001794,-0.00946651,-0.02531454,-0.00351409, 1.34075922,
 -0.02992812, 0.94379589, 0.01154071, 0.02731102,-0.00828242, 0.02644329,
  1.37123134, 0.00766306, 1.30645417, 0.04424726,-0.09492483,-0.05670404,
  0.09351124, 0.70857966,-0.01754902,-0.70217384,-0.06751889]

qacc:
[  -3.02310619,   3.47434673, -13.92831059,  23.8474927 ,  -0.21675676,
    0.98675388,  -5.47867145,  15.92898   ,  -4.38854865,  -1.63651683,
    2.7175136 ,   5.21103666,  -0.71037571,   0.85074696,   2.36177428,
   -7.85843586,  -3.74190233,   0.59727543,  -3.38992912,  10.20168819,
 -130.26140527,  16.66671434]

qfrc_actuator:
[ 2.86769765e-05, 8.98742544e-04, 1.11833881e-04,-1.09546795e-04,
 -2.20038020e-05, 3.48497685e-02, 1.09609708e-02, 1.77013041e-03,
 -9.70780354e-05, 8.43592121e-04, 2.28741046e-04, 1.00032317e-04,
  1.66410707e-03,-1.62592005e-03, 0.00000000e+00,-1.18643787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.89481051,  8.58988306,  0.89481051, 45.04770364,
       -3.79297942,  8.58988306, -3.79297942,  9.03147936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003869151257504068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25537241e-14, -1.43471132e-14,  1.00000000e+00,  1.80109701e-28,
        1.00000000e+00,  1.43471132e-14, -1.00000000e+00,  0.00000000e+00,
        1.25537241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00070869, -0.07208573,  0.06180545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79759012e-05, 2.66501475e-05,-3.20465142e-05, 2.68315981e-05,
 -6.26374026e-05,-1.49461357e-05, 6.58926096e-06, 4.85294408e-05,
 -2.66852896e-05,-4.28449341e-05, 3.12952013e-05, 2.48301506e-05,
 -4.96937105e-05, 8.25129086e-06, 5.66157473e-07,-3.73822064e-05,
  7.45502350e-05,-3.02043618e-04,-4.90214744e+00,-1.54113467e-04,
  3.20992611e-03,-1.28813470e-03]


--- Step 2226 ---
qpos:
[ 0.01868289, 0.03001743,-0.00946634,-0.02531519,-0.00351429, 1.34075865,
 -0.02992812, 0.94379665, 0.01154061, 0.02731109,-0.00828177, 0.02644408,
  1.37133368, 0.00766274, 1.30656824, 0.04424655,-0.09492238,-0.05661405,
  0.09351609, 0.70875603,-0.01862025,-0.7020781 ,-0.0663666 ]

qacc:
[ 7.09654672e+00,-5.48211787e-01,-1.15012297e+00, 1.15883712e+01,
 -2.10266452e-01, 2.89459038e+00,-1.03309313e+01, 1.56820296e+01,
  3.31517023e+00,-1.82460138e-01, 3.43619093e-02, 4.22535526e-01,
 -4.46414836e-01, 5.59764297e-01,-8.09977400e-01, 2.71436430e+00,
  2.66214794e+00,-7.30678427e-01, 2.84670747e+00,-6.55408023e+00,
  1.56328327e+02, 6.39039875e+00]

qfrc_actuator:
[ 7.16546731e-05, 8.88100356e-04, 1.43651802e-04,-7.58849122e-05,
 -4.57100915e-05, 3.48672178e-02, 1.09315908e-02, 1.79894691e-03,
 -7.63069174e-05, 8.18939846e-04, 2.18798087e-04, 9.83071039e-05,
  1.65373070e-03,-1.60831145e-03, 0.00000000e+00,-1.17239833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.67546808,  7.26132048, -4.67546808,  4.47694122,
       -2.678197  ,  7.26132048, -2.678197  ,  6.91190806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004044139596425474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66157295e-01, -1.33078648e-01,  9.54699098e-01, -3.57377228e-02,
        9.91105481e-01,  1.28190256e-01, -9.63266894e-01, -6.93889390e-18,
       -2.68545882e-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([-0.1485225 , -0.04941515,  0.0618058 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24650968e-05,-1.19366493e-06, 3.43166178e-05, 3.42221143e-05,
 -6.07228370e-05, 1.19314376e-05,-3.01300647e-05, 2.96859022e-05,
  1.99743785e-05,-4.11174158e-05,-1.40934173e-05,-1.99839728e-06,
 -3.31402342e-05, 8.69900675e-06,-7.52487601e-06, 1.12356318e-05,
  1.33153609e-04,-4.34991562e-04,-4.90196897e+00,-7.54320264e-04,
  3.15233596e-03,-1.26518495e-03]


--- Step 2227 ---
qpos:
[ 0.01868378, 0.0300172 ,-0.00946623,-0.02531545,-0.00351489, 1.3407585 ,
 -0.02992884, 0.9437967 , 0.01154042, 0.0273108 ,-0.00828147, 0.02644452,
  1.37143586, 0.00766215, 1.30668265, 0.04424266,-0.09490102,-0.05652547,
  0.0935289 , 0.70910415,-0.01966588,-0.70180164,-0.06526108]

qacc:
[ 7.36709956e+00, 1.34665458e+00,-5.93335884e+00, 1.26385891e+01,
 -1.72244430e-01, 1.29057414e+00,-2.07377859e+00,-6.70225383e+00,
 -8.15694990e-01,-2.16920711e-01, 1.55643721e+00,-6.73533382e+00,
 -2.17130630e-01, 2.69023183e-02, 1.01829487e+01,-3.48407251e+01,
  4.72593303e+00,-3.51546614e-01, 1.98943492e+00,-1.17475527e+01,
  1.25624705e+02,-1.81775879e+01]

qfrc_actuator:
[ 1.14690298e-04, 9.17534454e-04, 1.44571504e-04,-5.58170861e-05,
 -5.95571918e-05, 3.48955461e-02, 1.08965685e-02, 1.76231952e-03,
 -8.17910095e-05, 7.86549826e-04, 1.94866007e-04, 7.91989890e-05,
  1.63851522e-03,-1.63329122e-03, 0.00000000e+00,-1.34135780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.50313078,  -7.89397565,  -3.50313078,
        62.36730878, -23.84432584,  -7.89397565, -23.84432584,
        19.21782416,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038473829858578154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88565768e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.88565768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14855846, -0.0494293 ,  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:
[ 4.42713428e-05, 3.73520702e-05, 6.08735116e-06, 2.18708580e-05,
 -4.97311771e-05, 2.99297029e-05,-3.52447795e-05,-3.64636733e-05,
 -4.91171181e-06,-5.83851894e-05,-3.42415727e-05,-2.14009164e-05,
 -2.97321877e-05,-2.99149557e-05,-4.88126148e-06,-1.69887532e-04,
  9.43037056e-05,-2.80555608e-04,-4.90195800e+00,-9.10227059e-06,
  3.18332847e-03,-1.21082033e-03]


--- Step 2228 ---
qpos:
[ 0.01868482, 0.03001719,-0.00946637,-0.02531544,-0.0035158 , 1.34075851,
 -0.02992992, 0.94379632, 0.01153982, 0.02731   ,-0.00828082, 0.02644437,
  1.37153766, 0.00766158, 1.30679696, 0.04423744,-0.09489605,-0.05643416,
  0.09353158, 0.70924452,-0.02074437,-0.70173535,-0.06410451]

qacc:
[ 1.40417831e+00, 1.51781329e+00,-6.09687248e+00, 1.08774982e+01,
 -1.28839173e-01, 4.43528780e-01,-3.04677515e-01,-4.86628160e+00,
 -3.46992188e+00,-2.87982784e+00, 1.18442162e+01,-2.24907103e+01,
 -4.33907150e-01, 3.93673289e-01, 3.88116160e+00,-1.37123946e+01,
 -4.09549874e+00, 6.81941519e-01,-2.53255425e+00, 1.10808706e+01,
 -1.48992864e+02, 2.07867593e+01]

qfrc_actuator:
[ 1.21890799e-04, 9.17362180e-04, 1.27364761e-04,-4.39093780e-05,
 -6.73799730e-05, 3.48945932e-02, 1.08762749e-02, 1.74074765e-03,
 -1.02700396e-04, 7.67443055e-04, 2.16097288e-04, 5.00105814e-05,
  1.61506378e-03,-1.63011755e-03, 0.00000000e+00,-1.40375396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038665837887809293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15349599e-14, -2.15349599e-14,  1.00000000e+00,  4.63754498e-28,
        1.00000000e+00,  2.15349599e-14, -1.00000000e+00,  0.00000000e+00,
        2.15349599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00069037, -0.07206974,  0.06180563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50301734e-06, 2.29283863e-05,-7.98661454e-06, 1.41422490e-05,
 -3.72104194e-05, 7.61366060e-06,-1.95179928e-05,-2.25523336e-05,
 -2.10718363e-05,-5.97428974e-05, 4.21173943e-06,-3.32926034e-05,
 -4.58029820e-05,-1.24534066e-05,-2.45135123e-05,-7.32404500e-05,
  8.70105432e-05,-1.41128483e-04,-4.90196207e+00, 5.80227336e-04,
  3.25293030e-03,-1.16128701e-03]


--- Step 2229 ---
qpos:
[ 0.01868595, 0.03001702,-0.00946595,-0.02531564,-0.00351677, 1.34075834,
 -0.02993083, 0.94379569, 0.01153863, 0.02730913,-0.00828014, 0.02644417,
  1.37163897, 0.00766173, 1.30691063, 0.04423549,-0.09490578,-0.05634033,
  0.09352083, 0.70920098,-0.02185212,-0.70185446,-0.06290294]

qacc:
[ 6.96300899e-01,-2.19384651e+00, 8.36704395e+00,-1.26996895e+01,
 -2.89721357e-02,-1.11676000e+00, 3.88244100e+00,-6.19515509e+00,
 -5.04373459e+00,-2.48427190e-01, 9.18561113e-01,-1.59218787e+00,
 -5.24366297e-01, 8.80685984e-01,-1.07979134e+01, 3.65254986e+01,
 -3.67619847e+00, 6.30872095e-01,-3.35872754e+00, 9.44476293e+00,
 -1.31679035e+02, 1.84012684e+01]

qfrc_actuator:
[ 1.25693540e-04, 8.99374194e-04, 1.52747015e-04,-5.46779661e-05,
 -5.37752308e-05, 3.48761700e-02, 1.08825014e-02, 1.72821700e-03,
 -1.32513255e-04, 7.92113975e-04, 2.28370945e-04, 5.06763093e-05,
  1.61332715e-03,-1.57475057e-03, 0.00000000e+00,-1.22527918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.17129044,  8.63466481, -0.17129044, 38.36290621,
        0.58970124,  8.63466481,  0.58970124,  8.64806185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038603173630387053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43799450e-14,  7.18997248e-15,  1.00000000e+00, -1.03391409e-28,
        1.00000000e+00, -7.18997248e-15, -1.00000000e+00,  0.00000000e+00,
        1.43799450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00069824, -0.07206695,  0.06180593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05838042e-06,-6.20931595e-06, 2.96235916e-05,-9.78810322e-06,
 -8.38454084e-06,-1.87079444e-05, 4.83406703e-06,-1.33989950e-05,
 -3.04515496e-05,-9.28189829e-06,-6.97915485e-07,-2.39524107e-06,
 -2.79411651e-05, 4.13176050e-05,-2.16565937e-05, 1.70774954e-04,
  9.50567401e-05,-2.84451835e-04,-4.90194714e+00,-9.91143317e-05,
  3.19626226e-03,-1.13969104e-03]


--- Step 2230 ---
qpos:
[ 0.01868711, 0.03001674,-0.00946518,-0.02531666,-0.00351772, 1.34075816,
 -0.02993117, 0.94379522, 0.01153777, 0.02730853,-0.00827982, 0.02644431,
  1.37174016, 0.00766238, 1.30702426, 0.04423464,-0.09489576,-0.05624781,
  0.09352368, 0.70935537,-0.02293706,-0.70176641,-0.06174745]

qacc:
[ 3.29145716e-01,-2.81460256e+00, 1.32468311e+01,-2.77738937e+01,
  1.26689019e-02,-1.28858968e+00, 3.84547392e+00,-1.43069739e+00,
  2.89190300e+00, 2.02974381e+00,-8.12039780e+00, 1.42654332e+01,
 -3.17105196e-01, 6.32000608e-01,-3.34639544e+00, 1.17016606e+01,
  4.93822002e+00,-3.27999225e-01, 3.40118711e+00,-1.24305262e+01,
  1.44138886e+02,-1.58503269e+01]

qfrc_actuator:
[ 1.27477734e-04, 8.88751945e-04, 1.67478746e-04,-9.64398935e-05,
 -4.51806789e-05, 3.49007953e-02, 1.09220085e-02, 1.73885683e-03,
 -1.14064392e-04, 8.25066315e-04, 2.17695873e-04, 6.89303055e-05,
  1.62464128e-03,-1.54201208e-03, 0.00000000e+00,-1.17263899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038268448908346867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14862145, -0.04947237,  0.06180741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89965763e-06,-8.39553988e-06, 1.67554162e-05,-4.11939564e-05,
  3.63905956e-06, 1.48201711e-05, 3.60049531e-05, 9.90632841e-06,
  1.75517303e-05, 2.75249690e-05,-1.27584029e-05, 1.77873924e-05,
  7.20219577e-06, 3.87946013e-05, 7.78109230e-06, 5.91211760e-05,
  1.52749845e-04,-4.20075444e-04,-4.90175201e+00,-7.26861894e-04,
  3.13961747e-03,-1.11607629e-03]


--- Step 2231 ---
qpos:
[ 0.01868828, 0.03001643,-0.00946455,-0.02531779,-0.00351831, 1.34075778,
 -0.0299306 , 0.94379349, 0.0115375 , 0.02730814,-0.0082799 , 0.02644467,
  1.37184149, 0.00766294, 1.30713814, 0.04423243,-0.09486829,-0.05615648,
  0.09353424, 0.70968618,-0.02400345,-0.70149374,-0.06062915]

qacc:
[ 1.02689442e-01, 1.03674249e-01, 8.35395081e-02,-1.94206672e+00,
  1.49583031e-01,-4.87531070e+00, 1.81691198e+01,-3.01667381e+01,
  4.86849048e+00, 1.89177853e+00,-7.33931259e+00, 1.18612759e+01,
  3.29348684e-02,-5.83760883e-02, 4.50747477e+00,-1.52346092e+01,
  4.36284415e+00,-2.96701757e-01, 1.92587419e+00,-1.01512085e+01,
  1.28382445e+02,-1.21357363e+01]

qfrc_actuator:
[ 1.28061192e-04, 8.82555853e-04, 1.58041668e-04,-1.02851967e-04,
 -4.15788868e-06, 3.48801468e-02, 1.09632569e-02, 1.67432028e-03,
 -8.51063713e-05, 8.27156237e-04, 1.93617956e-04, 7.96274181e-05,
  1.62246696e-03,-1.55844142e-03, 0.00000000e+00,-1.24789042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47416501,  1.66592445, -8.47416501, 10.22522943,
        8.08218581,  1.66592445,  8.08218581, 49.7485379 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038163326898321068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14864398, -0.04948465,  0.0618079 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37217413e-07,-9.19354864e-06,-1.05374003e-05,-6.99315241e-06,
  4.31737280e-05,-5.10819947e-06, 4.85352694e-05,-6.28069205e-05,
  2.94799240e-05, 1.56298572e-05,-1.93469228e-05, 1.17807959e-05,
  1.05182576e-05,-3.04207844e-06, 7.37963959e-06,-7.15872438e-05,
  8.62347598e-05,-2.52960039e-04,-4.90192423e+00,-1.88773497e-05,
  3.20746084e-03,-1.06264134e-03]


--- Step 2232 ---
qpos:
[ 0.0186898 , 0.03001606,-0.00946403,-0.02531899,-0.00351864, 1.34075748,
 -0.02992988, 0.94379103, 0.01153722, 0.02730765,-0.00827984, 0.02644448,
  1.37194276, 0.00766364, 1.30725184, 0.04423102,-0.09485834,-0.05606214,
  0.09353477, 0.70981205,-0.02510731,-0.70142805,-0.05945733]

qacc:
[ 2.93717721e+00, 9.89704144e-02,-1.91008859e-01,-7.27103835e-01,
  1.12155131e-01,-1.54009946e+00, 6.68216910e+00,-1.44728539e+01,
  4.91306327e-02,-1.71085003e+00, 8.30696501e+00,-1.82632535e+01,
 -4.93283004e-02, 1.22169571e-01,-2.69582702e+00, 9.04491713e+00,
 -4.38139086e+00, 7.51570437e-01,-2.50646339e+00, 9.29383904e+00,
 -1.47106098e+02, 2.34346633e+01]

qfrc_actuator:
[ 1.45686573e-04, 8.78982217e-04, 1.52212125e-04,-1.06172128e-04,
  2.72860517e-06, 3.48857811e-02, 1.09694723e-02, 1.63703894e-03,
 -8.57159960e-05, 8.10689292e-04, 1.97205726e-04, 5.02545358e-05,
  1.61750815e-03,-1.55071565e-03, 0.00000000e+00,-1.20257104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038542368405363667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44026311e-14, -7.20131553e-15,  1.00000000e+00,  1.03717891e-28,
        1.00000000e+00,  7.20131553e-15, -1.00000000e+00,  0.00000000e+00,
        1.44026311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00069964, -0.07205323,  0.06180623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76420217e-05,-1.11873212e-05,-9.27047797e-06,-4.21296248e-06,
  3.24001563e-05, 1.04161057e-05, 8.89496216e-06,-3.74699230e-05,
  2.58291670e-07,-1.11944366e-05, 4.84429502e-06,-2.91442636e-05,
 -7.87522212e-07, 9.36465475e-06,-7.60873324e-06, 4.15774755e-05,
  8.28981395e-05,-1.11918060e-04,-4.90189238e+00, 5.93963921e-04,
  3.26745341e-03,-1.01190164e-03]


--- Step 2233 ---
qpos:
[ 0.01869186, 0.03001571,-0.00946336,-0.02532025,-0.00351878, 1.34075756,
 -0.02992963, 0.9437909 , 0.0115366 , 0.02730727,-0.00828009, 0.02644394,
  1.37204385, 0.0076647 , 1.30736538, 0.04423081,-0.09486399,-0.05596504,
  0.09352194, 0.70975629,-0.02624447,-0.70154511,-0.05823831]

qacc:
[ 4.67325205e+00,-5.34499462e-01, 2.18738088e+00,-3.46830019e+00,
  8.03288064e-02, 5.76638579e+00,-2.30218338e+01, 4.68749085e+01,
 -2.99642049e+00, 3.26909396e-01, 4.97613323e-01,-6.02076499e+00,
 -2.60505004e-01, 4.67857002e-01,-3.84028047e+00, 1.31716710e+01,
 -3.90008105e+00, 6.88987808e-01,-3.34114966e+00, 7.88572255e+00,
 -1.30139326e+02, 2.07357500e+01]

qfrc_actuator:
[ 1.73201935e-04, 8.94772613e-04, 1.66327984e-04,-1.07643717e-04,
  6.83282045e-06, 3.49247382e-02, 1.09550794e-02, 1.75812383e-03,
 -1.03727951e-04, 8.18811664e-04, 1.81489089e-04, 3.30488475e-05,
  1.61088994e-03,-1.52868619e-03, 0.00000000e+00,-1.13979025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.65424911,  8.61154661, -0.65424911, 61.74498163,
        4.03484622,  8.61154661,  4.03484622,  8.94290492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00384601125919716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.21671720e-15,  1.08250758e-14,  1.00000000e+00, -7.81215108e-29,
        1.00000000e+00, -1.08250758e-14, -1.00000000e+00,  0.00000000e+00,
        7.21671720e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00071693, -0.0720515 ,  0.06180661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80269394e-05, 7.45088826e-06, 1.05164720e-05,-2.35202562e-06,
  2.32517021e-05, 4.53319368e-05,-1.24459012e-05, 1.20787116e-04,
 -1.80087810e-05, 1.63051321e-06,-1.84357007e-05,-1.80836836e-05,
 -5.00529937e-06, 2.47599746e-05,-8.28567985e-07, 6.36762116e-05,
  8.79672439e-05,-2.58104734e-04,-4.90184251e+00,-8.69537700e-05,
  3.21753184e-03,-9.89709686e-04]


--- Step 2234 ---
qpos:
[ 0.01869355, 0.0300157 ,-0.00946239,-0.02532157,-0.00351864, 1.34075763,
 -0.02992914, 0.94379257, 0.01153576, 0.02730716,-0.00828096, 0.02644388,
  1.37214499, 0.00766556, 1.30747892, 0.04423101,-0.09485048,-0.05586995,
  0.09352269, 0.70990232,-0.02734729,-0.70145132,-0.05706902]

qacc:
[-3.21959742e+00,-4.79979863e-01, 2.60699412e+00,-4.32796052e+00,
  1.17322326e-01, 2.37595909e+00,-1.14586669e+01, 3.07549809e+01,
 -1.82621150e+00, 3.07430099e+00,-1.25014618e+01, 2.17238115e+01,
  1.85467376e-01,-3.25802772e-01,-1.25837308e+00, 4.34830794e+00,
  4.79121906e+00,-5.00317786e-01, 3.39620414e+00,-8.74979102e+00,
  1.47259493e+02,-2.10515048e+01]

qfrc_actuator:
[ 1.53054805e-04, 9.39875882e-04, 1.92187725e-04,-1.07986371e-04,
  2.69891359e-05, 3.49123457e-02, 1.09643789e-02, 1.84717415e-03,
 -1.14075961e-04, 8.41525230e-04, 1.54598164e-04, 5.86528495e-05,
  1.60328861e-03,-1.55162162e-03, 0.00000000e+00,-1.12051320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003802394859787832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9197994e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9197994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14903356, -0.04821784,  0.06180854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93275551e-05, 5.13517192e-05, 2.86081893e-05, 2.94912531e-07,
  3.38981848e-05, 1.38801514e-05, 2.02925083e-05, 9.28484425e-05,
 -1.08749651e-05, 1.90518340e-05,-2.94418847e-05, 2.46872869e-05,
 -4.29344452e-06,-1.65982312e-05, 4.30777123e-06, 2.21779037e-05,
  1.41777011e-04,-3.96495491e-04,-4.90161995e+00,-7.20289789e-04,
  3.16687990e-03,-9.65472398e-04]


--- Step 2235 ---
qpos:
[ 0.0186936 , 0.03001634,-0.00946156,-0.0253229 ,-0.00351839, 1.3407581 ,
 -0.02992943, 0.94379358, 0.0115355 , 0.02730698,-0.00828145, 0.02644377,
  1.37224606, 0.00766621, 1.3075922 , 0.04423344,-0.09481997,-0.05577664,
  0.09353112, 0.71022793,-0.02842115,-0.70116987,-0.05594046]

qacc:
[-1.40297950e+01, 1.23924107e+00,-3.10020391e+00, 2.67517499e+00,
  4.88395191e-02, 1.53907850e+00,-3.04471366e+00,-5.19232672e+00,
  4.89194807e+00,-1.26627965e+00, 4.62130686e+00,-6.22138653e+00,
  2.71236272e-01,-4.46022223e-01,-7.18195116e+00, 2.45041335e+01,
  4.24864144e+00,-4.47353974e-01, 1.92167001e+00,-6.89903046e+00,
  1.30972868e+02,-1.69237883e+01]

qfrc_actuator:
[ 6.95070351e-05, 9.84494242e-04, 1.89392351e-04,-1.07629518e-04,
  2.11082503e-05, 3.49226414e-02, 1.09163510e-02, 1.81009814e-03,
 -8.43188761e-05, 8.37283437e-04, 1.74682153e-04, 5.59906235e-05,
  1.59508547e-03,-1.56559917e-03, 0.00000000e+00,-1.00275563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6355168 ,  0.12093957, -8.6355168 ,  8.6455136 ,
        0.6533397 ,  0.12093957,  0.6533397 , 55.28714859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037971915281216906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14904511, -0.04822951,  0.06180878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.40948981e-05, 7.92348383e-05, 1.13349485e-05, 3.55226490e-06,
  1.41515269e-05, 2.47365861e-05,-4.02787538e-05,-3.39080377e-05,
  2.94441266e-05, 1.39618323e-06, 2.12583622e-05,-2.38145521e-06,
 -1.42024350e-05,-2.00200310e-05, 1.90263244e-06, 1.18956053e-04,
  8.70474159e-05,-2.20221674e-04,-4.90183880e+00, 1.67934786e-05,
  3.21918292e-03,-9.10660565e-04]


--- Step 2236 ---
qpos:
[ 0.01869265, 0.0300173 ,-0.00946093,-0.02532381,-0.00351809, 1.3407588 ,
 -0.02993079, 0.94379314, 0.01153629, 0.02730715,-0.00828216, 0.02644361,
  1.37234679, 0.00766721, 1.30770589, 0.04423392,-0.0948075 ,-0.05568019,
  0.09352966, 0.71034915,-0.02953843,-0.70109447,-0.05475502]

qacc:
[-8.60921784e+00, 1.84056129e+00,-7.63972334e+00, 1.47417412e+01,
  1.59991708e-02, 6.99880177e-01, 1.08349110e+00,-1.79887560e+01,
  8.93149901e+00, 9.30482157e-01,-2.48625302e+00, 1.80402290e+00,
 -6.70684007e-01, 8.72025782e-01, 6.59591655e+00,-2.20653240e+01,
 -4.50884674e+00, 7.87344245e-01,-2.47498086e+00, 7.37655424e+00,
 -1.46846235e+02, 2.67827068e+01]

qfrc_actuator:
[ 2.03374660e-05, 9.75115151e-04, 1.69708563e-04,-8.91290294e-05,
  1.74083134e-05, 3.49106388e-02, 1.08526207e-02, 1.73458148e-03,
 -3.11971337e-05, 8.70361109e-04, 1.68957223e-04, 5.44767817e-05,
  1.58120249e-03,-1.53861368e-03, 0.00000000e+00,-1.11194667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038395718397475492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44576410e-14,  3.61441025e-15,  1.00000000e+00, -5.22558458e-29,
        1.00000000e+00, -3.61441025e-15, -1.00000000e+00,  0.00000000e+00,
        1.44576410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00072803, -0.07203628,  0.06180689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15955352e-05, 3.73619045e-05,-1.81113536e-06, 2.23573845e-05,
  4.66400610e-06,-7.21774355e-06,-6.44683769e-05,-7.67390194e-05,
  5.39827418e-05, 3.81697196e-05,-2.89378696e-06,-7.64303757e-07,
 -2.52702130e-05, 1.74829318e-05, 1.20385114e-05,-1.02802141e-04,
  9.57892170e-05,-7.54815565e-05,-4.90184118e+00, 6.46203764e-04,
  3.26555914e-03,-8.59075488e-04]


--- Step 2237 ---
qpos:
[ 0.01869181, 0.03001824,-0.00945982,-0.02532451,-0.0035178 , 1.34075895,
 -0.0299318 , 0.94379213, 0.0115377 , 0.02730756,-0.00828265, 0.02644376,
  1.37244736, 0.00766847, 1.3078197 , 0.04423243,-0.09481103,-0.05558085,
  0.09351493, 0.71028915,-0.03069417,-0.70120101,-0.05351943]

qacc:
[ 9.29214813e-01,-9.10638599e-01, 2.28386258e+00, 8.18769981e-01,
  1.48868035e-03,-2.63939179e+00, 8.87982896e+00,-1.38441655e+01,
  5.39037617e+00, 3.70411296e-01,-2.18186394e+00, 7.08331446e+00,
 -4.45509855e-01, 6.04528492e-01, 6.16693779e+00,-2.11808284e+01,
 -4.00055813e+00, 7.20542366e-01,-3.31606920e+00, 6.22701982e+00,
 -1.29940022e+02, 2.36374907e+01]

qfrc_actuator:
[ 2.73221085e-05, 9.68914329e-04, 1.93272601e-04,-7.79063098e-05,
  1.50482434e-05, 3.48675104e-02, 1.08688271e-02, 1.70807579e-03,
 -2.66640276e-07, 8.89932256e-04, 1.83681294e-04, 7.14127067e-05,
  1.57991603e-03,-1.52304069e-03, 0.00000000e+00,-1.21197705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.23053085,  8.6332863 ,  0.23053085, 84.27476548,
       -2.01973897,  8.6332863 , -2.01973897,  8.69029584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003832371222300429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44848054e-14, -1.44848054e-14,  1.00000000e+00,  2.09809586e-28,
        1.00000000e+00,  1.44848054e-14, -1.00000000e+00,  0.00000000e+00,
        1.44848054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00074461, -0.07203322,  0.06180722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48991970e-06, 1.52197777e-05, 3.18175174e-05, 1.31958994e-05,
  3.96259980e-07,-6.20424074e-05, 5.20747377e-06,-3.03940346e-05,
  3.25248049e-05, 4.03093106e-05, 2.22309962e-05, 1.84561163e-05,
 -9.92227541e-06, 1.51270569e-05,-1.01207946e-05,-1.05161109e-04,
  9.42381562e-05,-2.21361333e-04,-4.90176488e+00,-3.85040308e-05,
  3.22319710e-03,-8.36558064e-04]


--- Step 2238 ---
qpos:
[ 0.0186914 , 0.03001942,-0.00945824,-0.02532475,-0.00351751, 1.34075906,
 -0.02993282, 0.94379079, 0.01153844, 0.02730784,-0.0082825 , 0.02644413,
  1.37254796, 0.00766964, 1.30793314, 0.04423209,-0.09479566,-0.05548321,
  0.0935137 , 0.71043223,-0.03182136,-0.70109583,-0.05232667]

qacc:
[ 3.73615624e+00,-6.29166313e-02,-1.26239238e+00, 8.23506700e+00,
 -4.50574432e-03,-6.05022445e-01, 2.60884274e+00,-6.16170519e+00,
 -5.72465115e+00,-1.52455106e+00, 4.26465918e+00,-1.40464426e+00,
  1.83861039e-01,-2.51268899e-01,-4.01488177e+00, 1.32168892e+01,
  4.72542131e+00,-4.24539326e-01, 3.37382967e+00,-7.42854319e+00,
  1.47815463e+02,-1.65327582e+01]

qfrc_actuator:
[ 4.95388650e-05, 1.00032517e-03, 2.24425760e-04,-5.32767589e-05,
  1.35117028e-05, 3.48951663e-02, 1.08787431e-02, 1.69290937e-03,
 -3.59113294e-05, 8.65855991e-04, 2.10339465e-04, 8.13264334e-05,
  1.58085804e-03,-1.53210407e-03, 0.00000000e+00,-1.14595740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037967644829647804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14905489, -0.0482678 ,  0.06180877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23761966e-05, 4.70166976e-05, 3.86498322e-05, 2.66358402e-05,
 -1.30441828e-06,-6.56134125e-06,-2.51975760e-06,-1.75856654e-05,
 -3.46788589e-05, 3.85433849e-06, 3.83621827e-05, 1.27683076e-05,
 -1.09891489e-06,-6.48730068e-06,-1.91269192e-05, 5.82369915e-05,
  1.42022717e-04,-3.60267940e-04,-4.90151868e+00,-6.80185526e-04,
  3.17922842e-03,-8.11953568e-04]


--- Step 2239 ---
qpos:
[ 0.01869161, 0.0300207 ,-0.00945646,-0.025325  ,-0.00351753, 1.34075948,
 -0.0299342 , 0.94378961, 0.01153807, 0.02730784,-0.00828242, 0.02644434,
  1.37264828, 0.00767105, 1.30804614, 0.04423518,-0.0947635 ,-0.05538709,
  0.09352008, 0.71075592,-0.03292468,-0.70080223,-0.05116858]

qacc:
[ 5.27561932e+00,-4.53777749e-01, 1.83338635e+00,-2.40496391e+00,
 -1.29196766e-01, 1.65585131e+00,-5.23630487e+00, 6.20466882e+00,
 -9.57422227e+00,-4.68041669e-01, 1.83751756e+00,-4.30537714e+00,
 -7.10791328e-02, 1.49042976e-01,-1.10614318e+01, 3.77262936e+01,
  4.19713806e+00,-3.78969530e-01, 1.90273241e+00,-5.73181882e+00,
  1.31410044e+02,-1.29598056e+01]

qfrc_actuator:
[ 8.05245984e-05, 9.83055435e-04, 2.24453545e-04,-5.64294901e-05,
 -2.30233461e-05, 3.49294919e-02, 1.08673525e-02, 1.70230156e-03,
 -9.26965301e-05, 8.15874969e-04, 1.90378594e-04, 6.92409126e-05,
  1.56182330e-03,-1.52020630e-03, 0.00000000e+00,-9.64873316e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61600584, -0.59263835, -8.61600584,  8.86241994,
       -3.28649411, -0.59263835, -3.28649411, 56.41668779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003791523807935175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14906479, -0.048279  ,  0.061809  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16461646e-05, 1.80927820e-05, 1.53877551e-05, 7.09670760e-07,
 -3.73060640e-05, 2.96729869e-05,-1.34773920e-05, 8.71024710e-06,
 -5.78005185e-05,-3.93766375e-05,-1.40015617e-05,-1.03446957e-05,
 -2.14022151e-05, 9.79254463e-06,-3.45755654e-06, 1.81605633e-04,
  9.32130693e-05,-1.84903404e-04,-4.90170268e+00, 7.13937956e-05,
  3.22398766e-03,-7.55901980e-04]


--- Step 2240 ---
qpos:
[ 0.01869218, 0.03002182,-0.00945507,-0.02532556,-0.00351805, 1.34076   ,
 -0.02993534, 0.94378785, 0.01153735, 0.02730752,-0.00828227, 0.02644475,
  1.37274827, 0.00767266, 1.30815887, 0.04424207,-0.09474958,-0.05528765,
  0.09351664, 0.7108751 ,-0.03407589,-0.70071419,-0.04995052]

qacc:
[ 3.16784392e+00, 2.47916476e-01, 1.14355766e-01,-4.69197809e+00,
 -2.12911049e-01,-1.50825710e+00, 6.27935663e+00,-1.22637951e+01,
 -2.84036774e+00,-2.14327307e-01,-6.59771856e-01, 4.14098897e+00,
 -7.19510562e-02, 1.10119935e-01,-1.18808620e+01, 4.09998934e+01,
 -4.56008163e+00, 8.29421600e-01,-2.45510024e+00, 5.88786791e+00,
 -1.46914979e+02, 2.94766567e+01]

qfrc_actuator:
[ 9.86652440e-05, 9.36621372e-04, 1.88137926e-04,-7.59661790e-05,
 -6.25060510e-05, 3.49319785e-02, 1.08790382e-02, 1.67280790e-03,
 -1.08190194e-04, 8.03807891e-04, 1.96168718e-04, 7.97528941e-05,
  1.54147994e-03,-1.51377685e-03, 0.00000000e+00,-7.70757919e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038293418773078375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.24813206e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.24813206e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00075016, -0.07201556,  0.06180731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90626205e-05,-3.31642811e-05,-3.06957263e-05,-1.82234578e-05,
 -6.15278685e-05, 1.65224690e-05, 1.62114008e-05,-2.87979724e-05,
 -1.71991819e-05,-3.74449652e-05,-4.42563230e-06, 8.14042856e-06,
 -2.82230173e-05, 4.25165659e-06, 1.67959860e-05, 2.03376964e-04,
  1.07413085e-04,-3.82057947e-05,-4.90167436e+00, 7.20054534e-04,
  3.26423425e-03,-7.02790622e-04]


--- Step 2241 ---
qpos:
[ 0.01869331, 0.03002276,-0.00945412,-0.02532599,-0.00351877, 1.34076039,
 -0.02993592, 0.94378541, 0.0115368 , 0.02730704,-0.00828185, 0.02644525,
  1.37284821, 0.00767385, 1.30827209, 0.04424756,-0.09475182,-0.05518518,
  0.09349999, 0.71081295,-0.03526952,-0.70080761,-0.04867958]

qacc:
[ 4.77723086e+00, 1.23024294e+00,-5.27973645e+00, 8.28597437e+00,
 -8.30740028e-02,-2.85536871e+00, 1.04939387e+01,-1.69067064e+01,
  1.40764926e+00,-7.83017657e-01, 2.12830532e+00,-9.40319365e-01,
  7.12219432e-02,-3.52600432e-01, 4.96218957e+00,-1.63279638e+01,
 -4.04059311e+00, 7.57302499e-01,-3.30029323e+00, 4.89481769e+00,
 -1.29996045e+02, 2.60328898e+01]

qfrc_actuator:
[ 1.26849755e-04, 9.26153797e-04, 1.66027008e-04,-6.95275793e-05,
 -5.01792181e-05, 3.49154476e-02, 1.09041140e-02, 1.63841355e-03,
 -9.92484288e-05, 8.14639846e-04, 2.17292549e-04, 8.57802771e-05,
  1.53101753e-03,-1.54618822e-03, 0.00000000e+00,-8.54603699e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038232497721135614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63342834e-14, -2.90387260e-14,  1.00000000e+00,  4.74326778e-28,
        1.00000000e+00,  2.90387260e-14, -1.00000000e+00,  0.00000000e+00,
        1.63342834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00076438, -0.07201212,  0.06180758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87255265e-05,-3.61834332e-05,-3.34009250e-05, 3.59655151e-06,
 -2.40326858e-05,-5.09194152e-06, 2.93065312e-05,-3.40930989e-05,
  8.42402376e-06,-1.06721515e-05, 1.31266401e-05, 4.42805978e-06,
 -2.25586197e-05,-3.80505407e-05, 2.74868079e-05,-7.10188395e-05,
  1.00558514e-04,-1.86595310e-04,-4.90157379e+00, 1.73475512e-05,
  3.22727106e-03,-6.79605443e-04]


--- Step 2242 ---
qpos:
[ 0.01869512, 0.03002343,-0.00945316,-0.02532636,-0.00351925, 1.34076043,
 -0.02993615, 0.94378432, 0.01153637, 0.02730624,-0.00828163, 0.02644552,
  1.37294797, 0.00767469, 1.30838565, 0.04425038,-0.09473525,-0.05508406,
  0.09349677, 0.71095446,-0.03643992,-0.70068881,-0.04744558]

qacc:
[ 5.78725423e+00,-2.78719647e-01, 2.09505146e-01, 1.01840165e+00,
  1.00788914e-01, 9.46676022e-01,-6.42406671e+00, 2.15880309e+01,
  9.51126049e-01,-3.33485612e-01, 1.49508983e+00,-4.77008010e+00,
 -1.58874773e-01,-8.58036324e-02, 8.60971477e+00,-2.93604103e+01,
  4.70399633e+00,-3.37229841e-01, 3.35349206e+00,-6.26577900e+00,
  1.48007058e+02,-1.25612675e+01]

qfrc_actuator:
[ 1.60724787e-04, 9.19607727e-04, 1.70397077e-04,-6.55657185e-05,
 -6.87207553e-06, 3.48877069e-02, 1.09190557e-02, 1.70792553e-03,
 -9.37618602e-05, 7.68161652e-04, 1.94130344e-04, 7.13942305e-05,
  1.51581972e-03,-1.56585705e-03, 0.00000000e+00,-9.95027820e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037906076599371896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46443938e-14, -2.92887876e-14,  1.00000000e+00,  4.28916538e-28,
        1.00000000e+00,  2.92887876e-14, -1.00000000e+00,  0.00000000e+00,
        1.46443938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14907168, -0.04831674,  0.06180899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46967714e-05,-3.35615804e-05,-7.11569639e-06, 1.32246618e-06,
  2.91048144e-05,-2.58554961e-05, 1.62777207e-05, 6.94243912e-05,
  5.72789169e-06,-4.95325797e-05,-2.35980686e-05,-1.43044657e-05,
 -3.50390810e-05,-3.65376854e-05, 3.31169621e-07,-1.41880216e-04,
  1.43491764e-04,-3.27681414e-04,-4.90130465e+00,-6.44213453e-04,
  3.18837487e-03,-6.54258254e-04]


--- Step 2243 ---
qpos:
[ 0.01869698, 0.03002391,-0.00945275,-0.02532666,-0.00351967, 1.34076042,
 -0.02993656, 0.94378443, 0.01153634, 0.02730526,-0.00828201, 0.02644563,
  1.3730474 , 0.00767553, 1.30849909, 0.0442525 ,-0.09473578,-0.05498093,
  0.0934819 , 0.71090145,-0.03762993,-0.70076341,-0.04619258]

qacc:
[ 3.95578620e-01, 1.42852356e+00,-5.81900567e+00, 8.23368612e+00,
  2.67061431e-02, 2.44426743e+00,-1.05277103e+01, 2.29820094e+01,
  3.51670964e+00, 1.11837970e+00,-3.65291433e+00, 1.93396602e+00,
 -3.04620719e-01, 2.43936171e-01, 1.93690276e+00,-6.98146635e+00,
 -4.27679954e+00, 5.03140341e-01,-2.90784323e+00, 7.31102651e-01,
 -1.37706755e+02, 5.48053492e+00]

qfrc_actuator:
[ 1.62169723e-04, 8.97819207e-04, 1.37121636e-04,-6.30747366e-05,
 -1.63433656e-05, 3.48889983e-02, 1.09101509e-02, 1.76700038e-03,
 -7.26091138e-05, 7.58543557e-04, 1.62511178e-04, 6.27866357e-05,
  1.50311940e-03,-1.56003156e-03, 0.00000000e+00,-1.02554405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003787390369474966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46568338e-14,  2.93136676e-14,  1.00000000e+00,  4.29645555e-28,
        1.00000000e+00, -2.93136676e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46568338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00088341, -0.06775333,  0.06180912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44144640e-06,-4.19971486e-05,-4.10591543e-05, 8.29022228e-07,
  7.72716423e-06,-7.74144902e-06,-1.00754877e-05, 6.03828910e-05,
  2.13025326e-05,-4.27782114e-05,-4.52468932e-05,-1.18248111e-05,
 -3.89993306e-05,-1.31689224e-05,-1.91830395e-05,-3.91945134e-05,
  1.00155702e-04,-1.48887722e-04,-4.90145778e+00, 1.32291842e-04,
  3.22692674e-03,-5.96125589e-04]


--- Step 2244 ---
qpos:
[ 0.01869746, 0.03002381,-0.00945259,-0.02532689,-0.00352024, 1.34076039,
 -0.02993707, 0.94378455, 0.01153623, 0.02730432,-0.00828265, 0.02644558,
  1.37314661, 0.00767614, 1.30861216, 0.04425621,-0.09471771,-0.05487914,
  0.09348008, 0.71105124,-0.03880152,-0.70062709,-0.04496957]

qacc:
[-1.17983262e+01, 1.02136597e-01,-1.66968446e+00, 3.48671023e+00,
 -6.48685797e-02, 2.46339060e-01,-8.31862399e-01, 8.05182672e-01,
 -7.85952632e-01, 4.33567367e-01,-7.99515308e-01,-1.55960440e+00,
  1.09625231e-01,-3.18944452e-01,-5.38991034e+00, 1.80215155e+01,
  4.65231930e+00,-3.37313687e-01, 3.25841325e+00,-5.01198180e+00,
  1.47013366e+02,-8.46106918e+00]

qfrc_actuator:
[ 9.12554059e-05, 8.49173246e-04, 1.17319068e-04,-6.15111391e-05,
 -3.96494316e-05, 3.48898204e-02, 1.09050839e-02, 1.76618222e-03,
 -7.79088383e-05, 7.88778189e-04, 1.61812072e-04, 5.76769719e-05,
  1.49193739e-03,-1.57461843e-03, 0.00000000e+00,-9.37770554e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038242409482692336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45155998e-14, -1.45155998e-14,  1.00000000e+00,  2.10702638e-28,
        1.00000000e+00,  1.45155998e-14, -1.00000000e+00,  0.00000000e+00,
        1.45155998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14902688, -0.04834775,  0.06180737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08580598e-05,-8.06011343e-05,-3.35162641e-05,-1.64068079e-06,
 -1.87401235e-05,-3.61547633e-06,-5.95646318e-06, 5.31797318e-08,
 -4.69187827e-06,-3.49326888e-06,-1.55029249e-05,-8.73667963e-06,
 -3.39972842e-05,-2.73911183e-05,-1.54190428e-05, 8.26237538e-05,
  1.17834888e-04,-2.86984160e-04,-4.90137737e+00,-5.64189752e-04,
  3.21722178e-03,-5.72172450e-04]


--- Step 2245 ---
qpos:
[ 0.01869639, 0.03002306,-0.00945235,-0.02532712,-0.00352073, 1.34076051,
 -0.0299377 , 0.94378464, 0.01153639, 0.0273035 ,-0.0082834 , 0.02644579,
  1.37324546, 0.00767682, 1.30872537, 0.04425891,-0.09468308,-0.05477855,
  0.09348546, 0.71138121,-0.03995801,-0.70030301,-0.04377016]

qacc:
[-1.32284934e+01,-1.02616823e+00, 2.42675579e+00,-1.98043955e+00,
  3.72313556e-02, 5.17520320e-01,-1.40121360e+00, 8.56464079e-01,
  2.40233085e+00, 1.01186842e+00,-4.51257076e+00, 9.19682716e+00,
 -4.24655196e-01, 4.19646494e-01, 3.33288572e+00,-1.12567982e+01,
  4.13733818e+00,-2.96573631e-01, 1.80122745e+00,-3.63207689e+00,
  1.30675939e+02,-5.98456474e+00]

qfrc_actuator:
[ 1.38347334e-05, 8.20367511e-04, 1.23278325e-04,-6.05155690e-05,
 -1.78072241e-05, 3.49080830e-02, 1.09023009e-02, 1.76564093e-03,
 -6.32354025e-05, 8.07270293e-04, 1.61798635e-04, 7.24779733e-05,
  1.47634265e-03,-1.56572797e-03, 0.00000000e+00,-9.94066053e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.53584969, -1.31379105, -8.53584969,  9.91962666,
       -8.33750565, -1.31379105, -8.33750565, 62.80608511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038142235492320264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91074451e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.91074451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14904224, -0.04835604,  0.06180782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.95118891e-05,-8.08934324e-05,-1.48700488e-05,-3.64362278e-06,
  1.07675272e-05, 1.50992235e-05,-4.16580275e-06,-8.23920938e-07,
  1.45321496e-05, 1.30014676e-05,-2.92818904e-06, 1.39486570e-05,
 -3.88067210e-05,-7.27553543e-06, 4.84152271e-07,-5.40456519e-05,
  8.53545999e-05,-1.10900386e-04,-4.90148178e+00, 2.01343659e-04,
  3.24785536e-03,-5.14354250e-04]


--- Step 2246 ---
qpos:
[ 0.01869544, 0.03002193,-0.00945221,-0.02532666,-0.00352105, 1.34076096,
 -0.02993791, 0.94378503, 0.01153708, 0.02730306,-0.00828456, 0.02644582,
  1.37334413, 0.00767731, 1.30883853, 0.04426125,-0.09466807,-0.05467629,
  0.09348308, 0.71148849,-0.04112352,-0.70020057,-0.04256943]

qacc:
[ 9.75529662e-01, 1.15927984e+00,-7.73791610e+00, 1.99489484e+01,
  6.78816181e-02,-2.25632575e-01, 6.54119336e-01, 2.61654196e+00,
  4.41141238e+00, 1.24055452e+00,-2.90997879e+00, 6.74052643e-02,
 -4.27769493e-02,-1.23773630e-01, 1.00204243e+00,-3.62627197e+00,
 -4.90428131e+00, 4.14403317e-01,-1.93880878e+00,-2.33771136e+00,
 -1.57037727e+02,-5.67517567e+00]

qfrc_actuator:
[ 2.19915580e-05, 8.21524466e-04, 1.26713964e-04,-2.43276040e-05,
 -4.56137914e-06, 3.49544054e-02, 1.09364710e-02, 1.78304515e-03,
 -3.69147706e-05, 8.36379317e-04, 1.44407836e-04, 6.33611024e-05,
  1.46877228e-03,-1.57846791e-03, 0.00000000e+00,-1.01055881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038413354613142468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87797428e-07,  8.87797413e-07,  1.00000000e+00,  7.88184260e-13,
        1.00000000e+00, -8.87797413e-07, -1.00000000e+00,  0.00000000e+00,
       -8.87797428e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00117146, -0.0655137 ,  0.06180661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81464543e-06,-4.73044507e-05,-1.52182451e-05, 3.21442910e-05,
  1.96094997e-05, 5.38358242e-05, 3.66262278e-05, 1.77161447e-05,
  2.67469873e-05, 3.64162043e-05,-1.45656346e-05,-8.38709210e-06,
 -2.86305985e-05,-2.38341372e-05,-9.18430624e-06,-2.02084583e-05,
  1.13093008e-04, 4.10340124e-05,-4.90138750e+00, 8.74320163e-04,
  3.27650245e-03,-4.58924479e-04]


--- Step 2247 ---
qpos:
[ 0.01869529, 0.03002041,-0.00945206,-0.02532544,-0.00352136, 1.34076155,
 -0.0299376 , 0.94378494, 0.01153704, 0.02730281,-0.00828584, 0.02644541,
  1.37344297, 0.00767684, 1.3089512 , 0.0442667 ,-0.09467043,-0.05457254,
  0.09346931, 0.71139868,-0.042296  ,-0.70029389,-0.04136949]

qacc:
[ 6.81843224e+00, 1.02669189e+00,-7.66786959e+00, 2.12483292e+01,
  6.35392754e-03,-2.05541337e+00, 7.89843251e+00,-1.24368567e+01,
 -6.18271153e+00,-3.05940094e-01, 3.35333165e+00,-1.10469972e+01,
  9.92689277e-01,-1.64011368e+00,-1.02626265e+01, 3.45761935e+01,
 -4.34165651e+00, 3.74011916e-01,-2.84863091e+00,-2.64871831e+00,
 -1.38774380e+02,-6.06156566e+00]

qfrc_actuator:
[ 6.27029899e-05, 8.05146677e-04, 1.28774648e-04, 1.45465807e-05,
 -1.43335256e-05, 3.49463170e-02, 1.09568002e-02, 1.75765288e-03,
 -7.49661183e-05, 8.36033807e-04, 1.34674481e-04, 4.02377585e-05,
  1.47133886e-03,-1.63944420e-03, 0.00000000e+00,-8.43648543e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.44407251,  7.91992054, -3.44407251, 78.23960858,
       30.26780655,  7.91992054, 30.26780655, 21.79868263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00385726388392435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43913284e-14,  1.43913284e-14,  1.00000000e+00, -2.07110333e-28,
        1.00000000e+00, -1.43913284e-14, -1.00000000e+00,  0.00000000e+00,
        1.43913284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00116966, -0.06531136,  0.06180588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08669896e-05,-4.45535109e-05,-8.46017268e-06, 3.69494398e-05,
  1.81792286e-06, 2.93886319e-05, 3.55482409e-05,-2.22885150e-05,
 -3.72568947e-05, 1.66912295e-05,-4.27716409e-06,-2.22274727e-05,
 -1.74079702e-05,-7.47125598e-05,-8.87600263e-06, 1.64053168e-04,
  6.29725965e-05,-1.08671329e-04,-4.90159242e+00, 8.83772963e-05,
  3.29135885e-03,-4.38179709e-04]


--- Step 2248 ---
qpos:
[ 0.01869528, 0.03001848,-0.00945182,-0.02532445,-0.00352156, 1.34076228,
 -0.02993783, 0.94378426, 0.01153655, 0.02730241,-0.00828681, 0.02644473,
  1.37354175, 0.00767608, 1.30906365, 0.04427509,-0.09468822,-0.05446738,
  0.093441  , 0.71113363,-0.04347498,-0.70056065,-0.04017046]

qacc:
[ 1.25168538e+00,-1.27874853e+00, 4.76315191e+00,-8.68945184e+00,
  4.51862985e-02, 6.68742284e-01,-7.40612756e-01,-6.30759149e+00,
 -3.87691894e+00,-1.58424517e+00, 6.49697348e+00,-1.14362910e+01,
  3.71032720e-01,-6.07764064e-01,-9.22300854e+00, 3.17152202e+01,
 -3.85604056e+00, 3.51568496e-01,-3.63511667e+00,-2.74574493e+00,
 -1.23164894e+02,-5.33755684e+00]

qfrc_actuator:
[ 6.89633817e-05, 7.78408763e-04, 1.29943990e-04, 1.41480977e-06,
 -2.32982167e-06, 3.49233941e-02, 1.09152956e-02, 1.72498466e-03,
 -9.73479063e-05, 8.18064378e-04, 1.47176805e-04, 2.67990851e-05,
  1.47996347e-03,-1.63976426e-03, 0.00000000e+00,-6.94294076e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038249157210958756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25651953e-15, -3.62825976e-15,  1.00000000e+00,  2.63285378e-29,
        1.00000000e+00,  3.62825976e-15, -1.00000000e+00,  0.00000000e+00,
        7.25651953e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00124406, -0.06531606,  0.06180728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.43889756e-06,-5.17518638e-05,-7.78427445e-06,-1.46138295e-05,
  1.30790499e-05,-3.85782342e-07,-3.23650204e-05,-3.12580409e-05,
 -2.34682577e-05,-1.04596795e-05, 1.46745611e-05,-1.32980683e-05,
 -1.70729403e-05,-2.71745746e-05, 1.32740235e-05, 1.57114155e-04,
  7.09918963e-05,-2.47595207e-04,-4.90158401e+00,-5.93390296e-04,
  3.30105873e-03,-4.15242775e-04]


--- Step 2249 ---
qpos:
[ 0.018695  , 0.03001636,-0.00945166,-0.02532364,-0.00352149, 1.34076294,
 -0.02993795, 0.94378387, 0.01153614, 0.0273022 ,-0.00828719, 0.02644383,
  1.37364035, 0.00767546, 1.30917602, 0.04428621,-0.09468548,-0.05436387,
  0.09343149, 0.71109551,-0.04464775,-0.70059255,-0.03898507]

qacc:
[-2.30901736e+00,-4.05218817e-01, 1.84709130e+00,-4.72529275e+00,
  1.13190708e-01, 8.28008233e-02,-9.72154023e-01, 4.23456136e+00,
  6.92276254e-01,-1.85121756e+00, 7.85457523e+00,-1.26690314e+01,
 -6.46699548e-03, 4.69201891e-02,-8.41015095e+00, 2.92261428e+01,
  5.12962383e+00,-4.11903341e-01, 4.70141238e+00,-2.35363582e+00,
  1.63418781e+02, 2.63503344e+00]

qfrc_actuator:
[ 5.48846792e-05, 7.81137814e-04, 1.30497234e-04,-6.71721085e-06,
  2.26413079e-05, 3.49270161e-02, 1.09263247e-02, 1.74151585e-03,
 -9.25538533e-05, 8.60782878e-04, 1.90386263e-04, 1.91648442e-05,
  1.48158569e-03,-1.62172422e-03, 0.00000000e+00,-5.56537612e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003886360014365195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.42835844e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.42835844e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14894082, -0.04839466,  0.06180436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38733893e-05,-2.83758969e-05,-1.15822834e-05,-1.09003847e-05,
  3.27004028e-05,-3.86721694e-06, 6.35219593e-06, 1.48453976e-05,
  4.10064885e-06, 3.93481348e-05, 4.24141230e-05,-7.82808860e-06,
 -1.25115239e-05, 5.57300708e-06, 2.11041565e-05, 1.47617316e-04,
  1.19129289e-04,-3.75245786e-04,-4.90142022e+00,-1.18754288e-03,
  3.30496546e-03,-3.90463178e-04]


--- Step 2250 ---
qpos:
[ 0.01869489, 0.03001427,-0.00945164,-0.02532262,-0.00352129, 1.34076328,
 -0.02993725, 0.94378366, 0.01153544, 0.02730229,-0.00828715, 0.02644354,
  1.37373881, 0.00767481, 1.3092888 , 0.04429624,-0.0946646 ,-0.05426175,
  0.09343406, 0.71125777,-0.04581592,-0.70041682,-0.03780957]

qacc:
[ 1.52315143e+00, 8.89422612e-01,-4.01722138e+00, 7.95941803e+00,
  5.67839372e-02,-2.28553597e+00, 6.57007791e+00,-3.33793613e+00,
 -2.41858651e+00, 4.53640088e-01,-3.55914550e+00, 1.30316502e+01,
 -2.08063367e-01, 1.71818581e-01, 3.93347554e+00,-1.28415341e+01,
  4.53705626e+00,-3.47238079e-01, 3.01854656e+00,-1.40452781e+00,
  1.44324355e+02, 3.41303227e+00]

qfrc_actuator:
[ 6.44638582e-05, 8.01492956e-04, 1.30811617e-04, 5.94258531e-06,
  1.96843039e-05, 3.49112131e-02, 1.09684226e-02, 1.75141792e-03,
 -1.07312251e-04, 8.86393132e-04, 2.16113919e-04, 5.05779168e-05,
  1.46836684e-03,-1.62849189e-03, 0.00000000e+00,-6.21995371e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003912236763044599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41891083e-14,  1.41891083e-14,  1.00000000e+00, -2.01330795e-28,
        1.00000000e+00, -1.41891083e-14, -1.00000000e+00,  0.00000000e+00,
        1.41891083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14890434, -0.04840311,  0.06180314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17235285e-06, 1.69806805e-06,-7.32780902e-06, 1.08351203e-05,
  1.63672567e-05,-1.62571739e-05, 4.24984821e-05, 1.03164194e-05,
 -1.46272137e-05, 5.60542073e-05, 3.88173110e-05, 3.44176036e-05,
 -1.74070213e-05,-8.25845376e-06, 2.29958466e-05,-5.52720094e-05,
  3.74434476e-05,-1.78210554e-04,-4.90164598e+00,-3.70592082e-04,
  3.31227429e-03,-3.32229912e-04]


--- Step 2251 ---
qpos:
[ 0.0186956 , 0.03001228,-0.00945114,-0.02532116,-0.00352117, 1.34076341,
 -0.02993662, 0.94378362, 0.01153526, 0.02730216,-0.0082868 , 0.02644369,
  1.37383725, 0.00767385, 1.30940205, 0.04430242,-0.09462755,-0.0541608 ,
  0.09344299, 0.71159798,-0.04698064,-0.70005612,-0.03664102]

qacc:
[ 6.91925214e+00,-3.22222349e-01,-5.16197669e-01, 7.24053058e+00,
 -3.46492822e-02, 1.39036805e-01,-1.11718857e+00, 2.92425878e+00,
  4.43728578e+00,-2.19604615e-01,-1.55997723e+00, 9.09894262e+00,
 -1.54100801e-01,-3.03746116e-02, 1.23345535e+01,-4.20899317e+01,
  4.04078367e+00,-2.92349332e-01, 1.59117305e+00,-6.27386455e-01,
  1.28319592e+02, 3.92421541e+00]

qfrc_actuator:
[ 1.05650783e-04, 8.32272118e-04, 1.66583935e-04, 3.07524880e-05,
 -2.97907627e-09, 3.48840320e-02, 1.09574119e-02, 1.75732930e-03,
 -8.02122967e-05, 8.30530511e-04, 2.13526541e-04, 6.91841232e-05,
  1.46222444e-03,-1.65002623e-03, 0.00000000e+00,-8.24397366e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038906648810113423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85355603e-14,  1.42677802e-14,  1.00000000e+00, -4.07139102e-28,
        1.00000000e+00, -1.42677802e-14, -1.00000000e+00,  0.00000000e+00,
        2.85355603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14893514, -0.04840315,  0.06180413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14610228e-05, 3.07557525e-05, 3.56170434e-05, 2.48420494e-05,
 -1.00156420e-05,-2.75537073e-05,-9.05339055e-06, 6.90940236e-06,
  2.66883586e-05,-1.50338521e-05, 1.49624702e-05, 2.30221377e-05,
 -1.65590459e-05,-2.80970901e-05, 1.78867958e-07,-2.03531132e-04,
  3.16765664e-05,-5.73155646e-06,-4.90162378e+00, 3.59572490e-04,
  3.32156489e-03,-2.75830561e-04]


--- Step 2252 ---
qpos:
[ 0.01869644, 0.03001087,-0.0094504 ,-0.02531981,-0.0035212 , 1.34076352,
 -0.02993647, 0.94378364, 0.01153541, 0.02730133,-0.00828588, 0.02644377,
  1.37393551, 0.00767288, 1.30951548, 0.04430481,-0.09461017,-0.05405781,
  0.09344428, 0.71171486,-0.04815507,-0.69991782,-0.03546966]

qacc:
[ 1.22885938e+00,-1.28871612e-01, 1.99780777e+00,-4.60810535e+00,
 -6.14260300e-02, 1.42350435e+00,-4.83073303e+00, 5.09393912e+00,
  2.81711212e+00,-2.70700113e+00, 8.62099902e+00,-1.03556169e+01,
 -4.52735486e-01, 4.55597464e-01, 1.18001172e+01,-4.07985203e+01,
 -4.91733343e+00, 5.09447473e-01,-1.91118810e+00,-3.63995389e+00,
 -1.57539303e+02,-4.91745519e+00]

qfrc_actuator:
[ 1.11846422e-04, 8.86977395e-04, 1.87559532e-04, 2.70406359e-05,
 -1.18135324e-05, 3.48855536e-02, 1.09328319e-02, 1.76080124e-03,
 -6.41914504e-05, 7.61686342e-04, 2.29402008e-04, 6.22595661e-05,
  1.45499667e-03,-1.64461473e-03, 0.00000000e+00,-1.01702065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038399288479541785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89125937e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89125937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00120176, -0.0653033 ,  0.06180648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.41749761e-06, 8.03982443e-05, 3.25855244e-05,-6.80833530e-07,
 -1.77303062e-05,-1.52861727e-05,-3.07985111e-05, 2.53952163e-06,
  1.67956882e-05,-7.31650580e-05, 1.54052915e-05,-6.60505176e-06,
 -2.27005486e-05,-6.59948314e-06,-2.61801844e-05,-2.04794828e-04,
  7.98513978e-05, 1.47605640e-04,-4.90142923e+00, 1.01810302e-03,
  3.33293200e-03,-2.20892106e-04]


--- Step 2253 ---
qpos:
[ 0.0186977 , 0.03001039,-0.00945012,-0.02531885,-0.00352123, 1.34076393,
 -0.02993675, 0.94378299, 0.0115354 , 0.02730029,-0.00828494, 0.02644409,
  1.37403336, 0.00767206, 1.30962886, 0.04430417,-0.09461017,-0.05395295,
  0.09343422, 0.71163458,-0.04933881,-0.6999755 ,-0.03429583]

qacc:
[ 3.51107593e+00, 1.68888075e+00,-2.57722045e+00,-4.23282885e+00,
  9.09550742e-04, 4.07029858e-01, 5.45853507e-01,-8.55541549e+00,
 -1.30853639e+00, 1.67880076e-01,-2.00858200e+00, 6.25898088e+00,
 -6.45589044e-01, 6.94932150e-01, 9.14908150e+00,-3.19493336e+01,
 -4.34321882e+00, 4.67121028e-01,-2.83555396e+00,-3.72466224e+00,
 -1.38960555e+02,-4.08113897e+00]

qfrc_actuator:
[ 1.32891997e-04, 9.37772449e-04, 1.64200256e-04, 6.58219955e-06,
 -1.04952655e-06, 3.49219380e-02, 1.09183164e-02, 1.72732152e-03,
 -7.25863307e-05, 7.74390954e-04, 2.38210696e-04, 7.58717040e-05,
  1.42582925e-03,-1.64098393e-03, 0.00000000e+00,-1.16677429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.16351161,  6.04961995, -6.16351161, 37.1403795 ,
       29.04063959,  6.04961995, 29.04063959, 38.22372957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038569160376811518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69861743e-14, -2.87852526e-14,  1.00000000e+00,  7.76803845e-28,
        1.00000000e+00,  2.87852526e-14, -1.00000000e+00,  0.00000000e+00,
        2.69861743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00116137, -0.06529796,  0.06180571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12918990e-05, 1.02492981e-04,-2.76099076e-06,-1.59040986e-05,
  2.85708016e-07, 2.19784165e-05,-2.09363125e-05,-3.47830501e-05,
 -7.93047586e-06,-2.52853499e-05,-4.63754008e-06, 1.08801420e-05,
 -4.31100668e-05,-3.05996929e-06,-3.73115564e-05,-1.65098132e-04,
  1.63692778e-05,-1.34460166e-05,-4.90165138e+00, 2.35268358e-04,
  3.35409233e-03,-2.00375521e-04]


--- Step 2254 ---
qpos:
[ 0.01870024, 0.03001041,-0.00944971,-0.02531779,-0.0035212 , 1.34076434,
 -0.02993657, 0.94378192, 0.01153598, 0.02729968,-0.00828419, 0.02644416,
  1.37413085, 0.00767111, 1.30974201, 0.04430203,-0.09459197,-0.05384937,
  0.09343629, 0.71175577,-0.05052516,-0.69982415,-0.03312254]

qacc:
[ 1.09530856e+01, 4.77013028e-01,-1.24103217e+00, 2.55797476e+00,
  2.30368597e-02,-1.97599619e+00, 7.30268130e+00,-1.11738369e+01,
  5.00862190e+00, 5.74038400e-01,-1.81188029e-01,-4.18461072e+00,
 -3.13130886e-01, 1.63256799e-01, 4.22455409e+00,-1.52247057e+01,
  4.55001552e+00,-3.17762902e-01, 3.02887486e+00, 2.69375454e-01,
  1.44850035e+02, 9.33519994e+00]

qfrc_actuator:
[ 1.98026194e-04, 9.50132474e-04, 1.68102607e-04, 1.19159572e-05,
  5.41723973e-06, 3.49256724e-02, 1.09454891e-02, 1.70790263e-03,
 -4.20230135e-05, 8.35815990e-04, 2.43109922e-04, 6.60158720e-05,
  1.39950196e-03,-1.65631915e-03, 0.00000000e+00,-1.23680404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00384788100265869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.8852842e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.8852842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14899548, -0.0484029 ,  0.06180608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57921602e-05, 6.84372686e-05, 2.41783748e-05, 9.31389906e-06,
  6.63652065e-06, 1.07484465e-05, 2.80683270e-05,-2.01794946e-05,
  3.03196951e-05, 4.68167961e-05,-5.17807461e-07,-1.08882883e-05,
 -4.95094915e-05,-2.56664218e-05,-3.75808256e-05,-8.44664164e-05,
  1.36048743e-05,-1.60677923e-04,-4.90164654e+00,-4.44642439e-04,
  3.36865571e-03,-1.77591106e-04]


--- Step 2255 ---
qpos:
[ 0.0187025 , 0.03001071,-0.0094494 ,-0.02531697,-0.00352125, 1.34076444,
 -0.02993596, 0.9437817 , 0.01153692, 0.02729939,-0.00828343, 0.02644445,
  1.37422776, 0.00767072, 1.30985479, 0.04430036,-0.09459112,-0.05374378,
  0.093427  , 0.71167978,-0.05172137,-0.69986874,-0.03194576]

qacc:
[-2.34566368e+00, 1.56656877e-01, 1.05341768e+00,-5.39467864e+00,
 -3.45142376e-02,-1.25267461e-01,-1.80976328e+00, 1.15176721e+01,
  3.08432674e+00, 8.48249315e-01,-3.33735660e+00, 6.93470362e+00,
 -7.46610382e-01, 1.01313992e+00,-1.86577474e+00, 5.91973531e+00,
 -4.33969652e+00, 5.00615102e-01,-2.83691634e+00,-4.02056961e+00,
 -1.38974931e+02,-3.52596467e+00]

qfrc_actuator:
[ 1.82068339e-04, 9.39493515e-04, 1.52445286e-04,-3.12623905e-06,
 -8.49986291e-06, 3.48922455e-02, 1.09614401e-02, 1.75018702e-03,
 -2.42706088e-05, 8.54910949e-04, 2.45867766e-04, 7.79807369e-05,
  1.38554169e-03,-1.61179989e-03, 0.00000000e+00,-1.20605298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038434339172078794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44431132e-14,  1.08323349e-14,  1.00000000e+00, -1.56452640e-28,
        1.00000000e+00, -1.08323349e-14, -1.00000000e+00,  0.00000000e+00,
        1.44431132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0011916 , -0.06530179,  0.06180629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40189704e-05, 3.30300285e-05, 1.76472784e-06,-1.11007549e-05,
 -9.99482469e-06,-2.26011155e-05, 2.06538546e-05, 4.29620543e-05,
  1.86560278e-05, 4.47275480e-05, 1.19857308e-05, 1.37397500e-05,
 -4.52723610e-05, 2.57075755e-05,-2.82274551e-05, 2.08915592e-05,
  5.61853782e-06, 1.76723181e-05,-4.90161039e+00, 2.87172436e-04,
  3.36757410e-03,-1.20868269e-04]


--- Step 2256 ---
qpos:
[ 0.01870421, 0.03001084,-0.00944901,-0.02531664,-0.00352127, 1.34076461,
 -0.02993614, 0.94378235, 0.01153738, 0.02729947,-0.00828293, 0.02644489,
  1.37432439, 0.00767075, 1.30996744, 0.04429868,-0.09457217,-0.05363935,
  0.09342955, 0.71180422,-0.05292328,-0.69970519,-0.03076558]

qacc:
[-4.73667418e+00,-1.40325254e+00, 6.70894324e+00,-1.50277923e+01,
  1.22113644e-02, 3.72178186e+00,-1.38571043e+01, 2.22401129e+01,
 -4.14063525e+00, 1.53854324e+00,-5.43971154e+00, 8.28618710e+00,
 -4.81261907e-01, 7.07199612e-01,-1.42113439e-01, 3.26467684e-01,
  4.52678799e+00,-2.90436617e-01, 2.95849791e+00, 1.01847564e+00,
  1.44023086e+02, 1.17897275e+01]

qfrc_actuator:
[ 1.53999197e-04, 8.97306051e-04, 1.42983569e-04,-3.00823763e-05,
  9.72295034e-07, 3.48900871e-02, 1.09172513e-02, 1.79289703e-03,
 -4.97189385e-05, 8.66281998e-04, 2.29455274e-04, 8.49105930e-05,
  1.38435914e-03,-1.58527113e-03, 0.00000000e+00,-1.20496198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038585718550935427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  1.438645e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -1.438645e-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([-0.14897988, -0.04840634,  0.06180555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84671829e-05,-2.38569113e-05,-2.81747710e-06,-2.57001559e-05,
  3.56470392e-06,-9.33155449e-06,-4.50006452e-05, 4.36332181e-05,
 -2.48874568e-05, 3.94578626e-05,-5.22769219e-06, 9.52642593e-06,
 -1.79884135e-05, 2.41104716e-05,-1.24850460e-05,-1.74802458e-06,
 -7.46681609e-07,-1.32593207e-04,-4.90160831e+00,-3.97754189e-04,
  3.38375084e-03,-9.79318929e-05]


--- Step 2257 ---
qpos:
[ 0.01870557, 0.03001031,-0.00944819,-0.02531694,-0.00352123, 1.34076512,
 -0.02993639, 0.94378276, 0.01153685, 0.02729995,-0.00828265, 0.02644541,
  1.37442125, 0.00767026, 1.3100799 , 0.04429767,-0.09453707,-0.05353586,
  0.09343827, 0.71210664,-0.05413065,-0.69935611,-0.029581  ]

qacc:
[-2.97557542e+00,-3.39655473e+00, 1.35169112e+01,-2.46814801e+01,
  2.68852756e-02, 2.39503181e-01, 2.66455514e-01,-3.29810310e+00,
 -8.53168652e+00, 1.34176375e+00,-4.27721736e+00, 5.55200078e+00,
  5.76530147e-01,-8.85837551e-01,-2.36718270e+00, 7.73435432e+00,
  4.03512757e+00,-2.35834990e-01, 1.54434085e+00, 1.45050607e+00,
  1.28096332e+02, 1.11270482e+01]

qfrc_actuator:
[ 1.36805057e-04, 8.36542077e-04, 1.54866259e-04,-6.38535633e-05,
  6.64715867e-06, 3.49419436e-02, 1.09267860e-02, 1.78222456e-03,
 -1.00387125e-04, 8.90609606e-04, 2.19564060e-04, 8.87965450e-05,
  1.39616428e-03,-1.62287300e-03, 0.00000000e+00,-1.16812902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038390565193582096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89191633e-14,  7.22979083e-15,  1.00000000e+00, -2.09079502e-28,
        1.00000000e+00, -7.22979083e-15, -1.00000000e+00,  0.00000000e+00,
        2.89191633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14900749, -0.0484042 ,  0.06180645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80316299e-05,-7.58120031e-05, 5.71193202e-06,-3.53915950e-05,
  7.78104714e-06, 3.92030501e-05, 3.86875949e-06,-1.12601568e-05,
 -5.13826792e-05, 4.57042437e-05,-2.06116927e-06, 5.58024138e-06,
  8.19268276e-06,-3.42622830e-05,-8.23376461e-06, 3.46274277e-05,
 -3.09022171e-06, 4.85752780e-05,-4.90154453e+00, 3.36052632e-04,
  3.37885923e-03,-4.07372780e-05]


--- Step 2258 ---
qpos:
[ 0.01870671, 0.03000952,-0.00944767,-0.02531729,-0.00352127, 1.34076565,
 -0.02993617, 0.94378339, 0.01153674, 0.02730054,-0.0082821 , 0.02644597,
  1.37451814, 0.0076694 , 1.31019212, 0.04429843,-0.09452135,-0.05342993,
  0.09343898, 0.71218899,-0.05534987,-0.69922617,-0.02839019]

qacc:
[-1.86853313e+00, 3.75199955e-01,-1.59269858e+00, 1.27047817e+00,
 -3.38685318e-02,-9.03377909e-01, 2.54880067e+00, 2.40844699e-01,
  3.68210275e+00,-5.59685604e-01, 1.97844542e+00,-1.67781490e+00,
  3.97419106e-01,-6.60047088e-01,-5.74611827e+00, 1.94875692e+01,
 -4.84231560e+00, 6.12936767e-01,-2.00370177e+00,-4.75633028e+00,
 -1.55321646e+02,-2.82667488e+00]

qfrc_actuator:
[ 1.26153972e-04, 8.36198373e-04, 1.43652669e-04,-6.58644018e-05,
 -7.75511206e-06, 3.49371438e-02, 1.09504084e-02, 1.79355697e-03,
 -7.67162613e-05, 8.87015749e-04, 2.31410333e-04, 9.08784695e-05,
  1.38909546e-03,-1.64493034e-03, 0.00000000e+00,-1.07501766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003898524660301113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24591382e-14, -2.84780301e-14,  1.00000000e+00,  3.54811711e-28,
        1.00000000e+00,  2.84780301e-14, -1.00000000e+00,  0.00000000e+00,
        1.24591382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00105933, -0.06529221,  0.06180379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12007838e-05,-4.30727709e-05,-2.73956475e-05,-5.74775570e-06,
 -9.80263350e-06, 1.73029646e-05, 3.14014872e-05, 1.23639605e-05,
  2.21836593e-05, 2.17361659e-05, 2.12178809e-05, 4.07701236e-06,
 -1.12226357e-05,-3.04839696e-05,-1.36947897e-06, 9.36362206e-05,
  4.80379512e-05, 2.13541149e-04,-4.90131461e+00, 1.00984122e-03,
  3.37764167e-03, 1.55983573e-05]


--- Step 2259 ---
qpos:
[ 0.01870807, 0.03000886,-0.00944751,-0.02531771,-0.00352157, 1.34076588,
 -0.02993549, 0.94378452, 0.01153726, 0.02730128,-0.00828112, 0.02644619,
  1.37461458, 0.00766867, 1.31030449, 0.04429895,-0.09452274,-0.05332178,
  0.09342802, 0.71207698,-0.05658076,-0.69928928,-0.02719378]

qacc:
[ 1.76830737e+00, 1.03335472e+00,-3.14326047e+00, 2.43344605e+00,
 -1.11088814e-01,-7.32000684e-01, 8.70307846e-01, 5.31748791e+00,
  5.37768037e+00,-1.71539549e+00, 7.86368133e+00,-1.46086459e+01,
 -4.63942549e-01, 4.65502732e-01, 9.71297896e-01,-3.00415528e+00,
 -4.27737720e+00, 5.54175618e-01,-2.91794842e+00,-4.83565304e+00,
 -1.37019343e+02,-2.02808774e+00]

qfrc_actuator:
[ 1.37188793e-04, 8.71971484e-04, 1.36895167e-04,-6.68946355e-05,
 -3.40852821e-05, 3.48985310e-02, 1.09642023e-02, 1.81773209e-03,
 -4.49765012e-05, 9.02318168e-04, 2.55882288e-04, 7.41216732e-05,
  1.35473609e-03,-1.63984794e-03, 0.00000000e+00,-1.09152704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.25669255,  4.68264776, -7.25669255, 20.67774574,
       18.66051265,  4.68264776, 18.66051265, 37.55453343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003906603170737655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13143550e-14, -2.84191400e-14,  1.00000000e+00,  6.05735639e-28,
        1.00000000e+00,  2.84191400e-14, -1.00000000e+00,  0.00000000e+00,
        2.13143550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00103985, -0.06529278,  0.06180343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06968203e-05, 5.79897624e-06,-1.92231448e-05,-3.93248536e-06,
 -3.21225818e-05,-2.25300099e-05, 2.11147534e-05, 2.59046910e-05,
  3.23985545e-05, 3.19935414e-05, 3.17008091e-05,-1.50165468e-05,
 -4.68397083e-05,-6.83562051e-06, 7.92679827e-06,-1.19030316e-05,
 -1.31128251e-05, 4.15036289e-05,-4.90148923e+00, 2.20770959e-04,
  3.40334871e-03, 3.69728340e-05]


--- Step 2260 ---
qpos:
[ 0.01870851, 0.03000832,-0.00944776,-0.02531814,-0.00352215, 1.34076581,
 -0.02993459, 0.94378594, 0.01153678, 0.02730211,-0.0082801 , 0.02644694,
  1.37471043, 0.0076683 , 1.31041671, 0.04430062,-0.09450371,-0.05322094,
  0.09340958, 0.71218498,-0.0576445 ,-0.69913381,-0.02610702]

qacc:
[-7.84296258e+00, 1.32690288e+00,-4.45010089e+00, 4.91610549e+00,
 -1.19353597e-01,-5.12698920e-01, 5.80423544e-01, 3.09905246e+00,
 -8.55029774e+00, 1.12736718e+00,-6.05984977e+00, 1.50420745e+01,
 -6.01655687e-01, 7.25316403e-01,-3.62427513e+00, 1.25157339e+01,
  5.10309177e+00,-1.82938821e+00,-1.86935729e+00, 2.44280020e+01,
  1.60127958e+02,-8.83090370e+01]

qfrc_actuator:
[ 8.98866599e-05, 8.75866020e-04, 1.15237894e-04,-6.73018650e-05,
 -4.96049090e-05, 3.48754498e-02, 1.09719408e-02, 1.83148060e-03,
 -9.75290169e-05, 8.93349549e-04, 2.52157916e-04, 9.96913529e-05,
  1.32534705e-03,-1.61882672e-03, 0.00000000e+00,-1.03048611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003968438412032094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74259996e-15, -2.79763199e-14,  1.00000000e+00,  2.44585773e-28,
        1.00000000e+00,  2.79763199e-14, -1.00000000e+00,  0.00000000e+00,
        8.74259996e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19278477, -0.02672257,  0.06180057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69854883e-05, 3.02101914e-06,-2.29582505e-05,-8.99260302e-07,
 -3.45035357e-05,-3.06374465e-05, 6.49445910e-06, 1.42941310e-05,
 -5.15897007e-05, 1.48009793e-05, 6.24782879e-06, 2.77397552e-05,
 -5.40008746e-05, 8.10546588e-06,-1.36260487e-06, 6.05774568e-05,
 -1.56583529e-05,-1.13193271e-04,-4.90144639e+00,-4.68279988e-04,
  3.42263757e-03, 6.06410389e-05]


--- Step 2261 ---
qpos:
[ 0.01870837, 0.03000781,-0.0094483 ,-0.02531788,-0.00352269, 1.34076519,
 -0.02993343, 0.9437865 , 0.01153533, 0.02730274,-0.00827923, 0.02644769,
  1.37480598, 0.0076681 , 1.3105296 , 0.0442973 ,-0.09446674,-0.05312647,
  0.09337981, 0.7124863 ,-0.0585615 ,-0.69878682,-0.02511572]

qacc:
[-4.90238748e+00, 2.26009022e+00,-1.09059781e+01, 2.32857114e+01,
  2.15857528e-02,-2.91017365e+00, 1.04047201e+01,-1.86887414e+01,
 -8.28453269e+00, 1.68417189e-01,-9.82518602e-01, 1.42053048e+00,
 -7.72810444e-01, 8.75292704e-01, 1.61381880e+01,-5.48452440e+01,
  4.48415939e+00,-1.59095726e+00,-2.83347080e+00, 2.19531291e+01,
  1.40440074e+02,-7.72416125e+01]

qfrc_actuator:
[ 6.18772034e-05, 8.78343773e-04, 1.02592897e-04,-3.18669174e-05,
 -2.30083631e-05, 3.48263103e-02, 1.09760878e-02, 1.78572574e-03,
 -1.46020083e-04, 8.52082656e-04, 2.31747066e-04, 9.66657866e-05,
  1.32027247e-03,-1.60628588e-03, 0.00000000e+00,-1.29701384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.1625881 ,  -2.821158  ,  -8.1625881 ,
        14.24340569, -16.22311644,  -2.821158  , -16.22311644,
        55.57546355,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004015346931666157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18427973e-15, -1.38247459e-14,  1.00000000e+00,  7.16713502e-29,
        1.00000000e+00,  1.38247459e-14, -1.00000000e+00,  0.00000000e+00,
        5.18427973e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19266283, -0.02675451,  0.06179836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93744760e-05,-6.07530283e-07,-1.48681148e-05, 3.47570577e-05,
  6.20537876e-06,-6.43874448e-05,-6.86783164e-07,-4.61505757e-05,
 -4.99944723e-05,-3.05738047e-05,-1.56457727e-05,-1.63896862e-06,
 -2.96501723e-05, 2.47308268e-06, 3.05109843e-06,-2.63997618e-04,
  5.79371502e-05, 6.84808792e-05,-4.90216761e+00, 3.41932870e-04,
  3.32074123e-03, 1.16638925e-04]


--- Step 2262 ---
qpos:
[ 0.01870825, 0.03000724,-0.00944867,-0.02531721,-0.00352291, 1.34076439,
 -0.02993231, 0.94378546, 0.01153365, 0.02730341,-0.00827865, 0.02644734,
  1.37490157, 0.00766769, 1.31064245, 0.04429117,-0.09445197,-0.05303089,
  0.09334569, 0.71254238,-0.05950981,-0.69868434,-0.02412717]

qacc:
[ 8.74362535e-02, 3.06842528e-01,-2.90718743e+00, 9.66273742e+00,
  1.30025249e-01,-2.84690869e+00, 1.23109583e+01,-2.91843724e+01,
 -1.94091372e+00,-1.40080206e+00, 9.73917357e+00,-2.83670287e+01,
 -5.81110959e-02,-4.97766504e-02, 8.47479007e+00,-2.96947237e+01,
 -5.54602161e+00, 2.78536768e-01,-1.08635771e+00,-1.62240587e+01,
 -1.73100158e+02,-2.78458165e-01]

qfrc_actuator:
[ 6.32189137e-05, 8.80018491e-04, 1.13141497e-04,-1.11269404e-05,
  1.08850994e-05, 3.48329067e-02, 1.09779490e-02, 1.70530767e-03,
 -1.56199601e-04, 8.62699226e-04, 2.19241441e-04, 4.12891280e-05,
  1.32978144e-03,-1.61653181e-03, 0.00000000e+00,-1.43486100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004019865862454147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38092049e-14, -1.38092049e-14,  1.00000000e+00,  1.90694139e-28,
        1.00000000e+00,  1.38092049e-14, -1.00000000e+00,  0.00000000e+00,
        1.38092049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00154648, -0.06349887,  0.061798  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86843385e-07,-2.33373696e-07, 9.80740319e-06, 2.08793864e-05,
  3.75584909e-05,-3.05396223e-05,-1.21654482e-05,-8.34418860e-05,
 -1.16507163e-05,-9.83912368e-06,-2.08235109e-05,-5.72633363e-05,
 -5.41029882e-06,-1.59455307e-05,-3.24527196e-05,-1.53163560e-04,
  1.66655714e-04, 1.66888366e-04,-4.90253534e+00, 9.14457922e-04,
  3.25532226e-03, 1.63181532e-04]


--- Step 2263 ---
qpos:
[ 0.01870849, 0.03000637,-0.00944877,-0.02531662,-0.00352294, 1.34076394,
 -0.02993204, 0.94378415, 0.01153221, 0.02730426,-0.00827835, 0.02644666,
  1.3749972 , 0.00766713, 1.31075434, 0.04428976,-0.09441816,-0.05294208,
  0.09330204, 0.71280504,-0.06030397,-0.69837846,-0.0232366 ]

qacc:
[ 3.11694661e+00,-1.35178151e+00, 4.55019591e+00,-6.11246141e+00,
  8.52830338e-02, 2.29335128e+00,-6.38136683e+00, 2.19324678e+00,
  1.99460292e+00, 3.37371032e-01, 5.27431300e-01,-5.94270914e+00,
  5.67121859e-01,-7.11294439e-01,-1.57528451e+01, 5.28746346e+01,
  4.75775759e+00,-1.69562808e+00,-2.38240881e+00, 2.43803865e+01,
  1.49407714e+02,-8.02156317e+01]

qfrc_actuator:
[ 8.18196341e-05, 8.45782478e-04, 1.19525733e-04,-1.69440145e-05,
  1.33746549e-05, 3.48727928e-02, 1.09431408e-02, 1.69394199e-03,
 -1.43748247e-04, 8.86522905e-04, 2.11675675e-04, 2.66153948e-05,
  1.33736927e-03,-1.62239213e-03, 0.00000000e+00,-1.17612970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040763479506146436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36178638e-14, -2.72357276e-14,  1.00000000e+00,  3.70892429e-28,
        1.00000000e+00,  2.72357276e-14, -1.00000000e+00,  0.00000000e+00,
        1.36178638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19249262, -0.02679656,  0.06179528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86156225e-05,-3.14229140e-05, 8.27598149e-06,-5.08053396e-06,
  2.46841908e-05, 1.81082504e-05,-4.46156395e-05,-1.45760666e-05,
  1.21125751e-05, 1.15263747e-05,-1.41595502e-05,-1.69322030e-05,
  1.05532171e-08,-1.14200804e-05,-3.34335156e-05, 2.45706632e-04,
  6.79426434e-05, 3.98178286e-05,-4.90271461e+00, 2.09351783e-04,
  3.32290998e-03, 1.78180357e-04]


--- Step 2264 ---
qpos:
[ 0.01870861, 0.03000535,-0.00944881,-0.02531646,-0.00352298, 1.34076341,
 -0.02993182, 0.94378305, 0.01153127, 0.02730525,-0.00827822, 0.02644649,
  1.37509279, 0.0076665 , 1.31086621, 0.0442897 ,-0.09440718,-0.05285237,
  0.09325511, 0.71281671,-0.06113951,-0.69832298,-0.02234556]

qacc:
[-1.05673468e+00,-1.21259981e+00, 5.86401340e+00,-1.32234295e+01,
 -6.16900114e-03, 3.84299646e-01,-1.82857527e+00, 4.12929874e+00,
  4.30444756e+00, 1.70160328e+00,-7.98577924e+00, 1.70799023e+01,
  1.03775023e-01,-1.63123886e-01,-4.16417008e+00, 1.44924682e+01,
 -5.70846293e+00, 2.28518926e-01,-8.20686325e-01,-1.92378581e+01,
 -1.77384101e+02, 4.14847911e+00]

qfrc_actuator:
[ 7.49144994e-05, 8.43528647e-04, 1.23227993e-04,-3.83751613e-05,
 -2.99569110e-06, 3.48611921e-02, 1.09404136e-02, 1.70556179e-03,
 -1.18089131e-04, 9.00372748e-04, 2.07187083e-04, 5.37880858e-05,
  1.33315059e-03,-1.62558779e-03, 0.00000000e+00,-1.11191465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004181429195833981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65945508e-15, -3.98269218e-14,  1.00000000e+00,  6.60909876e-29,
        1.00000000e+00,  3.98269218e-14, -1.00000000e+00,  0.00000000e+00,
        1.65945508e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00114806, -0.06340925,  0.06179032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.37102649e-06,-1.82961113e-05,-1.93502836e-06,-2.25890659e-05,
 -1.78234643e-06,-1.07473651e-05,-4.69134743e-06, 1.05155035e-05,
  2.60220254e-05, 1.66119318e-05,-4.45142294e-06, 2.68453527e-05,
 -6.83084978e-06,-6.67544980e-06, 1.26351806e-05, 7.37621736e-05,
  1.63582493e-04, 1.26439866e-04,-4.90307312e+00, 7.59625882e-04,
  3.25980145e-03, 2.20377858e-04]


--- Step 2265 ---
qpos:
[ 0.01870795, 0.0300044 ,-0.00944892,-0.02531623,-0.00352311, 1.34076268,
 -0.02993133, 0.94378278, 0.01153134, 0.02730601,-0.00827768, 0.02644632,
  1.37518816, 0.00766613, 1.31097812, 0.04429043,-0.09441613,-0.0527617 ,
  0.09320044, 0.71260847,-0.06200941,-0.69848672,-0.02145486]

qacc:
[-6.63552328e+00, 4.28263281e-01,-1.70141379e+00, 2.98697551e+00,
 -3.75125563e-02, 4.33902274e-01,-3.43920690e+00, 1.27541703e+01,
  8.59234528e+00,-1.48903687e+00, 4.86334872e+00,-5.47151338e+00,
 -2.76987423e-01, 3.95849881e-01,-2.28113027e+00, 8.13186368e+00,
 -4.98306201e+00, 2.38075020e-01,-1.93597489e+00,-1.66395083e+01,
 -1.55286281e+02, 2.71848987e+00]

qfrc_actuator:
[ 3.52938316e-05, 8.60413850e-04, 1.25430879e-04,-3.32905665e-05,
 -1.27936188e-05, 3.48544955e-02, 1.09564705e-02, 1.74834918e-03,
 -6.71167976e-05, 8.72696100e-04, 2.22292154e-04, 5.20961393e-05,
  1.32185493e-03,-1.60946918e-03, 0.00000000e+00,-1.07418113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59178473,  0.87636297,  8.59178473,  9.04453047,
       -4.00163142,  0.87636297, -4.00163142, 47.86800257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004225626146814064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92629518e-15, -1.31367871e-14,  1.00000000e+00, -6.47156912e-29,
        1.00000000e+00,  1.31367871e-14, -1.00000000e+00,  0.00000000e+00,
       -4.92629518e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00103423, -0.0633738 ,  0.06178809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98084580e-05, 5.32155829e-06,-2.58365567e-06, 3.79664935e-06,
 -1.08516142e-05,-1.32418202e-05, 1.37277957e-05, 4.25686448e-05,
  5.17425731e-05,-1.81871773e-05, 1.89023100e-05,-6.15030374e-07,
 -1.59176618e-05, 1.23867807e-05, 1.12145322e-05, 4.28237840e-05,
  7.41770134e-05, 1.81599329e-05,-4.90318734e+00, 1.21373323e-04,
  3.32811916e-03, 2.33345998e-04]


--- Step 2266 ---
qpos:
[ 0.01870786, 0.03000337,-0.00944898,-0.02531558,-0.00352333, 1.34076212,
 -0.02993137, 0.94378339, 0.01153168, 0.02730644,-0.00827715, 0.02644616,
  1.37528321, 0.00766601, 1.31109005, 0.04429162,-0.09440183,-0.05267938,
  0.09314323, 0.71265557,-0.06269331,-0.69840101,-0.02067913]

qacc:
[ 4.84419354e+00, 6.20690010e-01,-4.09577809e+00, 1.12106331e+01,
 -4.22839672e-02, 3.13828522e+00,-1.17540969e+01, 2.01680662e+01,
  2.27944190e+00,-3.30660277e-01, 4.77566048e-01, 1.55494501e-01,
 -3.72929900e-01, 4.82780564e-01,-1.30042059e+00, 4.70316571e+00,
  5.81439053e+00,-2.08814166e+00,-6.33469238e-01, 3.13583088e+01,
  1.83612457e+02,-9.54468668e+01]

qfrc_actuator:
[ 6.55058493e-05, 8.53142241e-04, 1.26838450e-04,-1.26237688e-05,
 -1.85680759e-05, 3.48686412e-02, 1.09302413e-02, 1.79138175e-03,
 -5.49160517e-05, 8.38179440e-04, 2.13141924e-04, 5.11567464e-05,
  1.30100511e-03,-1.59979798e-03, 0.00000000e+00,-1.05230226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00434447922038398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11802255e-14, -1.27774006e-14,  1.00000000e+00,  1.42854219e-28,
        1.00000000e+00,  1.27774006e-14, -1.00000000e+00,  0.00000000e+00,
        1.11802255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19178613, -0.02697172,  0.06178248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90569788e-05,-4.64332174e-06, 2.33401984e-06, 2.08828225e-05,
 -1.21879007e-05, 1.07889595e-05,-2.60089296e-05, 4.40234591e-05,
  1.37120386e-05,-4.08237879e-05,-1.06168885e-05,-1.08135552e-06,
 -2.56186527e-05, 9.68736284e-06, 6.72861053e-06, 2.49830843e-05,
  6.58011496e-05,-9.87971950e-05,-4.90304198e+00,-4.40864567e-04,
  3.38040092e-03, 2.48404457e-04]


--- Step 2267 ---
qpos:
[ 0.01870882, 0.0300022 ,-0.00944872,-0.02531436,-0.00352365, 1.34076182,
 -0.02993145, 0.94378343, 0.01153216, 0.02730699,-0.00827749, 0.02644635,
  1.37537805, 0.00766602, 1.31120237, 0.04429005,-0.09436727,-0.05260427,
  0.0930788 , 0.71292528,-0.06321509,-0.69809832,-0.02000323]

qacc:
[ 9.03975938e+00, 6.33061597e-02,-2.97697625e+00, 1.25965873e+01,
 -3.64207938e-02,-4.87922115e-01, 3.15426983e+00,-9.37823408e+00,
  1.20151830e+00, 3.24895649e+00,-1.28190845e+01, 2.00092268e+01,
 -4.94350412e-01, 5.67410881e-01, 8.94893535e+00,-3.03713617e+01,
  5.06422431e+00,-1.80296687e+00,-1.80418470e+00, 2.76426982e+01,
  1.59859644e+02,-8.30867619e+01]

qfrc_actuator:
[ 1.18836785e-04, 8.49230608e-04, 1.45433808e-04, 1.70234335e-05,
 -2.18819954e-05, 3.48950021e-02, 1.09325895e-02, 1.76318098e-03,
 -4.78893002e-05, 8.52988915e-04, 1.71946903e-04, 6.83946694e-05,
  1.29041587e-03,-1.59410118e-03, 0.00000000e+00,-1.19969754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00442661385411372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19156659, -0.02702498,  0.06177851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41782001e-05,-5.08514102e-06, 1.86565383e-05, 2.99356110e-05,
 -1.05161559e-05, 2.85688197e-05, 2.79148445e-06,-2.76185323e-05,
  7.41649249e-06,-1.02746560e-05,-5.09839792e-05, 1.50977533e-05,
 -2.08678904e-05, 2.69153004e-06, 2.68098169e-06,-1.45857104e-04,
  9.54514202e-05, 3.00749088e-05,-4.90368526e+00, 2.36330950e-04,
  3.29652532e-03, 2.89493348e-04]


--- Step 2268 ---
qpos:
[ 0.01870972, 0.03000129,-0.00944837,-0.02531317,-0.00352402, 1.34076141,
 -0.02993053, 0.94378346, 0.0115334 , 0.02730738,-0.00827797, 0.02644638,
  1.37547266, 0.00766634, 1.31131461, 0.0442874 ,-0.09431501,-0.05253542,
  0.09300314, 0.71338973,-0.06359496,-0.6976058 ,-0.01941446]

qacc:
[-4.94421852e-01, 4.76717570e-02, 4.87963793e-01,-1.43406899e+00,
 -2.76277399e-02,-2.88996931e+00, 9.27973831e+00,-8.15265760e+00,
  6.57186022e+00,-1.46423164e-01, 8.72073431e-01,-3.23284069e+00,
 -4.41335133e-01, 6.13469151e-01, 3.17949161e+00,-1.11772639e+01,
  4.42624101e+00,-1.56334614e+00,-2.80899096e+00, 2.44296374e+01,
  1.39815882e+02,-7.26406051e+01]

qfrc_actuator:
[ 1.14315031e-04, 8.82946934e-04, 1.56289109e-04, 1.62222167e-05,
 -2.36933672e-05, 3.48930289e-02, 1.09873181e-02, 1.76433042e-03,
 -8.44582009e-06, 8.43839996e-04, 1.65634920e-04, 6.07062306e-05,
  1.28598577e-03,-1.57301367e-03, 0.00000000e+00,-1.25034787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004438312905119278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.690224e-15,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        4.690224e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19151746, -0.0270342 ,  0.06177762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.94368126e-06, 3.60601538e-05, 1.31432543e-05, 2.06344895e-07,
 -8.02486682e-06, 1.35485078e-05, 5.98253589e-05, 1.44917985e-06,
  3.96599594e-05,-2.47911326e-05,-1.41943060e-05,-9.60010206e-06,
 -1.46224059e-05, 1.73258996e-05,-1.87044670e-05,-5.92661707e-05,
  1.75757440e-04, 6.79381929e-05,-4.90391034e+00, 6.55893362e-04,
  3.25719832e-03, 3.20341426e-04]


--- Step 2269 ---
qpos:
[ 0.01870987, 0.03000094,-0.00944831,-0.02531236,-0.0035243 , 1.34076048,
 -0.02992879, 0.94378493, 0.01153443, 0.02730748,-0.00827845, 0.02644598,
  1.37556719, 0.00766666, 1.31142649, 0.04428615,-0.09429081,-0.05246622,
  0.09293276, 0.71354817,-0.06405167,-0.69741836,-0.01881563]

qacc:
[-6.45568551e+00, 7.66421256e-01,-3.92308287e-02,-6.48123896e+00,
  4.20702748e-02,-4.47551599e-01,-2.32446146e+00, 1.90515608e+01,
 -1.92331500e+00,-1.25470745e+00, 5.73134722e+00,-1.29421165e+01,
  6.48956743e-02,-9.52084416e-02,-4.76776162e+00, 1.58637716e+01,
 -7.01643167e+00, 8.70232927e-02, 1.31989063e+00,-3.06660760e+01,
 -2.16629319e+02, 1.77146334e+01]

qfrc_actuator:
[ 7.57703032e-05, 9.21135191e-04, 1.44862856e-04,-2.46499720e-06,
 -6.83655246e-06, 3.48388204e-02, 1.10191830e-02, 1.83602777e-03,
 -2.12465337e-05, 8.20532238e-04, 1.62122707e-04, 3.84232398e-05,
  1.27993339e-03,-1.57842283e-03, 0.00000000e+00,-1.17252136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004633019667199874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49311318e-15, -1.19816351e-14,  1.00000000e+00,  5.38348427e-29,
        1.00000000e+00,  1.19816351e-14, -1.00000000e+00,  0.00000000e+00,
        4.49311318e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 2.70754613e-05, -6.31109361e-02,  6.17685528e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86161720e-05, 6.10984034e-05,-2.34960941e-06,-1.66860181e-05,
  1.21148442e-05,-3.49657355e-05, 4.13653068e-05, 7.38934354e-05,
 -1.16460296e-05,-4.05054747e-05,-1.07130558e-05,-2.40246414e-05,
 -9.87825056e-06,-3.22394457e-06,-1.73320474e-05, 7.16525711e-05,
  2.87755265e-04, 4.51275541e-05,-4.90385154e+00, 8.93136051e-04,
  3.25073452e-03, 3.43277945e-04]


--- Step 2270 ---
qpos:
[ 0.01870991, 0.03000113,-0.00944871,-0.02531142,-0.0035243 , 1.34075931,
 -0.02992751, 0.9437866 , 0.0115346 , 0.02730707,-0.00827859, 0.02644532,
  1.37566187, 0.00766662, 1.31153835, 0.0442848 ,-0.09429085,-0.05239651,
  0.09286182, 0.71344128,-0.06457107,-0.6974959 ,-0.01820934]

qacc:
[-1.04047351e+00, 2.26248137e+00,-7.58529544e+00, 1.01792731e+01,
  1.21357699e-01, 1.30715542e+00,-5.04500549e+00, 6.84768404e+00,
 -7.23847744e+00,-2.15489171e+00, 7.81266632e+00,-1.24861527e+01,
  3.25963695e-01,-5.35481372e-01, 2.56344096e-01,-9.96317279e-01,
 -6.05993772e+00, 1.27386883e-01,-1.38711066e-01,-2.57724122e+01,
 -1.87885398e+02, 1.35441594e+01]

qfrc_actuator:
[ 7.07855086e-05, 9.43849136e-04, 1.20398573e-04, 3.97784315e-06,
  2.10826384e-05, 3.48069790e-02, 1.09838489e-02, 1.84208877e-03,
 -6.47058462e-05, 7.88930158e-04, 1.77963006e-04, 2.54708740e-05,
  1.28888077e-03,-1.59954793e-03, 0.00000000e+00,-1.17941860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63264758, -0.25332325,  8.63264758,  8.65350667,
        0.58419356, -0.25332325,  0.58419356, 28.54427668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004747998719874254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46143550e-15, -2.33829681e-14,  1.00000000e+00, -3.41726997e-29,
        1.00000000e+00,  2.33829681e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46143550e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00025502, -0.06303571,  0.06176307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.08701631e-06, 5.56758690e-05,-1.27091981e-05, 8.65291246e-06,
  3.50769824e-05,-4.08646501e-05,-3.52983359e-05, 7.93956005e-06,
 -4.38133486e-05,-5.74934340e-05, 5.32936733e-06,-1.55240029e-05,
  3.11640910e-06,-2.42994747e-05,-1.29708759e-06,-5.42273157e-06,
  1.19419495e-04, 3.67310057e-05,-4.90423351e+00, 4.35425961e-04,
  3.31545864e-03, 3.49545079e-04]


--- Step 2271 ---
qpos:
[ 0.01870988, 0.03000186,-0.00944942,-0.02531042,-0.00352399, 1.34075812,
 -0.02992698, 0.94378695, 0.01153494, 0.02730614,-0.00827826, 0.02644485,
  1.3757566 , 0.00766633, 1.3116499 , 0.04428572,-0.0943119 ,-0.05232618,
  0.09278532, 0.71310316,-0.06514185,-0.69780423,-0.01759767]

qacc:
[-5.37449654e-01, 1.73582095e+00,-5.40368325e+00, 6.55078499e+00,
  1.29031852e-01,-2.91278385e-01, 3.63134533e+00,-1.84952103e+01,
  1.44579536e+00,-1.61539452e+00, 3.98687486e+00,-1.14113139e+00,
  3.97740397e-01,-5.77421907e-01,-7.37501669e+00, 2.50055695e+01,
 -5.25148914e+00, 1.55834171e-01,-1.39213452e+00,-2.18106250e+01,
 -1.63606539e+02, 1.02827390e+01]

qfrc_actuator:
[ 6.78524694e-05, 9.74832896e-04, 1.06153713e-04, 7.38851400e-06,
  3.76591187e-05, 3.48062311e-02, 1.09446671e-02, 1.77392652e-03,
 -5.48350877e-05, 7.70444082e-04, 2.05070774e-04, 3.58709879e-05,
  1.29083297e-03,-1.61199709e-03, 0.00000000e+00,-1.05868816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62751571, -0.39083195,  8.62751571,  8.6803824 ,
        0.97170291, -0.39083195,  0.97170291, 30.08645749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004782355547694461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45093643e-15, -1.16074915e-14,  1.00000000e+00,  1.68417323e-29,
        1.00000000e+00,  1.16074915e-14, -1.00000000e+00,  0.00000000e+00,
        1.45093643e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0003507 , -0.06299056,  0.06176114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09121544e-06, 5.98561274e-05,-4.01131562e-06, 5.52180284e-06,
  3.73040175e-05,-3.00101539e-05,-5.09575880e-05,-7.02392126e-05,
  8.56632211e-06,-5.01978002e-05, 1.53608346e-05, 7.82312987e-06,
 -2.38255657e-06,-1.90368904e-05,-3.35463088e-06, 1.19758276e-04,
  7.50622580e-05,-1.89576291e-05,-4.90420031e+00, 5.38443474e-06,
  3.36662581e-03, 3.57319898e-04]


--- Step 2272 ---
qpos:
[ 0.01871051, 0.03000287,-0.00944966,-0.0253094 ,-0.00352327, 1.34075712,
 -0.0299273 , 0.94378508, 0.0115347 , 0.02730508,-0.00827805, 0.02644484,
  1.37585111, 0.0076662 , 1.31176089, 0.04429207,-0.09430717,-0.05226536,
  0.09271097, 0.71305214,-0.06549779,-0.69783503,-0.01711607]

qacc:
[ 5.62543262e+00,-9.59097196e-01, 3.89510454e+00,-4.66678726e+00,
  1.70991066e-01,-1.22005369e+00, 8.82797041e+00,-3.34519891e+01,
 -4.90359293e+00, 1.13688124e+00,-6.24763784e+00, 1.45670680e+01,
  1.82433270e-01,-1.73013727e-01,-1.72897081e+01, 5.92534024e+01,
  6.44367789e+00,-2.37800843e+00, 5.39977021e-01, 3.81216129e+01,
  2.05245159e+02,-1.09771850e+02]

qfrc_actuator:
[ 1.01645035e-04, 9.92807934e-04, 1.33591876e-04, 8.99856034e-06,
  6.50496029e-05, 3.48240268e-02, 1.09036390e-02, 1.66267484e-03,
 -8.46536173e-05, 7.77783846e-04, 2.03167423e-04, 5.99414398e-05,
  1.27793916e-03,-1.60144901e-03, 0.00000000e+00,-7.74944364e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004790783937840628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31741410e-14, -1.14304608e-07,  1.00000000e+00,  2.64891111e-21,
        1.00000000e+00,  1.14304608e-07, -1.00000000e+00,  0.00000000e+00,
        2.31741410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19043935, -0.02653138,  0.06176031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37215269e-05, 5.08326335e-05, 3.94952362e-05, 4.13937495e-06,
  4.94347627e-05,-1.08755969e-05,-5.47563641e-05,-1.15277142e-04,
 -2.95887655e-05,-1.71881013e-05,-1.01017271e-05, 2.26051184e-05,
 -1.83330269e-05, 4.12947649e-06, 1.02353606e-05, 2.89619768e-04,
  1.13749523e-04,-9.99192094e-05,-4.90389659e+00,-3.89061124e-04,
  3.40459737e-03, 3.66586374e-04]


--- Step 2273 ---
qpos:
[ 0.01871188, 0.030004  ,-0.00944946,-0.02530836,-0.00352204, 1.34075657,
 -0.02992867, 0.94378291, 0.01153342, 0.02730374,-0.00827808, 0.02644515,
  1.37594554, 0.00766592, 1.31187234, 0.04429809,-0.09428012,-0.05221308,
  0.09263321, 0.71324845,-0.06565702,-0.69762819,-0.01675449]

qacc:
[ 6.40402225e+00,-9.90844299e-01, 3.59773749e+00,-3.75187612e+00,
  2.17408545e-01, 2.89478852e+00,-8.11388138e+00, 3.30221814e+00,
 -8.92142737e+00, 9.69866430e-01,-5.30221994e+00, 1.13366821e+01,
 -2.93273865e-02,-7.42146438e-02, 1.70098534e+00,-4.98199060e+00,
  5.58129024e+00,-2.13493370e+00,-8.54386035e-01, 3.43286427e+01,
  1.76639560e+02,-1.01527251e+02]

qfrc_actuator:
[ 1.39029609e-04, 9.85267617e-04, 1.49861931e-04, 9.55376762e-06,
  9.87071874e-05, 3.48704991e-02, 1.08619168e-02, 1.65125678e-03,
 -1.37611401e-04, 7.47182524e-04, 1.84262019e-04, 7.41079525e-05,
  1.27213878e-03,-1.61291071e-03, 0.00000000e+00,-8.05783616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -2.37139844,  -8.30441126,  -2.37139844,
        75.15203806, -18.99414198,  -8.30441126, -18.99414198,
        14.06030969,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004905457351229978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26324060e-14, -2.26324060e-14,  1.00000000e+00,  5.12225802e-28,
        1.00000000e+00,  2.26324060e-14, -1.00000000e+00,  0.00000000e+00,
        2.26324060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18998285, -0.02567285,  0.06175482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.83799470e-05, 2.91927550e-05, 3.17628802e-05, 4.17312858e-06,
  6.28713904e-05, 2.62863486e-05,-5.34629790e-05,-1.60280840e-05,
 -5.38340618e-05,-4.13061991e-05,-2.29070565e-05, 1.35234323e-05,
 -1.28923341e-05,-1.48711852e-05, 3.50643998e-05,-1.38255309e-05,
  7.19086577e-05,-2.28190087e-06,-4.90455645e+00, 1.43848707e-04,
  3.34699588e-03, 3.93440442e-04]


--- Step 2274 ---
qpos:
[ 0.018713  , 0.03000481,-0.00944909,-0.02530724,-0.00352049, 1.34075636,
 -0.02993011, 0.94378266, 0.01153255, 0.02730188,-0.00827792, 0.02644528,
  1.37604006, 0.00766544, 1.31198465, 0.04429805,-0.09427866,-0.05216076,
  0.09255719, 0.71316491,-0.06589743,-0.69769982,-0.01637992]

qacc:
[-2.14418621e+00,-7.53522344e-01, 1.76624379e+00,-5.30392888e-01,
  1.34190472e-01, 3.89873954e+00,-1.61086902e+01, 3.59103300e+01,
  3.50269906e+00,-1.59739329e+00, 5.42087514e+00,-8.37274123e+00,
 -3.37453117e-01, 2.71114715e-01, 1.96342992e+01,-6.67441998e+01,
 -6.39756709e+00, 9.17436288e-03, 4.35783221e-01,-3.12792733e+01,
 -1.98038879e+02, 2.14641056e+01]

qfrc_actuator:
[ 1.24959110e-04, 9.26959235e-04, 1.41532798e-04, 9.44738640e-06,
  1.00348096e-04, 3.49160828e-02, 1.08735607e-02, 1.75196631e-03,
 -1.14989299e-04, 7.11772533e-04, 1.90828027e-04, 6.45420558e-05,
  1.28124034e-03,-1.61959236e-03, 0.00000000e+00,-1.12828231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48227775,  1.62411241, -8.48227775, 11.62672458,
       15.61780574,  1.62411241, 15.61780574, 90.20372659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004942885489469702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21144325e-15, -3.36915460e-14,  1.00000000e+00,  1.41890034e-28,
        1.00000000e+00,  3.36915460e-14, -1.00000000e+00,  0.00000000e+00,
        4.21144325e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077347, -0.06281457,  0.0617527 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29474638e-05,-3.52819373e-05, 1.73565481e-06, 2.31651823e-06,
  3.87960897e-05, 4.91894509e-05, 1.02307849e-05, 9.95541611e-05,
  2.10271208e-05,-6.26356756e-05,-4.30375918e-06,-1.18610935e-05,
 -2.84594732e-07,-1.43770869e-05, 1.00919075e-05,-3.19815206e-04,
  9.79532295e-05,-1.25460582e-05,-4.90472071e+00, 3.81425071e-04,
  3.34446767e-03, 4.08242888e-04]


--- Step 2275 ---
qpos:
[ 0.01871429, 0.03000504,-0.00944864,-0.02530608,-0.00351904, 1.34075604,
 -0.0299309 , 0.94378292, 0.01153196, 0.02729964,-0.00827801, 0.02644531,
  1.37613427, 0.00766542, 1.31209679, 0.04429619,-0.09425445,-0.05211714,
  0.09247873, 0.71333526,-0.06593661,-0.69752782,-0.01612787]

qacc:
[ 1.45266463e+00,-9.45843924e-01, 2.11362126e+00,-1.26523288e+00,
 -4.28335317e-02,-1.01969041e+00, 2.07714242e+00, 4.29745307e+00,
  2.36580528e+00,-1.99107584e-02,-2.19612058e-01,-8.94255708e-01,
 -6.54254134e-01, 9.24143411e-01, 5.31253589e+00,-1.87971717e+01,
  5.68742283e+00,-2.17237286e+00,-6.09793226e-01, 3.53842651e+01,
  1.81136978e+02,-1.03781896e+02]

qfrc_actuator:
[ 1.33971653e-04, 8.74088789e-04, 1.36282368e-04, 8.89056009e-06,
  6.50176006e-05, 3.48900554e-02, 1.08989166e-02, 1.77584343e-03,
 -1.01312730e-04, 6.91585924e-04, 1.76835822e-04, 5.88551196e-05,
  1.26731707e-03,-1.58777961e-03, 0.00000000e+00,-1.21161504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005056732981233318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19553421e-14,  1.09776710e-14,  1.00000000e+00, -2.41018523e-28,
        1.00000000e+00, -1.09776710e-14, -1.00000000e+00,  0.00000000e+00,
        2.19553421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18956491, -0.02577729,  0.06174725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61964458e-06,-7.21863500e-05,-1.22603698e-05,-1.96706473e-06,
 -1.24024137e-05, 6.18099989e-06, 3.90634599e-05, 2.79609664e-05,
  1.42655471e-05,-5.65404066e-05,-2.78531588e-05,-8.74842426e-06,
 -1.84324441e-05, 2.78285530e-05,-3.54545864e-05,-1.00900067e-04,
  6.01633739e-05,-2.39165484e-06,-4.90474455e+00, 1.47025619e-04,
  3.37083772e-03, 4.12359961e-04]


--- Step 2276 ---
qpos:
[ 0.01871567, 0.03000517,-0.00944844,-0.02530499,-0.00351798, 1.34075556,
 -0.02993132, 0.94378418, 0.01153153, 0.02729775,-0.00827947, 0.0264456 ,
  1.37622809, 0.00766565, 1.31220856, 0.04429463,-0.09425596,-0.05207359,
  0.09240246, 0.71322388,-0.06606059,-0.69763608,-0.01586175]

qacc:
[ 8.30569611e-01, 4.75168488e-01,-1.66358404e+00, 1.22178319e+00,
 -1.61914792e-01, 5.17148467e-01,-3.96317059e+00, 1.50549081e+01,
  1.38838663e+00, 4.83834601e+00,-1.76922000e+01, 2.41669931e+01,
 -4.18723676e-01, 5.04776133e-01,-1.41000661e+00, 4.25063826e+00,
 -6.43200098e+00,-2.01396382e-02, 5.46884575e-01,-3.23648865e+01,
 -1.99368413e+02, 2.30803423e+01]

qfrc_actuator:
[ 1.38762834e-04, 8.95883707e-04, 1.32899358e-04, 8.07639549e-06,
  2.55487755e-05, 3.48746373e-02, 1.09140536e-02, 1.82525762e-03,
 -9.30356103e-05, 7.33852591e-04, 1.15367135e-04, 7.32464532e-05,
  1.23428438e-03,-1.58671576e-03, 0.00000000e+00,-1.18876854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47945106,  1.63880643, -8.47945106, 11.5697501 ,
       15.17781876,  1.63880643, 15.17781876, 87.16886688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005120087963994706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06568830e-15, -2.16836709e-14,  1.00000000e+00,  8.81590471e-29,
        1.00000000e+00,  2.16836709e-14, -1.00000000e+00,  0.00000000e+00,
        4.06568830e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00121532, -0.06265862,  0.06174398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01633369e-06,-2.12044843e-05,-1.98821712e-05,-4.37197794e-06,
 -4.67980287e-05,-3.51400167e-06, 2.16131651e-05, 5.13927364e-05,
  8.66953847e-06, 4.60557716e-06,-7.68553600e-05, 1.08387619e-05,
 -3.67044582e-05, 5.76628095e-06,-2.91414054e-05, 1.23241757e-05,
  6.38323943e-05,-2.71940800e-05,-4.90486690e+00, 3.12099871e-04,
  3.38411196e-03, 4.21428997e-04]


--- Step 2277 ---
qpos:
[ 0.01871642, 0.03000523,-0.00944863,-0.0253039 ,-0.00351719, 1.34075547,
 -0.02993171, 0.94378565, 0.01153155, 0.02729595,-0.00828081, 0.02644564,
  1.37632159, 0.00766595, 1.31232037, 0.04429163,-0.0942344 ,-0.05203885,
  0.09232458, 0.71337176,-0.06597948,-0.69749574,-0.01572049]

qacc:
[-5.52478950e+00, 9.50604618e-01,-3.44544156e+00, 3.83574893e+00,
 -1.16952178e-01, 7.86775966e-01,-2.40190867e+00, 4.26536004e+00,
  3.81947659e+00,-7.46086624e-01, 3.85106359e+00,-8.35764700e+00,
 -4.17223967e-01, 4.18210141e-01, 4.43591556e+00,-1.53549399e+01,
  5.77144327e+00,-2.20141116e+00,-4.01772774e-01, 3.61771987e+01,
  1.84844738e+02,-1.05795000e+02]

qfrc_actuator:
[ 1.05519120e-04, 8.91217938e-04, 1.13192944e-04, 7.18068262e-06,
  1.94241816e-05, 3.49189210e-02, 1.09230836e-02, 1.83605449e-03,
 -7.02473644e-05, 7.59758974e-04, 1.33153373e-04, 6.38553933e-05,
  1.21643419e-03,-1.58631665e-03, 0.00000000e+00,-1.26338218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005213035894968326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06485266e-14, -1.06485266e-14,  1.00000000e+00,  1.13391118e-28,
        1.00000000e+00,  1.06485266e-14, -1.00000000e+00,  0.00000000e+00,
        1.06485266e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1891343 , -0.02588485,  0.06173944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31047796e-05,-2.08285796e-05,-2.66936716e-05,-2.58024080e-06,
 -3.37804246e-05, 4.81159976e-05, 1.23122247e-05, 1.25173144e-05,
  2.30389893e-05, 1.31572542e-05, 9.68409529e-06,-1.16356275e-05,
 -3.51102559e-05,-6.08659613e-06,-1.35293000e-05,-7.79850373e-05,
  4.74848015e-05, 4.30643424e-06,-4.90487094e+00, 1.70774099e-04,
  3.39453858e-03, 4.24084658e-04]


--- Step 2278 ---
qpos:
[ 0.01871607, 0.03000543,-0.00944943,-0.02530319,-0.00351645, 1.3407556 ,
 -0.02993216, 0.94378552, 0.0115315 , 0.0272941 ,-0.00828159, 0.02644522,
  1.37641476, 0.0076663 , 1.31243222, 0.04428674,-0.09423863,-0.0520043 ,
  0.09224924, 0.7132365 ,-0.06598599,-0.69763694,-0.01556438]

qacc:
[-9.40758116e+00, 1.18714248e+00,-2.32742040e+00,-3.32366037e+00,
 -2.08836449e-02,-2.28148996e+00, 1.10889729e+01,-2.82356982e+01,
 -5.93499355e-01,-2.58245484e+00, 1.11063203e+01,-2.01185002e+01,
 -4.45468392e-01, 4.23889424e-01, 5.83109889e+00,-2.02075911e+01,
 -6.44997633e+00,-4.92809819e-02, 6.33885905e-01,-3.32051289e+01,
 -2.00350750e+02, 2.43377629e+01]

qfrc_actuator:
[ 5.01556694e-05, 9.06191282e-04, 8.39179820e-05,-1.15345605e-05,
  3.33528068e-05, 3.49098001e-02, 1.09108942e-02, 1.75305810e-03,
 -7.46039609e-05, 7.58220015e-04, 1.62039180e-04, 4.05981210e-05,
  1.19704958e-03,-1.58624263e-03, 0.00000000e+00,-1.35934756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47856033,  1.6434085 , -8.47856033, 11.49634587,
       14.75502398,  1.6434085 , 14.75502398, 84.7594704 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0052828900844509655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31346551e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31346551e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00162248, -0.06250252,  0.0617359 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63343383e-05,-2.31356640e-06,-3.69540040e-05,-2.05816995e-05,
 -6.03247561e-06, 2.02830282e-05,-1.00625144e-06,-8.08974796e-05,
 -3.68421615e-06, 7.40936520e-06, 3.24295561e-05,-2.25788447e-05,
 -3.86355998e-05,-9.65008938e-06,-1.75585181e-05,-1.02628974e-04,
  2.90091511e-05,-3.59153182e-05,-4.90494401e+00, 2.56765111e-04,
  3.42477021e-03, 4.27238227e-04]


--- Step 2279 ---
qpos:
[ 0.01871437, 0.03000589,-0.00945016,-0.02530243,-0.00351568, 1.34075565,
 -0.02993263, 0.94378477, 0.01153071, 0.02729268,-0.00828282, 0.02644521,
  1.37650761, 0.00766664, 1.312544  , 0.04428038,-0.09421952,-0.05197865,
  0.09217298, 0.71336473,-0.06578416,-0.69752553,-0.01553529]

qacc:
[-1.15935768e+01, 2.34398488e-01,-5.47810501e-01, 1.11929576e+00,
  1.56865964e-02,-1.11778780e+00, 4.77666265e+00,-1.12730406e+01,
 -6.34849239e+00, 2.68127102e+00,-1.04842842e+01, 1.81394430e+01,
 -3.61445161e-01, 3.16245023e-01, 4.38749620e+00,-1.54053316e+01,
  5.83406227e+00,-2.22303417e+00,-2.29595546e-01, 3.67192531e+01,
  1.87809382e+02,-1.07584298e+02]

qfrc_actuator:
[-1.77713438e-05, 9.50507905e-04, 1.02555893e-04,-5.06873748e-06,
  4.14442703e-05, 3.48863799e-02, 1.09037891e-02, 1.72201863e-03,
 -1.12660210e-04, 7.93572504e-04, 1.43847242e-04, 6.26029148e-05,
  1.18208316e-03,-1.58635880e-03, 0.00000000e+00,-1.43158842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005369664114549234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03379187e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03379187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18870341, -0.02599238,  0.06173164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.95669094e-05, 3.44913411e-05, 1.29047899e-05, 4.68962052e-06,
  4.52751068e-06,-1.48288907e-05,-5.62424696e-06,-3.23355601e-05,
 -3.81686897e-05, 4.53028199e-05,-1.34164276e-05, 2.30119649e-05,
 -3.69153563e-05,-1.16810387e-05,-2.20894184e-05,-8.07725321e-05,
  3.36375785e-05, 1.71937287e-05,-4.90493537e+00, 2.10606503e-04,
  3.41833053e-03, 4.28456248e-04]


--- Step 2280 ---
qpos:
[ 0.01871221, 0.03000643,-0.00945036,-0.02530126,-0.00351513, 1.34075562,
 -0.02993327, 0.94378574, 0.01153016, 0.02729134,-0.00828358, 0.0264458 ,
  1.37660028, 0.00766693, 1.31265528, 0.04427619,-0.09422623,-0.05195331,
  0.09209951, 0.71320885,-0.06567204,-0.69769646,-0.0154909 ]

qacc:
[-3.90662701e+00,-5.02681144e-01, 2.78848528e-01, 5.79541514e+00,
 -9.80127995e-02, 3.30490467e+00,-1.44278013e+01, 3.24313760e+01,
  2.05448747e+00, 3.25826731e-02,-2.48723925e+00, 1.19742071e+01,
  9.25566851e-02,-1.88698050e-01,-7.31338708e+00, 2.44586370e+01,
 -6.45384069e+00,-7.84752198e-02, 6.97669295e-01,-3.38122747e+01,
 -2.00994296e+02, 2.52533915e+01]

qfrc_actuator:
[-3.92839083e-05, 9.59015511e-04, 1.31733779e-04, 1.62266131e-05,
  1.04615036e-05, 3.48901168e-02, 1.08997274e-02, 1.81058076e-03,
 -9.92273406e-05, 7.97337045e-04, 1.69189807e-04, 9.33076596e-05,
  1.18042894e-03,-1.58656863e-03, 0.00000000e+00,-1.31173377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47879203,  1.64221272, -8.47879203, 11.41846385,
       14.3640643 ,  1.64221272, 14.3640643 , 82.7984453 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005431089473906067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83287401e-15, -3.06629921e-14,  1.00000000e+00,  1.17527386e-28,
        1.00000000e+00,  3.06629921e-14, -1.00000000e+00,  0.00000000e+00,
        3.83287401e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00199442, -0.0623471 ,  0.06172846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35291269e-05, 3.06323490e-05, 3.80591522e-05, 2.33120136e-05,
 -2.83076101e-05,-6.53905471e-06,-8.55138590e-06, 8.72001558e-05,
  1.23246207e-05, 2.73627991e-05, 3.38758754e-05, 3.26371243e-05,
 -2.32388237e-05,-1.19915171e-05,-2.13361231e-05, 1.12054988e-04,
 -6.54324525e-06,-3.92499891e-05,-4.90495225e+00, 2.12016998e-04,
  3.46629284e-03, 4.25534488e-04]


--- Step 2281 ---
qpos:
[ 0.01871119, 0.03000722,-0.00945048,-0.02530053,-0.00351502, 1.34075533,
 -0.0299336 , 0.94378775, 0.01153046, 0.02728979,-0.00828386, 0.02644678,
  1.37669282, 0.00766696, 1.3127662 , 0.04427509,-0.09420943,-0.05193693,
  0.09202567, 0.71331962,-0.06534888,-0.69761168,-0.01557553]

qacc:
[ 9.75286432e+00,-8.32044785e-01, 5.22197964e+00,-1.29913350e+01,
 -1.83892396e-01, 5.75332011e-01,-4.42832346e+00, 1.60994363e+01,
  7.31208762e+00,-8.15744941e-01, 8.09607577e-01, 5.48250235e+00,
  3.17699376e-01,-5.45053281e-01,-9.93979898e+00, 3.39064017e+01,
  5.87661925e+00,-2.23831692e+00,-9.19977919e-02, 3.70241235e+01,
  1.90082417e+02,-1.09169548e+02]

qfrc_actuator:
[ 1.99565119e-05, 9.63845633e-04, 1.31253955e-04,-7.21072481e-06,
 -2.59593692e-05, 3.48746653e-02, 1.09154080e-02, 1.86230383e-03,
 -5.55849325e-05, 7.64584181e-04, 1.84426325e-04, 1.11139613e-04,
  1.17078426e-03,-1.60452650e-03, 0.00000000e+00,-1.15067881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0055226911786073404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00514676e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00514676e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18828243, -0.02609729,  0.06172401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85612648e-05, 3.07965703e-05, 1.13372456e-05,-2.03570771e-05,
 -5.31498770e-05,-1.81194871e-05, 1.59876665e-05, 5.32979884e-05,
  4.40052591e-05,-8.99637168e-06, 2.62127608e-05, 2.08146421e-05,
 -2.39796761e-05,-2.69380618e-05, 1.64400638e-06, 1.64349709e-04,
  1.84725594e-05, 3.56419135e-05,-4.90493671e+00, 2.62858525e-04,
  3.44236523e-03, 4.25323838e-04]


--- Step 2282 ---
qpos:
[ 0.0187102 , 0.03000819,-0.00945054,-0.02530042,-0.00351506, 1.34075507,
 -0.02993374, 0.94378862, 0.0115306 , 0.02728818,-0.00828451, 0.02644802,
  1.37678501, 0.00766707, 1.31287742, 0.04427324,-0.09421842,-0.05192097,
  0.09195479, 0.71314575,-0.06511683,-0.69780956,-0.01564469]

qacc:
[ 2.43367030e-01,-1.18330600e+00, 7.18969550e+00,-1.81523085e+01,
 -6.06641467e-02,-2.40564337e+00, 1.02420112e+01,-2.21346294e+01,
 -1.44655418e+00, 1.44487464e+00,-6.31314820e+00, 1.12191740e+01,
 -4.12278822e-01, 4.07009965e-01, 2.76211377e+00,-8.91959825e+00,
 -6.44560275e+00,-1.07963780e-01, 7.39351849e-01,-3.41994095e+01,
 -2.01314570e+02, 2.58451944e+01]

qfrc_actuator:
[ 1.97218359e-05, 9.66283395e-04, 1.30961247e-04,-3.90589183e-05,
 -1.20893555e-05, 3.48834162e-02, 1.09247519e-02, 1.80314506e-03,
 -6.55382762e-05, 7.45675818e-04, 1.57886540e-04, 1.21205985e-04,
  1.15102151e-03,-1.59740523e-03, 0.00000000e+00,-1.19748615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47967158,  1.63766504, -8.47967158, 11.34146261,
       14.00674152,  1.63766504, 14.00674152, 81.16192005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005564573219041087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.74093051e-15, -9.97581468e-15,  1.00000000e+00,  3.73188295e-29,
        1.00000000e+00,  9.97581468e-15, -1.00000000e+00,  0.00000000e+00,
        3.74093051e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00233076, -0.06219307,  0.0617217 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48029095e-06, 2.11236353e-05, 6.74900213e-06,-3.05392011e-05,
 -1.75399734e-05, 3.45992840e-06, 9.18549009e-06,-5.79966472e-05,
 -8.67459712e-06,-1.75590673e-05,-2.44315197e-05, 1.09930310e-05,
 -3.73666570e-05,-6.83853761e-06, 1.71774126e-05,-3.78567612e-05,
 -4.28139976e-05,-3.77832092e-05,-4.90489105e+00, 1.75202882e-04,
  3.50847472e-03, 4.16186974e-04]


--- Step 2283 ---
qpos:
[ 0.01870886, 0.03000941,-0.00945121,-0.02530031,-0.00351496, 1.34075532,
 -0.02993457, 0.94378912, 0.01153027, 0.02728652,-0.00828573, 0.02644903,
  1.37687684, 0.00766747, 1.31298871, 0.04427088,-0.0942038 ,-0.05191401,
  0.09188396, 0.71324069,-0.06467153,-0.69774942,-0.01584474]

qacc:
[-2.93339572e+00, 2.02510441e+00,-6.74660070e+00, 7.54436830e+00,
  5.45741981e-02, 1.89621464e+00,-4.62195005e+00,-5.71040291e-01,
 -3.98384525e+00, 1.11085756e+00,-3.10275416e+00, 2.27033365e-01,
 -5.08369245e-01, 6.42351718e-01, 1.72794988e+00,-5.77196363e+00,
  5.90082443e+00,-2.24835891e+00, 1.27236015e-02, 3.71069879e+01,
  1.91719148e+02,-1.10572089e+02]

qfrc_actuator:
[ 2.20828333e-06, 9.67246269e-04, 9.52747560e-05,-4.00867429e-05,
  1.40851787e-05, 3.49242573e-02, 1.08947991e-02, 1.78573915e-03,
 -8.92154821e-05, 7.35013931e-04, 1.24686612e-04, 1.08851524e-04,
  1.14119002e-03,-1.57547130e-03, 0.00000000e+00,-1.22437983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005668910600382243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93766237e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.93766237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18787959, -0.02619748,  0.06171672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74650906e-05, 1.28302976e-05,-3.15590460e-05,-4.86770182e-07,
  1.58095112e-05, 4.28113437e-05,-2.99298374e-05,-1.83764883e-05,
 -2.39423858e-05,-2.49960301e-05,-3.94317210e-05,-1.37356691e-05,
 -2.96997398e-05, 1.11666050e-05,-4.18102787e-07,-2.77095191e-05,
  1.90109762e-06, 5.89783208e-05,-4.90487310e+00, 3.24599058e-04,
  3.46671606e-03, 4.14541530e-04]


--- Step 2284 ---
qpos:
[ 0.0187094 , 0.03001085,-0.00945237,-0.02529952,-0.00351466, 1.34075569,
 -0.02993564, 0.94378942, 0.01153   , 0.02728491,-0.00828741, 0.02644952,
  1.37696862, 0.00766758, 1.31309956, 0.04427155,-0.09416884,-0.0519148 ,
  0.09180779, 0.71356726,-0.0640421 ,-0.69746633,-0.01615841]

qacc:
[ 1.60139853e+01, 3.00483417e+00,-1.31706419e+01, 2.54562438e+01,
  8.62513952e-02, 4.58000588e-01,-9.10612949e-01,-1.59844338e+00,
  5.22655844e-01, 2.64795659e-01, 1.36016721e+00,-9.70852751e+00,
  3.99168308e-01,-6.28651274e-01,-9.90633187e+00, 3.35810873e+01,
  5.08635791e+00,-1.93670800e+00,-1.33496356e+00, 3.17474847e+01,
  1.65456800e+02,-9.57148071e+01]

qfrc_actuator:
[ 9.89522123e-05, 9.84943525e-04, 7.44947178e-05,-5.24399284e-06,
  2.96743895e-05, 3.49128493e-02, 1.08775708e-02, 1.77531519e-03,
 -8.52580285e-05, 7.47060144e-04, 1.05603865e-04, 8.34137592e-05,
  1.13733001e-03,-1.59815180e-03, 0.00000000e+00,-1.06173062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005692439686879734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75173287e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.75173287e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18779569, -0.02621617,  0.0617152 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.62376073e-05, 1.82946534e-05,-2.20384092e-05, 3.42902376e-05,
  2.49335017e-05, 5.86815974e-06,-1.27974285e-05,-1.04412184e-05,
  3.24338099e-06,-1.06028519e-05,-2.95460314e-05,-2.81355305e-05,
 -1.60690239e-05,-2.60570318e-05,-6.40598969e-06, 1.60363535e-04,
 -7.97737341e-05,-3.21865165e-05,-4.90475908e+00, 1.44315310e-04,
  3.55106054e-03, 3.99067386e-04]


--- Step 2285 ---
qpos:
[ 0.01871075, 0.03001224,-0.00945284,-0.02529837,-0.00351432, 1.34075571,
 -0.02993672, 0.94378962, 0.01152978, 0.0272836 ,-0.00828919, 0.0264493 ,
  1.37706045, 0.00766717, 1.31321024, 0.04427481,-0.09416306,-0.05191644,
  0.09174056, 0.71357089,-0.06352042,-0.69750341,-0.01645427]

qacc:
[ 6.97938870e+00,-1.23641475e+00, 2.75506315e+00, 2.51693959e+00,
  2.11263499e-02,-5.64884521e-01, 1.52113480e+00,-2.26383280e+00,
  4.09232062e-01,-8.18487791e-01, 6.48249028e+00,-1.88544838e+01,
  5.69724918e-01,-9.38821469e-01,-8.13281863e+00, 2.79425807e+01,
 -7.29529930e+00,-2.13879863e-01, 2.23647538e+00,-3.99890713e+01,
 -2.28296588e+02, 3.10675594e+01]

qfrc_actuator:
[ 1.37910112e-04, 9.94852897e-04, 1.16038477e-04, 1.49444987e-05,
  2.10333833e-05, 3.48702895e-02, 1.08678084e-02, 1.76906010e-03,
 -8.28142210e-05, 7.90403856e-04, 1.12851672e-04, 5.05158283e-05,
  1.13703842e-03,-1.62938924e-03, 0.00000000e+00,-9.30728407e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.48180111,  1.62659974, -8.48180111, 11.13359623,
       13.02166087,  1.62659974, 13.02166087, 76.53698768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005861005678558094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.91954204e-15, -9.47126727e-15,  1.00000000e+00,  5.60655648e-29,
        1.00000000e+00,  9.47126727e-15, -1.00000000e+00,  0.00000000e+00,
        5.91954204e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00304815, -0.06191505,  0.06170744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17643945e-05, 1.70475168e-05, 4.37848288e-05, 2.08705466e-05,
  6.09381009e-06,-4.21307943e-05,-1.03758876e-05,-6.69676344e-06,
  2.53075282e-06, 3.01826048e-05, 4.81853790e-07,-3.49161394e-05,
 -1.39714359e-05,-4.30275367e-05, 1.35598380e-05, 1.38805443e-04,
 -9.69499166e-05,-1.95554392e-04,-4.90428159e+00,-2.16623001e-04,
  3.66845672e-03, 3.74679959e-04]


--- Step 2286 ---
qpos:
[ 0.01871083, 0.03001365,-0.00945249,-0.0252977 ,-0.00351413, 1.34075502,
 -0.02993721, 0.94379079, 0.01152925, 0.02728233,-0.00829024, 0.02644866,
  1.37715225, 0.00766657, 1.31332124, 0.04427727,-0.09418226,-0.05191861,
  0.0916756 , 0.71329652,-0.06308476,-0.69781679,-0.01673664]

qacc:
[-1.08385276e+01,-3.23967220e+00, 1.36401583e+01,-2.32651444e+01,
 -6.73679865e-02,-9.30190682e-01,-8.91239667e-02, 1.16941211e+01,
 -2.65655074e+00,-2.79906913e+00, 1.18257133e+01,-2.02218717e+01,
  2.03977851e-02,-1.45146122e-01, 2.86781919e+00,-9.35000736e+00,
 -6.24674685e+00,-1.30283299e-01, 5.64617229e-01,-3.25374785e+01,
 -1.96667462e+02, 2.37525023e+01]

qfrc_actuator:
[ 7.14961160e-05, 1.00027164e-03, 1.58496811e-04,-9.12598265e-06,
 -2.07325013e-06, 3.48271883e-02, 1.08978998e-02, 1.81854364e-03,
 -9.90423300e-05, 7.99005778e-04, 1.53469604e-04, 3.12920287e-05,
  1.14420699e-03,-1.62989905e-03, 0.00000000e+00,-9.79250342e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59816679, -0.81135978,  8.59816679,  8.72200638,
        0.90757592, -0.81135978,  0.90757592, 18.25415502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0059307927897817025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18984224e-15,  1.87196394e-14,  1.00000000e+00, -1.53310894e-28,
        1.00000000e+00, -1.87196394e-14, -1.00000000e+00,  0.00000000e+00,
        8.18984224e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00321963, -0.06183345,  0.06170398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51978899e-05, 2.48510448e-05, 5.20775200e-05,-2.14259345e-05,
 -1.95068857e-05,-6.86369559e-05, 2.04741905e-05, 4.77565226e-05,
 -1.61480459e-05, 2.41523677e-05, 4.57400370e-05,-1.85859830e-05,
 -9.14983323e-06,-1.71061749e-05, 1.93351157e-05,-3.96019543e-05,
 -9.82112109e-05, 1.92661610e-05,-4.90462764e+00, 2.19265605e-04,
  3.57979938e-03, 3.71856325e-04]


--- Step 2287 ---
qpos:
[ 0.01870977, 0.03001508,-0.00945185,-0.02529729,-0.003514  , 1.34075374,
 -0.02993698, 0.94379114, 0.01152818, 0.02728131,-0.00829089, 0.02644813,
  1.37724402, 0.0076659 , 1.31343221, 0.04428017,-0.09422291,-0.05192104,
  0.09160714, 0.71278188,-0.06271784,-0.69836893,-0.01700883]

qacc:
[-9.78327327e+00,-1.28919648e+00, 5.72518467e+00,-1.06276138e+01,
 -2.62048460e-02,-4.08683423e+00, 1.40732209e+01,-2.12927240e+01,
 -4.56147302e+00,-5.64611955e-01, 2.03425599e+00,-9.27293405e-01,
  4.19120441e-02,-9.87254160e-02,-1.38000457e+00, 4.72147075e+00,
 -5.36105134e+00,-6.70621871e-02,-8.72526400e-01,-2.65475714e+01,
 -1.69879030e+02, 1.80704970e+01]

qfrc_actuator:
[ 1.46221505e-05, 9.85191357e-04, 1.65583044e-04,-2.35503874e-05,
  1.83546534e-06, 3.48020380e-02, 1.09335384e-02, 1.77618006e-03,
 -1.26130603e-04, 8.22404291e-04, 1.77833908e-04, 3.80156323e-05,
  1.14520407e-03,-1.62984767e-03, 0.00000000e+00,-9.55616808e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59264321, -0.86790522,  8.59264321,  8.74564894,
        1.08197259, -0.86790522,  1.08197259, 19.34836793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0059131642247288105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52550508e-14, -9.38772358e-15,  1.00000000e+00,  1.43210200e-28,
        1.00000000e+00,  9.38772358e-15, -1.00000000e+00,  0.00000000e+00,
        1.52550508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00319554, -0.06178666,  0.06170425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87712249e-05, 8.57478020e-06, 1.78718240e-05,-1.19786332e-05,
 -7.62152762e-06,-5.76730106e-05, 2.59455226e-05,-4.27187583e-05,
 -2.75590837e-05, 4.56089760e-05, 3.43727975e-05, 8.98674623e-06,
 -7.42210457e-06,-7.29864063e-06, 8.01889277e-07, 2.30549785e-05,
  4.02124918e-06, 1.36759159e-04,-4.90450555e+00, 5.31959366e-04,
  3.50919589e-03, 3.67222031e-04]


--- Step 2288 ---
qpos:
[ 0.01870804, 0.03001598,-0.00945086,-0.02529663,-0.00351389, 1.34075227,
 -0.0299373 , 0.94379066, 0.01152679, 0.02728064,-0.00829156, 0.02644806,
  1.37733566, 0.00766524, 1.31354327, 0.04428232,-0.094236  ,-0.05193325,
  0.09154639, 0.71258735,-0.06212072,-0.69861059,-0.01742203]

qacc:
[-5.76306472e+00,-1.17337622e+00, 2.20993255e+00, 1.65555527e+00,
 -7.56223702e-03,-1.67138573e-01, 1.94480289e+00,-1.11378402e+01,
 -2.71049255e+00, 1.45201896e+00,-6.38342881e+00, 1.38898807e+01,
 -1.67731636e-01, 1.59914291e-01, 2.43293687e+00,-8.25307940e+00,
  6.89104283e+00,-2.44405101e+00, 1.92700329e+00, 4.02009475e+01,
  2.28802795e+02,-1.18171417e+02]

qfrc_actuator:
[-1.83936019e-05, 9.22307622e-04, 1.69407648e-04,-1.44663750e-05,
  4.16735186e-06, 3.47878162e-02, 1.09011462e-02, 1.73335854e-03,
 -1.41635211e-04, 8.36699559e-04, 1.74714403e-04, 5.99442298e-05,
  1.13717541e-03,-1.62950942e-03, 0.00000000e+00,-9.96114178e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006034406801993568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04921824e-15, -9.19910657e-15,  1.00000000e+00,  7.40456164e-29,
        1.00000000e+00,  9.19910657e-15, -1.00000000e+00,  0.00000000e+00,
        8.04921824e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18713654, -0.02805675,  0.06169859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47307256e-05,-5.49876778e-05, 7.36064245e-06, 9.83331216e-06,
 -2.17398050e-06,-4.23259516e-05,-4.19724921e-05,-4.47853803e-05,
 -1.63015792e-05, 4.73181051e-05, 1.08670339e-05, 2.52531821e-05,
 -1.34446490e-05,-3.56190654e-06, 5.02681578e-07,-3.96784137e-05,
  1.69669029e-04, 1.93108725e-04,-4.90408808e+00, 7.63681461e-04,
  3.44846343e-03, 3.61510708e-04]


--- Step 2289 ---
qpos:
[ 0.01870626, 0.03001673,-0.0094502 ,-0.02529622,-0.00351378, 1.34075036,
 -0.02993804, 0.94379177, 0.01152592, 0.02728015,-0.00829247, 0.02644863,
  1.377427  , 0.0076651 , 1.31365428, 0.0442843 ,-0.09422542,-0.05195385,
  0.09148679, 0.71266738,-0.06132565,-0.69858565,-0.0179573 ]

qacc:
[-3.38162054e-01, 1.95466267e-01, 2.86848094e-02,-3.58624459e+00,
  2.46198296e-04, 3.22083341e+00,-1.44512021e+01, 3.11180107e+01,
  4.37782019e+00, 2.22734980e+00,-1.03303749e+01, 2.17659646e+01,
 -5.71378666e-01, 8.60172473e-01, 4.87257792e-01,-1.67131023e+00,
  5.91507984e+00,-2.09944674e+00, 2.86019560e-01, 3.40914107e+01,
  1.96411533e+02,-1.01972136e+02]

qfrc_actuator:
[-1.93525555e-05, 9.20035805e-04, 1.53344999e-04,-2.71701749e-05,
  5.53351341e-06, 3.47622311e-02, 1.08821719e-02, 1.81486651e-03,
 -1.14688765e-04, 8.27581064e-04, 1.55371885e-04, 9.06166806e-05,
  1.12906541e-03,-1.59354534e-03, 0.00000000e+00,-1.00307077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.85817204, -6.34575427,  5.85817204, 46.62515016,
       35.06988098, -6.34575427, 35.06988098, 41.01161604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0061313074523018235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13171521e-15, -9.05372168e-15,  1.00000000e+00,  1.02462345e-29,
        1.00000000e+00,  9.05372168e-15, -1.00000000e+00,  0.00000000e+00,
        1.13171521e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18688416, -0.0281163 ,  0.06169403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99482200e-06,-3.11313538e-05,-2.61930639e-05,-1.46158098e-05,
  8.01967586e-08,-5.85463942e-05,-3.33425735e-05, 7.79634249e-05,
  2.64812126e-05, 2.06912108e-05,-7.34092167e-06, 3.35712710e-05,
 -1.58094140e-05, 3.18980573e-05,-7.04917845e-06,-9.76310606e-06,
 -6.60924376e-05, 1.36736532e-04,-4.90430633e+00, 5.06622150e-04,
  3.53808993e-03, 3.37339640e-04]


--- Step 2290 ---
qpos:
[ 0.01870518, 0.03001766,-0.00944992,-0.02529601,-0.00351352, 1.34074857,
 -0.02993918, 0.9437924 , 0.01152607, 0.02728005,-0.00829422, 0.02644923,
  1.37751812, 0.00766538, 1.31376519, 0.04428651,-0.09419451,-0.05198169,
  0.09142267, 0.71298303,-0.06036019,-0.69833082,-0.01859861]

qacc:
[ 5.91363564e+00, 9.05221851e-01,-2.07658196e+00,-7.86173285e-01,
  6.42184196e-02, 4.99404804e-01,-4.69236863e-01,-5.06409988e+00,
  8.66603359e+00, 2.90027493e+00,-9.78197171e+00, 1.14681538e+01,
 -4.08458191e-01, 6.48808949e-01,-7.76794902e-01, 2.60395294e+00,
  5.08485355e+00,-1.80847765e+00,-1.12985473e+00, 2.88448419e+01,
  1.69000099e+02,-8.81354604e+01]

qfrc_actuator:
[ 1.63093658e-05, 9.53970857e-04, 1.43632899e-04,-3.48113069e-05,
  2.40615148e-05, 3.48011660e-02, 1.08713247e-02, 1.79137305e-03,
 -6.29757484e-05, 8.39946230e-04, 1.08766912e-04, 9.06527404e-05,
  1.12092780e-03,-1.57221900e-03, 0.00000000e+00,-9.90186379e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.43803773, -5.7566003 ,  6.43803773, 38.22378209,
       33.08982848, -5.7566003 , 33.08982848, 45.64319984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006131863137248998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65806326e-15, -1.81058024e-14,  1.00000000e+00,  1.02443775e-28,
        1.00000000e+00,  1.81058024e-14, -1.00000000e+00,  0.00000000e+00,
        5.65806326e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18685702, -0.02811945,  0.06169355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55914723e-05, 1.04603536e-05,-1.98889715e-05,-1.01684896e-05,
  1.85731619e-05, 2.38360295e-06,-2.38034200e-05,-2.44254821e-05,
  5.24923169e-05, 2.38914957e-05,-4.20604244e-05, 1.32268157e-06,
 -8.79983971e-06, 2.75449952e-05,-6.95616489e-06, 1.08428805e-05,
 -1.86359446e-04,-2.16899421e-05,-4.90398275e+00, 2.69600313e-05,
  3.66458527e-03, 3.03010239e-04]


--- Step 2291 ---
qpos:
[ 0.01870454, 0.03001842,-0.00944937,-0.02529589,-0.00351322, 1.3407475 ,
 -0.02994129, 0.9437917 , 0.01152684, 0.02728004,-0.00829585, 0.02644945,
  1.37760912, 0.00766573, 1.31387609, 0.0442885 ,-0.09419233,-0.05201071,
  0.0913675 , 0.7129752 ,-0.05949854,-0.69839578,-0.01922567]

qacc:
[ 3.75247952e+00,-1.15742857e+00, 4.18277349e+00,-6.07991718e+00,
  1.41607735e-02, 1.22255479e+00,-9.49947490e-02,-1.59795764e+01,
  5.28828470e+00,-9.89519790e-01, 5.26684566e+00,-1.20163335e+01,
 -1.55839637e-01, 1.80478048e-01, 6.29706518e-01,-2.21020182e+00,
 -7.18486205e+00,-2.93284472e-01, 2.23876830e+00,-3.88259667e+01,
 -2.28341238e+02, 2.86683121e+01]

qfrc_actuator:
[ 3.77244281e-05, 9.38344426e-04, 1.55676309e-04,-3.93653696e-05,
  1.72298354e-05, 3.48606673e-02, 1.08300208e-02, 1.72404275e-03,
 -3.26185591e-05, 8.47176340e-04, 1.17509710e-04, 7.26597893e-05,
  1.10745072e-03,-1.57754156e-03, 0.00000000e+00,-1.00122422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.4979926 ,  1.53977225, -8.4979926 , 10.85137002,
       12.22460522,  1.53977225, 12.22460522, 76.10387701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006079682152075376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.42397533e-15, -9.13060088e-15,  1.00000000e+00,  3.12629522e-29,
        1.00000000e+00,  9.13060088e-15, -1.00000000e+00,  0.00000000e+00,
        3.42397533e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0036273 , -0.06149774,  0.06169527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24537423e-05,-1.43418746e-05, 1.13874734e-05,-4.99679311e-06,
  4.14441138e-06, 5.54442179e-05,-4.42587413e-05,-6.85262990e-05,
  3.19024837e-05, 1.20004037e-05, 8.56140939e-06,-1.83980684e-05,
 -1.16545114e-05, 1.15596183e-06,-4.36558500e-06,-1.18679808e-05,
 -2.27533979e-04,-2.41445157e-04,-4.90332576e+00,-5.79082063e-04,
  3.81133640e-03, 2.61514968e-04]


--- Step 2292 ---
qpos:
[ 0.01870347, 0.03001912,-0.00944897,-0.02529615,-0.00351294, 1.34074646,
 -0.0299429 , 0.94379155, 0.01152796, 0.02727987,-0.00829699, 0.02644947,
  1.37770008, 0.00766603, 1.31398685, 0.04429101,-0.09421475,-0.05204053,
  0.09131454, 0.71268921,-0.05871901,-0.69873632,-0.01984232]

qacc:
[-3.67024491e+00,-4.74329694e-01, 3.20184749e+00,-9.60760384e+00,
 -6.12855638e-03,-3.47014147e-01, 2.10338760e-02, 6.49971315e+00,
  3.07955301e+00,-2.03057710e+00, 7.84081386e+00,-1.22054208e+01,
  4.63624772e-02,-9.14838955e-02,-1.74626640e+00, 5.81703762e+00,
 -6.14893207e+00,-2.03234882e-01, 5.51971142e-01,-3.12644565e+01,
 -1.96478189e+02, 2.15140813e+01]

qfrc_actuator:
[ 1.50646112e-05, 9.28765426e-04, 1.44774386e-04,-5.98429974e-05,
  1.29922836e-05, 3.48608657e-02, 1.08599171e-02, 1.75574608e-03,
 -1.50827972e-05, 8.33716547e-04, 1.41092917e-04, 6.19998144e-05,
  1.10674667e-03,-1.58091636e-03, 0.00000000e+00,-9.73011344e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60625799, -0.72048619,  8.60625799,  8.6967356 ,
        0.72114735, -0.72048619,  0.72114735, 17.2505192 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006135765497096206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13089294e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13089294e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00376446, -0.06142006,  0.06169247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20137867e-05,-1.54852061e-05,-1.26501779e-05,-2.07989861e-05,
 -1.78617773e-06, 2.01609015e-05, 3.36982411e-05, 3.04775599e-05,
  1.84730027e-05,-5.73632332e-06, 2.64982545e-05,-1.02055396e-05,
 -6.42662332e-06,-5.60738735e-06,-5.79499869e-06, 2.64227318e-05,
 -1.88432559e-04, 4.43947650e-05,-4.90372070e+00, 1.76388145e-04,
  3.67216834e-03, 2.55504089e-04]


--- Step 2293 ---
qpos:
[ 0.01870144, 0.03001978,-0.00944847,-0.02529633,-0.00351269, 1.34074549,
 -0.02994356, 0.94379176, 0.01152895, 0.02728006,-0.00829857, 0.02644901,
  1.377791  , 0.00766608, 1.31409731, 0.04429583,-0.09421327,-0.05207894,
  0.09126336, 0.71268121,-0.0577356 ,-0.69880491,-0.02058641]

qacc:
[-8.17020418e+00,-1.31653861e-01, 9.85703262e-02, 1.13265589e+00,
 -1.26981025e-02,-1.86494489e+00, 5.47682788e+00,-7.12628557e-01,
 -1.24180642e+00, 7.51524308e-01, 1.52083920e-02,-7.76860667e+00,
  3.22864043e-01,-5.21760947e-01,-7.48582065e+00, 2.54416718e+01,
  5.97461984e+00,-2.14607279e+00, 4.45379657e-01, 3.35922861e+01,
  1.99793036e+02,-1.05900061e+02]

qfrc_actuator:
[-3.33511106e-05, 9.40532207e-04, 1.55911481e-04,-5.40397583e-05,
  1.03461481e-05, 3.48791361e-02, 1.09137036e-02, 1.77448786e-03,
 -2.29796534e-05, 8.61303715e-04, 1.19895001e-04, 3.79743471e-05,
  1.09772602e-03,-1.60078545e-03, 0.00000000e+00,-8.50877387e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006180842140682173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49058154e-15, -8.98116308e-15,  1.00000000e+00,  4.03306451e-29,
        1.00000000e+00,  8.98116308e-15, -1.00000000e+00,  0.00000000e+00,
        4.49058154e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18666706, -0.02815576,  0.06169015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90637616e-05,-4.29109710e-07, 5.65102757e-06, 4.29682083e-06,
 -3.70114572e-06, 3.69395521e-05, 6.24617194e-05, 2.10387534e-05,
 -7.36017798e-06, 2.94449587e-05,-1.94565370e-05,-2.35507140e-05,
 -1.36582760e-05,-2.29966362e-05,-1.77892792e-06, 1.22380682e-04,
 -5.49543788e-05, 2.23072404e-04,-4.90363497e+00, 7.68692398e-04,
  3.56038560e-03, 2.46543115e-04]


--- Step 2294 ---
qpos:
[ 0.01869919, 0.03002024,-0.00944751,-0.0252961 ,-0.00351262, 1.34074487,
 -0.0299442 , 0.94379221, 0.01152983, 0.02728085,-0.00830057, 0.02644857,
  1.37788186, 0.00766548, 1.31420756, 0.0443034 ,-0.09419126,-0.05212475,
  0.0912082 , 0.71291148,-0.05657673,-0.69863908,-0.02144132]

qacc:
[-1.87167655e+00,-7.14379393e-01, 4.12678083e-01, 6.13848652e+00,
 -7.48247055e-02, 8.24127649e-01,-2.65007276e+00, 4.95142334e+00,
 -8.96567850e-01, 2.01809569e+00,-6.18304506e+00, 6.92320202e+00,
  5.73195320e-01,-1.04612895e+00,-8.69968008e+00, 2.98188524e+01,
  5.13451496e+00,-1.85035640e+00,-9.96031320e-01, 2.82670980e+01,
  1.71793421e+02,-9.15749262e+01]

qfrc_actuator:
[-4.32662285e-05, 9.29591873e-04, 1.80088025e-04,-3.27802090e-05,
 -9.07624259e-06, 3.48904419e-02, 1.09101639e-02, 1.78543865e-03,
 -2.80250999e-05, 9.13068005e-04, 1.08077508e-04, 4.17803477e-05,
  1.07839109e-03,-1.64807991e-03, 0.00000000e+00,-7.09901479e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76467395, -5.36898157,  6.76467395, 29.01252711,
       25.6730444 , -5.36898157, 25.6730444 , 40.98323843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006188819800348154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96958597e-15,  8.96958597e-15,  1.00000000e+00, -8.04534724e-29,
        1.00000000e+00, -8.96958597e-15, -1.00000000e+00,  0.00000000e+00,
        8.96958597e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18662576, -0.02816214,  0.06168942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13479112e-05,-9.86938616e-06, 2.49234076e-05, 2.15206102e-05,
 -2.16084944e-05, 4.45986311e-05, 1.14134941e-05, 1.43786750e-05,
 -5.25006798e-06, 6.32149429e-05,-8.92795574e-06, 3.94091560e-06,
 -3.11642170e-05,-5.75755253e-05, 1.10290222e-05, 1.47142233e-04,
 -2.23888579e-04, 4.56060045e-05,-4.90326845e+00, 1.43737270e-04,
  3.70420274e-03, 2.01804267e-04]


--- Step 2295 ---
qpos:
[ 0.01869754, 0.03002073,-0.00944687,-0.02529594,-0.00351274, 1.34074447,
 -0.02994541, 0.94379353, 0.0115303 , 0.027282  ,-0.00830213, 0.0264485 ,
  1.37797268, 0.00766427, 1.31431816, 0.04430992,-0.09419697,-0.05217185,
  0.09116077, 0.71282697,-0.05551159,-0.69878429,-0.02228653]

qacc:
[ 5.02897392e+00, 7.87096402e-01,-2.47108610e+00, 1.78658343e+00,
 -8.43698721e-02, 3.29870454e+00,-1.21750126e+01, 2.04047832e+01,
 -3.50951729e+00,-1.05364623e-02,-7.57941715e-01, 5.99956207e+00,
  2.38247401e-01,-6.41321421e-01, 3.64937486e+00,-1.20861246e+01,
 -6.93209825e+00,-3.21774197e-01, 1.93332158e+00,-3.55914406e+01,
 -2.22113090e+02, 2.40254910e+01]

qfrc_actuator:
[-1.26797168e-05, 9.22969934e-04, 1.58426114e-04,-3.81169560e-05,
 -2.06531278e-05, 3.48795150e-02, 1.08727792e-02, 1.82718402e-03,
 -4.90958414e-05, 9.43458587e-04, 1.37546056e-04, 6.19717755e-05,
  1.07950021e-03,-1.67582694e-03, 0.00000000e+00,-7.72014434e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.50137138,  1.52100677, -8.50137138, 10.85082562,
       12.37730439,  1.52100677, 12.37730439, 77.81689824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006287608057403221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31074735e-15, -8.82865960e-15,  1.00000000e+00,  2.92294614e-29,
        1.00000000e+00,  8.82865960e-15, -1.00000000e+00,  0.00000000e+00,
        3.31074735e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00413713, -0.06119232,  0.0616848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02480373e-05,-6.09702267e-06,-1.99004627e-05,-4.48069637e-06,
 -2.43450242e-05, 1.64141498e-05,-2.69379323e-05, 4.37528507e-05,
 -2.12019158e-05, 6.40624730e-05, 4.15795617e-05, 2.26723019e-05,
 -2.69973406e-05,-5.27768816e-05, 1.90850429e-05,-5.30646806e-05,
 -3.03700555e-04,-1.97222221e-04,-4.90255792e+00,-5.97880994e-04,
  3.86511588e-03, 1.50003038e-04]


--- Step 2296 ---
qpos:
[ 0.0186966 , 0.03002135,-0.00944708,-0.02529617,-0.00351304, 1.34074438,
 -0.0299468 , 0.94379496, 0.01153016, 0.02728362,-0.00830361, 0.02644869,
  1.37806333, 0.00766311, 1.31442868, 0.04431702,-0.0942264 ,-0.05221989,
  0.09111444, 0.71247181,-0.05451997,-0.6991972 ,-0.02312512]

qacc:
[ 6.18445530e+00, 1.75693950e+00,-4.41088442e+00,-9.59114456e-01,
 -7.33025076e-02, 1.09406569e+00,-3.31869343e+00, 4.04195534e+00,
 -5.13574134e+00, 9.54288886e-01,-3.58868409e+00, 7.57263700e+00,
 -1.11956381e-01, 1.04483362e-01,-1.84524063e+00, 6.31351553e+00,
 -5.92990802e+00,-2.33777114e-01, 2.74645326e-01,-2.84223121e+01,
 -1.90977175e+02, 1.76045971e+01]

qfrc_actuator:
[ 2.37356425e-05, 9.18781970e-04, 1.09859578e-04,-5.90946922e-05,
 -2.74296198e-05, 3.49084877e-02, 1.08689243e-02, 1.83343598e-03,
 -7.94311683e-05, 9.61005742e-04, 1.37827263e-04, 7.38984715e-05,
  1.08754956e-03,-1.65612341e-03, 0.00000000e+00,-7.40253948e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60965864, -0.67864204,  8.60965864,  8.68986187,
        0.67871052, -0.67864204,  0.67871052, 17.24689112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006313927784498609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.63755715e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.63755715e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0042052 , -0.06112569,  0.06168332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72933842e-05,-1.19090585e-05,-5.24448523e-05,-2.20183576e-05,
 -2.11628003e-05, 3.41032864e-05,-2.42283157e-06, 6.96938281e-06,
 -3.09344774e-05, 6.29023231e-05, 1.94262250e-05, 1.65539814e-05,
 -1.74106031e-05,-2.65835227e-06,-9.02300409e-07, 3.03652226e-05,
 -2.19385127e-04, 1.06236870e-04,-4.90284327e+00, 3.24773424e-04,
  3.70643133e-03, 1.40999494e-04]


--- Step 2297 ---
qpos:
[ 0.01869542, 0.03002156,-0.00944741,-0.02529662,-0.00351333, 1.34074512,
 -0.02994786, 0.94379535, 0.01153036, 0.0272856 ,-0.00830555, 0.02644872,
  1.37815357, 0.00766243, 1.3145391 , 0.04432511,-0.09427623,-0.05226825,
  0.09106382, 0.71188204,-0.05359333,-0.69984152,-0.02394902]

qacc:
[-2.09835386e+00,-6.87182647e-01, 2.66073365e+00,-6.19654786e+00,
  4.83174736e-03,-1.58851883e+00, 8.64419532e+00,-2.01526500e+01,
  2.76808507e+00, 1.43240157e+00,-3.76957357e+00, 1.57486746e+00,
 -5.48587259e-01, 7.86308371e-01,-3.08907806e+00, 1.07150856e+01,
 -5.09900807e+00,-8.24009467e-02,-1.07102658e+00,-2.17310760e+01,
 -1.65608891e+02, 1.89236958e+01]

qfrc_actuator:
[ 1.00186718e-05, 8.80438141e-04, 9.90710097e-05,-7.13604282e-05,
 -1.35195937e-05, 3.49967308e-02, 1.09027799e-02, 1.78328598e-03,
 -6.17135799e-05, 9.52858121e-04, 1.03043390e-04, 6.30729956e-05,
  1.06782152e-03,-1.62611055e-03, 0.00000000e+00,-6.88877627e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59011837, -0.89254871,  8.59011837,  8.72954989,
        0.89684851, -0.89254871,  0.89684851, 17.26786433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006255954562715992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98249660e-15,  1.15102758e-06,  1.00000000e+00,  1.14901289e-20,
        1.00000000e+00, -1.15102758e-06, -1.00000000e+00,  0.00000000e+00,
       -9.98249660e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0044558 , -0.06192319,  0.06168541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26331017e-05,-5.67810054e-05,-2.04739096e-05,-1.50206327e-05,
  1.40496301e-06, 1.06847586e-04, 4.04591522e-05,-4.90344701e-05,
  1.68357287e-05, 3.16971496e-05,-1.88258180e-05,-7.13497278e-06,
 -2.89536515e-05, 2.52232990e-05, 4.43301753e-07, 5.23568186e-05,
 -5.41367991e-05, 3.05564094e-04,-4.90268362e+00, 1.07226610e-03,
  3.57746621e-03, 1.28535016e-04]


--- Step 2298 ---
qpos:
[ 0.0186934 , 0.0300213 ,-0.00944698,-0.02529762,-0.00351354, 1.34074672,
 -0.0299486 , 0.94379616, 0.01153076, 0.02728765,-0.00830749, 0.02644863,
  1.37824332, 0.0076622 , 1.31464992, 0.0443304 ,-0.09429906,-0.05232648,
  0.09102081, 0.71160638,-0.05242946,-0.7001759 ,-0.0249244 ]

qacc:
[-7.21406502e+00,-3.84382168e+00, 1.50880067e+01,-2.53035443e+01,
  3.20842946e-02, 1.01547153e+00,-2.82888864e+00, 6.88391939e+00,
  1.79946887e+00,-1.88721080e-01, 1.30669798e+00,-3.47753253e+00,
 -9.03115527e-01, 1.13329037e+00, 9.15308597e+00,-3.09449211e+01,
  6.74853797e+00,-2.46791247e+00, 1.90139405e+00, 3.61394302e+01,
  2.27137963e+02,-1.24861943e+02]

qfrc_actuator:
[-3.30982703e-05, 8.75339901e-04, 1.46055452e-04,-9.61509749e-05,
 -5.06559960e-06, 3.50488857e-02, 1.09233206e-02, 1.80692674e-03,
 -5.13567050e-05, 9.46959243e-04, 1.00976097e-04, 5.66572488e-05,
  1.03678130e-03,-1.60812415e-03, 0.00000000e+00,-8.39406962e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006435808524385883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23450917e-15, -1.72507156e-14,  1.00000000e+00,  5.57975978e-29,
        1.00000000e+00,  1.72507156e-14, -1.00000000e+00,  0.00000000e+00,
        3.23450917e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18596072, -0.02831345,  0.06167742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35036660e-05,-4.17248176e-05, 3.22200501e-05,-2.82204269e-05,
  9.28806574e-06, 1.17699386e-04, 4.46089457e-05, 2.69018695e-05,
  1.08663299e-05, 7.58927675e-06, 1.91355309e-06,-5.84846580e-06,
 -3.93455503e-05, 1.89864809e-05, 3.13344122e-06,-1.48222601e-04,
  1.55051468e-04, 4.35519384e-04,-4.90228077e+00, 1.68016871e-03,
  3.47215089e-03, 1.13499215e-04]


--- Step 2299 ---
qpos:
[ 0.01869157, 0.03002088,-0.00944582,-0.02529929,-0.00351396, 1.34074829,
 -0.02994869, 0.94379732, 0.01153164, 0.02728954,-0.00830878, 0.02644845,
  1.37833306, 0.00766165, 1.31476079, 0.04433352,-0.09429877,-0.05239321,
  0.09097875, 0.71159897,-0.0510619 ,-0.70024421,-0.02603126]

qacc:
[ 1.63583737e+00,-3.64723662e+00, 1.55300419e+01,-2.82298650e+01,
 -8.60964325e-02,-1.23667977e+00, 3.29089447e+00, 1.09314690e+00,
  4.00051906e+00,-2.19961879e+00, 7.93685119e+00,-1.04559541e+01,
  8.56983515e-03,-2.09528282e-01, 6.62248677e+00,-2.30760441e+01,
  5.78131655e+00,-2.12342377e+00, 2.36021906e-01, 3.01617561e+01,
  1.94559977e+02,-1.07772105e+02]

qfrc_actuator:
[-2.21472008e-05, 8.90423647e-04, 1.91373085e-04,-1.28055459e-04,
 -3.54595445e-05, 3.49902590e-02, 1.09357546e-02, 1.82052788e-03,
 -2.76785653e-05, 9.42563598e-04, 1.36011440e-04, 5.29174236e-05,
  1.03625520e-03,-1.63300960e-03, 0.00000000e+00,-9.47912513e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.99278018, -5.06831354,  6.99278018, 22.96606364,
       19.77076622, -5.06831354, 19.77076622, 35.91419896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006505513015622508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.33308740e-15, -8.53293985e-15,  1.00000000e+00,  4.55069140e-29,
        1.00000000e+00,  8.53293985e-15, -1.00000000e+00,  0.00000000e+00,
        5.33308740e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1857797 , -0.02835526,  0.06167415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66932482e-06,-2.80414914e-06, 3.96960311e-05,-3.31216655e-05,
 -2.49012252e-05, 1.60097283e-05, 4.13235542e-05, 1.90728738e-05,
  2.40036667e-05,-5.31510803e-08, 3.66352494e-05,-3.46262013e-06,
 -1.59513267e-05,-2.79463752e-05,-1.92343047e-05,-1.17309831e-04,
 -1.64816772e-04, 2.67631497e-04,-4.90209402e+00, 9.11164472e-04,
  3.63137918e-03, 5.77085042e-05]


--- Step 2300 ---
qpos:
[ 0.01869022, 0.03002061,-0.00944483,-0.02530096,-0.00351464, 1.34074974,
 -0.02994871, 0.94379728, 0.01153278, 0.02729105,-0.00831004, 0.02644829,
  1.3784227 , 0.00766103, 1.31487117, 0.0443383 ,-0.09427865,-0.05246727,
  0.09093188, 0.71182061,-0.04951942,-0.70008324,-0.0272525 ]

qacc:
[ 4.19393450e+00, 6.53929617e-01,-2.04186434e+00, 2.16700419e+00,
 -1.13002709e-01,-2.36590747e+00, 9.97348591e+00,-2.23448833e+01,
  2.37775830e+00,-5.39641401e-01, 1.03313489e+00,-2.44069803e-01,
  1.21988286e-01,-1.96506822e-01,-5.75873795e+00, 1.90780456e+01,
  4.95867661e+00,-1.83216933e+00,-1.20006776e+00, 2.50531623e+01,
  1.66973187e+02,-9.31079826e+01]

qfrc_actuator:
[ 2.79761241e-06, 8.99738466e-04, 1.82156214e-04,-1.28372462e-04,
 -5.34077211e-05, 3.49544733e-02, 1.09251019e-02, 1.75701315e-03,
 -1.40997957e-05, 8.85999380e-04, 1.21656501e-04, 5.08028351e-05,
  1.03803592e-03,-1.62977437e-03, 0.00000000e+00,-8.53189750e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.15677215, -4.83398275,  7.15677215, 21.29906771,
       18.74729235, -4.83398275, 18.74729235, 36.39196532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006479311544725572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35465370e-15, -8.56744592e-15,  1.00000000e+00,  4.58757060e-29,
        1.00000000e+00,  8.56744592e-15, -1.00000000e+00,  0.00000000e+00,
        5.35465370e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1858208 , -0.02834041,  0.06167491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52258476e-05, 1.45418208e-05,-6.05637765e-06, 2.93378672e-07,
 -3.26632068e-05,-1.82822042e-05,-2.25886124e-06,-6.13757236e-05,
  1.42850526e-05,-4.92167902e-05,-9.98010632e-06,-9.18413828e-07,
 -1.33824213e-05,-8.60607311e-06,-2.39645968e-05, 8.52275432e-05,
 -3.55505381e-04, 1.77776203e-06,-4.90141627e+00,-1.91032925e-05,
  3.81116701e-03,-6.93119145e-06]


--- Step 2301 ---
qpos:
[ 0.01868918, 0.0300204 ,-0.00944417,-0.02530295,-0.00351542, 1.34075125,
 -0.02994949, 0.94379687, 0.01153374, 0.02729213,-0.0083117 , 0.0264485 ,
  1.3785121 , 0.0076607 , 1.31498128, 0.04434514,-0.09424149,-0.05254767,
  0.09087529, 0.71223783,-0.04782665,-0.69972383,-0.02857356]

qacc:
[ 2.64599746e+00, 3.79707035e-01, 5.64192535e-02,-4.92494760e+00,
 -4.12360714e-02, 1.47127841e+00,-3.92807269e+00,-1.09441784e+00,
 -1.62985784e+00, 1.29646703e+00,-6.92972249e+00, 1.40380023e+01,
 -1.84660182e-01, 3.06636679e-01,-6.60797643e+00, 2.25682279e+01,
  4.25807706e+00,-1.58496108e+00,-2.43224680e+00, 2.06868300e+01,
  1.43608181e+02,-8.05495335e+01]

qfrc_actuator:
[ 1.80089954e-05, 8.87590264e-04, 1.58576124e-04,-1.45644508e-04,
 -4.59908320e-05, 3.49502443e-02, 1.08831724e-02, 1.73738205e-03,
 -2.43313238e-05, 8.51694473e-04, 9.57781211e-05, 6.73290153e-05,
  1.03055657e-03,-1.60980034e-03, 0.00000000e+00,-7.46010386e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.38802577, -4.4725666 ,  7.38802577, 19.13072987,
       17.33515789, -4.4725666 , 17.33515789, 37.27150866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006376267841185675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70590016e-15, -8.70590016e-15,  1.00000000e+00,  7.57926976e-29,
        1.00000000e+00,  8.70590016e-15, -1.00000000e+00,  0.00000000e+00,
        8.70590016e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18603846, -0.02828033,  0.06167886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59519054e-05,-5.23998568e-06,-2.13168622e-05,-1.68519394e-05,
 -1.18859451e-05,-1.66399492e-05,-4.75644414e-05,-2.16677751e-05,
 -9.82643719e-06,-6.39588998e-05,-3.73077492e-05, 1.40532763e-05,
 -1.63331560e-05, 1.43887591e-05,-2.42702950e-06, 1.08631054e-04,
 -4.54720185e-04,-3.21340399e-04,-4.90045240e+00,-1.02004075e-03,
  3.99722150e-03,-7.75372560e-05]


--- Step 2302 ---
qpos:
[ 0.01868834, 0.03002037,-0.00944416,-0.02530512,-0.00351621, 1.34075261,
 -0.02995102, 0.94379589, 0.01153423, 0.0272927 ,-0.00831335, 0.02644888,
  1.37860151, 0.0076603 , 1.31509147, 0.0443522 ,-0.09423496,-0.05262931,
  0.09083227, 0.71230356,-0.04625241,-0.69970894,-0.02986224]

qacc:
[ 1.61281869e+00, 1.63656749e+00,-4.70827962e+00, 2.37900770e+00,
 -7.70110591e-03, 8.44623193e-01,-1.81984144e+00,-4.84971479e+00,
 -4.04250967e+00,-3.22005606e-01,-5.68515619e-01, 4.01492657e+00,
  5.40899191e-02,-9.72985678e-02,-5.34924284e-01, 2.01900867e+00,
 -7.65665299e+00,-3.10128547e-01, 3.39568268e+00,-3.43653410e+01,
 -2.48129174e+02, 3.97313208e+01]

qfrc_actuator:
[ 2.73643992e-05, 8.98105014e-04, 1.26618736e-04,-1.55027215e-04,
 -4.11706300e-05, 3.49293231e-02, 1.08410350e-02, 1.70824922e-03,
 -4.84920841e-05, 8.30931669e-04, 9.89080667e-05, 7.69494563e-05,
  1.03351506e-03,-1.61560181e-03, 0.00000000e+00,-7.38930602e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.49349031,  1.56441658, -8.49349031, 10.86015925,
       12.07337404,  1.56441658, 12.07337404, 74.18481592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00649083793072671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62126089e-15, -1.71044638e-14,  1.00000000e+00,  1.64566509e-28,
        1.00000000e+00,  1.71044638e-14, -1.00000000e+00,  0.00000000e+00,
        9.62126089e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00537276, -0.06232584,  0.06167356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.82035148e-06, 2.47376814e-06,-3.62483691e-05,-1.06697496e-05,
 -2.20425505e-06,-4.00920512e-05,-5.14420666e-05,-3.15297668e-05,
 -2.44681495e-05,-6.36538730e-05,-1.41829498e-05, 5.86359657e-06,
 -1.55922970e-06,-5.24694520e-06, 8.82689828e-06, 1.23177876e-05,
 -4.87998652e-04,-6.74618754e-04,-4.89934069e+00,-2.03259929e-03,
  4.18037796e-03,-1.52095486e-04]


--- Step 2303 ---
qpos:
[ 0.01868761, 0.03002047,-0.00944435,-0.02530637,-0.003517  , 1.34075388,
 -0.0299531 , 0.94379455, 0.01153407, 0.02729274,-0.00831493, 0.02644903,
  1.37869099, 0.0076596 , 1.31520193, 0.04435728,-0.09425455,-0.05271185,
  0.09079531, 0.71206817,-0.04477108,-0.69998978,-0.03112526]

qacc:
[ 1.01202781e+00, 2.61813769e+00,-1.29340615e+01, 2.89791450e+01,
  6.57958562e-03, 8.00399282e-01,-2.02531873e+00,-2.30015205e+00,
 -5.43671899e+00,-1.40832431e+00, 4.99241587e+00,-8.79075495e+00,
  7.79376008e-02,-2.50592934e-01, 6.34962025e+00,-2.16519984e+01,
 -6.53131840e+00,-2.25970187e-01, 1.51189788e+00,-2.66610665e+01,
 -2.12657818e+02, 3.03161375e+01]

qfrc_actuator:
[ 3.32014350e-05, 9.22070633e-04, 1.25574434e-04,-1.06418891e-04,
 -3.79487691e-05, 3.49340602e-02, 1.08168028e-02, 1.69149846e-03,
 -8.06499972e-05, 8.00795901e-04, 1.01440351e-04, 6.47082150e-05,
  1.03207131e-03,-1.63663770e-03, 0.00000000e+00,-8.44146535e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60348579, -0.75286726,  8.60348579,  8.69091562,
        0.62339965, -0.75286726,  0.62339965, 15.76034195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006570156991738296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26734760e-14,  8.44898399e-15,  1.00000000e+00, -1.07077996e-28,
        1.00000000e+00, -8.44898399e-15, -1.00000000e+00,  0.00000000e+00,
        1.26734760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00555418, -0.0622352 ,  0.06166987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.12646611e-06, 1.74175181e-05,-5.36140198e-06, 4.72569885e-05,
  1.91805375e-06,-2.84608886e-05,-3.88547915e-05,-2.01969647e-05,
 -3.28961591e-05,-6.84192175e-05,-1.21471717e-05,-1.53430354e-05,
 -3.41365636e-06,-2.30035264e-05, 2.60195078e-06,-1.04073607e-04,
 -4.42374663e-04,-1.69732370e-04,-4.90019620e+00,-4.64089415e-04,
  3.95427447e-03,-1.60882693e-04]


--- Step 2304 ---
qpos:
[ 0.01868662, 0.03002021,-0.00944405,-0.02530702,-0.00351775, 1.34075509,
 -0.02995496, 0.94379298, 0.01153422, 0.02729231,-0.00831595, 0.02644934,
  1.37878021, 0.00765899, 1.31531253, 0.04436007,-0.09429647,-0.05279504,
  0.09075791, 0.71157388,-0.04336252,-0.70052454,-0.03236777]

qacc:
[-2.28378235e+00,-5.66036028e-01,-1.24332329e+00, 1.12696614e+01,
  1.17014043e-02,-1.10729731e+00, 3.98037368e+00,-6.12710511e+00,
  2.62358518e+00,-1.81160926e+00, 4.91442680e+00,-2.75339126e+00,
 -4.54633312e-01, 4.87306822e-01, 7.19251405e+00,-2.47576622e+01,
 -5.58189816e+00,-1.61809009e-01,-1.09284919e-01,-2.05740264e+01,
 -1.82610890e+02, 2.30528579e+01]

qfrc_actuator:
[ 1.91703230e-05, 8.83069416e-04, 1.42893543e-04,-7.73011399e-05,
 -3.57124266e-05, 3.49541996e-02, 1.08389427e-02, 1.68219458e-03,
 -6.39948625e-05, 8.00776775e-04, 1.39045175e-04, 7.51967015e-05,
  1.01200212e-03,-1.63104116e-03, 0.00000000e+00,-9.61385402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.6053183 , -0.73162409,  8.6053183 ,  8.69639467,
        0.70608135, -0.73162409,  0.70608135, 16.94124983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006551716007995902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00551905, -0.06218317,  0.06167034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38481621e-05,-2.83399282e-05, 2.18953168e-05, 3.06011008e-05,
  3.36896999e-06,-3.82058812e-06, 1.15574813e-05,-1.17700177e-05,
  1.56675228e-05,-4.14414989e-05, 2.14635773e-05, 6.84197366e-06,
 -2.75423772e-05,-2.01060111e-06,-1.33642689e-05,-1.23414776e-04,
 -2.97692007e-04, 1.79396712e-04,-4.90041125e+00, 7.90244493e-04,
  3.78047197e-03,-1.75989582e-04]


--- Step 2305 ---
qpos:
[ 0.0186858 , 0.03001986,-0.00944386,-0.02530765,-0.00351833, 1.3407562 ,
 -0.02995598, 0.94379128, 0.01153423, 0.0272911 ,-0.00831609, 0.02645013,
  1.37886915, 0.00765847, 1.31542288, 0.04436275,-0.0943138 ,-0.0528808 ,
  0.0907624 , 0.71138762,-0.041965  ,-0.70074119,-0.03359145]

qacc:
[ 1.57812392e+00, 2.09347369e-01,-9.95938525e-01, 1.50665295e+00,
  7.40828166e-02,-2.60031912e+00, 8.61270397e+00,-8.93626755e+00,
 -1.20793552e+00,-2.52199851e+00, 5.42385192e+00, 2.16034352e+00,
 -2.76511802e-01, 2.82783739e-01,-2.09886837e-02,-3.82555429e-01,
  6.14804592e+00,-6.44321198e-01, 1.04729311e+01, 4.19939737e+00,
  2.20488631e+02, 2.24534643e+01]

qfrc_actuator:
[ 2.90635614e-05, 8.77746141e-04, 1.35126385e-04,-7.76902517e-05,
 -1.63329019e-05, 3.49658459e-02, 1.08883398e-02, 1.67738046e-03,
 -7.19972001e-05, 7.47953327e-04, 1.79446147e-04, 9.90278483e-05,
  9.96762612e-04,-1.62749571e-03, 0.00000000e+00,-9.60456274e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006555564221687467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27016873e-14, -1.69355831e-14,  1.00000000e+00,  2.15110481e-28,
        1.00000000e+00,  1.69355831e-14, -1.00000000e+00,  0.00000000e+00,
        1.27016873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14455211, -0.04806546,  0.06166987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47833938e-06,-1.53325439e-05,-9.86228665e-06,-2.46898541e-07,
  2.13703183e-05, 1.14317901e-05, 4.96183354e-05,-4.86599463e-06,
 -7.56141912e-06,-7.12383355e-05, 3.47368671e-05, 2.29329652e-05,
 -2.99652129e-05,-3.09372361e-06,-2.26792290e-05,-8.30228694e-06,
 -9.62258090e-05, 4.22226845e-04,-4.90021474e+00, 1.81183243e-03,
  3.64259052e-03,-1.95760803e-04]


--- Step 2306 ---
qpos:
[ 0.01868581, 0.03001957,-0.00944385,-0.0253083 ,-0.00351856, 1.34075729,
 -0.02995613, 0.94378988, 0.01153379, 0.02728937,-0.00831602, 0.02645052,
  1.37895802, 0.00765771, 1.3155331 , 0.04436539,-0.09430988,-0.05296888,
  0.09079756, 0.71146618,-0.04057561,-0.70068416,-0.0348023 ]

qacc:
[ 6.97798859e+00, 5.40400372e-01,-1.73657677e+00, 1.69777521e+00,
  1.45942976e-01,-1.89954481e+00, 5.55728588e+00,-1.41494894e+00,
 -3.74720328e+00,-2.08312872e+00, 8.13903599e+00,-1.50217420e+01,
  9.81180793e-02,-2.73714739e-01,-7.81286826e-02,-6.69547472e-02,
  5.31094770e+00,-5.77032984e-01, 7.66828794e+00, 2.55691949e+00,
  1.89724097e+02, 1.76024149e+01]

qfrc_actuator:
[ 7.07187090e-05, 8.92504085e-04, 1.30457451e-04,-7.76804437e-05,
  1.31742480e-05, 3.49724420e-02, 1.09356371e-02, 1.69300320e-03,
 -9.44650742e-05, 7.17220327e-04, 1.85457678e-04, 7.72128635e-05,
  9.95084023e-04,-1.64296930e-03, 0.00000000e+00,-9.60911921e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.77890605, -5.3510008 ,  6.77890605, 38.7371183 ,
       38.13308862, -5.3510008 , 38.13308862, 56.94520055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0065761571705763786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22063751e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.22063751e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14452299, -0.04805801,  0.06166905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19274629e-05, 4.15471873e-06,-9.05494986e-06,-9.91114093e-07,
  4.21363450e-05, 2.24720363e-05, 5.50348950e-05, 1.73063583e-05,
 -2.27203502e-05,-6.23705094e-05,-3.61733903e-06,-2.32180193e-05,
 -1.76281371e-05,-2.31005878e-05,-1.31020822e-05,-4.22626261e-06,
 -2.37816027e-04, 7.05328427e-05,-4.90084537e+00, 5.21486146e-04,
  3.65896883e-03,-2.70198967e-04]


--- Step 2307 ---
qpos:
[ 0.01868528, 0.03001948,-0.00944368,-0.02530933,-0.0035186 , 1.34075881,
 -0.0299558 , 0.94378761, 0.01153481, 0.02728785,-0.00831674, 0.02645028,
  1.37904672, 0.0076568 , 1.31564426, 0.04435961,-0.09428752,-0.05305903,
  0.09085386, 0.71177308,-0.03919226,-0.70039039,-0.03600483]

qacc:
[-4.58656706e+00,-9.61479440e-01, 5.41090276e+00,-1.23778302e+01,
  8.56507096e-02,-2.16971369e+00, 9.52951133e+00,-1.84912550e+01,
  1.24065410e+01, 1.13948911e+00,-1.01886695e+00,-8.81801481e+00,
 -7.67281780e-01, 7.05147402e-01, 2.69551481e+01,-9.20662551e+01,
  4.61101299e+00,-5.20760691e-01, 5.28244877e+00, 1.28291084e+00,
  1.63936052e+02, 1.38457932e+01]

qfrc_actuator:
[ 4.19642502e-05, 9.19179595e-04, 1.45509655e-04,-9.51581504e-05,
  1.30129010e-05, 3.50114848e-02, 1.09635470e-02, 1.64950659e-03,
 -1.87435463e-05, 7.53039657e-04, 1.53405186e-04, 4.64542609e-05,
  9.80229653e-04,-1.65180524e-03, 0.00000000e+00,-1.40602666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.17938   , -6.03341028,  6.17938   , 49.54091778,
       41.89418122, -6.03341028, 41.89418122, 51.54411454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006519616863541078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.55434418e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.55434418e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14460132, -0.04804215,  0.06167171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75298697e-05, 2.71123420e-05, 1.47637167e-05,-1.76320981e-05,
  2.47399053e-05, 6.27523582e-05, 3.90732749e-05,-4.08067356e-05,
  7.50301591e-05,-7.49218128e-07,-4.61659256e-05,-3.40047645e-05,
 -2.92391806e-05,-1.97936457e-05,-8.36072891e-06,-4.47469623e-04,
 -2.44683323e-04,-2.35807240e-04,-4.90099585e+00,-5.39693312e-04,
  3.67473521e-03,-3.38292052e-04]


--- Step 2308 ---
qpos:
[ 0.01868406, 0.03001986,-0.00944376,-0.02531056,-0.00351851, 1.34076094,
 -0.02995631, 0.94378386, 0.01153707, 0.02728606,-0.00831718, 0.02645035,
  1.37913525, 0.00765576, 1.31575541, 0.04434855,-0.09428856,-0.05314899,
  0.09091255, 0.71179968,-0.03785552,-0.70037445,-0.03719953]

qacc:
[-5.89333952e+00, 8.72760397e-01,-1.31435862e+00,-2.28447092e+00,
  4.97440267e-02, 4.94519567e-01, 2.40950415e+00,-1.97171115e+01,
  1.06378191e+01,-4.87607605e-01,-1.45628423e-01, 5.37939552e+00,
 -4.64758234e-01, 3.91970323e-01, 1.59711485e+01,-5.57937796e+01,
 -5.84742725e+00, 4.92417394e-02, 6.00085274e-01,-1.43333389e+01,
 -1.98021393e+02, 8.62417165e+00]

qfrc_actuator:
[ 7.49248336e-06, 9.52857063e-04, 1.36625042e-04,-1.05006521e-04,
  1.28075586e-05, 3.50162904e-02, 1.09088694e-02, 1.57157162e-03,
  4.31600881e-05, 7.39505575e-04, 1.70433884e-04, 6.39819610e-05,
  9.73459325e-04,-1.65664986e-03, 0.00000000e+00,-1.66573083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0064676564071193265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.58288501e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.58288501e-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([-0.00528068, -0.06204484,  0.06167436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52640589e-05, 5.11282818e-05,-2.07373234e-06,-8.51677515e-06,
  1.44170420e-05, 4.59235635e-05,-3.91575638e-05,-7.58497897e-05,
  6.40984436e-05,-2.48533155e-05, 1.00357315e-05, 1.52390176e-05,
 -2.73969422e-05,-1.68871012e-05,-5.82116757e-05,-2.86731482e-04,
 -1.63988288e-04,-5.05460365e-04,-4.90083407e+00,-1.42476841e-03,
  3.69134682e-03,-4.01510099e-04]


--- Step 2309 ---
qpos:
[ 0.01868347, 0.03002084,-0.00944435,-0.02531121,-0.00351821, 1.34076293,
 -0.0299575 , 0.94377995, 0.01153869, 0.02728423,-0.00831696, 0.02645057,
  1.37922355, 0.00765488, 1.31586559, 0.04433975,-0.09430977,-0.05323874,
  0.09096785, 0.71158467,-0.03655488,-0.70059784,-0.03838834]

qacc:
[ 5.37868323e+00, 3.43560698e+00,-1.35725879e+01, 2.40684677e+01,
  9.00680845e-02, 1.44222009e+00,-4.59765379e+00, 2.29182407e+00,
 -5.55822479e+00,-1.58323866e+00, 4.97069444e+00,-3.44016935e+00,
 -3.88938653e-02, 7.67223394e-02,-8.24648710e+00, 2.67833264e+01,
 -5.04555195e+00, 5.36893151e-02,-8.48147124e-01,-1.09095758e+01,
 -1.70578524e+02, 5.71149119e+00]

qfrc_actuator:
[ 4.09651069e-05, 9.90384845e-04, 1.13715490e-04,-7.47901697e-05,
  3.03319544e-05, 3.49646986e-02, 1.08590090e-02, 1.56270853e-03,
  7.63916588e-06, 7.67771689e-04, 2.16173377e-04, 7.42823962e-05,
  9.71544665e-04,-1.64131444e-03, 0.00000000e+00,-1.52992661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60178867,  0.77201593,  8.60178867,  8.76567011,
       -1.44073057,  0.77201593, -1.44073057, 24.68895961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006433225098449319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00517469, -0.06202499,  0.06167628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24624496e-05, 6.53066782e-05,-1.28980779e-05, 3.21715645e-05,
  2.60461111e-05,-3.61453667e-05,-4.75645652e-05,-1.03927615e-05,
 -3.36595175e-05, 1.71934991e-05, 4.23948010e-05, 9.88180045e-06,
 -2.13055398e-05, 4.76548000e-06,-5.97595481e-05, 1.12147703e-04,
 -1.90323745e-04,-2.04737391e-04,-4.90120353e+00,-3.64775052e-04,
  3.61638570e-03,-4.17933229e-04]


--- Step 2310 ---
qpos:
[ 0.0186826 , 0.030022  ,-0.00944449,-0.02531151,-0.0035177 , 1.3407644 ,
 -0.02995858, 0.94377631, 0.01153917, 0.02728331,-0.00831684, 0.02645015,
  1.37931146, 0.00765426, 1.31597555, 0.04433154,-0.09434846,-0.05332827,
  0.09101481, 0.71116043,-0.03528209,-0.70102783,-0.03957265]

qacc:
[-2.42340097e+00,-2.62586700e-01,-1.98697063e-01, 5.47105964e+00,
  8.88701230e-02,-5.74260454e-01, 4.93110098e-01, 2.95155306e+00,
 -9.64707824e+00, 1.83972103e-01, 3.78238343e+00,-1.53258203e+01,
 -4.09629197e-01, 4.96996838e-01,-2.06253721e+00, 6.83099893e+00,
 -4.36849670e+00, 5.43806349e-02,-2.08463153e+00,-8.19245969e+00,
 -1.47406928e+02, 3.56725569e+00]

qfrc_actuator:
[ 2.54002570e-05, 9.94396407e-04, 1.36022040e-04,-5.67498176e-05,
  4.05992016e-05, 3.49330224e-02, 1.08654948e-02, 1.57679748e-03,
 -4.94309028e-05, 8.56490547e-04, 2.25376793e-04, 4.47794765e-05,
  9.45926032e-04,-1.63185735e-03, 0.00000000e+00,-1.49953626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58329702,  0.95592314,  8.58329702,  8.85576716,
       -1.97003878,  0.95592314, -1.97003878, 26.32547209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0063288747490039265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31566400e-14, -4.38554668e-15,  1.00000000e+00,  5.76990589e-29,
        1.00000000e+00,  4.38554668e-15, -1.00000000e+00,  0.00000000e+00,
        1.31566400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00491489, -0.06202624,  0.06168114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45993442e-05, 3.92299252e-05, 3.53152778e-05, 2.10160196e-05,
  2.56581622e-05,-6.13047326e-05,-6.30881224e-06, 1.13623045e-05,
 -5.80574626e-05, 1.07570641e-04, 1.83399313e-05,-2.71020954e-05,
 -3.57602711e-05, 6.36352044e-06,-1.40307443e-05, 2.92289770e-05,
 -1.37256383e-04, 2.08083323e-05,-4.90120427e+00, 5.33840644e-04,
  3.55282424e-03,-4.37975492e-04]


--- Step 2311 ---
qpos:
[ 0.01868121, 0.03002263,-0.00944372,-0.02531153,-0.00351717, 1.34076568,
 -0.0299594 , 0.94377214, 0.01153896, 0.02728328,-0.00831724, 0.02644941,
  1.37939871, 0.00765414, 1.31608506, 0.04432675,-0.0943664 ,-0.0534202 ,
  0.0910891 , 0.71098791,-0.03400442,-0.70119791,-0.04076008]

qacc:
[-4.45617953e+00,-2.71566097e+00, 7.49070572e+00,-3.77470691e+00,
  1.12731026e-02,-1.85539640e+00, 6.85126485e+00,-1.19988518e+01,
 -5.90770466e+00, 1.96134391e+00,-3.87712397e+00,-1.59346256e+00,
 -5.45891392e-01, 7.25328902e-01,-1.09722268e+01, 3.75093487e+01,
  5.18650996e+00,-6.00262927e-01, 6.83131544e+00,-5.93293465e-02,
  1.80796476e+02, 6.74373064e+00]

qfrc_actuator:
[-1.17280404e-06, 9.25219008e-04, 1.66951991e-04,-4.60188002e-05,
  2.86774400e-05, 3.49492526e-02, 1.08874970e-02, 1.55104518e-03,
 -8.31894257e-05, 8.91802615e-04, 1.95409347e-04, 2.76260494e-05,
  9.06108101e-04,-1.60833211e-03, 0.00000000e+00,-1.31859554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006316034833819713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31833863e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31833863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14490976, -0.04798686,  0.06168206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69905539e-05,-3.90888815e-05, 4.40990919e-05, 1.40408871e-05,
  3.23889372e-06,-1.85884432e-05, 9.61973939e-06,-2.75210494e-05,
 -3.54238175e-05, 9.81076836e-05,-6.41274358e-06,-1.24312168e-05,
 -5.61259786e-05, 1.73285150e-05,-5.32777860e-06, 1.80332910e-04,
 -3.63311820e-05, 1.91718677e-04,-4.90096768e+00, 1.30331866e-03,
  3.49721005e-03,-4.60968980e-04]


--- Step 2312 ---
qpos:
[ 0.01867951, 0.03002261,-0.0094427 ,-0.02531102,-0.00351668, 1.34076676,
 -0.02995998, 0.94376838, 0.01153939, 0.02728363,-0.00831809, 0.02644923,
  1.37948537, 0.00765456, 1.31619424, 0.04432614,-0.09436628,-0.05351432,
  0.09118186, 0.7110334 ,-0.03272177,-0.7011425 ,-0.04195218]

qacc:
[-2.62226143e+00,-4.04522113e-01,-2.03637245e+00, 1.13875580e+01,
 -1.88825497e-02,-1.93334840e-01,-5.60146945e-01, 5.46004042e+00,
  5.36329493e+00, 2.92596830e+00,-1.20737584e+01, 2.21772381e+01,
 -4.58442792e-01, 6.74832429e-01,-1.31074469e+01, 4.52635506e+01,
  4.51544232e+00,-5.48334577e-01, 4.61756983e+00,-7.58714790e-01,
  1.56773022e+02, 4.87263323e+00]

qfrc_actuator:
[-1.62446219e-05, 8.66033992e-04, 1.66891266e-04,-2.19865788e-05,
  2.12943665e-05, 3.49408377e-02, 1.09008699e-02, 1.57308830e-03,
 -4.96914392e-05, 8.76953396e-04, 1.60138763e-04, 5.33291875e-05,
  8.84438158e-04,-1.57671949e-03, 0.00000000e+00,-1.10364858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006259761080529037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86793450e-15,  8.86793450e-15,  1.00000000e+00, -7.86402622e-29,
        1.00000000e+00, -8.86793450e-15, -1.00000000e+00,  0.00000000e+00,
        8.86793450e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14499919, -0.04797253,  0.06168504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58770443e-05,-7.13705755e-05,-2.23063082e-06, 2.41561173e-05,
 -5.46960056e-06,-1.76564918e-05, 1.00180057e-05, 2.11233152e-05,
  3.24949111e-05, 3.81500512e-05,-1.62172456e-05, 2.94476475e-05,
 -4.47436715e-05, 2.37537086e-05, 1.53577848e-05, 2.23854061e-04,
 -1.18134855e-04,-5.46579896e-05,-4.90131195e+00, 3.28938643e-04,
  3.49328242e-03,-5.25126776e-04]


--- Step 2313 ---
qpos:
[ 0.01867695, 0.03002239,-0.00944209,-0.02531057,-0.00351611, 1.34076729,
 -0.02996089, 0.9437667 , 0.01154056, 0.02728373,-0.00831878, 0.02644939,
  1.37957192, 0.007655  , 1.31630381, 0.04432511,-0.09435033,-0.05361046,
  0.09128559, 0.71126848,-0.0314343 ,-0.70089024,-0.04314995]

qacc:
[-7.36590335e+00, 7.29213162e-01,-2.65996093e+00, 2.18057148e+00,
  3.43161313e-02, 3.71020649e+00,-1.72310334e+01, 3.93974783e+01,
  6.35349292e+00,-9.79346948e-02,-1.63686767e+00, 7.61865586e+00,
 -1.49845417e-01, 1.45341668e-01, 1.89597009e+00,-5.75731110e+00,
  3.95547618e+00,-5.04687920e-01, 2.74419786e+00,-1.29809681e+00,
  1.36647752e+02, 3.48888273e+00]

qfrc_actuator:
[-5.99274426e-05, 8.66419715e-04, 1.48552223e-04,-2.58482868e-05,
  3.44477750e-05, 3.48822281e-02, 1.08734813e-02, 1.67632988e-03,
 -1.23884779e-05, 8.32170924e-04, 1.57348401e-04, 6.84908800e-05,
  8.89651386e-04,-1.57600261e-03, 0.00000000e+00,-1.13672675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006146619729704456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03116732e-15,  9.03116732e-15,  1.00000000e+00,  8.15619832e-29,
        1.00000000e+00, -9.03116732e-15, -1.00000000e+00,  0.00000000e+00,
       -9.03116732e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14516674, -0.0479501 ,  0.06169057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41723447e-05,-3.89628993e-05,-3.25288716e-05,-6.52656488e-06,
  9.92042694e-06,-6.57944528e-05,-2.90887102e-05, 1.03489926e-04,
  3.82675403e-05,-2.55263392e-05, 4.11693241e-06, 1.68088087e-05,
 -1.03188976e-05,-2.76715759e-06, 2.89716250e-05,-1.92791204e-05,
 -1.11358100e-04,-2.76793599e-04,-4.90134852e+00,-5.03035560e-04,
  3.49301246e-03,-5.85646893e-04]


--- Step 2314 ---
qpos:
[ 0.01867423, 0.03002252,-0.00944196,-0.02531093,-0.00351542, 1.34076755,
 -0.0299622 , 0.9437666 , 0.01154182, 0.02728367,-0.00831892, 0.02644935,
  1.37965866, 0.00765491, 1.31641351, 0.04432373,-0.09435443,-0.05370422,
  0.09138569, 0.71126425,-0.03020048,-0.70087719,-0.04429751]

qacc:
[-1.39213838e+00, 1.54153533e-01, 3.52669332e+00,-1.69659392e+01,
  4.65843999e-02, 3.43817580e+00,-1.49035351e+01, 3.14042672e+01,
  8.19331307e-01,-2.14676028e+00, 8.22843684e+00,-1.25294810e+01,
  4.34191799e-01,-7.54960058e-01, 1.17612851e+00,-3.97406552e+00,
 -5.01098203e+00, 5.95099505e-01,-9.10284415e-01,-8.33365410e-02,
 -1.70885282e+02, 2.77364729e+01]

qfrc_actuator:
[-6.68461687e-05, 9.20119408e-04, 1.37547227e-04,-6.38050153e-05,
  4.20623920e-05, 3.48826752e-02, 1.08576004e-02, 1.75545204e-03,
 -8.67256097e-06, 8.40922462e-04, 1.91355337e-04, 5.95600044e-05,
  8.94994543e-04,-1.61126158e-03, 0.00000000e+00,-1.15590172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060134628759130684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15389320e-15,  1.84622912e-14,  1.00000000e+00,  2.13035122e-29,
        1.00000000e+00, -1.84622912e-14, -1.00000000e+00,  0.00000000e+00,
       -1.15389320e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0046186 , -0.06645893,  0.06169704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21788623e-06, 2.49069274e-05,-2.32853792e-05,-4.08769505e-05,
  1.34745795e-05,-3.85340519e-05,-2.90285741e-05, 7.86880623e-05,
  4.82649014e-06,-3.93096213e-06, 2.98290020e-05,-9.55561465e-06,
 -7.82861659e-08,-3.86303729e-05, 7.00884426e-06,-1.74757720e-05,
 -4.56358804e-05,-4.78469002e-04,-4.90118217e+00,-1.22073976e-03,
  3.49635543e-03,-6.43273314e-04]


--- Step 2315 ---
qpos:
[ 0.01867317, 0.0300228 ,-0.00944169,-0.02531177,-0.00351464, 1.34076771,
 -0.02996351, 0.94376775, 0.01154346, 0.02728384,-0.00831909, 0.0264492 ,
  1.37974555, 0.00765436, 1.31652283, 0.04432515,-0.094376  ,-0.05379592,
  0.09147742, 0.71105227,-0.02901099,-0.70107182,-0.04540186]

qacc:
[ 1.42550833e+01,-1.18553173e+00, 6.46836620e+00,-1.49099835e+01,
  4.21815639e-02, 2.02936886e+00,-9.36257656e+00, 2.27617906e+01,
  3.23583056e+00, 1.03526698e-01, 5.26117167e-01,-2.63774878e+00,
  6.48597637e-01,-9.48168624e-01,-9.08454985e+00, 3.08249736e+01,
 -4.36736802e+00, 5.15123592e-01,-2.09119586e+00, 8.37506602e-01,
 -1.48296017e+02, 2.31664991e+01]

qfrc_actuator:
[ 1.89494056e-05, 9.34324182e-04, 1.48935228e-04,-8.59499439e-05,
  4.62921946e-05, 3.49007600e-02, 1.08665955e-02, 1.81977212e-03,
  1.07485259e-05, 8.64037473e-04, 1.93736431e-04, 5.43400986e-05,
  9.05720028e-04,-1.63205758e-03, 0.00000000e+00,-1.00687233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.38183198,  2.08126634,  8.38183198, 10.1609256 ,
       -6.13983035,  2.08126634, -6.13983035, 33.36314916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005946447546452557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.33517883e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.33517883e-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([-0.00442651, -0.06647123,  0.06170066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.55669666e-05, 2.15734695e-05, 1.22509147e-05,-2.26790791e-05,
  1.21911372e-05,-6.54521441e-06, 4.62318563e-07, 6.41332919e-05,
  1.95599393e-05, 2.66783046e-05, 4.91599312e-06,-4.54164991e-06,
  1.61786970e-06,-3.25899109e-05,-1.26513711e-06, 1.48361563e-04,
 -1.08008739e-04,-2.39467681e-04,-4.90162568e+00,-3.34158530e-04,
  3.49872077e-03,-6.61906052e-04]


--- Step 2316 ---
qpos:
[ 0.01867349, 0.03002306,-0.00944071,-0.02531184,-0.00351378, 1.34076748,
 -0.02996435, 0.94377071, 0.01154567, 0.02728433,-0.00832008, 0.02644833,
  1.37983239, 0.00765399, 1.31663232, 0.04432665,-0.09441304,-0.05388527,
  0.09155698, 0.71065807,-0.02787032,-0.70144891,-0.04645188]

qacc:
[ 1.18765066e+01,-4.88933814e-01,-1.58087812e+00, 1.36938238e+01,
  3.25019472e-02, 1.27338263e+00,-8.46262930e+00, 2.84374805e+01,
  4.79112367e+00, 1.26505453e+00,-9.10425723e-01,-1.02695075e+01,
 -1.55083206e-01, 2.69670113e-01, 3.72177937e-03, 3.72931476e-01,
 -3.86696964e+00, 5.88833427e-01,-3.04212148e+00, 3.18570364e+00,
 -1.30639974e+02, 2.96451142e+01]

qfrc_actuator:
[ 8.76058432e-05, 9.42636717e-04, 1.91080396e-04,-4.53623739e-05,
  4.84575245e-05, 3.48761015e-02, 1.08902739e-02, 1.91040612e-03,
  3.92694062e-05, 8.59956828e-04, 1.41985179e-04, 1.58340301e-05,
  9.14344405e-04,-1.60853596e-03, 0.00000000e+00,-1.00846572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.25397647,  2.54138727,  8.25397647, 10.8240451 ,
       -7.10520256,  2.54138727, -7.10520256, 31.71280518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0058284817503793315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54766927e-14, -9.52411856e-15,  1.00000000e+00,  1.47401856e-28,
        1.00000000e+00,  9.52411856e-15, -1.00000000e+00,  0.00000000e+00,
        1.54766927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00395028, -0.06834377,  0.0617064 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11567397e-05, 2.19568478e-05, 4.73179660e-05, 4.14907078e-05,
  9.36931193e-06,-2.62587369e-05, 2.43343892e-05, 9.19377065e-05,
  2.91033296e-05, 1.16672062e-05,-4.57908742e-05,-3.72812356e-05,
  2.13454927e-06, 1.38055190e-05, 1.46407061e-05, 6.19603113e-06,
 -1.02163618e-04,-5.26625588e-05,-4.90177025e+00, 3.90804268e-04,
  3.49833912e-03,-6.83273605e-04]


--- Step 2317 ---
qpos:
[ 0.0186736 , 0.03002353,-0.00943985,-0.0253114 ,-0.00351287, 1.34076697,
 -0.0299645 , 0.94377263, 0.0115482 , 0.02728484,-0.00832131, 0.02644701,
  1.37991904, 0.00765414, 1.31674232, 0.04432446,-0.09443155,-0.05397663,
  0.09165483, 0.71048178,-0.02671088,-0.70160067,-0.04752557]

qacc:
[-1.83252571e+00, 1.70311169e+00,-7.77960379e+00, 1.66246882e+01,
  2.24461597e-02,-3.99109949e+00, 1.46824715e+01,-2.44885902e+01,
  2.76806835e+00,-2.11500637e-01, 2.71662991e+00,-1.02078956e+01,
 -8.03895150e-01, 1.14768742e+00, 1.20212910e+01,-4.07453119e+01,
  4.63174957e+00,-5.05709771e-01, 4.57246259e+00,-3.82346126e+00,
  1.57259123e+02,-6.79344205e+00]

qfrc_actuator:
[ 7.45834740e-05, 9.47546862e-04, 1.80043776e-04,-2.14383475e-05,
  4.93673421e-05, 3.48616282e-02, 1.09222800e-02, 1.85601110e-03,
  5.51603935e-05, 8.57118821e-04, 1.29577930e-04,-6.49826117e-06,
  9.05743595e-04,-1.57663395e-03, 0.00000000e+00,-1.20535143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005781662048655788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60124455e-15, -9.60124455e-15,  1.00000000e+00, -9.21838969e-29,
        1.00000000e+00,  9.60124455e-15, -1.00000000e+00,  0.00000000e+00,
       -9.60124455e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14572751, -0.04788576,  0.061709  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09466731e-05, 2.87407206e-05, 7.43980540e-07, 2.73035481e-05,
  6.44541993e-06,-2.14689746e-05, 3.23402068e-05,-5.23364623e-05,
  1.67511419e-05,-7.35709926e-06,-1.69183760e-05,-2.41399988e-05,
 -4.26763578e-06, 3.65824420e-05, 4.21355960e-06,-1.95400982e-04,
 -5.59814793e-05, 1.00511942e-04,-4.90179010e+00, 9.84282218e-04,
  3.50251659e-03,-7.06433710e-04]


--- Step 2318 ---
qpos:
[ 0.01867321, 0.03002396,-0.00943923,-0.02531133,-0.00351207, 1.34076615,
 -0.02996416, 0.94377252, 0.01154987, 0.02728497,-0.00832204, 0.02644647,
  1.38000559, 0.00765469, 1.31685237, 0.04431961,-0.0944338 ,-0.05406992,
  0.09176373, 0.71049591,-0.02553494,-0.70155512,-0.04862048]

qacc:
[-4.30323054e+00,-1.53181472e-01, 2.00352384e+00,-7.90143797e+00,
 -4.76099390e-02,-5.19271373e+00, 2.06545375e+01,-4.13434330e+01,
 -7.34074563e+00,-3.31343959e-01,-2.81369359e+00, 1.57103169e+01,
 -5.19489696e-01, 7.82054453e-01, 8.19184840e+00,-2.83970441e+01,
  4.06653646e+00,-4.78813418e-01, 2.76304957e+00,-3.73612733e+00,
  1.37566877e+02,-6.16745016e+00]

qfrc_actuator:
[ 4.91007664e-05, 9.14660558e-04, 1.55401560e-04,-4.30707114e-05,
  3.17644835e-05, 3.48355692e-02, 1.09411303e-02, 1.75221104e-03,
  1.02292433e-05, 8.37442427e-04, 1.58284058e-04, 3.41613453e-05,
  9.02800680e-04,-1.55786828e-03, 0.00000000e+00,-1.33814222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005699484760017005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94793577e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.94793577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14585691, -0.04787273,  0.06171325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57953025e-05,-1.55246059e-05,-1.76862701e-05,-1.98479329e-05,
 -1.37945239e-05,-3.31757109e-05, 1.67993730e-05,-1.04708593e-04,
 -4.44413446e-05,-2.83070870e-05, 2.42806431e-05, 3.92934875e-05,
  2.71915590e-06, 2.92904975e-05,-2.37675177e-05,-1.44027433e-04,
 -1.09075778e-04,-9.63713457e-05,-4.90196964e+00, 2.31041246e-04,
  3.48041914e-03,-7.61307873e-04]


--- Step 2319 ---
qpos:
[ 0.01867217, 0.03002437,-0.00943889,-0.02531186,-0.00351128, 1.34076497,
 -0.02996331, 0.94377221, 0.01154995, 0.02728485,-0.0083224 , 0.02644607,
  1.38009207, 0.00765551, 1.31696171, 0.04431786,-0.09442166,-0.05416502,
  0.09187758, 0.71067732,-0.02434454,-0.70133556,-0.04973453]

qacc:
[-5.56289217e+00,-4.71921119e-01, 4.20582613e+00,-1.42008156e+01,
 -4.08817523e-03,-2.20641235e+00, 7.02016077e+00,-8.18793920e+00,
 -1.35208413e+01,-1.01695826e+00, 2.59484909e+00,-6.04598600e-01,
  5.94703922e-02, 8.35077815e-02,-1.04502951e+01, 3.50048810e+01,
  3.59562548e+00,-4.55214610e-01, 1.23623164e+00,-3.66395307e+00,
  1.21086958e+02,-5.58071784e+00]

qfrc_actuator:
[ 1.65150127e-05, 9.12537123e-04, 1.40506196e-04,-7.36143775e-05,
  3.87037632e-05, 3.48204385e-02, 1.09697634e-02, 1.74445478e-03,
 -7.01375050e-05, 8.25814226e-04, 1.75487684e-04, 4.05543400e-05,
  8.97923945e-04,-1.54705695e-03, 0.00000000e+00,-1.16574240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005572551104795667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96153291e-15,  1.99230658e-14,  1.00000000e+00,  1.98464276e-28,
        1.00000000e+00, -1.99230658e-14, -1.00000000e+00,  0.00000000e+00,
       -9.96153291e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14604733, -0.04785117,  0.0617195 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33433017e-05,-1.53380058e-05,-2.09777188e-05,-3.22081253e-05,
 -1.21349596e-06,-3.33396887e-05, 2.09847526e-05,-1.06891378e-05,
 -8.16811634e-05,-2.07635913e-05, 1.57182519e-05, 6.78947518e-06,
  2.18957530e-06, 2.08591719e-05,-2.89879772e-05, 1.60875339e-04,
 -9.64392598e-05,-2.78966080e-04,-4.90193067e+00,-4.37283274e-04,
  3.46496226e-03,-8.14463750e-04]


--- Step 2320 ---
qpos:
[ 0.01867144, 0.03002464,-0.00943898,-0.02531272,-0.00351033, 1.34076405,
 -0.02996232, 0.94377038, 0.01154873, 0.02728435,-0.00832271, 0.02644509,
  1.38017864, 0.00765602, 1.31707093, 0.04431745,-0.09442777,-0.05425735,
  0.09198368, 0.71064552,-0.02320442,-0.70133077,-0.05079022]

qacc:
[ 2.61940087e+00, 3.36979366e-01,-6.42554070e-02,-4.92989905e+00,
  7.23065369e-02,-2.61079981e+00, 1.20521167e+01,-2.81540388e+01,
 -1.11693023e+01,-1.82971649e+00, 8.26233083e+00,-1.80563884e+01,
  3.78339047e-01,-5.78250332e-01,-4.29205591e+00, 1.46610689e+01,
 -4.56036910e+00, 6.94060163e-01,-1.93641857e+00, 5.33855601e+00,
 -1.53034479e+02, 3.04507839e+01]

qfrc_actuator:
[ 3.32722201e-05, 8.93358922e-04, 1.13849184e-04,-9.13664275e-05,
  6.03105290e-05, 3.48653166e-02, 1.09862983e-02, 1.66903617e-03,
 -1.35192259e-04, 7.83532976e-04, 1.67989826e-04, 8.96153652e-06,
  8.91888743e-04,-1.57657131e-03, 0.00000000e+00,-1.09896911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0054738490263656625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87351059e-15, -2.02823099e-14,  1.00000000e+00,  1.79975292e-28,
        1.00000000e+00,  2.02823099e-14, -1.00000000e+00,  0.00000000e+00,
        8.87351059e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00298769, -0.06845066,  0.06172457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57808990e-05,-3.34925962e-05,-3.35279821e-05,-1.97606267e-05,
  2.08884966e-05, 3.02252553e-05, 1.20876678e-05,-7.60539869e-05,
 -6.74558599e-05,-5.03731991e-05,-9.60595307e-06,-3.18012057e-05,
 -2.92471668e-07,-2.25703302e-05, 4.42377149e-06, 7.19876486e-05,
 -3.89528773e-05,-4.48917295e-04,-4.90174535e+00,-1.03340171e-03,
  3.45533143e-03,-8.66174292e-04]


--- Step 2321 ---
qpos:
[ 0.01867126, 0.03002455,-0.00943932,-0.02531378,-0.00350931, 1.34076368,
 -0.02996218, 0.94376839, 0.01154742, 0.02728326,-0.00832302, 0.02644447,
  1.3802654 , 0.00765594, 1.31718055, 0.0443145 ,-0.0944499 ,-0.05434726,
  0.09207806, 0.71042727,-0.02210664,-0.70151384,-0.05179512]

qacc:
[ 4.72712458e+00,-2.10987757e-01, 8.31444375e-01,-3.43952325e+00,
  2.43003039e-02, 2.73056470e+00,-7.68437501e+00, 4.32631822e+00,
 -6.89127570e-01,-5.01932239e-02,-2.45390263e+00, 9.01312924e+00,
  2.84714139e-01,-6.17607387e-01, 8.26724853e+00,-2.81345763e+01,
 -4.00656039e+00, 6.03746633e-01,-2.92946361e+00, 5.37587423e+00,
 -1.33802306e+02, 2.59778607e+01]

qfrc_actuator:
[ 6.11875388e-05, 8.64075382e-04, 9.81543960e-05,-1.01470282e-04,
  5.50357193e-05, 3.48924496e-02, 1.09424811e-02, 1.66092635e-03,
 -1.37444001e-04, 7.40837259e-04, 1.63576103e-04, 2.62456607e-05,
  8.95797410e-04,-1.61205177e-03, 0.00000000e+00,-1.23707828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.19555867,  2.72389334,  8.19555867, 11.69369118,
       -9.19878431,  2.72389334, -9.19878431, 36.3133565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005397342542536904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08547127e-14,  3.08547127e-14,  1.00000000e+00, -9.52013298e-28,
        1.00000000e+00, -3.08547127e-14, -1.00000000e+00,  0.00000000e+00,
        3.08547127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0027733 , -0.06847345,  0.06172862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83650692e-05,-5.57818252e-05,-2.74251395e-05,-1.30815945e-05,
  7.07062240e-06, 4.39352130e-05,-3.87621643e-05,-8.61266805e-06,
 -4.24518871e-06,-7.42153942e-05,-1.70895144e-05, 1.41806874e-05,
 -1.33644519e-06,-4.25329974e-05, 7.96909010e-06,-1.34014455e-04,
 -1.03967029e-04,-2.43283876e-04,-4.90213493e+00,-2.97361168e-04,
  3.48281031e-03,-8.85488999e-04]


--- Step 2322 ---
qpos:
[ 0.01867108, 0.03002422,-0.00943994,-0.02531461,-0.00350843, 1.34076361,
 -0.02996318, 0.94376842, 0.01154678, 0.02728191,-0.00832356, 0.02644472,
  1.38035207, 0.00765572, 1.31729   , 0.04431161,-0.09448619,-0.05443506,
  0.09215736, 0.71004489,-0.02104469,-0.70186198,-0.05275551]

qacc:
[-7.79852168e-02, 9.32537979e-01,-4.68673988e+00, 9.07436811e+00,
 -5.96703990e-02, 6.91877046e+00,-2.62769469e+01, 4.61351855e+01,
  5.72975843e+00, 2.10010055e+00,-1.16845287e+01, 2.73926040e+01,
  3.09192172e-02,-1.50617540e-01,-4.44334234e-01, 1.17187499e+00,
 -3.53973481e+00, 5.27664374e-01,-3.77208970e+00, 5.34649320e+00,
 -1.17625914e+02, 2.23060950e+01]

qfrc_actuator:
[ 5.99253008e-05, 8.64517413e-04, 8.90168365e-05,-8.92441898e-05,
  3.36766690e-05, 3.48907945e-02, 1.08811433e-02, 1.76347762e-03,
 -1.02717609e-04, 7.51520548e-04, 1.61052726e-04, 7.21580877e-05,
  8.89683147e-04,-1.61520548e-03, 0.00000000e+00,-1.22847180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.08377394,   3.03963416,   8.08377394,
        12.7221674 , -10.8660162 ,   3.03963416, -10.8660162 ,
        37.53405793,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005274289440356177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20925138e-15, -2.10497174e-14,  1.00000000e+00,  1.93852140e-28,
        1.00000000e+00,  2.10497174e-14, -1.00000000e+00,  0.00000000e+00,
        9.20925138e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00245656, -0.0685135 ,  0.06173461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52638838e-07,-3.69545463e-05,-2.44821943e-05, 8.63640911e-06,
 -1.71790282e-05, 1.48078000e-05,-5.74095220e-05, 1.02532233e-04,
  3.45723850e-05,-3.37018450e-05,-1.94512779e-05, 4.24211037e-05,
 -1.70953615e-05,-1.62833442e-05,-1.44178910e-05, 1.42942562e-06,
 -1.10096142e-04,-7.93432233e-05,-4.90227925e+00, 3.01835599e-04,
  3.50212825e-03,-9.06788853e-04]


--- Step 2323 ---
qpos:
[ 0.01867053, 0.0300234 ,-0.00944059,-0.02531494,-0.00350804, 1.34076344,
 -0.02996443, 0.94376829, 0.01154691, 0.02728039,-0.00832389, 0.02644514,
  1.38043869, 0.00765539, 1.3173991 , 0.04431083,-0.09450491,-0.0545247 ,
  0.09225041, 0.70986372,-0.0199586 ,-0.70200152,-0.05374961]

qacc:
[ -3.06321891,  0.52377198, -4.95652965, 14.24687343, -0.20330814,
   0.27531258, -0.70201378, -1.24564794,  6.54588217, -0.47381531,
   0.67267539,  1.92209951,  0.21522912, -0.31210693, -6.92078225,
  23.39002444,  4.39218215, -0.45923995,  3.4386304 , -6.64451109,
 145.66395476,-12.93705065]

qfrc_actuator:
[ 4.14957485e-05, 8.29548458e-04, 8.39514077e-05,-6.39519417e-05,
 -1.49103252e-05, 3.48719009e-02, 1.08631745e-02, 1.75276820e-03,
 -6.42775613e-05, 7.58621853e-04, 1.77645652e-04, 8.13274311e-05,
  8.93551250e-04,-1.61691885e-03, 0.00000000e+00,-1.11567294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005191254247417575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09063024e-06,  1.06932060e-14,  1.00000000e+00, -1.16623338e-20,
        1.00000000e+00, -1.06932060e-14, -1.00000000e+00,  0.00000000e+00,
        1.09063024e-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([-0.14656022, -0.04805847,  0.06173876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84531598e-05,-6.02986707e-05,-1.54010533e-05, 2.30352491e-05,
 -5.87387560e-05,-1.88496214e-05,-1.85972368e-05,-9.57219028e-06,
  3.94350254e-05,-1.38804391e-05, 8.72277096e-06, 7.87972317e-06,
 -8.66772476e-06,-1.04780162e-05,-8.23815290e-06, 1.10634615e-04,
 -7.68244273e-05, 5.26435319e-05,-4.90225496e+00, 7.95482807e-04,
  3.51419779e-03,-9.29510662e-04]


--- Step 2324 ---
qpos:
[ 0.01866977, 0.03002214,-0.00944131,-0.02531496,-0.00350816, 1.34076264,
 -0.02996512, 0.94376872, 0.01154681, 0.02727885,-0.00832406, 0.0264453 ,
  1.38052518, 0.00765527, 1.31750808, 0.04431171,-0.09450795,-0.05461552,
  0.09235152, 0.70986165,-0.01886422,-0.70195541,-0.05476474]

qacc:
[-1.85362760e+00, 2.17067814e-01,-2.87824431e+00, 8.50081840e+00,
 -2.20443427e-01,-1.38487591e+00, 2.33376505e+00, 4.99353490e+00,
 -1.95184804e+00,-1.00271047e+00, 4.59586627e+00,-9.22297661e+00,
 -9.53284231e-02, 1.88339226e-01,-5.21367613e+00, 1.80028592e+01,
  3.92016270e+00,-2.94135902e-01, 2.01584022e+00,-7.64252081e+00,
  1.29186779e+02,-3.71212660e+00]

qfrc_actuator:
[ 3.08711948e-05, 8.09186523e-04, 8.11966216e-05,-4.89558706e-05,
 -4.39326251e-05, 3.48251786e-02, 1.08885485e-02, 1.78199964e-03,
 -7.72300578e-05, 7.63587389e-04, 1.87612114e-04, 6.88150748e-05,
  8.92756079e-04,-1.60000145e-03, 0.00000000e+00,-1.03119136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005115536553892186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17029634e-14,  1.08514817e-14,  1.00000000e+00, -2.35509310e-28,
        1.00000000e+00, -1.08514817e-14, -1.00000000e+00,  0.00000000e+00,
        2.17029634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14639553, -0.04903867,  0.06174269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11803067e-05,-5.62415907e-05,-1.62890634e-05, 1.23350281e-05,
 -6.37348522e-05,-6.10751033e-05, 1.92910612e-05, 2.78956201e-05,
 -1.18081835e-05,-5.85063537e-07, 8.46551524e-06,-1.26504353e-05,
 -7.41696973e-06, 1.16836694e-05, 7.07983008e-06, 8.92595697e-05,
 -1.15491361e-04,-1.22771306e-04,-4.90237055e+00, 1.52647845e-04,
  3.48122298e-03,-9.79092905e-04]


--- Step 2325 ---
qpos:
[ 0.01866957, 0.0300207 ,-0.00944162,-0.02531487,-0.0035083 , 1.34076122,
 -0.02996464, 0.94377051, 0.01154621, 0.02727729,-0.00832471, 0.02644604,
  1.38061126, 0.00765567, 1.31761723, 0.04431227,-0.09449703,-0.05470752,
  0.09245529, 0.71001823,-0.01776279,-0.70174435,-0.05579842]

qacc:
[ 4.88514230e+00,-1.15099203e+00, 3.25818916e+00,-1.78655378e+00,
 -4.85056259e-03,-1.65059065e+00, 1.62623836e+00, 1.46310284e+01,
 -4.27206728e+00, 2.50672132e+00,-1.14225053e+01, 2.22642799e+01,
 -6.84346098e-01, 9.64734188e-01, 1.33572746e+00,-4.12373581e+00,
  3.49087473e+00,-2.97515985e-01, 6.64375756e-01,-7.02807517e+00,
  1.14600392e+02,-3.15341595e+00]

qfrc_actuator:
[ 6.04368761e-05, 8.33240549e-04, 1.15373192e-04,-4.01304184e-05,
 -7.72516376e-06, 3.48156011e-02, 1.09569662e-02, 1.85227900e-03,
 -1.02576774e-04, 7.49448778e-04, 1.58060750e-04, 9.69012979e-05,
  8.67869829e-04,-1.57216768e-03, 0.00000000e+00,-1.05286753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005001071250916589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21997042e-14,  1.10998521e-14,  1.00000000e+00, -2.46413433e-28,
        1.00000000e+00, -1.10998521e-14, -1.00000000e+00,  0.00000000e+00,
        2.21997042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14656711, -0.04902428,  0.06174835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92251451e-05,-1.01793182e-05, 2.10057582e-05, 6.09920423e-06,
 -1.45921288e-06,-3.87470439e-05, 5.94861387e-05, 6.96549282e-05,
 -2.56975792e-05,-1.32061182e-05,-2.90471341e-05, 2.81118142e-05,
 -2.55677081e-05, 2.95862944e-05, 1.06690891e-05,-1.63674837e-05,
 -9.17197273e-05,-2.83983298e-04,-4.90235604e+00,-4.31929550e-04,
  3.44909731e-03,-1.02742692e-03]


--- Step 2326 ---
qpos:
[ 0.01866939, 0.0300197 ,-0.00944207,-0.02531506,-0.00350812, 1.34075984,
 -0.02996406, 0.94377174, 0.01154635, 0.02727548,-0.00832506, 0.02644709,
  1.38069696, 0.00765647, 1.31772655, 0.04431157,-0.0945035 ,-0.05479698,
  0.09254908, 0.70997488,-0.01669992,-0.7017354 ,-0.05678222]

qacc:
[ 8.13110747e-02, 3.75038115e-01, 6.86686526e-01,-5.67835123e+00,
  1.33868139e-01,-1.16965510e+00, 5.02655854e+00,-1.08476197e+01,
  6.28400728e+00,-5.42747805e-01, 1.55882094e-01, 4.86157483e+00,
 -6.60685987e-01, 8.65514841e-01, 4.09745829e+00,-1.38288551e+01,
 -4.34896868e+00, 6.37799071e-01,-2.49505584e+00, 7.67510156e+00,
 -1.43424690e+02, 2.38625275e+01]

qfrc_actuator:
[ 6.01612184e-05, 8.83862667e-04, 1.18007326e-04,-5.26929932e-05,
  3.18139767e-05, 3.48285485e-02, 1.09616206e-02, 1.82191171e-03,
 -6.39882342e-05, 7.41603124e-04, 1.76379293e-04, 1.13106642e-04,
  8.44534989e-04,-1.55594678e-03, 0.00000000e+00,-1.11915387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004923788294841316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12740735e-14,  1.12740735e-14,  1.00000000e+00, -1.27104734e-28,
        1.00000000e+00, -1.12740735e-14, -1.00000000e+00,  0.00000000e+00,
        1.12740735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00151495, -0.06862108,  0.0617524 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76149545e-07, 4.95957831e-05, 3.34914704e-06,-1.21503521e-05,
  3.86751318e-05, 5.25443563e-06, 5.89066193e-06,-2.81712235e-05,
  3.78258963e-05,-1.99743373e-05, 1.30102152e-05, 1.51856883e-05,
 -2.89990896e-05, 1.93607298e-05,-6.12490917e-07,-6.66525824e-05,
 -2.95075140e-05,-4.32223823e-04,-4.90221063e+00,-9.54320929e-04,
  3.42491866e-03,-1.07446475e-03]


--- Step 2327 ---
qpos:
[ 0.01866955, 0.03001944,-0.00944327,-0.0253147 ,-0.00350785, 1.34075882,
 -0.0299638 , 0.94377156, 0.01154695, 0.02727377,-0.00832505, 0.02644827,
  1.3807823 , 0.00765754, 1.31783593, 0.04430941,-0.09452535,-0.0548842 ,
  0.09262938, 0.70975546,-0.01566961,-0.70190439,-0.0577223 ]

qacc:
[ 2.90795799e+00, 4.18161688e+00,-1.57825965e+01, 2.58314863e+01,
  3.73605022e-02,-1.06315606e+00, 6.95154893e+00,-2.26722160e+01,
  3.94507798e+00,-6.18262683e-01, 1.78689486e+00,-3.76799564e-02,
 -5.71687747e-01, 6.90050124e-01, 4.56404569e+00,-1.56912818e+01,
 -3.84530821e+00, 5.57821902e-01,-3.37387573e+00, 7.36034187e+00,
 -1.26230446e+02, 2.04642021e+01]

qfrc_actuator:
[ 7.78157251e-05, 9.32130032e-04, 8.43448218e-05,-2.44791398e-05,
  1.97706943e-05, 3.48545975e-02, 1.09463683e-02, 1.75027556e-03,
 -4.13302472e-05, 7.73269424e-04, 2.05082369e-04, 1.22227122e-04,
  8.22143720e-04,-1.54677651e-03, 0.00000000e+00,-1.19339895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.07029113,   3.0752525 ,   8.07029113,
        12.90248648, -11.19545576,   3.0752525 , -11.19545576,
        38.01625595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004854216807705342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00132207, -0.06864158,  0.06175604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76926346e-05, 7.62150818e-05,-2.34096287e-05, 3.02202162e-05,
  1.08122513e-05, 2.92729593e-05,-1.43777185e-05,-7.19581503e-05,
  2.37517439e-05, 2.39154831e-05, 2.67264698e-05, 9.01112558e-06,
 -3.24533840e-05, 8.53298836e-06,-1.10300289e-05,-7.87756210e-05,
 -9.46427128e-05,-2.51822354e-04,-4.90251305e+00,-3.17234654e-04,
  3.46046847e-03,-1.09367340e-03]


--- Step 2328 ---
qpos:
[ 0.0186706 , 0.03001946,-0.00944417,-0.02531368,-0.00350774, 1.34075778,
 -0.02996308, 0.9437712 , 0.01154816, 0.02727239,-0.00832504, 0.02644886,
  1.38086732, 0.00765876, 1.31794511, 0.04430737,-0.09456089,-0.05496946,
  0.0926932 , 0.70937995,-0.01466698,-0.70223089,-0.05862377]

qacc:
[ 7.72768980e+00, 9.05084224e-01,-5.51862492e+00, 1.63944979e+01,
 -6.48166236e-02,-1.60174143e+00, 5.54678354e+00,-6.81558899e+00,
  5.21710974e+00,-7.83332958e-01, 5.93954036e+00,-1.64927157e+01,
 -3.17532996e-01, 3.51008278e-01,-6.13674028e-01, 1.79470653e+00,
 -3.42075065e+00, 4.90487552e-01,-4.11907616e+00, 7.05596811e+00,
 -1.11779924e+02, 1.76734259e+01]

qfrc_actuator:
[ 1.23644446e-04, 9.42996944e-04, 1.00578474e-04, 9.73451696e-06,
 -5.36800291e-06, 3.48526656e-02, 1.09728173e-02, 1.74372203e-03,
 -1.04982303e-05, 7.92899230e-04, 2.04327347e-04, 9.16372498e-05,
  8.05656429e-04,-1.54186084e-03, 0.00000000e+00,-1.18295025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.97756751,   3.30835208,   7.97756751,
        13.89876695, -12.68945282,   3.30835208, -12.68945282,
        39.23497101,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0047432741314926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17031295e-14, -3.51093884e-14,  1.00000000e+00,  4.10889718e-28,
        1.00000000e+00,  3.51093884e-14, -1.00000000e+00,  0.00000000e+00,
        1.17031295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0010372 , -0.0686767 ,  0.06176143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63725082e-05, 4.99728469e-05, 3.01523808e-05, 3.72570315e-05,
 -1.87478676e-05, 9.29297530e-06, 2.84293341e-05,-7.76504737e-06,
  3.15292998e-05, 3.89798070e-05, 7.80563774e-06,-2.84645934e-05,
 -3.09599909e-05, 2.52696774e-07,-1.66482283e-05, 4.02775341e-06,
 -1.06458653e-04,-1.05714852e-04,-4.90260751e+00, 2.10831602e-04,
  3.48660939e-03,-1.11446372e-03]


--- Step 2329 ---
qpos:
[ 0.01867117, 0.0300195 ,-0.00944443,-0.02531225,-0.00350755, 1.34075661,
 -0.02996286, 0.94377151, 0.01155007, 0.02727108,-0.00832463, 0.02644874,
  1.3809523 , 0.00765994, 1.31805422, 0.0443051 ,-0.09457899,-0.0550562 ,
  0.09276938, 0.70920053,-0.01364761,-0.7023541 ,-0.05955728]

qacc:
[-4.20598681e+00,-8.99639726e-01, 1.51544017e+00, 4.57438112e+00,
  3.24316623e-02, 2.36030494e+00,-9.27984903e+00, 1.59546603e+01,
  6.03166793e+00,-2.49673693e+00, 1.20171879e+01,-2.49780218e+01,
 -3.13908775e-02, 1.95023135e-03, 5.69169565e-01,-2.15113531e+00,
  4.35822767e+00,-3.70058441e-01, 3.09064363e+00,-9.83901394e+00,
  1.41680530e+02,-1.00040059e+01]

qfrc_actuator:
[ 9.69202148e-05, 9.31585363e-04, 1.28252830e-04, 2.94545618e-05,
  1.51003841e-05, 3.48164327e-02, 1.09348555e-02, 1.77554305e-03,
  2.49029659e-05, 7.87274457e-04, 2.21625363e-04, 5.56534394e-05,
  8.14023235e-04,-1.53948359e-03, 0.00000000e+00,-1.19368725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004684067388896054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92552867e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.92552867e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14705555, -0.04899348,  0.06176444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53576748e-05, 2.43755308e-05, 4.30030419e-05, 2.36258755e-05,
  9.38954664e-06,-2.57591847e-05,-3.31364892e-05, 3.27531740e-05,
  3.63347587e-05, 1.66288254e-05, 2.53410308e-05,-3.45965933e-05,
 -7.12560559e-06,-4.55399219e-06,-9.20515964e-06,-1.30833958e-05,
 -8.17678694e-05, 1.38034088e-05,-4.90255699e+00, 6.53766655e-04,
  3.50460974e-03,-1.13640702e-03]


--- Step 2330 ---
qpos:
[ 0.01867107, 0.03001979,-0.00944467,-0.02531058,-0.00350721, 1.34075563,
 -0.02996382, 0.94377291, 0.01155205, 0.02726971,-0.00832369, 0.02644889,
  1.38103718, 0.00766135, 1.31816347, 0.04430103,-0.09458162,-0.05514441,
  0.09285201, 0.70919469,-0.01261379,-0.70229713,-0.06051884]

qacc:
[-5.74487251e+00, 7.82071635e-01,-3.29108730e+00, 7.17559126e+00,
  6.10871278e-02, 5.25584159e+00,-1.90865479e+01, 2.89629986e+01,
  5.74856001e-01,-1.00201634e+00, 2.32220868e+00, 1.52837666e+00,
 -3.65434041e-01, 5.15187097e-01, 5.69427734e+00,-1.95319800e+01,
  3.86930158e+00,-3.66874713e-01, 1.61217940e+00,-8.90277033e+00,
  1.25476339e+02,-8.62065425e+00]

qfrc_actuator:
[ 6.32020460e-05, 9.42465012e-04, 1.26827232e-04, 4.04659812e-05,
  2.72588955e-05, 3.48307358e-02, 1.08767889e-02, 1.82960963e-03,
  2.72022144e-05, 7.84379605e-04, 2.49352875e-04, 7.00431877e-05,
  8.15986751e-04,-1.52075809e-03, 0.00000000e+00,-1.28785114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004623287029026271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.40137162e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.40137162e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14715113, -0.04898889,  0.06176758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44514172e-05, 3.43910648e-05, 9.72229866e-06, 1.40011709e-05,
  1.77063621e-05,-5.43585917e-06,-6.59145252e-05, 5.30790339e-05,
  3.36579115e-06, 1.02175768e-05, 3.30978769e-05, 1.53070075e-05,
 -2.94511384e-06, 1.58154417e-05,-7.71992387e-06,-9.65332390e-05,
 -1.06881464e-04,-1.47386460e-04,-4.90268338e+00, 6.35668270e-05,
  3.46008683e-03,-1.18247106e-03]


--- Step 2331 ---
qpos:
[ 0.01867125, 0.03002006,-0.00944451,-0.02530878,-0.00350688, 1.3407548 ,
 -0.02996527, 0.9437756 , 0.01155335, 0.02726868,-0.00832254, 0.02644883,
  1.38112181, 0.00766326, 1.31827254, 0.04429687,-0.0945704 ,-0.05523407,
  0.0929361 , 0.70934348,-0.01156745,-0.70207915,-0.06150513]

qacc:
[ 2.46528564e+00,-8.99578210e-01, 2.61736035e+00,-1.02680231e+00,
 -8.49820910e-04, 3.75588066e+00,-1.46593274e+01, 2.76160524e+01,
 -5.77983185e+00,-5.42209776e-01, 3.44669274e+00,-7.55075547e+00,
 -5.08323490e-01, 7.92777105e-01, 9.96729779e-02,-5.95383274e-01,
  3.46185011e+00,-3.62704875e-01, 3.65067092e-01,-8.14508920e+00,
  1.11922376e+02,-7.47643496e+00]

qfrc_actuator:
[ 7.89190865e-05, 9.30973175e-04, 1.43810449e-04, 4.62614595e-05,
  1.65800909e-05, 3.48573585e-02, 1.08607920e-02, 1.89634952e-03,
 -7.75447631e-06, 8.18730556e-04, 2.65297633e-04, 6.07045180e-05,
  8.03462648e-04,-1.49247183e-03, 0.00000000e+00,-1.28838292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004525595492121594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45320870e-14, -4.90641741e-14,  1.00000000e+00,  1.20364659e-27,
        1.00000000e+00,  4.90641741e-14, -1.00000000e+00,  0.00000000e+00,
        2.45320870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14729706, -0.04897647,  0.0617724 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47231822e-05, 1.03235951e-05, 2.57651379e-05, 7.87455040e-06,
 -2.15404426e-07, 1.23271246e-05,-2.30007542e-05, 6.58732449e-05,
 -3.48598686e-05, 4.76031334e-05, 2.26682277e-05,-7.45681447e-06,
 -1.09167057e-05, 3.26901246e-05,-1.69075544e-05,-7.48452999e-06,
 -8.01901528e-05,-2.98043043e-04,-4.90263574e+00,-4.72003368e-04,
  3.42444804e-03,-1.22768172e-03]


--- Step 2332 ---
qpos:
[ 0.01867093, 0.03001991,-0.00944364,-0.0253069 ,-0.0035066 , 1.3407541 ,
 -0.02996625, 0.9437766 , 0.01155388, 0.02726793,-0.00832148, 0.02644869,
  1.38120651, 0.00766499, 1.31838157, 0.04429202,-0.0945765 ,-0.05532133,
  0.09300944, 0.70929599,-0.01055224,-0.70206001,-0.06244664]

qacc:
[-4.28230031e+00,-2.34217064e+00, 7.20992771e+00,-6.57500354e+00,
 -2.29965641e-02,-4.00434279e+00, 1.67292200e+01,-3.41578935e+01,
 -6.61372002e+00, 4.27838933e-01,-5.86539875e-01,-1.02091462e+00,
  1.22660451e-01,-2.20185019e-01, 1.97016144e+00,-7.01125452e+00,
 -4.33157403e+00, 5.99687502e-01,-2.68614167e+00, 9.66440941e+00,
 -1.40640220e+02, 1.96281559e+01]

qfrc_actuator:
[ 5.25993842e-05, 8.88478845e-04, 1.71446432e-04, 4.89426245e-05,
  1.00402110e-05, 3.48735661e-02, 1.08875771e-02, 1.81027406e-03,
 -4.65958113e-05, 8.21802563e-04, 2.56530685e-04, 5.52452928e-05,
  8.03567161e-04,-1.51207074e-03, 0.00000000e+00,-1.32247973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004457067835914326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24546346e-14,  6.22731729e-15,  1.00000000e+00, -7.75589614e-29,
        1.00000000e+00, -6.22731729e-15, -1.00000000e+00,  0.00000000e+00,
        1.24546346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00026938, -0.06875914,  0.06177593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58898145e-05,-3.10740412e-05, 3.32040367e-05, 4.16230492e-06,
 -6.66693070e-06, 2.05182179e-05, 2.85170988e-05,-8.48516672e-05,
 -3.98483256e-05, 3.40710550e-05, 3.60178458e-06,-2.77843611e-06,
  1.86279840e-06,-1.19379628e-05,-1.05477268e-05,-3.71010304e-05,
 -1.71359455e-05,-4.39537857e-04,-4.90246713e+00,-9.59591173e-04,
  3.39659747e-03,-1.27213380e-03]


--- Step 2333 ---
qpos:
[ 0.01866926, 0.03001973,-0.00944306,-0.02530567,-0.00350653, 1.34075393,
 -0.0299674 , 0.94377725, 0.01155497, 0.02726734,-0.00832049, 0.02644919,
  1.38129132, 0.00766629, 1.31849031, 0.04428846,-0.09459798,-0.05540649,
  0.09306874, 0.70907494,-0.00956322,-0.70221664,-0.06334873]

qacc:
[-1.15676245e+01,-5.68486630e-01, 4.74405783e+00,-1.55770273e+01,
 -8.90012411e-02, 5.50448742e-01,-2.30157098e-01,-4.21019099e+00,
  4.80901524e+00, 1.75159391e+00,-8.68660079e+00, 1.98760890e+01,
  4.63875065e-01,-7.47251239e-01,-4.36399792e+00, 1.45259258e+01,
 -3.84356638e+00, 5.26665659e-01,-3.51376224e+00, 9.11648178e+00,
 -1.24289938e+02, 1.68282061e+01]

qfrc_actuator:
[-1.60210313e-05, 8.81042055e-04, 1.51750686e-04, 1.42413625e-05,
 -1.17154453e-05, 3.49190034e-02, 1.08860019e-02, 1.79474561e-03,
 -1.63898011e-05, 8.23771279e-04, 2.50888646e-04, 8.75835628e-05,
  8.00576141e-04,-1.54217053e-03, 0.00000000e+00,-1.25183152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.0975696 ,   3.00268936,   8.0975696 ,
        12.77919675, -11.17227776,   3.00268936, -11.17227776,
        38.7654533 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0044057956272895715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25995747e-14, -2.51991495e-14,  1.00000000e+00, -3.17498567e-28,
        1.00000000e+00,  2.51991495e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25995747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00012639, -0.06877226,  0.06177863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.93879535e-05,-1.77941778e-05,-2.18914072e-05,-3.48065193e-05,
 -2.56945628e-05, 5.98228525e-05, 3.19862232e-06,-1.60436168e-05,
  2.90496098e-05, 2.16490280e-05, 1.74202356e-06, 3.38702637e-05,
 -5.32611418e-06,-3.31565144e-05,-1.08354727e-05, 6.68082830e-05,
 -8.68561893e-05,-2.70155330e-04,-4.90272885e+00,-3.65880497e-04,
  3.43888976e-03,-1.29088109e-03]


--- Step 2334 ---
qpos:
[ 0.01866817, 0.0300194 ,-0.00944294,-0.02530518,-0.0035064 , 1.34075463,
 -0.02996943, 0.94378048, 0.01155711, 0.02726692,-0.00831987, 0.02645044,
  1.38137588, 0.00766777, 1.31859897, 0.04428575,-0.09463319,-0.05548978,
  0.09311116, 0.70869929,-0.00859637,-0.70252953,-0.06421586]

qacc:
[ 4.86860601e+00,-4.30418687e-01, 4.36611560e+00,-1.63407229e+01,
  2.52448813e-02, 7.93502687e+00,-2.98122736e+01, 5.52208204e+01,
  8.88778784e+00, 2.75642673e+00,-1.26942874e+01, 2.61162043e+01,
 -2.30792260e-01, 2.95198554e-01,-2.66983543e+00, 9.21216444e+00,
 -3.43185797e+00, 4.65069867e-01,-4.21600570e+00, 8.62450511e+00,
 -1.10549631e+02, 1.45323291e+01]

qfrc_actuator:
[ 1.52923150e-05, 8.58921992e-04, 1.22119557e-04,-2.44333350e-05,
  1.08348391e-05, 3.49815205e-02, 1.08501109e-02, 1.92740040e-03,
  3.64638092e-05, 8.25096483e-04, 2.29405803e-04, 1.24151484e-04,
  7.90397490e-04,-1.52498420e-03, 0.00000000e+00,-1.20878965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.04412936,   3.14304943,   8.04412936,
        13.48227548, -12.40233173,   3.14304943, -12.40233173,
        40.37813637,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004314615032908274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.57316821e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.57316821e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00010669, -0.06879909,  0.06178303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92873180e-05,-3.81037555e-05,-3.72095355e-05,-4.08721691e-05,
  7.36809238e-06, 9.57564307e-05,-2.42928082e-05, 1.34173836e-04,
  5.37096241e-05, 1.52651590e-05,-1.56301995e-05, 3.82121216e-05,
 -2.06054343e-05, 5.82182701e-06, 1.18058602e-06, 4.50834326e-05,
 -1.04244696e-04,-1.31900825e-04,-4.90279546e+00, 1.32598482e-04,
  3.47096413e-03,-1.31105364e-03]


--- Step 2335 ---
qpos:
[ 0.0186678 , 0.03001859,-0.00944281,-0.0253048 ,-0.00350598, 1.34075576,
 -0.02997133, 0.94378284, 0.01155952, 0.02726667,-0.00831977, 0.02645178,
  1.38146021, 0.00766922, 1.31870793, 0.04428089,-0.09465081,-0.055575  ,
  0.09316561, 0.70851889,-0.00760688,-0.70263954,-0.06512138]

qacc:
[ 6.25656591e+00,-9.35244320e-01, 2.87042903e+00,-4.47736258e+00,
  1.23024512e-01,-1.25053403e+00, 6.55386045e+00,-1.60228045e+01,
  2.31004568e+00, 1.90424819e+00,-6.84150578e+00, 9.17000959e+00,
 -3.60993681e-01, 3.17074607e-01, 6.98429724e+00,-2.36897796e+01,
  4.39817529e+00,-4.80406197e-01, 3.00564677e+00,-1.11351803e+01,
  1.41368810e+02,-1.44124008e+01]

qfrc_actuator:
[ 5.19307967e-05, 8.28117705e-04, 1.22327473e-04,-2.96350529e-05,
  4.20296877e-05, 3.49827240e-02, 1.08476713e-02, 1.87988693e-03,
  4.89437502e-05, 8.25962210e-04, 1.98732660e-04, 1.27391477e-04,
  7.70607524e-04,-1.53312275e-03, 0.00000000e+00,-1.32441089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004284073371636873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.59151263e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.59151263e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14766882, -0.04895556,  0.06178463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74826289e-05,-6.15232195e-05,-1.36572595e-05,-8.91800916e-06,
  3.55519496e-05, 5.34578753e-05, 1.74682933e-05,-4.22344102e-05,
  1.40567128e-05, 7.84183793e-06,-2.81279687e-05, 4.09197626e-06,
 -2.84989953e-05,-1.11625449e-05, 2.97489433e-06,-1.13526668e-04,
 -8.52688941e-05,-1.78978287e-05,-4.90272485e+00, 5.56112369e-04,
  3.49426899e-03,-1.33228508e-03]


--- Step 2336 ---
qpos:
[ 0.01866649, 0.0300176 ,-0.00944253,-0.02530454,-0.00350553, 1.34075708,
 -0.02997247, 0.94378253, 0.01156102, 0.02726678,-0.00831984, 0.02645242,
  1.38154445, 0.00767011, 1.31881694, 0.04427436,-0.09465277,-0.05566207,
  0.09322635, 0.70851179,-0.00659761,-0.70256922,-0.0660607 ]

qacc:
[-8.02850130e+00,-8.52646956e-01, 3.18941405e+00,-5.25076891e+00,
  1.35553196e-02,-6.39732604e+00, 2.66568007e+01,-5.42136837e+01,
 -7.71727958e+00,-5.52414870e-01, 5.65221129e+00,-1.79592156e+01,
  1.44384713e-01,-5.21887960e-01, 5.10078480e+00,-1.78103368e+01,
  3.91336156e+00,-4.63483770e-01, 1.57130078e+00,-1.00803757e+01,
  1.25540033e+02,-1.25995209e+01]

qfrc_actuator:
[ 2.61430940e-06, 8.45750930e-04, 1.40137887e-04,-3.28387663e-05,
  2.48987029e-05, 3.49827318e-02, 1.08823997e-02, 1.74443939e-03,
  2.04698720e-06, 8.61975397e-04, 1.98360948e-04, 9.32373660e-05,
  7.55710385e-04,-1.57407669e-03, 0.00000000e+00,-1.40830534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004242784540069981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61673204e-14, -2.61673204e-14,  1.00000000e+00,  6.84728657e-28,
        1.00000000e+00,  2.61673204e-14, -1.00000000e+00,  0.00000000e+00,
        2.61673204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14773416, -0.04895368,  0.06178677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82424618e-05,-1.99312912e-05, 3.11912936e-06,-6.48479673e-06,
  3.88053793e-06, 3.17268283e-05, 4.59389924e-05,-1.34305630e-04,
 -4.64818270e-05, 3.47807737e-05,-2.07414932e-06,-3.47144468e-05,
 -3.18667754e-05,-5.08015312e-05,-1.47494995e-05,-9.06065597e-05,
 -1.06565428e-04,-1.75513960e-04,-4.90282177e+00,-1.01464161e-05,
  3.44618000e-03,-1.37673436e-03]


--- Step 2337 ---
qpos:
[ 0.0186646 , 0.03001697,-0.0094426 ,-0.02530435,-0.00350529, 1.34075831,
 -0.02997367, 0.94378205, 0.01156126, 0.02726675,-0.00831918, 0.02645263,
  1.38162845, 0.00767077, 1.31892618, 0.04426418,-0.09464069,-0.05575093,
  0.09328852, 0.70865947,-0.00557097,-0.7023373 ,-0.06703006]

qacc:
[-5.00267427e+00, 1.28810036e+00,-3.54516736e+00, 2.44906264e+00,
 -8.97596166e-02,-2.22290428e-01, 9.35329135e-01,-2.72980655e+00,
 -1.07579217e+01,-3.01127765e+00, 1.22907296e+01,-2.05789479e+01,
 -3.63967509e-01, 1.89202261e-01, 1.14422943e+01,-3.94333644e+01,
  3.50873770e+00,-4.48067688e-01, 3.60038092e-01,-9.22636969e+00,
  1.12293572e+02,-1.10951018e+01]

qfrc_actuator:
[-2.58911021e-05, 8.92342207e-04, 1.32875556e-04,-3.47990096e-05,
 -3.33238202e-06, 3.49465933e-02, 1.08677246e-02, 1.73590709e-03,
 -6.16567844e-05, 8.47830304e-04, 2.33761712e-04, 7.29170488e-05,
  7.43743535e-04,-1.58091560e-03, 0.00000000e+00,-1.59704606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004164692569325952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.66449567e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.66449567e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14785007, -0.04894359,  0.0617906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99151494e-05, 3.58318484e-05,-1.12079785e-05,-2.82869251e-06,
 -2.59364008e-05,-1.36457275e-05,-7.18032047e-06,-9.34552842e-06,
 -6.50509435e-05, 3.37264914e-06, 4.11301539e-05,-1.95764628e-05,
 -3.99903763e-05,-2.95052097e-05,-1.90363861e-05,-1.96156471e-04,
 -7.62423614e-05,-3.26173388e-04,-4.90274711e+00,-5.32133894e-04,
  3.40665998e-03,-1.42075876e-03]


--- Step 2338 ---
qpos:
[ 0.01866239, 0.0300167 ,-0.00944339,-0.02530347,-0.00350531, 1.34075913,
 -0.02997546, 0.94378152, 0.01156108, 0.02726689,-0.00831844, 0.02645227,
  1.3817119 , 0.00767183, 1.31903512, 0.04425347,-0.09464631,-0.05583754,
  0.09334006, 0.70860888,-0.00457066,-0.70230641,-0.06795786]

qacc:
[-2.83783793e+00, 3.94497180e+00,-1.62952645e+01, 2.91761381e+01,
 -1.11592041e-01, 9.50068443e-01,-3.65980624e+00, 2.93876394e+00,
 -3.60054690e+00,-1.20592956e+00, 7.07476849e+00,-1.74119442e+01,
 -7.04420723e-01, 8.70019773e-01, 1.21324283e+00,-4.73011809e+00,
 -4.42374129e+00, 5.62530849e-01,-2.65773491e+00, 1.14527845e+01,
 -1.41860533e+02, 1.67711541e+01]

qfrc_actuator:
[-4.18906969e-05, 9.02575964e-04, 9.32444595e-05,-4.96864142e-07,
 -2.02396899e-05, 3.48889659e-02, 1.08239371e-02, 1.73108166e-03,
 -8.14655515e-05, 8.57178255e-04, 2.36553575e-04, 4.31341786e-05,
  7.22901815e-04,-1.54963745e-03, 0.00000000e+00,-1.61526089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004113194622399979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69917455e-14,  1.34958728e-14,  1.00000000e+00, -3.64277163e-28,
        1.00000000e+00, -1.34958728e-14, -1.00000000e+00,  0.00000000e+00,
        2.69917455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00064882, -0.06884595,  0.06179324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68562113e-05, 2.78531576e-05,-3.36980723e-05, 3.53961545e-05,
 -3.22349486e-05,-6.68700373e-05,-4.75486720e-05,-5.66336047e-06,
 -2.17127846e-05, 1.88617380e-05, 7.87210487e-06,-2.85953451e-05,
 -4.83030007e-05, 1.34455837e-05,-3.33554651e-05,-3.21753339e-05,
 -9.37040015e-06,-4.70324995e-04,-4.90255255e+00,-1.01403274e-03,
  3.37474098e-03,-1.46437815e-03]


--- Step 2339 ---
qpos:
[ 0.01865965, 0.03001628,-0.00944414,-0.02530287,-0.00350543, 1.34075943,
 -0.02997712, 0.94378058, 0.0115617 , 0.02726754,-0.00831813, 0.02645189,
  1.38179499, 0.00767298, 1.31914324, 0.04424759,-0.09466765,-0.05592217,
  0.09337771, 0.70838261,-0.00359223,-0.70245354,-0.06884905]

qacc:
[-4.45165836e+00,-8.86345197e-01, 4.05269594e+00,-8.79729911e+00,
 -3.89443632e-02,-1.71505335e+00, 5.64620516e+00,-9.50034009e+00,
  6.78210300e+00, 1.83747842e+00,-5.52341539e+00, 5.55641990e+00,
  9.31668294e-02,-1.48490753e-01,-1.58552637e+01, 5.36567651e+01,
 -3.92963530e+00, 4.95638277e-01,-3.47510769e+00, 1.07431025e+01,
 -1.25585200e+02, 1.42736297e+01]

qfrc_actuator:
[-6.81606189e-05, 8.73106911e-04, 8.79749369e-05,-1.61884578e-05,
 -1.24637377e-05, 3.48720583e-02, 1.08342295e-02, 1.71066818e-03,
 -3.97681199e-05, 8.98142470e-04, 2.20132706e-04, 4.35122585e-05,
  7.07421992e-04,-1.54929059e-03, 0.00000000e+00,-1.35530044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.2458517 ,  2.56762664,  8.2458517 , 11.4632691 ,
       -9.07851743,  2.56762664, -9.07851743, 37.79173509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040829464528158305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.79792790e-15, -1.01968919e-14,  1.00000000e+00,  6.93177356e-29,
        1.00000000e+00,  1.01968919e-14, -1.00000000e+00,  0.00000000e+00,
        6.79792790e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00073549, -0.06885026,  0.06179487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67499900e-05,-1.93198733e-05,-2.42911255e-06,-1.49741166e-05,
 -1.12756293e-05,-6.33763958e-05,-8.36529346e-06,-2.39510422e-05,
  4.10701438e-05, 5.18915814e-05,-1.25532502e-05, 9.01977517e-07,
 -3.67613276e-05,-6.37467384e-06,-2.05688823e-05, 2.53578053e-04,
 -8.60894695e-05,-3.01378428e-04,-4.90279770e+00,-4.26499229e-04,
  3.42371657e-03,-1.48279718e-03]


--- Step 2340 ---
qpos:
[ 0.01865732, 0.03001576,-0.00944463,-0.02530317,-0.00350556, 1.34075937,
 -0.02997817, 0.94377935, 0.01156316, 0.02726838,-0.00831768, 0.02645186,
  1.38187791, 0.00767408, 1.31925132, 0.04424381,-0.09470304,-0.05600504,
  0.09339867, 0.70799957,-0.00263207,-0.70275921,-0.06970778]

qacc:
[ 3.40234000e+00,-2.72178440e+00, 1.32945760e+01,-2.92208109e+01,
 -6.44210198e-03,-2.64235641e+00, 8.61317017e+00,-1.04731455e+01,
  7.17142648e+00, 5.44902509e-01,-3.06696812e+00, 8.78033454e+00,
  5.57828601e-02,-1.39703874e-01,-6.42942000e+00, 2.23751650e+01,
 -3.51231575e+00, 4.38971450e-01,-4.16948038e+00, 1.01150107e+01,
 -1.11903759e+02, 1.22355299e+01]

qfrc_actuator:
[-4.70120472e-05, 8.73434090e-04, 1.02836505e-04,-6.11846922e-05,
 -7.69645839e-06, 3.48798568e-02, 1.08765093e-02, 1.69905387e-03,
  2.27777750e-06, 9.04405330e-04, 2.28172513e-04, 6.16555289e-05,
  7.05813601e-04,-1.54959345e-03, 0.00000000e+00,-1.25313072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.22747811,  2.62590573,  8.22747811, 11.80952645,
       -9.94214198,  2.62590573, -9.94214198, 39.78704611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004012099571412013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38359356e-14, -1.03769517e-14,  1.00000000e+00,  1.43574835e-28,
        1.00000000e+00,  1.03769517e-14, -1.00000000e+00,  0.00000000e+00,
        1.38359356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00091513, -0.06886827,  0.06179825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03650700e-05,-1.15971731e-05, 1.00703028e-05,-4.61961389e-05,
 -1.89819700e-06,-2.96187795e-05, 2.82282149e-05,-1.43229611e-05,
  4.32694642e-05, 3.27168017e-05, 1.72325320e-05, 1.99473838e-05,
 -2.07158458e-05,-1.09346018e-05, 1.82318699e-05, 1.13579544e-04,
 -1.09021875e-04,-1.63293452e-04,-4.90284736e+00, 7.12884048e-05,
  3.46182243e-03,-1.50263152e-03]


--- Step 2341 ---
qpos:
[ 0.01865628, 0.03001532,-0.00944505,-0.02530367,-0.00350596, 1.34075933,
 -0.02997884, 0.94377763, 0.01156373, 0.02726965,-0.00831745, 0.02645135,
  1.38196087, 0.00767505, 1.31936003, 0.04423662,-0.09472046,-0.05609033,
  0.09343225, 0.70781408,-0.00164334,-0.70285887,-0.07061114]

qacc:
[ 1.12014955e+01,-5.12383512e-01, 2.81123182e+00,-6.45341369e+00,
 -1.16598672e-01,-1.80348525e+00, 6.95410983e+00,-1.18268525e+01,
 -7.57316157e+00, 2.33021397e-01, 2.00621719e+00,-1.01976615e+01,
 -1.94875705e-01, 1.50018768e-01, 1.12928236e+01,-3.81019597e+01,
  4.49268490e+00,-6.04166374e-01, 3.15346360e+00,-1.24926986e+01,
  1.43390614e+02,-1.86866320e+01]

qfrc_actuator:
[ 1.96331947e-05, 8.91655063e-04, 1.11796136e-04,-6.97681329e-05,
 -4.02794599e-05, 3.49025341e-02, 1.09019201e-02, 1.67499007e-03,
 -4.45920673e-05, 9.25457766e-04, 2.14969125e-04, 3.68379255e-05,
  7.17850379e-04,-1.55018499e-03, 0.00000000e+00,-1.44011549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00400244116101179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16079705e-14, -4.16079705e-14,  1.00000000e+00,  1.73122321e-27,
        1.00000000e+00,  4.16079705e-14, -1.00000000e+00,  0.00000000e+00,
        4.16079705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1480998 , -0.04893384,  0.0617988 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72383513e-05, 1.18778190e-05, 6.22052161e-06,-9.62860828e-06,
 -3.37057723e-05, 1.13836919e-05, 2.24086918e-05,-2.44614993e-05,
 -4.55896872e-05, 4.37461908e-05,-3.64792812e-06,-2.24354362e-05,
 -8.88451009e-08,-9.00059868e-06, 1.80317145e-05,-1.78976772e-04,
 -9.43271125e-05,-4.92212772e-05,-4.90275913e+00, 4.98093830e-04,
  3.49062290e-03,-1.52353774e-03]


--- Step 2342 ---
qpos:
[ 1.86557113e-02, 3.00150193e-02,-9.44540612e-03,-2.53042824e-02,
 -3.50669145e-03, 1.34075951e+00,-2.99790390e-02, 9.43776298e-01,
  1.15630473e-02, 2.72708997e-02,-8.31722393e-03, 2.64509366e-02,
  1.38204410e+00, 7.67544872e-03, 1.31946893e+00, 4.42262666e-02,
 -9.47218580e-02,-5.61777147e-02, 9.34730779e-02, 7.07804453e-01,
 -6.33518942e-04,-7.02775112e-01,-7.15513540e-02]

qacc:
[  3.96890593, -0.25533432,  1.59755539, -3.62763586, -0.13542406,
  -0.35498532,  0.68455422,  3.82830499,-10.71303418,  0.1975803 ,
  -1.07982931,  2.64647967,  0.30755034, -0.61472274,  9.80447678,
 -33.94753952,  4.0050492 , -0.52266172,  1.81148002,-11.81948842,
 127.49848461,-14.09045001]

qfrc_actuator:
[ 4.14977053e-05, 9.02710226e-04, 1.17301756e-04,-7.45950588e-05,
 -5.95009183e-05, 3.49338899e-02, 1.09349698e-02, 1.69704519e-03,
 -1.07916766e-04, 9.01825677e-04, 2.07093626e-04, 4.01874290e-05,
  7.27409066e-04,-1.58635795e-03, 0.00000000e+00,-1.60063534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003980842376324341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19324633e-06, -1.44484307e-14,  1.00000000e+00,  1.72405370e-20,
        1.00000000e+00,  1.44484307e-14, -1.00000000e+00,  3.00926554e-36,
        1.19324633e-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([-0.1477452 , -0.04930496,  0.06179994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38299643e-05, 1.86182066e-05, 8.40132451e-06,-4.29021794e-06,
 -3.91395820e-05, 4.12988693e-05, 3.71077536e-05, 2.24840535e-05,
 -6.46393133e-05,-9.45326374e-07,-7.85930630e-08, 4.66115907e-06,
  6.98953208e-06,-3.87869793e-05,-1.57512354e-05,-1.69103384e-04,
 -1.12905898e-04,-2.11465266e-04,-4.90283268e+00,-7.05731264e-05,
  3.43759834e-03,-1.56788980e-03]


--- Step 2343 ---
qpos:
[ 1.86550630e-02, 3.00150142e-02,-9.44521469e-03,-2.53049989e-02,
 -3.50740808e-03, 1.34075994e+00,-2.99785231e-02, 9.43774534e-01,
  1.15622996e-02, 2.72716676e-02,-8.31655153e-03, 2.64502515e-02,
  1.38212725e+00, 7.67571854e-03, 1.31957742e+00, 4.42167346e-02,
 -9.47088785e-02,-5.62670452e-02, 9.35163551e-02, 7.07952181e-01,
  3.93892694e-04,-7.02526760e-01,-7.25238289e-02]

qacc:
[-6.54573536e-01,-1.34273915e+00, 5.81425647e+00,-8.76100803e+00,
  4.66533363e-03,-2.31937334e+00, 8.86409293e+00,-1.28730571e+01,
 -5.31163711e-01,-2.44504871e+00, 8.93284411e+00,-1.39824477e+01,
  1.05149522e-01,-2.12913534e-01,-3.11179876e+00, 9.94618689e+00,
  3.59438116e+00,-4.87454179e-01, 6.13009355e-01,-1.09481137e+01,
  1.14179914e+02,-1.19184313e+01]

qfrc_actuator:
[ 3.68144898e-05, 9.44890300e-04, 1.56206863e-04,-7.71841512e-05,
 -3.50454157e-05, 3.49525071e-02, 1.09723402e-02, 1.67506976e-03,
 -1.09380184e-04, 8.51646592e-04, 2.20030715e-04, 2.45547231e-05,
  7.19481931e-04,-1.59012046e-03, 0.00000000e+00,-1.54889359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003921876824466056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41542312e-14,  4.24626935e-14,  1.00000000e+00,  6.01026781e-28,
        1.00000000e+00, -4.24626935e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41542312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14772239, -0.04940152,  0.06180281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98106730e-06, 5.41692070e-05, 4.36453109e-05,-1.58290059e-06,
  1.32709886e-06, 4.93938233e-05, 5.03296041e-05,-1.91263328e-05,
 -3.35277559e-06,-5.05960141e-05, 1.28789344e-05,-1.55850451e-05,
 -1.44949126e-05,-1.36154382e-05,-2.79858825e-05, 3.98688098e-05,
 -7.62894028e-05,-3.67452250e-04,-4.90274603e+00,-6.00692518e-04,
  3.39094928e-03,-1.61200167e-03]


--- Step 2344 ---
qpos:
[ 0.01865505, 0.03001529,-0.0094445 ,-0.02530643,-0.003508  , 1.34076024,
 -0.02997765, 0.94377292, 0.01156154, 0.02727258,-0.00831597, 0.02644934,
  1.38221021, 0.00767597, 1.31968572, 0.04420784,-0.09471409,-0.05635427,
  0.09354947, 0.70789742, 0.00139942,-0.70248365,-0.07345756]

qacc:
[ 5.48975574e+00,-2.57309151e+00, 1.26841462e+01,-2.60140030e+01,
  5.45307396e-02,-8.66195026e-01, 2.31113928e+00,-1.86474814e-01,
 -1.14521363e-01,-1.69801350e-02, 1.29693868e+00,-5.17298815e+00,
 -8.35171448e-02, 2.29266458e-02,-2.20314257e+00, 7.33390750e+00,
 -4.54758944e+00, 5.26178411e-01,-2.54071191e+00, 1.33467933e+01,
 -1.44564189e+02, 1.40989698e+01]

qfrc_actuator:
[ 6.98157304e-05, 9.52268525e-04, 1.79147711e-04,-1.13891699e-04,
 -2.00919571e-05, 3.49100934e-02, 1.09763774e-02, 1.68060235e-03,
 -1.09920306e-04, 8.92534043e-04, 2.27256612e-04, 1.56118401e-05,
  7.06410612e-04,-1.59241102e-03, 0.00000000e+00,-1.51452634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038897939602201906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78387184e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78387184e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00124692, -0.06888212,  0.06180447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29023955e-05, 4.66156781e-05, 3.94494660e-05,-3.29076413e-05,
  1.57394120e-05,-5.82487860e-06, 1.88626082e-05, 8.04862515e-06,
 -6.52832427e-07, 1.45485959e-05,-2.19434624e-06,-1.09705076e-05,
 -2.38163167e-05,-9.60326247e-06,-9.20745340e-06, 3.28524950e-05,
 -1.62788512e-06,-5.17145344e-04,-4.90253941e+00,-1.09192237e-03,
  3.35173428e-03,-1.65577350e-03]


--- Step 2345 ---
qpos:
[ 0.0186551 , 0.03001506,-0.00944342,-0.02530783,-0.00350858, 1.34076043,
 -0.02997674, 0.94377244, 0.01156043, 0.02727372,-0.00831543, 0.02644901,
  1.38229314, 0.00767589, 1.31979402, 0.04419874,-0.09473545,-0.05643964,
  0.09356911, 0.70766318, 0.00238714,-0.70262233,-0.07435722]

qacc:
[ 4.62918684e-01,-1.62343425e+00, 4.72598013e+00,-4.47369082e+00,
  2.34742145e-03, 1.65638275e+00,-7.90154830e+00, 2.00278057e+01,
 -2.95207481e+00, 1.58787977e+00,-7.65787750e+00, 1.75124984e+01,
  1.63687349e-01,-3.76910602e-01, 6.11269638e-01,-2.19378576e+00,
 -4.03872502e+00, 4.64250608e-01,-3.36736527e+00, 1.24642769e+01,
 -1.28013104e+02, 1.18478548e+01]

qfrc_actuator:
[ 7.14846094e-05, 8.67658344e-04, 1.74560955e-04,-1.17164479e-04,
 -2.87146310e-05, 3.49023561e-02, 1.09782409e-02, 1.73773562e-03,
 -1.27685140e-04, 9.16612632e-04, 2.31414187e-04, 4.62514950e-05,
  7.06243798e-04,-1.61162266e-03, 0.00000000e+00,-1.52624080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.35335866,  2.19275535,  8.35335866, 10.55518009,
       -7.3097813 ,  2.19275535, -7.3097813 , 36.48316606,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038776390398412436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94731798e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.94731798e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00128529, -0.06887917,  0.06180518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64233562e-06,-5.18079789e-05, 8.75139726e-06,-5.53287520e-07,
  6.78334423e-07,-7.03248799e-06, 3.10318231e-06, 5.76973121e-05,
 -1.77750242e-05, 3.12503456e-05, 6.49672057e-06, 3.09722641e-05,
 -1.42229181e-05,-2.75879456e-05,-2.57245818e-06,-1.14810861e-05,
 -8.74472436e-05,-3.44389468e-04,-4.90277502e+00,-4.92466611e-04,
  3.40872253e-03,-1.67410012e-03]


--- Step 2346 ---
qpos:
[ 0.01865447, 0.03001439,-0.00944213,-0.02530787,-0.00350905, 1.34076082,
 -0.02997559, 0.94377157, 0.01155912, 0.02727501,-0.00831509, 0.02644906,
  1.3823761 , 0.00767534, 1.31990223, 0.0441899 ,-0.09477125,-0.05652336,
  0.09357248, 0.70726869, 0.00336035,-0.70292293,-0.07522668]

qacc:
[-5.72880967e+00, 1.63522713e+00,-1.23963981e+01, 3.58728225e+01,
  4.57304913e-02,-1.03383086e+00, 4.47945640e+00,-8.48003077e+00,
 -1.75250452e+00, 1.58746092e+00,-7.00317179e+00, 1.39597863e+01,
  3.37551226e-01,-6.61594488e-01,-9.45629956e-01, 3.02621821e+00,
 -3.60851957e+00, 4.11564537e-01,-4.07042877e+00, 1.16888139e+01,
 -1.14094955e+02, 1.00234658e+01]

qfrc_actuator:
[ 3.69328965e-05, 8.52781568e-04, 1.88908276e-04,-4.75734766e-05,
 -1.59060182e-05, 3.49332084e-02, 1.09967157e-02, 1.71827372e-03,
 -1.37694565e-04, 9.12719074e-04, 2.15960161e-04, 6.44236590e-05,
  7.03158857e-04,-1.64068361e-03, 0.00000000e+00,-1.51175052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.35401228,  2.19026386,  8.35401228, 10.70004201,
       -7.87119525,  2.19026386, -7.87119525, 38.65834545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003823401469113752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27039386e-14,  2.90375738e-14,  1.00000000e+00, -3.68891554e-28,
        1.00000000e+00, -2.90375738e-14, -1.00000000e+00,  0.00000000e+00,
        1.27039386e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00142108, -0.0688901 ,  0.06180773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44932416e-05,-4.20641538e-05, 4.69886076e-06, 6.76659657e-05,
  1.32090263e-05, 2.93003359e-05, 1.91424295e-05,-1.82437037e-05,
 -1.05165365e-05, 1.61946510e-05,-7.14627351e-06, 2.03364527e-05,
 -1.66595939e-05,-4.07135636e-05,-4.72580813e-06, 1.30313041e-05,
 -1.16983657e-04,-2.03240102e-04,-4.90281017e+00, 1.95607977e-05,
  3.45410007e-03,-1.69390018e-03]


--- Step 2347 ---
qpos:
[ 0.01865343, 0.03001368,-0.00944108,-0.02530744,-0.00350954, 1.34076174,
 -0.02997461, 0.94376943, 0.01155805, 0.0272762 ,-0.00831536, 0.02644939,
  1.38245901, 0.0076742 , 1.32001051, 0.04418028,-0.09478868,-0.05660974,
  0.09358983, 0.70707509, 0.00436231,-0.70301352,-0.07614317]

qacc:
[-3.52114159e+00, 1.59909619e+00,-7.74914792e+00, 1.62564111e+01,
 -7.45225458e-03,-9.94202160e-01, 6.70210409e+00,-2.08906388e+01,
  1.98933499e+00, 2.15234408e+00,-9.05969488e+00, 1.49668713e+01,
  2.49089402e-01,-6.37372886e-01, 2.41286403e+00,-8.37471188e+00,
  4.59382080e+00,-6.63724739e-01, 3.49626836e+00,-1.46043182e+01,
  1.45875793e+02,-1.95355735e+01]

qfrc_actuator:
[ 1.68545067e-05, 8.62144695e-04, 1.79122190e-04,-2.43705926e-05,
 -2.58486030e-05, 3.49691982e-02, 1.09894458e-02, 1.65391772e-03,
 -1.25301007e-04, 8.74268002e-04, 1.71170878e-04, 7.50711156e-05,
  6.92994696e-04,-1.67535698e-03, 0.00000000e+00,-1.55293089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003829410971078105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44960026e-14,  2.89920051e-14,  1.00000000e+00, -4.20268180e-28,
        1.00000000e+00, -2.89920051e-14, -1.00000000e+00,  0.00000000e+00,
        1.44960026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14786412, -0.04940341,  0.06180747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11003369e-05,-1.02919194e-05,-1.55590696e-05, 2.28824456e-05,
 -2.13560534e-06, 5.53900989e-05, 1.02212883e-07,-6.33360334e-05,
  1.20951114e-05,-3.00582402e-05,-4.16406919e-05, 1.14864004e-05,
 -2.79231823e-05,-5.09271062e-05,-2.68879629e-06,-4.14848164e-05,
 -1.07063952e-04,-8.66371522e-05,-4.90270408e+00, 4.62095931e-04,
  3.48955654e-03,-1.71483915e-03]


--- Step 2348 ---
qpos:
[ 0.01865251, 0.03001268,-0.00944005,-0.02530707,-0.00351009, 1.340763  ,
 -0.029974  , 0.94376725, 0.01155713, 0.02727711,-0.0083161 , 0.02644987,
  1.38254176, 0.00767306, 1.32011871, 0.04417057,-0.09478975,-0.05669861,
  0.09361526, 0.70705985, 0.0053897 ,-0.70291725,-0.07710158]

qacc:
[ 9.64450167e-01,-4.80131847e-01, 1.39101957e+00,-2.12993396e+00,
 -2.43737232e-02, 1.35762929e+00,-3.81797843e+00, 2.67556018e+00,
  1.33146487e+00, 1.19405021e+00,-5.37157109e+00, 8.69042094e+00,
 -1.28785374e-01, 9.53930214e-02, 1.64150946e-01,-7.19680425e-01,
  4.08742510e+00,-6.22923599e-01, 2.02245585e+00,-1.32438197e+01,
  1.29630532e+02,-1.73768832e+01]

qfrc_actuator:
[ 2.32207285e-05, 8.32571007e-04, 1.72980468e-04,-2.86530553e-05,
 -3.16069361e-05, 3.49723514e-02, 1.09670480e-02, 1.65242799e-03,
 -1.17575856e-04, 8.50783535e-04, 1.44775914e-04, 8.11578242e-05,
  6.99891386e-04,-1.65985425e-03, 0.00000000e+00,-1.55557320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038226444481006677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90433243e-14,  3.63041554e-15,  1.00000000e+00, -1.05439336e-28,
        1.00000000e+00, -3.63041554e-15, -1.00000000e+00,  0.00000000e+00,
        2.90433243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14787634, -0.04940695,  0.06180786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74858726e-06,-3.75539191e-05,-9.39482275e-06,-4.81642302e-06,
 -7.01823611e-06, 3.19004160e-05,-1.34133609e-05,-1.29067005e-06,
  8.07362523e-06,-4.84422464e-05,-3.73483939e-05, 3.57783480e-06,
 -1.88539490e-05,-6.42223499e-06,-8.31460509e-06,-5.82908614e-06,
 -1.19836472e-04,-2.55835061e-04,-4.90277574e+00,-1.24026379e-04,
  3.42726712e-03,-1.75988781e-03]


--- Step 2349 ---
qpos:
[ 0.0186527 , 0.03001177,-0.00943898,-0.02530681,-0.0035107 , 1.34076411,
 -0.02997294, 0.94376611, 0.01155631, 0.0272778 ,-0.00831691, 0.02645038,
  1.38262433, 0.00767204, 1.32022651, 0.04416357,-0.09477617,-0.05678983,
  0.0936438 , 0.70720398, 0.00643969,-0.70265341,-0.07809764]

qacc:
[ 9.58409316e+00,-1.91193188e-01, 1.28827744e+00,-3.21691827e+00,
 -2.53692213e-02, 3.64875538e-01,-3.56111773e+00, 1.52046085e+01,
  8.53493105e-01, 3.54696010e-03,-6.02987641e-01, 1.53665917e+00,
  1.94605086e-02, 3.97053942e-03,-8.78685806e+00, 2.98563173e+01,
  3.66376879e+00,-5.87937598e-01, 7.75099936e-01,-1.21319748e+01,
  1.16022876e+02,-1.55613895e+01]

qfrc_actuator:
[ 8.06013299e-05, 8.68659034e-04, 1.86636576e-04,-3.13373252e-05,
 -3.48077885e-05, 3.49557837e-02, 1.09890865e-02, 1.70568474e-03,
 -1.12667804e-04, 8.54245817e-04, 1.47259082e-04, 8.45384558e-05,
  6.95733335e-04,-1.65009489e-03, 0.00000000e+00,-1.41120021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003776476162285193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93983856e-14,  3.67479820e-15,  1.00000000e+00, -1.08033135e-28,
        1.00000000e+00, -3.67479820e-15, -1.00000000e+00,  0.00000000e+00,
        2.93983856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14794285, -0.04940157,  0.06181008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.75376375e-05, 1.29700394e-05, 4.57574459e-06,-4.71191570e-06,
 -7.34717492e-06,-1.59568736e-06, 2.67094746e-05, 5.37918774e-05,
  5.13119126e-06,-3.12141130e-05,-1.20041190e-05, 8.00587349e-08,
 -1.51665096e-05, 3.58520213e-06,-6.64468065e-06, 1.42525009e-04,
 -7.77532960e-05,-4.21741336e-04,-4.90266517e+00,-6.72103983e-04,
  3.37371116e-03,-1.80488303e-03]


--- Step 2350 ---
qpos:
[ 0.01865461, 0.03001119,-0.00943813,-0.02530728,-0.00351136, 1.34076517,
 -0.02997135, 0.94376594, 0.01155625, 0.027278  ,-0.00831727, 0.02645023,
  1.38270666, 0.00767097, 1.32033402, 0.04416   ,-0.09478126,-0.05687912,
  0.09366273, 0.70714099, 0.00747214,-0.70259921,-0.07905783]

qacc:
[ 1.47496133e+01,-5.04905818e-01, 5.47680519e+00,-1.80551804e+01,
 -2.06472510e-02, 1.81491126e-01,-2.67767287e+00, 1.37003283e+01,
  6.46487024e+00,-3.27355250e+00, 1.34864715e+01,-2.52014303e+01,
  1.32875143e-01,-2.46509666e-01,-1.08293895e+01, 3.72219796e+01,
 -4.66692167e+00, 4.82662705e-01,-2.40301596e+00, 1.52573936e+01,
 -1.47463613e+02, 1.14359088e+01]

qfrc_actuator:
[ 1.67540552e-04, 8.90614199e-04, 1.76632365e-04,-6.84947894e-05,
 -3.64485143e-05, 3.49632430e-02, 1.10193691e-02, 1.75522603e-03,
 -7.39503394e-05, 8.20678411e-04, 1.66876353e-04, 5.08360645e-05,
  6.74298310e-04,-1.66165911e-03, 0.00000000e+00,-1.23463456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037617864204103277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4756593e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4756593e-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([ 0.001591  , -0.06887941,  0.06181087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.86220457e-05, 2.99902823e-05,-6.92994970e-06,-3.65389886e-05,
 -5.98285992e-06, 1.34077716e-05, 3.45835760e-05, 5.15252305e-05,
  3.88587729e-05,-5.35160414e-05, 1.16930703e-05,-3.54550621e-05,
 -2.78238907e-05,-1.40395317e-05, 1.12785096e-05, 1.83338683e-04,
  3.24492530e-06,-5.83672508e-04,-4.90242741e+00,-1.18453181e-03,
  3.32802228e-03,-1.84978643e-03]


--- Step 2351 ---
qpos:
[ 0.01865652, 0.0300107 ,-0.00943736,-0.02530783,-0.00351205, 1.34076619,
 -0.02996966, 0.94376675, 0.01155665, 0.02727764,-0.00831732, 0.02644935,
  1.3827886 , 0.00767008, 1.32044167, 0.04415757,-0.09480291,-0.05696671,
  0.09366867, 0.70689446, 0.00849081,-0.70273059,-0.07998653]

qacc:
[-5.37747012e-02, 1.70951153e-01,-1.06693046e-01,-1.17085551e+00,
 -1.46283671e-02, 1.33274344e+00,-6.39349966e+00, 1.67410943e+01,
  3.98722966e+00,-3.13373286e+00, 1.31727116e+01,-2.58851029e+01,
 -3.50316356e-01, 3.86021873e-01,-3.20962143e+00, 1.16054277e+01,
 -4.14121163e+00, 4.26111879e-01,-3.24654816e+00, 1.42050950e+01,
 -1.30517335e+02, 9.40770361e+00]

qfrc_actuator:
[ 1.64648883e-04, 8.86072766e-04, 1.70422634e-04,-7.24048907e-05,
 -3.71402750e-05, 3.49495689e-02, 1.10188314e-02, 1.80218147e-03,
 -5.11473646e-05, 7.83000391e-04, 1.78521777e-04, 1.33159647e-05,
  6.53160259e-04,-1.65037973e-03, 0.00000000e+00,-1.18258473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.43605302,  1.84926641,  8.43605302,  9.88750632,
       -5.70750973,  1.84926641, -5.70750973, 34.6730961 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00376311670433694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47513765e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47513765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00159331, -0.06887103,  0.0618109 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96029757e-07, 9.27014097e-06,-2.14099280e-06,-3.58097670e-06,
 -4.22713268e-06, 2.04754927e-06, 7.52865902e-06, 4.95707355e-05,
  2.39235491e-05,-6.66977879e-05, 8.05012305e-07,-4.00998312e-05,
 -3.73330068e-05, 2.67035630e-07, 2.32317901e-05, 6.32009153e-05,
 -9.26899036e-05,-4.04111286e-04,-4.90265403e+00,-5.59284146e-04,
  3.39440363e-03,-1.86839693e-03]


--- Step 2352 ---
qpos:
[ 0.018657  , 0.03001061,-0.00943656,-0.02530778,-0.00351291, 1.34076732,
 -0.02996854, 0.94376709, 0.01155732, 0.02727718,-0.0083177 , 0.02644801,
  1.38287014, 0.00766934, 1.32054933, 0.04415648,-0.09483935,-0.05705278,
  0.09365875, 0.70648412, 0.00949871,-0.70302716,-0.08088738]

qacc:
[-1.22552507e+01, 1.74239342e+00,-7.94952164e+00, 1.80015363e+01,
 -7.05700729e-02, 8.91114101e-01,-1.79810379e+00,-3.80832714e+00,
  2.29932781e+00,-1.39917868e-01, 2.23776678e+00,-9.53550793e+00,
 -3.12861735e-01, 3.30577649e-01,-4.01794986e+00, 1.41364569e+01,
 -3.69644743e+00, 3.77768638e-01,-3.96462935e+00, 1.32835080e+01,
 -1.16262525e+02, 7.78012091e+00]

qfrc_actuator:
[ 9.11441966e-05, 9.36744480e-04, 1.84183551e-04,-3.89796772e-05,
 -5.50100787e-05, 3.49409806e-02, 1.09822706e-02, 1.77619906e-03,
 -3.79051134e-05, 7.96377031e-04, 1.67584453e-04,-8.40686386e-06,
  6.32223315e-04,-1.64336408e-03, 0.00000000e+00,-1.11556171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44560982,  1.80511817,  8.44560982,  9.92452706,
       -6.02693266,  1.80511817, -6.02693266, 36.83458499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003720766426625402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49192787e-14,  2.98385574e-14,  1.00000000e+00, -4.45169753e-28,
        1.00000000e+00, -2.98385574e-14, -1.00000000e+00,  0.00000000e+00,
        1.49192787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00169748, -0.06887667,  0.06181285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.35089927e-05, 5.52636297e-05, 1.52838557e-05, 3.36785284e-05,
 -2.03679638e-05,-4.50068141e-06,-3.38514994e-05,-2.45459112e-05,
  1.39198964e-05,-2.54482306e-05,-2.59969037e-05,-2.53317072e-05,
 -3.86310295e-05,-1.73286143e-06, 1.38343033e-05, 7.26728608e-05,
 -1.29799868e-04,-2.57584242e-04,-4.90267428e+00,-2.10249571e-05,
  3.44844437e-03,-1.88858321e-03]


--- Step 2353 ---
qpos:
[ 0.01865693, 0.03001104,-0.00943599,-0.02530698,-0.00351366, 1.34076864,
 -0.02996823, 0.94376747, 0.01155815, 0.02727679,-0.00831804, 0.02644604,
  1.38295141, 0.00766887, 1.3206567 , 0.04415889,-0.09485709,-0.05714206,
  0.09366368, 0.70627717, 0.0105417 ,-0.70310977,-0.08184175]

qacc:
[-4.65186459e+00, 2.84631553e+00,-1.22593391e+01, 2.50660259e+01,
  4.55218689e-02, 2.50927065e+00,-7.95188678e+00, 7.20506822e+00,
  1.31067889e+00,-1.34816958e+00, 7.64211732e+00,-1.88704559e+01,
 -8.04231716e-02, 1.77519474e-01,-1.10263527e+01, 3.79497894e+01,
  4.67367787e+00,-8.01988942e-01, 3.71201368e+00,-1.60359000e+01,
  1.48244941e+02,-2.40261218e+01]

qfrc_actuator:
[ 6.54590533e-05, 9.66946613e-04, 1.74361185e-04,-1.55441108e-06,
 -2.97829326e-05, 3.49530648e-02, 1.09424745e-02, 1.77849911e-03,
 -3.03907419e-05, 8.22394896e-04, 1.79126428e-04,-3.83848565e-05,
  6.32724592e-04,-1.62120396e-03, 0.00000000e+00,-9.33695708e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003732273525356586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97465611e-14,  3.71832014e-15,  1.00000000e+00,  1.10607237e-28,
        1.00000000e+00, -3.71832014e-15, -1.00000000e+00,  0.00000000e+00,
       -2.97465611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14801074, -0.04940985,  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:
[-2.78103709e-05, 6.56702712e-05, 4.63315453e-06, 4.09772539e-05,
  1.31905844e-05, 2.22570007e-06,-4.52506463e-05, 6.06583453e-07,
  7.91316652e-06, 5.36230986e-06, 2.21959756e-06,-3.24566725e-05,
 -1.84189564e-05, 1.25526788e-05, 1.10999310e-05, 1.86953793e-04,
 -1.25691779e-04,-1.36659411e-04,-4.90254957e+00, 4.47693760e-04,
  3.49194755e-03,-1.91001217e-03]


--- Step 2354 ---
qpos:
[ 0.01865622, 0.03001178,-0.00943542,-0.02530608,-0.00351423, 1.34077011,
 -0.02996876, 0.94376892, 0.01155906, 0.02727643,-0.00831804, 0.02644473,
  1.38303234, 0.00766892, 1.32076424, 0.04416213,-0.09485822,-0.05723432,
  0.09367745, 0.70625066, 0.01161588,-0.70300209,-0.082844  ]

qacc:
[-5.60595988e+00, 6.36908519e-01,-2.14246000e+00, 3.81686037e+00,
  8.00354489e-02, 4.27849345e+00,-1.59349200e+01, 2.61183320e+01,
  7.25678396e-01, 4.67187184e-01,-4.47879665e+00, 1.56180587e+01,
 -5.36823655e-01, 8.05713936e-01,-2.16021485e+00, 8.07872131e+00,
  4.15517805e+00,-7.43978454e-01, 2.20948796e+00,-1.45614479e+01,
  1.31653878e+02,-2.14957830e+01]

qfrc_actuator:
[ 3.26441813e-05, 9.66826888e-04, 1.68369705e-04, 2.38299635e-06,
 -1.44107648e-05, 3.49596675e-02, 1.09012075e-02, 1.83296266e-03,
 -2.63044361e-05, 8.38121798e-04, 2.03916811e-04,-1.93697149e-06,
  6.19462040e-04,-1.59012805e-03, 0.00000000e+00,-8.98652965e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037362008805771688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.42882316e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.42882316e-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([-0.14800659, -0.04941489,  0.06181212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36063345e-05, 3.92799972e-05, 9.54759884e-06, 7.70445259e-06,
  2.31673612e-05,-1.00790721e-06,-4.59646913e-05, 5.32201968e-05,
  4.31921327e-06, 1.78209887e-05, 2.50618748e-05, 3.61286922e-05,
 -1.87118756e-05, 3.03898606e-05, 2.35100017e-05, 4.63428881e-05,
 -1.34864349e-04,-3.20375270e-04,-4.90259432e+00,-1.68142391e-04,
  3.42149980e-03,-1.95691535e-03]


--- Step 2355 ---
qpos:
[ 0.01865512, 0.03001265,-0.00943451,-0.02530582,-0.00351489, 1.34077112,
 -0.02996923, 0.94376963, 0.01156001, 0.02727632,-0.00831785, 0.0264442 ,
  1.38311306, 0.00766912, 1.32087197, 0.04416512,-0.09484446,-0.05732936,
  0.09369496, 0.7063852 , 0.01271788,-0.70272382,-0.08388944]

qacc:
[-3.32261565e+00,-2.09214174e+00, 1.04841037e+01,-2.24117621e+01,
 -4.31206603e-02,-2.04091941e+00, 7.44997725e+00,-1.46997876e+01,
  3.58807847e-01, 1.40685187e+00,-7.78013913e+00, 2.06478309e+01,
 -2.98216482e-01, 3.65451915e-01, 1.03119846e+00,-3.15808090e+00,
  3.72102140e+00,-6.94811421e-01, 9.36795306e-01,-1.33536263e+01,
  1.17751211e+02,-1.93529872e+01]

qfrc_actuator:
[ 1.36326532e-05, 9.66281138e-04, 1.82298532e-04,-3.11892878e-05,
 -4.05816354e-05, 3.49097025e-02, 1.08949185e-02, 1.79341083e-03,
 -2.42666106e-05, 8.65443698e-04, 2.18586271e-04, 3.77997036e-05,
  6.03283726e-04,-1.58956090e-03, 0.00000000e+00,-9.14919166e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003699371648977247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00111243e-14,  3.75139054e-15,  1.00000000e+00, -1.12583448e-28,
        1.00000000e+00, -3.75139054e-15, -1.00000000e+00,  0.00000000e+00,
        3.00111243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14805875, -0.04941036,  0.06181386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99808635e-05, 2.36761945e-05, 2.34686815e-05,-3.14135782e-05,
 -1.24801437e-05,-5.79208464e-05,-1.01552606e-05,-3.96930097e-05,
  2.16660207e-06, 4.40332332e-05, 2.26955446e-05, 4.20743843e-05,
 -1.78794463e-05, 5.38486619e-06, 1.20471576e-05,-1.15532975e-05,
 -8.70371662e-05,-5.03357711e-04,-4.90245191e+00,-7.49465316e-04,
  3.35947701e-03,-2.00403490e-03]


--- Step 2356 ---
qpos:
[ 0.01865414, 0.03001321,-0.00943351,-0.02530555,-0.00351574, 1.3407716 ,
 -0.02996937, 0.94376848, 0.01156063, 0.02727623,-0.00831732, 0.02644348,
  1.38319391, 0.00766882, 1.32097947, 0.04416991,-0.09484978,-0.0574227 ,
  0.09370339, 0.7063082 , 0.0138063 ,-0.70265907,-0.08490199]

qacc:
[ 1.08372457e+00,-6.55176488e-01, 1.65798427e+00,-1.28759702e+00,
 -7.86127578e-02,-4.75048683e+00, 1.85029160e+01,-3.73739574e+01,
 -2.78492156e+00,-1.31383361e+00, 5.53967116e+00,-9.40988496e+00,
  5.63148371e-01,-8.87946118e-01,-5.84480519e+00, 1.98305740e+01,
 -4.77077249e+00, 4.24451859e-01,-2.27116920e+00, 1.70586738e+01,
 -1.50097586e+02, 8.87912648e+00]

qfrc_actuator:
[ 2.06522276e-05, 9.12263347e-04, 1.72338686e-04,-3.32904336e-05,
 -5.59572843e-05, 3.48795920e-02, 1.09090412e-02, 1.69882483e-03,
 -4.12020462e-05, 8.46219895e-04, 2.27200731e-04, 2.58856288e-05,
  6.06659611e-04,-1.62490292e-03, 0.00000000e+00,-8.19212131e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003702060510742837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49946634e-14,  1.49946634e-14,  1.00000000e+00, -2.24839930e-28,
        1.00000000e+00, -1.49946634e-14, -1.00000000e+00,  0.00000000e+00,
        1.49946634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00175241, -0.06884667,  0.06181381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44223631e-06,-3.73224798e-05,-3.28579985e-06,-8.90722411e-07,
 -2.27527109e-05,-6.53369495e-05, 4.73055517e-07,-9.75432138e-05,
 -1.68595547e-05, 1.18977121e-05, 2.19625307e-05,-8.42184582e-06,
 -4.09244069e-06,-3.78411530e-05, 8.52894686e-07, 9.58317763e-05,
  1.21163423e-06,-6.84031788e-04,-4.90217957e+00,-1.29727062e-03,
  3.30514842e-03,-2.05128424e-03]


--- Step 2357 ---
qpos:
[ 0.01865257, 0.0300134 ,-0.00943287,-0.02530457,-0.00351663, 1.34077209,
 -0.02997015, 0.9437662 , 0.01156139, 0.02727624,-0.0083167 , 0.02644298,
  1.38327466, 0.00766839, 1.3210872 , 0.0441738 ,-0.09487201,-0.05751454,
  0.09369929, 0.70604386, 0.01488469,-0.70278314,-0.08588579]

qacc:
[-5.13360135e+00, 1.99477450e+00,-1.07686387e+01, 2.37721863e+01,
 -1.55327042e-02,-1.79710446e-01, 2.91233278e+00,-1.55510224e+01,
  1.16852392e+00, 3.24407437e-01,-1.88163358e+00, 5.41195456e+00,
 -8.23137036e-02,-2.16399430e-02, 3.08668332e+00,-1.03026347e+01,
 -4.22856369e+00, 3.75215072e-01,-3.13392026e+00, 1.58706737e+01,
 -1.32731308e+02, 7.02342505e+00]

qfrc_actuator:
[-1.03256663e-05, 8.79818279e-04, 1.48149762e-04, 8.35425270e-07,
 -4.69783065e-05, 3.48971543e-02, 1.08818738e-02, 1.64365467e-03,
 -3.36637005e-05, 8.52460085e-04, 2.31952565e-04, 3.68925684e-05,
  6.00442005e-04,-1.62793465e-03, 0.00000000e+00,-8.71304308e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51025293,  1.47050054,  8.51025293,  9.32805593,
       -4.00304264,  1.47050054, -4.00304264, 31.80324075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037125979826796857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4952104e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4952104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00172998, -0.06883399,  0.06181336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08058660e-05,-5.40593619e-05,-3.23509039e-05, 3.23927174e-05,
 -4.46878610e-06,-2.14262269e-05,-4.27571916e-05,-5.93826550e-05,
  7.04834663e-06, 1.70639017e-05, 9.62095424e-06, 1.21142684e-05,
 -1.68273239e-05,-1.56674930e-05, 9.36202384e-06,-4.70610233e-05,
 -1.05816819e-04,-4.93622387e-04,-4.90239637e+00,-6.29357378e-04,
  3.38268529e-03,-2.07069156e-03]


--- Step 2358 ---
qpos:
[ 0.01865132, 0.03001359,-0.00943244,-0.02530291,-0.00351734, 1.3407727 ,
 -0.02997109, 0.94376325, 0.01156224, 0.02727689,-0.00831656, 0.02644292,
  1.38335513, 0.00766816, 1.32119505, 0.04417637,-0.09490933,-0.05760505,
  0.09367971, 0.70561241, 0.01595589,-0.70307512,-0.08684422]

qacc:
[ 2.82459823e+00, 1.99154739e+00,-1.00038936e+01, 2.22286049e+01,
  7.22254011e-02,-5.94085022e-01, 3.50650613e+00,-1.09801392e+01,
  6.91958108e-01, 3.10003824e+00,-1.17619316e+01, 1.98982943e+01,
 -4.61011719e-01, 5.59364002e-01, 4.18450412e+00,-1.42652638e+01,
 -3.76963281e+00, 3.32810421e-01,-3.86886962e+00, 1.48291506e+01,
 -1.18119721e+02, 5.55540809e+00]

qfrc_actuator:
[ 7.58148086e-06, 9.13756380e-04, 1.51353424e-04, 3.82510286e-05,
 -2.34616627e-05, 3.49252398e-02, 1.08840221e-02, 1.61213621e-03,
 -2.95268887e-05, 9.09396576e-04, 2.16749432e-04, 6.13214826e-05,
  5.88484185e-04,-1.61174264e-03, 0.00000000e+00,-9.39073784e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52163742,  1.40302263,  8.52163742,  9.31808855,
       -4.14064065,  1.40302263, -4.14064065, 33.78566463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003677984034571105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50928201e-14, -1.50928201e-14,  1.00000000e+00,  2.27793217e-28,
        1.00000000e+00,  1.50928201e-14, -1.00000000e+00,  0.00000000e+00,
        1.50928201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00181333, -0.06883545,  0.06181491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69891725e-05,-1.60813134e-06,-1.08340361e-05, 3.46101728e-05,
  2.08753279e-05, 6.07807683e-06,-8.65317209e-06,-3.47967148e-05,
  4.34886139e-06, 6.89834995e-05,-1.00799346e-05, 2.57283987e-05,
 -2.39475175e-05, 7.55617189e-06,-4.19413294e-06,-6.99475983e-05,
 -1.51879936e-04,-3.38661373e-04,-4.90240099e+00,-5.01957806e-05,
  3.44723557e-03,-2.09182500e-03]


--- Step 2359 ---
qpos:
[ 0.01865133, 0.03001416,-0.00943244,-0.02530119,-0.0035177 , 1.34077329,
 -0.02997147, 0.94376094, 0.01156312, 0.02727786,-0.00831682, 0.02644354,
  1.38343545, 0.00766788, 1.32130274, 0.04417912,-0.09492772,-0.05769934,
  0.0936757 , 0.70538596, 0.01706893,-0.70314964,-0.08786291]

qacc:
[ 1.07723427e+01, 1.83095723e+00,-6.06027135e+00, 7.47829343e+00,
  1.53668557e-01,-4.02487572e-01,-4.62691309e-02, 7.62285148e+00,
  3.53181504e-01, 2.92727440e+00,-1.26220038e+01, 2.46010605e+01,
 -6.34230950e-02,-9.81322322e-03,-7.41496140e-01, 2.25402341e+00,
  4.72993849e+00,-9.47196449e-01, 3.89417871e+00,-1.75029841e+01,
  1.50127785e+02,-2.87979544e+01]

qfrc_actuator:
[ 7.18836988e-05, 9.51796004e-04, 1.35474778e-04, 4.18699364e-05,
  8.58487934e-06, 3.49417844e-02, 1.09212857e-02, 1.64807173e-03,
 -2.74329170e-05, 9.07420130e-04, 1.90106786e-04, 9.34809489e-05,
  5.78427347e-04,-1.61981803e-03, 0.00000000e+00,-9.26723932e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003688271081160051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14807547, -0.04942243,  0.06181435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47943393e-05, 3.63788890e-05,-1.63580442e-05, 3.84364146e-06,
  4.43832791e-05, 1.71619864e-05, 3.64436004e-05, 3.50530564e-05,
  2.24687629e-06, 3.55994674e-05,-1.27527444e-05, 3.52659913e-05,
 -2.04434313e-05,-1.10956021e-05,-1.26726364e-05, 7.24130429e-06,
 -1.55310938e-04,-2.11089015e-04,-4.90225719e+00, 4.57596758e-04,
  3.50068710e-03,-2.11434447e-03]


--- Step 2360 ---
qpos:
[ 0.01865212, 0.03001494,-0.00943314,-0.02529975,-0.00351768, 1.34077396,
 -0.029972  , 0.94375947, 0.01156506, 0.02727831,-0.00831671, 0.0264446 ,
  1.38351567, 0.00766749, 1.32141076, 0.04417862,-0.09492931,-0.05779712,
  0.09368115, 0.70534114, 0.01821926,-0.70303084,-0.08893573]

qacc:
[ 6.59175373e+00, 1.63253600e+00,-4.28033893e+00, 4.96143448e-01,
  1.57013023e-01, 1.90786863e+00,-7.79027578e+00, 1.62463810e+01,
  9.00898713e+00,-8.44432867e-01, 1.00986750e-01, 7.35643760e+00,
 -2.89372508e-01, 2.26840193e-01, 1.03286157e+01,-3.53661685e+01,
  4.20135255e+00,-8.71378176e-01, 2.36337894e+00,-1.59187470e+01,
  1.33212276e+02,-2.58757961e+01]

qfrc_actuator:
[ 1.09705150e-04, 9.38654587e-04, 9.07094893e-05, 2.55677961e-05,
  2.77361054e-05, 3.49337276e-02, 1.09079556e-02, 1.68791424e-03,
  2.67002311e-05, 8.34631001e-04, 1.92213075e-04, 1.12127651e-04,
  5.74835958e-04,-1.62451265e-03, 0.00000000e+00,-1.09803848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003699214712187704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00123975e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00123975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14806043, -0.04942829,  0.06181383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97205253e-05, 3.98539575e-06,-3.91465855e-05,-1.52434903e-05,
  4.53801819e-05, 9.61440781e-06,-4.80102850e-06, 4.22367805e-05,
  5.42133608e-05,-5.40348207e-05, 9.10035227e-06, 2.04144551e-05,
 -1.64865408e-05,-1.26756205e-05,-6.93269672e-06,-1.72979730e-04,
 -1.59532431e-04,-4.17090452e-04,-4.90226699e+00,-2.04227093e-04,
  3.41936369e-03,-2.16435705e-03]


--- Step 2361 ---
qpos:
[ 0.01865232, 0.03001575,-0.0094343 ,-0.02529885,-0.00351735, 1.3407748 ,
 -0.0299727 , 0.94375847, 0.01156764, 0.02727811,-0.00831612, 0.02644519,
  1.38359583, 0.007667  , 1.32151873, 0.04417606,-0.09491587,-0.05789814,
  0.09369087, 0.70545822, 0.01940298,-0.70273883,-0.09005753]

qacc:
[-5.04248085e+00, 1.95255727e-01, 1.65060254e+00,-1.03469215e+01,
  1.31734803e-01, 1.52390564e+00,-5.69912585e+00, 1.04412501e+01,
  5.43892371e+00,-3.15414499e+00, 1.19704725e+01,-2.03313321e+01,
 -1.47157333e-01, 9.04651054e-02, 6.15879045e+00,-2.15949365e+01,
  3.75847007e+00,-8.07529587e-01, 1.06595136e+00,-1.46182488e+01,
  1.19033413e+02,-2.33857948e+01]

qfrc_actuator:
[ 7.83637720e-05, 9.30330927e-04, 6.45460187e-05,-2.37838947e-06,
  3.89967475e-05, 3.49463298e-02, 1.09002571e-02, 1.71191799e-03,
  5.77721101e-05, 7.91098393e-04, 2.10962916e-04, 8.71229737e-05,
  5.75124227e-04,-1.62710996e-03, 0.00000000e+00,-1.19867915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036682450407068343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53986721e-14, -3.02657814e-14,  1.00000000e+00,  1.37402628e-27,
        1.00000000e+00,  3.02657814e-14, -1.00000000e+00,  0.00000000e+00,
        4.53986721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14810338, -0.04942394,  0.06181526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01824116e-05,-1.48447784e-05,-3.06956494e-05,-2.94319855e-05,
  3.80785132e-05, 1.82467003e-05,-5.12773198e-06, 2.51291782e-05,
  3.26412331e-05,-7.09893593e-05, 9.40631810e-06,-2.66135926e-05,
 -1.15263379e-05,-9.93246926e-06,-2.54790183e-05,-1.11862508e-04,
 -1.04815934e-04,-6.24673534e-04,-4.90208615e+00,-8.33604964e-04,
  3.34611719e-03,-2.21483048e-03]


--- Step 2362 ---
qpos:
[ 0.01865179, 0.03001624,-0.00943537,-0.02529829,-0.00351693, 1.34077538,
 -0.02997252, 0.94375913, 0.01156919, 0.027278  ,-0.0083156 , 0.02644542,
  1.3836757 , 0.007667  , 1.32162641, 0.04417363,-0.09492181,-0.05799774,
  0.0936919 , 0.70536011, 0.02057707,-0.70266309,-0.09114978]

qacc:
[-6.18244372e+00,-1.32615676e+00, 5.58130572e+00,-1.13418730e+01,
  3.88393721e-02, 9.59703167e-02,-4.14682416e+00, 2.30146411e+01,
 -8.76316027e+00,-3.85779263e-01, 3.09405165e+00,-9.29301871e+00,
 -4.99342946e-01, 7.53475878e-01,-7.54707084e-01, 2.11181723e+00,
 -4.84791627e+00, 3.52086217e-01,-2.16920047e+00, 1.88091566e+01,
 -1.52039594e+02, 6.21180372e+00]

qfrc_actuator:
[ 4.20786791e-05, 9.07249725e-04, 6.73374813e-05,-1.91802547e-05,
  2.76816504e-05, 3.49357017e-02, 1.09492839e-02, 1.79743936e-03,
  3.99426273e-06, 8.36453236e-04, 2.21690824e-04, 7.21645252e-05,
  5.67088548e-04,-1.59291540e-03, 0.00000000e+00,-1.18580233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003685505596326015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50620179e-14,  1.50620179e-14,  1.00000000e+00, -2.26864383e-28,
        1.00000000e+00, -1.50620179e-14, -1.00000000e+00,  0.00000000e+00,
        1.50620179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00179694, -0.06879065,  0.06181451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71688317e-05,-3.90107521e-05,-5.07012661e-06,-1.90725805e-05,
  1.11881738e-05,-7.86920349e-07, 5.27480185e-05, 8.65007134e-05,
 -5.28458404e-05, 6.47806052e-06,-3.70285160e-06,-1.81961597e-05,
 -1.69227381e-05, 2.89079718e-05,-2.58401927e-05, 2.99578740e-06,
 -8.32128072e-06,-8.31365542e-04,-4.90177389e+00,-1.43029968e-03,
  3.28036455e-03,-2.26563300e-03]


--- Step 2363 ---
qpos:
[ 0.01865118, 0.03001678,-0.00943654,-0.02529831,-0.00351622, 1.34077591,
 -0.02997204, 0.94376048, 0.01157042, 0.02727843,-0.00831525, 0.02644576,
  1.38375524, 0.00766743, 1.32173413, 0.04416965,-0.09494493,-0.0580961 ,
  0.09368074, 0.70507151, 0.02174497,-0.70277839,-0.09221635]

qacc:
[-7.49200929e-01,-8.74532206e-01, 5.64810344e+00,-1.55974231e+01,
  1.21523307e-01, 3.04639916e-01,-2.47200770e+00, 1.01177981e+01,
 -2.67957743e+00, 1.38674534e+00,-4.37287148e+00, 6.13495278e+00,
 -6.49574767e-01, 8.93504575e-01, 4.81666675e+00,-1.65789102e+01,
 -4.29207403e+00, 3.11989705e-01,-3.04878577e+00, 1.75099580e+01,
 -1.34315747e+02, 4.51788651e+00]

qfrc_actuator:
[ 3.87024816e-05, 9.28891086e-04, 6.93898922e-05,-4.70369684e-05,
  5.61743708e-05, 3.49292542e-02, 1.09603420e-02, 1.82973847e-03,
 -1.05237218e-05, 8.99161648e-04, 2.27970728e-04, 8.10657893e-05,
  5.48756567e-04,-1.57268078e-03, 0.00000000e+00,-1.26593739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.5631198 ,  1.12238856,  8.5631198 ,  8.978386  ,
       -2.60941586,  1.12238856, -2.60941586, 28.54456788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003701308802286772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49977087e-14, -1.49977087e-14,  1.00000000e+00,  2.24931266e-28,
        1.00000000e+00,  1.49977087e-14, -1.00000000e+00,  0.00000000e+00,
        1.49977087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00176007, -0.06877472,  0.06181378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47245236e-06,-2.05477648e-06,-7.28142789e-06,-3.00720892e-05,
  3.51040342e-05, 6.03285655e-06, 1.94437461e-05, 3.58298365e-05,
 -1.60622137e-05, 6.47702335e-05, 6.53084454e-06, 8.69771328e-06,
 -2.04913551e-05, 2.54602858e-05,-1.30111519e-05,-8.35963863e-05,
 -1.28012605e-04,-6.27244409e-04,-4.90197609e+00,-7.03629931e-04,
  3.37172414e-03,-2.28639937e-03]


--- Step 2364 ---
qpos:
[ 0.01865053, 0.03001811,-0.00943835,-0.02529872,-0.00351491, 1.34077649,
 -0.02997171, 0.94376222, 0.01157217, 0.02727876,-0.00831428, 0.02644589,
  1.38383472, 0.00766745, 1.32184139, 0.04416774,-0.09498333,-0.05819334,
  0.09365439, 0.7046131 , 0.02290937,-0.70306334,-0.09326033]

qacc:
[  -0.34795589,   2.02513693,  -4.0335181 ,  -2.35189347,   0.25223053,
    1.15304393,  -4.48622482,   8.41383369,   4.33638066,  -2.32068336,
    8.95999545, -13.55380218,   0.39054815,  -0.70084085,  -6.97877901,
   23.31344199,  -3.82148198,   0.27704438,  -3.79842219,  16.36773183,
 -119.40081406,   3.204037  ]

qfrc_actuator:
[ 3.69729706e-05, 1.01264967e-03, 5.33958769e-05,-6.33933087e-05,
  1.08319523e-04, 3.49251996e-02, 1.09488511e-02, 1.84816759e-03,
  1.59635021e-05, 8.65282751e-04, 2.49446058e-04, 6.84511701e-05,
  5.29585115e-04,-1.61423821e-03, 0.00000000e+00,-1.15172711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.57287552,  1.04526658,  8.57287552,  8.9582136 ,
       -2.63968993,  1.04526658, -2.63968993, 30.28608793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003670834793029279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51222145e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51222145e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00183194, -0.06877291,  0.06181512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85950012e-06, 7.98129220e-05,-1.83473344e-05,-1.72800732e-05,
  7.28901502e-05, 4.16220052e-06,-7.04656099e-06, 2.00145240e-05,
  2.60405701e-05, 4.04075874e-06, 3.59519465e-05,-9.44529928e-06,
 -2.39221931e-05,-3.82012796e-05,-1.78941197e-05, 1.07316068e-04,
 -1.85291823e-04,-4.61707529e-04,-4.90196192e+00,-6.91826066e-05,
  3.44949790e-03,-2.30908565e-03]


--- Step 2365 ---
qpos:
[ 0.01864987, 0.03001959,-0.0094396 ,-0.02529933,-0.00351344, 1.34077711,
 -0.02997092, 0.9437638 , 0.01157352, 0.02727899,-0.00831327, 0.0264459 ,
  1.38391411, 0.00766681, 1.3219484 , 0.04416818,-0.0950027 ,-0.05829499,
  0.09364411, 0.70436002, 0.02412283,-0.70312804,-0.09437167]

qacc:
[-1.17801233e-01,-1.78611096e+00, 7.49000458e+00,-1.18912263e+01,
  7.00526528e-02,-1.46897053e+00, 5.20056851e+00,-6.49133369e+00,
 -3.28635684e+00,-4.50094260e-01, 1.92033763e+00,-3.87913287e+00,
  5.27816342e-01,-1.00446372e+00,-7.54460133e+00, 2.56920009e+01,
  4.75825312e+00,-1.10034682e+00, 4.01908890e+00,-1.90109805e+01,
  1.51295326e+02,-3.39213134e+01]

qfrc_actuator:
[ 3.62160480e-05, 1.00863856e-03, 8.04123395e-05,-7.28046658e-05,
  8.54689806e-05, 3.49402544e-02, 1.09774216e-02, 1.84054039e-03,
 -4.64959345e-06, 8.44888997e-04, 2.43817590e-04, 6.09595169e-05,
  5.15224827e-04,-1.65668160e-03, 0.00000000e+00,-1.03041840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003676654981668012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50982759e-14,  1.50982759e-14,  1.00000000e+00, -2.27957935e-28,
        1.00000000e+00, -1.50982759e-14, -1.00000000e+00,  0.00000000e+00,
        1.50982759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14808902, -0.04943705,  0.06181472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84099044e-07, 3.60655636e-05, 4.06502420e-05,-6.96328337e-06,
  2.02244241e-05, 1.65811492e-05, 2.91711145e-05,-7.24129326e-06,
 -1.98480800e-05,-1.11212713e-05,-7.07101194e-07,-6.26226221e-06,
 -3.49836435e-05,-5.96695502e-05, 2.77096905e-06, 1.24782124e-04,
 -1.99039244e-04,-3.25901363e-04,-4.90179713e+00, 4.90614286e-04,
  3.51563570e-03,-2.33333879e-03]


--- Step 2366 ---
qpos:
[ 0.01864955, 0.03002058,-0.00943958,-0.02530036,-0.00351214, 1.34077775,
 -0.02996916, 0.9437642 , 0.01157531, 0.02727938,-0.008313  , 0.0264462 ,
  1.38399348, 0.00766577, 1.32205563, 0.04416805,-0.09500518,-0.05840067,
  0.0936437 , 0.7042886 , 0.02538015,-0.70299703,-0.0955437 ]

qacc:
[ 2.97360629e+00,-5.02450400e+00, 1.87068391e+01,-2.75336875e+01,
 -6.97564582e-02,-4.60867284e+00, 1.74579958e+01,-2.86733626e+01,
  3.66137226e+00, 2.83347608e+00,-1.10019936e+01, 1.69128953e+01,
  1.75173883e-01,-4.31845959e-01, 2.02363573e+00,-6.65303239e+00,
  4.22284263e+00,-1.00606687e+00, 2.46549568e+00,-1.73234081e+01,
  1.34127744e+02,-3.05832809e+01]

qfrc_actuator:
[ 5.37887447e-05, 9.52286174e-04, 1.32282685e-04,-9.58428120e-05,
  5.33186243e-05, 3.49490155e-02, 1.10294809e-02, 1.78217827e-03,
  1.81762423e-05, 8.50365582e-04, 2.04508551e-04, 7.42789478e-05,
  5.30384709e-04,-1.66374160e-03, 0.00000000e+00,-1.06573227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003691454787736574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14806772, -0.04944307,  0.06181399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75577636e-05,-2.81235120e-05, 6.40839025e-05,-2.02222318e-05,
 -2.01980663e-05, 2.34202099e-05, 5.84107786e-05,-5.71720712e-05,
  2.22427645e-05,-1.17986553e-06,-4.19224638e-05, 1.26947815e-05,
 -1.54016982e-05,-3.36164017e-05, 1.31841977e-05,-2.84561619e-05,
 -1.96342199e-04,-5.63661743e-04,-4.90175958e+00,-2.33666927e-04,
  3.41996586e-03,-2.38775226e-03]


--- Step 2367 ---
qpos:
[ 0.01864979, 0.03002118,-0.00943864,-0.02530095,-0.00351095, 1.34077831,
 -0.02996728, 0.94376431, 0.01157736, 0.02727957,-0.00831338, 0.02644703,
  1.3840728 , 0.00766498, 1.32216291, 0.04416752,-0.09499256,-0.05851005,
  0.09364788, 0.70437882, 0.02667679,-0.70269071,-0.09677081]

qacc:
[ 4.82132833e+00,-2.24921526e+00, 5.41790974e+00, 8.85975341e-01,
 -4.80632336e-02,-9.16809825e-01, 3.49345159e+00,-6.49794644e+00,
  2.20261107e+00, 2.67821246e+00,-1.22171464e+01, 2.27881454e+01,
 -2.34857227e-01, 3.86077643e-01, 1.31746846e+00,-4.44208317e+00,
  3.77401913e+00,-9.26994832e-01, 1.14816651e+00,-1.59354720e+01,
  1.19733859e+02,-2.77229885e+01]

qfrc_actuator:
[ 8.20087894e-05, 9.36128611e-04, 1.80399956e-04,-7.34996599e-05,
  5.13581649e-05, 3.49185030e-02, 1.10239195e-02, 1.76544987e-03,
  3.08972021e-05, 8.17900948e-04, 1.63505590e-04, 9.97383522e-05,
  5.47274829e-04,-1.63182214e-03, 0.00000000e+00,-1.08652785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00366348810199444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03050807e-14, -1.51525403e-14,  1.00000000e+00,  4.59198957e-28,
        1.00000000e+00,  1.51525403e-14, -1.00000000e+00,  0.00000000e+00,
        3.03050807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14810565, -0.04943823,  0.06181526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87171716e-05,-1.95408184e-05, 4.94920005e-05, 2.29618072e-05,
 -1.38957394e-05,-7.85529369e-06, 3.98852531e-06,-1.56330197e-05,
  1.33746653e-05,-4.12444600e-05,-4.59784207e-05, 2.42026547e-05,
  1.57352179e-06, 1.80501467e-05,-2.79054296e-07,-2.14181142e-05,
 -1.33152112e-04,-8.05075660e-04,-4.90153027e+00,-9.26125197e-04,
  3.33197579e-03,-2.44284784e-03]


--- Step 2368 ---
qpos:
[ 0.01865036, 0.03002131,-0.00943729,-0.02530123,-0.00350998, 1.34077913,
 -0.0299662 , 0.94376492, 0.01157851, 0.02727928,-0.00831416, 0.02644853,
  1.38415185, 0.0076646 , 1.32227021, 0.0441664 ,-0.09499952,-0.05861837,
  0.09364363, 0.70425111, 0.02796802,-0.70260202,-0.09797223]

qacc:
[ 2.90978466e+00,-1.09099518e+00, 1.65345132e+00, 3.54759269e+00,
 -9.54863619e-02, 3.35820979e+00,-1.15849826e+01, 1.57708806e+01,
 -7.66027622e+00, 1.84717571e+00,-1.02720431e+01, 2.26937205e+01,
 -5.13028668e-01, 7.42708852e-01, 1.84921141e+00,-6.29312797e+00,
 -4.89603937e+00, 2.65967137e-01,-2.10689764e+00, 2.05562082e+01,
 -1.53139726e+02, 3.30925077e+00]

qfrc_actuator:
[ 9.85115007e-05, 8.90929347e-04, 1.90579740e-04,-6.01158852e-05,
  3.20209012e-05, 3.49355223e-02, 1.09842615e-02, 1.79105821e-03,
 -1.57035020e-05, 7.80709760e-04, 1.39448115e-04, 1.32107326e-04,
  5.27928218e-04,-1.61249823e-03, 0.00000000e+00,-1.11630262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036907307564109856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82013009e-14, -3.00813876e-14,  1.00000000e+00,  8.48334263e-28,
        1.00000000e+00,  3.00813876e-14, -1.00000000e+00,  0.00000000e+00,
        2.82013009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00178017, -0.06871672,  0.06181402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73270152e-05,-4.49433785e-05, 1.30157880e-05, 1.47032495e-05,
 -2.75492610e-05, 1.29780276e-05,-4.12017154e-05, 2.51303209e-05,
 -4.62221633e-05,-6.87088697e-05,-3.74009314e-05, 2.94800184e-05,
 -1.46561218e-05, 2.53536630e-05,-5.04940882e-06,-3.15827888e-05,
 -2.70692181e-05,-1.04677333e-03,-4.90116990e+00,-1.58546115e-03,
  3.25124370e-03,-2.49845153e-03]


--- Step 2369 ---
qpos:
[ 0.01865113, 0.0300214 ,-0.00943677,-0.02530165,-0.00350939, 1.34078038,
 -0.02996544, 0.94376579, 0.0115791 , 0.02727824,-0.00831451, 0.02645004,
  1.38423062, 0.00766454, 1.32237776, 0.04416258,-0.09502381,-0.05872574,
  0.09362739, 0.70393054, 0.02925717,-0.70270535,-0.09915146]

qacc:
[   1.63509474,   1.9613165 ,  -6.42995707,   5.17765694,  -0.15889834,
    1.8573207 ,  -5.92786283,   7.91718334,  -4.81924599,  -2.14088277,
    6.14812593,  -6.08424924,  -0.64619377,   0.82219674,   8.60119133,
  -29.40289478,  -4.33029237,   0.23675744,  -2.99867805,  19.16534284,
 -135.15818176,   1.78579872]

qfrc_actuator:
[ 1.07981715e-04, 8.81787719e-04, 1.42647694e-04,-6.99185179e-05,
  2.41473576e-06, 3.49807528e-02, 1.09782655e-02, 1.80587419e-03,
 -4.35864540e-05, 7.41042105e-04, 1.61064072e-04, 1.32779007e-04,
  5.08162938e-04,-1.60100374e-03, 0.00000000e+00,-1.25764014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59738245,  0.81962908,  8.59738245,  8.78769057,
       -1.58732227,  0.81962908, -1.58732227, 25.28635436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003708644341854417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87100548e-15, -1.49680439e-14,  1.00000000e+00,  2.80052922e-29,
        1.00000000e+00,  1.49680439e-14, -1.00000000e+00,  0.00000000e+00,
        1.87100548e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00173699, -0.06869826,  0.06181318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.95656437e-06,-3.09714222e-05,-5.51205911e-05,-1.09937418e-05,
 -4.58861366e-05, 4.50985571e-05,-7.41023623e-06, 1.45839522e-05,
 -2.92616737e-05,-8.45489358e-05, 3.84857576e-06,-2.99197767e-06,
 -2.13958679e-05, 1.60539617e-05,-8.50578606e-06,-1.44338732e-04,
 -1.61907739e-04,-8.27210394e-04,-4.90134983e+00,-7.83508447e-04,
  3.36006526e-03,-2.52118386e-03]


--- Step 2370 ---
qpos:
[ 0.01865097, 0.03002204,-0.00943747,-0.02530155,-0.00350917, 1.34078161,
 -0.02996402, 0.94376648, 0.01157934, 0.02727637,-0.00831427, 0.02645154,
  1.38430908, 0.00766512, 1.32248501, 0.04415911,-0.0950635 ,-0.05883226,
  0.09359611, 0.70343807, 0.03054677,-0.70297896,-0.10031128]

qacc:
[  -7.99804723,   5.22667713, -19.7869435 ,  30.43343477,  -0.15526545,
   -2.1236445 ,   7.28101908,  -8.46908631,  -2.86522276,  -2.77578841,
    8.36531083,  -8.87216541,  -0.58973803,   0.94925999,  -1.40444557,
    4.4213967 ,  -3.85125191,   0.21073072,  -3.75891475,  17.93798136,
 -120.0247769 ,   0.63631269]

qfrc_actuator:
[ 5.99831118e-05, 9.47296967e-04, 9.64271500e-05,-4.00334773e-05,
 -1.53599512e-05, 3.49716334e-02, 1.10100582e-02, 1.79650436e-03,
 -6.02093884e-05, 7.00361375e-04, 1.91677142e-04, 1.32571556e-04,
  5.04134935e-04,-1.55876716e-03, 0.00000000e+00,-1.23277958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60452847,  0.74085536,  8.60452847,  8.77079525,
       -1.56133134,  0.74085536, -1.56133134, 26.77015974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036795684585457233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07436915e-14, -3.01726422e-14,  1.00000000e+00,  6.25891981e-28,
        1.00000000e+00,  3.01726422e-14, -1.00000000e+00,  0.00000000e+00,
        2.07436915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00180447, -0.06869375,  0.06181442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77173474e-05, 3.63279545e-05,-5.97936347e-05, 2.64369030e-05,
 -4.48898642e-05, 1.48079269e-05, 4.01982946e-05,-7.88936653e-06,
 -1.75127609e-05,-8.72640947e-05, 1.35335240e-05,-3.75469552e-06,
 -1.15112351e-05, 4.25579988e-05,-2.30675831e-05, 1.50458668e-05,
 -2.33701240e-04,-6.49983146e-04,-4.90131151e+00,-7.88354918e-05,
  3.45472800e-03,-2.54607400e-03]


--- Step 2371 ---
qpos:
[ 0.01865058, 0.03002293,-0.00943847,-0.02530043,-0.0035091 , 1.34078209,
 -0.02996163, 0.94376813, 0.01157938, 0.02727415,-0.00831353, 0.02645263,
  1.38438755, 0.0076659 , 1.3225921 , 0.04415591,-0.09508223,-0.05893963,
  0.09358161, 0.70317677, 0.03180355,-0.7030154 ,-0.10149047]

qacc:
[-1.98086658e+00, 3.27731255e+00,-1.54926981e+01, 3.34195749e+01,
 -6.66300025e-02,-1.95216578e+00, 3.19974105e+00, 8.91226527e+00,
 -1.70379960e+00,-2.69143000e+00, 1.06553152e+01,-1.83158979e+01,
 -7.66947493e-02, 2.09602573e-01,-1.07395487e+00, 3.44479563e+00,
  5.24000257e+00,-2.09524791e-01, 4.19546150e+00,-3.37802194e+01,
  1.62733284e+02, 1.26978691e+01]

qfrc_actuator:
[ 4.95566572e-05, 9.68267010e-04, 8.74570940e-05, 1.30449437e-05,
 -8.14112309e-06, 3.48946730e-02, 1.10459226e-02, 1.84397747e-03,
 -7.00774334e-05, 7.12697475e-04, 2.27339351e-04, 1.14098876e-04,
  5.09561820e-04,-1.55179324e-03, 0.00000000e+00,-1.21667594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037162202465063215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49375299e-14,  2.98750599e-14,  1.00000000e+00, -4.46259602e-28,
        1.00000000e+00, -2.98750599e-14, -1.00000000e+00,  0.00000000e+00,
        1.49375299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15247658, -0.05471373,  0.06181259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18042630e-05, 3.00353828e-05,-7.91415759e-06, 5.30817941e-05,
 -1.93086445e-05,-6.11528050e-05, 4.31024103e-05, 4.89189396e-05,
 -1.04170912e-05,-3.37719459e-05, 1.91901007e-05,-2.18160592e-05,
  9.14816794e-06, 1.76044099e-05,-1.04787252e-05, 1.36553331e-05,
 -2.61640787e-04,-5.05318800e-04,-4.90112201e+00, 5.46515033e-04,
  3.53722232e-03,-2.57275065e-03]


--- Step 2372 ---
qpos:
[ 0.01865145, 0.03002383,-0.00943917,-0.02529904,-0.00350909, 1.34078219,
 -0.0299594 , 0.94376968, 0.01157931, 0.02727237,-0.008313  , 0.02645309,
  1.38446617, 0.00766633, 1.32269915, 0.04415258,-0.09508243,-0.05904785,
  0.09357744, 0.70311944, 0.03303168,-0.70284217,-0.10268805]

qacc:
[ 1.07889274e+01,-2.67923272e-01,-2.12467282e-01, 4.47938041e+00,
 -2.42495414e-02,-2.29575095e-01, 3.68457041e-01,-1.31836918e+00,
 -1.03463835e+00,-1.28915300e-01, 3.97121878e+00,-1.48802306e+01,
  3.23835139e-01,-5.26449872e-01, 3.18788684e-01,-1.29508808e+00,
  4.63358649e+00,-2.14224431e-01, 2.58181941e+00,-3.04224688e+01,
  1.43664062e+02, 1.06221675e+01]

qfrc_actuator:
[ 1.14604674e-04, 9.62588386e-04, 1.00406739e-04, 2.60779896e-05,
 -3.74125191e-06, 3.48665035e-02, 1.10303930e-02, 1.83571406e-03,
 -7.58941659e-05, 7.74461415e-04, 2.30394897e-04, 8.50742988e-05,
  5.04666253e-04,-1.58354604e-03, 0.00000000e+00,-1.22365730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003752657652755738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47924901e-14, -1.47924901e-14,  1.00000000e+00,  2.18817764e-28,
        1.00000000e+00,  1.47924901e-14, -1.00000000e+00,  0.00000000e+00,
        1.47924901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15242077, -0.0547196 ,  0.06181085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47106117e-05, 1.17289567e-05, 2.00143596e-05, 1.50771634e-05,
 -7.01304573e-06,-5.21008435e-05,-2.11531700e-05,-7.69686988e-06,
 -6.13951853e-06, 4.59734922e-05,-2.29632241e-06,-3.02310947e-05,
  3.31437835e-06,-2.41089053e-05,-4.96706453e-06,-7.94204584e-06,
 -1.80212688e-04,-7.17681351e-04,-4.90145275e+00,-3.31561442e-04,
  3.35315118e-03,-2.63162557e-03]


--- Step 2373 ---
qpos:
[ 0.01865378, 0.03002477,-0.00943966,-0.02529819,-0.00350924, 1.34078213,
 -0.02995741, 0.94377007, 0.01157951, 0.02727122,-0.00831264, 0.02645386,
  1.38454461, 0.00766675, 1.32280562, 0.04415353,-0.09506612,-0.05915694,
  0.09357812, 0.70324313, 0.03423454,-0.7024822 ,-0.10390308]

qacc:
[ 1.25530461e+01,-1.71479067e+00, 8.42613150e+00,-1.81522565e+01,
 -6.65395025e-02,-1.53698600e+00, 7.14838919e+00,-1.95737593e+01,
  2.33300207e+00, 1.94560908e+00,-7.02247080e+00, 1.21803400e+01,
  2.25662317e-01,-3.03029395e-01,-1.38520867e+01, 4.71409520e+01,
  4.12493702e+00,-2.17338055e-01, 1.21182520e+00,-2.75924603e+01,
  1.27680327e+02, 8.95672171e+00]

qfrc_actuator:
[ 1.88038038e-04, 9.58817094e-04, 1.08283657e-04,-2.32822837e-06,
 -1.88227974e-05, 3.48675401e-02, 1.10202837e-02, 1.77694303e-03,
 -6.15291419e-05, 8.29721115e-04, 2.32143046e-04, 1.03359850e-04,
  4.88238938e-04,-1.58480661e-03, 0.00000000e+00,-9.95644538e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003740966866731796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96774354e-14, -1.48387177e-14,  1.00000000e+00,  4.40375085e-28,
        1.00000000e+00,  1.48387177e-14, -1.00000000e+00,  0.00000000e+00,
        2.96774354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15243696, -0.05471927,  0.06181136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.53192460e-05, 7.55897165e-06, 1.32771002e-05,-2.69243953e-05,
 -1.92276911e-05,-3.21555663e-05,-2.29345694e-05,-6.11303930e-05,
  1.41975833e-05, 7.92535024e-05, 9.92961675e-06, 1.95899178e-05,
 -2.06813987e-05,-7.79767832e-06,-5.01109522e-06, 2.26507579e-04,
 -4.48956949e-05,-9.04631500e-04,-4.90152497e+00,-1.08376484e-03,
  3.19873395e-03,-2.68729274e-03]


--- Step 2374 ---
qpos:
[ 0.01865662, 0.03002542,-0.00943986,-0.02529799,-0.00350956, 1.3407819 ,
 -0.0299553 , 0.94376938, 0.01157987, 0.02727071,-0.00831174, 0.02645479,
  1.38462293, 0.00766713, 1.32291217, 0.04415583,-0.09506996,-0.05926456,
  0.09357143, 0.70313977, 0.03545498,-0.70234686,-0.10510131]

qacc:
[ 4.46173765e+00,-2.52000210e+00, 1.11805654e+01,-2.27211255e+01,
 -7.00572831e-02,-2.41455416e+00, 9.80025105e+00,-2.08140477e+01,
  1.46171143e+00,-3.58946008e-01, 1.78398623e+00,-2.68934150e-01,
  3.92232593e-02,-1.02544968e-01,-3.98163771e+00, 1.40990305e+01,
 -5.03386064e+00, 3.68466698e-01,-1.83957440e+00, 2.76418984e+01,
 -1.57532973e+02,-8.22019283e+00]

qfrc_actuator:
[ 2.12536157e-04, 9.20655033e-04, 1.13071929e-04,-3.71386742e-05,
 -2.77176819e-05, 3.48682817e-02, 1.10313239e-02, 1.72447021e-03,
 -5.31545287e-05, 8.80701937e-04, 2.68653283e-04, 1.13838422e-04,
  4.86220746e-04,-1.58572812e-03, 0.00000000e+00,-9.32798714e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037306296920161935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57993782e-15, -1.48798342e-14,  1.00000000e+00,  8.30285495e-29,
        1.00000000e+00,  1.48798342e-14, -1.00000000e+00,  0.00000000e+00,
        5.57993782e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0016692 , -0.06865645,  0.06181182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66934645e-05,-3.23568811e-05, 7.04060363e-06,-3.45582448e-05,
 -2.02584805e-05,-2.33722858e-05, 3.45779287e-07,-5.55259358e-05,
  8.81370938e-06, 9.82315337e-05, 5.47891256e-05, 1.45992119e-05,
 -1.34158108e-05,-8.33285941e-06, 2.17051465e-05, 7.45560348e-05,
  1.26269635e-04,-1.07164455e-03,-4.90141635e+00,-1.73552396e-03,
  3.06867360e-03,-2.74036425e-03]


--- Step 2375 ---
qpos:
[ 0.01865905, 0.03002607,-0.00944009,-0.02529857,-0.00350972, 1.34078173,
 -0.02995318, 0.94376771, 0.01158   , 0.02727077,-0.00831061, 0.02645552,
  1.38470118, 0.00766725, 1.32301889, 0.04415823,-0.09509157,-0.05937093,
  0.09355366, 0.70283592, 0.03669224,-0.70240934,-0.10628485]

qacc:
[-3.58138733e+00,-1.53051218e+00, 8.75639436e+00,-2.22069164e+01,
  6.37630574e-02,-1.61315036e+00, 7.39406726e+00,-1.78793879e+01,
 -2.11063037e+00,-2.52206749e-01, 2.85297337e+00,-7.07129262e+00,
  9.23207726e-02,-2.74534596e-01,-4.52138448e-02, 4.80316419e-01,
 -4.44642055e+00, 3.13138195e-01,-2.77342101e+00, 2.50216024e+01,
 -1.38806354e+02,-7.76994117e+00]

qfrc_actuator:
[ 1.90279437e-04, 9.33174575e-04, 1.15858138e-04,-7.54629679e-05,
  2.67604417e-06, 3.48866791e-02, 1.10370243e-02, 1.67615034e-03,
 -6.61322124e-05, 8.93367563e-04, 2.72117881e-04, 1.01901606e-04,
  4.76870478e-04,-1.60415492e-03, 0.00000000e+00,-9.32333075e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.19025522,   2.7397986 ,   8.19025522,
        12.53743711, -11.66172847,   2.7397986 , -11.66172847,
        43.49751454,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037594075771064522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2287066e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.2287066e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00159763, -0.06864669,  0.06181047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14909021e-05,-5.62076242e-06,-4.23468828e-06,-4.01421055e-05,
  1.84212255e-05, 3.86447276e-06,-4.63688225e-07,-5.02978528e-05,
 -1.26886663e-05, 7.95507192e-05, 3.10026642e-05,-5.55056482e-06,
 -1.73665525e-05,-2.43084757e-05, 1.50159837e-05, 6.65685184e-06,
 -4.99689456e-05,-8.88857176e-04,-4.90154991e+00,-9.51381607e-04,
  3.20733600e-03,-2.76230425e-03]


--- Step 2376 ---
qpos:
[ 0.01866051, 0.03002681,-0.00944012,-0.02529895,-0.0035095 , 1.34078161,
 -0.02995166, 0.94376689, 0.01158031, 0.02727173,-0.00831011, 0.02645578,
  1.38477907, 0.00766768, 1.32312534, 0.04416331,-0.09512981,-0.05947615,
  0.09352746, 0.702345  , 0.03794432,-0.70265629,-0.10745167]

qacc:
[-8.36071332e+00, 5.46730105e-03,-6.93253739e-01, 3.87586888e+00,
  1.62044643e-01, 3.13171673e+00,-1.18810443e+01, 2.01145947e+01,
  1.57143112e+00, 1.92543597e+00,-3.13485516e+00,-4.78605039e+00,
 -2.48277611e-01, 3.63997262e-01,-8.50114452e+00, 2.92141060e+01,
 -4.15472931e+00, 2.84784695e-01,-2.10648416e+00, 2.43084227e+01,
 -1.29439299e+02,-5.88837749e+00]

qfrc_actuator:
[ 1.40698213e-04, 9.58177022e-04, 1.35387662e-04,-6.22511010e-05,
  3.86401776e-05, 3.48799922e-02, 1.10040874e-02, 1.71942753e-03,
 -5.60668450e-05, 9.36100137e-04, 2.38110536e-04, 7.68125749e-05,
  4.63121381e-04,-1.57960197e-03, 0.00000000e+00,-7.91046423e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.66397528,   3.98123847,   7.66397528,
        20.21105708, -22.28155012,   3.98123847, -22.28155012,
        51.52885822,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003738328292999788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70304990e-07, -9.70305015e-07,  1.00000000e+00, -9.41491799e-13,
        1.00000000e+00,  9.70305015e-07, -1.00000000e+00,  0.00000000e+00,
       -9.70304990e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01241563, -0.06759351,  0.06181134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02092971e-05, 1.92313189e-05, 1.64530074e-05, 1.20437822e-05,
  4.68505841e-05,-6.15449155e-06,-3.37132908e-05, 4.22139213e-05,
  9.72198198e-06, 9.33629667e-05,-1.39633155e-05,-2.07189977e-05,
 -2.77169215e-05, 1.29965818e-05, 4.44599423e-06, 1.42845956e-04,
 -1.54765710e-04,-7.37036351e-04,-4.90146331e+00,-2.45749428e-04,
  3.32906947e-03,-2.78639943e-03]


--- Step 2377 ---
qpos:
[ 0.01866205, 0.03002692,-0.00943906,-0.02529844,-0.00350903, 1.34078176,
 -0.02995122, 0.9437666 , 0.01158073, 0.02727345,-0.00831025, 0.02645541,
  1.38485662, 0.00766862, 1.32323228, 0.04416603,-0.09514655,-0.05958129,
  0.09351691, 0.70209286, 0.03913083,-0.70266388,-0.10861802]

qacc:
[ 7.63594523e-01,-2.03060807e+00, 2.31330810e+00, 1.16904920e+01,
  1.07779330e-01, 4.18248139e+00,-1.43255386e+01, 1.84323904e+01,
  9.77452454e-01, 1.53283697e+00,-1.36998318e+00,-8.98892173e+00,
 -8.07627645e-01, 1.09414564e+00, 7.97618950e+00,-2.66607100e+01,
  5.37400978e+00, 2.20107537e-02, 3.91409489e+00,-4.02421021e+01,
  1.64436663e+02, 3.14921122e+01]

qfrc_actuator:
[ 1.46457476e-04, 9.01815906e-04, 1.82501114e-04,-1.87935183e-05,
  4.21484246e-05, 3.48937483e-02, 1.09485700e-02, 1.74521343e-03,
 -5.02644701e-05, 9.60816007e-04, 2.00120210e-04, 4.41897809e-05,
  4.52086923e-04,-1.54747909e-03, 0.00000000e+00,-9.22951369e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003834911896618283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89504180e-14, -4.34256270e-14,  1.00000000e+00,  1.25719005e-27,
        1.00000000e+00,  4.34256270e-14, -1.00000000e+00,  0.00000000e+00,
        2.89504180e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15490176, -0.05689688,  0.0618068 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29947527e-06,-4.17412871e-05, 5.35214158e-05, 4.50857754e-05,
  3.11946069e-05, 5.02504536e-06,-5.93226309e-05, 2.55915919e-05,
  6.12467084e-06, 7.31159103e-05,-2.11594270e-05,-2.95123771e-05,
 -2.11488073e-05, 2.95249346e-05, 1.55170913e-05,-1.23926144e-04,
 -2.11612258e-04,-5.99565532e-04,-4.90122485e+00, 4.24035307e-04,
  3.44350706e-03,-2.81162471e-03]


--- Step 2378 ---
qpos:
[ 0.01866399, 0.03002663,-0.00943712,-0.02529812,-0.00350839, 1.34078197,
 -0.02995115, 0.9437666 , 0.01158054, 0.0272751 ,-0.00831026, 0.02645505,
  1.38493428, 0.00766915, 1.32333923, 0.0441675 ,-0.09514431,-0.05968644,
  0.09351563, 0.70205114, 0.04026001,-0.70246028,-0.10978561]

qacc:
[ 3.47562502e+00,-3.43255767e+00, 1.22431992e+01,-1.66280894e+01,
  6.98382624e-02, 1.57210590e+00,-5.61646973e+00, 8.20039613e+00,
 -5.30690433e+00,-4.45244972e-01, 1.43733279e+00,-1.46682628e+00,
  2.51113338e-01,-4.91225220e-01, 3.74847519e+00,-1.31332692e+01,
  4.74506451e+00,-2.68020116e-03, 2.31490987e+00,-3.61538004e+01,
  1.44926802e+02, 2.69988034e+01]

qfrc_actuator:
[ 1.66999522e-04, 8.86082502e-04, 2.27452906e-04,-2.89569269e-05,
  4.39105472e-05, 3.49017870e-02, 1.09334894e-02, 1.76048174e-03,
 -8.25306695e-05, 9.21245784e-04, 1.95528318e-04, 4.28927731e-05,
  4.53345245e-04,-1.58214248e-03, 0.00000000e+00,-9.84003932e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038707364934161895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86824749e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.86824749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15484511, -0.05689815,  0.06180511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06472080e-05,-2.61113580e-05, 4.44659035e-05,-9.22506691e-06,
  2.01969686e-05,-1.76307578e-08,-2.00991161e-05, 1.42732150e-05,
 -3.20540453e-05,-4.37503096e-06, 6.86652034e-06, 5.26952850e-07,
 -2.50597398e-06,-3.03713073e-05,-1.10340723e-05,-6.69569380e-05,
 -9.65802170e-05,-7.63999183e-04,-4.90168767e+00,-4.54989634e-04,
  3.23325922e-03,-2.86876617e-03]


--- Step 2379 ---
qpos:
[ 0.01866409, 0.03002657,-0.00943543,-0.02529793,-0.00350765, 1.34078234,
 -0.0299514 , 0.9437685 , 0.01157996, 0.02727654,-0.00831021, 0.0264547 ,
  1.38501228, 0.00766854, 1.32344578, 0.04417089,-0.0951252 ,-0.05979168,
  0.09351817, 0.70219592, 0.04133865,-0.70206896,-0.11095572]

qacc:
[-1.57757117e+01, 7.96192657e-01,-1.81524004e+00,-1.76286074e-01,
  4.36470658e-02, 4.31580029e+00,-1.77462279e+01, 3.73350452e+01,
 -3.28221745e+00,-4.00903401e-01, 9.82222161e-01,-7.11255217e-01,
  1.12964693e+00,-1.83265174e+00,-6.53785933e+00, 2.16835629e+01,
  4.21735489e+00,-2.27490195e-02, 9.56654800e-01,-3.26848113e+01,
  1.28574378e+02, 2.33279612e+01]

qfrc_actuator:
[ 7.17920065e-05, 9.12507849e-04, 2.17603650e-04,-3.50686449e-05,
  4.46128831e-05, 3.49242349e-02, 1.09246312e-02, 1.85823104e-03,
 -1.01439467e-04, 8.96883313e-04, 1.92693136e-04, 4.22532325e-05,
  4.56623410e-04,-1.65616173e-03, 0.00000000e+00,-8.78461504e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038570083739572977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43922818e-14,  4.31768453e-14,  1.00000000e+00, -6.21413322e-28,
        1.00000000e+00, -4.31768453e-14, -1.00000000e+00,  0.00000000e+00,
        1.43922818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15486536, -0.05689561,  0.06180571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.46175076e-05, 2.06010171e-05,-1.01077095e-05,-5.87652669e-06,
  1.26378547e-05, 1.89345823e-05,-1.07307500e-05, 9.74905737e-05,
 -1.98441842e-05,-2.54387477e-05,-2.89225887e-06,-5.80753860e-07,
 -5.55118151e-06,-8.37052818e-05,-1.44175955e-05, 9.99423022e-05,
  6.39983093e-05,-8.98558643e-04,-4.90186278e+00,-1.17555928e-03,
  3.06419719e-03,-2.92130124e-03]


--- Step 2380 ---
qpos:
[ 0.0186634 , 0.03002672,-0.00943447,-0.02529743,-0.00350699, 1.34078271,
 -0.02995226, 0.94377159, 0.01158019, 0.02727776,-0.00830962, 0.02645432,
  1.38509017, 0.00766736, 1.32355251, 0.04417315,-0.095091  ,-0.05989708,
  0.09351993, 0.70250701, 0.04237235,-0.70150945,-0.11212926]

qacc:
[-6.86681713e+00, 2.95221554e+00,-1.13798099e+01, 1.76328091e+01,
 -3.54767811e-02, 3.69201474e+00,-1.44773353e+01, 2.63051570e+01,
  6.94733295e+00,-1.90687563e+00, 6.50621660e+00,-7.83505256e+00,
  1.66889904e-01,-5.58654892e-01, 3.70004537e+00,-1.25928673e+01,
  3.77422493e+00,-3.90412508e-02,-1.94439386e-01,-2.97496400e+01,
  1.14866677e+02, 2.03197360e+01]

qfrc_actuator:
[ 3.34812148e-05, 9.10497811e-04, 1.75668557e-04,-2.09843305e-05,
  2.69224709e-05, 3.49019598e-02, 1.08841038e-02, 1.91498065e-03,
 -5.90642038e-05, 8.99569507e-04, 2.26445342e-04, 4.20013565e-05,
  4.45113150e-04,-1.68189890e-03, 0.00000000e+00,-9.41910972e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038036412843924644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91884261e-14, -1.45942130e-14,  1.00000000e+00,  4.25982108e-28,
        1.00000000e+00,  1.45942130e-14, -1.00000000e+00,  0.00000000e+00,
        2.91884261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15494665, -0.05688978,  0.06180814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10616464e-05, 7.11939378e-06,-3.91442310e-05, 1.45020522e-05,
 -1.02216373e-05,-1.09687257e-05,-3.51830228e-05, 5.92670698e-05,
  4.17899280e-05,-1.22223120e-05, 2.81047164e-05,-1.45523564e-06,
 -3.36784048e-05,-5.27261601e-05, 3.98813225e-06,-5.98872763e-05,
  2.53714425e-04,-1.01084610e-03,-4.90183587e+00,-1.77399200e-03,
  2.92794950e-03,-2.97015823e-03]


--- Step 2381 ---
qpos:
[ 0.0186626 , 0.03002701,-0.00943429,-0.02529676,-0.00350647, 1.34078259,
 -0.02995307, 0.94377465, 0.01158024, 0.02727866,-0.00830828, 0.02645393,
  1.38516785, 0.00766625, 1.32365913, 0.04417564,-0.09507956,-0.06000037,
  0.09351875, 0.7025595 , 0.04345331,-0.70120326,-0.11329583]

qacc:
[-9.71348446e-01, 2.75366459e+00,-1.02992948e+01, 1.45399195e+01,
 -5.83181906e-02,-8.41934669e-01, 2.01005278e+00,-1.70912972e+00,
 -1.53478240e+00,-2.49765882e+00, 8.32019043e+00,-9.33143187e+00,
 -1.86022886e-01, 1.81923183e-01,-8.62454205e-01, 2.81428125e+00,
 -5.69120199e+00, 5.26296862e-01,-7.36421872e-01, 3.87284772e+01,
 -1.76882453e+02,-2.32580771e+01]

qfrc_actuator:
[ 2.90034101e-05, 9.09104287e-04, 1.32805514e-04,-1.29159571e-05,
  1.60946820e-05, 3.48529384e-02, 1.08782553e-02, 1.91157980e-03,
 -6.97241431e-05, 8.83075532e-04, 2.63885811e-04, 4.20269955e-05,
  4.51385514e-04,-1.66101850e-03, 0.00000000e+00,-9.26941044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003937164254542366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.46737267e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.46737267e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00115024, -0.06863415,  0.06180207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.67242908e-06,-4.90604717e-06,-4.57237069e-05, 7.29953790e-06,
 -1.68688494e-05,-6.01878578e-05,-1.02549837e-05,-3.38461520e-06,
 -9.43704161e-06,-1.76205178e-05, 3.83053397e-05, 4.41119823e-07,
 -2.26013803e-05,-2.99164915e-06,-7.84314063e-06, 1.14498898e-05,
  4.61987067e-04,-1.10644478e-03,-4.90166728e+00,-2.27739284e-03,
  2.81811554e-03,-3.01603992e-03]


--- Step 2382 ---
qpos:
[ 0.01866105, 0.03002755,-0.00943501,-0.025296  ,-0.00350593, 1.34078253,
 -0.02995387, 0.94377726, 0.01157982, 0.027279  ,-0.00830657, 0.02645291,
  1.38524514, 0.00766559, 1.32376577, 0.0441776 ,-0.0950881 ,-0.06010192,
  0.09351019, 0.70238538, 0.04457552,-0.70111882,-0.1144561 ]

qacc:
[-6.35760730e+00, 2.99746444e+00,-1.05531239e+01, 1.32392248e+01,
  4.01469423e-03,-7.34814418e-01, 3.44473882e+00,-8.34151667e+00,
 -4.00948685e+00,-3.09101303e+00, 1.26058007e+01,-2.36940115e+01,
 -6.36845367e-01, 8.72095217e-01, 1.69226583e+00,-5.71098567e+00,
 -4.99499844e+00, 4.34398739e-01,-1.84405525e+00, 3.41821490e+01,
 -1.54876782e+02,-2.02659239e+01]

qfrc_actuator:
[-8.80078163e-06, 9.25821295e-04, 8.97367754e-05,-8.45292209e-06,
  2.72248929e-05, 3.48948831e-02, 1.08927893e-02, 1.89057629e-03,
 -9.37826559e-05, 8.19748351e-04, 2.67616382e-04, 6.69415666e-06,
  4.36386817e-04,-1.63032764e-03, 0.00000000e+00,-9.54601170e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004007617184479777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07771159e-14,  1.38514106e-14,  1.00000000e+00, -2.87792364e-28,
        1.00000000e+00, -1.38514106e-14, -1.00000000e+00,  0.00000000e+00,
        2.07771159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00097954, -0.06862922,  0.06179887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79708865e-05, 4.82917926e-06,-4.94667245e-05, 2.81103957e-06,
  1.15940243e-06, 6.54699513e-06, 1.49922846e-06,-2.31887371e-05,
 -2.43384356e-05,-6.52998508e-05, 4.79924209e-06,-3.47576941e-05,
 -2.69561908e-05, 2.46733036e-05,-4.55271867e-06,-2.85357934e-05,
  1.88541924e-04,-9.63488832e-04,-4.90193193e+00,-1.50466330e-03,
  2.98851263e-03,-3.03512546e-03]


--- Step 2383 ---
qpos:
[ 0.01865942, 0.03002799,-0.00943587,-0.02529519,-0.0035052 , 1.3407828 ,
 -0.02995488, 0.94377854, 0.0115798 , 0.02727842,-0.00830462, 0.02645188,
  1.38532212, 0.0076651 , 1.32387246, 0.04417854,-0.09511426,-0.06020204,
  0.09349047, 0.7020114 , 0.04573397,-0.70122935,-0.11561052]

qacc:
[-8.31107011e-01, 3.90977225e-01,-1.72076131e+00, 2.69483050e+00,
  8.61272641e-02,-1.25700324e+00, 7.33078968e+00,-2.18743698e+01,
  3.47462411e+00,-1.90295567e+00, 5.07634014e+00,-5.00324327e+00,
 -4.36331071e-01, 4.92246499e-01, 3.20372633e+00,-1.10142743e+01,
 -4.40599024e+00, 3.58345827e-01,-2.79124515e+00, 3.03928055e+01,
 -1.36333654e+02,-1.77487188e+01]

qfrc_actuator:
[-1.26716340e-05, 9.17738237e-04, 8.24673112e-05,-6.13088829e-06,
  5.14376484e-05, 3.49200330e-02, 1.08840664e-02, 1.82394940e-03,
 -7.22601698e-05, 7.46451080e-04, 2.68942215e-04, 4.03146798e-06,
  4.13974490e-04,-1.62968318e-03, 0.00000000e+00,-1.00717277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040170473832335865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.76377876e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.76377876e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00095367, -0.06863448,  0.06179839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.97486522e-06,-1.54998617e-05,-1.22636841e-05, 8.72676462e-07,
  2.48982123e-05, 2.83728147e-05,-7.94715260e-06,-6.69213495e-05,
  2.07908269e-05,-1.10351365e-04,-1.27955019e-05,-5.97281500e-06,
 -3.01589873e-05, 2.15442976e-06,-8.15424964e-06,-5.53910161e-05,
  1.23607804e-05,-8.38575436e-04,-4.90190909e+00,-7.85001702e-04,
  3.14189939e-03,-3.05639998e-03]


--- Step 2384 ---
qpos:
[ 0.0186574 , 0.03002787,-0.00943605,-0.02529437,-0.00350423, 1.34078318,
 -0.02995593, 0.94377903, 0.01158004, 0.02727715,-0.00830274, 0.02645116,
  1.385399  , 0.00766439, 1.3239788 , 0.04418117,-0.09515641,-0.06030012,
  0.09345711, 0.70145863, 0.04690767,-0.70151878,-0.11673415]

qacc:
[-3.21682319e+00,-2.60554178e+00, 8.10724397e+00,-8.35902974e+00,
  9.97593435e-02,-1.08593575e+00, 5.36560156e+00,-1.39846965e+01,
  2.21090082e+00,-8.81164695e-02,-2.37110421e+00, 8.46872843e+00,
  2.14047555e-01,-4.00829404e-01,-5.67282491e+00, 1.90244842e+01,
 -3.99542327e+00, 5.11847504e-01,-3.40876806e+00, 3.05745171e+01,
 -1.23893565e+02,-7.79742119e-01]

qfrc_actuator:
[-3.20336632e-05, 8.77256072e-04, 1.14048046e-04,-5.08121027e-06,
  6.55493215e-05, 3.49170684e-02, 1.08793633e-02, 1.78425147e-03,
 -5.95819909e-05, 7.21005331e-04, 2.68816332e-04, 2.06071493e-05,
  4.08424427e-04,-1.64695421e-03, 0.00000000e+00,-9.14208870e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003985007549417774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39299990e-14, -6.96499951e-15,  1.00000000e+00,  9.70224363e-29,
        1.00000000e+00,  6.96499951e-15, -1.00000000e+00,  0.00000000e+00,
        1.39299990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00067922, -0.07163441,  0.06179973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95126285e-05,-5.16494294e-05, 2.69042566e-05,-2.15705479e-08,
  2.88266477e-05, 9.16694071e-06,-2.01739035e-06,-4.06291269e-05,
  1.32493184e-05,-9.00464455e-05,-2.47178599e-05, 1.12860716e-05,
 -2.02098927e-05,-2.33694751e-05,-1.26197088e-05, 8.82248418e-05,
 -9.47420737e-05,-7.30440114e-04,-4.90169262e+00,-1.18781159e-04,
  3.27907416e-03,-3.07971902e-03]


--- Step 2385 ---
qpos:
[ 0.01865517, 0.03002748,-0.00943589,-0.02529424,-0.00350306, 1.34078324,
 -0.02995692, 0.94378045, 0.01158009, 0.02727544,-0.00830071, 0.02645026,
  1.38547594, 0.00766318, 1.32408507, 0.04418453,-0.09521278,-0.06039645,
  0.09340726, 0.70074628, 0.04809505,-0.70196696,-0.11782998]

qacc:
[-1.84456914e+00,-2.76140663e+00, 1.22648040e+01,-2.46890712e+01,
  8.64581781e-02, 9.82863557e-01,-5.64456090e+00, 1.59473559e+01,
 -1.64981770e+00,-1.36367335e+00, 4.86245932e+00,-8.11497719e+00,
  4.16609178e-01,-7.37126549e-01,-2.34098609e+00, 7.94349293e+00,
 -3.55712943e+00, 4.35608391e-01,-4.12463645e+00, 2.75579642e+01,
 -1.10195268e+02,-6.42192093e-01]

qfrc_actuator:
[-4.26171671e-05, 8.71106646e-04, 1.32657487e-04,-4.03020598e-05,
  7.34867260e-05, 3.48795632e-02, 1.08769922e-02, 1.83172763e-03,
 -6.99782356e-05, 7.24422978e-04, 2.85782703e-04, 1.28967596e-05,
  4.12983870e-04,-1.67464521e-03, 0.00000000e+00,-8.78253122e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915025271400072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.08950101e-15, -1.06342515e-14,  1.00000000e+00,  7.53915369e-29,
        1.00000000e+00,  1.06342515e-14, -1.00000000e+00,  0.00000000e+00,
        7.08950101e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00083743, -0.07165693,  0.06180273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11707859e-05,-2.94713574e-05, 1.12594188e-05,-3.65017591e-05,
  2.49731501e-05,-3.40496214e-05,-1.99757323e-06, 4.67501736e-05,
 -1.00413538e-05,-5.15278360e-05,-4.29375872e-06,-1.22051084e-05,
 -1.07813741e-05,-3.95080803e-05, 2.64353855e-06, 3.89305289e-05,
 -1.58908275e-04,-6.02627943e-04,-4.90145806e+00, 4.91535629e-04,
  3.41740759e-03,-3.10450324e-03]


--- Step 2386 ---
qpos:
[ 0.01865317, 0.03002736,-0.00943632,-0.0252942 ,-0.00350187, 1.34078292,
 -0.0299579 , 0.94378312, 0.01158001, 0.02727352,-0.00829914, 0.02644893,
  1.38555294, 0.00766158, 1.3241917 , 0.04418528,-0.09524485,-0.06049387,
  0.09338105, 0.70030608, 0.04921836,-0.70214228,-0.11893344]

qacc:
[ 1.99012918e+00, 1.86797648e+00,-5.78858470e+00, 5.11617988e+00,
  4.08396652e-03, 1.65184026e+00,-8.56110810e+00, 2.22323096e+01,
 -1.07806148e+00, 1.44243093e-01, 8.24339552e-01,-7.12460718e+00,
  4.82452534e-02,-2.69854383e-01, 8.42430079e+00,-2.87124145e+01,
  6.07611367e+00,-2.72776254e-01, 5.91325197e+00,-4.77440325e+01,
  1.87154326e+02, 2.92910412e+01]

qfrc_actuator:
[-3.01913021e-05, 9.03244697e-04, 1.08045545e-04,-4.33138445e-05,
  5.99040995e-05, 3.48572321e-02, 1.08759214e-02, 1.89458918e-03,
 -7.61171967e-05, 7.09658499e-04, 2.59558958e-04,-9.00367476e-06,
  4.18271608e-04,-1.69047773e-03, 0.00000000e+00,-1.01823457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004031269604113603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.37701411e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.37701411e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15457777, -0.05687903,  0.0617972 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20921964e-05, 1.64358645e-05,-3.05697846e-05,-4.59371910e-06,
  1.17410162e-06,-4.01491585e-05,-6.58485781e-06, 6.28640643e-05,
 -6.45381691e-06,-4.49524813e-05,-3.78200283e-05,-2.44929767e-05,
 -9.09789998e-06,-3.04724322e-05, 3.40364387e-06,-1.37984641e-04,
 -1.83035450e-04,-4.92995807e-04,-4.90112318e+00, 1.03615015e-03,
  3.53606287e-03,-3.13075824e-03]


--- Step 2387 ---
qpos:
[ 0.01865168, 0.03002761,-0.00943722,-0.02529318,-0.0035009 , 1.3407825 ,
 -0.02995839, 0.94378614, 0.01157985, 0.02727142,-0.00829826, 0.02644771,
  1.38562948, 0.00766079, 1.32429812, 0.04418638,-0.09525562,-0.0605923 ,
  0.09337082, 0.70010393, 0.05028653,-0.70207883,-0.12004612]

qacc:
[ 4.34744842e+00, 3.76823328e+00,-1.68619569e+01, 3.42283644e+01,
 -8.88357909e-02,-8.96875050e-01, 2.04859431e+00, 2.21939067e+00,
 -6.42737602e-01, 1.89025371e+00,-7.49648012e+00, 1.04819298e+01,
 -8.19956330e-01, 1.26054335e+00,-1.27161110e+00, 4.17561656e+00,
  5.32352625e+00,-2.53615593e-01, 3.99389040e+00,-4.26035219e+01,
  1.63679502e+02, 2.44071788e+01]

qfrc_actuator:
[-4.32450223e-06, 9.40162578e-04, 9.38134992e-05, 8.16903956e-06,
  3.35224147e-05, 3.48796867e-02, 1.09111747e-02, 1.91272891e-03,
 -7.96935138e-05, 7.01700794e-04, 2.25721965e-04,-3.61257580e-06,
  4.08017692e-04,-1.62809876e-03, 0.00000000e+00,-9.94441330e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.6359887 , -4.03465655,  7.6359887 , 24.39283348,
       29.82068589, -4.03465655, 29.82068589, 65.07497685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004112400590586374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.74923928e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.74923928e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15445029, -0.05688144,  0.0617934 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62271332e-05, 3.96181139e-05,-1.47534761e-05, 5.10405044e-05,
 -2.56894113e-05, 8.52737097e-07, 2.84988088e-05, 1.81993071e-05,
 -3.78320068e-06,-4.19055544e-05,-4.86210445e-05, 1.68342640e-06,
 -2.22879219e-05, 5.11633613e-05,-1.69101209e-05, 1.58160692e-05,
 -1.24330527e-04,-6.58208811e-04,-4.90184104e+00, 5.64266351e-05,
  3.28745947e-03,-3.18791368e-03]


--- Step 2388 ---
qpos:
[ 0.01865051, 0.030028  ,-0.00943791,-0.02529191,-0.00350003, 1.34078176,
 -0.02995807, 0.94378935, 0.01157897, 0.02726957,-0.00829809, 0.02644755,
  1.38570574, 0.00766049, 1.32440454, 0.04418671,-0.09524763,-0.06069169,
  0.09337004, 0.70011108, 0.05130687,-0.70180492,-0.12116902]

qacc:
[ 2.76595890e+00, 1.23278031e-01,-1.22516831e+00, 5.07823488e+00,
 -4.66577058e-02,-2.26148198e+00, 6.48848969e+00,-3.18073546e+00,
 -6.27015019e+00, 4.50563686e+00,-2.00548220e+01, 3.93249930e+01,
 -5.71992138e-01, 8.40809768e-01, 2.37291127e+00,-8.13808573e+00,
  4.69268040e+00,-2.37760583e-01, 2.36041576e+00,-3.82263605e+01,
  1.44016802e+02, 2.04867531e+01]

qfrc_actuator:
[ 1.14860071e-05, 9.44241771e-04, 1.03659218e-04, 2.03111625e-05,
  3.51825009e-05, 3.48578945e-02, 1.09499808e-02, 1.92220355e-03,
 -1.17239335e-04, 7.51123623e-04, 2.05473998e-04, 5.33067548e-05,
  3.93809049e-04,-1.60859509e-03, 0.00000000e+00,-1.03406409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.43329343, -4.39692229,  7.43329343, 29.42029003,
       35.13662811, -4.39692229, 35.13662811, 68.03720118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004132171217647633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34338943e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34338943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15441815, -0.05687857,  0.06179244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65869821e-05, 2.53844507e-05, 1.79827616e-05, 1.43202087e-05,
 -1.35213169e-05,-1.51919241e-05, 4.27550771e-05, 1.07609940e-05,
 -3.76752998e-05, 1.60840830e-05,-3.48177303e-05, 5.34794876e-05,
 -1.36274525e-05, 3.02871711e-05,-8.13850735e-06,-4.13749901e-05,
  4.16666060e-06,-7.97238249e-04,-4.90217135e+00,-7.42188487e-04,
  3.08723591e-03,-3.24015201e-03]


--- Step 2389 ---
qpos:
[ 0.01864989, 0.0300283 ,-0.00943804,-0.02529119,-0.00349937, 1.34078093,
 -0.02995752, 0.94379093, 0.01157799, 0.02726828,-0.00829865, 0.02644768,
  1.38578193, 0.00766001, 1.32451106, 0.04418521,-0.09522298,-0.06079198,
  0.09337315, 0.70030328, 0.05228534,-0.70134414,-0.1223027 ]

qacc:
[ 4.68329246e+00,-2.82957884e+00, 1.22380070e+01,-2.25963384e+01,
 -8.65480944e-02,-3.49956757e+00, 1.46246956e+01,-3.15022620e+01,
 -8.77650415e-01, 3.39383887e+00,-1.22655413e+01, 1.81333148e+01,
 -1.10412856e-01,-4.83715334e-03, 5.69683527e+00,-1.96859697e+01,
  4.16334788e+00,-2.24644397e-01, 9.73387539e-01,-3.45063034e+01,
  1.27532281e+02, 1.73309270e+01]

qfrc_actuator:
[ 3.89988588e-05, 9.28700417e-04, 1.27476381e-04,-8.56412167e-06,
  1.81468936e-05, 3.48453001e-02, 1.09548971e-02, 1.83772467e-03,
 -1.21221344e-04, 7.99127456e-04, 1.75932473e-04, 6.91349895e-05,
  3.77227402e-04,-1.63256356e-03, 0.00000000e+00,-1.12852499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00410251353935609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76550494e-15,  1.35310099e-14,  1.00000000e+00, -9.15441142e-29,
        1.00000000e+00, -1.35310099e-14, -1.00000000e+00,  0.00000000e+00,
        6.76550494e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15446201, -0.05687117,  0.06179376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80029704e-05, 2.98132342e-06, 3.17714245e-05,-2.68900388e-05,
 -2.50267456e-05,-1.23027726e-05, 7.13058679e-06,-8.34281984e-05,
 -5.08630654e-06, 5.21473992e-05,-2.86365428e-05, 1.63590909e-05,
 -1.66518670e-05,-1.76026796e-05,-1.09085460e-05,-9.83843954e-05,
  1.77496871e-04,-9.16532873e-04,-4.90223256e+00,-1.40281235e-03,
  2.92513347e-03,-3.28854479e-03]


--- Step 2390 ---
qpos:
[ 0.01865063, 0.03002866,-0.00943793,-0.02529048,-0.00349892, 1.34078061,
 -0.02995739, 0.94378975, 0.01157799, 0.02726743,-0.00829927, 0.02644763,
  1.38585796, 0.00765975, 1.3246174 , 0.04418358,-0.09518345,-0.06089312,
  0.09337545, 0.70066005, 0.05322685,-0.70071615,-0.12344745]

qacc:
[ 1.17511724e+01,-6.28304328e-01, 2.32847607e+00,-2.76058886e+00,
 -8.71102693e-02,-2.98234178e+00, 1.62226219e+01,-4.65248079e+01,
  8.47108532e+00, 3.57268766e-01, 3.25804738e-01,-3.74971485e+00,
 -2.46260541e-01, 3.57651097e-01, 1.32724916e-01,-8.14421469e-01,
  3.71886939e+00,-2.13762475e-01,-2.01567584e-01,-3.13544066e+01,
  1.13713094e+02, 1.47821991e+01]

qfrc_actuator:
[ 1.08687811e-04, 9.37056404e-04, 1.41480662e-04,-8.09211599e-06,
  7.78487745e-06, 3.48913843e-02, 1.09397427e-02, 1.69861693e-03,
 -6.98996036e-05, 8.28107253e-04, 1.76620581e-04, 6.06480650e-05,
  3.80517449e-04,-1.61114577e-03, 0.00000000e+00,-1.13024641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004033465820456814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75252865e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.75252865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15456607, -0.0568599 ,  0.06179688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05048671e-05, 1.54343836e-05, 1.75985799e-05, 1.17220414e-06,
 -2.51518923e-05, 3.81720067e-05,-1.91937869e-05,-1.41200788e-04,
  5.11868052e-05, 5.29747595e-05, 8.51928885e-06,-6.92082876e-06,
 -9.55529515e-06, 1.24449400e-05,-1.83417043e-05,-9.14244268e-06,
  3.79343874e-04,-1.02085382e-03,-4.90210781e+00,-1.95708129e-03,
  2.79343118e-03,-3.33388785e-03]


--- Step 2391 ---
qpos:
[ 0.01865186, 0.03002934,-0.00943804,-0.02528942,-0.00349879, 1.34078067,
 -0.02995755, 0.94378863, 0.01157896, 0.02726719,-0.00829971, 0.02644744,
  1.38593383, 0.00765994, 1.32472407, 0.04417823,-0.09516832,-0.06098881,
  0.09337816, 0.70075122, 0.05416764,-0.70036752,-0.12449473]

qacc:
[ 4.15060401e+00, 1.75666181e+00,-7.14397440e+00, 1.32857400e+01,
 -1.34674724e-01, 1.44412868e+00,-4.24257903e+00, 4.27969852e+00,
  8.18784561e+00,-6.89676642e-03, 1.78478347e+00,-4.97133900e+00,
 -7.22382548e-01, 1.02032957e+00, 1.18421452e+01,-4.05137877e+01,
 -6.09695923e+00, 1.36135231e+00, 1.04018367e-01, 5.82148128e+01,
 -1.88378462e+02, 2.54392387e+01]

qfrc_actuator:
[ 1.31629215e-04, 9.59639636e-04, 1.31938558e-04, 9.65950597e-06,
 -1.62426571e-05, 3.49188640e-02, 1.09308391e-02, 1.70605242e-03,
 -2.19537361e-05, 8.81078922e-04, 1.95073725e-04, 5.56892156e-05,
  3.79762241e-04,-1.58056488e-03, 0.00000000e+00,-1.32583007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004169136922280922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99721737e-14, -9.98608686e-15,  1.00000000e+00,  1.99443861e-28,
        1.00000000e+00,  9.98608686e-15, -1.00000000e+00,  0.00000000e+00,
        1.99721737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00035505, -0.07643813,  0.06179076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49991110e-05, 3.49049431e-05,-4.15716551e-06, 1.90383980e-05,
 -3.88893830e-05, 4.05970591e-05,-7.76307400e-06, 4.74431973e-06,
  4.94599659e-05, 8.41148361e-05, 3.02210164e-05,-2.52730370e-06,
 -3.04380744e-06, 3.24278620e-05,-1.10895452e-05,-1.98811830e-04,
  5.99184458e-04,-1.11376778e-03,-4.90185524e+00,-2.42852871e-03,
  2.68623899e-03,-3.37677977e-03]


--- Step 2392 ---
qpos:
[ 0.01865232, 0.03003006,-0.00943787,-0.0252885 ,-0.00349881, 1.34078056,
 -0.0299571 , 0.943789  , 0.0115805 , 0.02726768,-0.00830022, 0.0264465 ,
  1.38600945, 0.00766057, 1.32483064, 0.04417091,-0.09517449,-0.06107988,
  0.09337632, 0.70061113, 0.05510712,-0.70026272,-0.12545663]

qacc:
[-6.57975392e+00,-1.01081079e+00, 4.33856407e+00,-7.35157423e+00,
 -6.74366297e-02, 6.42315762e-01,-5.42183711e+00, 2.19911635e+01,
  4.83292251e+00,-3.87233706e-01, 5.87766286e+00,-1.91407138e+01,
 -6.21080018e-01, 8.75805701e-01, 5.88987640e+00,-2.06562993e+01,
 -5.32825823e+00, 1.15692799e+00,-1.13924757e+00, 5.08784731e+01,
 -1.64181801e+02, 2.25798877e+01]

qfrc_actuator:
[ 9.13529923e-05, 9.54982659e-04, 1.44150592e-04, 1.92586377e-06,
 -1.27695423e-05, 3.48995861e-02, 1.09612466e-02, 1.78192624e-03,
  5.85034205e-06, 9.12584374e-04, 1.88457592e-04, 1.73722880e-05,
  3.60609296e-04,-1.56256617e-03, 0.00000000e+00,-1.42105369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00426817143417544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50291959e-15,  3.25145979e-15,  1.00000000e+00, -2.11439816e-29,
        1.00000000e+00, -3.25145979e-15, -1.00000000e+00,  0.00000000e+00,
        6.50291959e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0005904 , -0.07641532,  0.06178632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95384312e-05, 1.47974496e-05, 1.95566134e-05,-6.01717901e-06,
 -1.95073975e-05, 1.80081662e-06, 3.76032585e-05, 7.69747804e-05,
  2.92795177e-05, 8.47116637e-05, 1.44011841e-05,-3.37157133e-05,
 -1.41421277e-05, 2.77116360e-05,-3.02415208e-05,-1.08390922e-04,
  2.26770518e-04,-8.68307084e-04,-4.90255441e+00,-1.59876679e-03,
  2.95733427e-03,-3.39082544e-03]


--- Step 2393 ---
qpos:
[ 0.01865196, 0.03003053,-0.00943736,-0.02528799,-0.00349862, 1.34078056,
 -0.02995661, 0.94378993, 0.01158236, 0.02726824,-0.00830052, 0.02644517,
  1.38608469, 0.00766177, 1.32493655, 0.04416648,-0.09519938,-0.061167  ,
  0.09336567, 0.70026848, 0.05604491,-0.7003716 ,-0.12634333]

qacc:
[-7.11262983e+00,-2.13073334e+00, 8.82270067e+00,-1.62314053e+01,
  9.05425495e-02, 1.00792436e+00,-4.28156078e+00, 1.02079079e+01,
  2.75776912e+00,-1.28099162e+00, 6.35039147e+00,-1.34542875e+01,
 -3.70651169e-01, 6.44844413e-01,-9.69149188e+00, 3.25631003e+01,
 -4.67842896e+00, 9.87299672e-01,-2.20381834e+00, 4.47229324e+01,
 -1.43808113e+02, 2.01179587e+01]

qfrc_actuator:
[ 4.97103854e-05, 9.16358874e-04, 1.51238367e-04,-2.07468837e-05,
  2.49252698e-05, 3.49059230e-02, 1.09611890e-02, 1.80866293e-03,
  2.15773121e-05, 8.77607305e-04, 1.84737147e-04,-4.79600243e-06,
  3.41083456e-04,-1.53453201e-03, 0.00000000e+00,-1.26104377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004297422530928768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84399231e-15, -2.58346257e-14,  1.00000000e+00,  1.25142728e-28,
        1.00000000e+00,  2.58346257e-14, -1.00000000e+00,  0.00000000e+00,
        4.84399231e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00066159, -0.07641531,  0.061785  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27927867e-05,-2.66133869e-05, 1.23329439e-05,-2.14822564e-05,
  2.61665377e-05, 1.70025409e-05, 6.83150582e-06, 2.96793126e-05,
  1.66156043e-05, 1.39298949e-05, 1.43880259e-05,-1.86946810e-05,
 -2.10359381e-05, 3.37365348e-05,-2.76554176e-05, 1.49739586e-04,
  9.00103498e-08,-6.60028247e-04,-4.90287253e+00,-9.17804044e-04,
  3.17425609e-03,-3.40714170e-03]


--- Step 2394 ---
qpos:
[ 0.01865074, 0.03003124,-0.00943723,-0.02528812,-0.00349827, 1.34078091,
 -0.02995647, 0.94379048, 0.01158439, 0.02726838,-0.00830006, 0.02644396,
  1.38615973, 0.0076631 , 1.32504206, 0.04416561,-0.09524078,-0.06125073,
  0.09334256, 0.69974726, 0.05698078,-0.70066856,-0.12716337]

qacc:
[-7.23916376e+00, 7.90314322e-02, 2.91448431e+00,-1.35557051e+01,
  6.95667634e-02, 7.65078261e-01,-1.14855751e+00,-3.62614981e+00,
  1.52280523e+00,-2.46441105e+00, 7.49642923e+00,-6.41084816e+00,
  5.68653714e-02,-3.52386629e-02,-1.13884107e+01, 3.89652747e+01,
 -4.12782227e+00, 8.46413023e-01,-3.11295372e+00, 3.95563758e+01,
 -1.26641464e+02, 1.79993767e+01]

qfrc_actuator:
[ 7.61799537e-06, 9.46418106e-04, 1.37329493e-04,-5.20625770e-05,
  2.95853996e-05, 3.49274150e-02, 1.09431837e-02, 1.78848753e-03,
  3.00762387e-05, 8.38596319e-04, 2.18007219e-04, 4.19777927e-07,
  3.26679358e-04,-1.53628139e-03, 0.00000000e+00,-1.07623670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004270329338360961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29992670e-14,  6.49963350e-15,  1.00000000e+00, -8.44904712e-29,
        1.00000000e+00, -6.49963350e-15, -1.00000000e+00,  0.00000000e+00,
        1.29992670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0006023 , -0.07643326,  0.06178614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33503298e-05, 1.67671800e-05,-1.86401295e-05,-3.24482261e-05,
  2.01238785e-05, 3.31277835e-05,-1.30307376e-05,-1.87740493e-05,
  8.99178568e-06,-2.90524998e-05, 3.72740065e-05, 5.94880036e-06,
 -1.69929300e-05, 3.81479687e-06, 3.26884564e-06, 1.89482251e-04,
 -1.23288699e-04,-4.83628055e-04,-4.90292853e+00,-3.54805632e-04,
  3.34760500e-03,-3.42513774e-03]


--- Step 2395 ---
qpos:
[ 0.01865007, 0.03003218,-0.00943732,-0.02528828,-0.0034978 , 1.34078136,
 -0.02995649, 0.94379149, 0.01158617, 0.02726851,-0.00829873, 0.02644241,
  1.38623475, 0.00766397, 1.32514779, 0.04416495,-0.09529683,-0.06133154,
  0.09330391, 0.69906753, 0.05791463,-0.70113191,-0.12792394]

qacc:
[ 4.60795111e+00, 8.62896045e-01,-2.50853522e+00, 2.11125693e+00,
  4.99671826e-02, 1.35379419e+00,-5.20224455e+00, 9.76831768e+00,
 -2.18225260e+00,-3.10460234e+00, 1.24414094e+01,-1.95425779e+01,
  2.76888427e-01,-5.88761154e-01,-3.19225277e-01, 1.49989112e+00,
 -3.66039380e+00, 7.29303386e-01,-3.88723194e+00, 3.52235269e+01,
 -1.12181266e+02, 1.61779867e+01]

qfrc_actuator:
[ 3.66097206e-05, 9.64016218e-04, 1.29153616e-04,-5.26651870e-05,
  3.21411788e-05, 3.49222010e-02, 1.09325343e-02, 1.81189378e-03,
  1.65043881e-05, 8.68638347e-04, 2.72826659e-04,-1.37881364e-05,
  3.15346705e-04,-1.57345235e-03, 0.00000000e+00,-1.07366326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004198228488207709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32225179e-14,  6.61125894e-15,  1.00000000e+00, -8.74174895e-29,
        1.00000000e+00, -6.61125894e-15, -1.00000000e+00,  0.00000000e+00,
        1.32225179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00043971, -0.07646524,  0.06178925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77340709e-05, 2.16966202e-05,-8.13794739e-06,-1.16108654e-06,
  1.44493339e-05, 9.99760538e-06,-6.20232585e-06, 2.35858920e-05,
 -1.33196914e-05, 2.17516443e-05, 5.36123714e-05,-1.40460828e-05,
 -1.82137664e-05,-4.01844548e-05, 2.07713564e-05, 1.31496657e-05,
 -1.74254350e-04,-3.34202547e-04,-4.90280564e+00, 1.14210247e-04,
  3.48568408e-03,-3.44436409e-03]


--- Step 2396 ---
qpos:
[ 0.0186501 , 0.03003272,-0.00943757,-0.02528769,-0.00349724, 1.34078178,
 -0.02995721, 0.9437942 , 0.01158742, 0.02726958,-0.00829775, 0.02644102,
  1.38630955, 0.00766469, 1.32525406, 0.04416067,-0.09532885,-0.06141313,
  0.09328842, 0.69865138, 0.05880916,-0.70132488,-0.12872898]

qacc:
[ 5.98730139e+00, 1.44613753e+00,-9.13839027e+00, 2.28213060e+01,
  3.38461466e-02, 4.71602844e+00,-1.89343019e+01, 3.61074649e+01,
 -4.48008682e+00, 2.53058171e+00,-7.81155416e+00, 1.01791687e+01,
 -4.13955148e-01, 2.99828965e-01, 1.17900692e+01,-3.99818277e+01,
  6.00394746e+00,-1.93052522e-01, 5.79250993e+00,-5.42642658e+01,
  1.83105882e+02, 7.27093776e+00]

qfrc_actuator:
[ 7.17031517e-05, 9.03053177e-04, 1.06672178e-04,-1.74343147e-05,
  3.34149089e-05, 3.49010790e-02, 1.08907464e-02, 1.89626847e-03,
 -9.94633221e-06, 9.57633248e-04, 2.69166911e-04,-3.74433028e-06,
  3.00520873e-04,-1.57806773e-03, 0.00000000e+00,-1.26725228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004173970983462914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15434337, -0.05689969,  0.06179013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59066954e-05,-5.05817607e-05,-1.90527580e-05, 3.58530965e-05,
  9.81292647e-06,-1.60969716e-05,-3.98454819e-05, 8.50420634e-05,
 -2.68333203e-05, 1.11615325e-04, 6.93959977e-06, 1.25587252e-05,
 -3.27391841e-05,-2.13387283e-05, 7.69133012e-06,-1.90950129e-04,
 -1.75161417e-04,-2.07390127e-04,-4.90256191e+00, 5.08030948e-04,
  3.59504398e-03,-3.46447634e-03]


--- Step 2397 ---
qpos:
[ 0.01864951, 0.03003299,-0.00943837,-0.02528666,-0.00349679, 1.34078173,
 -0.02995822, 0.94379757, 0.01158835, 0.02727156,-0.00829744, 0.02644012,
  1.38638396, 0.00766559, 1.32536009, 0.04415646,-0.09533984,-0.06149552,
  0.09328847, 0.69846616, 0.05966917,-0.70128125,-0.12957323]

qacc:
[-5.27435705e+00, 2.08655000e+00,-9.76414564e+00, 1.82820791e+01,
 -3.96582514e-02, 1.33026693e+00,-6.43423539e+00, 1.35564856e+01,
 -2.82569355e+00, 4.10050577e+00,-1.50037303e+01, 2.41063741e+01,
 -4.05342393e-01, 4.48579862e-01,-5.72421671e-01, 1.55833318e+00,
  5.25932947e+00,-2.01389724e-01, 3.88458492e+00,-4.78222857e+01,
  1.60258454e+02, 6.31352654e+00]

qfrc_actuator:
[ 3.90725197e-05, 8.84250212e-04, 7.56184648e-05, 3.01034232e-06,
  1.61574053e-05, 3.48527582e-02, 1.08663759e-02, 1.92704164e-03,
 -2.60052580e-05, 9.92281416e-04, 2.31283796e-04, 2.05059844e-05,
  2.83619185e-04,-1.56328254e-03, 0.00000000e+00,-1.25525344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004242658316176436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54202473e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.54202473e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15423845, -0.05691565,  0.06178695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16042505e-05,-4.94933506e-05,-4.26129259e-05, 1.83145311e-05,
 -1.14592666e-05,-6.24617972e-05,-2.95556369e-05, 3.10958283e-05,
 -1.68025179e-05, 9.89833349e-05,-1.35565425e-05, 2.95179172e-05,
 -3.83962210e-05, 9.00890695e-07,-2.17708841e-05, 1.44450324e-06,
 -1.55554418e-04,-3.74141323e-04,-4.90309488e+00,-2.00316563e-04,
  3.37753346e-03,-3.50676823e-03]


--- Step 2398 ---
qpos:
[ 0.01864888, 0.03003308,-0.00943929,-0.02528613,-0.00349647, 1.34078128,
 -0.02995923, 0.94380091, 0.01158839, 0.02727349,-0.00829688, 0.02643924,
  1.38645811, 0.00766682, 1.3254656 , 0.04415541,-0.09533229,-0.06157875,
  0.09329757, 0.69848431, 0.06049865,-0.70102911,-0.1304522 ]

qacc:
[-3.59632264e-01,-9.01284760e-01, 4.97827063e+00,-1.32432757e+01,
 -5.96745358e-02,-5.83757438e-01, 1.30928691e+00,-1.14706540e+00,
 -7.57680331e+00,-7.31197703e-01, 2.50173280e+00,-2.71070049e+00,
 -1.15961006e-01, 2.52766248e-01,-1.02838210e+01, 3.48908648e+01,
  4.63567726e+00,-2.06821509e-01, 2.26180490e+00,-4.24183726e+01,
  1.41108422e+02, 5.53655663e+00]

qfrc_actuator:
[ 3.78498620e-05, 8.90780166e-04, 7.53922208e-05,-2.08972171e-05,
  5.67567225e-06, 3.48418139e-02, 1.08700905e-02, 1.92600820e-03,
 -7.13205126e-05, 9.40727044e-04, 2.26582784e-04, 1.73590200e-05,
  2.86798064e-04,-1.53713262e-03, 0.00000000e+00,-1.08664792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004251281398077157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.52875522e-15,  1.30575104e-14,  1.00000000e+00, -8.52492894e-29,
        1.00000000e+00, -1.30575104e-14, -1.00000000e+00,  0.00000000e+00,
        6.52875522e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15422608, -0.05692208,  0.06178656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16013412e-06,-2.91747467e-05,-1.50570458e-05,-2.71439290e-05,
 -1.72558650e-05,-5.03388581e-05,-1.09496984e-05,-3.05334490e-06,
 -4.57670975e-05, 2.18632784e-06, 1.50739048e-05, 1.19804519e-06,
 -1.58088125e-05, 1.77569040e-05,-1.16375031e-05, 1.65519272e-04,
 -5.74821428e-05,-5.18175551e-04,-4.90328819e+00,-8.02532441e-04,
  3.19791369e-03,-3.54667402e-03]


--- Step 2399 ---
qpos:
[ 0.01864859, 0.03003278,-0.00944013,-0.02528623,-0.00349629, 1.34078063,
 -0.02996054, 0.94380353, 0.01158823, 0.02727565,-0.00829699, 0.02643836,
  1.3865323 , 0.00766822, 1.32557108, 0.04415569,-0.09530829,-0.06166281,
  0.09331021, 0.69868251, 0.06130085,-0.70059186,-0.13136211]

qacc:
[ 2.88136539e+00,-2.06091294e+00, 9.20149347e+00,-1.97998249e+01,
 -5.72157792e-02,-6.96879421e-01, 3.46566478e+00,-1.13689650e+01,
 -1.72413740e+00, 2.17391282e+00,-7.31994136e+00, 8.22940743e+00,
  2.47099666e-02, 9.21061946e-02,-4.04662867e+00, 1.40939658e+01,
  4.11287305e+00,-2.09979354e-01, 8.84753946e-01,-3.78863126e+01,
  1.25045711e+02, 4.90096750e+00]

qfrc_actuator:
[ 5.51457599e-05, 8.59258261e-04, 7.57012562e-05,-5.29079676e-05,
 -6.55686023e-07, 3.48356711e-02, 1.08549674e-02, 1.88855856e-03,
 -8.02392625e-05, 9.44552716e-04, 1.87878429e-04, 1.58172083e-05,
  3.02026753e-04,-1.52212625e-03, 0.00000000e+00,-1.02245974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004211611993515121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63609997e-14, -1.31804998e-14,  1.00000000e+00,  3.47451152e-28,
        1.00000000e+00,  1.31804998e-14, -1.00000000e+00,  0.00000000e+00,
        2.63609997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15428737, -0.05692071,  0.06178837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72250591e-05,-5.21005652e-05,-8.50081738e-06,-3.43084909e-05,
 -1.65305263e-05,-3.62152040e-05,-2.62995228e-05,-3.93518462e-05,
 -1.02524299e-05, 8.12291332e-06,-3.63799835e-05,-9.04923421e-07,
  1.18127644e-05, 1.67141924e-05, 1.18310697e-05, 7.16512540e-05,
  9.14545607e-05,-6.44443337e-04,-4.90324741e+00,-1.31925243e-03,
  3.04942532e-03,-3.58461398e-03]


--- Step 2400 ---
qpos:
[ 0.0186485 , 0.03003194,-0.00944088,-0.02528668,-0.00349636, 1.34077965,
 -0.029962  , 0.94380568, 0.01158796, 0.02727781,-0.00829723, 0.0264378 ,
  1.3866065 , 0.00766961, 1.32567672, 0.04415573,-0.09530592,-0.06174263,
  0.09331881, 0.69864488, 0.06210518,-0.7004029 ,-0.13218945]

qacc:
[ 1.81120717e+00,-1.68111236e+00, 6.49415086e+00,-1.25075160e+01,
 -1.08345704e-01,-8.34761341e-01, 3.15408544e+00,-7.92116770e+00,
 -9.08407915e-01, 1.07305903e+00,-5.19236676e+00, 1.10499403e+01,
 -7.25756136e-03,-4.13116446e-03, 9.17338590e-01,-2.87579663e+00,
 -5.40913499e+00, 1.06017780e+00,-1.01007297e+00, 5.32050226e+01,
 -1.66676648e+02, 2.02155815e+01]

qfrc_actuator:
[ 6.54403040e-05, 8.22949776e-04, 7.61667161e-05,-7.17038476e-05,
 -2.21989188e-05, 3.48146107e-02, 1.08465986e-02, 1.86548228e-03,
 -8.54067338e-05, 9.45852173e-04, 1.82853551e-04, 3.29973522e-05,
  2.92513815e-04,-1.53154608e-03, 0.00000000e+00,-1.03810790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004219844565639681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57739288e-15, -1.31547858e-14,  1.00000000e+00,  8.65241943e-29,
        1.00000000e+00,  1.31547858e-14, -1.00000000e+00,  0.00000000e+00,
        6.57739288e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00050771, -0.07649518,  0.06178806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07819126e-05,-6.86393388e-05,-1.25159120e-05,-2.19866674e-05,
 -3.13131221e-05,-4.74128074e-05,-1.95942464e-05,-2.58474442e-05,
 -5.45683998e-06,-1.79066430e-06,-7.88095457e-06, 1.62496448e-05,
  3.46802486e-07,-1.69337927e-06, 1.09354736e-05,-1.07107473e-05,
  2.73090820e-04,-7.56747503e-04,-4.90304646e+00,-1.76665170e-03,
  2.92669813e-03,-3.62091941e-03]


--- Step 2401 ---
qpos:
[ 0.01864889, 0.03003077,-0.00944173,-0.02528703,-0.00349654, 1.34077855,
 -0.02996307, 0.94380714, 0.01158695, 0.02727951,-0.00829676, 0.02643711,
  1.38668064, 0.00767094, 1.32578239, 0.0441556 ,-0.09532255,-0.06181881,
  0.09331905, 0.69840078, 0.06291112,-0.70043157,-0.1329442 ]

qacc:
[ 4.02565444e+00, 3.93625743e-02,-1.26172973e+00, 3.57828844e+00,
 -4.66338246e-02,-2.36559194e+00, 8.94094268e+00,-1.56407097e+01,
 -6.36376238e+00,-2.88184340e+00, 9.99553348e+00,-1.31862933e+01,
 -3.06237823e-02,-1.41120103e-02, 5.79043718e-01,-1.94780810e+00,
 -4.75009800e+00, 9.08424334e-01,-2.08824024e+00, 4.67755159e+01,
 -1.45967278e+02, 1.79067604e+01]

qfrc_actuator:
[ 8.92777370e-05, 8.19572321e-04, 7.67007030e-05,-6.48278267e-05,
 -1.71890015e-05, 3.48380709e-02, 1.08777535e-02, 1.83330339e-03,
 -1.23842259e-04, 9.10261405e-04, 2.15528497e-04, 2.55800290e-05,
  2.84134441e-04,-1.53773705e-03, 0.00000000e+00,-1.04737820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004260457943181244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30293860e-14, -2.28014256e-14,  1.00000000e+00,  2.97088576e-28,
        1.00000000e+00,  2.28014256e-14, -1.00000000e+00,  0.00000000e+00,
        1.30293860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00060286, -0.07648882,  0.06178627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41326134e-05,-4.52419726e-05,-1.59252063e-05, 3.08022262e-06,
 -1.34962771e-05,-7.36789521e-06, 1.88979607e-05,-3.47781077e-05,
 -3.85898430e-05,-3.76004290e-05, 3.18754640e-05,-7.45334748e-06,
 -8.62463424e-06,-6.66442356e-06, 9.31372012e-07,-9.13254859e-06,
  3.51753664e-05,-5.66372004e-04,-4.90343114e+00,-1.16985339e-03,
  3.12377773e-03,-3.63436921e-03]


--- Step 2402 ---
qpos:
[ 0.0186499 , 0.03002921,-0.00944258,-0.02528695,-0.00349677, 1.34077753,
 -0.02996329, 0.94380816, 0.01158651, 0.0272807 ,-0.00829633, 0.0264357 ,
  1.38675488, 0.00767192, 1.32588816, 0.04415435,-0.09535595,-0.06189187,
  0.09330726, 0.69797475, 0.06371827,-0.70065184,-0.13363474]

qacc:
[ 5.39270061e+00, 3.60160103e-01,-3.86951506e+00, 1.16261217e+01,
 -1.66052624e-02,-2.94323153e+00, 1.06302637e+01,-1.43769314e+01,
  4.96860970e+00,-2.05911793e+00, 9.34684662e+00,-2.12354039e+01,
  1.92474644e-01,-3.94918347e-01, 3.50747438e+00,-1.21073515e+01,
 -4.19223097e+00, 7.82072757e-01,-3.00916346e+00, 4.13692786e+01,
 -1.28524416e+02, 1.59372303e+01]

qfrc_actuator:
[ 1.20897893e-04, 8.00463295e-04, 7.74178713e-05,-4.28770853e-05,
 -1.40431011e-05, 3.48704107e-02, 1.09321504e-02, 1.81382268e-03,
 -9.27900971e-05, 8.52994743e-04, 1.99008122e-04,-1.40169854e-05,
  2.87092422e-04,-1.55970508e-03, 0.00000000e+00,-1.10604216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00424321317241607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54116927e-15, -1.63529232e-14,  1.00000000e+00,  1.06967239e-28,
        1.00000000e+00,  1.63529232e-14, -1.00000000e+00,  0.00000000e+00,
        6.54116927e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00056321, -0.07650082,  0.06178704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23127674e-05,-4.75047195e-05,-1.04585526e-05, 1.95269404e-05,
 -4.82997018e-06, 3.09255356e-05, 5.40906791e-05,-1.99552122e-05,
  2.99136750e-05,-7.21103913e-05,-2.06424306e-05,-4.02523765e-05,
 -2.96059122e-06,-2.59730971e-05,-3.07126793e-06,-5.96213512e-05,
 -9.66616720e-05,-4.07108937e-04,-4.90353787e+00,-6.76840890e-04,
  3.28080342e-03,-3.64931639e-03]


--- Step 2403 ---
qpos:
[ 0.01865094, 0.03002751,-0.00944351,-0.02528697,-0.00349714, 1.34077674,
 -0.02996294, 0.94380963, 0.01158645, 0.02728069,-0.00829558, 0.02643562,
  1.38682908, 0.00767266, 1.32599406, 0.04415107,-0.09536848,-0.06196593,
  0.09331059, 0.69777658, 0.06449819,-0.7006366 ,-0.13437332]

qacc:
[ 2.28917066e-01,-1.88958347e-01, 8.77470041e-01,-2.56402601e+00,
 -6.43468781e-02,-4.89091826e-01, 1.04094885e+00, 4.15536259e+00,
  3.23952513e+00, 2.70677462e-01,-8.85901383e+00, 3.22064678e+01,
 -4.82330665e-02,-1.03361458e-01, 6.36289503e+00,-2.19648895e+01,
  5.21716651e+00,-2.51271416e-01, 3.77984700e+00,-4.93318172e+01,
  1.58667753e+02, 4.89175509e-01]

qfrc_actuator:
[ 1.21335993e-04, 8.07611614e-04, 7.81889119e-05,-4.77515397e-05,
 -2.97949532e-05, 3.48901776e-02, 1.09643683e-02, 1.83749465e-03,
 -7.43337712e-05, 7.65212150e-04, 2.06696332e-04, 5.19782562e-05,
  2.80863827e-04,-1.57307036e-03, 0.00000000e+00,-1.21108137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004194464459498656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64687670e-14, -1.32343835e-14,  1.00000000e+00,  3.50297813e-28,
        1.00000000e+00,  1.32343835e-14, -1.00000000e+00,  0.00000000e+00,
        2.64687670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15431685, -0.05694285,  0.06178916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36854523e-06,-2.06653496e-05,-9.62704964e-06,-6.88627379e-06,
 -1.86051007e-05, 4.68641981e-05, 4.38405436e-05, 2.57247935e-05,
  1.93136736e-05,-1.34132018e-04,-1.11600067e-05, 6.14055845e-05,
 -1.40919207e-05,-2.19017831e-05,-1.03243552e-05,-1.09283809e-04,
 -1.53761764e-04,-2.73609330e-04,-4.90345395e+00,-2.66244258e-04,
  3.40540839e-03,-3.66535744e-03]


--- Step 2404 ---
qpos:
[ 0.01865163, 0.03002597,-0.00944488,-0.02528672,-0.00349769, 1.34077579,
 -0.02996193, 0.94381002, 0.01158593, 0.02727955,-0.00829443, 0.02643667,
  1.38690312, 0.00767347, 1.32610052, 0.04414152,-0.09536261,-0.062041  ,
  0.09332264, 0.69777931, 0.06525382,-0.70041369,-0.13515411]

qacc:
[-2.99564368e+00, 2.01800514e+00,-8.02749753e+00, 1.33332093e+01,
 -6.97982739e-02,-3.80692287e+00, 1.43974152e+01,-2.49050311e+01,
 -3.95714092e+00,-2.95455824e-01,-5.86763574e+00, 2.55232398e+01,
 -7.06699472e-01, 7.69955680e-01, 1.98606436e+01,-6.81019542e+01,
  4.60275781e+00,-2.52020031e-01, 2.17923944e+00,-4.36853271e+01,
  1.39835964e+02, 5.88946649e-01]

qfrc_actuator:
[ 1.03414813e-04, 8.30415344e-04, 6.13179423e-05,-3.28466375e-05,
 -3.90043099e-05, 3.48489571e-02, 1.09832099e-02, 1.77982966e-03,
 -9.89674257e-05, 7.13257357e-04, 2.28572015e-04, 1.08563453e-04,
  2.74457165e-04,-1.56348747e-03, 0.00000000e+00,-1.53785846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004203396520756242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64125219e-14,  1.32062609e-14,  1.00000000e+00,  3.48810655e-28,
        1.00000000e+00, -1.32062609e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64125219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1543047 , -0.05695096,  0.06178877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78814938e-05, 9.03443069e-06,-2.25332841e-05, 1.35586203e-05,
 -2.02026799e-05,-5.94030995e-06, 3.37550173e-05,-5.43728451e-05,
 -2.41161517e-05,-1.26638054e-04,-5.09054007e-06, 5.16437010e-05,
 -1.90183239e-05,-1.42516537e-07,-1.92709471e-05,-3.34723753e-04,
 -7.79307008e-05,-4.12749221e-04,-4.90363896e+00,-7.94928601e-04,
  3.23922035e-03,-3.70060943e-03]


--- Step 2405 ---
qpos:
[ 0.01865279, 0.03002414,-0.00944572,-0.02528631,-0.00349837, 1.34077501,
 -0.02996106, 0.94380974, 0.01158545, 0.02727823,-0.0082939 , 0.02643695,
  1.38697713, 0.00767411, 1.32620676, 0.04412912,-0.09537584,-0.06211262,
  0.09332646, 0.69757421, 0.06601195,-0.70040971,-0.13586345]

qacc:
[ 4.04979389e+00,-1.53159231e+00, 4.17998887e+00,-1.90207022e+00,
 -5.93750431e-02,-5.74828181e-01, 3.52692384e+00,-1.10406012e+01,
  4.34445460e-01,-6.84594839e-02, 3.14070262e+00,-1.52636211e+01,
 -1.16726295e-01, 1.24283955e-02, 8.30219093e+00,-2.94849486e+01,
 -4.77805142e+00, 8.64177958e-01,-2.05531166e+00, 4.74653482e+01,
 -1.46660931e+02, 1.71457001e+01]

qfrc_actuator:
[ 1.28099260e-04, 8.09111260e-04, 8.75143181e-05,-2.41668971e-05,
 -4.42142363e-05, 3.48601988e-02, 1.09759668e-02, 1.74572070e-03,
 -9.55043342e-05, 7.36483138e-04, 2.05493708e-04, 7.04107967e-05,
  2.73282683e-04,-1.57585983e-03, 0.00000000e+00,-1.67308558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004218069102588477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31603229e-14,  3.29008071e-15,  1.00000000e+00, -4.32985244e-29,
        1.00000000e+00, -3.29008071e-15, -1.00000000e+00,  0.00000000e+00,
        1.31603229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00050607, -0.0765252 ,  0.06178816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41731048e-05,-2.02627246e-05, 2.57896591e-05, 8.55752707e-06,
 -1.71488801e-05, 1.29295429e-05,-6.15784272e-06,-3.45575192e-05,
  2.70848661e-06,-4.64139360e-05,-4.80793051e-05,-4.27521189e-05,
 -1.20285893e-05,-1.61414568e-05,-4.93798883e-05,-1.57061172e-04,
  5.25241910e-05,-5.37166919e-04,-4.90359549e+00,-1.25642937e-03,
  3.10008497e-03,-3.73452111e-03]


--- Step 2406 ---
qpos:
[ 0.01865492, 0.03002265,-0.0094462 ,-0.02528621,-0.00349915, 1.34077466,
 -0.02996045, 0.94380972, 0.01158537, 0.02727694,-0.00829411, 0.02643676,
  1.38705098, 0.00767485, 1.32631195, 0.04412149,-0.09540595,-0.06218125,
  0.09331837, 0.69718598, 0.06677225,-0.70059853,-0.13650965]

qacc:
[ 8.37717467e+00,-1.22210080e+00, 6.32459724e+00,-1.25879913e+01,
 -4.47412151e-02, 1.72389658e+00,-5.49127336e+00, 7.58124450e+00,
  3.30094902e+00, 1.09160615e+00,-1.85331827e+00,-5.22536998e+00,
  2.44707206e-01,-2.45249949e-01,-1.60104799e+01, 5.36737665e+01,
 -4.21810281e+00, 7.46042399e-01,-2.97763335e+00, 4.20095403e+01,
 -1.29151584e+02, 1.51889452e+01]

qfrc_actuator:
[ 1.77669174e-04, 8.68247689e-04, 1.21003280e-04,-3.69779892e-05,
 -4.69833644e-05, 3.49026661e-02, 1.09713570e-02, 1.76128283e-03,
 -7.55163933e-05, 7.51049602e-04, 1.74056338e-04, 4.78661915e-05,
  2.69914692e-04,-1.56567623e-03, 0.00000000e+00,-1.41025385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042058662154313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97977593e-14,  9.89887963e-15,  1.00000000e+00, -1.95975636e-28,
        1.00000000e+00, -9.89887963e-15, -1.00000000e+00,  0.00000000e+00,
        1.97977593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00047708, -0.07653388,  0.06178872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.02724297e-05, 5.35785314e-05, 3.28045563e-05,-1.26159148e-05,
 -1.29027666e-05, 4.73798097e-05,-3.79519880e-06, 1.49686992e-05,
  2.00512208e-05,-2.31117890e-05,-4.84180249e-05,-2.70283140e-05,
 -1.44721236e-05, 3.08051016e-06,-4.06961773e-05, 2.47662088e-04,
 -8.32665092e-05,-3.83881896e-04,-4.90372586e+00,-7.89247834e-04,
  3.25084941e-03,-3.74839783e-03]


--- Step 2407 ---
qpos:
[ 0.01865695, 0.03002212,-0.00944714,-0.02528629,-0.00350001, 1.34077442,
 -0.02995979, 0.94380955, 0.01158518, 0.02727557,-0.00829446, 0.02643626,
  1.38712448, 0.00767621, 1.3264172 , 0.0441143 ,-0.09541556,-0.06225106,
  0.09332454, 0.69702099, 0.06750915,-0.70055585,-0.137207  ]

qacc:
[-9.88696518e-01, 2.17177361e+00,-5.16087199e+00, 2.11988745e+00,
 -3.08280925e-02,-2.47329875e-01, 1.30212086e+00,-2.92425474e+00,
 -8.94774072e-01,-3.03972584e-01, 2.22558328e+00,-7.13701804e+00,
 -6.26804586e-01, 9.59968982e-01,-1.17715902e+00, 4.42322751e+00,
  5.12224625e+00,-2.97245707e-01, 3.56255221e+00,-4.93267105e+01,
  1.55594775e+02,-2.12830680e+00]

qfrc_actuator:
[ 1.70465774e-04, 9.39620255e-04, 1.05565194e-04,-4.45146019e-05,
 -4.82666083e-05, 3.48925250e-02, 1.09685050e-02, 1.75271596e-03,
 -8.14764863e-05, 7.60296814e-04, 1.73470594e-04, 3.47039232e-05,
  2.59918473e-04,-1.52442469e-03, 0.00000000e+00,-1.39438340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004232465331858011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.62311192e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.62311192e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15426457, -0.05697642,  0.06178748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71543906e-06, 1.07638046e-04,-7.50048870e-07,-4.35173082e-06,
 -8.90659861e-06, 1.57776997e-05, 6.42304790e-06,-6.90673497e-06,
 -5.38220864e-06,-1.47802231e-05,-1.22415325e-05,-1.63510797e-05,
 -1.63871617e-05, 3.88632473e-05, 9.73926752e-06, 2.46837709e-05,
 -1.43597749e-04,-2.56320364e-04,-4.90366070e+00,-4.00164226e-04,
  3.37039711e-03,-3.76331759e-03]


--- Step 2408 ---
qpos:
[ 0.01865818, 0.03002199,-0.00944803,-0.02528676,-0.00350092, 1.34077405,
 -0.02995959, 0.94380899, 0.01158492, 0.0272744 ,-0.00829473, 0.02643625,
  1.38719791, 0.00767756, 1.32652268, 0.0441057 ,-0.09540709,-0.06232205,
  0.09333867, 0.69705294, 0.0682251 ,-0.70030889,-0.13794924]

qacc:
[-6.78820310e+00,-4.09499304e-01, 3.90844710e+00,-1.11570991e+01,
 -1.95759778e-02, 3.92746245e-01,-6.87519579e-01,-3.90264570e+00,
 -5.99489479e-01, 1.04441477e+00,-5.41224155e+00, 1.35824758e+01,
 -1.62888088e-01, 1.52330762e-01, 4.63669113e+00,-1.57007626e+01,
  4.52255944e+00,-2.91719706e-01, 1.99283956e+00,-4.36853897e+01,
  1.37228951e+02,-1.68772895e+00]

qfrc_actuator:
[ 1.29895594e-04, 9.28823904e-04, 9.69485528e-05,-6.66517286e-05,
 -4.86487993e-05, 3.48509566e-02, 1.09309894e-02, 1.72997959e-03,
 -8.49147279e-05, 8.01934998e-04, 1.91097197e-04, 6.26898144e-05,
  2.51293992e-04,-1.53609225e-03, 0.00000000e+00,-1.47101662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042325984618266504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31151471e-14, -1.31151471e-14,  1.00000000e+00,  1.72007082e-28,
        1.00000000e+00,  1.31151471e-14, -1.00000000e+00,  0.00000000e+00,
        1.31151471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1542661 , -0.05698312,  0.0617875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06963515e-05, 4.90742198e-05, 1.33866930e-05,-1.76360699e-05,
 -5.64502744e-06,-3.17912223e-05,-3.39015734e-05,-2.22335459e-05,
 -3.60461686e-06, 3.01956757e-05, 1.25211417e-05, 2.66158265e-05,
 -7.52215941e-06,-3.54794715e-06, 4.00209695e-06,-7.46975643e-05,
 -6.58530375e-05,-3.90330800e-04,-4.90379800e+00,-8.86451027e-04,
  3.21509177e-03,-3.79623022e-03]


--- Step 2409 ---
qpos:
[ 0.01865892, 0.0300217 ,-0.00944822,-0.02528678,-0.00350185, 1.34077338,
 -0.02995977, 0.94380816, 0.01158532, 0.0272737 ,-0.00829494, 0.02643654,
  1.3872714 , 0.00767855, 1.32662779, 0.04409926,-0.09541784,-0.06238974,
  0.09334472, 0.69687583, 0.06894449,-0.70028202,-0.13862115]

qacc:
[-4.22865249e+00,-1.19817406e+00, 2.08355425e+00, 4.75914573e+00,
 -1.10043841e-02, 1.93183157e-01,-5.86016668e-01,-2.27451076e+00,
  5.54081065e+00, 1.04523990e+00,-4.11798921e+00, 8.88172752e+00,
  4.48417971e-01,-6.88334005e-01,-7.16961806e+00, 2.41477618e+01,
 -4.80715381e+00, 8.22899560e-01,-2.02054733e+00, 4.81333720e+01,
 -1.47275686e+02, 1.63943801e+01]

qfrc_actuator:
[ 1.05534125e-04, 9.04412222e-04, 1.27612962e-04,-4.40002938e-05,
 -4.84879216e-05, 3.48262471e-02, 1.09086779e-02, 1.71680060e-03,
 -5.13270831e-05, 8.45024042e-04, 2.01736785e-04, 7.91922153e-05,
  2.48804448e-04,-1.56137347e-03, 0.00000000e+00,-1.35293026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004193730656893518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61834960e-15, -1.32366992e-14,  1.00000000e+00,  8.76051029e-29,
        1.00000000e+00,  1.32366992e-14, -1.00000000e+00,  0.00000000e+00,
        6.61834960e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00044767, -0.07654926,  0.06178931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55285969e-05, 5.03806361e-06, 4.18518406e-05, 2.48770385e-05,
 -3.17604888e-06,-4.95947327e-05,-3.30409133e-05,-1.56451857e-05,
  3.34870023e-05, 6.37452394e-05, 1.93569021e-05, 1.87509813e-05,
 -7.30571904e-06,-2.80025042e-05,-9.41171329e-06, 1.13796190e-04,
  6.49041976e-05,-5.11895558e-04,-4.90372004e+00,-1.31502078e-03,
  3.08427846e-03,-3.82810458e-03]


--- Step 2410 ---
qpos:
[ 0.01866005, 0.0300216 ,-0.00944812,-0.02528655,-0.00350265, 1.34077256,
 -0.02996029, 0.94380648, 0.01158576, 0.02727291,-0.00829452, 0.02643741,
  1.38734496, 0.00767921, 1.32673259, 0.04409593,-0.0954105 ,-0.06245868,
  0.09335873, 0.69689547, 0.06964444,-0.70005057,-0.13933971]

qacc:
[ 3.36069045e+00,-5.33922676e-02,-5.62384586e-01, 4.42795429e+00,
  5.66035190e-02,-7.66686016e-01, 4.04083006e+00,-1.33842598e+01,
  4.93451932e-01,-6.96820804e-01,-7.89629787e-02, 9.01333689e+00,
  5.22046821e-01,-7.52336107e-01,-9.91441894e+00, 3.38940734e+01,
  4.52429230e+00,-3.11522147e-01, 1.98870959e+00,-4.40674475e+01,
  1.37215319e+02,-2.86391653e+00]

qfrc_actuator:
[ 1.26424489e-04, 9.25474464e-04, 1.45671370e-04,-3.06738457e-05,
 -3.02503174e-05, 3.48296272e-02, 1.08955934e-02, 1.67387002e-03,
 -4.94736104e-05, 8.17622390e-04, 2.25919486e-04, 1.06549880e-04,
  2.55314028e-04,-1.57672805e-03, 0.00000000e+00,-1.19204141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004189304348574764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65013695e-14, -2.65013695e-14,  1.00000000e+00,  7.02322585e-28,
        1.00000000e+00,  2.65013695e-14, -1.00000000e+00,  0.00000000e+00,
        2.65013695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15433543, -0.05698834,  0.06178953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01466238e-05, 3.35897711e-05, 2.51200519e-05, 1.54766005e-05,
  1.63590885e-05,-3.09852371e-05,-2.70051433e-05,-4.57551955e-05,
  2.85244130e-06, 1.30873950e-05, 4.03923168e-05, 3.11241747e-05,
 -3.47674824e-06,-2.57257667e-05, 7.25475713e-06, 1.65789545e-04,
 -7.31519703e-05,-3.63591585e-04,-4.90386593e+00,-8.69345382e-04,
  3.22984867e-03,-3.84112183e-03]


--- Step 2411 ---
qpos:
[ 0.01866073, 0.03002218,-0.00944858,-0.02528616,-0.00350328, 1.34077166,
 -0.02996137, 0.94380569, 0.01158589, 0.02727163,-0.00829327, 0.02643898,
  1.38741855, 0.00767943, 1.32683733, 0.04409489,-0.0954223 ,-0.06252443,
  0.09336451, 0.69670727, 0.07034838,-0.70003796,-0.13998907]

qacc:
[-3.87474199e+00, 2.79356552e+00,-9.25444142e+00, 1.22261200e+01,
  7.20714049e-02, 2.96377238e+00,-1.16164008e+01, 2.04109388e+01,
 -2.74258917e+00,-1.51366344e+00, 1.45093800e+00, 9.84781094e+00,
  4.76825372e-01,-7.76199145e-01,-7.03738285e+00, 2.43794991e+01,
 -4.78448900e+00, 7.97713142e-01,-2.05684712e+00, 4.80968000e+01,
 -1.46312080e+02, 1.58567196e+01]

qfrc_actuator:
[ 1.02767030e-04, 9.73552330e-04, 1.20787369e-04,-2.29270319e-05,
 -1.90687291e-05, 3.48320695e-02, 1.08703935e-02, 1.72030982e-03,
 -6.63261584e-05, 7.66036561e-04, 2.57633209e-04, 1.40029333e-04,
  2.51242126e-04,-1.60375648e-03, 0.00000000e+00,-1.07829054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004230280041842442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56116743e-15, -1.31223349e-14,  1.00000000e+00,  8.60978360e-29,
        1.00000000e+00,  1.31223349e-14, -1.00000000e+00,  0.00000000e+00,
        6.56116743e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0005304 , -0.07654358,  0.06178776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30601590e-05, 7.27172725e-05,-1.43197209e-05, 1.03538556e-05,
  2.08482027e-05,-2.13519230e-05,-3.56770508e-05, 4.36514877e-05,
 -1.67692529e-05,-3.45659254e-05, 4.04718093e-05, 3.60424895e-05,
 -1.12180552e-05,-3.60079972e-05, 2.01261048e-05, 1.23544575e-04,
  5.09631532e-05,-4.84562715e-04,-4.90379691e+00,-1.28666764e-03,
  3.10085610e-03,-3.87211039e-03]


--- Step 2412 ---
qpos:
[ 0.01866009, 0.03002302,-0.0094492 ,-0.02528531,-0.00350389, 1.34077109,
 -0.02996361, 0.94380718, 0.01158615, 0.02727039,-0.00829232, 0.02644025,
  1.38749192, 0.00767939, 1.32694216, 0.04409523,-0.09545099,-0.06258742,
  0.09335838, 0.69633591, 0.07105602,-0.70021808,-0.14057733]

qacc:
[-1.13563128e+01, 1.75703613e+00,-7.69228176e+00, 1.57346543e+01,
  4.70419228e-03, 7.44571806e+00,-2.84634366e+01, 5.09609743e+01,
  1.19627780e+00, 2.86054381e-01, 3.23867464e-01,-4.98890711e+00,
  7.38637039e-02,-2.94479167e-01,-4.11571416e+00, 1.45165167e+01,
 -4.22387781e+00, 6.91022512e-01,-2.97859978e+00, 4.26055730e+01,
 -1.28841384e+02, 1.39477156e+01]

qfrc_actuator:
[ 3.53111130e-05, 9.66244895e-04, 1.06376513e-04,-7.71607919e-07,
 -2.99636461e-05, 3.48694456e-02, 1.08205478e-02, 1.83672227e-03,
 -5.85385887e-05, 7.71406543e-04, 2.40159709e-04, 1.23558259e-04,
  2.30170287e-04,-1.61979743e-03, 0.00000000e+00,-1.01099241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004217189490994214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.94892034e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.94892034e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00049848, -0.07655039,  0.06178837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81038306e-05, 3.08141887e-05,-7.99810808e-07, 2.49746571e-05,
  1.42459630e-06, 1.99042059e-05,-5.68013692e-05, 1.15732571e-04,
  7.27879964e-06,-4.03191533e-06,-1.83838557e-05,-1.58532583e-05,
 -3.42652711e-05,-3.00122546e-05, 2.03849023e-05, 7.61656395e-05,
 -7.91089838e-05,-3.40609476e-04,-4.90392327e+00,-8.56198208e-04,
  3.24162834e-03,-3.88485077e-03]


--- Step 2413 ---
qpos:
[ 0.01865968, 0.03002368,-0.0094492 ,-0.02528454,-0.0035047 , 1.34077063,
 -0.02996607, 0.94380899, 0.01158685, 0.02726951,-0.00829229, 0.02644133,
  1.38756512, 0.00767912, 1.32704721, 0.04409507,-0.09545947,-0.06265188,
  0.0933658 , 0.69618397, 0.07174508,-0.70016936,-0.14122109]

qacc:
[ 1.99796999e+00,-2.15639597e+00, 7.69306333e+00,-1.00083773e+01,
 -8.03643429e-02, 1.25273019e+00,-4.58195572e+00, 7.60157810e+00,
  3.68457168e+00, 2.62771246e+00,-7.87279122e+00, 5.64399546e+00,
 -4.33626917e-02,-1.44016088e-01, 1.90405590e+00,-6.15251695e+00,
  5.05247201e+00,-3.68290382e-01, 3.38910009e+00,-4.97810544e+01,
  1.53215673e+02,-5.52816747e+00]

qfrc_actuator:
[ 4.91455297e-05, 9.43619775e-04, 1.33578248e-04,-5.84975853e-06,
 -5.40137688e-05, 3.48741471e-02, 1.08099804e-02, 1.85134686e-03,
 -3.63034167e-05, 7.92841816e-04, 1.93965182e-04, 1.13341898e-04,
  2.25549721e-04,-1.62925826e-03, 0.00000000e+00,-1.04259709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004204403170543561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3203099e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3203099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15431714, -0.05701127,  0.0617889 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18574804e-05,-4.53682323e-06, 3.43303831e-05,-3.29962066e-06,
 -2.32078693e-05, 8.08771383e-06,-9.73869786e-06, 1.62384623e-05,
  2.24456556e-05, 1.47377440e-05,-4.98398819e-05,-1.13362533e-05,
 -2.77612142e-05,-2.68420179e-05, 1.45259977e-05,-2.54921315e-05,
 -1.35048185e-04,-2.22105433e-04,-4.90385511e+00,-4.97359142e-04,
  3.35305433e-03,-3.89855968e-03]


--- Step 2414 ---
qpos:
[ 0.01865978, 0.03002441,-0.0094492 ,-0.02528383,-0.00350559, 1.34077017,
 -0.0299683 , 0.9438106 , 0.01158815, 0.02726894,-0.00829259, 0.02644189,
  1.38763824, 0.00767844, 1.32715224, 0.04409521,-0.09545009,-0.06271775,
  0.09338062, 0.69622577, 0.07241742,-0.69991852,-0.14191359]

qacc:
[ 4.39942018e+00,-2.51718549e-03, 3.59659448e-01,-1.32682708e+00,
 -3.44238954e-02,-9.26227220e-01, 3.44057906e+00,-5.28912958e+00,
  5.15591928e+00, 2.66135974e-01, 1.83173325e+00,-1.04534779e+01,
  2.04879471e-01,-4.93036073e-01,-1.01841249e+00, 3.43149147e+00,
  4.46540570e+00,-3.53070740e-01, 1.84910654e+00,-4.41015709e+01,
  1.35256404e+02,-4.67783625e+00]

qfrc_actuator:
[ 7.52250382e-05, 9.47640805e-04, 1.31771377e-04,-9.15252801e-06,
 -5.02548969e-05, 3.48770941e-02, 1.08225022e-02, 1.84145531e-03,
 -5.75050978e-06, 8.23603239e-04, 1.84546126e-04, 8.91493424e-05,
  2.20151000e-04,-1.65243308e-03, 0.00000000e+00,-1.02567971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004201188216804826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.96396079e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.96396079e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15432384, -0.05701714,  0.06178908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64199577e-05, 8.41298025e-06, 1.36059993e-06,-2.37711571e-06,
 -9.95569265e-06, 6.01157304e-06, 1.34775752e-05,-9.55905226e-06,
  3.12152927e-05, 2.82613369e-05,-1.28983296e-05,-2.55073905e-05,
 -2.50795475e-05,-3.78796570e-05, 3.97681253e-07, 1.65821948e-05,
 -6.35254823e-05,-3.51108926e-04,-4.90396780e+00,-9.39483991e-04,
  3.20831261e-03,-3.92882740e-03]


--- Step 2415 ---
qpos:
[ 0.01865985, 0.03002521,-0.00944976,-0.02528347,-0.00350636, 1.34076994,
 -0.02997077, 0.94381277, 0.01158947, 0.02726853,-0.00829295, 0.02644181,
  1.38771126, 0.00767723, 1.32725745, 0.04409388,-0.09545997,-0.06278058,
  0.09338734, 0.6960585 , 0.07309472,-0.69988761,-0.14253793]

qacc:
[-2.98343746e-01, 9.03865416e-01,-1.61463631e+00,-3.63347892e+00,
  5.02147849e-02, 1.92506237e+00,-7.06393206e+00, 1.25125755e+01,
  9.64774207e-02,-9.29855296e-01, 6.28307059e+00,-1.72864785e+01,
  1.07034593e-01,-4.62494821e-01, 4.72255796e+00,-1.61702716e+01,
 -4.81346405e+00, 7.60086197e-01,-2.02316837e+00, 4.87556631e+01,
 -1.46910961e+02, 1.51178551e+01]

qfrc_actuator:
[ 7.27715731e-05, 9.31966422e-04, 9.51897824e-05,-2.91387013e-05,
 -2.98430972e-05, 3.48967947e-02, 1.08130230e-02, 1.87050108e-03,
 -6.05665110e-06, 8.24338243e-04, 1.79208765e-04, 5.69662985e-05,
  2.08958271e-04,-1.68357376e-03, 0.00000000e+00,-1.10453806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004202377791382016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32094624e-14, -3.96283871e-14,  1.00000000e+00,  5.23469687e-28,
        1.00000000e+00,  3.96283871e-14, -1.00000000e+00,  0.00000000e+00,
        1.32094624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0004608 , -0.07656043,  0.06178909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68307736e-06,-1.08097762e-05,-3.47699338e-05,-1.96295158e-05,
  1.45286555e-05, 2.53826941e-05,-7.04458233e-06, 2.93986127e-05,
  6.17478189e-07, 1.28191278e-05,-1.96194704e-06,-3.19150169e-05,
 -3.22306588e-05,-4.85741160e-05,-3.24442143e-07,-7.84204628e-05,
  6.14157979e-05,-4.70602481e-04,-4.90387341e+00,-1.33464656e-03,
  3.08505547e-03,-3.95841802e-03]


--- Step 2416 ---
qpos:
[ 0.01866058, 0.03002585,-0.0094504 ,-0.02528336,-0.00350695, 1.34076941,
 -0.0299728 , 0.94381459, 0.01159043, 0.02726827,-0.00829311, 0.02644133,
  1.38778421, 0.00767558, 1.32736293, 0.04408927,-0.09548684,-0.06284077,
  0.09338228, 0.69570697, 0.07377673,-0.70005042,-0.14310214]

qacc:
[ 5.66078596e+00,-4.92398301e-01, 2.47819149e+00,-6.46752524e+00,
  7.30185557e-02,-2.19466807e+00, 7.38142259e+00,-1.02276121e+01,
 -3.05579521e+00,-1.16690501e+00, 6.18468405e+00,-1.36318883e+01,
 -6.18040812e-02,-2.18271198e-01, 1.03188351e+01,-3.55076149e+01,
 -4.24957961e+00, 6.59963460e-01,-2.94794069e+00, 4.32149548e+01,
 -1.29363392e+02, 1.32266424e+01]

qfrc_actuator:
[ 1.06796634e-04, 9.22204522e-04, 9.15472334e-05,-4.10634979e-05,
 -1.73598849e-05, 3.48553043e-02, 1.08262226e-02, 1.85121655e-03,
 -2.45266154e-05, 8.42608640e-04, 1.93943170e-04, 3.80678063e-05,
  2.10271150e-04,-1.70146072e-03, 0.00000000e+00,-1.27470196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004192940539345949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.6478387e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.6478387e-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([-0.00043709, -0.07656468,  0.06178955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39724445e-05,-2.38520707e-05,-1.08401547e-05,-1.39741046e-05,
  2.10697796e-05,-2.79357234e-05, 1.82312151e-05,-1.80474001e-05,
 -1.84477006e-05, 2.36897848e-05, 1.60470188e-05,-1.90360137e-05,
 -2.59838954e-05,-4.01224660e-05,-1.17096350e-05,-1.75216274e-04,
 -7.13245960e-05,-3.29900693e-04,-4.90401216e+00,-9.18476329e-04,
  3.22276682e-03,-3.97055872e-03]


--- Step 2417 ---
qpos:
[ 0.01866102, 0.03002625,-0.00945079,-0.02528305,-0.00350724, 1.34076872,
 -0.02997465, 0.94381548, 0.01159081, 0.02726806,-0.00829304, 0.0264403 ,
  1.38785684, 0.00767396, 1.32746786, 0.04408667,-0.09549372,-0.06290262,
  0.09339024, 0.69557202, 0.07444295,-0.69998658,-0.14372403]

qacc:
[-2.45187539e+00,-6.09037551e-01, 9.17831543e-01, 2.13928450e+00,
  1.30975919e-01,-2.30568454e+00, 9.19234589e+00,-1.87222844e+01,
 -4.88933906e+00,-1.76722196e+00, 8.74546796e+00,-1.88161972e+01,
 -7.27156604e-02, 7.61389852e-03,-6.89110658e+00, 2.29162739e+01,
  4.99752141e+00,-4.15821850e-01, 3.25714526e+00,-4.98817999e+01,
  1.51393963e+02,-7.40276769e+00]

qfrc_actuator:
[ 9.10188982e-05, 9.16182976e-04, 1.07419080e-04,-3.03637291e-05,
  8.01772303e-06, 3.48485620e-02, 1.08346888e-02, 1.80361825e-03,
 -5.35294341e-05, 8.35825095e-04, 2.02732135e-04, 9.41084421e-06,
  1.97784730e-04,-1.69351625e-03, 0.00000000e+00,-1.15995862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004201659493444011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32117206e-14,  2.64234412e-14,  1.00000000e+00, -3.49099122e-28,
        1.00000000e+00, -2.64234412e-14, -1.00000000e+00,  0.00000000e+00,
        1.32117206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15432779, -0.05703647,  0.06178912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47965033e-05,-2.22029742e-05, 9.12464555e-06, 9.02957160e-06,
  3.78279531e-05,-1.91631470e-05, 4.55231180e-06,-4.83227916e-05,
 -2.95357379e-05, 8.97178417e-06, 1.50080072e-05,-2.74540261e-05,
 -3.53075036e-05,-1.00054572e-05,-2.75544089e-05, 1.02881117e-04,
 -1.29436611e-04,-2.14848544e-04,-4.90395321e+00,-5.71133115e-04,
  3.33189430e-03,-3.98364592e-03]


--- Step 2418 ---
qpos:
[ 0.01866093, 0.03002644,-0.0094507 ,-0.02528299,-0.00350736, 1.3407682 ,
 -0.02997656, 0.94381647, 0.01159119, 0.02726752,-0.00829268, 0.02643932,
  1.38792904, 0.00767267, 1.32757199, 0.04409043,-0.09548293,-0.06296605,
  0.09340515, 0.69562842, 0.07509494,-0.69972242,-0.14439661]

qacc:
[-4.58939701e+00,-2.13119986e+00, 8.22280925e+00,-1.30244794e+01,
  6.83472163e-02, 5.73192820e-01,-1.78664876e+00, 2.55283291e+00,
 -3.75158184e-02,-1.06783793e+00, 2.95777048e+00,-2.19523618e+00,
 -6.36258230e-03, 9.21973835e-02,-2.04348758e+01, 6.97627075e+01,
  4.41958723e+00,-3.93958975e-01, 1.73779764e+00,-4.42118638e+01,
  1.33724359e+02,-6.35136775e+00]

qfrc_actuator:
[ 6.37951304e-05, 9.12554442e-04, 1.34704965e-04,-4.19318972e-05,
  5.42066054e-06, 3.48803950e-02, 1.08403969e-02, 1.81076951e-03,
 -5.29882034e-05, 7.96311121e-04, 2.07826756e-04, 1.07177173e-05,
  1.82369217e-04,-1.67036143e-03, 0.00000000e+00,-8.24986044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004194641622177628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32338245e-14,  1.32338245e-14,  1.00000000e+00,  1.75134112e-28,
        1.00000000e+00, -1.32338245e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32338245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15434021, -0.05704126,  0.06178947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76643377e-05,-1.37901825e-05, 2.41358170e-05,-1.20274146e-05,
  1.97570308e-05, 2.06795835e-05, 1.06433687e-06, 5.58603046e-06,
 -3.20875167e-07,-3.25732031e-05, 7.85195840e-06, 1.68025681e-06,
 -3.51763336e-05, 1.20668173e-05,-2.03483255e-06, 3.37007865e-04,
 -5.70364665e-05,-3.41728302e-04,-4.90404113e+00,-9.91518394e-04,
  3.19275380e-03,-4.01267713e-03]


--- Step 2419 ---
qpos:
[ 0.01866154, 0.03002684,-0.00945098,-0.02528341,-0.00350726, 1.34076769,
 -0.02997807, 0.94381787, 0.01159226, 0.02726655,-0.00829139, 0.02643902,
  1.38800088, 0.00767187, 1.32767609, 0.04409781,-0.0954915 ,-0.06302658,
  0.09341211, 0.69547461, 0.07575297,-0.69967917,-0.14500212]

qacc:
[ 6.05943697e+00, 3.45407770e-01, 1.16978182e+00,-8.96898371e+00,
  9.63405494e-02,-3.72534933e-01, 3.68348950e-01, 4.47724920e+00,
  5.94865192e+00,-1.83290472e+00, 2.80735384e+00, 7.81144833e+00,
 -2.90548773e-01, 5.09362541e-01,-1.09614301e+01, 3.83553258e+01,
 -4.84112062e+00, 7.24695804e-01,-1.99022864e+00, 4.94137332e+01,
 -1.47419419e+02, 1.43310209e+01]

qfrc_actuator:
[ 1.01079047e-04, 9.28180489e-04, 1.15240134e-04,-6.65061916e-05,
  2.15681291e-05, 3.48818422e-02, 1.08623785e-02, 1.83236070e-03,
 -1.73060097e-05, 7.90762319e-04, 2.63838624e-04, 4.73661916e-05,
  1.75870362e-04,-1.63840509e-03, 0.00000000e+00,-6.47078062e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004187494992052912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.62820509e-15,  1.32564102e-14,  1.00000000e+00, -8.78662054e-29,
        1.00000000e+00, -1.32564102e-14, -1.00000000e+00,  0.00000000e+00,
        6.62820509e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00042067, -0.07656787,  0.06178986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64718061e-05, 1.23671683e-05,-1.97587565e-05,-2.45634909e-05,
  2.78236667e-05, 1.32705659e-05, 2.63157324e-05, 2.23713800e-05,
  3.56595270e-05,-2.20514394e-05, 5.03134187e-05, 3.55596552e-05,
 -1.98988544e-05, 2.71732792e-05, 3.54104553e-05, 1.96175009e-04,
  6.81266091e-05,-4.60813124e-04,-4.90392884e+00,-1.37049677e-03,
  3.07343202e-03,-4.04122087e-03]


--- Step 2420 ---
qpos:
[ 0.01866191, 0.0300273 ,-0.00945177,-0.02528374,-0.0035068 , 1.3407673 ,
 -0.0299796 , 0.94381918, 0.01159306, 0.02726539,-0.00828947, 0.02643915,
  1.38807251, 0.00767142, 1.32778042, 0.04410664,-0.09551716,-0.06308459,
  0.09340738, 0.69513556, 0.0764168 ,-0.69983045,-0.1455485 ]

qacc:
[-2.13787859e+00, 1.64040226e+00,-6.07016416e+00, 8.22590206e+00,
  1.51249080e-01, 5.80589863e-02, 1.80830906e-01,-1.23452156e+00,
 -2.28225522e+00,-1.08439417e+00, 1.67649659e+00, 4.96229781e+00,
 -2.90030089e-01, 4.75866885e-01,-4.00369715e+00, 1.45626436e+01,
 -4.27358066e+00, 6.30503768e-01,-2.91882652e+00, 4.38189586e+01,
 -1.29793945e+02, 1.24684794e+01]

qfrc_actuator:
[ 8.72741223e-05, 9.19516123e-04, 8.61511838e-05,-6.30447751e-05,
  4.88316700e-05, 3.48829146e-02, 1.08581783e-02, 1.82675457e-03,
 -3.22458906e-05, 7.88080355e-04, 2.96356757e-04, 6.90661602e-05,
  1.69403987e-04,-1.61919598e-03, 0.00000000e+00,-5.80962986e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.19609068,   6.01624776,   6.19609068,
        46.96169479, -39.47098538,   6.01624776, -39.47098538,
        49.28725014,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004180646869318239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97929683e-15, -1.32781249e-14,  1.00000000e+00,  6.61157252e-29,
        1.00000000e+00,  1.32781249e-14, -1.00000000e+00,  0.00000000e+00,
        4.97929683e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00040288, -0.07657006,  0.0617902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27369298e-05,-6.88078279e-06,-2.98205851e-05, 2.82800255e-06,
  4.37063934e-05, 1.42417174e-05, 2.05061808e-06,-3.91780485e-06,
 -1.39085613e-05,-3.06005882e-06, 3.53870539e-05, 2.31865701e-05,
 -8.77294666e-06, 2.25238142e-05, 3.43897899e-05, 8.07371497e-05,
 -6.64528228e-05,-3.22553860e-04,-4.90407444e+00,-9.65024879e-04,
  3.20912785e-03,-4.05292061e-03]


--- Step 2421 ---
qpos:
[ 0.01866245, 0.03002738,-0.0094522 ,-0.02528334,-0.00350615, 1.34076714,
 -0.02998121, 0.94382041, 0.01159333, 0.02726426,-0.00828748, 0.02643921,
  1.38814415, 0.00767095, 1.32788511, 0.04411455,-0.095523  ,-0.06314445,
  0.09341529, 0.69501087, 0.07706745,-0.69975661,-0.14615465]

qacc:
[ 1.53564854e+00, 2.34667102e-02,-3.90214037e+00, 1.62900617e+01,
  8.31500476e-02, 3.94317081e-01,-7.39475457e-01,-4.79777381e-01,
 -4.52133989e+00,-3.02972636e-01, 1.48055254e+00,-2.96455855e+00,
 -7.39942219e-02, 6.88730915e-02, 3.27239078e+00,-1.06725626e+01,
  4.95637005e+00,-4.62951492e-01, 3.15617604e+00,-5.00693197e+01,
  1.50007830e+02,-9.16192475e+00]

qfrc_actuator:
[ 9.67459121e-05, 8.96344184e-04, 1.04813822e-04,-2.53784291e-05,
  4.70386120e-05, 3.49013946e-02, 1.08562795e-02, 1.82291717e-03,
 -5.91209118e-05, 7.87051647e-04, 2.96978173e-04, 6.40204427e-05,
  1.68282736e-04,-1.62546017e-03, 0.00000000e+00,-6.34453645e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004186390992886674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65198121e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.65198121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15435713, -0.05705779,  0.06178991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09872980e-06,-3.30698727e-05, 1.36712715e-05, 3.63970119e-05,
  2.40359166e-05, 2.66493299e-05, 1.00948005e-06,-3.44104254e-06,
 -2.72874883e-05, 5.58047759e-06, 5.14247578e-06,-3.50242695e-06,
  5.03521653e-07,-1.64656261e-06, 2.07586480e-05,-4.55202143e-05,
 -1.26074460e-04,-2.10177290e-04,-4.90402010e+00,-6.25967732e-04,
  3.31687651e-03,-4.06555395e-03]


--- Step 2422 ---
qpos:
[ 0.01866345, 0.03002716,-0.00945241,-0.02528215,-0.00350553, 1.34076697,
 -0.02998246, 0.94382159, 0.01159293, 0.02726341,-0.00828586, 0.02643886,
  1.38821575, 0.00767024, 1.32799013, 0.04411979,-0.09551129,-0.06320605,
  0.0934298 , 0.69507563, 0.07770617,-0.6994837 ,-0.14681341]

qacc:
[ 3.90652192e+00, 6.17526868e-01,-6.15128080e+00, 1.97700961e+01,
 -1.72673921e-02,-1.11204107e+00, 3.72256300e+00,-3.88211852e+00,
 -5.73007788e+00, 5.60077548e-01, 2.72772357e-01,-6.96273584e+00,
 -1.16523364e-01,-2.77003473e-02, 8.62294957e+00,-2.94047059e+01,
  4.38561186e+00,-4.34607901e-01, 1.65362379e+00,-4.44008760e+01,
  1.32565897e+02,-7.93212903e+00]

qfrc_actuator:
[ 1.19858413e-04, 8.82635695e-04, 1.15973075e-04, 1.43747975e-05,
  2.78295063e-05, 3.48946505e-02, 1.08735884e-02, 1.82017307e-03,
 -9.27891857e-05, 8.04620614e-04, 2.78762322e-04, 4.32640606e-05,
  1.54378998e-04,-1.64676938e-03, 0.00000000e+00,-7.75686941e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004177266591656827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15437262, -0.05706175,  0.06179035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33641420e-05,-2.78162664e-05, 7.27451048e-06, 3.95185263e-05,
 -5.00405639e-06, 8.09741320e-06, 2.25394847e-05,-1.99415106e-06,
 -3.44670539e-05, 2.16106968e-05,-1.65596599e-05,-2.04083106e-05,
 -1.40073236e-05,-2.17220198e-05, 8.65198744e-07,-1.41964540e-04,
 -5.33946943e-05,-3.36231298e-04,-4.90409064e+00,-1.03092539e-03,
  3.18138445e-03,-4.09370307e-03]


--- Step 2423 ---
qpos:
[ 0.01866402, 0.03002715,-0.00945293,-0.02528156,-0.00350532, 1.34076675,
 -0.02998311, 0.94382167, 0.01159179, 0.02726306,-0.00828519, 0.02643862,
  1.3882873 , 0.00766909, 1.32809508, 0.04412398,-0.09551905,-0.06326489,
  0.09343648, 0.69492918, 0.07835211,-0.69943247,-0.14740622]

qacc:
[-3.61926699e+00,-1.09587503e-01, 3.36055719e+00,-1.34620536e+01,
 -1.73668402e-01,-3.51356666e+00, 1.36174672e+01,-2.43835932e+01,
 -6.40298801e+00, 3.54624632e+00,-1.21280303e+01, 1.51625063e+01,
  1.55191779e-01,-4.52038812e-01, 3.04990396e+00,-1.08959637e+01,
 -4.86580962e+00, 6.90630631e-01,-1.96049203e+00, 5.00585843e+01,
 -1.47817476e+02, 1.34994236e+01]

qfrc_actuator:
[ 9.75497128e-05, 9.10192273e-04, 1.04873225e-04,-1.59845808e-05,
 -1.94229466e-05, 3.48906809e-02, 1.09020023e-02, 1.76483379e-03,
 -1.30181960e-04, 8.33090209e-04, 2.31898782e-04, 4.89476275e-05,
  1.43460966e-04,-1.67687999e-03, 0.00000000e+00,-8.25409472e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004181655184825224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49342885e-14, -2.65498463e-14,  1.00000000e+00,  3.96503066e-28,
        1.00000000e+00,  2.65498463e-14, -1.00000000e+00,  0.00000000e+00,
        1.49342885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00040137, -0.07656775,  0.06179022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16388106e-05, 1.52095058e-05,-1.45810906e-05,-3.05319180e-05,
 -5.02093712e-05, 4.86296987e-06, 3.25075334e-05,-5.44814575e-05,
 -3.83942230e-05, 3.62587014e-05,-4.51525319e-05, 5.63994380e-06,
 -2.33521175e-05,-3.97798137e-05,-1.85403365e-05,-5.82619334e-05,
  7.17985116e-05,-4.56020408e-04,-4.90396582e+00,-1.39905216e-03,
  3.06430585e-03,-4.12152925e-03]


--- Step 2424 ---
qpos:
[ 0.01866536, 0.03002725,-0.00945351,-0.02528237,-0.00350545, 1.34076691,
 -0.02998385, 0.94382075, 0.01158986, 0.02726305,-0.00828508, 0.02643844,
  1.3883587 , 0.0076678 , 1.32820024, 0.04412483,-0.09554399,-0.06332132,
  0.09343158, 0.69459663, 0.07900503,-0.69957645,-0.14794095]

qacc:
[   6.53698455,  -2.57618472,  15.29787145, -39.55439747,  -0.1388386 ,
   -0.98476005,   5.90554606, -17.1098635 ,  -6.71986147,   2.19828518,
   -7.40838792,   9.12739737,  -0.33029912,   0.23881789,  10.45342565,
  -36.00995731,  -4.29467719,   0.6019344 ,  -2.89307883,  44.40897667,
 -130.12057751,  11.67500777]

qfrc_actuator:
[ 1.37444099e-04, 9.08843810e-04, 9.85970519e-05,-8.73335523e-05,
 -2.98573128e-05, 3.49239236e-02, 1.09012062e-02, 1.71449480e-03,
 -1.69465353e-04, 8.50011923e-04, 2.04078092e-04, 5.23874023e-05,
  1.39662447e-04,-1.67646334e-03, 0.00000000e+00,-9.98304116e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.791808  ,   5.33461535,   6.791808  ,
        35.8235759 , -34.61361568,   5.33461535, -34.61361568,
        52.70496393,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00417653178269687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49526086e-14, -2.65824153e-14,  1.00000000e+00,  3.97476453e-28,
        1.00000000e+00,  2.65824153e-14, -1.00000000e+00,  0.00000000e+00,
        1.49526086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00038763, -0.07656828,  0.06179048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92714306e-05, 2.83337656e-06,-5.98202091e-06,-7.17961877e-05,
 -4.01054888e-05, 4.06548972e-05, 2.25793620e-06,-5.05035861e-05,
 -4.03940351e-05, 2.81010028e-05,-2.57000768e-05, 3.54224475e-06,
 -2.50002957e-05,-1.69490413e-05,-1.67109350e-05,-1.78928409e-04,
 -6.41839932e-05,-3.19363633e-04,-4.90411396e+00,-1.00065701e-03,
  3.19908658e-03,-4.13293775e-03]


--- Step 2425 ---
qpos:
[ 0.01866751, 0.03002713,-0.00945379,-0.02528333,-0.00350567, 1.34076698,
 -0.02998477, 0.94382065, 0.01158748, 0.0272634 ,-0.00828504, 0.02643758,
  1.38843003, 0.00766643, 1.3283052 , 0.04412458,-0.09554922,-0.06337979,
  0.09343902, 0.69447671, 0.07964721,-0.69949627,-0.14853752]

qacc:
[ 6.98539126e+00,-1.43620960e+00, 5.24056378e+00,-7.92368733e+00,
 -4.14217533e-02, 1.77530155e+00,-7.64800944e+00, 1.63484428e+01,
 -3.90552949e+00,-7.62720160e-01, 6.28580460e+00,-1.82811678e+01,
 -6.32897017e-02,-1.60420411e-04, 2.98778297e+00,-1.08960755e+01,
  4.92689166e+00,-5.10126170e-01, 3.08306441e+00,-5.03394468e+01,
  1.48987459e+02,-1.08499320e+01]

qfrc_actuator:
[ 1.78140430e-04, 8.90173797e-04, 1.12856163e-04,-9.34679243e-05,
 -1.81191546e-05, 3.48903149e-02, 1.08833269e-02, 1.75627975e-03,
 -1.91793460e-04, 8.77707359e-04, 2.05437682e-04, 1.89789505e-05,
  1.45473487e-04,-1.67562438e-03, 0.00000000e+00,-1.04712138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004164675361402463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.33290464e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.33290464e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15439567, -0.05707613,  0.06179098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18453099e-05,-2.13807488e-05, 1.16279919e-05,-7.61715164e-06,
 -1.19607530e-05,-1.21979449e-05,-1.11511740e-05, 4.19001816e-05,
 -2.35003126e-05, 3.82318028e-05, 4.12017870e-06,-3.30230493e-05,
 -1.12726174e-05,-9.69917535e-06,-3.02023086e-05,-6.15269798e-05,
 -1.25028415e-04,-2.08865183e-04,-4.90406072e+00,-6.66642181e-04,
  3.30644136e-03,-4.14527566e-03]


--- Step 2426 ---
qpos:
[ 0.01866944, 0.03002745,-0.00945453,-0.02528335,-0.00350618, 1.34076677,
 -0.02998551, 0.94382106, 0.01158553, 0.02726389,-0.00828494, 0.02643669,
  1.38850129, 0.00766526, 1.32840973, 0.04412572,-0.0955366 ,-0.06343898,
  0.09345184, 0.69455154, 0.08025285,-0.69921764,-0.14917215]

qacc:
[-1.89361493e+00, 3.81224906e+00,-1.66530534e+01, 3.31935751e+01,
 -1.22413461e-01,-1.36326585e-02,-1.43285946e+00, 7.22044081e+00,
  3.75472097e+00,-6.26368850e-02, 5.99664859e-01,-1.30484557e+00,
 -5.13161607e-02, 1.52981466e-01,-4.78953215e+00, 1.58647707e+01,
  4.46158743e+00,-1.80619977e-01, 1.34667364e+00,-4.84933404e+01,
  1.32789020e+02, 6.12589098e+00]

qfrc_actuator:
[ 1.65704836e-04, 9.50170848e-04, 1.03593502e-04,-4.34255549e-05,
 -4.64344170e-05, 3.48701749e-02, 1.08908240e-02, 1.78088864e-03,
 -1.68457260e-04, 8.76223966e-04, 2.06274105e-04, 1.74405835e-05,
  1.51720852e-04,-1.65676688e-03, 0.00000000e+00,-9.69145500e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041549186868723165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.6720692e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.6720692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15677698, -0.05885641,  0.06179145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12229816e-05, 5.01343935e-05,-1.25068963e-05, 4.93818157e-05,
 -3.53840605e-05,-2.78098734e-05, 5.07148686e-06, 2.48854518e-05,
  2.26634923e-05, 1.93051101e-05, 8.09448658e-06,-3.98540104e-07,
 -2.35797934e-06, 1.36686826e-05,-2.18417654e-05, 7.04152969e-05,
 -5.22109741e-05,-3.35431310e-04,-4.90411909e+00,-1.06185926e-03,
  3.17275902e-03,-4.17287764e-03]


--- Step 2427 ---
qpos:
[ 0.01867156, 0.0300286 ,-0.00945561,-0.02528282,-0.00350729, 1.34076674,
 -0.02998602, 0.94382137, 0.01158354, 0.02726445,-0.00828478, 0.0264358 ,
  1.38857222, 0.00766483, 1.32851421, 0.04412708,-0.0955436 ,-0.06349544,
  0.09345704, 0.69441336, 0.08086912,-0.69916199,-0.14974236]

qacc:
[ 1.52631976e+00, 3.12637511e+00,-1.18635836e+01, 2.11675713e+01,
 -2.52732021e-01,-5.18412253e-01, 2.17480328e+00,-3.12480589e+00,
 -4.25625479e-01,-3.59848525e-02, 2.87701696e-01,-4.66595710e-01,
 -6.80921034e-01, 1.10341024e+00,-6.52727693e-01, 2.34591874e+00,
 -4.90375084e+00, 6.82163520e-01,-1.90360931e+00, 5.13953118e+01,
 -1.48522742e+02, 1.17136725e+01]

qfrc_actuator:
[ 1.75353824e-04, 1.02127324e-03, 9.86095330e-05,-1.39526027e-05,
 -9.85509819e-05, 3.49116029e-02, 1.09132579e-02, 1.77743881e-03,
 -1.71694158e-04, 8.75058069e-04, 2.06696426e-04, 1.68916324e-05,
  1.42257168e-04,-1.60959716e-03, 0.00000000e+00,-9.59148227e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004183365162703345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65868712e-15, -1.32694969e-14,  1.00000000e+00,  2.20099436e-29,
        1.00000000e+00,  1.32694969e-14, -1.00000000e+00,  0.00000000e+00,
        1.65868712e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00040043, -0.0765629 ,  0.06179023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.33761267e-06, 9.86550623e-05, 5.54199310e-06, 3.21494155e-05,
 -7.30279659e-05, 2.77854025e-05, 1.83024913e-05,-3.56058873e-06,
 -2.56530513e-06, 1.12695706e-05, 5.38547232e-06, 5.50019220e-07,
 -7.77767879e-06, 5.10006069e-05,-3.11279809e-06, 1.09062279e-05,
  8.14378042e-05,-4.30149893e-04,-4.90404370e+00,-1.41255465e-03,
  3.05140238e-03,-4.19930374e-03]


--- Step 2428 ---
qpos:
[ 0.01867308, 0.03003001,-0.00945621,-0.02528263,-0.003509  , 1.340767  ,
 -0.02998636, 0.94382232, 0.01158083, 0.02726521,-0.00828521, 0.02643459,
  1.38864282, 0.00766525, 1.32861862, 0.04412887,-0.0955679 ,-0.06354953,
  0.09345087, 0.69408756, 0.08149528,-0.69930263,-0.15025583]

qacc:
[  -5.05153127,  -1.6498208 ,   7.77797603, -14.39569271,  -0.25482218,
    0.982087  ,  -4.0624271 ,  10.75121729,  -6.1029167 ,   1.25630409,
   -2.7249101 ,  -2.01204443,  -0.74647055,   1.23731073,  -1.35107037,
    4.75709394,  -4.32659635,   0.5938952 ,  -2.84487541,  45.54464197,
 -130.70681646,  10.13425544]

qfrc_actuator:
[ 1.44684068e-04, 1.00972728e-03, 1.14001612e-04,-3.23082560e-05,
 -1.29019281e-04, 3.49363649e-02, 1.09267941e-02, 1.81080861e-03,
 -2.08313748e-04, 8.74088180e-04, 1.71355011e-04,-8.31665862e-07,
  1.28716473e-04,-1.56381438e-03, 0.00000000e+00,-9.36067416e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.37684552,   5.82431267,   6.37684552,
        43.71429467, -38.4056558 ,   5.82431267, -38.4056558 ,
        50.6854342 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004180611105532153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32782385e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.32782385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00039276, -0.07656319,  0.06179037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03674642e-05, 4.61084311e-05, 3.75579788e-05,-1.33161080e-05,
 -7.36234983e-05, 4.36045555e-05, 2.09510187e-05, 3.46590004e-05,
 -3.66892742e-05, 6.44084146e-06,-3.23394485e-05,-1.70431877e-05,
 -5.72775733e-06, 5.98159001e-05,-2.79926961e-06, 2.27111343e-05,
 -5.50403073e-05,-3.01276252e-04,-4.90418849e+00,-1.03013846e-03,
  3.18380183e-03,-4.21018514e-03]


--- Step 2429 ---
qpos:
[ 0.01867388, 0.03003101,-0.00945597,-0.02528259,-0.00351091, 1.34076766,
 -0.02998681, 0.94382263, 0.01157805, 0.02726603,-0.00828605, 0.02643353,
  1.38871333, 0.00766581, 1.32872286, 0.04413191,-0.09557204,-0.06360453,
  0.09345596, 0.69398182, 0.08208248,-0.6992186 ,-0.15081463]

qacc:
[-6.17697148e+00,-3.18316464e+00, 1.12552465e+01,-1.50495199e+01,
 -8.73910130e-02,-2.62912809e-01, 2.80791438e+00,-1.00965923e+01,
 -6.38960982e-01, 1.50732004e+00,-5.91135270e+00, 9.12358422e+00,
 -5.30014501e-02, 1.17835758e-01,-4.04628357e+00, 1.38062677e+01,
  5.04081483e+00,-2.27641427e-01, 2.81516111e+00,-5.52094978e+01,
  1.50136540e+02, 5.26814957e+00]

qfrc_actuator:
[ 1.08274044e-04, 9.48820888e-04, 1.40942405e-04,-4.32038794e-05,
 -1.10749495e-04, 3.49509478e-02, 1.09171893e-02, 1.77681020e-03,
 -2.11022604e-04, 8.73076638e-04, 1.50671088e-04, 6.96153154e-06,
  1.12742771e-04,-1.57253068e-03, 0.00000000e+00,-8.69939248e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041540552318131835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67262461e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67262461e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15678145, -0.05887176,  0.06179153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72836844e-05,-2.79960449e-05, 4.06184486e-05,-7.88267858e-06,
 -2.52369287e-05, 4.38419548e-05, 2.32707151e-06,-3.12684138e-05,
 -3.77731674e-06,-4.86170691e-06,-2.39289607e-05, 6.62149926e-06,
 -5.08740385e-06, 8.47759777e-06,-1.33099630e-06, 6.64588416e-05,
 -1.16021001e-04,-1.97004033e-04,-4.90413075e+00,-7.07683654e-04,
  3.28968491e-03,-4.22197499e-03]


--- Step 2430 ---
qpos:
[ 0.01867458, 0.03003178,-0.00945569,-0.02528231,-0.00351257, 1.34076859,
 -0.02998733, 0.94382288, 0.01157629, 0.02726693,-0.00828687, 0.02643219,
  1.38878381, 0.00766613, 1.32882723, 0.04413438,-0.09555834,-0.06366042,
  0.09346645, 0.69407055, 0.08263504,-0.69893599,-0.15141335]

qacc:
[-8.39273568e-01, 8.05656354e-02,-1.76960440e+00, 6.14322087e+00,
  1.12250215e-01, 4.91511767e-01,-1.05156399e+00, 1.06832078e-01,
  8.72887687e+00,-5.01121747e-01, 3.09056022e+00,-7.93312493e+00,
  7.02435380e-02,-2.32098650e-01, 1.93791900e+00,-6.52818404e+00,
  4.45972789e+00,-2.22973574e-01, 1.35047610e+00,-4.89379950e+01,
  1.32645433e+02, 4.77576509e+00]

qfrc_actuator:
[ 1.04294874e-04, 9.29874146e-04, 1.38760207e-04,-3.19080841e-05,
 -6.33917658e-05, 3.49591938e-02, 1.09116726e-02, 1.77442316e-03,
 -1.58233871e-04, 8.89865536e-04, 1.56589245e-04,-5.78165377e-06,
  1.00625501e-04,-1.59582410e-03, 0.00000000e+00,-9.03246123e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004148162947636307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33821048e-14, -1.33821048e-14,  1.00000000e+00,  1.79080728e-28,
        1.00000000e+00,  1.33821048e-14, -1.00000000e+00,  0.00000000e+00,
        1.33821048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15679182, -0.05887565,  0.06179181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08007825e-06,-2.66048161e-05,-3.24827683e-06, 1.13475184e-05,
  3.24455218e-05, 3.20100271e-05, 2.40761988e-06,-1.72526936e-06,
  5.26786245e-05, 9.38350988e-06, 2.19554869e-06,-1.36486094e-05,
 -1.26109301e-05,-2.18836346e-05, 4.76531554e-06,-3.02448319e-05,
 -3.37507065e-05,-2.96578569e-04,-4.90424551e+00,-1.08812661e-03,
  3.15033267e-03,-4.24766510e-03]


--- Step 2431 ---
qpos:
[ 0.01867558, 0.03003221,-0.00945533,-0.02528257,-0.00351382, 1.34076973,
 -0.02998787, 0.94382242, 0.01157518, 0.02726794,-0.0082882 , 0.02643074,
  1.38885421, 0.00766642, 1.32893161, 0.04413643,-0.09556447,-0.06371353,
  0.09346966, 0.69394371, 0.08320327,-0.6988782 ,-0.15194938]

qacc:
[ 2.50633293e+00,-1.80419601e+00, 8.07708684e+00,-1.73870030e+01,
  1.66425547e-01,-9.38145869e-01, 4.87210643e+00,-1.27005435e+01,
  5.50352291e+00, 1.31895509e+00,-4.06502335e+00, 2.93768019e+00,
 -7.62498607e-02, 4.14822691e-02, 1.26429406e+00,-4.38914117e+00,
 -4.95465516e+00, 6.94600905e-01,-1.81896943e+00, 5.32781965e+01,
 -1.49575361e+02, 9.24603227e+00]

qfrc_actuator:
[ 1.19438431e-04, 9.00584193e-04, 1.37311801e-04,-6.08981377e-05,
 -3.44758421e-05, 3.49636010e-02, 1.09086233e-02, 1.73741625e-03,
 -1.26471111e-04, 8.81774660e-04, 1.24959049e-04,-1.27265139e-05,
  1.01471090e-04,-1.59202879e-03, 0.00000000e+00,-9.23867769e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00419688129969626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48801076e-14, -1.32267623e-14,  1.00000000e+00,  1.96815645e-28,
        1.00000000e+00,  1.32267623e-14, -1.00000000e+00,  0.00000000e+00,
        1.48801076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00043014, -0.07656   ,  0.06178967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49831302e-05,-4.43878578e-05,-6.96406903e-06,-3.00234370e-05,
  4.80908406e-05, 2.25296994e-05, 3.43556752e-06,-3.60134272e-05,
  3.33109775e-05,-2.98215619e-06,-2.98955656e-05,-6.73212186e-06,
 -1.05137485e-05,-5.81584750e-06,-3.89984657e-06,-2.23298813e-05,
  9.52230492e-05,-3.83976655e-04,-4.90415782e+00,-1.41254437e-03,
  3.03777091e-03,-4.27210616e-03]


--- Step 2432 ---
qpos:
[ 0.01867743, 0.03003208,-0.0094546 ,-0.02528317,-0.003515  , 1.34077102,
 -0.0299884 , 0.94382118, 0.01157377, 0.02726795,-0.00828946, 0.02643002,
  1.38892465, 0.00766645, 1.32903565, 0.04414056,-0.09558806,-0.06376423,
  0.09346178, 0.6936271 , 0.08378556,-0.69901822,-0.15243016]

qacc:
[ 7.42772242e+00,-2.48746631e+00, 9.18326004e+00,-1.51463324e+01,
  3.64474553e-02,-1.16233072e+00, 5.61955583e+00,-1.40052617e+01,
 -2.52813692e+00,-3.56831095e-02,-4.80475695e+00, 1.78692740e+01,
  3.78835918e-01,-5.51923194e-01,-6.80411824e+00, 2.29844589e+01,
 -4.36904305e+00, 6.02764323e-01,-2.77378443e+00, 4.71068194e+01,
 -1.31583584e+02, 8.06627766e+00]

qfrc_actuator:
[ 1.63457978e-04, 8.65286785e-04, 1.54001336e-04,-7.78599680e-05,
 -5.23644281e-05, 3.49656620e-02, 1.09070115e-02, 1.69807655e-03,
 -1.42862312e-04, 7.69940995e-04, 1.06817902e-04, 1.92553284e-05,
  1.04774144e-04,-1.60759904e-03, 0.00000000e+00,-8.12547086e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041969919281711135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61320681e-15, -2.64528273e-14,  1.00000000e+00,  1.74938017e-28,
        1.00000000e+00,  2.64528273e-14, -1.00000000e+00,  0.00000000e+00,
        6.61320681e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00043002, -0.07656117,  0.06178967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44405115e-05,-6.28595685e-05, 5.61519385e-06,-1.96898783e-05,
  1.05317767e-05, 1.41077357e-05, 2.12883386e-06,-3.93967437e-05,
 -1.54136944e-05,-1.19974642e-04,-2.26677590e-05, 3.06909659e-05,
 -3.45295885e-06,-1.96775825e-05,-6.59201165e-06, 1.09039769e-04,
 -4.02675193e-05,-2.68348222e-04,-4.90429695e+00,-1.05570961e-03,
  3.16519586e-03,-4.28219278e-03]


--- Step 2433 ---
qpos:
[ 0.01867911, 0.03003167,-0.00945411,-0.02528292,-0.0035162 , 1.34077227,
 -0.02998919, 0.94382019, 0.01157183, 0.02726695,-0.00829059, 0.02643037,
  1.38899506, 0.00766632, 1.32914   , 0.04414295,-0.0956004 ,-0.06381438,
  0.09349067, 0.6934334 , 0.08434001,-0.69903457,-0.15292988]

qacc:
[-1.51268916e+00, 2.05309928e+00,-1.14075118e+01, 2.65863157e+01,
 -1.41963494e-02, 1.11013694e+00,-4.20592494e+00, 6.67192507e+00,
 -4.50258465e+00, 5.52621572e-01,-8.46271069e+00, 2.77033814e+01,
 -9.22640294e-02,-1.43688908e-02, 5.70564879e+00,-1.92825968e+01,
  2.81398861e+00, 1.37328362e-01, 9.19232439e+00,-3.08522910e+01,
  8.29340182e+01, 7.35396467e+00]

qfrc_actuator:
[ 1.53103979e-04, 8.62248819e-04, 1.45745793e-04,-3.43383787e-05,
 -6.26805576e-05, 3.49485469e-02, 1.08885003e-02, 1.71094300e-03,
 -1.69706837e-04, 7.21181963e-04, 1.14141574e-04, 7.38075670e-05,
  9.88912981e-05,-1.61680196e-03, 0.00000000e+00,-9.08421798e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004148258709250334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22394501e-07,  2.22394541e-07,  1.00000000e+00,  4.94593230e-14,
        1.00000000e+00, -2.22394541e-07, -1.00000000e+00,  6.31088724e-30,
       -2.22394501e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.11764246, -0.06331457,  0.06179182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08057006e-06,-3.78645919e-05,-2.12372216e-05, 4.06389065e-05,
 -4.09170897e-06,-1.00879111e-05,-1.66671444e-05, 1.24387610e-05,
 -2.73394990e-05,-1.19210847e-04,-1.91735933e-05, 4.92285663e-05,
 -1.20397287e-05,-1.61225290e-05, 7.82519912e-06,-9.09603316e-05,
 -9.97949601e-05,-1.74291828e-04,-4.90423197e+00,-7.52303349e-04,
  3.26753549e-03,-4.29314753e-03]


--- Step 2434 ---
qpos:
[ 0.01868031, 0.03003109,-0.00945376,-0.02528252,-0.00351733, 1.34077356,
 -0.02999023, 0.94381936, 0.01157027, 0.0272662 ,-0.00829189, 0.02643089,
  1.38906533, 0.00766629, 1.32924434, 0.04414453,-0.09559529,-0.06386557,
  0.09352405, 0.69342998, 0.08486232,-0.69885632,-0.15347018]

qacc:
[-4.13313092e+00, 5.05473166e-01,-2.75773885e+00, 5.74052736e+00,
  3.33468595e-02, 9.86339554e-01,-3.47690806e+00, 4.78844513e+00,
  3.24511721e+00, 1.12272219e+00,-4.22741860e+00, 7.13457691e+00,
 -2.31915569e-01, 2.85865914e-01, 2.48075941e+00,-8.63859440e+00,
  4.36464590e+00,-2.58382913e-01, 1.12326198e+00,-4.82279168e+01,
  1.29808201e+02, 3.50168933e+00]

qfrc_actuator:
[ 1.28572526e-04, 8.60758223e-04, 1.40743061e-04,-2.65830171e-05,
 -5.06154264e-05, 3.49555486e-02, 1.08778687e-02, 1.71890138e-03,
 -1.49214581e-04, 8.17203101e-04, 1.36668103e-04, 8.79955440e-05,
  9.81554036e-05,-1.60441558e-03, 0.00000000e+00,-9.48110789e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004136982970580141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34182692e-14,  1.34182692e-14,  1.00000000e+00, -1.80049949e-28,
        1.00000000e+00, -1.34182692e-14, -1.00000000e+00,  0.00000000e+00,
        1.34182692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15681644, -0.05889106,  0.06179247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48093490e-05,-2.53102554e-05,-1.40354568e-05, 6.19014274e-06,
  9.64675284e-06,-1.47430379e-06,-1.41387226e-05, 7.45408935e-06,
  1.96445035e-05, 2.75396502e-05,-2.73321713e-06, 9.37868142e-06,
 -1.06298391e-05, 4.75815801e-06,-9.75421311e-06,-4.45016052e-05,
 -6.44726560e-05,-2.19312481e-04,-4.90433669e+00,-9.53739357e-04,
  3.19024796e-03,-4.31389220e-03]


--- Step 2435 ---
qpos:
[ 0.01868086, 0.03003064,-0.00945389,-0.02528239,-0.00351849, 1.34077494,
 -0.0299912 , 0.94381965, 0.01156932, 0.0272655 ,-0.00829258, 0.02643051,
  1.38913545, 0.00766642, 1.32934849, 0.0441466 ,-0.09560757,-0.06391437,
  0.09354614, 0.69323742, 0.08540062,-0.69887474,-0.15395685]

qacc:
[-5.58007892e+00, 9.50048691e-01,-1.97406550e+00,-2.07941002e+00,
 -1.52791858e-02, 1.81324992e+00,-8.07428125e+00, 1.98953201e+01,
  5.15762906e+00,-3.48985099e+00, 1.63402105e+01,-3.29359021e+01,
 -1.66988288e-01, 2.28215283e-01,-1.78156749e+00, 5.86010029e+00,
 -4.34977163e+00, 5.94395177e-01,-2.82255688e+00, 4.73983854e+01,
 -1.30774651e+02, 6.83978283e+00]

qfrc_actuator:
[ 9.59105355e-05, 8.77950474e-04, 1.19938783e-04,-3.99337116e-05,
 -6.07258027e-05, 3.49769634e-02, 1.08898088e-02, 1.77717334e-03,
 -1.18772038e-04, 8.21711877e-04, 1.68557826e-04, 4.29459705e-05,
  8.98648713e-05,-1.59704146e-03, 0.00000000e+00,-9.18807373e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041068706183144885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.75832725e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.75832725e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00020249, -0.07659309,  0.06179399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33920404e-05, 4.08899878e-07,-2.75445072e-05,-1.47989607e-05,
 -4.40964559e-06, 1.80491665e-05, 1.02598671e-05, 5.79849918e-05,
  3.10235431e-05, 1.97897197e-05, 3.75867815e-05,-4.37791281e-05,
 -1.28331337e-05, 6.58988668e-06,-1.16356776e-05, 2.50665360e-05,
  2.94792338e-05,-2.98406074e-04,-4.90433307e+00,-1.25250658e-03,
  3.08308318e-03,-4.33648498e-03]


--- Step 2436 ---
qpos:
[ 0.01868067, 0.03003052,-0.00945471,-0.02528209,-0.00351986, 1.34077626,
 -0.02999165, 0.94382027, 0.01156908, 0.0272645 ,-0.00829242, 0.02642962,
  1.3892053 , 0.00766691, 1.32945294, 0.04414598,-0.0956022 ,-0.06396431,
  0.09357313, 0.69323695, 0.08590718,-0.69869653,-0.15448508]

qacc:
[-6.38359407e+00, 2.72633959e+00,-9.80225212e+00, 1.36373078e+01,
 -8.96983538e-02,-8.96336254e-01, 2.12749518e+00, 2.13883685e+00,
  6.15615494e+00,-3.83719909e+00, 1.52347737e+01,-2.51498893e+01,
 -6.73218616e-01, 8.82448837e-01, 8.67588218e+00,-2.95532508e+01,
  4.41234885e+00,-2.83622059e-01, 1.22276871e+00,-4.88597623e+01,
  1.31054700e+02, 3.07767111e+00]

qfrc_actuator:
[ 5.87297046e-05, 9.06119970e-04, 9.00405594e-05,-3.00795885e-05,
 -8.40580483e-05, 3.49714571e-02, 1.09150651e-02, 1.79359983e-03,
 -8.27327606e-05, 7.89156923e-04, 2.05356848e-04, 1.66105870e-05,
  7.70492193e-05,-1.57500411e-03, 0.00000000e+00,-1.06213052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004078522502816345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.08318095e-14,  2.72212063e-14,  1.00000000e+00, -1.11149111e-27,
        1.00000000e+00, -2.72212063e-14, -1.00000000e+00,  0.00000000e+00,
        4.08318095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15691739, -0.05888823,  0.06179537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81504675e-05, 2.20797972e-05,-3.37109135e-05, 8.63275660e-06,
 -2.59377396e-05, 8.22008718e-06, 3.16550443e-05, 1.86152309e-05,
  3.69520284e-05,-1.55584339e-05, 4.40165339e-05,-2.50363152e-05,
 -1.78103967e-05, 2.12224066e-05,-4.35664916e-06,-1.43832182e-04,
 -6.07022361e-05,-2.08541435e-04,-4.90437120e+00,-9.63477691e-04,
  3.18563369e-03,-4.34685660e-03]


--- Step 2437 ---
qpos:
[ 0.01868004, 0.03003044,-0.00945552,-0.02528203,-0.00352133, 1.34077748,
 -0.02999199, 0.94382043, 0.01156962, 0.02726369,-0.00829201, 0.02642909,
  1.3892749 , 0.00766791, 1.32955731, 0.04414398,-0.09561448,-0.06401187,
  0.09358916, 0.69304489, 0.08643119,-0.69871733,-0.15495976]

qacc:
[-3.81415455e+00,-4.60730099e-01, 2.76749424e+00,-7.02595625e+00,
 -3.76828138e-02,-1.21891029e+00, 4.81139743e+00,-9.61833038e+00,
  6.65146510e+00, 2.84601428e-01,-2.21230850e+00, 7.97129221e+00,
 -5.94594543e-01, 8.82726318e-01, 4.12838282e+00,-1.44353029e+01,
 -4.41076345e+00, 5.97733902e-01,-2.73731533e+00, 4.83561384e+01,
 -1.32258238e+02, 6.21257451e+00]

qfrc_actuator:
[ 3.69421006e-05, 9.05121938e-04, 9.05949114e-05,-4.21444397e-05,
 -7.96276038e-05, 3.49499114e-02, 1.09123343e-02, 1.76749583e-03,
 -4.36916695e-05, 8.23458588e-04, 2.26859912e-04, 3.69761641e-05,
  7.21857964e-05,-1.54444995e-03, 0.00000000e+00,-1.12850167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040782672384540725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36114551e-14, -2.72229101e-14,  1.00000000e+00,  3.70543418e-28,
        1.00000000e+00,  2.72229101e-14, -1.00000000e+00,  0.00000000e+00,
        1.36114551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00012225, -0.07660618,  0.06179551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28894321e-05, 4.75656078e-06, 1.27343906e-06,-1.21146771e-05,
 -1.08974018e-05,-1.02550586e-05, 3.02537021e-06,-2.44948665e-05,
  4.01139280e-05, 3.36688958e-05, 2.28544991e-05, 2.07368629e-05,
 -9.31028791e-06, 3.32884828e-05,-2.12403065e-05,-7.56680636e-05,
  3.20496142e-05,-2.86250525e-04,-4.90436605e+00,-1.25704379e-03,
  3.08005828e-03,-4.36888804e-03]


--- Step 2438 ---
qpos:
[ 0.01867845, 0.03003033,-0.00945598,-0.02528248,-0.00352267, 1.34077829,
 -0.02999251, 0.943821  , 0.01157028, 0.02726325,-0.00829171, 0.02642881,
  1.38934464, 0.00766873, 1.32966139, 0.04414251,-0.09564242,-0.06405733,
  0.09359101, 0.69268296, 0.08697077,-0.69891439,-0.15538688]

qacc:
[-8.10566710e+00,-2.03857163e+00, 9.33058173e+00,-1.85605407e+01,
  5.05776509e-02, 6.67432225e-01,-3.70516645e+00, 8.37466837e+00,
  1.01118974e+00, 1.28196883e+00,-4.92596702e+00, 9.13276763e+00,
  2.65578624e-01,-3.55445105e-01,-2.06588855e+00, 6.51279124e+00,
 -3.91768646e+00, 5.21800265e-01,-3.54476449e+00, 4.30081927e+01,
 -1.17163834e+02, 5.49694682e+00]

qfrc_actuator:
[-1.11149095e-05, 9.04524883e-04, 1.08996726e-04,-6.70139186e-05,
 -5.85777188e-05, 3.49010412e-02, 1.08930139e-02, 1.78756231e-03,
 -3.87028260e-05, 8.44253296e-04, 2.21697511e-04, 4.91901817e-05,
  7.74262519e-05,-1.56231869e-03, 0.00000000e+00,-1.09568809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040418571824841695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7167588e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7167588e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-3.16723478e-05, -7.66187943e-02,  6.17972301e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87208338e-05, 1.81315580e-06, 1.91336680e-05,-2.48547686e-05,
  1.46097464e-05,-5.46955537e-05,-2.17012895e-05, 1.92805372e-05,
  6.17129158e-06, 4.52736313e-05, 5.32973451e-06, 1.48517427e-05,
  7.62722210e-06,-9.41840949e-06,-2.01179222e-05, 2.54468479e-05,
 -5.77571344e-05,-1.98905793e-04,-4.90440124e+00,-9.72287706e-04,
  3.18189881e-03,-4.37892822e-03]


--- Step 2439 ---
qpos:
[ 0.01867596, 0.0300302 ,-0.00945622,-0.02528321,-0.00352398, 1.3407789 ,
 -0.02999339, 0.94382318, 0.01157065, 0.02726307,-0.00829165, 0.02642766,
  1.38941435, 0.00766943, 1.32976554, 0.04413973,-0.09565038,-0.06410419,
  0.09360366, 0.69253844, 0.08747605,-0.69888866,-0.1558624 ]

qacc:
[-7.79075041e+00,-1.21249841e+00, 5.55372027e+00,-1.09434317e+01,
  1.37052148e-02, 3.45793085e+00,-1.49125202e+01, 3.17183629e+01,
 -2.48370882e+00,-7.41451951e-01, 6.82855400e+00,-2.16318736e+01,
 -5.54336731e-02,-2.46440502e-02, 4.07282090e+00,-1.40680962e+01,
  4.99671987e+00,-3.49945040e-01, 2.69727498e+00,-5.55557880e+01,
  1.48366579e+02, 2.42862311e+00]

qfrc_actuator:
[-5.65015857e-05, 9.04238167e-04, 1.20015804e-04,-8.14568232e-05,
 -6.32344796e-05, 3.49071492e-02, 1.08817391e-02, 1.87012957e-03,
 -5.37976926e-05, 8.38937472e-04, 2.00788103e-04, 3.22381637e-06,
  6.74015770e-05,-1.57326966e-03, 0.00000000e+00,-1.16448917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00408210804626008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06239439e-14, -2.71972964e-14,  1.00000000e+00,  2.88942551e-28,
        1.00000000e+00,  2.71972964e-14, -1.00000000e+00,  0.00000000e+00,
        1.06239439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15692021, -0.05889782,  0.06179542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68045522e-05, 3.61342286e-06, 1.29014996e-05,-1.41826817e-05,
  3.97498976e-06,-2.78182721e-05,-2.38778127e-05, 8.07351095e-05,
 -1.49003465e-05, 2.17563650e-05,-1.03844134e-05,-4.35519370e-05,
 -8.94504444e-06,-1.19362266e-05,-7.26769005e-06,-7.01691237e-05,
 -9.07069135e-05,-1.27057248e-04,-4.90428438e+00,-7.25812800e-04,
  3.26422862e-03,-4.38960697e-03]


--- Step 2440 ---
qpos:
[ 0.01867295, 0.03003007,-0.00945634,-0.02528376,-0.00352529, 1.34077978,
 -0.02999453, 0.94382422, 0.01157049, 0.02726298,-0.0082918 , 0.02642668,
  1.38948384, 0.00767008, 1.32986981, 0.0441348 ,-0.09564063,-0.06415236,
  0.09362134, 0.69258627, 0.08795089,-0.69866583,-0.15638081]

qacc:
[-4.50278106e+00, 2.99448644e-02,-8.84874591e-01, 3.86642991e+00,
  1.58180190e-04,-8.98109945e-01, 5.72529519e+00,-1.84586005e+01,
 -4.51803988e+00, 1.06784215e+00,-4.36696331e+00, 7.61885331e+00,
 -3.12038406e-01, 2.51192931e-01, 6.71029997e+00,-2.31510477e+01,
  4.42719910e+00,-3.26288156e-01, 1.26023141e+00,-4.93006633e+01,
  1.31216977e+02, 2.15694610e+00]

qfrc_actuator:
[-8.21922135e-05, 9.04121761e-04, 1.26591265e-04,-7.19023101e-05,
 -6.55234035e-05, 3.49461984e-02, 1.08755443e-02, 1.81131635e-03,
 -8.05816019e-05, 8.35654429e-04, 1.88362678e-04, 1.21272010e-05,
  4.82274136e-05,-1.58004386e-03, 0.00000000e+00,-1.27488439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004077688453424634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.23211188e-15, -1.36133871e-14,  1.00000000e+00,  9.84535382e-29,
        1.00000000e+00,  1.36133871e-14, -1.00000000e+00,  0.00000000e+00,
        7.23211188e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15692942, -0.05889979,  0.06179568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70523674e-05, 3.96212791e-06, 8.43038996e-06, 9.88428791e-06,
  5.88921559e-08, 2.14161575e-05,-1.19828090e-05,-5.84750720e-05,
 -2.72111648e-05, 4.87595351e-06,-1.07124667e-05, 8.63232891e-06,
 -2.67913344e-05,-1.23267192e-05,-1.34262398e-05,-1.15751692e-04,
 -3.89250523e-05,-2.09544710e-04,-4.90443926e+00,-1.04991173e-03,
  3.14173171e-03,-4.41151455e-03]


--- Step 2441 ---
qpos:
[ 0.01866999, 0.03002994,-0.00945637,-0.02528419,-0.00352647, 1.34078074,
 -0.02999543, 0.94382453, 0.01157036, 0.0272627 ,-0.00829204, 0.02642689,
  1.38955318, 0.00767043, 1.32997362, 0.04413158,-0.09561508,-0.06420175,
  0.09363919, 0.69280527, 0.08839849,-0.69826729,-0.15693745]

qacc:
[ 5.14244824e-01, 1.81718786e-02,-5.55069165e-01, 2.48101963e+00,
  5.86614330e-02,-1.80989634e+00, 7.50911401e+00,-1.49345096e+01,
  2.12522930e-01, 2.42714629e+00,-1.39787836e+01, 3.46178115e+01,
  2.09882783e-01,-4.53800286e-01,-5.88286576e+00, 1.95344826e+01,
  3.94940696e+00,-3.05637485e-01, 4.17837463e-02,-4.40581601e+01,
  1.16834352e+02, 1.93111246e+00]

qfrc_actuator:
[-7.83325907e-05, 9.04110331e-04, 1.30508603e-04,-6.60606797e-05,
 -4.86199302e-05, 3.49513588e-02, 1.08901950e-02, 1.77630366e-03,
 -7.85190376e-05, 8.15921669e-04, 1.81096525e-04, 7.10132335e-05,
  3.42321649e-05,-1.60208871e-03, 0.00000000e+00,-1.17808502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004029704396675986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75509793e-14,  1.37754897e-14,  1.00000000e+00, -3.79528230e-28,
        1.00000000e+00, -1.37754897e-14, -1.00000000e+00,  0.00000000e+00,
        2.75509793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15700707, -0.05889428,  0.06179792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07261837e-06, 4.37605279e-06, 6.12425158e-06, 6.49891827e-06,
  1.69392544e-05, 1.29028788e-05, 1.57632376e-05,-3.60751056e-05,
  1.26680913e-06,-1.88516054e-05,-7.27373886e-06, 5.88961495e-05,
 -3.06017208e-05,-3.17279472e-05,-2.15329579e-05, 8.80858484e-05,
  6.29295856e-05,-2.84685361e-04,-4.90439050e+00,-1.32924251e-03,
  3.04216473e-03,-4.43252749e-03]


--- Step 2442 ---
qpos:
[ 0.0186678 , 0.03002978,-0.00945656,-0.02528521,-0.00352747, 1.34078136,
 -0.02999571, 0.94382513, 0.01157025, 0.02726216,-0.00829257, 0.02642747,
  1.38962214, 0.0076708 , 1.33007672, 0.04413419,-0.09561025,-0.06424838,
  0.093651  , 0.69279913, 0.08887003,-0.6981018 ,-0.15743364]

qacc:
[ 6.50283739e+00,-8.41923592e-01, 5.40871215e+00,-1.53714601e+01,
  7.11964119e-02,-1.61613955e+00, 4.14833028e+00,-6.62756580e-02,
  2.14075213e-01, 1.24245754e+00,-6.53045545e+00, 1.37749933e+01,
  2.03395519e-01,-3.08321584e-01,-1.87310255e+01, 6.39075092e+01,
 -5.17856893e+00, 6.89673001e-01,-1.51065347e+00, 5.76419729e+01,
 -1.54785531e+02, 5.21515611e+00]

qfrc_actuator:
[-3.93650035e-05, 8.86396657e-04, 1.15068375e-04,-9.79607550e-05,
 -3.80919405e-05, 3.49185221e-02, 1.09169457e-02, 1.79110940e-03,
 -7.72429825e-05, 7.86553730e-04, 1.59135335e-04, 8.78056356e-05,
  1.80223402e-05,-1.59752406e-03, 0.00000000e+00,-8.71208806e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004072447529555018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.81545322e-15,  1.36309064e-14,  1.00000000e+00, -9.29008051e-29,
        1.00000000e+00, -1.36309064e-14, -1.00000000e+00,  0.00000000e+00,
        6.81545322e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-9.36032408e-05, -7.66197400e-02,  6.17960799e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90586538e-05,-1.37071948e-05,-1.35516015e-05,-3.13725145e-05,
  2.05388697e-05,-2.37040912e-05, 3.00109879e-05, 1.48198664e-05,
  1.30332573e-06,-3.88758737e-05,-2.47078360e-05, 1.68797132e-05,
 -3.86218609e-05,-1.22191157e-05,-1.02635653e-06, 3.08826288e-04,
  1.98292645e-04,-3.53744765e-04,-4.90420051e+00,-1.57217541e-03,
  2.96173988e-03,-4.45278424e-03]


--- Step 2443 ---
qpos:
[ 0.01866608, 0.03002944,-0.00945658,-0.02528696,-0.00352818, 1.34078171,
 -0.02999559, 0.94382487, 0.01156947, 0.02726143,-0.00829308, 0.02642788,
  1.3896908 , 0.00767118, 1.33017984, 0.04413976,-0.09562367,-0.06429263,
  0.0936528 , 0.69259508, 0.08936273,-0.69814135,-0.1578766 ]

qacc:
[ 4.16389059e+00,-2.21610980e+00, 1.05964445e+01,-2.32413702e+01,
  1.26442790e-01,-2.88798641e+00, 1.07597213e+01,-1.91149661e+01,
 -5.74435536e+00,-6.53825809e-01, 2.72585847e+00,-5.69085583e+00,
 -3.16052587e-02,-4.07170211e-02,-8.92554141e+00, 3.12651753e+01,
 -4.56412005e+00, 5.97733112e-01,-2.50265438e+00, 5.08383518e+01,
 -1.36075628e+02, 4.58657202e+00]

qfrc_actuator:
[-1.55605853e-05, 8.75857163e-04, 1.23729060e-04,-1.34087458e-04,
 -1.37215136e-05, 3.48987758e-02, 1.09327380e-02, 1.74632379e-03,
 -1.11954804e-04, 7.87053094e-04, 1.64092491e-04, 7.96661305e-05,
  5.83305557e-06,-1.59494333e-03, 0.00000000e+00,-7.27130661e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004096855084807061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35496985e-14, -1.69371231e-14,  1.00000000e+00,  2.29492912e-28,
        1.00000000e+00,  1.69371231e-14, -1.00000000e+00,  0.00000000e+00,
        1.35496985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00014907, -0.07661532,  0.06179504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49405581e-05,-2.23154149e-05, 3.08236592e-06,-3.77914691e-05,
  3.65070345e-05,-2.65454733e-05, 1.50055875e-05,-4.42731142e-05,
 -3.46890351e-05,-2.55963157e-05,-5.52147683e-06,-1.03309049e-05,
 -3.29135887e-05,-1.04971470e-05, 3.27015370e-05, 1.60894722e-04,
  2.97772696e-05,-2.53984346e-04,-4.90444721e+00,-1.25466895e-03,
  3.08389104e-03,-4.46122325e-03]


--- Step 2444 ---
qpos:
[ 0.01866467, 0.03002882,-0.00945624,-0.02528809,-0.00352859, 1.34078199,
 -0.02999535, 0.94382407, 0.01156897, 0.02726061,-0.00829301, 0.02642779,
  1.38975935, 0.00767129, 1.33028346, 0.04414404,-0.09565327,-0.06433478,
  0.0936412 , 0.69221586, 0.08987421,-0.69836215,-0.15827237]

qacc:
[ 2.58289327e+00,-1.09082439e-01,-2.73017588e+00, 1.29952452e+01,
  1.25657531e-01,-1.33504372e+00, 5.36032929e+00,-1.08527925e+01,
  2.39993199e+00,-2.75415750e+00, 1.17444393e+01,-2.12176280e+01,
 -5.17798636e-02,-1.40384607e-01, 4.65764354e+00,-1.52114290e+01,
 -4.04410509e+00, 5.20653810e-01,-3.34891661e+00, 4.51137741e+01,
 -1.20321519e+02, 4.05804004e+00]

qfrc_actuator:
[-8.83389883e-07, 8.69776495e-04, 1.46582315e-04,-1.01371947e-04,
  1.00389434e-06, 3.49047026e-02, 1.09419289e-02, 1.72007074e-03,
 -9.65601842e-05, 8.05513512e-04, 2.02766629e-04, 5.69732139e-05,
  1.39050643e-06,-1.61131129e-03, 0.00000000e+00,-8.04462524e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004068903537444692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.72855578e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.72855578e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-8.26107938e-05, -7.66250649e-02,  6.17962959e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53990625e-05,-1.95100000e-05, 1.73253722e-05, 3.11348071e-05,
  3.62986133e-05,-7.15467779e-06, 4.40653273e-06,-2.76371431e-05,
  1.43677212e-05, 2.58043744e-06, 3.23635006e-05,-2.41787762e-05,
 -2.18981934e-05,-2.76435669e-05, 2.92836328e-05,-6.50050830e-05,
 -5.54089672e-05,-1.72752324e-04,-4.90446342e+00,-9.79987224e-04,
  3.18360202e-03,-4.47049001e-03]


--- Step 2445 ---
qpos:
[ 0.01866379, 0.03002833,-0.00945637,-0.02528813,-0.00352889, 1.34078204,
 -0.02999465, 0.94382296, 0.011569  , 0.02725993,-0.00829287, 0.02642743,
  1.38982776, 0.0076714 , 1.33038751, 0.04414506,-0.0956623 ,-0.06437866,
  0.09364179, 0.69206004, 0.09035278,-0.69835323,-0.15872001]

qacc:
[ 4.54608642e+00, 3.74808194e+00,-1.77703369e+01, 3.74473211e+01,
  4.34175432e-02,-2.08235258e+00, 7.05831231e+00,-9.58183450e+00,
  4.54724667e+00,-6.16681604e-01, 3.57763042e+00,-8.42894426e+00,
 -4.07910813e-01, 4.02851857e-01, 1.05294524e+01,-3.58118889e+01,
  5.14371293e+00,-4.29002426e-01, 3.04749491e+00,-5.77213895e+01,
  1.52581380e+02, 8.90631597e-01]

qfrc_actuator:
[ 2.60615626e-05, 8.84287722e-04, 1.24433770e-04,-4.61535091e-05,
 -7.92809384e-06, 3.48904312e-02, 1.09650268e-02, 1.70496078e-03,
 -6.95372383e-05, 8.16972012e-04, 2.07849055e-04, 4.36935223e-05,
  0.00000000e+00,-1.60325510e-03, 0.00000000e+00,-9.76065135e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004001730083513795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15705414, -0.05889827,  0.06179926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73866895e-05, 8.54324879e-06,-2.29605171e-05, 5.55916065e-05,
  1.25186829e-05,-1.82000071e-05, 2.13875938e-05,-1.58370453e-05,
  2.74417554e-05, 1.85830690e-05, 8.77302659e-06,-1.25186663e-05,
 -1.82579980e-05,-5.62313266e-06, 1.92595648e-06,-1.72461507e-04,
 -8.18472514e-05,-1.06330631e-04,-4.90432134e+00,-7.40698538e-04,
  3.26438017e-03,-4.48040712e-03]


--- Step 2446 ---
qpos:
[ 0.01866323, 0.03002806,-0.00945654,-0.02528789,-0.00352933, 1.34078206,
 -0.0299943 , 0.94382136, 0.01156901, 0.02725938,-0.00829321, 0.02642695,
  1.38989598, 0.00767178, 1.33049169, 0.04414303,-0.09565312,-0.06442411,
  0.09364863, 0.69210164, 0.09080226,-0.69814129,-0.15921372]

qacc:
[ 2.82637465e+00, 9.33584333e-01,-4.06739841e+00, 8.68445956e+00,
 -5.42094130e-02, 6.36064597e-02, 7.72235591e-01,-6.39017108e+00,
 -1.93655499e-01, 1.31120707e+00,-3.93840923e+00, 2.63819730e+00,
 -5.52435505e-01, 7.19629826e-01, 9.50299063e+00,-3.28208310e+01,
  4.55147332e+00,-3.93366942e-01, 1.56119123e+00,-5.11824460e+01,
  1.34793419e+02, 7.13869031e-01]

qfrc_actuator:
[ 4.22623057e-05, 9.10869516e-04, 1.29236160e-04,-3.14208055e-05,
 -3.09787708e-05, 3.48819915e-02, 1.09428249e-02, 1.67877211e-03,
 -7.14078335e-05, 8.06284412e-04, 1.75282238e-04, 3.60299856e-05,
  0.00000000e+00,-1.58071324e-03, 0.00000000e+00,-1.13073941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004011870038958663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15101816e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.15101816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15703852, -0.05890186,  0.0617988 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70020620e-05, 2.90287856e-05, 5.66951345e-06, 1.53871481e-05,
 -1.56533159e-05,-1.48022113e-05,-2.37950757e-05,-2.64761932e-05,
 -1.06239642e-06, 1.01331290e-06,-2.80748335e-05,-6.80640186e-06,
 -1.08418372e-05, 1.68761760e-05,-2.18120493e-05,-1.64836878e-04,
 -3.93681594e-05,-1.86075887e-04,-4.90449515e+00,-1.05533707e-03,
  3.14362292e-03,-4.50122649e-03]


--- Step 2447 ---
qpos:
[ 0.01866254, 0.0300283 ,-0.00945649,-0.02528787,-0.00353009, 1.34078206,
 -0.02999454, 0.94381981, 0.01156899, 0.02725897,-0.00829343, 0.02642669,
  1.38996419, 0.00767216, 1.33059509, 0.04414448,-0.09566281,-0.06446715,
  0.09364639, 0.69193818, 0.09127535,-0.69814116,-0.15965364]

qacc:
[-1.25624171e+00,-3.76250029e-01, 3.25727018e+00,-7.84665327e+00,
 -1.40529901e-01, 1.66120935e+00,-5.57163512e+00, 5.50829984e+00,
 -1.89694389e-01, 2.95395308e-01,-1.67347052e+00, 5.06079845e+00,
  3.15346215e-01,-3.52186836e-01,-1.17634900e+01, 3.93816311e+01,
 -4.71767972e+00, 6.01350513e-01,-2.26788935e+00, 5.31131912e+01,
 -1.40557083e+02, 3.66614344e+00]

qfrc_actuator:
[ 3.42529886e-05, 9.62300490e-04, 1.49954397e-04,-4.05932614e-05,
 -6.23111546e-05, 3.48769319e-02, 1.09118197e-02, 1.68174928e-03,
 -7.25216826e-05, 8.35519160e-04, 1.91679673e-04, 4.94432079e-05,
  0.00000000e+00,-1.58525912e-03, 0.00000000e+00,-9.36853321e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040304175089797695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.1319157e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.1319157e-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([ 6.35229989e-06, -7.66412045e-02,  6.17979901e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.50365548e-06, 6.95121229e-05, 2.79486935e-05,-7.43397527e-06,
 -4.05831648e-05,-1.87017445e-05,-3.73876526e-05, 1.21895881e-06,
 -1.14538320e-06, 2.37351353e-05, 1.29248301e-05, 1.23558687e-05,
 -2.44209775e-06,-1.37424334e-06,-3.06193890e-05, 1.81400185e-04,
  5.82242010e-05,-2.60516762e-04,-4.90445213e+00,-1.32803175e-03,
  3.04505863e-03,-4.52128157e-03]


--- Step 2448 ---
qpos:
[ 0.01866175, 0.03002913,-0.00945656,-0.02528761,-0.00353121, 1.34078203,
 -0.02999496, 0.94381968, 0.01156897, 0.02725877,-0.00829352, 0.02642693,
  1.39003238, 0.0076725 , 1.3306977 , 0.04415287,-0.0956892 ,-0.0645081 ,
  0.09363157, 0.69159348, 0.09176937,-0.6983281 ,-0.16004596]

qacc:
[-7.89534041e-01, 1.59588443e+00,-5.57625851e+00, 9.53995771e+00,
 -1.46358503e-01, 2.83891586e+00,-1.22169855e+01, 2.69579732e+01,
 -1.13085673e-01, 9.24605998e-01,-5.00116619e+00, 1.32543007e+01,
  5.96793759e-01,-6.75206590e-01,-2.22022171e+01, 7.58295854e+01,
 -4.17502986e+00, 5.23453255e-01,-3.14655555e+00, 4.70718496e+01,
 -1.24137129e+02, 3.23070597e+00]

qfrc_actuator:
[ 2.98144043e-05, 9.92763431e-04, 1.44490070e-04,-2.82151065e-05,
 -8.06047657e-05, 3.48916607e-02, 1.09114190e-02, 1.75513022e-03,
 -7.31714991e-05, 8.53135240e-04, 2.01535259e-04, 7.52205138e-05,
  0.00000000e+00,-1.58813276e-03, 0.00000000e+00,-5.74663590e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004018351929789325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72680094e-15, -1.38144075e-14,  1.00000000e+00,  2.38547320e-29,
        1.00000000e+00,  1.38144075e-14, -1.00000000e+00,  0.00000000e+00,
        1.72680094e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 3.40407104e-05, -7.66462070e-02,  6.17985171e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63460088e-06, 7.47779800e-05, 1.20749646e-05, 1.61762754e-05,
 -4.22770129e-05,-2.89710706e-06,-8.27977446e-06, 7.17483454e-05,
 -6.77684542e-07, 3.41056887e-05, 1.67858702e-05, 2.74841604e-05,
 -1.61959547e-06,-3.83212033e-06, 6.37176561e-06, 3.68418106e-04,
 -4.11052861e-05,-1.79360988e-04,-4.90450637e+00,-1.05254738e-03,
  3.14751103e-03,-4.53007131e-03]


--- Step 2449 ---
qpos:
[ 0.01866091, 0.03003004,-0.00945673,-0.02528714,-0.00353246, 1.34078221,
 -0.02999548, 0.94382005, 0.01156962, 0.02725871,-0.00829372, 0.0264275 ,
  1.39010055, 0.0076728 , 1.33080037, 0.04416485,-0.09569506,-0.06455093,
  0.09362897, 0.69147166, 0.09223212,-0.6982855 ,-0.16049158]

qacc:
[-4.05960337e-01, 8.51263650e-01,-3.76098178e+00, 7.53471754e+00,
 -6.08018817e-02, 1.42663056e+00,-5.36710132e+00, 1.04191744e+01,
  5.81503145e+00, 1.17028498e+00,-5.33567754e+00, 1.12030435e+01,
  2.88616769e-01,-3.41210551e-01,-1.07965688e+01, 3.78137907e+01,
  5.13288333e+00,-4.70182409e-01, 3.05300882e+00,-5.80267793e+01,
  1.52243271e+02,-2.07446538e-01]

qfrc_actuator:
[ 2.75210478e-05, 9.57094376e-04, 1.23549411e-04,-2.10388429e-05,
 -7.31758211e-05, 3.49182862e-02, 1.09114518e-02, 1.78061617e-03,
 -3.80377033e-05, 8.45906877e-04, 1.89650686e-04, 9.02933125e-05,
  0.00000000e+00,-1.58997352e-03, 0.00000000e+00,-4.00372324e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004054083236600288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27895377e-16, -4.10779562e-14,  1.00000000e+00,  1.75770676e-29,
        1.00000000e+00,  4.10779562e-14, -1.00000000e+00,  0.00000000e+00,
        4.27895377e-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([-0.15697121, -0.0589141 ,  0.06179683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40609979e-06, 9.30344879e-06,-3.45822013e-06, 1.11086792e-05,
 -1.75551999e-05, 2.55586199e-05, 6.28330101e-07, 2.68188794e-05,
  3.51233472e-05, 1.64963071e-05,-1.81822809e-06, 1.76501941e-05,
 -5.43702586e-07,-3.91977357e-06, 4.32024651e-05, 1.95441012e-04,
 -7.71021706e-05,-1.13228417e-04,-4.90438747e+00,-8.11499916e-04,
  3.23104568e-03,-4.53953816e-03]


--- Step 2450 ---
qpos:
[ 0.0186604 , 0.03003088,-0.00945699,-0.02528726,-0.00353347, 1.34078248,
 -0.02999594, 0.94382038, 0.01157001, 0.0272588 ,-0.00829376, 0.02642788,
  1.39016873, 0.00767306, 1.33090385, 0.04417385,-0.09568275,-0.06459547,
  0.0936326 , 0.69154668, 0.09266724,-0.69804007,-0.16098458]

qacc:
[ 2.77575877e+00,-1.05536467e+00, 6.07290057e+00,-1.59940351e+01,
  1.04439523e-01,-1.04970436e-01, 5.75412885e-01,-1.03266797e+00,
 -2.32968664e+00,-6.52541187e-01, 3.42189928e+00,-7.08798989e+00,
 -2.54033927e-01, 2.53741032e-01, 1.02254686e+01,-3.39703200e+01,
  4.54010102e+00,-4.28342786e-01, 1.56069023e+00,-5.14479821e+01,
  1.34449939e+02,-2.95976360e-01]

qfrc_actuator:
[ 4.42599445e-05, 9.35274547e-04, 1.11117355e-04,-5.25543486e-05,
 -3.26245924e-05, 3.49163126e-02, 1.09117428e-02, 1.77770189e-03,
 -5.31340758e-05, 8.59264206e-04, 2.00420171e-04, 8.11563749e-05,
  0.00000000e+00,-1.59117557e-03, 0.00000000e+00,-5.69029574e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004060554204200956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70885390e-15, -2.73416625e-14,  1.00000000e+00, -4.67229066e-29,
        1.00000000e+00,  2.73416625e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70885390e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15696071, -0.05891666,  0.06179652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66688902e-05,-1.68864699e-05,-1.05609792e-05,-3.10229585e-05,
  3.01776918e-05, 1.30934403e-05, 6.14958634e-06,-1.50578248e-06,
 -1.40629888e-05, 2.29805686e-05, 1.45648397e-05,-8.15143597e-06,
  3.46838441e-08,-3.09535522e-06, 3.80628783e-05,-1.53076671e-04,
 -2.57979112e-05,-1.92039468e-04,-4.90452302e+00,-1.11666666e-03,
  3.11405023e-03,-4.55982451e-03]


--- Step 2451 ---
qpos:
[ 0.01866078, 0.03003185,-0.00945752,-0.02528742,-0.00353413, 1.34078283,
 -0.02999633, 0.94381963, 0.01156917, 0.02725912,-0.00829397, 0.02642816,
  1.39023693, 0.00767329, 1.33100803, 0.04417681,-0.09565428,-0.06464159,
  0.09363741, 0.69179655, 0.09307776,-0.69761406,-0.16151995]

qacc:
[  7.65848069,  0.81574468, -2.4742169 ,  2.01799292,  0.1468296 ,
  -1.90765413,  8.55983385,-19.91864824,-10.40442472,  0.63585711,
  -1.37134224, -0.25269957, -0.48321751,  0.51191236, 19.35636563,
 -66.0973705 ,  4.04238184, -0.39274707,  0.29418695,-45.92821841,
 119.522208  , -0.35354728]

qfrc_actuator:
[ 8.98190111e-05, 9.57400406e-04, 1.03820376e-04,-5.33130619e-05,
 -8.03830876e-06, 3.49149642e-02, 1.09120673e-02, 1.72258802e-03,
 -1.15438927e-04, 8.67153354e-04, 1.89043387e-04, 7.56358399e-05,
  0.00000000e+00,-1.59197654e-03, 0.00000000e+00,-8.85070522e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004021233277115496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.38045091e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.38045091e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15702233, -0.05891118,  0.0617983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60382591e-05, 9.15419641e-06,-1.31652052e-05,-2.45281944e-06,
  4.24203864e-05, 7.05272692e-06, 3.54204789e-06,-5.45748139e-05,
 -6.27085974e-05, 2.33919433e-05,-5.11843236e-06,-4.19071933e-06,
 -7.11693717e-07,-1.76850053e-06,-4.58156085e-06,-3.20875638e-04,
  7.97771609e-05,-2.66718492e-04,-4.90444683e+00,-1.38261476e-03,
  3.01830540e-03,-4.57944549e-03]


--- Step 2452 ---
qpos:
[ 0.01866136, 0.03003296,-0.0094582 ,-0.02528725,-0.00353476, 1.34078298,
 -0.02999634, 0.94381859, 0.01156829, 0.02725975,-0.00829438, 0.02642836,
  1.39030521, 0.00767327, 1.33111156, 0.044181  ,-0.09564756,-0.06468502,
  0.09363787, 0.6918095 , 0.09351777,-0.69743214,-0.1619952 ]

qacc:
[ 1.69811390e+00, 1.24575525e+00,-5.57379382e+00, 1.13852689e+01,
  1.52106981e-02,-1.84435046e+00, 6.31345397e+00,-8.83624733e+00,
 -4.50511875e-01, 7.66190133e-01,-1.79769192e+00, 4.96092356e-01,
  3.49864742e-01,-5.10760496e-01,-4.67759407e+00, 1.49116118e+01,
 -5.43803595e+00, 6.70114711e-01,-1.08812294e+00, 6.19072870e+01,
 -1.61890220e+02, 2.73046055e+00]

qfrc_actuator:
[ 9.87126743e-05, 9.70204266e-04, 9.98150119e-05,-3.59228654e-05,
 -2.87351613e-05, 3.48962128e-02, 1.09301325e-02, 1.70821290e-03,
 -1.16251998e-04, 8.89372533e-04, 1.82414687e-04, 7.22701028e-05,
  0.00000000e+00,-1.61028327e-03, 0.00000000e+00,-8.05964497e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004129531217405127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.72124126e-15, -1.00818619e-14,  1.00000000e+00,  6.77626262e-29,
        1.00000000e+00,  1.00818619e-14, -1.00000000e+00,  0.00000000e+00,
        6.72124126e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00023536, -0.07662215,  0.06179344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02365077e-05, 1.50848812e-05,-3.82807113e-06, 1.72762637e-05,
  4.37210867e-06,-1.57988325e-05, 1.82463968e-05,-1.53258282e-05,
 -2.64009725e-06, 3.40290613e-05,-2.57234371e-06,-2.62036773e-06,
 -2.04803218e-06,-1.84686227e-05,-4.14687496e-05, 5.97836281e-05,
  2.21662331e-04,-3.37550256e-04,-4.90422497e+00,-1.61646787e-03,
  2.94042368e-03,-4.59850286e-03]


--- Step 2453 ---
qpos:
[ 0.0186617 , 0.03003356,-0.00945809,-0.02528652,-0.00353547, 1.34078275,
 -0.02999553, 0.9438191 , 0.01156705, 0.02726067,-0.00829484, 0.02642817,
  1.39037351, 0.00767305, 1.33121494, 0.04418535,-0.09565996,-0.06472613,
  0.09362973, 0.69161472, 0.09398383,-0.69746441,-0.16241771]

qacc:
[-2.04156100e+00,-1.67068679e+00, 2.58085142e+00, 6.41578055e+00,
 -3.31226111e-02,-1.50303374e-02,-3.74167471e+00, 2.15239174e+01,
 -2.97871570e+00,-2.48144245e-01, 3.08332345e+00,-9.96954490e+00,
  1.63521181e-01,-2.96167328e-01,-7.76824550e-01, 2.32580919e+00,
 -4.77894758e+00, 5.79933091e-01,-2.14804310e+00, 5.44668879e+01,
 -1.41951578e+02, 2.35278579e+00]

qfrc_actuator:
[ 8.59447397e-05, 9.24105212e-04, 1.33271098e-04,-7.99993509e-06,
 -4.09241930e-05, 3.48850247e-02, 1.09762409e-02, 1.78894866e-03,
 -1.34106968e-04, 9.02263050e-04, 1.78708591e-04, 5.24641425e-05,
  0.00000000e+00,-1.62110918e-03, 0.00000000e+00,-7.96413832e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041696147777444265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49774136e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.49774136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00033083, -0.07661281,  0.06179164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24678059e-05,-3.77455805e-05, 3.66914057e-05, 2.87708849e-05,
 -9.60583885e-06,-1.68215171e-05, 4.46432494e-05, 8.04394283e-05,
 -1.79185779e-05, 3.12537494e-05, 2.91164448e-06,-1.84887108e-05,
 -5.95666011e-06,-1.67177992e-05,-1.20711447e-05, 7.60994973e-06,
  4.13542841e-05,-2.41183852e-04,-4.90449794e+00,-1.30645705e-03,
  3.06325818e-03,-4.60618143e-03]


--- Step 2454 ---
qpos:
[ 0.01866154, 0.03003344,-0.00945736,-0.0252861 ,-0.00353613, 1.34078282,
 -0.02999438, 0.9438202 , 0.01156492, 0.02726166,-0.00829523, 0.02642707,
  1.39044172, 0.00767292, 1.33131841, 0.04418843,-0.09568924,-0.06476523,
  0.09360939, 0.69123661, 0.09447301,-0.69768549,-0.16279359]

qacc:
[-4.25996571e+00,-3.36393897e+00, 1.19891115e+01,-1.80667335e+01,
  1.76211272e-02, 4.64623769e-01,-2.24557828e+00, 8.51379869e+00,
 -7.62872723e+00,-1.96829120e+00, 1.10454443e+01,-2.70188435e+01,
 -2.39028553e-01, 2.95226254e-01, 4.02691915e+00,-1.38366925e+01,
 -4.22096428e+00, 5.04174718e-01,-3.05335370e+00, 4.82017249e+01,
 -1.25156659e+02, 2.04203982e+00]

qfrc_actuator:
[ 6.05408222e-05, 8.61006288e-04, 1.52834511e-04,-2.73892721e-05,
 -3.01558676e-05, 3.49318837e-02, 1.10030966e-02, 1.81849938e-03,
 -1.79622500e-04, 8.91711997e-04, 1.76711005e-04, 5.38554602e-06,
  0.00000000e+00,-1.60963911e-03, 0.00000000e+00,-8.63538929e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004153059359085942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00247456e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00247456e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00029422, -0.07661837,  0.06179234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57852059e-05,-7.54260078e-05, 1.72723099e-05,-1.91784580e-05,
  5.09076659e-06, 4.87051672e-05, 3.10045460e-05, 3.22208979e-05,
 -4.60263535e-05, 6.69807454e-06, 4.17190703e-06,-4.59983912e-05,
 -7.10343372e-06, 5.06938484e-06,-6.25839280e-06,-6.86286311e-05,
 -4.90181493e-05,-1.63589627e-04,-4.90451803e+00,-1.03500269e-03,
  3.16458863e-03,-4.61471845e-03]


--- Step 2455 ---
qpos:
[ 0.01866073, 0.03003277,-0.00945663,-0.02528659,-0.00353686, 1.34078348,
 -0.02999357, 0.94382096, 0.01156261, 0.02726202,-0.00829531, 0.0264255 ,
  1.39050978, 0.00767315, 1.33142162, 0.04419234,-0.09573351,-0.06480257,
  0.09357374, 0.69069559, 0.09498284,-0.69807387,-0.16312797]

qacc:
[-5.55319006e+00,-2.53734978e+00, 1.18157799e+01,-2.70144570e+01,
 -2.79341221e-02, 1.11422694e+00,-2.01656116e+00,-2.50875637e+00,
 -1.55205129e+00,-2.70622283e+00, 1.04558539e+01,-1.87824773e+01,
 -2.44271922e-01, 4.40716610e-01,-2.87889579e+00, 9.59947729e+00,
 -3.74763966e+00, 4.40456016e-01,-3.82462841e+00, 4.29293309e+01,
 -1.11011400e+02, 1.78416826e+00]

qfrc_actuator:
[ 2.79104036e-05, 8.23627092e-04, 1.46149645e-04,-7.44998025e-05,
 -4.12071477e-05, 3.49597946e-02, 1.09830412e-02, 1.79993768e-03,
 -1.87791688e-04, 8.13924232e-04, 1.75622075e-04,-2.18754755e-05,
  0.00000000e+00,-1.58501434e-03, 0.00000000e+00,-8.15513561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00409115591437384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52646456e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.52646456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00015296, -0.07663565,  0.06179501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34084336e-05,-7.68239874e-05,-2.08059990e-05,-5.01169328e-05,
 -8.04134005e-06, 6.18874725e-05,-6.05444604e-06,-1.54383614e-05,
 -9.51044950e-06,-7.52033632e-05,-7.88008617e-07,-2.77222321e-05,
 -2.77614390e-06, 2.47632450e-05,-1.29492135e-05, 4.28310919e-05,
 -7.64000785e-05,-1.00847423e-04,-4.90436579e+00,-7.96003154e-04,
  3.24753629e-03,-4.62394720e-03]


--- Step 2456 ---
qpos:
[ 0.01866023, 0.03003195,-0.00945706,-0.02528692,-0.00353782, 1.34078416,
 -0.02999308, 0.94382188, 0.01156091, 0.02726157,-0.00829501, 0.02642431,
  1.39057779, 0.00767366, 1.33152479, 0.04419644,-0.09575457,-0.06484234,
  0.09355735, 0.6904067 , 0.09546067,-0.69820138,-0.16352582]

qacc:
[ 2.57632976e+00, 3.31626194e+00,-1.27899539e+01, 1.74698067e+01,
 -9.97290865e-02, 1.19347650e+00,-4.19187029e+00, 5.55594227e+00,
  5.22406903e+00,-1.28559574e+00, 1.34474346e+00, 5.53902747e+00,
 -1.95858739e-01, 3.65725597e-01,-6.09475017e-01, 2.07138883e+00,
  5.80239577e+00,-6.08445892e-01, 4.81332371e+00,-6.64576562e+01,
  1.72468512e+02,-2.57045384e+00]

qfrc_actuator:
[ 4.45501093e-05, 8.19548743e-04, 8.86000599e-05,-6.65239464e-05,
 -6.52593916e-05, 3.49226694e-02, 1.09531363e-02, 1.80645089e-03,
 -1.56152489e-04, 7.67489803e-04, 1.92561296e-04,-1.80846490e-06,
  0.00000000e+00,-1.57054345e-03, 0.00000000e+00,-8.06520208e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004146639709831881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67337758e-15, -2.67740412e-14,  1.00000000e+00,  4.48030802e-29,
        1.00000000e+00,  2.67740412e-14, -1.00000000e+00,  0.00000000e+00,
        1.67337758e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15681711, -0.05893835,  0.06179233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56438070e-05,-5.34725243e-05,-7.77100646e-05, 2.99341026e-06,
 -2.88020982e-05,-4.54254266e-06,-1.89410139e-05, 7.84088638e-06,
  3.13363966e-05,-8.98586692e-05, 3.46809083e-07, 1.62802851e-05,
  4.10783258e-06, 2.15891060e-05,-2.77932398e-06, 9.34438138e-06,
 -6.03135354e-05,-4.98687915e-05,-4.90409733e+00,-5.84336170e-04,
  3.31472463e-03,-4.63373124e-03]


--- Step 2457 ---
qpos:
[ 0.01866061, 0.03003114,-0.00945863,-0.02528683,-0.00353904, 1.34078459,
 -0.02999255, 0.94382323, 0.01155994, 0.02726094,-0.00829477, 0.02642333,
  1.39064589, 0.00767411, 1.33162829, 0.04419759,-0.09575525,-0.06488429,
  0.09355314, 0.69033907, 0.09591056,-0.69810009,-0.16397987]

qacc:
[ 7.62134997e+00, 4.08880531e+00,-1.63457764e+01, 2.54831371e+01,
 -1.07000276e-01, 2.62541461e-01,-2.13222374e+00, 6.91761826e+00,
  6.29056521e+00, 3.00620501e-01,-2.27261224e+00, 5.92765082e+00,
 -1.45633355e-01, 1.45631187e-01, 9.42393513e+00,-3.22091925e+01,
  5.09613288e+00,-5.45770744e-01, 3.04480206e+00,-5.85309509e+01,
  1.51258197e+02,-2.48188760e+00]

qfrc_actuator:
[ 9.00588852e-05, 8.35275081e-04, 3.71731412e-05,-4.39487657e-05,
 -7.91634556e-05, 3.49001033e-02, 1.09529451e-02, 1.82764087e-03,
 -1.19100388e-04, 7.93551516e-04, 2.02388328e-04, 1.04668334e-05,
  0.00000000e+00,-1.57998412e-03, 0.00000000e+00,-9.62646849e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041998299403773545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02178410e-15, -2.64349519e-14,  1.00000000e+00,  1.85620525e-28,
        1.00000000e+00,  2.64349519e-14, -1.00000000e+00,  0.00000000e+00,
        7.02178410e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15673207, -0.05894853,  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:
[ 4.59520908e-05,-3.00539537e-05,-7.19228732e-05, 1.76584418e-05,
 -3.09249562e-05,-2.85533476e-05,-3.00517935e-06, 2.06827763e-05,
  3.79364051e-05,-2.33975328e-05,-8.12708865e-06, 8.75468311e-06,
  6.77540191e-06,-1.75104031e-06,-2.39365520e-06,-1.56471217e-04,
 -7.05843648e-05,-1.32225037e-04,-4.90446167e+00,-9.24154203e-04,
  3.17724856e-03,-4.65425504e-03]


--- Step 2458 ---
qpos:
[ 0.0186612 , 0.03003012,-0.00945995,-0.02528688,-0.00354033, 1.34078534,
 -0.02999252, 0.94382411, 0.01155874, 0.02726054,-0.00829547, 0.02642251,
  1.39071421, 0.00767399, 1.33173168, 0.04419754,-0.09573791,-0.06492821,
  0.09355508, 0.69046663, 0.09633587,-0.69779672,-0.16448395]

qacc:
[ 1.71146573e+00,-1.30154213e+00, 4.82239235e+00,-7.54843094e+00,
 -2.85661996e-02, 9.50303677e-01,-1.62563454e+00,-4.24854634e+00,
 -2.05958462e+00, 3.26818412e+00,-1.18982062e+01, 1.60500232e+01,
  4.30088883e-01,-7.50184500e-01, 3.44934609e+00,-1.24013907e+01,
  4.50357147e+00,-4.92907632e-01, 1.54065627e+00,-5.18765665e+01,
  1.33468303e+02,-2.37199064e+00]

qfrc_actuator:
[ 9.89212230e-05, 8.45023051e-04, 6.08933052e-05,-4.84461207e-05,
 -6.91143814e-05, 3.49398036e-02, 1.09348372e-02, 1.80405624e-03,
 -1.32429705e-04, 8.09548810e-04, 1.54961684e-04, 1.81073517e-05,
  0.00000000e+00,-1.62129663e-03, 0.00000000e+00,-1.01951039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004196313716479501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96070673e-15, -1.32285513e-14,  1.00000000e+00,  6.56229635e-29,
        1.00000000e+00,  1.32285513e-14, -1.00000000e+00,  0.00000000e+00,
        4.96070673e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15673668, -0.05894856,  0.06178998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01971877e-05,-2.10941635e-05, 9.29122772e-06,-7.92548622e-06,
 -8.22724318e-06, 2.39360215e-05,-2.34279711e-05,-2.40481129e-05,
 -1.22284900e-05, 1.64199153e-06,-5.29536057e-05, 6.52831396e-06,
  2.15134318e-06,-3.99967498e-05,-2.12967539e-05,-6.65421526e-05,
 -1.91886213e-06,-2.13091497e-04,-4.90453159e+00,-1.22152462e-03,
  3.06321046e-03,-4.67420136e-03]


--- Step 2459 ---
qpos:
[ 0.01866154, 0.03002895,-0.00946074,-0.02528701,-0.00354145, 1.34078648,
 -0.02999307, 0.9438247 , 0.01155773, 0.02726041,-0.00829685, 0.02642211,
  1.3907826 , 0.00767341, 1.3318347 , 0.04419878,-0.09570455,-0.06497393,
  0.09355809, 0.69076734, 0.09673933,-0.69731353,-0.16503279]

qacc:
[-2.06242374e+00,-1.82912163e+00, 6.58532865e+00,-8.73469492e+00,
  6.72857865e-02, 1.61819955e+00,-4.05679372e+00,-1.03737474e-01,
  1.63483968e+00, 3.11285887e+00,-1.23424692e+01, 2.04711499e+01,
  4.62492998e-01,-7.56791004e-01,-4.52437133e+00, 1.48991963e+01,
  4.00595162e+00,-4.48243476e-01, 2.64342221e-01,-4.62909776e+01,
  1.18540755e+02,-2.25425880e+00]

qfrc_actuator:
[ 8.61330057e-05, 8.51411647e-04, 9.32512908e-05,-5.10374852e-05,
 -4.47778826e-05, 3.49631323e-02, 1.09065018e-02, 1.78983635e-03,
 -1.22050517e-04, 8.36924074e-04, 1.27349535e-04, 4.06748185e-05,
  0.00000000e+00,-1.64569578e-03, 0.00000000e+00,-9.46366465e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004147307291918936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67697315e-14, -1.33848657e-14,  1.00000000e+00,  3.58309261e-28,
        1.00000000e+00,  1.33848657e-14, -1.00000000e+00,  0.00000000e+00,
        2.67697315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15681257, -0.0589404 ,  0.06179218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24938789e-05,-3.77315352e-06, 2.88979144e-05,-3.32258220e-06,
  1.94755296e-05, 3.12601097e-05,-2.70241017e-05,-1.47427502e-05,
  1.00213576e-05, 1.76514013e-05,-3.35554092e-05, 2.09372088e-05,
 -8.94763681e-06,-3.59619858e-05,-1.82996880e-05, 6.64288034e-05,
  1.19244501e-04,-2.91640213e-04,-4.90439955e+00,-1.48392230e-03,
  2.96893382e-03,-4.69365664e-03]


--- Step 2460 ---
qpos:
[ 0.01866138, 0.03002783,-0.00946149,-0.02528717,-0.00354251, 1.3407879 ,
 -0.02999396, 0.94382511, 0.01155788, 0.02726047,-0.00829771, 0.02642156,
  1.39085092, 0.00767276, 1.33193826, 0.04419549,-0.09569374,-0.06501707,
  0.09355811, 0.69082123, 0.09717617,-0.69708349,-0.16552168]

qacc:
[-4.29469526e+00,-8.76357853e-02, 5.29470388e-01,-1.05531162e+00,
  3.00867793e-02, 9.73379088e-01,-2.36246046e+00,-1.98106654e-01,
  9.96674968e+00,-1.50272173e+00, 6.27475946e+00,-9.66158341e+00,
 -4.03727093e-01, 3.70410035e-01, 1.45387365e+01,-4.95972684e+01,
 -5.63798922e+00, 6.43514051e-01,-7.47062118e-01, 6.52583087e+01,
 -1.67837051e+02, 9.52002725e-01]

qfrc_actuator:
[ 6.07158942e-05, 8.55803738e-04, 9.49153928e-05,-5.24895908e-05,
 -4.75738919e-05, 3.49764362e-02, 1.08900783e-02, 1.78124400e-03,
 -6.22778619e-05, 8.70986536e-04, 1.64995866e-04, 3.63724469e-05,
  0.00000000e+00,-1.64207858e-03, 0.00000000e+00,-1.18779520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004178057853853681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.66079412e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.66079412e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0003762 , -0.07661508,  0.06179081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57789681e-05, 8.15488182e-06, 4.35238303e-06,-6.73415105e-07,
  8.71433773e-06, 2.48616552e-05,-1.38160867e-05,-8.78557472e-06,
  6.00708755e-05, 3.79209684e-05, 3.79009281e-05,-4.29587631e-06,
 -1.29052985e-05,-9.46317791e-06,-1.82929108e-06,-2.40276052e-04,
  2.75276871e-04,-3.67538799e-04,-4.90413017e+00,-1.71734254e-03,
  2.89142720e-03,-4.71269080e-03]


--- Step 2461 ---
qpos:
[ 0.01866092, 0.03002723,-0.00946298,-0.02528735,-0.00354367, 1.34078952,
 -0.02999503, 0.94382541, 0.01155841, 0.02726083,-0.00829816, 0.02642061,
  1.3909191 , 0.00767234, 1.33204206, 0.04418734,-0.09570271,-0.06505799,
  0.09355069, 0.69065913, 0.09764254,-0.69707518,-0.1659581 ]

qacc:
[-2.63843214e+00, 2.72614577e+00,-8.62026566e+00, 9.04013274e+00,
 -4.81505299e-02, 5.47470973e-01,-1.26862074e+00,-2.50806065e-01,
  3.17362215e+00,-1.61511519e+00, 8.03269057e+00,-1.58975106e+01,
 -6.50194995e-01, 8.09456990e-01, 1.51498169e+01,-5.23010151e+01,
 -4.94529005e+00, 5.56659926e-01,-1.86050825e+00, 5.73339154e+01,
 -1.46872673e+02, 7.20899425e-01]

qfrc_actuator:
[ 4.58291579e-05, 8.94358696e-04, 6.06822364e-05,-5.32840789e-05,
 -6.66250965e-05, 3.49836801e-02, 1.08807833e-02, 1.77603207e-03,
 -4.49289952e-05, 8.91293429e-04, 1.87622868e-04, 1.63423143e-05,
  0.00000000e+00,-1.62184696e-03, 0.00000000e+00,-1.43513682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004231939218722468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63964876e-15,  1.31171901e-14,  1.00000000e+00, -2.15075845e-29,
        1.00000000e+00, -1.31171901e-14, -1.00000000e+00,  0.00000000e+00,
        1.63964876e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00050441, -0.07660135,  0.06178839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56308866e-05, 4.40262462e-05,-3.20127787e-05,-3.02253280e-07,
 -1.39005038e-05, 1.80226673e-05,-6.26158623e-06,-5.07229190e-06,
  1.91190848e-05, 4.91882204e-05, 3.49881739e-05,-1.71767123e-05,
 -9.41240769e-06, 1.47530327e-05,-3.10797946e-05,-2.61754129e-04,
  6.93326093e-05,-2.66665414e-04,-4.90446397e+00,-1.39705164e-03,
  3.02160933e-03,-4.72017595e-03]


--- Step 2462 ---
qpos:
[ 0.01866063, 0.03002687,-0.00946484,-0.02528683,-0.00354485, 1.34079118,
 -0.02999588, 0.94382564, 0.0115588 , 0.02726114,-0.00829818, 0.02642017,
  1.3909872 , 0.00767214, 1.33214525, 0.04417993,-0.09572912,-0.06509697,
  0.09353201, 0.69030684, 0.09813519,-0.69726193,-0.1663483 ]

qacc:
[ 1.44185089e+00, 2.77727543e+00,-1.23788525e+01, 2.47967030e+01,
 -4.66911162e-03,-6.71383562e-01, 2.42236577e+00,-2.98968180e+00,
 -1.17970200e+00,-1.90516164e-01,-1.52908214e+00, 9.60357614e+00,
 -9.81056089e-02, 2.14492488e-01,-3.16504795e+00, 9.77240488e+00,
 -4.35904907e+00, 4.83561516e-01,-2.81227721e+00, 5.06567663e+01,
 -1.29213861e+02, 5.44077038e-01]

qfrc_actuator:
[ 5.50167541e-05, 8.99665535e-04, 4.11849030e-05,-1.81711779e-05,
 -5.97676593e-05, 3.49872683e-02, 1.08934944e-02, 1.77284757e-03,
 -5.27056582e-05, 8.67646632e-04, 2.01122614e-04, 4.04508690e-05,
  0.00000000e+00,-1.60968108e-03, 0.00000000e+00,-1.38208395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00422562955957629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56838827e-15, -2.29893589e-14,  1.00000000e+00,  1.51003035e-28,
        1.00000000e+00,  2.29893589e-14, -1.00000000e+00,  0.00000000e+00,
        6.56838827e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00049188, -0.07660324,  0.06178862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75222682e-06, 2.33366487e-05,-1.43317006e-05, 3.58902064e-05,
 -1.35647751e-06, 1.21710670e-05, 1.53751522e-05,-2.94283900e-06,
 -7.19981433e-06, 1.03534558e-05, 2.73783225e-05, 2.70944125e-05,
 -2.71055396e-06, 1.52421354e-05,-4.55914819e-05, 3.40128143e-05,
 -3.92722475e-05,-1.86076128e-04,-4.90452045e+00,-1.11400424e-03,
  3.13038847e-03,-4.72858170e-03]


--- Step 2463 ---
qpos:
[ 0.01866011, 0.0300261 ,-0.00946636,-0.02528587,-0.003546  , 1.34079276,
 -0.02999646, 0.94382515, 0.01155978, 0.02726099,-0.00829749, 0.0264197 ,
  1.39105525, 0.00767209, 1.33224788, 0.04417549,-0.09577098,-0.06513426,
  0.09349885, 0.68978593, 0.09865135,-0.69762113,-0.16669747]

qacc:
[-1.97242324e+00,-5.61349965e-01,-6.60577909e-01, 8.17581443e+00,
  1.31775807e-02,-2.03748377e+00, 7.99604271e+00,-1.52384635e+01,
  5.09697689e+00,-2.66095912e+00, 8.67211105e+00,-9.79896635e+00,
  1.39823601e-01,-6.84316470e-02,-9.79326422e+00, 3.30194984e+01,
 -3.86190061e+00, 4.21966554e-01,-3.62371750e+00, 4.50329365e+01,
 -1.14338004e+02, 4.07171290e-01]

qfrc_actuator:
[ 4.27915819e-05, 8.49596540e-04, 4.82084132e-05, 2.27423265e-06,
 -5.51748026e-05, 3.49709731e-02, 1.09013228e-02, 1.73538433e-03,
 -2.19374238e-05, 8.17854834e-04, 2.26733404e-04, 3.70393025e-05,
  0.00000000e+00,-1.60243063e-03, 0.00000000e+00,-1.22347150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004171019143847127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82995643e-14, -3.99263221e-14,  1.00000000e+00,  7.30634297e-28,
        1.00000000e+00,  3.99263221e-14, -1.00000000e+00,  0.00000000e+00,
        1.82995643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00036774, -0.07661742,  0.06179097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19599610e-05,-3.84049835e-05, 1.13447641e-05, 2.16511291e-05,
  3.79164822e-06,-6.65302130e-06, 1.18720435e-05,-3.67133170e-05,
  3.05596517e-05,-3.71969461e-05, 3.20574164e-05,-1.49254085e-06,
  1.35154409e-06, 1.17111298e-05,-1.69596215e-05, 1.54731097e-04,
 -7.96823164e-05,-1.21369387e-04,-4.90438828e+00,-8.62760180e-04,
  3.22069526e-03,-4.73774344e-03]


--- Step 2464 ---
qpos:
[ 0.01866013, 0.03002515,-0.00946755,-0.02528469,-0.0035474 , 1.34079402,
 -0.02999689, 0.94382562, 0.01156077, 0.02726102,-0.00829728, 0.02641955,
  1.39112314, 0.00767263, 1.3323508 , 0.04416959,-0.09578986,-0.06517433,
  0.09348464, 0.68951469, 0.09913934,-0.69772065,-0.16711305]

qacc:
[ 4.70564269e+00,-7.54097494e-01, 1.43077526e+00, 1.82756409e+00,
 -1.04022646e-01, 8.04995572e-01,-5.10957546e+00, 1.58019879e+01,
  1.21320346e-01, 2.21394968e+00,-8.87575915e+00, 1.48964813e+01,
 -6.19205192e-01, 9.81033777e-01, 4.89193882e+00,-1.63329108e+01,
  5.74174045e+00,-6.93949146e-01, 4.74087860e+00,-6.68354241e+01,
  1.71023868e+02,-5.07762689e+00]

qfrc_actuator:
[ 7.13104581e-05, 8.55609598e-04, 7.05782987e-05, 1.38857934e-05,
 -8.74836425e-05, 3.49428620e-02, 1.09060995e-02, 1.78454554e-03,
 -2.19776089e-05, 8.41571487e-04, 2.05887175e-04, 5.29425844e-05,
  0.00000000e+00,-1.56265133e-03, 0.00000000e+00,-1.30582736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004229878846487178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.20223717e-15, -1.31235795e-14,  1.00000000e+00,  1.07642711e-28,
        1.00000000e+00,  1.31235795e-14, -1.00000000e+00,  0.00000000e+00,
        8.20223717e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15667386, -0.05895599,  0.06178815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81594250e-05,-1.21516206e-05, 1.66099191e-05, 1.07849483e-05,
 -3.00682660e-05,-3.05830184e-05, 3.74790465e-06, 4.84588953e-05,
  8.40710559e-07, 9.48579741e-06,-2.46385239e-05, 1.53881438e-05,
  3.38979297e-06, 4.36891676e-05, 8.83337249e-06,-7.60307492e-05,
 -7.30252908e-05,-6.91306004e-05,-4.90412922e+00,-6.38656067e-04,
  3.29503142e-03,-4.74752470e-03]


--- Step 2465 ---
qpos:
[ 0.01866118, 0.03002429,-0.0094686 ,-0.02528307,-0.00354909, 1.34079501,
 -0.02999759, 0.94382808, 0.01156107, 0.02726137,-0.00829744, 0.02641991,
  1.39119097, 0.00767364, 1.33245353, 0.04416444,-0.09578858,-0.06521688,
  0.09348234, 0.68946246, 0.09960285,-0.69759243,-0.16758757]

qacc:
[ 8.84830309e+00, 6.32673095e-01,-4.01944839e+00, 1.15798221e+01,
 -1.26188148e-01, 3.76548458e+00,-1.67984298e+01, 3.77706016e+01,
 -5.97012254e+00, 2.54466698e+00,-1.05978981e+01, 1.97867821e+01,
 -2.54957583e-01, 5.43897584e-01,-2.50232863e+00, 8.43809691e+00,
  5.04249466e+00,-6.19075236e-01, 2.97663691e+00,-5.88843672e+01,
  1.49951494e+02,-4.77295723e+00]

qfrc_actuator:
[ 1.23589718e-04, 8.77462085e-04, 8.42748975e-05, 3.80090117e-05,
 -1.06163663e-04, 3.49256808e-02, 1.08912898e-02, 1.88428642e-03,
 -5.79155792e-05, 8.73440149e-04, 1.93584053e-04, 8.01123526e-05,
  0.00000000e+00,-1.53935228e-03, 0.00000000e+00,-1.26324614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004275762133139842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86853128e-15, -1.29827501e-14,  1.00000000e+00,  6.32069250e-29,
        1.00000000e+00,  1.29827501e-14, -1.00000000e+00,  0.00000000e+00,
        4.86853128e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15660048, -0.05896417,  0.06178602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30984469e-05, 1.90051733e-05, 1.36269572e-05, 2.43886156e-05,
 -3.64502683e-05,-3.19181671e-05,-1.89448579e-05, 1.00057036e-04,
 -3.59094188e-05, 3.27435437e-05,-1.28474297e-05, 2.70232105e-05,
  1.14534903e-05, 3.77019607e-05,-7.73470278e-06, 3.87446508e-05,
 -7.15992145e-05,-1.55163989e-04,-4.90445503e+00,-9.81082774e-04,
  3.15526787e-03,-4.76844758e-03]


--- Step 2466 ---
qpos:
[ 0.01866285, 0.03002363,-0.00946948,-0.02528187,-0.00355075, 1.34079596,
 -0.02999848, 0.9438303 , 0.0115606 , 0.02726181,-0.00829738, 0.02641988,
  1.39125881, 0.00767497, 1.33255582, 0.04416284,-0.09576948,-0.06526165,
  0.09348595, 0.68960331, 0.1000449 ,-0.69726305,-0.16811464]

qacc:
[ 5.31130734e+00,-1.08306949e+00, 6.04174951e+00,-1.38663272e+01,
  1.24801060e-02, 8.47175565e-02, 1.36639960e-01,-2.76211316e+00,
 -6.63498587e+00,-1.29054974e+00, 6.44073463e+00,-1.35459998e+01,
  1.19188918e-01, 6.72653857e-02,-1.13933027e+01, 3.88662746e+01,
  4.45577072e+00,-5.56204370e-01, 1.47638303e+00,-5.22072746e+01,
  1.32276032e+02,-4.46954966e+00]

qfrc_actuator:
[ 1.53917152e-04, 8.90864482e-04, 9.28243116e-05, 1.60549746e-05,
 -8.10105378e-05, 3.49328911e-02, 1.08828450e-02, 1.87094674e-03,
 -9.69324670e-05, 8.74479257e-04, 2.04249584e-04, 6.04597907e-05,
  0.00000000e+00,-1.52605689e-03, 0.00000000e+00,-1.07631348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004265501557402164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66018183e-15, -2.60279597e-14,  1.00000000e+00,  9.52670649e-29,
        1.00000000e+00,  2.60279597e-14, -1.00000000e+00,  0.00000000e+00,
        3.66018183e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15661565, -0.05896201,  0.06178646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18832109e-05, 2.79434475e-05, 1.50121604e-05,-2.01957414e-05,
  3.61119061e-06,-1.11488246e-05,-1.39070003e-05,-1.25308119e-05,
 -4.00566869e-05, 1.78308440e-05, 1.67806769e-05,-1.81676221e-05,
  1.40570494e-05, 2.76603632e-05,-9.34978079e-07, 1.87730154e-04,
  7.54671644e-06,-2.41936272e-04,-4.90449452e+00,-1.28498845e-03,
  3.03750398e-03,-4.78896855e-03]


--- Step 2467 ---
qpos:
[ 0.01866453, 0.03002348,-0.00947038,-0.02528132,-0.00355198, 1.34079667,
 -0.02999876, 0.9438306 , 0.01156034, 0.02726227,-0.00829685, 0.02641961,
  1.3913266 , 0.00767675, 1.33265789, 0.0441648 ,-0.09573452,-0.06530844,
  0.09349037, 0.68991535, 0.10046791,-0.69675468,-0.16868885]

qacc:
[ 4.41351652e-02,-5.97491313e-01, 5.84371057e+00,-1.73636905e+01,
  1.84877145e-01,-5.30545226e+00, 2.08747141e+01,-4.03059530e+01,
  1.93389225e+00,-1.78665634e+00, 7.37667771e+00,-1.22385293e+01,
 -1.44714030e-02, 2.75381827e-01,-1.11241395e+01, 3.84571295e+01,
  3.96303081e+00,-5.03328851e-01, 2.03660255e-01,-4.66015859e+01,
  1.17444645e+02,-4.18008583e+00]

qfrc_actuator:
[ 1.53320529e-04, 9.34554680e-04, 9.82097563e-05,-1.50908767e-05,
 -2.97659743e-05, 3.49191061e-02, 1.09137581e-02, 1.77342705e-03,
 -8.41794348e-05, 8.74860843e-04, 2.28235573e-04, 4.89087495e-05,
  0.00000000e+00,-1.50105277e-03, 0.00000000e+00,-8.94626675e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00421026569333767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63694290e-14,  2.63694290e-14,  1.00000000e+00, -6.95346788e-28,
        1.00000000e+00, -2.63694290e-14, -1.00000000e+00,  0.00000000e+00,
        2.63694290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15670117, -0.05895155,  0.06178894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45152973e-07, 6.15890844e-05, 1.23192594e-05,-2.98242387e-05,
  5.33782970e-05,-2.30517542e-05, 2.67852084e-05,-9.85499778e-05,
  1.15877607e-05, 1.30080129e-05, 2.91026417e-05,-1.05593789e-05,
  1.35994744e-05, 3.65892904e-05, 1.92836747e-05, 1.91760048e-04,
  1.38263118e-04,-3.27818035e-04,-4.90433837e+00,-1.55663501e-03,
  2.93850915e-03,-4.80914078e-03]


--- Step 2468 ---
qpos:
[ 0.01866585, 0.03002367,-0.00947115,-0.02528113,-0.00355269, 1.34079685,
 -0.02999854, 0.94383011, 0.01156024, 0.02726235,-0.00829558, 0.02641959,
  1.39139449, 0.00767861, 1.33276001, 0.04416894,-0.09572249,-0.06535283,
  0.09349252, 0.68997556, 0.10092748,-0.69650354,-0.16920457]

qacc:
[-3.12865910e+00,-6.53102550e-01, 4.50664255e+00,-1.12476106e+01,
  2.16503728e-01,-3.34112433e+00, 1.17175198e+01,-1.90547859e+01,
  1.35046932e+00,-2.07531453e+00, 5.69273058e+00,-2.50207368e+00,
  1.99411372e-01,-1.42461906e-01,-6.52005562e+00, 2.28709340e+01,
 -5.73143694e+00, 5.97524777e-01,-5.68549480e-01, 6.73328891e+01,
 -1.70448956e+02,-8.72559502e-01]

qfrc_actuator:
[ 1.34534544e-04, 9.42762880e-04, 1.01811650e-04,-3.36112563e-05,
  1.20922597e-06, 3.48752001e-02, 1.09320408e-02, 1.73370434e-03,
 -7.65612857e-05, 8.39401468e-04, 2.59889789e-04, 5.99796831e-05,
  0.00000000e+00,-1.50478615e-03, 0.00000000e+00,-7.88544381e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004280352047296612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94532426e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.94532426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0006408 , -0.07658638,  0.06178581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87524502e-05, 4.39248252e-05, 1.68167251e-05,-1.60372775e-05,
  6.25189115e-05,-5.43824813e-05, 1.39312723e-05,-4.19141016e-05,
  7.96321818e-06,-2.26448843e-05, 3.75488091e-05, 1.24277218e-05,
  1.58002881e-05, 1.03423892e-05, 2.78904107e-05, 1.18707178e-04,
  3.03119628e-04,-4.11933427e-04,-4.90404987e+00,-1.80114711e-03,
  2.85561031e-03,-4.82900885e-03]


--- Step 2469 ---
qpos:
[ 0.01866693, 0.03002372,-0.00947136,-0.02528148,-0.00355295, 1.34079709,
 -0.02999864, 0.94382982, 0.01155989, 0.02726244,-0.00829458, 0.02641972,
  1.39146264, 0.00767998, 1.33286273, 0.04417033,-0.09573054,-0.06539516,
  0.09348782, 0.68981567, 0.10141951,-0.6964774 ,-0.16966923]

qacc:
[  -1.99768002,  -2.88473668,  12.30284126, -22.44386823,   0.19205723,
    1.25671006,  -4.4533818 ,   6.26144072,  -2.16415378,   1.08641179,
   -4.53687451,   7.68945654,   0.2490103 ,  -0.49686517,   9.17749822,
  -30.87966626,  -5.0208883 ,   0.51683336,  -1.71374837,  59.12417009,
 -148.94515623,  -0.96094769]

qfrc_actuator:
[ 1.22955756e-04, 9.11908179e-04, 1.21960854e-04,-6.23328996e-05,
  1.97733282e-05, 3.49023491e-02, 1.09248819e-02, 1.74605048e-03,
 -8.97965617e-05, 8.36062927e-04, 2.42421973e-04, 6.64910083e-05,
  0.00000000e+00,-1.54332176e-03, 0.00000000e+00,-9.40886436e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.79162573,   6.4065473 ,   5.79162573,
        53.57426755, -40.62461547,   6.4065473 , -40.62461547,
        45.36169434,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004336327450727123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00077283, -0.07657135,  0.06178332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21097522e-05,-3.51472702e-06, 3.07433066e-05,-2.65700884e-05,
  5.55082367e-05,-1.46936844e-06,-1.74420304e-05, 1.01480716e-05,
 -1.30104263e-05,-7.72838763e-06,-1.71068063e-05, 7.07866365e-06,
  1.07220594e-05,-3.20459097e-05, 2.31227801e-05,-1.42837228e-04,
  8.12353840e-05,-3.04861550e-04,-4.90440281e+00,-1.46158946e-03,
  2.99575090e-03,-4.83679759e-03]


--- Step 2470 ---
qpos:
[ 0.01866786, 0.0300238 ,-0.00947165,-0.02528146,-0.00355286, 1.34079753,
 -0.0299992 , 0.94382933, 0.01156008, 0.02726289,-0.00829423, 0.02641956,
  1.39153083, 0.00768118, 1.33296545, 0.04417093,-0.09575627,-0.06543569,
  0.09347234, 0.68946224, 0.10194051,-0.69664889,-0.170089  ]

qacc:
[-1.26780039e+00, 1.05676485e+00,-5.30375465e+00, 1.19196372e+01,
  1.51412226e-01, 1.17904523e+00,-3.10030380e+00, 2.15012492e-01,
  4.52524836e+00, 1.72290917e+00,-4.21934789e+00,-6.66697871e-03,
  7.43119228e-02,-1.72815186e-01, 2.36634604e+00,-8.31530188e+00,
 -4.41967708e+00, 4.48768194e-01,-2.69290853e+00, 5.22022242e+01,
 -1.30832214e+02,-1.00475345e+00]

qfrc_actuator:
[ 1.15717739e-04, 9.11207763e-04, 1.16035882e-04,-4.35963370e-05,
  3.07435610e-05, 3.49185151e-02, 1.09030579e-02, 1.73569407e-03,
 -6.19405756e-05, 8.69533674e-04, 2.13952606e-04, 5.24989560e-05,
  0.00000000e+00,-1.54894195e-03, 0.00000000e+00,-9.77939914e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004330429281488309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40942821e-15, -2.56377129e-14,  1.00000000e+00,  1.64323080e-28,
        1.00000000e+00,  2.56377129e-14, -1.00000000e+00,  0.00000000e+00,
        6.40942821e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00076052, -0.07657208,  0.06178355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.59213154e-06, 2.53971317e-06,-3.78184885e-06, 1.91337351e-05,
  4.37730824e-05, 1.22462332e-05,-2.37993059e-05,-1.06771851e-05,
  2.74739896e-05, 2.58980175e-05,-3.19406871e-05,-1.47796254e-05,
 -2.44132940e-06,-1.30157792e-05,-9.00891243e-06,-4.29281560e-05,
 -3.98848001e-05,-2.19767928e-04,-4.90446797e+00,-1.15893465e-03,
  3.11442989e-03,-4.84558202e-03]


--- Step 2471 ---
qpos:
[ 0.0186687 , 0.03002378,-0.00947172,-0.02528053,-0.00355264, 1.34079785,
 -0.02999931, 0.94382802, 0.01156025, 0.02726359,-0.00829396, 0.02641921,
  1.39159901, 0.00768228, 1.33306813, 0.04417073,-0.09579765,-0.06547466,
  0.09344275, 0.68893748, 0.10248748,-0.69699482,-0.17046902]

qacc:
[-7.98243835e-01, 1.11004888e+00,-7.95795808e+00, 2.33497729e+01,
  5.00748345e-02,-2.77749879e+00, 1.05766091e+01,-1.87193819e+01,
 -1.09816508e-01, 1.27686206e-01, 8.01425132e-01,-4.14564573e+00,
 -7.25580986e-03,-5.01933192e-02, 2.38117788e+00,-8.38594411e+00,
 -3.90996817e+00, 3.91290913e-01,-3.52783693e+00, 4.63680218e+01,
 -1.15573296e+02,-1.01970483e+00]

qfrc_actuator:
[ 1.11090543e-04, 9.10744521e-04, 1.30404944e-04, 2.91589441e-06,
  1.93192125e-05, 3.49101590e-02, 1.09259707e-02, 1.69429111e-03,
 -6.33724229e-05, 8.89209924e-04, 2.14880661e-04, 4.43417807e-05,
  0.00000000e+00,-1.55268990e-03, 0.00000000e+00,-1.01769159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004274875699774146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29854422e-14, -9.73908164e-15,  1.00000000e+00,  1.26466281e-28,
        1.00000000e+00,  9.73908164e-15, -1.00000000e+00,  0.00000000e+00,
        1.29854422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00063373, -0.07658519,  0.06178594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84812311e-06, 9.90126201e-07, 1.50916594e-05, 4.68632899e-05,
  1.44441027e-05,-6.55953640e-06, 2.22862648e-05,-4.19813688e-05,
 -6.14579750e-07, 2.69173979e-05, 1.82223732e-06,-8.44268537e-06,
 -4.65255086e-06,-8.17784751e-06,-1.08301331e-05,-4.37473915e-05,
 -9.04508670e-05,-1.51726138e-04,-4.90433803e+00,-8.88248653e-04,
  3.21440933e-03,-4.85519852e-03]


--- Step 2472 ---
qpos:
[ 0.01866947, 0.03002362,-0.00947096,-0.02527977,-0.00355241, 1.34079811,
 -0.02999859, 0.94382619, 0.01155971, 0.02726472,-0.00829408, 0.02641876,
  1.39166735, 0.00768282, 1.33317074, 0.04417004,-0.09581629,-0.06551675,
  0.09343175, 0.68865972, 0.10301034,-0.69708215,-0.17091851]

qacc:
[-5.05479466e-01,-2.83858394e+00, 1.05866990e+01,-1.48253632e+01,
  5.40023050e-03,-3.22028870e+00, 1.14501850e+01,-1.58238018e+01,
 -6.06005859e+00, 1.46965756e+00,-3.95019405e+00, 2.48762849e+00,
  4.20852592e-01,-7.50477501e-01, 1.32695127e+00,-4.92470611e+00,
  5.68302809e+00,-7.81833858e-01, 4.64818586e+00,-6.72171526e+01,
  1.69533563e+02,-7.72606860e+00]

qfrc_actuator:
[ 1.08035478e-04, 9.10530297e-04, 1.74420887e-04,-5.59932457e-06,
  1.23074346e-05, 3.49228410e-02, 1.09750022e-02, 1.67047357e-03,
 -9.97975754e-05, 9.18348742e-04, 1.97621187e-04, 3.97014849e-05,
  0.00000000e+00,-1.59082804e-03, 0.00000000e+00,-1.04098303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042652264831203185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15660671, -0.05895747,  0.06178621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19860108e-06, 5.45781980e-06, 4.76987464e-05,-7.03995807e-06,
  1.52392449e-06, 1.21476876e-05, 4.90512478e-05,-2.43360455e-05,
 -3.64310858e-05, 4.41786711e-05,-1.17772482e-05,-3.58934198e-06,
 -4.63993438e-06,-4.15624976e-05,-1.17381583e-05,-2.75559451e-05,
 -9.23576698e-05,-9.69692092e-05,-4.90407745e+00,-6.45198980e-04,
  3.29808809e-03,-4.86550942e-03]


--- Step 2473 ---
qpos:
[ 0.01867021, 0.03002361,-0.00947029,-0.02527979,-0.00355236, 1.3407986 ,
 -0.0299983 , 0.94382551, 0.01155874, 0.02726641,-0.00829481, 0.02641894,
  1.39173563, 0.00768317, 1.33327281, 0.04417274,-0.09581496,-0.06556162,
  0.09343234, 0.68859854, 0.10351236,-0.69694264,-0.17142983]

qacc:
[-3.72996225e-01,-1.16303090e+00, 7.71318186e+00,-2.10940392e+01,
 -7.33255796e-02, 3.44736766e+00,-1.32312276e+01, 2.46546885e+01,
 -3.72068754e+00, 3.76986715e+00,-1.50686767e+01, 2.66987554e+01,
  3.82714388e-01,-5.47739080e-01,-1.10877027e+01, 3.75378410e+01,
  4.99200668e+00,-6.95084761e-01, 2.89530309e+00,-5.92652682e+01,
  1.48638052e+02,-7.20250635e+00]

qfrc_actuator:
[ 1.05929349e-04, 9.10552120e-04, 1.64532506e-04,-4.64106432e-05,
 -9.75099065e-06, 3.49303894e-02, 1.09503727e-02, 1.72823176e-03,
 -1.21013118e-04, 9.52865849e-04, 1.69791746e-04, 7.26627756e-05,
  0.00000000e+00,-1.59584419e-03, 0.00000000e+00,-8.59105984e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004306444427987596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62538320e-15,  1.28902514e-14,  1.00000000e+00, -4.67321008e-29,
        1.00000000e+00, -1.28902514e-14, -1.00000000e+00,  0.00000000e+00,
        3.62538320e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15654096, -0.05896399,  0.0617843 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19946424e-06, 1.26155200e-05,-3.13937629e-06,-3.90674922e-05,
 -2.11574334e-05, 2.31272509e-05,-1.73884593e-05, 5.89963454e-05,
 -2.22630163e-05, 5.65824316e-05,-2.02884667e-05, 3.43773138e-05,
 -1.22962135e-05,-1.87882290e-05,-9.96030339e-06, 1.78479189e-04,
 -8.13847026e-05,-1.91586491e-04,-4.90438542e+00,-1.00608981e-03,
  3.14897523e-03,-4.88778760e-03]


--- Step 2474 ---
qpos:
[ 0.01867056, 0.03002383,-0.00947035,-0.02527991,-0.00355237, 1.34079945,
 -0.02999869, 0.94382657, 0.01155821, 0.02726855,-0.00829585, 0.02641917,
  1.39180394, 0.00768316, 1.33337487, 0.04417689,-0.09579598,-0.06560899,
  0.09343854, 0.68872829, 0.10399619,-0.69660272,-0.17199643]

qacc:
[-3.24909658e+00, 2.11531094e+00,-6.67423022e+00, 5.85168601e+00,
 -2.75086096e-02, 5.26564475e+00,-2.01926811e+01, 3.74367180e+01,
  3.75849276e+00, 1.51316577e+00,-4.71709653e+00, 5.57480011e+00,
  3.47907238e-01,-5.86430108e-01,-4.46519650e+00, 1.54947396e+01,
  4.41218709e+00,-6.22484137e-01, 1.40496863e+00,-5.25858861e+01,
  1.31111698e+02,-6.70157350e+00]

qfrc_actuator:
[ 8.66455125e-05, 9.10472198e-04, 1.22872949e-04,-5.26724031e-05,
 -5.15156646e-06, 3.49523300e-02, 1.09179869e-02, 1.81572698e-03,
 -9.75895900e-05, 9.72568842e-04, 1.53754357e-04, 7.42273507e-05,
  0.00000000e+00,-1.61662634e-03, 0.00000000e+00,-7.88597992e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004292111050329228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61666225e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.61666225e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15656276, -0.05896001,  0.06178494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93424517e-05, 4.64271653e-06,-4.08007754e-05,-6.59252604e-06,
 -7.90305403e-06, 3.31006950e-05,-2.81121476e-05, 8.90484381e-05,
  2.27953003e-05, 4.85627759e-05,-5.67062300e-06, 3.95458240e-06,
 -1.00478412e-05,-2.95669791e-05, 1.44229897e-05, 7.89676255e-05,
  6.61027887e-06,-2.88786293e-04,-4.90441252e+00,-1.33067683e-03,
  3.02100303e-03,-4.90980916e-03]


--- Step 2475 ---
qpos:
[ 0.01867069, 0.03002386,-0.00947051,-0.02527976,-0.0035521 , 1.34080028,
 -0.02999875, 0.9438283 , 0.01155762, 0.02727055,-0.00829679, 0.02641912,
  1.3918724 , 0.00768239, 1.33347689, 0.04418254,-0.09579763,-0.0656544 ,
  0.09343872, 0.68863078, 0.10451493,-0.69649394,-0.17251224]

qacc:
[-2.00584664e+00, 6.31908249e-01,-3.76086741e+00, 8.86628403e+00,
  1.16452197e-01, 2.19254805e-01,-2.12937272e+00, 9.68152270e+00,
 -5.01998081e-01,-9.92241449e-01, 4.46381082e+00,-9.34653007e+00,
  6.97190522e-01,-1.17600213e+00,-4.66440135e+00, 1.60421563e+01,
 -5.15698853e+00, 4.86965558e-01,-1.50680740e+00, 6.14064272e+01,
 -1.53105980e+02,-2.19307173e+00]

qfrc_actuator:
[ 7.51576325e-05, 8.92457947e-04, 1.16090647e-04,-3.85642453e-05,
  3.31560115e-05, 3.49471918e-02, 1.09346253e-02, 1.84900693e-03,
 -1.01342292e-04, 9.30009468e-04, 1.44726974e-04, 5.72978379e-05,
  0.00000000e+00,-1.66438293e-03, 0.00000000e+00,-7.13322680e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004242873248716333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54169333e-15, -2.61667733e-14,  1.00000000e+00,  1.71175006e-28,
        1.00000000e+00,  2.61667733e-14, -1.00000000e+00,  0.00000000e+00,
        6.54169333e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0005685 , -0.07658677,  0.06178716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20485480e-05,-2.41416550e-05,-1.10776930e-05, 1.27676050e-05,
  3.36381109e-05, 1.03459353e-05, 2.25266478e-05, 3.55171226e-05,
 -3.06239494e-06,-1.64641070e-05, 4.27483709e-07,-1.49716703e-05,
 -1.13454767e-05,-5.94019501e-05, 1.28816069e-05, 8.09267214e-05,
  1.45655132e-04,-3.86198186e-04,-4.90424795e+00,-1.62428617e-03,
  2.91129879e-03,-4.93160001e-03]


--- Step 2476 ---
qpos:
[ 0.01867033, 0.03002348,-0.00947034,-0.02527978,-0.00355149, 1.34080065,
 -0.02999834, 0.94382976, 0.01155734, 0.02727178,-0.00829755, 0.02641964,
  1.39194072, 0.00768152, 1.33357903, 0.04418839,-0.09581743,-0.06569813,
  0.09342885, 0.68833357, 0.10506496,-0.69658808,-0.1729835 ]

qacc:
[-4.13125769e+00,-1.81066198e+00, 6.43321188e+00,-9.73749712e+00,
  1.47521042e-01,-2.30649080e+00, 7.35796396e+00,-9.24498098e+00,
  2.62368965e+00,-4.07976074e-01,-2.41653078e+00, 1.24486221e+01,
 -4.52567399e-02,-4.73780446e-02,-4.15992328e-01, 1.73056811e+00,
 -4.53805657e+00, 4.23373139e-01,-2.51098730e+00, 5.42284823e+01,
 -1.34388491e+02,-2.17544451e+00]

qfrc_actuator:
[ 5.06030853e-05, 8.63990173e-04, 1.29900001e-04,-4.80811330e-05,
  5.58692298e-05, 3.48905295e-02, 1.09444269e-02, 1.83237242e-03,
 -8.55707887e-05, 8.50495534e-04, 1.39638048e-04, 8.28334849e-05,
  0.00000000e+00,-1.65676489e-03, 0.00000000e+00,-7.06819560e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.66731817,   5.48941211,   6.66731817,
        38.00497308, -35.6704615 ,   5.48941211, -35.6704615 ,
        51.96091483,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0042546952626357284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89263753e-15, -1.30470334e-14,  1.00000000e+00,  6.38344053e-29,
        1.00000000e+00,  1.30470334e-14, -1.00000000e+00,  0.00000000e+00,
        4.89263753e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00059678, -0.07658191,  0.06178663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49141010e-05,-4.37130591e-05, 7.90218591e-06,-1.06847219e-05,
  4.25920603e-05,-4.54668735e-05, 1.54320230e-05,-1.48361150e-05,
  1.56820471e-05,-8.93382844e-05,-8.96790287e-06, 2.45512834e-05,
 -1.88735844e-05,-1.35503155e-05, 1.26851120e-05, 1.21187766e-05,
 -1.16627537e-05,-2.90461991e-04,-4.90439160e+00,-1.29294342e-03,
  3.04511427e-03,-4.94080627e-03]


--- Step 2477 ---
qpos:
[ 0.01866968, 0.03002276,-0.00947001,-0.02527991,-0.0035507 , 1.34080086,
 -0.02999841, 0.94382999, 0.01155725, 0.02727249,-0.00829809, 0.02641973,
  1.39200885, 0.0076809 , 1.33368135, 0.04419328,-0.09581736,-0.0657448 ,
  0.09343036, 0.68825184, 0.10559602,-0.69645559,-0.17351803]

qacc:
[-2.49237794e+00,-1.13394079e+00, 3.85708035e+00,-5.78523467e+00,
  7.12311466e-02,-1.01230739e+00, 5.56450888e+00,-1.89117714e+01,
  1.64644822e+00,-2.14422004e+00, 8.42489710e+00,-1.56701656e+01,
 -3.89540940e-01, 5.21599776e-01, 3.18704216e+00,-1.06830636e+01,
  4.96953563e+00,-7.36953751e-01, 2.84427488e+00,-5.94886345e+01,
  1.48082743e+02,-8.44222051e+00]

qfrc_actuator:
[ 3.63043625e-05, 8.47304864e-04, 1.37923167e-04,-5.36756012e-05,
  5.12898401e-05, 3.48744108e-02, 1.09143638e-02, 1.76871282e-03,
 -7.61780961e-05, 8.38263284e-04, 1.54521513e-04, 6.21055660e-05,
  0.00000000e+00,-1.63403495e-03, 0.00000000e+00,-7.58634984e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004267774236650264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30070496e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30070496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15659828, -0.05895063,  0.06178598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50387800e-05,-3.99504064e-05,-3.97597701e-07,-7.39906703e-06,
  2.05891004e-05,-3.86970365e-05,-3.76349255e-05,-6.49145926e-05,
  9.82336879e-06,-6.30234716e-05,-3.83339626e-06,-2.43918334e-05,
 -1.21659411e-05, 1.41381973e-05, 4.10840801e-06,-5.02296757e-05,
 -9.17263290e-05,-2.14003207e-04,-4.90431944e+00,-9.95161021e-04,
  3.15945028e-03,-4.95093838e-03]


--- Step 2478 ---
qpos:
[ 0.0186692 , 0.03002175,-0.00946964,-0.02527942,-0.00354999, 1.34080137,
 -0.02999903, 0.94382839, 0.01155658, 0.02727302,-0.00829859, 0.0264192 ,
  1.39207705, 0.00768002, 1.33378367, 0.04419752,-0.0957997 ,-0.06579411,
  0.09343733, 0.68836007, 0.10611058,-0.69612279,-0.17410926]

qacc:
[ 1.53458663e+00, 7.80290392e-01,-5.98947336e+00, 1.69727882e+01,
 -3.03510343e-02,-1.26276049e+00, 8.36612414e+00,-2.87544515e+01,
 -4.91375841e+00,-1.63473141e+00, 8.13574517e+00,-1.89192829e+01,
  1.62711280e-01,-3.18454428e-01, 1.95882419e+00,-6.89447093e+00,
  4.39456070e+00,-6.59244007e-01, 1.36499563e+00,-5.28267478e+01,
  1.30658628e+02,-7.85594102e+00]

qfrc_actuator:
[ 4.59134291e-05, 8.37787941e-04, 1.42507372e-04,-2.14072806e-05,
  3.03755105e-05, 3.49180085e-02, 1.08966409e-02, 1.67789809e-03,
 -1.06126028e-04, 8.48703327e-04, 1.63542654e-04, 3.21323599e-05,
  0.00000000e+00,-1.65580472e-03, 0.00000000e+00,-7.91107895e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042545937282053095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.21893791e-14,  1.30473448e-14,  1.00000000e+00, -6.80932822e-28,
        1.00000000e+00, -1.30473448e-14, -1.00000000e+00,  0.00000000e+00,
        5.21893791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1566184 , -0.05894623,  0.06178657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15921806e-06,-3.22363329e-05,-3.96571371e-06, 3.04019438e-05,
 -8.74813363e-06, 1.28775274e-05,-3.14790658e-05,-9.45860738e-05,
 -2.96793349e-05,-2.66567251e-05,-5.31608421e-06,-3.32823710e-05,
 -2.88892956e-06,-2.00806986e-05,-6.73459539e-06,-3.54471208e-05,
 -2.08519483e-06,-3.17606732e-04,-4.90435387e+00,-1.33524233e-03,
  3.02372276e-03,-4.97404262e-03]


--- Step 2479 ---
qpos:
[ 0.01866885, 0.03002085,-0.00946939,-0.02527859,-0.00354943, 1.34080215,
 -0.03      , 0.94382674, 0.01155625, 0.02727314,-0.00829893, 0.02641867,
  1.39214519, 0.00767914, 1.33388602, 0.04420066,-0.09580264,-0.06584158,
  0.09343823, 0.68824138, 0.10666143,-0.69602019,-0.17465116]

qacc:
[ 1.01085068e+00, 1.20611629e+00,-5.52651364e+00, 1.15560470e+01,
 -6.22269913e-02, 1.18151983e+00,-3.32605312e+00, 2.14063527e+00,
  2.87731577e+00,-9.79057965e-01, 2.66519867e+00,-2.45223685e+00,
 -1.34690938e-01, 1.34955632e-01, 3.40103398e+00,-1.17916372e+01,
 -5.14670493e+00, 4.58325547e-01,-1.51699227e+00, 6.17355131e+01,
 -1.52437283e+02,-3.19895964e+00]

qfrc_actuator:
[ 5.17614006e-05, 8.68164754e-04, 1.45083513e-04,-2.61948077e-06,
  1.75855075e-05, 3.49437873e-02, 1.08865883e-02, 1.67840949e-03,
 -8.79770809e-05, 8.19361798e-04, 1.69132509e-04, 3.24904377e-05,
  0.00000000e+00,-1.65060037e-03, 0.00000000e+00,-8.47400718e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004302665467381547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29015727e-14, -6.45078634e-15,  1.00000000e+00,  8.32252888e-29,
        1.00000000e+00,  6.45078634e-15, -1.00000000e+00,  0.00000000e+00,
        1.29015727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00071163, -0.07656315,  0.06178445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10524904e-06, 1.28691375e-05,-3.51180227e-06, 1.78624823e-05,
 -1.79589594e-05, 2.38965849e-05,-1.38916992e-05,-2.22005329e-06,
  1.72731282e-05,-4.67970224e-05,-1.72144197e-06,-1.61370119e-06,
 -6.43465565e-06,-1.50703437e-06,-8.99740369e-06,-5.96050693e-05,
  1.38895153e-04,-4.22007121e-04,-4.90419658e+00,-1.64449199e-03,
  2.90617639e-03,-4.99696613e-03]


--- Step 2480 ---
qpos:
[ 0.01866788, 0.03002032,-0.00946925,-0.02527791,-0.00354902, 1.34080313,
 -0.03000113, 0.94382615, 0.0115558 , 0.02727306,-0.00829927, 0.02641814,
  1.39221321, 0.00767854, 1.3339884 , 0.04420241,-0.09582368,-0.06588746,
  0.09342904, 0.68792334, 0.10724487,-0.69611963,-0.17514984]

qacc:
[-5.30001370e+00, 4.42191563e-01,-1.61120281e-01,-2.78661547e+00,
 -6.38241663e-02, 2.53509839e+00,-1.01096360e+01, 2.08345308e+01,
 -1.06303884e+00,-2.63855218e-01, 5.80065444e-01,-5.27900071e-01,
 -3.78406491e-01, 5.47570201e-01, 4.25692925e+00,-1.47398674e+01,
 -4.52755965e+00, 3.98329290e-01,-2.52295587e+00, 5.45309027e+01,
 -1.33750117e+02,-3.09681086e+00]

qfrc_actuator:
[ 1.98358382e-05, 9.04436201e-04, 1.46607463e-04,-9.63840120e-06,
  9.77408721e-06, 3.49587825e-02, 1.08811447e-02, 1.73266388e-03,
 -9.49092000e-05, 8.19702818e-04, 1.72523264e-04, 3.29092703e-05,
  0.00000000e+00,-1.62937681e-03, 0.00000000e+00,-9.17274516e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.00930982,   5.04542889,   7.00930982,
        31.78880112, -32.16428391,   5.04542889, -32.16428391,
        53.32026184,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0043097721087418175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.22007463e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.22007463e-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([-0.00072839, -0.07655894,  0.06178413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17413383e-05, 4.35383218e-05, 4.37326331e-06,-6.24217724e-06,
 -1.84235203e-05, 2.54233113e-05,-2.41710222e-06, 5.45112745e-05,
 -6.44250296e-06,-2.62472884e-05,-6.54106360e-06,-1.67671077e-06,
 -3.98304857e-06, 1.95041437e-05,-1.29304346e-05,-7.48570960e-05,
 -2.12713864e-05,-3.23238868e-04,-4.90432233e+00,-1.29575645e-03,
  3.04783837e-03,-5.00672657e-03]


--- Step 2481 ---
qpos:
[ 0.01866722, 0.03002009,-0.0094688 ,-0.02527735,-0.00354873, 1.34080453,
 -0.03000177, 0.94382407, 0.01155492, 0.027273  ,-0.00829971, 0.02641794,
  1.39228126, 0.00767794, 1.33409069, 0.0442033 ,-0.09586073,-0.06593195,
  0.09340633, 0.68742902, 0.10785768,-0.69639721,-0.17561032]

qacc:
[ 2.70047475e+00,-6.70663375e-01, 3.40920899e+00,-5.96539260e+00,
 -5.41129153e-02,-3.32634303e+00, 1.45480306e+01,-2.99713230e+01,
 -3.62477457e+00, 9.73215022e-01,-4.81740848e+00, 1.06699564e+01,
 -3.71723410e-02, 4.34946314e-02, 2.51221448e+00,-8.95612146e+00,
 -4.00299011e+00, 3.47454060e-01,-3.38119111e+00, 4.84524642e+01,
 -1.18010008e+02,-2.97133707e+00]

qfrc_actuator:
[ 3.69443982e-05, 9.26188025e-04, 1.65275328e-04,-1.40209507e-05,
  5.01238880e-06, 3.50027705e-02, 1.09139429e-02, 1.65830955e-03,
 -1.16563657e-04, 8.37813748e-04, 1.74698242e-04, 5.11288532e-05,
  0.00000000e+00,-1.63432685e-03, 0.00000000e+00,-9.59072362e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.11397133,   4.89675288,   7.11397133,
        32.11203333, -34.10530313,   4.89675288, -34.10530313,
        58.18433038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004264990367892074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60310793e-14,  3.25388491e-15,  1.00000000e+00, -8.47021362e-29,
        1.00000000e+00, -3.25388491e-15, -1.00000000e+00,  0.00000000e+00,
        2.60310793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00062494, -0.0765675 ,  0.06178607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62003221e-05, 4.67418949e-05, 2.79878801e-05,-2.48786431e-06,
 -1.56484889e-05, 5.92106348e-05, 3.90943238e-05,-7.23982405e-05,
 -2.18526555e-05, 2.01466353e-06,-4.10453407e-06, 1.68381293e-05,
  1.92933748e-06, 4.57373140e-07,-1.64203344e-05,-4.81226563e-05,
 -1.04821364e-04,-2.44349048e-04,-4.90423582e+00,-9.81353354e-04,
  3.16973052e-03,-5.01746616e-03]


--- Step 2482 ---
qpos:
[ 0.01866712, 0.03001991,-0.00946775,-0.02527649,-0.00354855, 1.34080631,
 -0.03000226, 0.94382081, 0.01155344, 0.02727264,-0.00829971, 0.02641797,
  1.39234933, 0.0076773 , 1.33419296, 0.04420298,-0.09587578,-0.06597996,
  0.09340066, 0.68717317, 0.10845246,-0.69642269,-0.1761435 ]

qacc:
[ 4.77803804e+00,-1.01934623e+00, 2.45643620e+00, 1.72240153e+00,
 -4.20184607e-02,-1.90430464e+00, 9.28744790e+00,-2.21914159e+01,
 -5.08114684e+00,-1.14581117e+00, 2.58284166e+00, 7.97039769e-01,
 -5.60115131e-02, 4.73379696e-02, 3.61803326e+00,-1.26829682e+01,
  5.50343313e+00,-8.79923921e-01, 4.26012979e+00,-6.65094222e+01,
  1.64184880e+02,-1.13714762e+01]

qfrc_actuator:
[ 6.50365597e-05, 9.21399756e-04, 1.93870751e-04, 9.41472227e-07,
  2.11814571e-06, 3.50105989e-02, 1.09158201e-02, 1.59765670e-03,
 -1.46702200e-04, 8.13186555e-04, 1.93985286e-04, 6.19414317e-05,
  0.00000000e+00,-1.63705190e-03, 0.00000000e+00,-1.01948894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043257325773464195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60409683e-15, -1.28327746e-14,  1.00000000e+00,  2.05850131e-29,
        1.00000000e+00,  1.28327746e-14, -1.00000000e+00,  0.00000000e+00,
        1.60409683e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15650233, -0.05895133,  0.06178323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85796576e-05, 2.70327983e-05, 4.16063704e-05, 1.78812423e-05,
 -1.21395909e-05, 4.60425168e-05, 1.57817784e-05,-5.94070785e-05,
 -3.07790186e-05,-2.36295640e-05, 1.97864733e-05, 1.10868793e-05,
  4.21983144e-07,-1.87088928e-06,-1.44735299e-05,-6.55752701e-05,
 -1.34959438e-04,-1.80840288e-04,-4.90400651e+00,-6.97004908e-04,
  3.27424147e-03,-5.02903921e-03]


--- Step 2483 ---
qpos:
[ 0.01866597, 0.03002001,-0.00946671,-0.02527509,-0.00354843, 1.34080794,
 -0.03000263, 0.94381999, 0.01155161, 0.02727194,-0.0082997 , 0.0264185 ,
  1.3924174 , 0.00767665, 1.33429486, 0.04420427,-0.09587146,-0.0660311 ,
  0.09340523, 0.6871265 , 0.10903184,-0.6962267 ,-0.17674164]

qacc:
[-8.93778542e+00, 1.50800704e+00,-7.04213842e+00, 1.59928227e+01,
 -3.08888862e-02, 3.64291988e+00,-1.71917843e+01, 4.35063075e+01,
 -2.98211951e+00, 5.92903466e-01,-4.92520157e+00, 1.40120510e+01,
  1.60789926e-01,-1.84983625e-01,-5.42303108e+00, 1.81134349e+01,
  4.83940396e+00,-7.81318833e-01, 2.56096244e+00,-5.87571822e+01,
  1.44049784e+02,-1.05334199e+01]

qfrc_actuator:
[ 1.05894812e-05, 9.36320837e-04, 1.92491502e-04, 2.71472323e-05,
  3.66885850e-07, 3.49788453e-02, 1.09170650e-02, 1.72306484e-03,
 -1.63835754e-04, 7.80980731e-04, 1.87542213e-04, 8.60372654e-05,
  0.00000000e+00,-1.63841399e-03, 0.00000000e+00,-9.30621533e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004351602541200879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55129694e-14, -2.55129694e-14,  1.00000000e+00,  6.50911607e-28,
        1.00000000e+00,  2.55129694e-14, -1.00000000e+00,  0.00000000e+00,
        2.55129694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15646104, -0.05895396,  0.06178203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.36079738e-05, 3.93987768e-05, 9.93369714e-06, 2.91458137e-05,
 -8.92346019e-06,-4.99805180e-06, 1.02994742e-05, 1.25874725e-04,
 -1.80455647e-05,-4.08598234e-05,-8.49953394e-06, 2.39853444e-05,
 -8.65619830e-07,-1.56730470e-06,-1.57141203e-05, 8.29465930e-05,
 -8.95507526e-05,-2.96488319e-04,-4.90423356e+00,-1.09666310e-03,
  3.10745675e-03,-5.05433881e-03]


--- Step 2484 ---
qpos:
[ 0.01866453, 0.03002043,-0.00946597,-0.02527338,-0.00354823, 1.34080927,
 -0.03000314, 0.94382037, 0.01155028, 0.02727159,-0.00830037, 0.02641963,
  1.39248539, 0.00767623, 1.33439685, 0.0442049 ,-0.09585001,-0.06608503,
  0.09341426, 0.68726427, 0.10959785,-0.6958348 ,-0.17739804]

qacc:
[-2.57963033e+00, 1.93626334e+00,-7.62166103e+00, 1.33722469e+01,
  3.95407864e-02, 2.00608980e+00,-9.45314220e+00, 2.21775460e+01,
  4.21869453e+00, 3.53687207e+00,-1.44294611e+01, 2.54148953e+01,
 -2.65570564e-01, 4.04775865e-01, 2.14755178e+00,-7.23828634e+00,
  4.28213606e+00,-6.99004569e-01, 1.11712991e+00,-5.22437578e+01,
  1.27159905e+02,-9.75285066e+00]

qfrc_actuator:
[-3.24394276e-06, 9.45063737e-04, 1.73499577e-04, 4.19947010e-05,
  1.70674284e-05, 3.49414870e-02, 1.09001304e-02, 1.77940864e-03,
 -1.37669426e-04, 8.33156811e-04, 1.65920077e-04, 1.17726168e-04,
  0.00000000e+00,-1.62120713e-03, 0.00000000e+00,-9.67538428e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004324433177296992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60457882e-15, -1.28366306e-14,  1.00000000e+00,  2.05973856e-29,
        1.00000000e+00,  1.28366306e-14, -1.00000000e+00,  0.00000000e+00,
        1.60457882e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15650305, -0.05894613,  0.06178326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53850158e-05, 3.40397010e-05,-8.63610467e-06, 1.74423467e-05,
  1.14265532e-05,-3.43370563e-05,-1.30513422e-05, 5.94146926e-05,
  2.56208273e-05, 2.86113280e-05,-3.02734580e-05, 3.01113577e-05,
 -9.58017677e-07, 1.65970236e-05, 1.03871673e-06,-3.45426311e-05,
  2.64951887e-05,-4.15753784e-04,-4.90420296e+00,-1.46150666e-03,
  2.96102461e-03,-5.07953770e-03]


--- Step 2485 ---
qpos:
[ 0.01866362, 0.03002099,-0.00946566,-0.02527147,-0.00354774, 1.34081038,
 -0.03000405, 0.94382005, 0.01154962, 0.02727164,-0.00830137, 0.02642074,
  1.39255335, 0.00767601, 1.33449908, 0.04420307,-0.09584954,-0.0661373 ,
  0.0934178 , 0.68717012, 0.11020273,-0.69567689,-0.17800629]

qacc:
[ 4.56963063e+00, 1.76193159e+00,-6.88089524e+00, 1.09049770e+01,
  1.18984984e-01,-3.68207839e-01, 2.28326795e+00,-9.94604822e+00,
  5.68924945e+00, 1.45274942e+00,-4.38927941e+00, 4.54024156e+00,
 -3.47690626e-01, 4.85027707e-01, 7.81507170e+00,-2.67403323e+01,
 -5.24213609e+00, 4.16669794e-01,-1.37446614e+00, 6.35719970e+01,
 -1.55013471e+02,-4.71911577e+00]

qfrc_actuator:
[ 2.47177254e-05, 9.32195190e-04, 1.44238935e-04, 5.00268720e-05,
  4.47017523e-05, 3.49187137e-02, 1.08724968e-02, 1.74134057e-03,
 -1.03983036e-04, 8.64392873e-04, 1.53614931e-04, 1.18185448e-04,
  0.00000000e+00,-1.61085468e-03, 0.00000000e+00,-1.09606443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004264706243587907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50820339e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.50820339e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00062912, -0.07655422,  0.06178597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75224370e-05, 5.10065876e-06,-2.27057781e-05, 9.52494404e-06,
  3.43855551e-05,-4.25429712e-05,-3.40937120e-05,-3.81036717e-05,
  3.44450659e-05, 4.22954482e-05,-9.07495513e-06, 1.22236149e-06,
  3.09532366e-06, 1.53891691e-05,-5.95691267e-06,-1.30910665e-04,
  1.89104471e-04,-5.35654083e-04,-4.90399732e+00,-1.79581574e-03,
  2.83250792e-03,-5.10463091e-03]


--- Step 2486 ---
qpos:
[ 0.01866306, 0.0300213 ,-0.00946525,-0.02526947,-0.00354695, 1.34081144,
 -0.03000514, 0.94381993, 0.01154936, 0.02727142,-0.00830223, 0.02642191,
  1.39262131, 0.00767592, 1.33460134, 0.04419905,-0.0958675 ,-0.06618811,
  0.09341175, 0.68687234, 0.11084264,-0.69572422,-0.17857242]

qacc:
[ 2.94418013e+00,-3.81596596e-01, 4.98604704e-01, 1.16166857e+00,
  1.26424390e-01, 7.56963362e-01,-2.97702922e+00, 5.03811911e+00,
  3.50766879e+00,-6.58670326e-01, 1.58772204e+00,-6.93933328e-01,
 -2.55145312e-01, 3.60738962e-01, 6.74454231e+00,-2.34360177e+01,
 -4.60933281e+00, 3.62337636e-01,-2.39952770e+00, 5.61768847e+01,
 -1.35905334e+02,-4.52989607e+00]

qfrc_actuator:
[ 4.15374433e-05, 9.06421932e-04, 1.44565666e-04, 5.39630297e-05,
  6.09184880e-05, 3.49402456e-02, 1.08742855e-02, 1.75455342e-03,
 -8.39073413e-05, 8.11856110e-04, 1.46832728e-04, 1.18017729e-04,
  0.00000000e+00,-1.60466867e-03, 0.00000000e+00,-1.20648227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.53540798,   4.21952644,   7.53540798,
        22.16011553, -24.15128556,   4.21952644, -24.15128556,
        51.76674629,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004281954076126034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48198816e-15,  3.24099408e-15,  1.00000000e+00, -2.10080852e-29,
        1.00000000e+00, -3.24099408e-15, -1.00000000e+00,  0.00000000e+00,
        6.48198816e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00066921, -0.07654634,  0.06178521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76215378e-05,-2.72181912e-05,-1.10129995e-06, 3.54729126e-06,
  3.65358261e-05,-9.82261680e-06,-1.15313919e-05, 1.00506162e-05,
  2.10988648e-05,-3.06899617e-05, 8.85552377e-07, 1.35265160e-06,
  4.34198864e-06, 1.19703668e-05,-1.99306885e-05,-1.19073813e-04,
 -2.15090806e-06,-4.24900776e-04,-4.90416558e+00,-1.40559925e-03,
  2.99424295e-03,-5.11526663e-03]


--- Step 2487 ---
qpos:
[ 0.01866304, 0.03002114,-0.00946444,-0.02526742,-0.0035462 , 1.34081278,
 -0.03000665, 0.94381961, 0.01154935, 0.02727098,-0.00830314, 0.02642308,
  1.39268937, 0.00767568, 1.33470386, 0.04419069,-0.09586608,-0.06624227,
  0.09341594, 0.68678361, 0.1114691 ,-0.69554897,-0.17920532]

qacc:
[ 4.74962268e+00,-1.70995474e+00, 4.99330614e+00,-4.58427764e+00,
 -1.62750243e-02, 1.16336397e+00,-2.92395891e+00,-8.29347625e-03,
  2.07677393e+00,-1.74485555e-01, 1.97575090e-01,-7.17877694e-03,
 -1.80381942e-01, 1.31350492e-01, 1.35032023e+01,-4.66449047e+01,
  4.84395751e+00,-8.34998235e-01, 2.56180354e+00,-5.93046447e+01,
  1.44257032e+02,-1.19234664e+01]

qfrc_actuator:
[ 6.94028878e-05, 8.73222666e-04, 1.62298653e-04, 5.54668255e-05,
  3.46493030e-05, 3.49705225e-02, 1.08581448e-02, 1.74464860e-03,
 -7.20068428e-05, 7.98339779e-04, 1.43022073e-04, 1.17417994e-04,
  0.00000000e+00,-1.61875776e-03, 0.00000000e+00,-1.42957719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004268316514781559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30053971e-14, -1.30053971e-14,  1.00000000e+00,  1.69140354e-28,
        1.00000000e+00,  1.30053971e-14, -1.00000000e+00,  0.00000000e+00,
        1.30053971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15658861, -0.05892633,  0.06178578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83675214e-05,-4.85075872e-05, 1.20856194e-05, 3.62741019e-07,
 -4.67844147e-06, 2.28845984e-05,-1.90798138e-05,-1.03055138e-05,
  1.25062512e-05,-3.04155430e-05,-9.98534736e-06,-1.85908905e-06,
  3.95233086e-06,-8.98990777e-06,-2.41818414e-05,-2.32684244e-04,
 -1.12063919e-04,-3.36527752e-04,-4.90410887e+00,-1.05257090e-03,
  3.13504021e-03,-5.12700651e-03]


--- Step 2488 ---
qpos:
[ 0.01866405, 0.03002076,-0.00946401,-0.02526604,-0.00354575, 1.34081397,
 -0.03000796, 0.94382022, 0.01154914, 0.02727042,-0.00830386, 0.0264242 ,
  1.39275741, 0.00767555, 1.33480613, 0.0441807 ,-0.09588319,-0.06629503,
  0.09341064, 0.6864901 , 0.11213141,-0.69557967,-0.17979658]

qacc:
[ 8.77457272e+00,-5.94343789e-01, 4.47861154e+00,-1.51848875e+01,
 -1.26480668e-01, 8.32668286e-01,-4.86856537e+00, 1.50669531e+01,
 -1.71565063e+00,-7.59953361e-01, 2.69785280e+00,-3.73183488e+00,
 -2.05053548e-01, 2.79685635e-01, 4.58229014e+00,-1.65087555e+01,
 -4.62995164e+00, 3.48394716e-01,-2.37115792e+00, 5.66559889e+01,
 -1.36399663e+02,-5.04030619e+00]

qfrc_actuator:
[ 1.21302645e-04, 8.53655368e-04, 1.36859819e-04, 2.00218179e-05,
  8.58829211e-07, 3.49524738e-02, 1.08670704e-02, 1.79221302e-03,
 -8.27611955e-05, 8.08295775e-04, 1.58879976e-04, 1.16593860e-04,
  0.00000000e+00,-1.60927081e-03, 0.00000000e+00,-1.50423333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004265942281545636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50631766e-15,  6.50631766e-15,  1.00000000e+00, -4.23321695e-29,
        1.00000000e+00, -6.50631766e-15, -1.00000000e+00,  0.00000000e+00,
        6.50631766e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0006319 , -0.07654247,  0.06178589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27082226e-05,-4.41788166e-05,-3.39695497e-05,-3.71038304e-05,
 -3.65543780e-05,-9.43923575e-06, 1.09284287e-05, 4.74531131e-05,
 -1.04003341e-05,-9.16643403e-06, 8.29359779e-06,-2.50935405e-06,
 -1.50881287e-06, 8.19100892e-06,-3.89602697e-05,-9.11553227e-05,
  4.00595510e-06,-4.65981744e-04,-4.90410016e+00,-1.44375972e-03,
  2.97541436e-03,-5.15394893e-03]


--- Step 2489 ---
qpos:
[ 0.01866567, 0.03002   ,-0.0094638 ,-0.02526578,-0.00354565, 1.34081481,
 -0.03000817, 0.94382102, 0.01154846, 0.02726962,-0.00830351, 0.0264256 ,
  1.39282524, 0.00767602, 1.33490773, 0.04417352,-0.09588105,-0.06635121,
  0.09341528, 0.68640388, 0.11278153,-0.69538903,-0.18045538]

qacc:
[  5.27409262, -2.18602633, 11.75784747,-30.40687864, -0.14474895,
  -3.11957745,  9.22384222, -5.57421088, -3.99193935, -2.71165935,
   8.01990473, -4.67481224, -0.25913741,  0.59091896, -9.46002509,
  31.71663092,  4.81022278, -0.85351555,  2.484218  ,-59.19122046,
 143.18020723,-12.71677787]

qfrc_actuator:
[ 1.51424729e-04, 8.24445537e-04, 1.21657918e-04,-3.69020383e-05,
 -1.94157246e-05, 3.49412618e-02, 1.09260852e-02, 1.80219980e-03,
 -1.06760811e-04, 8.14560157e-04, 2.21830344e-04, 1.33432738e-04,
  0.00000000e+00,-1.56808851e-03, 0.00000000e+00,-1.34877667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004274892271989357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15657684, -0.05892102,  0.06178546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16459439e-05,-6.24976401e-05,-2.98004999e-05,-6.07187241e-05,
 -4.18771196e-05,-1.28765969e-05, 5.98045928e-05, 1.11245709e-05,
 -2.43099047e-05, 2.76591703e-06, 6.20042734e-05, 1.66849389e-05,
  1.60314987e-08, 4.38666950e-05,-2.87206804e-05, 1.45256175e-04,
 -1.14961609e-04,-3.74247203e-04,-4.90405172e+00,-1.07639767e-03,
  3.12320919e-03,-5.16608793e-03]


--- Step 2490 ---
qpos:
[ 0.01866765, 0.03001901,-0.00946388,-0.02526622,-0.00354584, 1.34081567,
 -0.0300077 , 0.94382054, 0.01154784, 0.02726864,-0.00830237, 0.02642685,
  1.39289298, 0.00767698, 1.33500884, 0.04417055,-0.09589751,-0.06640605,
  0.09341055, 0.68611184, 0.11346836,-0.69540493,-0.18107309]

qacc:
[ 2.98917705e+00,-9.60273050e-01, 5.91374845e+00,-1.73582930e+01,
 -1.27079008e-01,-3.97443795e+00, 1.56395444e+01,-2.84267243e+01,
  5.56621393e-01,-2.76543705e+00, 1.01501657e+01,-1.38383368e+01,
  2.81590463e-03, 2.65184688e-01,-1.34299257e+01, 4.59412074e+01,
 -4.64904293e+00, 3.33847922e-01,-2.34500165e+00, 5.71261684e+01,
 -1.36820271e+02,-5.58250468e+00]

qfrc_actuator:
[ 1.68479590e-04, 8.25200915e-04, 1.12588078e-04,-7.04911245e-05,
 -3.14175690e-05, 3.49521668e-02, 1.09609134e-02, 1.73674789e-03,
 -1.02851513e-04, 8.01035133e-04, 2.58824967e-04, 1.25053994e-04,
  0.00000000e+00,-1.54393221e-03, 0.00000000e+00,-1.13004783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042550299219205265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95690109e-14, -2.28305127e-14,  1.00000000e+00,  4.46770551e-28,
        1.00000000e+00,  2.28305127e-14, -1.00000000e+00,  0.00000000e+00,
        1.95690109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0006063 , -0.07653649,  0.06178636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79610560e-05,-4.29167066e-05,-2.77457363e-05,-3.84793041e-05,
 -3.67500082e-05, 1.58092755e-05, 3.94418231e-05,-6.38250465e-05,
  3.19322454e-06, 1.55592553e-06, 4.57828969e-05,-5.79131310e-06,
  9.92066057e-06, 3.78346027e-05, 2.70510803e-06, 2.23113059e-04,
  9.03851097e-06,-5.10737019e-04,-4.90402759e+00,-1.48006055e-03,
  2.95775154e-03,-5.19399341e-03]


--- Step 2491 ---
qpos:
[ 0.01866912, 0.03001807,-0.00946455,-0.02526672,-0.00354612, 1.34081647,
 -0.03000714, 0.94382174, 0.01154727, 0.02726757,-0.00830131, 0.02642805,
  1.39296057, 0.00767875, 1.33511009, 0.04416886,-0.09589486,-0.06646439,
  0.09341546, 0.68602543, 0.11414426,-0.69520056,-0.18175914]

qacc:
[-4.30929342e+00, 1.56392733e+00,-5.18417897e+00, 4.87895640e+00,
 -3.77593335e-02, 2.56239977e+00,-1.18978683e+01, 2.97956925e+01,
  4.38669835e-01,-1.45467805e-02, 1.09102238e-01,-9.01329805e-01,
 -5.21419482e-01, 1.01031547e+00,-3.64621470e+00, 1.31804372e+01,
  4.77964431e+00,-8.73576451e-01, 2.41313503e+00,-5.91199110e+01,
  1.42202886e+02,-1.35267536e+01]

qfrc_actuator:
[ 1.42208757e-04, 8.43940673e-04, 8.95940533e-05,-7.22980183e-05,
 -2.06080429e-05, 3.49405981e-02, 1.09634648e-02, 1.82270527e-03,
 -1.00294663e-04, 7.75659407e-04, 2.44579032e-04, 1.19613036e-04,
  0.00000000e+00,-1.49460633e-03, 0.00000000e+00,-1.07115240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004275901055752485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59646566e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.59646566e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15657374, -0.05891411,  0.06178539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57564238e-05,-1.25989975e-05,-3.65955473e-05,-5.35139170e-06,
 -1.09074553e-05, 2.96568504e-06, 8.25855757e-06, 8.61107174e-05,
  2.64763135e-06,-1.52784508e-05,-8.49137288e-06,-3.90628989e-06,
  1.41128195e-05, 6.30554743e-05, 2.47609862e-05, 7.13889853e-05,
 -1.18807950e-04,-4.15655518e-04,-4.90398503e+00,-1.09736740e-03,
  3.11299112e-03,-5.20656674e-03]


--- Step 2492 ---
qpos:
[ 0.01866992, 0.0300168 ,-0.00946509,-0.02526725,-0.00354641, 1.34081738,
 -0.03000695, 0.94382569, 0.01154673, 0.02726654,-0.00830079, 0.02642988,
  1.39302822, 0.00768088, 1.33521163, 0.04416625,-0.09590842,-0.06652289,
  0.09344187, 0.68575835, 0.11485946,-0.69517344,-0.18241896]

qacc:
[-5.74531137e+00,-7.80325039e-01, 2.25258731e+00,-2.54055007e+00,
  6.08509435e-04, 5.84783566e+00,-2.45728836e+01, 5.32147745e+01,
  2.82526323e-01, 2.84078992e+00,-1.27254643e+01, 2.44785587e+01,
 -2.51263316e-01, 5.06988828e-01, 3.27324953e+00,-1.07387935e+01,
 -4.05585856e+00,-4.21520658e-02, 5.37346050e+00, 4.90163312e+01,
 -1.18536778e+02,-1.09689255e+01]

qfrc_actuator:
[ 1.08404604e-04, 8.20029755e-04, 9.41672319e-05,-7.31385563e-05,
 -1.39554944e-05, 3.49511230e-02, 1.09469705e-02, 1.96155956e-03,
 -9.85635711e-05, 7.78672516e-04, 2.17904754e-04, 1.51409695e-04,
  0.00000000e+00,-1.48395733e-03, 0.00000000e+00,-1.12467796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004248591181558925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03247614e-06, -1.26574729e-14,  1.00000000e+00, -1.30685388e-20,
        1.00000000e+00,  1.26574729e-14, -1.00000000e+00,  1.50463277e-36,
       -1.03247614e-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([-0.05466178, -0.07042101,  0.06178663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45535988e-05,-3.87140604e-05,-2.70177636e-06,-2.74479472e-06,
  2.06501510e-07, 1.63645259e-05,-1.24488320e-05, 1.41185680e-04,
  1.80173288e-06,-7.42931699e-06,-3.10145451e-05, 3.07692161e-05,
  2.18412574e-05, 3.32032050e-05, 1.59494171e-05,-4.71272749e-05,
  1.28569970e-05,-5.59713283e-04,-4.90394737e+00,-1.51473526e-03,
  2.94103475e-03,-5.23551024e-03]


--- Step 2493 ---
qpos:
[ 0.01867066, 0.03001539,-0.00946566,-0.02526779,-0.00354665, 1.34081843,
 -0.03000655, 0.94382847, 0.01154622, 0.02726591,-0.00830104, 0.02643169,
  1.39309621, 0.00768248, 1.33531289, 0.04416572,-0.09590466,-0.06658465,
  0.0934733 , 0.68567702, 0.11556588,-0.69494647,-0.18314188]

qacc:
[-5.74368513e-01,-1.66360726e-01, 4.25297669e-01,-6.66368038e-01,
  1.46562612e-02,-2.39743690e+00, 1.04182891e+01,-2.25971206e+01,
  1.79355939e-01, 2.70692892e+00,-8.82865715e+00, 9.61363821e+00,
  7.67878006e-01,-1.06039523e+00,-6.78675140e+00, 2.29463722e+01,
  4.33144417e+00,-8.14848765e-01, 1.25463708e+00,-5.38389508e+01,
  1.28666803e+02,-1.31171970e+01]

qfrc_actuator:
[ 1.05956352e-04, 8.24140797e-04, 9.70620687e-05,-7.34217578e-05,
 -9.85235655e-06, 3.49570070e-02, 1.09549721e-02, 1.89961748e-03,
 -9.73320671e-05, 8.16377537e-04, 1.84258108e-04, 1.51625210e-04,
  0.00000000e+00,-1.53189177e-03, 0.00000000e+00,-1.01317150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042359933046309944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62092724e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.62092724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15663932, -0.05889748,  0.06178732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46368467e-06,-1.81739350e-05,-5.50560253e-06,-2.08113988e-06,
  4.22527252e-06, 1.67441664e-05, 1.39308732e-05,-5.85349044e-05,
  1.27926450e-06, 2.84887261e-05,-3.79354514e-05,-5.80292596e-07,
  1.81555217e-05,-3.26323238e-05,-1.06278661e-06, 1.10207952e-04,
 -1.08549754e-04,-4.86508105e-04,-4.90390060e+00,-1.16997509e-03,
  3.07967810e-03,-5.24979569e-03]


--- Step 2494 ---
qpos:
[ 0.01867101, 0.03001443,-0.0094668 ,-0.02526769,-0.003547  , 1.34081931,
 -0.03000531, 0.94382946, 0.01154539, 0.02726582,-0.00830126, 0.02643308,
  1.39316428, 0.00768383, 1.33541378, 0.04416919,-0.09591849,-0.06664526,
  0.09349363, 0.68540088, 0.11630881,-0.69491389,-0.1838276 ]

qacc:
[-3.28868013e+00, 3.52838038e+00,-1.44535115e+01, 2.63008974e+01,
 -4.38475597e-02,-5.54570004e+00, 2.15639714e+01,-3.95589885e+01,
 -2.79253610e+00,-2.89784932e-01, 3.87473255e+00,-1.17858081e+01,
  5.45137847e-01,-7.11995631e-01,-1.27254478e+01, 4.35725837e+01,
 -4.39663388e+00, 2.88728793e-01,-2.77199090e+00, 5.45037815e+01,
 -1.28842310e+02,-6.53762769e+00]

qfrc_actuator:
[ 8.64811115e-05, 8.80509421e-04, 8.12859547e-05,-3.78551517e-05,
 -2.50650359e-05, 3.49422895e-02, 1.09949878e-02, 1.80877595e-03,
 -1.14156535e-04, 8.74511093e-04, 2.00147795e-04, 1.33280325e-04,
  0.00000000e+00,-1.54321999e-03, 0.00000000e+00,-8.05280856e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004199197347271595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.60973356e-15,  1.65243339e-14,  1.00000000e+00, -1.09221444e-28,
        1.00000000e+00, -1.65243339e-14, -1.00000000e+00,  0.00000000e+00,
        6.60973356e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00045741, -0.07653217,  0.06178913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95770543e-05, 4.50350298e-05,-2.02560068e-05, 3.45631171e-05,
 -1.27149647e-05,-4.49247609e-06, 4.31620537e-05,-9.12810247e-05,
 -1.67774122e-05, 6.62240905e-05, 1.70875518e-05,-1.84501591e-05,
  1.41544677e-06,-1.73920553e-05, 1.07653653e-05, 2.13638806e-04,
  2.48592123e-05,-6.27379301e-04,-4.90383845e+00,-1.56798453e-03,
  2.91514028e-03,-5.27933608e-03]


--- Step 2495 ---
qpos:
[ 0.01867044, 0.03001375,-0.00946779,-0.02526753,-0.00354749, 1.34082023,
 -0.03000421, 0.94382938, 0.0115447 , 0.02726589,-0.00830089, 0.02643425,
  1.39323229, 0.00768528, 1.33551518, 0.0441711 ,-0.09591486,-0.06670926,
  0.09351923, 0.68531131, 0.117044  ,-0.69467989,-0.1845778 ]

qacc:
[-7.94174730e+00, 9.75329478e-02,-3.84213943e-02, 5.32399523e-01,
 -5.68955960e-02,-1.39815203e+00, 6.78059263e+00,-1.81984611e+01,
  1.29238795e+00,-1.88422651e+00, 7.99420554e+00,-1.29412979e+01,
 -2.52023750e-01, 3.08436018e-01, 5.48788426e+00,-1.80409172e+01,
  4.36359907e+00,-8.48108489e-01, 1.31408222e+00,-5.44238478e+01,
  1.29386021e+02,-1.39765822e+01]

qfrc_actuator:
[ 3.93771981e-05, 8.96689409e-04, 9.03656900e-05,-3.47026606e-05,
 -3.39898220e-05, 3.49331960e-02, 1.09824946e-02, 1.75496148e-03,
 -1.05968373e-04, 8.73607101e-04, 2.27498297e-04, 1.21976527e-04,
  0.00000000e+00,-1.53266438e-03, 0.00000000e+00,-8.97368899e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041717384175794445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66129588e-14, -1.33064794e-14,  1.00000000e+00,  3.54124787e-28,
        1.00000000e+00,  1.33064794e-14, -1.00000000e+00,  0.00000000e+00,
        2.66129588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15674608, -0.0588745 ,  0.06179046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.76551164e-05, 3.86989905e-05, 1.71066463e-05, 5.05805880e-06,
 -1.64387008e-05,-5.88539173e-06,-1.11380484e-05,-5.47957429e-05,
  7.71973915e-06, 3.88624467e-05, 4.24967466e-05,-8.23551336e-06,
 -2.61713544e-06, 5.12805358e-06, 2.71940491e-05,-7.91724729e-05,
 -1.16779334e-04,-5.31745706e-04,-4.90381630e+00,-1.17604524e-03,
  3.07739471e-03,-5.29350194e-03]


--- Step 2496 ---
qpos:
[ 0.01866931, 0.03001307,-0.00946827,-0.02526732,-0.00354795, 1.34082128,
 -0.0300033 , 0.94382761, 0.01154481, 0.02726602,-0.00830038, 0.02643566,
  1.39330028, 0.00768681, 1.335617  , 0.0441696 ,-0.09592902,-0.06677217,
  0.09353399, 0.68502481, 0.11781678,-0.69464191,-0.18529119]

qacc:
[-4.79169107e+00,-1.33508907e+00, 4.61557468e+00,-4.72402578e+00,
  1.02262927e-02,-2.21996468e+00, 1.09409082e+01,-2.91704373e+01,
  6.77223953e+00, 1.76238155e-01,-1.61645797e+00, 5.70165512e+00,
 -3.63896996e-01, 4.39895204e-01, 1.09961112e+01,-3.74735899e+01,
 -4.44651374e+00, 2.74446700e-01,-2.70879142e+00, 5.52850212e+01,
 -1.29940920e+02,-7.13962097e+00]

qfrc_actuator:
[ 1.18986670e-05, 8.88760448e-04, 1.13883221e-04,-3.29082408e-05,
 -2.13171704e-05, 3.49451132e-02, 1.09746453e-02, 1.67008224e-03,
 -6.53653425e-05, 8.55176663e-04, 2.25652917e-04, 1.32615976e-04,
  0.00000000e+00,-1.52695893e-03, 0.00000000e+00,-1.07672224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004161578169087382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33389664e-14,  6.66948318e-15,  1.00000000e+00, -8.89640119e-29,
        1.00000000e+00, -6.66948318e-15, -1.00000000e+00,  0.00000000e+00,
        1.33389664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00035508, -0.07653155,  0.06179104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88513586e-05, 1.74821640e-05, 3.38138918e-05, 4.14714291e-06,
  2.95808559e-06, 4.82773653e-06,-1.18773048e-05,-8.66504762e-05,
  4.08421342e-05, 1.17178708e-05, 1.11227323e-05, 1.36109546e-05,
 -3.90723950e-08, 6.62748299e-06,-4.40457295e-07,-1.81225679e-04,
  2.30979845e-05,-6.81508697e-04,-4.90374847e+00,-1.59216608e-03,
  2.90424387e-03,-5.32420985e-03]


--- Step 2497 ---
qpos:
[ 0.0186682 , 0.03001256,-0.0094685 ,-0.0252671 ,-0.00354833, 1.34082224,
 -0.03000193, 0.94382656, 0.01154471, 0.02726579,-0.00829967, 0.02643723,
  1.39336834, 0.00768815, 1.33571843, 0.04416898,-0.09595895,-0.06683411,
  0.09353464, 0.68456374, 0.11862387,-0.69477713,-0.18597205]

qacc:
[ 2.06767975e-01,-4.55941287e-01, 1.88403442e+00,-2.12321324e+00,
  3.30123161e-02,-1.17918173e-01,-1.22157474e+00, 9.36179935e+00,
 -1.71964126e+00,-6.73068714e-01, 1.05241308e+00, 1.70816365e+00,
  2.61083958e-01,-3.71501256e-01,-3.26752379e+00, 1.05393034e+01,
 -3.94445171e+00, 2.39885330e-01,-3.52695740e+00, 4.93737940e+01,
 -1.14859421e+02,-6.75007056e+00]

qfrc_actuator:
[ 1.39529525e-05, 9.02020189e-04, 1.27874880e-04,-3.19390938e-05,
 -1.35435675e-05, 3.49517568e-02, 1.10051808e-02, 1.70963770e-03,
 -7.70270002e-05, 8.08536751e-04, 2.24259621e-04, 1.38284996e-04,
  0.00000000e+00,-1.54195169e-03, 0.00000000e+00,-1.02190936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.93495635,   3.40928798,   7.93495635,
        15.63695793, -16.29355175,   3.40928798, -16.29355175,
        46.55883385,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004120315538100473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02088229e-14, -6.73627429e-15,  1.00000000e+00,  1.36132174e-28,
        1.00000000e+00,  6.73627429e-15, -1.00000000e+00,  0.00000000e+00,
        2.02088229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00025253, -0.07653618,  0.06179296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22076851e-06, 3.02200377e-05, 2.19257386e-05, 2.97182842e-06,
  9.52219397e-06, 4.37611089e-06, 2.75825579e-05, 3.73435160e-05,
 -1.04613362e-05,-3.72053336e-05, 2.85605938e-06, 6.81468589e-06,
  7.40260002e-07,-1.26547944e-05,-2.35198904e-05, 4.39392672e-05,
 -1.26286698e-04,-5.82466151e-04,-4.90372213e+00,-1.18093740e-03,
  3.07554205e-03,-5.33884420e-03]


--- Step 2498 ---
qpos:
[ 0.01866747, 0.0300125 ,-0.00946836,-0.02526726,-0.00354834, 1.34082289,
 -0.0300001 , 0.94382635, 0.01154413, 0.02726513,-0.00829913, 0.02643821,
  1.3934365 , 0.0076891 , 1.33581925, 0.04417266,-0.09596848,-0.06689887,
  0.09352911, 0.68432328, 0.11940162,-0.69468149,-0.1867151 ]

qacc:
[  3.24187485, -1.19909834,  6.70000915,-14.10475762,  0.15894615,
  -0.2255256 , -1.51080407, 11.3282687 , -4.12295645, -1.34222174,
   6.47686703,-16.2324185 ,  0.70153967, -0.9754913 ,-13.98786172,
  47.4365535 ,  5.10106005, -0.70434326, -1.54561814,-66.19417064,
 149.23549757, -4.27105964]

qfrc_actuator:
[ 3.33672317e-05, 9.45579139e-04, 1.53956753e-04,-4.92092121e-05,
  2.67324838e-05, 3.49199073e-02, 1.10226849e-02, 1.75111945e-03,
 -1.01616291e-04, 7.63096592e-04, 2.05268232e-04, 1.05452482e-04,
  0.00000000e+00,-1.56913131e-03, 0.00000000e+00,-7.94024857e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00417906477756648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.65663033e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.65663033e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19209028, -0.05630046,  0.06179031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94611656e-05, 6.51375853e-05, 3.51356165e-05,-1.51585164e-05,
  4.59032386e-05,-2.29198001e-05, 2.25901772e-05, 4.32897020e-05,
 -2.49086935e-05,-6.53713274e-05,-2.60979923e-05,-3.41996504e-05,
 -2.99756047e-06,-3.07881522e-05,-6.54413637e-06, 2.27163710e-04,
 -2.19718633e-04,-5.02165380e-04,-4.90355178e+00,-8.05580684e-04,
  3.22742532e-03,-5.35458061e-03]


--- Step 2499 ---
qpos:
[ 0.01866698, 0.0300129 ,-0.00946795,-0.02526727,-0.00354793, 1.34082332,
 -0.02999887, 0.94382599, 0.01154326, 0.02726439,-0.0082987 , 0.02643874,
  1.39350478, 0.00768947, 1.33592028, 0.04417667,-0.09596007,-0.06696613,
  0.09351341, 0.68427624, 0.12015375,-0.69438291,-0.18751392]

qacc:
[ 2.04685789e+00, 1.18286892e-01,-1.38191329e-01, 1.80927281e+00,
  1.76688368e-01, 1.11889800e+00,-3.69156035e+00, 1.66511947e+00,
 -2.48506051e+00,-6.97481143e-01, 4.24279723e+00,-1.17955719e+01,
  4.47608578e-01,-7.99776554e-01,-7.35739899e-01, 2.89814491e+00,
  4.48745570e+00,-6.24089807e-01,-2.54392472e+00,-5.86298348e+01,
  1.30900266e+02,-4.24263585e+00]

qfrc_actuator:
[ 4.50815397e-05, 9.71474356e-04, 1.69337088e-04,-4.15299475e-05,
  5.06759338e-05, 3.48829790e-02, 1.09789176e-02, 1.74007926e-03,
 -1.15848050e-04, 7.89618474e-04, 2.11506645e-04, 8.57190489e-05,
  0.00000000e+00,-1.60332601e-03, 0.00000000e+00,-7.85614212e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.21951941, -4.7397591 ,  7.21951941, 21.8568358 ,
       20.13719548, -4.7397591 , 20.13719548, 39.30899294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041924177327150175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29633780e-14,  1.32408445e-14,  1.00000000e+00, -7.01279851e-28,
        1.00000000e+00, -1.32408445e-14, -1.00000000e+00,  0.00000000e+00,
        5.29633780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19205511, -0.05629959,  0.06178967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23033903e-05, 6.89372108e-05, 3.26357583e-05, 1.13880443e-05,
  5.10693390e-05,-4.38921650e-05,-4.44136115e-05,-1.00599115e-05,
 -1.49828777e-05,-1.68858390e-05,-1.16632211e-05,-2.41044557e-05,
 -8.09164596e-06,-4.46787422e-05, 2.17518198e-05, 2.00859799e-05,
 -9.12274878e-05,-6.45777884e-04,-4.90368736e+00,-1.30520385e-03,
  3.00380083e-03,-5.38742496e-03]


--- Step 2500 ---
qpos:
[ 0.01866663, 0.03001349,-0.00946746,-0.02526749,-0.00354731, 1.34082322,
 -0.02999811, 0.94382692, 0.01154188, 0.02726378,-0.00829808, 0.02643898,
  1.39357324, 0.00768891, 1.33602156, 0.04417944,-0.09593578,-0.06703561,
  0.09348412, 0.68439959, 0.1208833 ,-0.69390477,-0.18836296]

qacc:
[ 1.24050373e+00,-3.73608569e-01, 2.55035072e+00,-6.31944833e+00,
  9.12638705e-02, 2.73077562e+00,-1.23772180e+01, 2.58554554e+01,
 -4.34236179e+00,-9.63273732e-01, 4.93499406e+00,-1.04042677e+01,
  5.90849768e-01,-1.14582414e+00, 4.05918624e+00,-1.38160316e+01,
  3.96733989e+00,-5.56302528e-01,-3.39582579e+00,-5.22354573e+01,
  1.15460453e+02,-4.15719313e+00]

qfrc_actuator:
[ 5.21638783e-05, 9.51068135e-04, 1.60478734e-04,-5.47544437e-05,
  4.68747009e-05, 3.48430244e-02, 1.09525336e-02, 1.80469356e-03,
 -1.41617036e-04, 8.23628831e-04, 2.32902672e-04, 7.39372731e-05,
  0.00000000e+00,-1.65915072e-03, 0.00000000e+00,-8.53377869e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.31243216, -4.59511836,  7.31243216, 21.99303066,
       21.25510465, -4.59511836, 21.25510465, 42.46063078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041537277322634125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00462650e-14, -1.33641767e-14,  1.00000000e+00,  2.67901827e-28,
        1.00000000e+00,  1.33641767e-14, -1.00000000e+00,  0.00000000e+00,
        2.00462650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19214345, -0.05628477,  0.06179131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46139652e-06, 2.53571538e-05, 9.78342775e-06,-8.92429934e-06,
  2.63771823e-05,-7.32286352e-05,-4.03215969e-05, 6.17610124e-05,
 -2.62139871e-05, 2.11382019e-05, 1.56396345e-05,-1.33780978e-05,
 -1.39318862e-05,-7.17079142e-05, 9.18374337e-06,-6.45759394e-05,
  8.44952674e-05,-7.84550422e-04,-4.90361419e+00,-1.74637819e-03,
  2.81087480e-03,-5.41940390e-03]


--- Step 2501 ---
qpos:
[ 0.01866637, 0.03001412,-0.00946697,-0.02526783,-0.00354658, 1.34082275,
 -0.02999775, 0.94382858, 0.01154089, 0.02726357,-0.00829789, 0.02643874,
  1.39364157, 0.00768815, 1.33612301, 0.04418038,-0.09593468,-0.0671037 ,
  0.09345274, 0.68426459, 0.12166908,-0.69368147,-0.18916823]

qacc:
[ 7.53147167e-01,-2.31503652e-01, 1.43116207e+00,-3.70304505e+00,
  4.47046854e-02, 1.88456576e+00,-8.25952567e+00, 1.60697321e+01,
  3.31545992e+00, 7.36448911e-01, 1.57236463e-01,-8.06073877e+00,
 -1.35260089e-01,-1.44172901e-02, 5.76562468e+00,-1.97914531e+01,
 -5.79793907e+00, 3.48599096e-01,-5.20846511e-01, 7.40452099e+01,
 -1.68903195e+02,-1.34564124e+01]

qfrc_actuator:
[ 5.64654037e-05, 9.38473456e-04, 1.54924608e-04,-6.24800438e-05,
  4.42141400e-05, 3.48371656e-02, 1.09366784e-02, 1.84232931e-03,
 -1.20715866e-04, 8.44198304e-04, 2.09868334e-04, 4.91950708e-05,
  0.00000000e+00,-1.65636285e-03, 0.00000000e+00,-9.47656413e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004235486274264427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55310248e-15, -1.31062050e-14,  1.00000000e+00,  8.58863043e-29,
        1.00000000e+00,  1.31062050e-14, -1.00000000e+00,  0.00000000e+00,
        6.55310248e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00054212, -0.07649233,  0.06178747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52542634e-06, 3.20034180e-06, 5.67064184e-07,-6.47741258e-06,
  1.29245829e-05,-5.23974046e-05,-3.29568208e-05, 3.56863854e-05,
  2.01395396e-05, 3.50480926e-05,-1.72055449e-05,-2.35553018e-05,
 -2.34726174e-05,-2.26004524e-05,-5.67282422e-06,-9.73449731e-05,
  2.89636338e-04,-9.17662409e-04,-4.90340057e+00,-2.13882346e-03,
  2.64392243e-03,-5.45065440e-03]


--- Step 2502 ---
qpos:
[ 0.01866547, 0.03001501,-0.00946665,-0.02526829,-0.00354594, 1.3408223 ,
 -0.029998  , 0.94382929, 0.01154051, 0.0272631 ,-0.00829744, 0.02643859,
  1.39370979, 0.00768732, 1.33622475, 0.04417751,-0.09595387,-0.0671706 ,
  0.09341466, 0.68390364, 0.12250523,-0.69368062,-0.18993543]

qacc:
[-5.46661729e+00, 6.27460077e-01,-1.23222504e+00,-6.02396990e-01,
 -4.18337515e-02,-7.59090897e-03, 2.02960390e+00,-1.29734034e+01,
  5.16136151e+00,-8.84802620e-01, 2.24466935e+00,-8.77263287e-01,
 -3.69235153e-01, 3.26889814e-01, 1.20283502e+01,-4.13642863e+01,
 -5.07147995e+00, 2.97987449e-01,-1.67892001e+00, 6.52271123e+01,
 -1.47391606e+02,-1.22851384e+01]

qfrc_actuator:
[ 2.35921554e-05, 9.66154017e-04, 1.51395615e-04,-6.68982437e-05,
  2.45090837e-05, 3.48518046e-02, 1.09095091e-02, 1.79278394e-03,
 -9.02613956e-05, 8.03125276e-04, 2.13981582e-04, 5.24871397e-05,
  0.00000000e+00,-1.65426058e-03, 0.00000000e+00,-1.14552933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.07302886,   3.06805834,   8.07302886,
        14.90316965, -16.48994257,   3.06805834, -16.48994257,
        52.02660191,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004292693698780221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.87946277e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.87946277e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00068731, -0.07647538,  0.06178472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27424273e-05, 2.92848590e-05,-3.03442494e-06,-4.38953981e-06,
 -1.20690367e-05,-1.97154445e-05,-4.01205654e-05,-5.12571701e-05,
  3.10576382e-05,-2.60276804e-05, 8.41760166e-06, 3.73981222e-06,
 -1.71275951e-05,-1.00711529e-05,-1.60729446e-05,-2.04626579e-04,
  1.10800232e-05,-7.84984849e-04,-4.90357450e+00,-1.58878096e-03,
  2.88601424e-03,-5.46364530e-03]


--- Step 2503 ---
qpos:
[ 0.01866488, 0.03001626,-0.0094667 ,-0.02526914,-0.00354547, 1.34082207,
 -0.0299985 , 0.94383073, 0.01154014, 0.02726213,-0.00829628, 0.02643917,
  1.39377799, 0.00768622, 1.33632573, 0.04417762,-0.09599088,-0.06723647,
  0.09336589, 0.6833439 , 0.12338668,-0.6938747 ,-0.19066919]

qacc:
[ 2.57509165e+00, 6.89596358e-01,-1.38554066e-01,-6.29064828e+00,
 -6.63451630e-02, 2.26701829e+00,-8.57285446e+00, 1.59350607e+01,
  2.33943117e-01,-1.14824526e+00, 6.59608535e-02, 1.17751119e+01,
  4.29655643e-01,-6.24499895e-01,-1.02159232e+01, 3.40128822e+01,
 -4.45555991e+00, 2.54805413e-01,-2.67027501e+00, 5.77744637e+01,
 -1.29257800e+02,-1.12180002e+01]

qfrc_actuator:
[ 4.01132543e-05, 9.82238588e-04, 1.31500965e-04,-8.70536431e-05,
  1.24921509e-05, 3.48962671e-02, 1.09114206e-02, 1.83436577e-03,
 -8.99489313e-05, 7.78832361e-04, 2.51625308e-04, 8.99745219e-05,
  0.00000000e+00,-1.67037826e-03, 0.00000000e+00,-9.76767464e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.15769118,   2.83528685,   8.15769118,
        14.36818013, -16.49159022,   2.83528685, -16.49159022,
        56.08598945,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004287358535955049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29476345e-14, -1.29476345e-14,  1.00000000e+00,  1.67641239e-28,
        1.00000000e+00,  1.29476345e-14, -1.00000000e+00,  0.00000000e+00,
        1.29476345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00068574, -0.07647218,  0.06178474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55744820e-05, 3.16019220e-05,-1.43829043e-05,-1.90922029e-05,
 -1.91496720e-05, 2.41711000e-05,-8.01230522e-06, 3.86243323e-05,
  1.21133884e-06,-3.69267611e-05, 3.34325814e-05, 3.67350702e-05,
 -1.17052871e-05,-2.27033132e-05,-3.27636170e-05, 1.54713544e-04,
 -1.68732145e-04,-6.79186084e-04,-4.90348132e+00,-1.08213805e-03,
  3.10383319e-03,-5.47822002e-03]


--- Step 2504 ---
qpos:
[ 0.01866518, 0.03001767,-0.00946721,-0.02527019,-0.00354514, 1.34082216,
 -0.02999906, 0.94383265, 0.01154013, 0.02726161,-0.0082956 , 0.0264398 ,
  1.39384606, 0.00768518, 1.33642602, 0.04418371,-0.09600432,-0.06730593,
  0.09331637, 0.68303969, 0.12423729,-0.69379972,-0.19147797]

qacc:
[ 7.63560511e+00, 1.05575111e+00,-2.62987178e+00,-2.40612751e-01,
 -6.44993315e-02, 1.35919450e+00,-4.89775271e+00, 9.46743060e+00,
  2.97327623e+00, 2.03476738e+00,-6.63008563e+00, 8.05936431e+00,
  3.82328168e-01,-4.19457469e-01,-1.91572980e+01, 6.53953699e+01,
  5.89435510e+00,-8.94239940e-01,-1.87491569e-01,-7.79848052e+01,
  1.73016564e+02,-7.16726479e+00]

qfrc_actuator:
[ 8.55872094e-05, 9.73423494e-04, 1.02053762e-04,-9.85726779e-05,
  5.18553132e-06, 3.49229011e-02, 1.09129247e-02, 1.85828903e-03,
 -7.18783472e-05, 8.35952604e-04, 2.37814915e-04, 9.40461889e-05,
  0.00000000e+00,-1.66170395e-03, 0.00000000e+00,-6.64322728e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00430166949538769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.4522799e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.4522799e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19173609, -0.05630804,  0.06178383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59364152e-05, 5.03286448e-06,-2.53644761e-05,-1.10367362e-05,
 -1.86225533e-05, 3.96021411e-05, 6.45615488e-06, 2.53113389e-05,
  1.80885318e-05, 4.49703761e-05,-1.60530923e-05, 4.35910261e-06,
 -1.11217465e-05,-9.63250734e-07, 2.45088931e-06, 3.16923307e-04,
 -2.79045509e-04,-5.94285027e-04,-4.90321132e+00,-6.16474569e-04,
  3.29907948e-03,-5.49420984e-03]


--- Step 2505 ---
qpos:
[ 0.01866568, 0.03001892,-0.00946796,-0.025271  ,-0.00354494, 1.34082221,
 -0.02999911, 0.94383345, 0.01154068, 0.02726178,-0.00829576, 0.02643979,
  1.3939139 , 0.00768469, 1.33652664, 0.04419047,-0.09599719,-0.06737852,
  0.09326124, 0.68295782, 0.12506127,-0.69348993,-0.19235387]

qacc:
[ 1.69878438e+00, 9.58156001e-01,-4.75399993e+00, 9.45558181e+00,
 -5.32962570e-02,-3.33511772e+00, 1.30980322e+01,-2.41894933e+01,
  4.75422562e+00, 1.91302367e+00,-2.80788761e+00,-7.54139902e+00,
 -4.92216826e-01, 7.98864409e-01,-1.45287947e+00, 5.93054735e+00,
  5.14147950e+00,-7.83264469e-01,-1.40294707e+00,-6.86662640e+01,
  1.50605812e+02,-6.98727774e+00]

qfrc_actuator:
[ 9.44643887e-05, 9.49722885e-04, 8.48638601e-05,-8.71890076e-05,
  7.63468485e-07, 3.49031538e-02, 1.09318370e-02, 1.80058658e-03,
 -4.34894452e-05, 8.70154212e-04, 1.94030412e-04, 6.06950792e-05,
  0.00000000e+00,-1.62060510e-03, 0.00000000e+00,-6.42649632e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.86052507, -3.57755818,  7.86052507, 14.8121031 ,
       13.56918671, -3.57755818, 13.56918671, 38.45025541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004369214687176576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27050638e-14, -1.27050638e-14,  1.00000000e+00, -1.61418645e-28,
        1.00000000e+00,  1.27050638e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27050638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1915566 , -0.05632252,  0.06178052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02151851e-05,-2.66250960e-05,-1.96665468e-05, 1.05050421e-05,
 -1.54259375e-05, 4.18592074e-06, 2.81392285e-05,-5.57339457e-05,
  2.89339729e-05, 5.62354970e-05,-3.63258614e-05,-3.18971265e-05,
 -4.69267974e-06, 3.78463000e-05, 3.54826641e-05, 3.94231814e-05,
 -1.29481522e-04,-7.75360112e-04,-4.90342448e+00,-1.24695432e-03,
  3.01100930e-03,-5.53152949e-03]


--- Step 2506 ---
qpos:
[ 0.01866593, 0.03001986,-0.00946859,-0.02527133,-0.0035447 , 1.34082209,
 -0.02999857, 0.94383392, 0.01154123, 0.02726234,-0.00829665, 0.02643906,
  1.39398165, 0.00768464, 1.33662775, 0.0441948 ,-0.09597205,-0.06745386,
  0.09319633, 0.68307011, 0.12586205,-0.692974  ,-0.19328997]

qacc:
[-2.06404115e+00, 2.29147720e-01,-3.44120859e+00, 1.17942796e+01,
  2.07975293e-02,-2.38097418e+00, 8.21864731e+00,-1.10223163e+01,
 -9.89009325e-02, 1.10817232e+00,-1.42139346e-01,-1.14089903e+01,
 -5.61480260e-01, 8.53128016e-01, 8.11537332e+00,-2.71826721e+01,
  4.50245714e+00,-6.89722003e-01,-2.44456790e+00,-6.07617858e+01,
  1.31714175e+02,-6.72824174e+00]

qfrc_actuator:
[ 8.17201094e-05, 9.35101125e-04, 9.27483841e-05,-6.24280333e-05,
  1.58595503e-05, 3.48913102e-02, 1.09606458e-02, 1.78405986e-03,
 -4.47655892e-05, 8.72454378e-04, 1.50579153e-04, 2.33263383e-05,
  0.00000000e+00,-1.59607828e-03, 0.00000000e+00,-7.74765605e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.95796263, -3.35523586,  7.95796263, 14.52459538,
       13.96573297, -3.35523586, 13.96573297, 41.76034824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0043705382005660015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08048654e-14, -1.27012163e-14,  1.00000000e+00,  6.45283587e-28,
        1.00000000e+00,  1.27012163e-14, -1.00000000e+00,  0.00000000e+00,
        5.08048654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19153551, -0.05631885,  0.06178014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24585771e-05,-3.31548124e-05, 3.21941492e-07, 2.31453599e-05,
  5.98028798e-06,-5.69825389e-06, 3.11965407e-05,-1.68667302e-05,
 -4.06073632e-07, 2.48847758e-05,-3.74135152e-05,-3.68375708e-05,
  7.02494871e-06, 3.49430225e-05, 1.64339648e-05,-1.26350231e-04,
  8.64304874e-05,-9.53649278e-04,-4.90335321e+00,-1.80331810e-03,
  2.76117603e-03,-5.56783755e-03]


--- Step 2507 ---
qpos:
[ 0.01866603, 0.03002063,-0.00946889,-0.02527139,-0.00354435, 1.34082163,
 -0.02999784, 0.94383387, 0.01154106, 0.02726337,-0.00829871, 0.02643825,
  1.39404956, 0.00768442, 1.33672901, 0.04419688,-0.09597239,-0.06752789,
  0.09313352, 0.68289478, 0.12673221,-0.69273871,-0.19418222]

qacc:
[-1.31642332e+00,-5.48732877e-01, 5.40759972e-01, 3.65022213e+00,
  4.32058826e-02,-1.83310159e+00, 6.48226149e+00,-1.13185774e+01,
 -6.09199754e+00, 3.74828491e+00,-1.21452884e+01, 1.23853881e+01,
  4.94276639e-02,-1.12974066e-01, 7.05136369e+00,-2.43452169e+01,
 -6.37174381e+00, 3.30277233e-01, 5.24544122e-01, 8.41115407e+01,
 -1.86036043e+02,-1.91972198e+01]

qfrc_actuator:
[ 7.41163646e-05, 9.43895132e-04, 1.15405690e-04,-4.77299033e-05,
  2.47892376e-05, 3.48488430e-02, 1.09596112e-02, 1.75641299e-03,
 -8.12485036e-05, 8.91117205e-04, 8.98002721e-05, 1.93809950e-05,
  0.00000000e+00,-1.61711819e-03, 0.00000000e+00,-8.89820843e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004535331321872539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58989217e-15, -2.44794249e-14,  1.00000000e+00,  1.12357921e-28,
        1.00000000e+00,  2.44794249e-14, -1.00000000e+00,  0.00000000e+00,
        4.58989217e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00133943, -0.07640108,  0.0617724 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98155818e-06,-8.71926515e-06, 1.66475155e-05, 1.37409861e-05,
  1.24635932e-05,-4.00228130e-05, 9.06400855e-07,-2.72931234e-05,
 -3.64823522e-05, 2.32647542e-05,-6.15153872e-05,-4.88790911e-06,
  1.11417829e-05,-8.45056358e-06,-1.03796456e-05,-1.20886037e-04,
  3.42578692e-04,-1.12650456e-03,-4.90309472e+00,-2.29737971e-03,
  2.54388687e-03,-5.60328342e-03]


--- Step 2508 ---
qpos:
[ 0.0186657 , 0.03002117,-0.00946911,-0.02527194,-0.0035439 , 1.34082097,
 -0.02999767, 0.94383214, 0.01154046, 0.02726424,-0.00830105, 0.02643811,
  1.39411756, 0.00768402, 1.33682984, 0.04420056,-0.09599489,-0.0676008 ,
  0.09306746, 0.68246927, 0.12766412,-0.69274693,-0.19503655]

qacc:
[-3.74060685e+00,-1.55354253e+00, 7.14649662e+00,-1.55483480e+01,
  4.33107412e-02,-1.63336757e+00, 8.48064466e+00,-2.67798816e+01,
 -3.72523922e+00, 1.92658929e+00,-9.99348684e+00, 2.21026461e+01,
  3.33261718e-01,-4.45519175e-01,-5.54107218e+00, 1.83628236e+01,
 -5.53724539e+00, 2.77785461e-01,-8.11045890e-01, 7.37139515e+01,
 -1.61401669e+02,-1.73045492e+01]

qfrc_actuator:
[ 5.18542066e-05, 9.13450032e-04, 1.11178900e-04,-7.45509219e-05,
  2.99464562e-05, 3.48237539e-02, 1.09230803e-02, 1.66913917e-03,
 -1.02646592e-04, 8.66119366e-04, 7.26141923e-05, 5.28848678e-05,
  0.00000000e+00,-1.62955101e-03, 0.00000000e+00,-7.98556269e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.29677286,   2.39798602,   8.29677286,
        12.38188061, -12.95908453,   2.39798602, -12.95908453,
        53.47339769,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0046199270203471435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50194881e-15, -1.20155905e-14,  1.00000000e+00,  1.80468019e-29,
        1.00000000e+00,  1.20155905e-14, -1.00000000e+00,  0.00000000e+00,
        1.50194881e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00155847, -0.07637876,  0.06176826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25011440e-05,-3.13217284e-05,-3.50702187e-06,-2.63513800e-05,
  1.25213843e-05,-4.78696317e-05,-4.50575973e-05,-8.90826704e-05,
 -2.24546896e-05,-2.49290043e-05,-2.01112001e-05, 3.22828374e-05,
  2.68346592e-06,-1.21747172e-05,-2.02390401e-05, 8.27107734e-05,
  1.83338436e-06,-9.80872820e-04,-4.90325957e+00,-1.62835926e-03,
  2.84562382e-03,-5.61642875e-03]


--- Step 2509 ---
qpos:
[ 0.01866475, 0.03002166,-0.00946973,-0.02527279,-0.00354322, 1.34082003,
 -0.02999795, 0.94382937, 0.01153926, 0.0272646 ,-0.00830282, 0.02643768,
  1.39418558, 0.00768349, 1.33693041, 0.04420627,-0.0960367 ,-0.06767278,
  0.09299357, 0.68182496, 0.12865116,-0.69296706,-0.19585777]

qacc:
[-5.23861699e+00, 4.28051750e-01,-2.97680597e-01,-4.37437450e+00,
  9.69050308e-02,-9.25846735e-01, 4.68542782e+00,-1.58288358e+01,
 -5.06901459e+00,-2.85745696e+00, 1.05117777e+01,-1.62890890e+01,
  2.72853675e-01,-3.66802516e-01,-6.54876120e+00, 2.22799054e+01,
 -4.82898404e+00, 2.32979318e-01,-1.95771314e+00, 6.49131401e+01,
 -1.40611962e+02,-1.56015618e+01]

qfrc_actuator:
[ 2.11407803e-05, 9.12863888e-04, 9.09266245e-05,-9.01313848e-05,
  5.05515576e-05, 3.48090827e-02, 1.09014292e-02, 1.61847905e-03,
 -1.32735757e-04, 8.33120165e-04, 9.89055579e-05, 3.71354333e-05,
  0.00000000e+00,-1.63674239e-03, 0.00000000e+00,-6.92976466e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.38524585,   2.06746921,   8.38524585,
        11.62402931, -12.11738054,   2.06746921, -12.11738054,
        57.78206032,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0046314733276059394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34838400e-14, -1.19856355e-14,  1.00000000e+00,  1.61612391e-28,
        1.00000000e+00,  1.19856355e-14, -1.00000000e+00,  0.00000000e+00,
        1.34838400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00160641, -0.07637156,  0.06176735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13801314e-05,-1.99758811e-05,-2.80661198e-05,-1.75544542e-05,
  2.80034306e-05,-5.26412213e-05,-3.87569887e-05,-5.54887354e-05,
 -3.07556498e-05,-4.97239418e-05, 1.97996173e-05,-1.68809278e-05,
 -1.76708483e-06,-1.02508478e-05,-6.76856010e-07, 1.07434428e-04,
 -2.20546876e-04,-8.66288177e-04,-4.90310532e+00,-1.00774864e-03,
  3.12034661e-03,-5.63150736e-03]


--- Step 2510 ---
qpos:
[ 0.01866379, 0.0300223 ,-0.00947047,-0.02527318,-0.00354231, 1.34081885,
 -0.02999833, 0.94382738, 0.01153771, 0.027265  ,-0.0083045 , 0.02643736,
  1.39425369, 0.00768263, 1.33703107, 0.04421218,-0.09605212,-0.06774746,
  0.0929236 , 0.68147677, 0.12955672,-0.6928926 ,-0.1967341 ]

qacc:
[-1.48736614e-01, 1.49753315e+00,-7.03951711e+00, 1.52162752e+01,
  9.86360753e-02, 1.30102329e+00,-6.21027294e+00, 1.45001560e+01,
 -3.00390612e+00, 5.33594164e-02,-6.12171260e-01, 2.53024196e+00,
  2.76155011e-01,-4.77945819e-01,-5.18743095e-01, 1.93091781e+00,
  6.59677483e+00,-6.74399867e-01, 9.77947664e-01,-9.47712277e+01,
  1.91509393e+02, 1.94865640e+01]

qfrc_actuator:
[ 2.12090401e-05, 9.47847319e-04, 9.70135326e-05,-6.34470198e-05,
  6.25051103e-05, 3.48185817e-02, 1.09065716e-02, 1.66081626e-03,
 -1.49951639e-04, 8.66737631e-04, 1.15050597e-04, 4.57950813e-05,
  0.00000000e+00,-1.65851993e-03, 0.00000000e+00,-6.86387148e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004687909804091575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92067185e-15,  1.18413437e-14,  1.00000000e+00, -7.01087103e-29,
        1.00000000e+00, -1.18413437e-14, -1.00000000e+00,  0.00000000e+00,
        5.92067185e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19160572, -0.05984772,  0.0617644 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.51979980e-07, 1.72483244e-05,-2.09716770e-06, 2.45199184e-05,
  2.85008296e-05,-2.88670218e-05,-1.11953728e-05, 3.83263325e-05,
 -1.81347510e-05, 9.17211548e-06, 7.74595561e-06, 6.89050145e-06,
 -3.05108119e-06,-2.54480510e-05, 1.00637281e-05, 1.21012071e-05,
 -3.60547546e-04,-7.75785506e-04,-4.90274527e+00,-4.35455656e-04,
  3.36880202e-03,-5.64834725e-03]


--- Step 2511 ---
qpos:
[ 0.01866352, 0.03002301,-0.00947113,-0.0252736 ,-0.0035412 , 1.34081761,
 -0.02999853, 0.94382727, 0.01153631, 0.02726561,-0.00830641, 0.02643819,
  1.39432181, 0.00768151, 1.3371316 , 0.04421948,-0.09604468,-0.06782449,
  0.09285188, 0.68138473, 0.13039201,-0.69256274,-0.19766035]

qacc:
[ 5.98483280e+00,-2.17155011e-01, 1.04284504e+00,-1.76122744e+00,
  8.13591266e-02, 2.62488412e+00,-1.24980756e+01, 3.25774107e+01,
  1.26956657e+00, 3.26120867e+00,-1.60644431e+01, 3.60641314e+01,
  2.83484564e-01,-4.55426280e-01,-4.41640799e+00, 1.50887248e+01,
  5.71574796e+00,-5.87250544e-01,-4.35699714e-01,-8.29532627e+01,
  1.65619225e+02, 1.59902225e+01]

qfrc_actuator:
[ 5.71500601e-05, 9.50747905e-04, 1.01037778e-04,-6.53138346e-05,
  6.91720245e-05, 3.48426486e-02, 1.09276290e-02, 1.75756139e-03,
 -1.41696844e-04, 8.86720836e-04, 1.07600626e-04, 1.04302256e-04,
  0.00000000e+00,-1.67103985e-03, 0.00000000e+00,-6.13911295e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.14581841, -2.86921928,  8.14581841, 12.13808392,
        9.94151189, -2.86921928,  9.94151189, 36.86067924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0047898732298031835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.79463679e-15,  1.15892736e-14,  1.00000000e+00,  6.71556310e-29,
        1.00000000e+00, -1.15892736e-14, -1.00000000e+00,  0.00000000e+00,
       -5.79463679e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19133521, -0.0598623 ,  0.06175945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59201086e-05, 1.31517344e-05, 8.17982077e-06,-7.22071008e-07,
  2.35086004e-05, 7.06649699e-06, 1.52593684e-05, 9.64327744e-05,
  7.72581222e-06, 2.70021363e-05,-4.34808654e-06, 5.93063586e-05,
 -7.29387971e-06,-2.11493812e-05, 3.43398379e-06, 7.38301953e-05,
 -1.42776840e-04,-9.22987106e-04,-4.90317647e+00,-1.22565277e-03,
  2.97890946e-03,-5.69016856e-03]


--- Step 2512 ---
qpos:
[ 0.01866438, 0.03002379,-0.00947171,-0.02527404,-0.0035401 , 1.34081652,
 -0.02999851, 0.94382725, 0.0115357 , 0.02726651,-0.00830869, 0.02643936,
  1.39438967, 0.00768095, 1.3372325 , 0.04422458,-0.09601737,-0.06790357,
  0.09277356, 0.68151487, 0.13116634,-0.69201033,-0.19863176]

qacc:
[ 9.63087254e+00,-1.53634448e-01, 7.04667906e-01,-1.08928850e+00,
 -1.43299759e-03,-2.48289648e-01, 8.27349394e-01, 3.89480852e-01,
  6.80436274e+00, 2.15055679e+00,-8.60017140e+00, 1.50434439e+01,
 -7.40407810e-01, 1.06725390e+00, 7.29753819e+00,-2.45410071e+01,
  4.96770504e+00,-5.13598502e-01,-1.65104915e+00,-7.28871142e+01,
  1.43791236e+02, 1.31755972e+01]

qfrc_actuator:
[ 1.13907366e-04, 9.52152729e-04, 1.03659781e-04,-6.62471556e-05,
  5.48619113e-05, 3.48576160e-02, 1.09402317e-02, 1.76127571e-03,
 -1.00768136e-04, 8.98344207e-04, 8.62783853e-05, 1.20637640e-04,
  0.00000000e+00,-1.62469293e-03, 0.00000000e+00,-7.33949624e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.21422419, -2.66707664,  8.21422419, 11.99360222,
       10.33982674, -2.66707664, 10.33982674, 40.48158834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0048126523641354585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46032585e-14,  1.15344195e-14,  1.00000000e+00, -3.99128499e-28,
        1.00000000e+00, -1.15344195e-14, -1.00000000e+00,  0.00000000e+00,
        3.46032585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19125499, -0.05986145,  0.06175799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.78067436e-05, 1.04136674e-05, 6.31976479e-06,-1.01935324e-07,
 -4.17616074e-07, 2.47688646e-05, 1.85508880e-05, 6.60777786e-06,
  4.11622131e-05, 2.83631881e-05,-1.42164577e-05, 1.84967486e-05,
 -8.26605191e-06, 3.80433761e-05, 7.80808433e-06,-1.15969397e-04,
  1.33870302e-04,-1.05543405e-03,-4.90323003e+00,-1.86676218e-03,
  2.66677893e-03,-5.72867508e-03]


--- Step 2513 ---
qpos:
[ 0.01866557, 0.03002404,-0.00947174,-0.02527375,-0.00353907, 1.34081594,
 -0.02999899, 0.94382625, 0.0115356 , 0.02726734,-0.00831047, 0.02644002,
  1.39445742, 0.00768089, 1.33733364, 0.04422654,-0.09601735,-0.06797961,
  0.09270235, 0.68134027, 0.13200558,-0.69176645,-0.19952228]

qacc:
[ 2.85681529e+00,-7.63992471e-01,-1.35020872e+00, 1.33976500e+01,
 -3.21931076e-02, 3.80394767e-01, 1.59294591e+00,-1.31227054e+01,
  4.24849876e+00,-2.59816930e+00, 1.12917576e+01,-2.09995822e+01,
 -6.50004890e-01, 9.68132218e-01, 9.91148035e+00,-3.39821079e+01,
 -6.82123092e+00, 7.61285413e-01, 1.77655520e+00, 1.00734532e+02,
 -1.98824775e+02,-4.93211273e+00]

qfrc_actuator:
[ 1.29192600e-04, 8.99386330e-04, 1.23178929e-04,-3.11185069e-05,
  4.58370393e-05, 3.48846986e-02, 1.09121401e-02, 1.71019067e-03,
 -7.64493762e-05, 8.87029483e-04, 1.10132627e-04, 9.42547675e-05,
  0.00000000e+00,-1.59699724e-03, 0.00000000e+00,-8.95451278e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0049523711611223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60450231e-15,  1.12090046e-14,  1.00000000e+00, -6.28208923e-29,
        1.00000000e+00, -1.12090046e-14, -1.00000000e+00,  0.00000000e+00,
        5.60450231e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00466182, -0.0789236 ,  0.06175132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69712377e-05,-4.56453131e-05, 2.24402256e-05, 3.57891356e-05,
 -9.27086626e-06, 4.46192382e-05,-2.09404120e-05,-4.96448640e-05,
  2.55346269e-05, 2.40613681e-06, 2.86133390e-05,-2.53006786e-05,
  4.35884656e-06, 3.77909817e-05,-1.29707164e-05,-1.67802196e-04,
  4.42550171e-04,-1.17527097e-03,-4.90303621e+00,-2.39366894e-03,
  2.41545096e-03,-5.76456074e-03]


--- Step 2514 ---
qpos:
[ 0.01866693, 0.03002389,-0.00947123,-0.02527306,-0.00353814, 1.34081541,
 -0.02999968, 0.94382502, 0.01153578, 0.02726764,-0.00831115, 0.02644037,
  1.39452531, 0.00768068, 1.33743466, 0.04422687,-0.09604092,-0.06805309,
  0.09263208, 0.68090195, 0.13290173,-0.6917893 ,-0.20034281]

qacc:
[ 1.52081348e+00,-1.21130462e+00, 1.82739147e+00, 4.61868924e+00,
 -3.89856240e-02, 1.91512477e-01,-6.38475378e-02,-2.69188667e+00,
  2.54489268e+00,-4.39435430e+00, 1.59268596e+01,-2.25324704e+01,
  7.78950409e-02,-1.26299935e-01, 4.74554648e+00,-1.68704265e+01,
 -5.90089726e+00, 6.39979195e-01, 2.37662125e-01, 8.76138312e+01,
 -1.71789054e+02,-4.54210443e+00]

qfrc_actuator:
[ 1.37690748e-04, 8.85692833e-04, 1.52319800e-04,-1.05925008e-05,
  4.00571312e-05, 3.48653690e-02, 1.08957906e-02, 1.69828295e-03,
 -6.21129422e-05, 8.44450345e-04, 1.60355837e-04, 7.84731919e-05,
  0.00000000e+00,-1.61615530e-03, 0.00000000e+00,-9.73503402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005053802431011958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51030504e-14, -2.19680733e-14,  1.00000000e+00,  3.31784919e-28,
        1.00000000e+00,  2.19680733e-14, -1.00000000e+00,  0.00000000e+00,
        1.51030504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00491725, -0.07889944,  0.0617464 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97352870e-06,-3.30582672e-05, 2.37103831e-05, 2.00429505e-05,
 -1.12568691e-05,-2.32415481e-07,-1.14603665e-05,-1.23346198e-05,
  1.50858786e-05,-3.64093579e-05, 5.33776410e-05,-1.51812361e-05,
  9.86221818e-06,-6.00766012e-06,-2.72263026e-05,-8.96644566e-05,
  3.48697226e-05,-9.79948069e-04,-4.90332342e+00,-1.66936425e-03,
  2.78406985e-03,-5.77625890e-03]


--- Step 2515 ---
qpos:
[ 0.01866735, 0.03002382,-0.00947053,-0.0252725 ,-0.00353743, 1.3408148 ,
 -0.02999996, 0.94382432, 0.01153649, 0.02726778,-0.00831191, 0.02644125,
  1.3945933 , 0.00768032, 1.33753565, 0.04422522,-0.09608498,-0.06812441,
  0.09255747, 0.68023427, 0.13384791,-0.69204329,-0.20110235]

qacc:
[-8.08667111e+00,-6.87148469e-01, 3.23298136e+00,-6.08860559e+00,
 -9.75129245e-02,-2.68460053e-01,-3.56878386e-01, 6.59659301e+00,
  4.39917002e+00, 1.09160471e+00,-6.43338978e+00, 1.58685348e+01,
  1.55202266e-02,-9.11893324e-02, 5.95291111e+00,-2.08901740e+01,
 -5.12001474e+00, 5.38236053e-01,-1.08580683e+00, 7.65211801e+01,
 -1.48958636e+02,-4.15648911e+00]

qfrc_actuator:
[ 8.88821835e-05, 9.13286798e-04, 1.69276971e-04,-1.65504237e-05,
  1.85181343e-05, 3.48717060e-02, 1.09218766e-02, 1.72727771e-03,
 -3.60090045e-05, 8.36853750e-04, 1.54598524e-04, 1.04550289e-04,
  0.00000000e+00,-1.62748897e-03, 0.00000000e+00,-1.07274809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005073152167461431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10330324e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.10330324e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0049855 , -0.07889489,  0.06174509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85605786e-05, 1.48600692e-05, 1.37356763e-05,-6.16565607e-06,
 -2.81912770e-05, 3.59805343e-06, 2.43742676e-05, 2.83623607e-05,
  2.65318315e-05,-1.75793429e-05,-7.22567363e-06, 2.60677441e-05,
  2.43586226e-06,-1.05288696e-05,-2.34894669e-05,-1.07980807e-04,
 -2.16912100e-04,-8.20603541e-04,-4.90323278e+00,-1.02723358e-03,
  3.10437258e-03,-5.79005177e-03]


--- Step 2516 ---
qpos:
[ 0.01866615, 0.03002354,-0.00946979,-0.02527198,-0.00353683, 1.34081451,
 -0.0300001 , 0.9438243 , 0.01153715, 0.027268  ,-0.00831332, 0.02644177,
  1.39466122, 0.00768009, 1.3376363 , 0.04422403,-0.09610155,-0.06819853,
  0.09248959, 0.67987591, 0.13471498,-0.69198517,-0.2019335 ]

qacc:
[-1.39136179e+01,-4.46913826e-01, 1.35738435e+00,-1.82936425e+00,
 -4.14666867e-02, 1.18481773e+00,-4.74200899e+00, 1.17372154e+01,
 -3.37755791e-01, 1.17984261e+00,-2.52062908e+00,-2.87738650e+00,
 -6.34825336e-02, 1.31268114e-01,-1.89964316e+00, 5.94105840e+00,
  6.87199027e+00,-6.97749250e-01, 1.68126217e+00,-1.03772234e+02,
  2.00436378e+02, 1.32317662e+01]

qfrc_actuator:
[ 6.73730427e-06, 8.76566222e-04, 1.61310663e-04,-2.02599143e-05,
  2.32043210e-05, 3.49113059e-02, 1.09374004e-02, 1.76238324e-03,
 -3.86891642e-05, 8.32324547e-04, 1.15983204e-04, 8.40187034e-05,
  0.00000000e+00,-1.61629333e-03, 0.00000000e+00,-1.04168195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00515979767808368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37919844e-15, -2.15167938e-14,  1.00000000e+00,  1.15743103e-28,
        1.00000000e+00,  2.15167938e-14, -1.00000000e+00,  0.00000000e+00,
        5.37919844e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19031543, -0.05992279,  0.0617408 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35555811e-05,-2.58630969e-05,-3.42581007e-06,-2.71878876e-06,
 -1.19736677e-05, 4.72132276e-05, 1.98331900e-05, 3.65839472e-05,
 -1.91021896e-06,-1.47222656e-05,-4.22298826e-05,-2.10292186e-05,
 -2.18164066e-06, 8.88379253e-06,-2.41840279e-05, 2.17148085e-05,
 -3.61141224e-04,-6.90283035e-04,-4.90289981e+00,-4.57809460e-04,
  3.38200768e-03,-5.80561483e-03]


--- Step 2517 ---
qpos:
[ 0.01866466, 0.03002313,-0.00946916,-0.02527151,-0.00353611, 1.34081439,
 -0.03000022, 0.94382368, 0.01153812, 0.0272678 ,-0.00831472, 0.0264417 ,
  1.39472911, 0.00767998, 1.33773677, 0.04422352,-0.0960944 ,-0.06827509,
  0.09242226, 0.6797842 , 0.13551397,-0.69165752,-0.20282821]

qacc:
[-2.46102726e+00, 5.09466266e-02,-2.03628062e-01,-3.75694739e-01,
  4.60441518e-02,-8.28368454e-01, 4.20263867e+00,-1.06581375e+01,
  2.63573300e+00,-1.80076004e+00, 8.07422808e+00,-1.78471963e+01,
 -3.77029559e-02, 1.05823366e-01,-2.31739285e+00, 7.70231840e+00,
  5.93121370e+00,-6.10026861e-01, 1.37657931e-01,-9.03045607e+01,
  1.72726328e+02, 1.07162092e+01]

qfrc_actuator:
[-5.58976796e-06, 8.72526336e-04, 1.56204566e-04,-2.26773846e-05,
  4.35852253e-05, 3.48994826e-02, 1.09289296e-02, 1.72979257e-03,
 -2.27883429e-05, 7.93979213e-04, 1.11532905e-04, 5.39638772e-05,
  0.00000000e+00,-1.60955993e-03, 0.00000000e+00,-1.00509563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.88629852, -3.52037959,  7.88629852, 15.87027282,
       16.20528864, -3.52037959, 16.20528864, 44.93919425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005262874982535019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31846071e-15, -1.05476857e-14,  1.00000000e+00,  1.39067092e-29,
        1.00000000e+00,  1.05476857e-14, -1.00000000e+00,  0.00000000e+00,
        1.31846071e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1900446 , -0.05994299,  0.06173584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47705102e-05,-1.93511072e-05,-1.09656272e-05,-3.69473955e-06,
  1.33064496e-05, 1.92754372e-05, 4.09522019e-06,-2.97423888e-05,
  1.58416492e-05,-5.61933242e-05,-1.34067777e-05,-3.25544372e-05,
  4.71189776e-07, 9.21089311e-06,-9.60131928e-06, 3.44892222e-05,
 -1.49600137e-04,-8.55844814e-04,-4.90333815e+00,-1.24160236e-03,
  2.97553771e-03,-5.84568749e-03]


--- Step 2518 ---
qpos:
[ 0.01866303, 0.0300231 ,-0.00946937,-0.02527142,-0.00353538, 1.34081417,
 -0.0300003 , 0.9438227 , 0.01153928, 0.02726746,-0.00831578, 0.02644191,
  1.39479708, 0.00767971, 1.33783719, 0.0442231 ,-0.09606671,-0.06835378,
  0.09235016, 0.67992284, 0.13625406,-0.69109605,-0.20377934]

qacc:
[-1.21101297e+00, 2.05496441e+00,-4.94856893e+00,-7.54009793e-01,
  6.90716559e-03,-8.61968707e-01, 3.37898951e+00,-7.04326756e+00,
  1.57321107e+00,-5.82188191e-01, 6.61602569e-01, 3.60875170e+00,
  1.61215142e-01,-2.49243256e-01,-3.34309337e-01, 1.04723969e+00,
  5.13257658e+00,-5.35430203e-01,-1.19094550e+00,-7.88504254e+01,
  1.49343052e+02, 8.71228180e+00]

qfrc_actuator:
[-1.22180856e-05, 9.05842966e-04, 1.17448296e-04,-4.20412861e-05,
  3.77100628e-05, 3.48745773e-02, 1.09238873e-02, 1.71084195e-03,
 -1.38216939e-05, 8.24557200e-04, 1.44915552e-04, 7.18116314e-05,
  0.00000000e+00,-1.62330316e-03, 0.00000000e+00,-1.00109582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.96269378, -3.34399232,  7.96269378, 15.93873328,
       17.38835734, -3.34399232, 17.38835734, 50.04141236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0052803402644609684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10255962e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10255962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18997725, -0.05994448,  0.06173461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.06431939e-06, 2.00785292e-05,-4.42328890e-05,-2.06444072e-05,
  1.98913688e-06,-1.43346609e-05,-1.67849236e-06,-1.89420009e-05,
  9.41080500e-06,-4.97781554e-06, 1.90165651e-05, 1.43454376e-05,
  2.12164310e-06,-1.06853027e-05,-2.13664763e-06, 4.33214067e-06,
  1.35169803e-04,-1.00548717e-03,-4.90336842e+00,-1.88433764e-03,
  2.64733203e-03,-5.88290346e-03]


--- Step 2519 ---
qpos:
[ 0.01866134, 0.03002316,-0.00946969,-0.02527193,-0.00353482, 1.34081359,
 -0.03000074, 0.94382431, 0.01153984, 0.02726774,-0.00831653, 0.02644257,
  1.39486499, 0.00767955, 1.33793758, 0.04422272,-0.09606679,-0.06842949,
  0.09228691, 0.67974569, 0.13707233,-0.69085016,-0.20465343]

qacc:
[-5.78692340e-01,-7.88603116e-01, 5.46212197e+00,-1.55594721e+01,
 -7.06669529e-02, 4.89000606e+00,-2.18317413e+01, 4.91531845e+01,
 -5.04871779e+00, 9.33972993e-01,-4.08057478e+00, 1.11181471e+01,
 -9.47952268e-02, 1.51248509e-01,-1.71149007e-01, 5.54257439e-01,
 -6.93977385e+00, 7.48647568e-01, 2.21136425e+00, 1.06865191e+02,
 -2.03196176e+02,-1.15036246e+01]

qfrc_actuator:
[-1.54617959e-05, 9.07864929e-04, 1.12538286e-04,-7.12105928e-05,
  1.61302847e-05, 3.48420374e-02, 1.09031208e-02, 1.84209983e-03,
 -4.45188331e-05, 9.14129291e-04, 1.82912953e-04, 1.00027284e-04,
  0.00000000e+00,-1.61359532e-03, 0.00000000e+00,-9.98577663e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005386523194195449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03055625e-14, -1.03055625e-14,  1.00000000e+00,  1.06204618e-28,
        1.00000000e+00,  1.03055625e-14, -1.00000000e+00,  0.00000000e+00,
        1.03055625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00579788, -0.07883052,  0.06172948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43962661e-06, 3.23618370e-06,-6.92058277e-06,-3.02410697e-05,
 -2.04047118e-05,-4.13670253e-05,-2.43180930e-05, 1.30336862e-04,
 -3.04267378e-05, 9.13622980e-05, 3.98243821e-05, 2.89419832e-05,
 -1.63201209e-06, 6.94814661e-06,-2.42489642e-06, 2.03727118e-06,
  4.59854890e-04,-1.14122110e-03,-4.90313529e+00,-2.41738874e-03,
  2.38106087e-03,-5.91782641e-03]


--- Step 2520 ---
qpos:
[ 0.01865996, 0.03002301,-0.00946916,-0.02527247,-0.00353432, 1.34081299,
 -0.03000205, 0.94382644, 0.01154004, 0.02726834,-0.00831671, 0.02644359,
  1.39493288, 0.00767948, 1.33803811, 0.04422102,-0.09609081,-0.06850269,
  0.09222599, 0.67929603, 0.13795853,-0.69087635,-0.20546098]

qacc:
[ 2.76686588e+00,-2.75080614e+00, 9.54399541e+00,-1.13123593e+01,
 -2.56660075e-02, 3.24761266e+00,-1.17116239e+01, 1.62447605e+01,
 -3.16485659e+00,-4.46573213e-01, 7.29036771e-01, 4.19285579e+00,
 -1.91295343e-01, 2.60444025e-01, 4.18722431e+00,-1.43215118e+01,
 -5.98739743e+00, 6.24281141e-01, 5.83100846e-01, 9.25902688e+01,
 -1.75089863e+02,-1.00824797e+01]

qfrc_actuator:
[ 1.06231404e-06, 9.09006161e-04, 1.63048487e-04,-7.04017141e-05,
  2.08096610e-05, 3.48407088e-02, 1.08555353e-02, 1.86540217e-03,
 -6.28080272e-05, 9.14132219e-04, 2.05832165e-04, 1.16412822e-04,
  0.00000000e+00,-1.60776674e-03, 0.00000000e+00,-1.06795165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005478499087630095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00602888, -0.07881277,  0.06172503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64268073e-05, 2.33879519e-07, 4.92861211e-05, 1.21312357e-07,
 -7.38075422e-06,-2.50462324e-05,-5.46193761e-05, 2.43686484e-05,
 -1.91509467e-05, 6.05482370e-05, 4.77038472e-05, 2.22429410e-05,
  6.05711945e-07, 7.69074930e-06,-3.01080136e-06,-7.00567293e-05,
  3.84021125e-05,-9.66013365e-04,-4.90340141e+00,-1.70237810e-03,
  2.75727255e-03,-5.92906567e-03]


--- Step 2521 ---
qpos:
[ 0.01865983, 0.03002299,-0.0094681 ,-0.02527336,-0.00353368, 1.34081261,
 -0.03000372, 0.94382706, 0.0115407 , 0.02726889,-0.00831635, 0.02644451,
  1.39500068, 0.00767974, 1.3381386 , 0.0442185 ,-0.09613562,-0.06857336,
  0.09216197, 0.67861279, 0.13889498,-0.69114071,-0.20619746]

qacc:
[ 1.06756032e+01,-2.02744091e+00, 8.89520187e+00,-1.58137149e+01,
  5.54396728e-02,-1.33484605e+00, 7.82526386e+00,-2.44882567e+01,
  4.01757781e+00,-1.80445627e+00, 6.76149329e+00,-9.39819339e+00,
 -3.23273520e-01, 5.17458777e-01, 2.47670901e+00,-8.64252379e+00,
 -5.19675556e+00, 6.35966688e-01,-7.75753092e-01, 8.21964462e+01,
 -1.51518763e+02,-7.89798752e-01]

qfrc_actuator:
[ 6.45932739e-05, 9.27623150e-04, 1.92621352e-04,-8.74338935e-05,
  4.12047589e-05, 3.48756726e-02, 1.08457932e-02, 1.78945402e-03,
 -3.81297998e-05, 8.78198295e-04, 2.19313984e-04, 1.07873392e-04,
  0.00000000e+00,-1.58655202e-03, 0.00000000e+00,-1.10810954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005485049929090371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53011148e-15, -5.12731444e-07,  1.00000000e+00, -1.29726771e-21,
        1.00000000e+00,  5.12731444e-07, -1.00000000e+00,  0.00000000e+00,
       -2.53011148e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00615301, -0.07991915,  0.06172431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40077326e-05, 2.89424811e-05, 3.56928594e-05,-1.53146978e-05,
  1.60325320e-05, 1.11646485e-05,-2.01374991e-05,-7.77373983e-05,
  2.41375652e-05, 8.70427925e-06, 3.26280712e-05,-3.86358108e-06,
  1.61173086e-06, 2.39285414e-05,-1.16014808e-05,-4.49986561e-05,
 -2.23730949e-04,-8.21545123e-04,-4.90327570e+00,-1.05659490e-03,
  3.09008349e-03,-5.94239372e-03]


--- Step 2522 ---
qpos:
[ 0.01866012, 0.03002269,-0.00946649,-0.0252744 ,-0.00353302, 1.34081207,
 -0.03000514, 0.94382746, 0.0115413 , 0.02726953,-0.00831609, 0.02644499,
  1.39506838, 0.00768049, 1.33823897, 0.04421584,-0.09615263,-0.06864701,
  0.09210619, 0.67824398, 0.13975612,-0.69108425,-0.20701666]

qacc:
[ 3.61249733e+00,-2.22838291e+00, 8.03244998e+00,-1.12740716e+01,
  1.26074178e-02,-1.26374013e+00, 4.31769182e+00,-6.20868975e+00,
 -4.66241377e-01,-4.86256978e-01, 3.74745550e+00,-1.11157498e+01,
 -3.90756991e-01, 6.91167770e-01, 3.07236717e-01,-1.22852307e+00,
  6.95127953e+00,-7.47102253e-01, 2.06023705e+00,-1.09049204e+02,
  2.04006458e+02, 8.09604035e+00]

qfrc_actuator:
[ 8.42665503e-05, 8.85473624e-04, 2.09632749e-04,-9.70874657e-05,
  3.53566617e-05, 3.48611612e-02, 1.08585816e-02, 1.78005148e-03,
 -4.16208920e-05, 8.74205739e-04, 2.09184425e-04, 8.46955361e-05,
  0.00000000e+00,-1.55636439e-03, 0.00000000e+00,-1.11295250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005591971287999625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98538756e-14,  9.92693781e-15,  1.00000000e+00, -1.97088189e-28,
        1.00000000e+00, -9.92693781e-15, -1.00000000e+00,  0.00000000e+00,
        1.98538756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18913713, -0.06000791,  0.06171922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15468521e-05,-1.92358261e-05, 2.68426047e-05,-7.48069530e-06,
  3.62712056e-06,-1.46051005e-05, 1.04040590e-05,-1.14619131e-05,
 -2.78007778e-06, 7.43375962e-06,-4.45931339e-06,-2.17559970e-05,
  5.76777641e-06, 3.82074776e-05,-1.22854133e-05,-9.27392261e-06,
 -3.72900904e-04,-6.78683198e-04,-4.90294427e+00,-4.88308567e-04,
  3.38373929e-03,-5.95752136e-03]


--- Step 2523 ---
qpos:
[ 0.01865891, 0.03002229,-0.00946501,-0.02527483,-0.00353251, 1.34081142,
 -0.03000635, 0.94382635, 0.01154152, 0.02727007,-0.00831583, 0.02644487,
  1.39513605, 0.00768162, 1.33833929, 0.04421279,-0.09614569,-0.06872327,
  0.09205216, 0.67814553, 0.14055261,-0.69075147,-0.20790865]

qacc:
[-1.27800411e+01, 1.52399280e+00,-8.14538763e+00, 1.89145859e+01,
 -6.70828277e-02,-3.27841793e+00, 1.36090132e+01,-2.91435579e+01,
 -3.33476785e+00,-1.36488272e+00, 7.22438086e+00,-1.76184529e+01,
 -2.68211745e-01, 5.07379673e-01, 1.15579145e+00,-4.07141425e+00,
  5.98557389e+00,-6.53215530e-01, 4.36875634e-01,-9.45749996e+01,
  1.75350470e+02, 6.32894196e+00]

qfrc_actuator:
[ 6.94175987e-06, 8.78221164e-04, 2.01109471e-04,-6.68696793e-05,
  1.38116524e-05, 3.48527695e-02, 1.08666743e-02, 1.70337362e-03,
 -6.16783832e-05, 8.53737166e-04, 2.03057880e-04, 5.31010913e-05,
  0.00000000e+00,-1.53885181e-03, 0.00000000e+00,-1.13245885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.65217196, -4.00387827,  7.65217196, 19.28018237,
       20.34235954, -4.00387827, 20.34235954, 47.51447705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00568366080812531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66254821e-15, -9.76679522e-15,  1.00000000e+00,  3.57713583e-29,
        1.00000000e+00,  9.76679522e-15, -1.00000000e+00,  0.00000000e+00,
        3.66254821e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18889898, -0.06002747,  0.06171486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67049115e-05,-1.27843478e-05,-9.46313542e-06, 3.01756759e-05,
 -1.94020187e-05,-1.47745452e-05, 6.08627034e-06,-7.70796509e-05,
 -2.01328152e-05,-1.81916573e-05,-5.90400763e-06,-3.18564556e-05,
  1.11638056e-05, 3.08760398e-05,-8.44215049e-06,-2.19903782e-05,
 -1.59940004e-04,-8.59963270e-04,-4.90337566e+00,-1.27194234e-03,
  2.96279430e-03,-5.99700894e-03]


--- Step 2524 ---
qpos:
[ 0.01865714, 0.03002242,-0.00946449,-0.02527492,-0.00353206, 1.34081072,
 -0.03000726, 0.94382571, 0.01154184, 0.02727051,-0.0083154 , 0.0264447 ,
  1.39520366, 0.00768324, 1.33843947, 0.04421017,-0.09611809,-0.06880183,
  0.09199428, 0.67827996, 0.14129328,-0.6901797 ,-0.20886474]

qacc:
[-4.95655223e+00, 4.07634713e+00,-1.49346028e+01, 2.19407623e+01,
 -2.33140850e-02,-8.81766231e-02,-7.46006766e-01, 6.03317045e+00,
  8.81667901e-01,-7.29038467e-01, 2.60353644e+00,-3.61759690e+00,
 -2.95936424e-01, 6.01004348e-01,-1.52803445e+00, 5.11021961e+00,
  5.16599860e+00,-5.73283068e-01,-9.60693783e-01,-8.22706094e+01,
  1.51157513e+02, 4.95566485e+00]

qfrc_actuator:
[-2.03256722e-05, 9.27346606e-04, 1.59980074e-04,-4.89328047e-05,
  1.85302892e-05, 3.48658131e-02, 1.08896404e-02, 1.72971940e-03,
 -5.58121093e-05, 8.59058360e-04, 2.17035813e-04, 5.23090621e-05,
  0.00000000e+00,-1.51126506e-03, 0.00000000e+00,-1.10719775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.69402962, -3.92284144,  7.69402962, 20.09179941,
       22.46801545, -3.92284144, 22.46801545, 52.70380276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0056866992316650725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76157679e-15, -4.88078839e-15,  1.00000000e+00, -4.76441907e-29,
        1.00000000e+00,  4.88078839e-15, -1.00000000e+00,  0.00000000e+00,
       -9.76157679e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18886922, -0.06002635,  0.06171431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95080124e-05, 4.12892955e-05,-4.38985906e-05, 1.76517140e-05,
 -6.74738872e-06, 3.74786785e-06, 1.85086513e-05, 2.42890662e-05,
  5.27385222e-06,-7.46499855e-06, 8.38273087e-06,-2.39650056e-06,
  1.21031585e-05, 3.98944366e-05,-8.20443366e-06, 2.25310064e-05,
  1.34246407e-04,-1.02618785e-03,-4.90338694e+00,-1.92204686e-03,
  2.61897375e-03,-6.03401204e-03]


--- Step 2525 ---
qpos:
[ 0.01865574, 0.03002286,-0.00946444,-0.02527479,-0.00353177, 1.34080983,
 -0.03000755, 0.94382538, 0.01154257, 0.02727116,-0.00831522, 0.02644451,
  1.3952717 , 0.00768399, 1.33853989, 0.04420518,-0.09611834,-0.06887637,
  0.09194634, 0.67810236, 0.14209538,-0.68993264,-0.2097118 ]

qacc:
[ 3.20304932e+00, 2.16514888e+00,-8.03316574e+00, 1.22309629e+01,
 -6.58526688e-02,-1.38893559e+00, 3.60722359e+00, 6.17268379e-01,
  3.50748002e+00, 9.38556093e-01,-2.89377182e+00, 2.86050403e+00,
  6.62527757e-01,-1.12252661e+00, 7.48330378e+00,-2.58179991e+01,
 -6.96318419e+00, 1.00255451e+00, 2.48191527e+00, 1.14412177e+02,
 -2.03686292e+02, 6.13367916e+00]

qfrc_actuator:
[-1.26359077e-07, 9.38698471e-04, 1.35664447e-04,-3.83401171e-05,
  3.46181780e-06, 3.48562004e-02, 1.09213579e-02, 1.74550711e-03,
 -3.47284828e-05, 8.79886716e-04, 2.07387850e-04, 5.19292049e-05,
  0.00000000e+00,-1.58441963e-03, 0.00000000e+00,-1.23328390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005763926528017618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.63078744e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.63078744e-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([-0.00696043, -0.08102386,  0.06171055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93539831e-05, 2.61142581e-05,-2.05883540e-05, 1.11857214e-05,
 -1.90558704e-05,-3.18418786e-06, 3.52700503e-05, 1.70031804e-05,
  2.12370389e-05, 1.82649452e-05,-1.02501412e-05,-4.58088286e-07,
  1.47808644e-05,-5.78996508e-05,-2.97976514e-06,-1.26267053e-04,
  4.72354532e-04,-1.17847811e-03,-4.90312996e+00,-2.46667135e-03,
  2.33701347e-03,-6.06898781e-03]


--- Step 2526 ---
qpos:
[ 0.01865493, 0.03002333,-0.00946459,-0.02527453,-0.00353178, 1.34080898,
 -0.03000716, 0.94382419, 0.01154354, 0.02727143,-0.00831466, 0.0264447 ,
  1.39534003, 0.00768372, 1.33864019, 0.04419939,-0.09614259,-0.06894755,
  0.09190156, 0.67765616, 0.14295082,-0.68996501,-0.2104649 ]

qacc:
[ 5.12113144e+00, 8.79316601e-01,-3.67959930e+00, 6.43140808e+00,
 -1.31687936e-01,-3.24913102e+00, 1.24267650e+01,-2.08341888e+01,
  2.13190991e+00,-7.83238595e-01, 5.11309562e-01, 5.59654700e+00,
  7.83900008e-01,-1.37988603e+00, 2.17546532e+00,-8.05586235e+00,
 -5.99745815e+00, 8.41515739e-01, 7.92984159e-01, 9.88802617e+01,
 -1.75125706e+02, 5.14991364e+00]

qfrc_actuator:
[ 3.00807948e-05, 9.27398891e-04, 1.21342150e-04,-3.21605074e-05,
 -2.33561495e-05, 3.48686438e-02, 1.09578780e-02, 1.70166553e-03,
 -2.26177756e-05, 8.38746174e-04, 2.19432193e-04, 6.95389722e-05,
  0.00000000e+00,-1.64584269e-03, 0.00000000e+00,-1.27000808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005845104258037123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49703355e-15,  9.49703355e-15,  1.00000000e+00,  9.01936462e-29,
        1.00000000e+00, -9.49703355e-15, -1.00000000e+00,  0.00000000e+00,
       -9.49703355e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00716075, -0.08100503,  0.06170669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07791222e-05,-4.75510658e-07,-1.10827944e-05, 6.80130503e-06,
 -3.80793929e-05, 1.80974554e-05, 4.04104664e-05,-4.25107454e-05,
  1.27416230e-05,-3.30788968e-05, 1.45295364e-05, 1.80267497e-05,
 -6.83566691e-06,-7.57865970e-05,-1.73566788e-05,-4.46023228e-05,
  2.67170009e-05,-9.42613469e-04,-4.90349199e+00,-1.74018129e-03,
  2.74902341e-03,-6.07946148e-03]


--- Step 2527 ---
qpos:
[ 0.01865415, 0.03002354,-0.00946448,-0.02527453,-0.00353197, 1.34080805,
 -0.03000687, 0.94382322, 0.01154397, 0.02727118,-0.00831329, 0.02644543,
  1.3954081 , 0.00768369, 1.33874024, 0.04419452,-0.09618754,-0.06901591,
  0.09185414, 0.6769778 , 0.14385265,-0.69023822,-0.2111366 ]

qacc:
[ 2.18742270e-01,-1.63027164e+00, 6.43879382e+00,-1.12827900e+01,
 -7.14634880e-02, 5.30280393e-01,-2.31444821e+00, 4.66192365e+00,
 -4.67325018e+00,-1.81854520e+00, 3.18569645e+00, 5.34276605e+00,
 -2.64322323e-01, 3.54742575e-01,-3.14249328e+00, 1.04825327e+01,
 -5.17849234e+00, 7.06798420e-01,-6.60122423e-01, 8.57391603e+01,
 -1.50996148e+02, 4.35683479e+00]

qfrc_actuator:
[ 3.04151110e-05, 9.02656233e-04, 1.30679570e-04,-4.63960997e-05,
 -2.15005477e-05, 3.48409277e-02, 1.09437281e-02, 1.71186265e-03,
 -5.13964110e-05, 8.14171540e-04, 2.61712635e-04, 9.75601725e-05,
  0.00000000e+00,-1.61096904e-03, 0.00000000e+00,-1.21823359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005838355552087837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90160228e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90160228e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00716422, -0.08100928,  0.06170663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22978910e-06,-2.70089965e-05, 8.10477344e-06,-1.45093799e-05,
 -2.06469775e-05,-1.10751771e-05,-7.25881548e-06, 1.09383454e-05,
 -2.84168742e-05,-3.93082052e-05, 3.78511489e-05, 2.74545815e-05,
 -2.13596465e-05, 9.97873248e-06,-1.39350876e-05, 4.68298067e-05,
 -2.36181608e-04,-7.51221064e-04,-4.90344354e+00,-1.11979041e-03,
  3.09374338e-03,-6.09208963e-03]


--- Step 2528 ---
qpos:
[ 0.01865235, 0.03002359,-0.009464  ,-0.02527472,-0.0035321 , 1.3408066 ,
 -0.03000659, 0.94382379, 0.01154336, 0.0272706 ,-0.00831143, 0.02644614,
  1.39547607, 0.00768371, 1.33884034, 0.04418893,-0.09620483,-0.06908721,
  0.09181551, 0.6766115 , 0.14468559,-0.690188  ,-0.21190441]

qacc:
[-8.77064139e+00,-1.62286114e+00, 6.30160117e+00,-1.00874389e+01,
  2.37027118e-02, 1.98914543e+00,-1.05128506e+01, 2.74106236e+01,
 -8.83803922e+00,-1.84538340e+00, 6.05882384e+00,-6.97448634e+00,
 -1.63765964e-01, 1.85481653e-01, 2.25339443e+00,-7.71843790e+00,
  6.91753843e+00,-7.36884287e-01, 2.19556449e+00,-1.13081504e+02,
  2.02987381e+02, 9.21736572e-01]

qfrc_actuator:
[-2.23450138e-05, 9.05633499e-04, 1.53830837e-04,-5.47762778e-05,
 -2.45882424e-06, 3.47892106e-02, 1.09351754e-02, 1.78924460e-03,
 -1.04008710e-04, 7.99842383e-04, 2.86049714e-04, 9.60001859e-05,
  0.00000000e+00,-1.60792549e-03, 0.00000000e+00,-1.25677993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005934420263168504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67704921e-15,  9.35409842e-15,  1.00000000e+00,  4.37495787e-29,
        1.00000000e+00, -9.35409842e-15, -1.00000000e+00,  0.00000000e+00,
       -4.67704921e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18820645, -0.06008951,  0.06170216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.27342196e-05,-1.10793130e-05, 1.80661372e-05,-9.53931779e-06,
  6.83984165e-06,-5.89311028e-05,-1.12250966e-05, 7.70876604e-05,
 -5.34601085e-05,-2.73324607e-05, 2.18163593e-05,-1.40336658e-06,
 -8.25938055e-06, 1.32713247e-06,-2.82038493e-06,-3.80654158e-05,
 -3.74584810e-04,-5.95556994e-04,-4.90313476e+00,-5.88008489e-04,
  3.38194547e-03,-6.10642746e-03]


--- Step 2529 ---
qpos:
[ 0.01865062, 0.03002358,-0.00946328,-0.02527502,-0.0035321 , 1.3408052 ,
 -0.03000631, 0.94382455, 0.01154281, 0.02726996,-0.00830992, 0.02644685,
  1.395544  , 0.00768375, 1.33894024, 0.04418426,-0.09619832,-0.0691611 ,
  0.09177901, 0.6765132 , 0.14545937,-0.68985968,-0.21275594]

qacc:
[ 6.15281499e-01,-9.55197725e-01, 3.72664429e+00,-5.85062004e+00,
  5.35748897e-02, 3.95468821e-01,-1.55926402e+00, 3.38325756e+00,
  5.26264045e-01, 9.18629393e-01,-3.40306804e+00, 4.04311158e+00,
  3.57025192e-02,-3.54312665e-02,-3.07391480e+00, 1.03066124e+01,
  5.94915148e+00,-6.48040076e-01, 5.33828849e-01,-9.77557792e+01,
  1.74247673e+02, 3.69760079e-01]

qfrc_actuator:
[-1.71603388e-05, 9.07498348e-04, 1.67306879e-04,-5.96132884e-05,
  8.98459772e-06, 3.48300915e-02, 1.09476922e-02, 1.79900841e-03,
 -9.92038151e-05, 7.91674281e-04, 2.64103373e-04, 9.47908827e-05,
  0.00000000e+00,-1.60614112e-03, 0.00000000e+00,-1.20623643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.75288795, -5.38379802,  6.75288795, 35.28776534,
       33.4288041 , -5.38379802, 33.4288041 , 50.56605108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00600966687974782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.61848821e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.61848821e-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([-0.18801492, -0.06010956,  0.06169864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64325518e-06,-1.02742037e-06, 1.30809683e-05,-4.87029462e-06,
  1.54831882e-05, 8.41239140e-06, 1.97422131e-06, 9.44982601e-06,
  3.22916671e-06,-1.90292358e-05,-2.49687740e-05,-1.65540577e-06,
 -4.01773270e-06, 4.27887465e-07,-7.87933329e-06, 4.75458380e-05,
 -1.75911043e-04,-7.93527764e-04,-4.90353163e+00,-1.32247891e-03,
  2.96878305e-03,-6.14346498e-03]


--- Step 2530 ---
qpos:
[ 0.01864965, 0.03002356,-0.00946241,-0.02527537,-0.00353212, 1.34080411,
 -0.03000629, 0.94382506, 0.01154267, 0.02726993,-0.0083093 , 0.0264475 ,
  1.3956119 , 0.00768382, 1.33903977, 0.04418256,-0.0961713 ,-0.06923728,
  0.09173893, 0.6766454 , 0.14618207,-0.68929128,-0.21368045]

qacc:
[ 6.56352263e+00,-5.42896827e-01, 2.13400195e+00,-3.30243457e+00,
 -6.33211097e-03, 6.85690768e-01,-1.24376345e+00,-1.94119224e+00,
  3.42460468e+00, 3.10968200e+00,-9.63988122e+00, 9.39665384e+00,
  2.21406463e-01,-2.36117229e-01,-9.53414596e+00, 3.25109957e+01,
  5.12765870e+00,-5.71903872e-01,-8.96209293e-01,-8.47517164e+01,
  1.49969576e+02,-7.65047517e-03]

qfrc_actuator:
[ 2.21061397e-05, 9.08656431e-04, 1.74962257e-04,-6.23347980e-05,
 -1.97665298e-06, 3.48551414e-02, 1.09373407e-02, 1.78670437e-03,
 -7.83866497e-05, 8.58078840e-04, 2.32795574e-04, 9.37793203e-05,
  0.00000000e+00,-1.60510394e-03, 0.00000000e+00,-1.05032305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.70282539, -5.44599932,  6.70282539, 39.17122459,
       37.5816869 , -5.44599932, 37.5816869 , 54.89114086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00599566824132762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25854283e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.25854283e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18803107, -0.06010688,  0.06169893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93713122e-05, 3.07603822e-06, 8.87972184e-06,-2.40850471e-06,
 -1.81109809e-06, 3.03844013e-05,-8.20184576e-06,-1.17747604e-05,
  2.09058162e-05, 5.05381260e-05,-3.83836251e-05,-2.72695871e-06,
 -1.98996197e-06, 2.94449067e-07, 1.04282179e-07, 1.57209353e-04,
  1.11898958e-04,-9.76126326e-04,-4.90351575e+00,-1.94329744e-03,
  2.62568706e-03,-6.17868303e-03]


--- Step 2531 ---
qpos:
[ 0.01864847, 0.03002378,-0.00946186,-0.02527541,-0.00353206, 1.34080293,
 -0.03000594, 0.94382509, 0.01154278, 0.02727056,-0.00830944, 0.02644776,
  1.39567987, 0.00768365, 1.33913922, 0.04418305,-0.09617169,-0.06930985,
  0.09170858, 0.67646689, 0.14697112,-0.6890437 ,-0.21450132]

qacc:
[-1.82535233e+00, 1.82927603e+00,-7.41089733e+00, 1.32064102e+01,
  3.50955326e-02,-1.84445319e+00, 6.87341332e+00,-1.15947555e+01,
  2.10521563e+00, 2.25630537e+00,-5.17071837e+00,-6.38087055e-01,
  3.70065808e-01,-5.23279340e-01,-6.82679826e+00, 2.35963679e+01,
 -6.85358352e+00, 9.02167974e-01, 2.43285545e+00, 1.15148336e+02,
 -2.00957586e+02, 2.44777001e+00]

qfrc_actuator:
[ 1.00891611e-05, 9.27115493e-04, 1.61370100e-04,-4.60406042e-05,
  9.21539132e-06, 3.48349139e-02, 1.09490288e-02, 1.76151015e-03,
 -6.60825580e-05, 8.97572240e-04, 1.96536040e-04, 7.52046603e-05,
  0.00000000e+00,-1.62227073e-03, 0.00000000e+00,-9.40119493e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00603397434059165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19976588e-15,  9.19976588e-15,  1.00000000e+00,  8.46356922e-29,
        1.00000000e+00, -9.19976588e-15, -1.00000000e+00,  0.00000000e+00,
       -9.19976588e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00766776, -0.0809678 ,  0.06169697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08696841e-05, 2.19180731e-05,-1.19562661e-05, 1.66836566e-05,
  1.01228684e-05,-5.36963909e-06, 1.63549788e-05,-2.47952733e-05,
  1.29362508e-05, 5.97084976e-05,-3.06515320e-05,-1.77937219e-05,
 -5.48112909e-07,-1.77015948e-05, 1.61431133e-05, 1.18661984e-04,
  4.48117728e-04,-1.14396366e-03,-4.90323851e+00,-2.47157472e-03,
  2.34025729e-03,-6.21235307e-03]


--- Step 2532 ---
qpos:
[ 0.01864681, 0.03002387,-0.00946133,-0.02527522,-0.00353189, 1.34080176,
 -0.03000513, 0.94382341, 0.01154269, 0.02727159,-0.00831027, 0.02644817,
  1.39574785, 0.00768328, 1.33923884, 0.04418387,-0.09619568,-0.0693794 ,
  0.09168117, 0.67602117, 0.14781778,-0.68907186,-0.21523301]

qacc:
[-4.10872377e+00, 3.90408515e-01,-2.52539728e+00, 6.44643418e+00,
  4.37704440e-02,-4.14727501e+00, 1.70373311e+01,-3.45024748e+01,
 -1.71333467e+00, 2.74020787e+00,-9.62633620e+00, 1.29903474e+01,
  1.53612230e-01,-2.78151768e-01,-7.47907826e-01, 2.94153976e+00,
 -5.89995180e+00, 7.56208399e-01, 7.36288917e-01, 9.94222747e+01,
 -1.72594104e+02, 1.92688247e+00]

qfrc_actuator:
[-1.42753732e-05, 9.02464170e-04, 1.53180647e-04,-3.64398781e-05,
  1.58550612e-05, 3.48410612e-02, 1.09734608e-02, 1.67566861e-03,
 -7.66463429e-05, 9.02861922e-04, 1.57549337e-04, 8.19341787e-05,
  0.00000000e+00,-1.63236123e-03, 0.00000000e+00,-9.28773411e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006095406683179601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10704636e-15,  9.10704636e-15,  1.00000000e+00,  8.29382934e-29,
        1.00000000e+00, -9.10704636e-15, -1.00000000e+00,  0.00000000e+00,
       -9.10704636e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.007817  , -0.08095443,  0.0616941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46750604e-05,-1.41641349e-05,-4.56518203e-06, 1.04494203e-05,
  1.26217170e-05, 5.63890614e-06, 2.45165733e-05,-8.60993482e-05,
 -1.01602511e-05, 3.15681161e-05,-3.10507520e-05, 7.87921366e-06,
 -3.84195082e-06,-1.59578683e-05, 1.83401418e-05, 1.94984114e-05,
  1.31292665e-05,-9.20927254e-04,-4.90357306e+00,-1.77620722e-03,
  2.74188788e-03,-6.22274277e-03]


--- Step 2533 ---
qpos:
[ 0.01864591, 0.03002355,-0.00946103,-0.02527487,-0.00353177, 1.34080088,
 -0.03000481, 0.94382247, 0.01154178, 0.02727251,-0.00831136, 0.0264487 ,
  1.39581583, 0.00768277, 1.33933844, 0.04418551,-0.09624004,-0.06944641,
  0.09165087, 0.67534474, 0.14871452,-0.6893374 ,-0.21588753]

qacc:
[ 6.47843852e+00, 3.87538167e-01,-2.89801393e+00, 6.44421205e+00,
 -2.23921860e-02, 2.95644772e+00,-1.06824506e+01, 1.76005862e+01,
 -6.96127816e+00, 8.28437292e-01,-3.62698116e+00, 6.08147109e+00,
  1.40875160e-01,-2.34626567e-01,-2.52442460e+00, 8.76300248e+00,
 -5.09151918e+00, 6.34018299e-01,-7.22298295e-01, 8.61135021e+01,
 -1.48631252e+02, 1.53794410e+00]

qfrc_actuator:
[ 2.53143791e-05, 8.52198456e-04, 1.30321927e-04,-3.08854155e-05,
  1.95711686e-06, 3.48629690e-02, 1.09520135e-02, 1.71461773e-03,
 -1.18335578e-04, 8.69877746e-04, 1.34896242e-04, 8.57172914e-05,
  0.00000000e+00,-1.63814847e-03, 0.00000000e+00,-8.86983439e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060699931697901915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82903505e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82903505e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00777311, -0.08096296,  0.06169495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88646832e-05,-5.86949920e-05,-2.59897902e-05, 4.99312470e-06,
 -6.43861428e-06, 2.72403958e-05,-2.00811207e-05, 3.78384730e-05,
 -4.19723499e-05,-2.14398386e-05,-1.96871398e-05, 4.21392035e-06,
 -5.31240909e-06,-1.17424944e-05, 7.61949446e-06, 4.45407043e-05,
 -2.45980187e-04,-7.40561809e-04,-4.90350922e+00,-1.17607804e-03,
  3.08146076e-03,-6.23520330e-03]


--- Step 2534 ---
qpos:
[ 0.01864549, 0.03002267,-0.00946118,-0.02527442,-0.00353176, 1.34080042,
 -0.03000481, 0.94382163, 0.01154108, 0.02727309,-0.00831198, 0.02644821,
  1.3958838 , 0.00768218, 1.33943814, 0.04418698,-0.09625719,-0.06951651,
  0.09162914, 0.67497493, 0.14954821,-0.68928153,-0.21664519]

qacc:
[ 4.12747276e+00, 7.55881593e-01,-4.20936927e+00, 7.12318109e+00,
 -4.21655338e-02, 1.61076081e+00,-4.81862830e+00, 5.18251537e+00,
  1.69629668e+00,-3.83167097e+00, 1.72953104e+01,-3.53496357e+01,
  1.77122771e-02,-7.65674887e-02, 6.72197897e-01,-2.15826670e+00,
  6.80315823e+00,-7.71989562e-01, 2.13970621e+00,-1.14334692e+02,
  1.99735200e+02,-3.88979766e+00]

qfrc_actuator:
[ 4.89763610e-05, 8.04662525e-04, 9.88611170e-05,-2.77927934e-05,
 -6.39612520e-06, 3.48940376e-02, 1.09393064e-02, 1.72017093e-03,
 -1.06993324e-04, 8.49785456e-04, 1.57399956e-04, 3.44494264e-05,
  0.00000000e+00,-1.64133819e-03, 0.00000000e+00,-8.98565134e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006170297482239559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49825567e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.49825567e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18756861, -0.06015767,  0.06169043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47754594e-05,-8.54879342e-05,-4.66127534e-05,-2.24529640e-07,
 -1.21573349e-05, 4.33507481e-05,-8.55469023e-06, 6.65827116e-06,
  1.01081305e-05,-3.60069851e-05, 1.57974638e-05,-5.27850687e-05,
 -5.15646165e-06,-8.12221974e-06, 6.10902629e-06,-8.66840246e-06,
 -3.85382591e-04,-5.94308693e-04,-4.90319417e+00,-6.56996909e-04,
  3.36804427e-03,-6.24933567e-03]


--- Step 2535 ---
qpos:
[ 0.01864432, 0.0300217 ,-0.00946193,-0.02527433,-0.0035317 , 1.34080003,
 -0.03000426, 0.94382051, 0.01154085, 0.0272738 ,-0.00831225, 0.02644706,
  1.39595158, 0.00768202, 1.33953802, 0.04418696,-0.09625094,-0.06958932,
  0.09160929, 0.67486825, 0.15032777,-0.68894954,-0.21749239]

qacc:
[-6.42664010e+00, 7.89218506e-01,-1.43228583e+00,-3.87220555e+00,
  1.94881267e-02,-1.87699652e+00, 6.83758135e+00,-9.32043033e+00,
  4.15188585e+00,-2.18948350e+00, 1.08251678e+01,-2.29268924e+01,
 -5.33206827e-01, 7.86784428e-01, 4.81021675e+00,-1.63011574e+01,
  5.84852655e+00,-6.78969121e-01, 4.73627647e-01,-9.87133702e+01,
  1.71316050e+02,-3.71493094e+00]

qfrc_actuator:
[ 9.79517804e-06, 8.30087313e-04, 8.03257750e-05,-4.39312651e-05,
  6.39795918e-06, 3.48948601e-02, 1.09673830e-02, 1.70601832e-03,
 -8.22701072e-05, 8.90957119e-04, 1.88627025e-04, 4.49285049e-06,
  0.00000000e+00,-1.60745758e-03, 0.00000000e+00,-9.77004027e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.22441441, -5.9869393 ,  6.22441441, 43.6430525 ,
       36.39524767, -5.9869393 , 36.39524767, 46.47524802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00622757895468503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45688057e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.45688057e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18742633, -0.0601737 ,  0.06168782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84843141e-05,-3.19731656e-05,-4.19295452e-05,-2.14153095e-05,
  5.61112188e-06, 2.33318417e-05, 3.57778195e-05,-1.29479257e-05,
  2.50093572e-05, 2.20260001e-05, 2.39090984e-05,-3.19796831e-05,
 -4.44733536e-06, 3.01999395e-05,-7.23605770e-07,-7.87329201e-05,
 -1.87895697e-04,-8.04227658e-04,-4.90355852e+00,-1.36933758e-03,
  2.95546558e-03,-6.28555189e-03]


--- Step 2536 ---
qpos:
[ 0.01864304, 0.03002107,-0.00946315,-0.02527485,-0.00353154, 1.34079944,
 -0.03000358, 0.943821  , 0.01154058, 0.02727473,-0.00831282, 0.02644628,
  1.3960192 , 0.00768248, 1.33963772, 0.04418734,-0.09622454,-0.06966453,
  0.09158561, 0.67498764, 0.15106061,-0.6883794 ,-0.21841743]

qacc:
[-1.01641336e+00, 5.39048463e-01, 1.25295098e+00,-1.11456746e+01,
  3.78795508e-02, 2.12218989e+00,-1.05821001e+01, 2.80364223e+01,
 -4.07902025e-01, 1.87301012e+00,-7.81310026e+00, 1.45334683e+01,
 -4.58965173e-01, 8.21888068e-01,-1.42975565e+00, 4.73241427e+00,
  5.03897239e+00,-5.99262204e-01,-9.59086387e-01,-8.54666530e+01,
  1.47305616e+02,-3.48278728e+00]

qfrc_actuator:
[ 4.95468796e-06, 8.81289309e-04, 6.98556807e-05,-7.11841427e-05,
  1.40222270e-05, 3.48599561e-02, 1.09659264e-02, 1.78691139e-03,
 -8.53910768e-05, 8.97551475e-04, 1.71757169e-04, 2.28817294e-05,
  0.00000000e+00,-1.56957388e-03, 0.00000000e+00,-9.52160525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.07110374, -6.14235103,  6.07110374, 49.39651836,
       40.28736332, -6.14235103, 40.28736332, 48.45641963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006196760254256917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95809245e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.95809245e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18748749, -0.0601662 ,  0.06168894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.96663878e-06, 2.37801252e-05,-2.29560253e-05,-3.04840321e-05,
  1.09409862e-05,-1.53869052e-05, 6.79751778e-06, 8.23420110e-05,
 -2.37878384e-06, 2.24679753e-05,-1.04854304e-05, 1.95381952e-05,
  4.36777126e-06, 4.64406251e-05,-1.19383299e-05, 1.97212603e-05,
  1.00297176e-04,-1.00035294e-03,-4.90352431e+00,-1.98002525e-03,
  2.60797423e-03,-6.32035119e-03]


--- Step 2537 ---
qpos:
[ 0.01864239, 0.03002044,-0.00946412,-0.02527638,-0.00353145, 1.34079824,
 -0.0300029 , 0.94382078, 0.01153959, 0.02727549,-0.00831287, 0.02644607,
  1.39608372, 0.00768435, 1.33973776, 0.04418534,-0.096225  ,-0.06973658,
  0.09157101, 0.67479988, 0.15186321,-0.68812389,-0.21924461]

qacc:
[ 5.50853492e+00,-2.82801284e+00, 1.43999910e+01,-3.25050727e+01,
 -2.35504798e-02,-2.01451513e+00, 7.09138410e+00,-1.41028854e+01,
 -6.16284136e+00,-4.90738671e-01,-9.62679207e-01, 1.00688599e+01,
 -3.54750693e+00, 3.82492574e+00, 8.07489779e+00,-2.67164623e+01,
 -6.71801201e+00, 7.90455683e-01, 2.26956130e+00, 1.14787360e+02,
 -1.96898104e+02,-7.65185122e-01]

qfrc_actuator:
[ 3.81390584e-05, 8.76562436e-04, 8.21040098e-05,-1.22474168e-04,
  7.29982674e-07, 3.47861229e-02, 1.09469477e-02, 1.74551886e-03,
 -1.22633632e-04, 8.83248365e-04, 1.97540170e-04, 5.17565638e-05,
  0.00000000e+00,-1.58290398e-03, 0.00000000e+00,-1.07966933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006191657349378196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.96547533e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.96547533e-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([-0.00808598, -0.08093831,  0.06168894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30243699e-05, 2.56494241e-06, 1.33022450e-05,-5.16539394e-05,
 -6.82742234e-06,-7.85361495e-05,-1.87996933e-05,-3.97457828e-05,
 -3.73025592e-05,-3.09453780e-06, 2.98059045e-05, 2.98560855e-05,
  1.24774860e-05, 2.24757738e-06,-5.01645731e-06,-1.28330627e-04,
  4.37562982e-04,-1.18221096e-03,-4.90323912e+00,-2.50589968e-03,
  2.31518668e-03,-6.35389679e-03]


--- Step 2538 ---
qpos:
[ 0.01864215, 0.03001967,-0.00946429,-0.02527889,-0.00353131, 1.34079653,
 -0.03000151, 0.94381759, 0.01153885, 0.02727629,-0.00831264, 0.02644585,
  1.39614464, 0.0076869 , 1.33983791, 0.04418117,-0.09624861,-0.06980599,
  0.09155877, 0.674348  , 0.15272651,-0.68813867,-0.21998764]

qacc:
[ 3.48351211e+00,-4.41684534e+00, 1.95244189e+01,-3.73656962e+01,
  2.00479248e-02,-7.64570074e+00, 3.02336614e+01,-6.02179147e+01,
  2.14452276e+00,-7.33169925e-01, 2.74359702e+00,-3.39025151e+00,
 -3.50061671e+00, 3.20926895e+00, 7.03745479e+00,-2.36376353e+01,
 -5.78388553e+00, 6.61989408e-01, 5.88913467e-01, 9.91126468e+01,
 -1.69022011e+02,-9.19760630e-01]

qfrc_actuator:
[ 5.79222509e-05, 8.73970210e-04, 1.25189744e-04,-1.69770890e-04,
  1.05026119e-05, 3.47781716e-02, 1.09885485e-02, 1.59693631e-03,
 -1.08642278e-04, 8.92222584e-04, 2.12720701e-04, 5.10729059e-05,
  0.00000000e+00,-1.59248863e-03, 0.00000000e+00,-1.18944375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00623598987152927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90173852e-15,  8.90173852e-15,  1.00000000e+00,  7.92409486e-29,
        1.00000000e+00, -8.90173852e-15, -1.00000000e+00,  0.00000000e+00,
       -8.90173852e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00819091, -0.08092854,  0.06168692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07512676e-05,-5.71136676e-07, 4.34880809e-05,-4.77268109e-05,
  5.73537243e-06,-5.62620083e-05, 2.29330481e-05,-1.52416867e-04,
  1.28977082e-05, 1.46375976e-05, 1.92382556e-05, 7.96344138e-07,
  1.67190012e-04,-7.74661036e-05,-2.43367605e-05,-1.19119580e-04,
  4.25876908e-06,-9.66520071e-04,-4.90354711e+00,-1.81965528e-03,
  2.71796075e-03,-6.36464996e-03]


--- Step 2539 ---
qpos:
[ 0.01864284, 0.03001887,-0.0094643 ,-0.02528088,-0.00353109, 1.34079528,
 -0.03000011, 0.94381399, 0.01153862, 0.02727727,-0.00831253, 0.02644529,
  1.39620146, 0.00769009, 1.3399375 , 0.04417971,-0.09629232,-0.06987143,
  0.09154283, 0.67368217, 0.15360774,-0.68839594,-0.2206083 ]

qacc:
[ 7.97500225e+00, 5.83981314e-01,-4.32958011e+00, 1.30672216e+01,
  3.16807771e-02,-1.28137581e-01, 1.99920311e+00,-6.92034276e+00,
  4.41363884e+00,-1.35152598e-01, 2.25248229e+00,-8.07826411e+00,
 -3.42101209e+00, 2.95191701e+00,-8.76844890e+00, 3.01569786e+01,
 -5.02735869e+00, 9.89912934e-01,-9.22846347e-01, 9.11615280e+01,
 -1.44060725e+02, 3.00721641e+01]

qfrc_actuator:
[ 1.05151784e-04, 8.72809718e-04, 1.32877056e-04,-1.43310170e-04,
  1.62811018e-05, 3.48631456e-02, 1.10125214e-02, 1.58184504e-03,
 -8.23480035e-05, 8.97256329e-04, 2.03819631e-04, 3.30048812e-05,
  0.00000000e+00,-1.58192531e-03, 0.00000000e+00,-1.03930683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006196294318158199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14728180e-06, -1.14728181e-06,  1.00000000e+00, -1.31625554e-12,
        1.00000000e+00,  1.14728181e-06, -1.00000000e+00,  0.00000000e+00,
       -1.14728180e-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([-0.00719324, -0.08530532,  0.06168849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78373383e-05, 5.50193764e-06, 1.12901279e-05, 2.70183247e-05,
  9.16637628e-06, 5.37612424e-05, 1.11030334e-05,-1.96483988e-05,
  2.66790181e-05, 1.71981390e-05,-3.49317169e-06,-1.67620737e-05,
  3.47324692e-04,-1.01599151e-04,-3.19699860e-05, 1.38919265e-04,
 -2.60386435e-04,-7.92924715e-04,-4.90347289e+00,-1.22176447e-03,
  3.06215660e-03,-6.37744253e-03]


--- Step 2540 ---
qpos:
[ 0.01864375, 0.03001797,-0.00946447,-0.02528181,-0.00353095, 1.34079481,
 -0.0299996 , 0.94381231, 0.01153803, 0.02727805,-0.00831183, 0.02644486,
  1.39625399, 0.00769346, 1.34003678, 0.04418136,-0.09630932,-0.06993999,
  0.09153489, 0.67331514, 0.15443251,-0.68833554,-0.22134027]

qacc:
[ 1.85591905e+00, 2.47974513e+00,-1.35004713e+01, 3.21001063e+01,
 -3.13780423e-02, 6.71939619e+00,-2.46502733e+01, 4.33123149e+01,
 -3.15278279e+00,-1.66059677e+00, 4.97847341e+00,-3.49259403e+00,
 -3.30798998e+00, 2.51565973e+00,-9.56448222e+00, 3.34567297e+01,
  6.67998523e+00,-7.80877224e-01, 1.99786803e+00,-1.15320423e+02,
  1.95078545e+02,-9.49720264e+00]

qfrc_actuator:
[ 1.14904123e-04, 8.54690866e-04, 1.19647530e-04,-9.14442973e-05,
  1.86369526e-06, 3.49143623e-02, 1.09730912e-02, 1.68100210e-03,
 -1.02297501e-04, 8.82022205e-04, 2.34013998e-04, 4.03463792e-05,
  0.00000000e+00,-1.59498822e-03, 0.00000000e+00,-8.79265020e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006304240231918688
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40268369e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.40268369e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18720682, -0.06019993,  0.06168378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11495069e-05,-1.15059006e-05,-9.75670482e-06, 5.30222909e-05,
 -8.99857605e-06, 8.25404518e-05,-2.82313729e-05, 1.00638134e-04,
 -1.91582400e-05,-7.08372420e-06, 3.27238547e-05, 7.62909049e-06,
  5.51722699e-04,-1.45992174e-04,-5.83335533e-06, 1.62460949e-04,
 -3.90162350e-04,-5.64549190e-04,-4.90330947e+00,-7.52502314e-04,
  3.34988508e-03,-6.39187312e-03]


--- Step 2541 ---
qpos:
[ 0.01864442, 0.03001656,-0.0094643 ,-0.02528209,-0.00353092, 1.34079473,
 -0.02999975, 0.94381256, 0.01153789, 0.02727852,-0.00831068, 0.02644489,
  1.39630236, 0.00769675, 1.34013609, 0.04418458,-0.09630334,-0.07001131,
  0.09152833, 0.6732045 , 0.15520877,-0.68800224,-0.22216851]

qacc:
[-1.98818022e+00,-2.93872336e-01,-2.67225887e+00, 1.37095464e+01,
 -4.85387740e-02, 5.53800641e+00,-2.14073461e+01, 4.05589254e+01,
  3.90475129e+00,-7.00263125e-01,-7.21952771e-02, 7.61353306e+00,
 -3.18347961e+00, 2.24751073e+00,-4.42087998e+00, 1.61566102e+01,
  5.74295496e+00,-6.88759367e-01, 3.46024296e-01,-9.94615271e+01,
  1.67309166e+02,-8.41380903e+00]

qfrc_actuator:
[ 1.02510853e-04, 8.08738024e-04, 1.29627385e-04,-6.05865882e-05,
 -6.79997938e-06, 3.49093011e-02, 1.09320057e-02, 1.77551100e-03,
 -7.83001830e-05, 8.54939542e-04, 2.51490117e-04, 6.25959579e-05,
  0.00000000e+00,-1.60429104e-03, 0.00000000e+00,-8.03515956e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.0420964 , -7.01170741,  5.0420964 , 64.58640806,
       40.23349819, -7.01170741, 40.23349819, 37.56814364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0063464158197924225
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.74685063e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.74685063e-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([-0.18710579, -0.06021387,  0.06168191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20710072e-05,-5.20941070e-05, 8.24954040e-06, 3.10638766e-05,
 -1.39788773e-05, 3.81014378e-05,-2.52029984e-05, 9.84928864e-05,
  2.34352585e-05,-2.40014859e-05, 2.02912079e-05, 2.32250886e-05,
  7.65933335e-04,-1.64953481e-04, 7.23030181e-06, 8.24794532e-05,
 -1.99725924e-04,-7.86844539e-04,-4.90363208e+00,-1.42602814e-03,
  2.94641002e-03,-6.42658125e-03]


--- Step 2542 ---
qpos:
[ 0.01864494, 0.03001517,-0.00946418,-0.02528273,-0.00353114, 1.3407951 ,
 -0.03000045, 0.94381496, 0.01153769, 0.02727867,-0.00830952, 0.02644453,
  1.39634702, 0.00769993, 1.34023576, 0.04418635,-0.09627756,-0.07008507,
  0.09151747, 0.67331415, 0.1559431 ,-0.68743367,-0.22308014]

qacc:
[-1.32350674e+00,-5.88763938e-01, 3.69597199e+00,-9.93803933e+00,
 -1.07979398e-01, 5.80476462e+00,-2.26464805e+01, 4.43609886e+01,
 -4.71409965e-01,-1.28387573e+00, 5.64556216e+00,-1.22840191e+01,
 -3.06787453e+00, 2.23104417e+00, 5.13776543e+00,-1.66177624e+01,
  4.94862691e+00,-6.09605395e-01,-1.07330625e+00,-8.60294124e+01,
  1.43842361e+02,-7.43183289e+00]

qfrc_actuator:
[ 9.49468055e-05, 8.35303842e-04, 1.35345735e-04,-7.78532647e-05,
 -2.96938672e-05, 3.49415763e-02, 1.09078037e-02, 1.88422738e-03,
 -8.18709694e-05, 8.20940820e-04, 2.43502414e-04, 4.01502922e-05,
  0.00000000e+00,-1.59338333e-03, 0.00000000e+00,-8.84560405e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006302331322059533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.80803442e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.80803442e-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([-0.18720286, -0.0602034 ,  0.06168369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.93118697e-06, 5.12898537e-07,-2.93497682e-06,-1.86029307e-05,
 -3.11537636e-05, 5.13832528e-05,-1.67277959e-05, 1.11406080e-04,
 -2.89197353e-06,-4.22563186e-05,-9.66264499e-06,-2.23247961e-05,
  9.73806378e-04,-1.49766264e-04, 3.44900345e-06,-7.73110909e-05,
  8.34521380e-05,-9.96396051e-04,-4.90357573e+00,-2.01384621e-03,
  2.60077314e-03,-6.46036738e-03]


--- Step 2543 ---
qpos:
[ 0.01864432, 0.03001446,-0.0094646 ,-0.02528363,-0.00353163, 1.34079608,
 -0.03000128, 0.94381964, 0.01153676, 0.02727853,-0.00830786, 0.02644317,
  1.39638818, 0.00770303, 1.34033564, 0.04418582,-0.0962784 ,-0.07015351,
  0.09151458, 0.67314179, 0.15669769,-0.68718865,-0.2238252 ]

qacc:
[-9.71798458e+00, 1.91743887e+00,-4.44759944e+00, 4.46817214e-01,
 -1.10530786e-01, 5.03914326e+00,-2.01701591e+01, 4.35982607e+01,
 -6.21594074e+00,-3.81036343e+00, 1.72333368e+01,-3.50065278e+01,
 -2.96948855e+00, 2.20077974e+00, 7.54224444e+00,-2.53131464e+01,
 -6.65153686e+00, 1.33031291e+00, 1.99207219e+00, 1.22149485e+02,
 -1.90608386e+02, 4.28844600e+01]

qfrc_actuator:
[ 3.70360248e-05, 9.05036307e-04, 1.20998282e-04,-8.77372395e-05,
 -4.31869852e-05, 3.49960236e-02, 1.09116552e-02, 2.00046251e-03,
 -1.19406264e-04, 8.18421883e-04, 2.73737109e-04,-8.44040876e-06,
  0.00000000e+00,-1.58804650e-03, 0.00000000e+00,-1.00404111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006309786959811638
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.79762686e-15, -4.39881343e-15,  1.00000000e+00, -3.86991192e-29,
        1.00000000e+00,  4.39881343e-15, -1.00000000e+00,  0.00000000e+00,
       -8.79762686e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00734952, -0.08582852,  0.06168326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81364264e-05, 6.86623868e-05,-1.52306422e-05,-1.03213379e-05,
 -3.19021973e-05, 8.29487033e-05, 1.52701352e-05, 1.19874860e-04,
 -3.76318027e-05,-2.91215273e-05, 1.95287758e-05,-5.11724128e-05,
  1.15928912e-03,-1.39104477e-04,-1.59482468e-05,-1.25135862e-04,
  4.16964804e-04,-1.19185120e-03,-4.90328178e+00,-2.52745301e-03,
  2.30528276e-03,-6.49326364e-03]


--- Step 2544 ---
qpos:
[ 0.01864371, 0.03001414,-0.00946545,-0.02528392,-0.00353204, 1.34079732,
 -0.03000211, 0.94382397, 0.01153574, 0.02727858,-0.00830639, 0.02644192,
  1.39642605, 0.00770603, 1.34043572, 0.04418185,-0.09630213,-0.07021743,
  0.09151308, 0.67272727, 0.15747055,-0.68722157,-0.22442716]

qacc:
[-1.94124222e-02, 2.98765425e+00,-1.24607390e+01, 2.33748378e+01,
  3.08145232e-02,-2.51860369e-01, 1.94940746e+00,-5.86551858e+00,
 -8.50286371e-01, 1.00268611e+00,-3.63675636e+00, 5.58313007e+00,
 -2.87804059e+00, 2.14423076e+00, 1.09617153e+01,-3.73266024e+01,
 -5.72512347e+00, 1.12939545e+00, 3.44818328e-01, 1.05392081e+02,
 -1.63495467e+02, 3.65600996e+01]

qfrc_actuator:
[ 3.87172977e-05, 9.11247680e-04, 9.51305369e-05,-5.76535553e-05,
 -1.54262773e-05, 3.49746761e-02, 1.08966200e-02, 1.97819797e-03,
 -1.23365476e-04, 8.52648668e-04, 2.73161528e-04,-9.52430275e-07,
  0.00000000e+00,-1.58603806e-03, 0.00000000e+00,-1.18065339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.15586652,   4.83532328,   7.15586652,
        33.24033531, -36.41178196,   4.83532328, -36.41178196,
        62.52269886,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0063520354754712655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73911228e-15,  4.36955614e-15,  1.00000000e+00,  3.81860417e-29,
        1.00000000e+00, -4.36955614e-15, -1.00000000e+00,  0.00000000e+00,
       -8.73911228e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0074456 , -0.08581264,  0.06168143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50994604e-08, 4.10332872e-05,-1.39014490e-05, 3.23025430e-05,
  8.91034682e-06, 3.11287289e-05, 6.45051386e-06,-1.65375185e-05,
 -5.06911573e-06, 1.97555188e-05,-5.97048797e-06, 5.92082994e-06,
  1.33394966e-03,-1.33210639e-04,-2.90492948e-05,-1.87169971e-04,
 -2.28834947e-05,-8.38320071e-04,-4.90378385e+00,-1.85068144e-03,
  2.74352898e-03,-6.50252597e-03]


--- Step 2545 ---
qpos:
[ 0.01864381, 0.03001413,-0.00946632,-0.02528351,-0.00353242, 1.34079858,
 -0.03000319, 0.94382667, 0.01153536, 0.02727886,-0.00830556, 0.02644114,
  1.39646063, 0.00770899, 1.3405357 , 0.04417578,-0.09634562,-0.07027751,
  0.09150729, 0.67210398, 0.15825979,-0.68749362,-0.22490576]

qacc:
[ 6.11935392e+00, 1.84990873e+00,-8.94703409e+00, 2.07071231e+01,
  1.48477584e-02,-2.10891644e+00, 1.02795958e+01,-2.79924988e+01,
  5.52140899e+00, 3.05901660e+00,-1.24808426e+01, 2.15222175e+01,
 -2.79046143e+00, 2.08586739e+00, 6.45804141e+00,-2.22512584e+01,
 -4.93979668e+00, 9.60805680e-01,-1.07046832e+00, 9.11688848e+01,
 -1.40616284e+02, 3.12700094e+01]

qfrc_actuator:
[ 7.54761712e-05, 9.32619271e-04, 9.79653395e-05,-2.21002873e-05,
 -1.64006634e-05, 3.49434599e-02, 1.08701760e-02, 1.89230169e-03,
 -8.97661070e-05, 8.55295227e-04, 2.36836466e-04, 2.17315469e-05,
  0.00000000e+00,-1.58597260e-03, 0.00000000e+00,-1.28296748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006308446238720317
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.79949660e-15,  8.79949660e-15,  1.00000000e+00,  7.74311404e-29,
        1.00000000e+00, -8.79949660e-15, -1.00000000e+00,  0.00000000e+00,
       -8.79949660e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00735042, -0.08582776,  0.06168324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67747730e-05, 4.28529101e-05, 1.07299857e-05, 3.74615419e-05,
  4.29236293e-06,-1.32325023e-05,-2.01000933e-05,-8.51483814e-05,
  3.34592188e-05, 1.26931203e-05,-3.27906565e-05, 2.34386306e-05,
  1.49828756e-03,-1.28125434e-04,-4.12505074e-05,-1.17847332e-04,
 -2.52881179e-04,-5.68773817e-04,-4.90387771e+00,-1.34057710e-03,
  3.06723490e-03,-6.51371252e-03]


--- Step 2546 ---
qpos:
[ 0.01864401, 0.03001433,-0.00946681,-0.02528305,-0.00353278, 1.34079996,
 -0.03000413, 0.94382931, 0.0115347 , 0.02727887,-0.00830467, 0.02644031,
  1.39649178, 0.00771219, 1.34063509, 0.04417183,-0.09636265,-0.07034031,
  0.09150903, 0.67176977, 0.15900101,-0.68745055,-0.22551231]

qacc:
[ 8.25271573e-01,-6.38822744e-01, 2.44677976e+00,-2.16822215e+00,
  7.21240120e-03,-3.09431119e-01, 1.31134780e+00,-1.74952925e+00,
 -2.41139777e+00,-6.16631674e-01, 1.91480710e+00,-2.71989167e+00,
 -2.69609684e+00, 2.11580563e+00,-7.06792024e+00, 2.40021730e+01,
  6.61746301e+00,-6.81937160e-01, 1.88251233e+00,-1.18423387e+02,
  1.89739271e+02,-1.89181495e+01]

qfrc_actuator:
[ 7.93099177e-05, 9.45268130e-04, 1.17775024e-04,-1.90963130e-05,
 -1.68548688e-05, 3.49774790e-02, 1.08904005e-02, 1.89393119e-03,
 -1.05350738e-04, 8.21130246e-04, 2.32849028e-04, 1.76183540e-05,
  0.00000000e+00,-1.56934054e-03, 0.00000000e+00,-1.16313550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006365946158084015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74400316e-14, -7.63001385e-15,  1.00000000e+00,  1.33067683e-28,
        1.00000000e+00,  7.63001385e-15, -1.00000000e+00,  0.00000000e+00,
        1.74400316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1870475 , -0.06025396,  0.06168075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91911308e-06, 4.04540668e-05, 3.12857019e-05, 5.93896237e-06,
  2.08226156e-06, 2.02045703e-05, 1.28550924e-05,-1.32788920e-06,
 -1.45984030e-05,-3.28434086e-05,-4.60625446e-06,-4.24986578e-06,
  1.66275995e-03,-1.09508860e-04,-3.81364821e-05, 1.06833717e-04,
 -3.42173797e-04,-3.62178215e-04,-4.90370956e+00,-9.53507545e-04,
  3.30496386e-03,-6.52610010e-03]


--- Step 2547 ---
qpos:
[ 0.01864494, 0.03001444,-0.00946688,-0.02528252,-0.00353299, 1.34080106,
 -0.03000378, 0.94383159, 0.01153351, 0.02727887,-0.00830396, 0.02643976,
  1.39651977, 0.00771547, 1.34073446, 0.04416795,-0.09635691,-0.07040556,
  0.09151175, 0.67168395, 0.15970075,-0.68713683,-0.22622847]

qacc:
[ 6.31627833e+00,-1.15788404e+00, 3.62868395e+00,-2.98059618e+00,
  6.54287001e-02,-4.45376496e+00, 1.48375782e+01,-1.69789629e+01,
 -4.49730015e+00, 1.06727147e+00,-5.00980059e+00, 1.02129690e+01,
 -2.59090890e+00, 1.97959132e+00,-2.84503059e-02, 5.62245249e-01,
  5.68949472e+00,-6.11309396e-01, 2.45616583e-01,-1.01881251e+02,
  1.62896887e+02,-1.60705772e+01]

qfrc_actuator:
[ 1.16979503e-04, 9.17136471e-04, 1.29630724e-04,-1.75151335e-05,
  7.59715682e-07, 3.49617522e-02, 1.09560764e-02, 1.87612501e-03,
 -1.32020248e-04, 8.36291866e-04, 2.30067494e-04, 3.32670350e-05,
  0.00000000e+00,-1.56078164e-03, 0.00000000e+00,-1.16194171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0063989666797707526
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73500360e-14, -7.59064076e-15,  1.00000000e+00, -1.31697891e-28,
        1.00000000e+00,  7.59064076e-15, -1.00000000e+00,  0.00000000e+00,
       -1.73500360e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18697323, -0.06027403,  0.06167936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78252776e-05, 1.20395652e-06, 2.42713633e-05, 4.51062733e-06,
  1.88457926e-05,-2.07968104e-06, 7.10554266e-05,-1.68484319e-05,
 -2.71073444e-05,-4.35435971e-06,-1.02889492e-05, 1.39994499e-05,
  1.83382537e-03,-1.12804880e-04,-1.09138241e-05, 1.29798882e-06,
 -1.98093186e-04,-5.87487286e-04,-4.90398261e+00,-1.50815941e-03,
  2.95436820e-03,-6.55528829e-03]


--- Step 2548 ---
qpos:
[ 0.01864632, 0.0300144 ,-0.00946674,-0.0252816 ,-0.00353331, 1.34080199,
 -0.03000319, 0.94383368, 0.01153271, 0.02727854,-0.00830288, 0.02643941,
  1.39654468, 0.00771857, 1.34083396, 0.04416276,-0.09633156,-0.07047301,
  0.09150984, 0.67181184, 0.1603644 ,-0.68658976,-0.22703877]

qacc:
[ 3.82361550e+00,-1.76619287e-02,-1.86336811e+00, 8.27685146e+00,
 -4.77372586e-02,-1.20580932e+00, 4.04942690e+00,-5.57575521e+00,
  3.25055752e+00,-1.07481346e+00, 2.35205591e+00, 7.09658915e-01,
 -2.49081933e+00, 1.74426128e+00, 4.34021279e+00,-1.44071737e+01,
  4.90334058e+00,-5.49309213e-01,-1.15996441e+00,-8.79169582e+01,
  1.40189215e+02,-1.36726957e+01]

qfrc_actuator:
[ 1.38768009e-04, 9.00268914e-04, 1.36522921e-04, 9.30448432e-07,
 -2.41862865e-05, 3.49342954e-02, 1.09590724e-02, 1.86475226e-03,
 -1.11726470e-04, 8.09886547e-04, 2.45968991e-04, 4.27036280e-05,
  0.00000000e+00,-1.57475817e-03, 0.00000000e+00,-1.23072534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00634722045253884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74914836e-14,  6.55930635e-15,  1.00000000e+00, -1.14731999e-28,
        1.00000000e+00, -6.55930635e-15, -1.00000000e+00,  0.00000000e+00,
        1.74914836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18709273, -0.06026745,  0.06168154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28895367e-05,-1.09825029e-05, 1.02820776e-05, 1.94216698e-05,
 -1.38091037e-05,-1.52179296e-05, 1.01826876e-05,-9.73703615e-06,
  1.94988609e-05,-3.03861857e-05, 1.42118462e-05, 9.16695213e-06,
  1.99172836e-03,-1.30857882e-04,-1.16659703e-05,-7.14320780e-05,
  5.04057488e-05,-8.00830357e-04,-4.90389753e+00,-2.01101128e-03,
  2.64428157e-03,-6.58450994e-03]


--- Step 2549 ---
qpos:
[ 0.01864794, 0.03001439,-0.00946656,-0.02528083,-0.00353367, 1.34080301,
 -0.03000323, 0.94383599, 0.01153215, 0.02727756,-0.00830112, 0.02643885,
  1.39656654, 0.0077217 , 1.34093322, 0.04415847,-0.09633238,-0.0705356 ,
  0.09151514, 0.6716619 , 0.16105094,-0.68636052,-0.22768865]

qacc:
[ 2.15272215e+00,-3.98118151e-01, 2.07865945e+00,-4.66305876e+00,
 -1.80227328e-02, 2.16714432e+00,-7.38228883e+00, 8.86398463e+00,
  2.16169663e+00,-3.16690563e+00, 1.09170879e+01,-1.51183130e+01,
 -2.38855195e+00, 1.75207336e+00,-2.83661279e+00, 9.87968208e+00,
 -6.54114901e+00, 1.21371005e+00, 1.80441696e+00, 1.21113931e+02,
 -1.86675523e+02, 3.99685523e+01]

qfrc_actuator:
[ 1.51024002e-04, 9.08012275e-04, 1.40475303e-04,-6.35137275e-06,
 -2.12052782e-05, 3.49353041e-02, 1.09249812e-02, 1.87495750e-03,
 -9.94545118e-05, 7.58871037e-04, 2.72608579e-04, 3.06355624e-05,
  0.00000000e+00,-1.56653295e-03, 0.00000000e+00,-1.18037901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006364300144128351
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72227110e-15,  1.30834067e-14,  1.00000000e+00,  1.14117020e-28,
        1.00000000e+00, -1.30834067e-14, -1.00000000e+00,  0.00000000e+00,
       -8.72227110e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00747929, -0.08580003,  0.06168077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29177183e-05, 4.55873970e-06, 3.61694334e-06,-7.02156681e-06,
 -5.18007340e-06,-5.71494117e-06,-3.61936344e-05, 9.82576636e-06,
  1.28314437e-05,-6.46748353e-05, 2.24209174e-05,-1.27019545e-05,
  2.14532031e-03,-1.14205507e-04,-2.02904543e-05, 4.35045543e-05,
  3.57286888e-04,-1.00026105e-03,-4.90358875e+00,-2.46320538e-03,
  2.37275037e-03,-6.61354731e-03]


--- Step 2550 ---
qpos:
[ 0.01865005, 0.03001472,-0.00946704,-0.02527979,-0.00353405, 1.3408041 ,
 -0.03000398, 0.9438384 , 0.01153174, 0.02727664,-0.00829989, 0.02643814,
  1.39658531, 0.00772489, 1.3410321 , 0.04415713,-0.09635572,-0.07059406,
  0.09152117, 0.6712733 , 0.16175815,-0.68640431,-0.22820076]

qacc:
[ 4.08411399e+00, 2.87997832e+00,-1.07235089e+01, 1.60942704e+01,
 -3.91991791e-03, 2.23794464e+00,-7.40669895e+00, 7.65859118e+00,
  1.27415864e+00, 1.20666174e+00,-3.55396744e+00, 1.73949070e+00,
 -2.27711609e+00, 1.65186855e+00,-9.31260641e+00, 3.22036514e+01,
 -5.63209673e+00, 1.03357833e+00, 1.82753542e-01, 1.04518924e+02,
 -1.60149498e+02, 3.39899676e+01]

qfrc_actuator:
[ 1.75329057e-04, 9.30397363e-04, 1.07236420e-04, 6.80962684e-06,
 -1.92460974e-05, 3.49354528e-02, 1.08871625e-02, 1.88002805e-03,
 -9.20179453e-05, 7.82303815e-04, 2.51985010e-04, 2.37440993e-05,
  0.00000000e+00,-1.56285788e-03, 0.00000000e+00,-1.02471695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.36239537,   4.51463302,   7.36239537,
        28.19586974, -31.89734726,   4.51463302, -31.89734726,
        60.65407597,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006394146077610761
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68155819e-15,  4.34077909e-15,  1.00000000e+00,  3.76847263e-29,
        1.00000000e+00, -4.34077909e-15, -1.00000000e+00,  0.00000000e+00,
       -8.68155819e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00754391, -0.08578706,  0.06167953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46828844e-05, 2.53765702e-05,-3.21007754e-05, 1.33416147e-05,
 -1.10218587e-06,-9.80125397e-06,-4.27650939e-05, 4.06975856e-06,
  7.78799664e-06,-8.62774907e-06,-3.16698421e-05,-9.13556997e-06,
  2.29792092e-03,-1.11421164e-04,-1.03804527e-05, 1.54361258e-04,
 -3.68381235e-05,-6.81610162e-04,-4.90404451e+00,-1.86946578e-03,
  2.75924630e-03,-6.62184502e-03]


--- Step 2551 ---
qpos:
[ 0.01865174, 0.03001552,-0.00946833,-0.02527827,-0.00353441, 1.34080528,
 -0.03000494, 0.94384049, 0.01153108, 0.0272761 ,-0.0082997 , 0.02643805,
  1.39660127, 0.00772778, 1.34113125, 0.04415497,-0.09639852,-0.07064899,
  0.09152237, 0.67067886, 0.1624839 ,-0.68668302,-0.22859413]

qacc:
[-3.58707384e+00, 3.86146083e+00,-1.49090184e+01, 2.42484813e+01,
  2.31672354e-03, 7.65494643e-02, 5.68554049e-01,-4.39556123e+00,
 -2.19299159e+00, 4.70358861e+00,-1.86155862e+01, 3.05734955e+01,
 -2.15682746e+00, 1.37972487e+00, 3.06923373e+00,-9.73284600e+00,
 -4.86164655e+00, 8.82039916e-01,-1.20950791e+00, 9.04306537e+01,
 -1.37770803e+02, 2.90069556e+01]

qfrc_actuator:
[ 1.53277049e-04, 9.61241464e-04, 7.01420689e-05, 3.18877242e-05,
 -1.79164265e-05, 3.49528116e-02, 1.08829598e-02, 1.86428464e-03,
 -1.05236728e-04, 8.14446553e-04, 2.03918463e-04, 5.54881986e-05,
  0.00000000e+00,-1.57972204e-03, 0.00000000e+00,-1.07457783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.08420532,   4.93971779,   7.08420532,
        34.63067433, -37.27926212,   4.93971779, -37.27926212,
        62.09973109,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006340346002014177
  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([-0.00742268, -0.08580381,  0.06168183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13239668e-05, 3.89690583e-05,-3.53488382e-05, 2.53103775e-05,
  6.78045287e-07, 3.69045579e-06,-1.08643168e-05,-1.71939328e-05,
 -1.29938421e-05, 2.04065151e-05,-5.40684766e-05, 3.01012377e-05,
  2.45245432e-03,-1.31663187e-04, 6.50257431e-06,-4.37215897e-05,
 -2.34415473e-04,-4.41294589e-04,-4.90411246e+00,-1.42385590e-03,
  3.04234504e-03,-6.63183039e-03]


--- Step 2552 ---
qpos:
[ 0.01865281, 0.03001667,-0.00947006,-0.02527647,-0.00353462, 1.34080595,
 -0.03000459, 0.94384269, 0.01153061, 0.02727593,-0.0082999 , 0.02643828,
  1.39661448, 0.00773018, 1.34123054, 0.04415158,-0.09641513,-0.07070658,
  0.09153057, 0.67036645, 0.16316726,-0.68664957,-0.22912364]

qacc:
[-5.35595709e+00, 2.28223358e+00,-8.61820800e+00, 1.38598602e+01,
  6.63090207e-02,-3.98260503e+00, 1.19600320e+01,-8.73585663e+00,
  1.61464135e+00, 2.24422999e+00,-8.70232663e+00, 1.48278219e+01,
 -2.04298980e+00, 1.16044378e+00, 4.08624987e+00,-1.36059216e+01,
  6.54489694e+00,-6.64818131e-01, 1.75103188e+00,-1.19546871e+02,
  1.85606458e+02,-2.42221945e+01]

qfrc_actuator:
[ 1.21865214e-04, 9.79147127e-04, 4.88792860e-05, 4.60333088e-05,
  7.77220765e-07, 3.49271991e-02, 1.09519482e-02, 1.87195617e-03,
 -9.50002942e-05, 8.51475234e-04, 1.93389301e-04, 7.42082449e-05,
  0.00000000e+00,-1.60856626e-03, 0.00000000e+00,-1.13864132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006380841104856441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.17491512e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.17491512e-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([-0.18702314, -0.06032696,  0.06168012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20207392e-05, 3.34495604e-05,-1.66908632e-05, 1.50821588e-05,
  1.90945478e-05,-2.62168782e-05, 6.79723841e-05, 7.06839179e-06,
  9.86238536e-06, 3.85725498e-05,-1.19277342e-05, 1.83109853e-05,
  2.59202893e-03,-1.45371671e-04,-9.18367578e-06,-6.71342554e-05,
 -3.00840468e-04,-2.59066486e-04,-4.90393207e+00,-1.08710946e-03,
  3.24807837e-03,-6.64285078e-03]


--- Step 2553 ---
qpos:
[ 0.01865419, 0.03001744,-0.00947172,-0.02527446,-0.00353479, 1.34080581,
 -0.03000322, 0.94384569, 0.01153062, 0.02727629,-0.00830032, 0.02643836,
  1.3966248 , 0.00773224, 1.34132945, 0.04415046,-0.09640922,-0.07076657,
  0.0915393 , 0.67029659, 0.16381386,-0.68634794,-0.22976945]

qacc:
[ 2.62352580e+00,-2.51919986e-01,-7.40099023e-01, 4.62920576e+00,
  1.66039974e-02,-2.42831952e+00, 4.96736777e+00, 5.58079066e+00,
  4.00284128e+00, 9.94119563e-01,-1.89776108e+00,-7.88301067e-01,
 -1.92223094e+00, 1.07329376e+00,-7.30208728e+00, 2.50530039e+01,
  5.62919890e+00,-5.98952334e-01, 1.33891733e-01,-1.02763892e+02,
  1.59464287e+02,-2.04593891e+01]

qfrc_actuator:
[ 1.38468769e-04, 9.18208877e-04, 3.70777365e-05, 5.36331902e-05,
 -5.76891519e-06, 3.48586073e-02, 1.09924195e-02, 1.91111625e-03,
 -7.10333947e-05, 8.91288454e-04, 1.87379136e-04, 6.73930669e-05,
  0.00000000e+00,-1.62654683e-03, 0.00000000e+00,-1.01521321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006407123134836941
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19838468e-14,  1.19129649e-14,  1.00000000e+00, -6.19281742e-28,
        1.00000000e+00, -1.19129649e-14, -1.00000000e+00,  0.00000000e+00,
        5.19838468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1869677 , -0.06034812,  0.06167907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56800015e-05,-4.50751477e-05,-6.42403046e-06, 8.74663326e-06,
  4.73685592e-06,-6.95870095e-05, 4.32871913e-05, 4.05337528e-05,
  2.42682027e-05, 5.97139451e-05, 1.12486513e-06,-5.21874607e-06,
  2.72969892e-03,-1.39322980e-04,-1.82319023e-05, 1.17215857e-04,
 -1.86889178e-04,-4.76884675e-04,-4.90418058e+00,-1.56745608e-03,
  2.93567666e-03,-6.66856638e-03]


--- Step 2554 ---
qpos:
[ 0.0186554 , 0.03001764,-0.00947311,-0.02527201,-0.00353497, 1.3408051 ,
 -0.03000157, 0.94384709, 0.01153056, 0.02727678,-0.00830068, 0.02643874,
  1.39663277, 0.00773419, 1.34142837, 0.04414979,-0.0963839 ,-0.07082872,
  0.09154302, 0.67043561, 0.16442838,-0.68581505,-0.23051488]

qacc:
[-1.32449843e+00,-6.28637925e-01,-6.83873840e-01, 8.15370842e+00,
 -3.63178350e-03,-4.25385070e+00, 1.62991631e+01,-3.24563212e+01,
 -4.85966778e-01, 6.23463782e-01,-3.19816289e+00, 8.08322169e+00,
 -1.79402220e+00, 1.22990850e+00,-1.19113933e+00, 4.55227963e+00,
  4.85366450e+00,-5.40665266e-01,-1.25399669e+00,-8.86161664e+01,
  1.37338908e+02,-1.73185064e+01]

qfrc_actuator:
[ 1.29945691e-04, 8.81563955e-04, 4.83732639e-05, 7.50108895e-05,
 -9.65135457e-06, 3.48179985e-02, 1.09977940e-02, 1.82640848e-03,
 -7.46894846e-05, 8.79212554e-04, 1.84074992e-04, 8.11168764e-05,
  0.00000000e+00,-1.60244391e-03, 0.00000000e+00,-9.95329782e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006350119297478626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74834987e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74834987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18710216, -0.06034176,  0.06168151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.08315331e-06,-6.28146543e-05, 1.50128579e-06, 1.93924633e-05,
 -1.08578621e-06,-6.94137958e-05,-2.12023937e-06,-8.45841618e-05,
 -2.92366833e-06, 2.13255213e-05, 8.98819712e-06, 1.62190996e-05,
  2.87431065e-03,-9.78061599e-05,-6.79817216e-07, 2.30577961e-05,
  3.75566472e-05,-6.86202697e-04,-4.90408454e+00,-2.01558191e-03,
  2.65232412e-03,-6.69484493e-03]


--- Step 2555 ---
qpos:
[ 0.01865548, 0.03001795,-0.00947431,-0.02527044,-0.00353503, 1.34080454,
 -0.0300007 , 0.94384677, 0.01153081, 0.02727762,-0.00830115, 0.02643926,
  1.39663836, 0.00773607, 1.34152705, 0.04415138,-0.09638442,-0.07088642,
  0.09155328, 0.67030015, 0.16506803,-0.68559511,-0.23110518]

qacc:
[-9.83095050e+00,-2.17862443e+00, 1.17515129e+01,-2.74529087e+01,
  5.13280054e-02,-6.65059165e-01, 5.93710047e+00,-2.52232844e+01,
  2.56353586e+00, 1.05888720e+00,-3.73211776e+00, 6.18481344e+00,
 -1.68203143e+00, 1.11866971e+00,-7.04748307e+00, 2.44596592e+01,
 -6.45812758e+00, 1.11139807e+00, 1.63545669e+00, 1.20256808e+02,
 -1.83372826e+02, 3.74725834e+01]

qfrc_actuator:
[ 7.11807322e-05, 9.30855022e-04, 7.32951651e-05, 3.33404627e-05,
  5.84917869e-06, 3.48475093e-02, 1.09646837e-02, 1.74048502e-03,
 -5.90747776e-05, 9.07192373e-04, 1.82202164e-04, 8.90253088e-05,
  0.00000000e+00,-1.60645171e-03, 0.00000000e+00,-8.76887763e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006359923912622079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74565457e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.74565457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00745897, -0.08578191,  0.0616811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90229337e-05, 1.53031684e-05, 1.28119782e-05,-4.39329323e-05,
  1.48567714e-05,-1.18403043e-05,-4.94096418e-05,-9.00297399e-05,
  1.55367502e-05, 4.24412018e-05, 4.19821761e-06, 9.44794807e-06,
  2.99139590e-03,-9.65166749e-05,-3.56944130e-06, 1.18472652e-04,
  3.24907666e-04,-8.83831055e-04,-4.90377349e+00,-2.42710017e-03,
  2.39955837e-03,-6.72134214e-03]


--- Step 2556 ---
qpos:
[ 0.01865553, 0.03001859,-0.00947529,-0.02527011,-0.00353509, 1.34080417,
 -0.03000066, 0.94384611, 0.01153159, 0.02727904,-0.00830146, 0.02643947,
  1.39664145, 0.00773772, 1.34162542, 0.04415672,-0.09640718,-0.07094032,
  0.0915637 , 0.66992877, 0.16573044,-0.68564406,-0.23156227]

qacc:
[-1.36796873e-01,-2.69437470e+00, 1.53909017e+01,-3.72070928e+01,
  8.36194770e-04, 1.92897950e+00,-5.29784636e+00, 5.55869155e-01,
  4.51724843e+00,-3.04386419e-01, 3.45423084e+00,-9.35218423e+00,
 -1.55877767e+00, 8.65087148e-01,-1.16578115e+01, 4.04060321e+01,
 -5.56333310e+00, 9.49499448e-01, 3.99727826e-02, 1.03835344e+02,
 -1.57368702e+02, 3.17815852e+01]

qfrc_actuator:
[ 7.20861021e-05, 9.60231206e-04, 8.86118592e-05,-2.72628183e-05,
 -2.65261431e-06, 3.48653557e-02, 1.09271819e-02, 1.72559971e-03,
 -3.22330760e-05, 9.58939211e-04, 1.99083974e-04, 7.57220109e-05,
  0.00000000e+00,-1.62731451e-03, 0.00000000e+00,-6.83545078e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.59533482,   4.11067706,   7.59533482,
        23.28765381, -27.07132007,   4.11067706, -27.07132007,
        58.6562842 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006382245136326403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69774665e-15,  8.69774665e-15,  1.00000000e+00,  7.56507967e-29,
        1.00000000e+00, -8.69774665e-15, -1.00000000e+00,  0.00000000e+00,
       -8.69774665e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00750451, -0.08576989,  0.06168022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.07897174e-07, 3.86769266e-05, 1.85443666e-05,-6.03594258e-05,
  2.77886597e-07,-1.07183536e-06,-4.80817439e-05,-1.87775718e-05,
  2.73132323e-05, 7.67323506e-05, 2.64867662e-05,-1.11579769e-05,
  3.11028644e-03,-1.13634727e-04, 6.30300748e-06, 1.98447044e-04,
 -3.96768982e-05,-5.90165242e-04,-4.90419703e+00,-1.88893036e-03,
  2.75235176e-03,-6.72902710e-03]


--- Step 2557 ---
qpos:
[ 0.01865629, 0.03001926,-0.00947631,-0.02526976,-0.00353533, 1.34080369,
 -0.03000074, 0.94384526, 0.01153234, 0.02728005,-0.00830082, 0.02643891,
  1.39664262, 0.00773887, 1.34172431, 0.04416031,-0.09644917,-0.07099097,
  0.0915688 , 0.66935381, 0.16641332,-0.68592447,-0.23190452]

qacc:
[ 6.00044023e+00, 1.26864775e-01,-4.52733438e-01, 7.08490804e-01,
 -7.84511237e-02,-1.61098204e-01, 7.32696179e-01,-2.71634863e+00,
 -2.02166542e-01,-4.83985742e+00, 1.97665663e+01,-3.45143237e+01,
 -1.42926343e+00, 7.14743342e-01, 6.13655875e+00,-2.01105653e+01,
 -4.80509727e+00, 8.12947645e-01,-1.32905981e+00, 8.98920749e+01,
 -1.35435964e+02, 2.70552650e+01]

qfrc_actuator:
[ 1.08121944e-04, 9.41909138e-04, 8.03206773e-05,-2.75157926e-05,
 -2.54851491e-05, 3.48583460e-02, 1.09229214e-02, 1.71713639e-03,
 -3.45093751e-05, 8.82557958e-04, 2.26998396e-04, 3.23295400e-05,
  0.00000000e+00,-1.64035565e-03, 0.00000000e+00,-7.84951283e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.36979216,   4.5025482 ,   7.36979216,
        28.09458283, -31.84930507,   4.5025482 , -31.84930507,
        60.76745658,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006322756906249803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.38979009e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.38979009e-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([-0.00736843, -0.08578654,  0.0616828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60264932e-05, 4.53887988e-06,-1.04063893e-07, 8.69225715e-07,
 -2.26682090e-05,-1.75710494e-05,-1.04929655e-05,-1.03423164e-05,
 -1.44604432e-06,-2.85151411e-05, 4.66272030e-05,-3.94088018e-05,
  3.23468018e-03,-1.15331929e-04, 1.94480145e-05,-9.06503987e-05,
 -2.17727447e-04,-3.70681035e-04,-4.90424858e+00,-1.48537093e-03,
  3.00985542e-03,-6.73823890e-03]


--- Step 2558 ---
qpos:
[ 0.01865678, 0.03001955,-0.00947666,-0.02526906,-0.0035355 , 1.34080325,
 -0.03000095, 0.9438443 , 0.01153271, 0.02728043,-0.00829994, 0.0264386 ,
  1.3966422 , 0.00773958, 1.34182359, 0.04416035,-0.09646523,-0.07104437,
  0.09158043, 0.66905569, 0.16705792,-0.68589526,-0.23238726]

qacc:
[-2.22966708e+00,-1.61913265e+00, 3.58873029e+00, 1.63271102e+00,
  2.98019713e-02, 2.40425451e-01,-4.86335060e-01,-8.62716904e-01,
 -3.20158433e+00,-9.40939473e-01, 1.08321649e+00, 3.42443541e+00,
 -1.32494301e+00, 7.22644632e-01, 1.14302576e+01,-3.88641698e+01,
  6.48187943e+00,-6.85805232e-01, 1.63175064e+00,-1.19929689e+02,
  1.82438245e+02,-2.75489736e+01]

qfrc_actuator:
[ 9.35164427e-05, 9.12870944e-04, 1.11268139e-04,-1.00622552e-05,
 -3.47143603e-06, 3.48721514e-02, 1.09204622e-02, 1.71250880e-03,
 -5.39107579e-05, 8.18819086e-04, 2.25157499e-04, 4.24930243e-05,
  0.00000000e+00,-1.64834250e-03, 0.00000000e+00,-9.70454217e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00636411964646371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.27094443e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.27094443e-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([-0.18708671, -0.06039982,  0.06168109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35553615e-05,-2.64874828e-05, 3.19031120e-05, 1.76595277e-05,
  8.61724482e-06, 1.72324676e-06,-7.39434703e-06,-5.70506818e-06,
 -1.94501587e-05,-7.17830144e-05,-3.36891404e-06, 9.78563984e-06,
  3.33083020e-03,-9.84386939e-05,-7.91736569e-06,-1.89486236e-04,
 -2.71607255e-04,-2.05717052e-04,-4.90406209e+00,-1.18047293e-03,
  3.19616273e-03,-6.74837806e-03]


--- Step 2559 ---
qpos:
[ 0.01865675, 0.03001956,-0.0094766 ,-0.02526851,-0.00353552, 1.34080268,
 -0.03000083, 0.94384294, 0.01153319, 0.02728024,-0.00829881, 0.0264391 ,
  1.39663991, 0.00774016, 1.34192233, 0.04416254,-0.09645898,-0.07110023,
  0.0915922 , 0.6689958 , 0.16766926,-0.68559997,-0.23298998]

qacc:
[-4.47295231e+00,-1.80141548e+00, 6.46972299e+00,-9.30234476e+00,
  6.34926311e-02,-1.76008573e+00, 6.34832043e+00,-1.00764520e+01,
  9.48957448e-01, 2.15446835e-01,-5.28085158e+00, 1.92900989e+01,
 -1.22859506e+00, 7.43189644e-01,-7.17438647e+00, 2.41482167e+01,
  5.57763799e+00,-6.17047425e-01, 3.40406113e-02,-1.03089713e+02,
  1.56827420e+02,-2.32789721e+01]

qfrc_actuator:
[ 6.69614521e-05, 8.95559705e-04, 1.29584177e-04,-1.78290245e-05,
  9.76300645e-06, 3.48628271e-02, 1.09369040e-02, 1.69242696e-03,
 -4.77215445e-05, 7.98551932e-04, 2.41315640e-04, 8.40659398e-05,
  0.00000000e+00,-1.65314785e-03, 0.00000000e+00,-8.48862767e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.55120059,  -5.62748147,  -6.55120059,
        42.74519625, -39.7076037 ,  -5.62748147, -39.7076037 ,
        54.86174489,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006386210547655903
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73846919e-14,  6.51925944e-15,  1.00000000e+00, -1.13335317e-28,
        1.00000000e+00, -6.51925944e-15, -1.00000000e+00,  0.00000000e+00,
        1.73846919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18704246, -0.06042029,  0.06168023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69619209e-05,-2.47918428e-05, 1.73849115e-05,-7.45409570e-06,
  1.83269460e-05,-9.98682719e-06, 1.57695117e-05,-2.03814104e-05,
  5.59635029e-06,-6.07142670e-05, 1.24106136e-06, 3.85693558e-05,
  3.41030896e-03,-8.08592859e-05,-3.00094408e-05, 1.08915779e-04,
 -1.76000453e-04,-4.15464072e-04,-4.90429540e+00,-1.61403082e-03,
  2.90921215e-03,-6.77189518e-03]


--- Step 2560 ---
qpos:
[ 0.01865674, 0.03001983,-0.00947708,-0.02526839,-0.00353554, 1.34080167,
 -0.02999984, 0.94384239, 0.01153409, 0.02727967,-0.00829754, 0.02643973,
  1.39663576, 0.00774045, 1.34202078, 0.04416711,-0.09643348,-0.07115832,
  0.09159862, 0.66914119, 0.1682515 ,-0.68507513,-0.23369544]

qacc:
[ 2.02743954e-01, 9.26741081e-01,-9.11611663e-01,-6.16051445e+00,
  3.38995716e-03,-1.52255443e+00, 2.62990695e+00, 7.31579748e+00,
  3.55183641e+00,-6.42315615e-01, 9.92495333e-01, 1.33993127e+00,
 -1.11168422e+00, 5.13233242e-01,-7.58279155e+00, 2.61029592e+01,
  4.81188057e+00,-5.56324093e-01,-1.33666179e+00,-8.89017947e+01,
  1.35148593e+02,-1.97184145e+01]

qfrc_actuator:
[ 6.91075874e-05, 9.20845517e-04, 1.04797673e-04,-4.03828319e-05,
 -1.30385000e-07, 3.48397923e-02, 1.09820279e-02, 1.73441964e-03,
 -2.65133420e-05, 7.86812350e-04, 2.50413080e-04, 9.05725068e-05,
  0.00000000e+00,-1.67394523e-03, 0.00000000e+00,-7.24804315e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.47425851,  -5.71583359,  -6.47425851,
        44.93007955, -41.10947164,  -5.71583359, -41.10947164,
        55.200586  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006326266797449867
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75494183e-14,  3.29051594e-15,  1.00000000e+00, -5.77466407e-29,
        1.00000000e+00, -3.29051594e-15, -1.00000000e+00,  0.00000000e+00,
        1.75494183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18718503, -0.06041291,  0.06168283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35128300e-06, 1.46824114e-05,-2.80244979e-05,-2.31592010e-05,
  9.36723193e-07,-2.60847366e-05, 4.43657684e-05, 4.16798528e-05,
  2.13499218e-05,-4.37860576e-05,-1.96834456e-06, 4.69494529e-06,
  3.50346313e-03,-9.56364059e-05,-4.71279533e-06, 1.25700217e-04,
  3.32187413e-05,-6.20502757e-04,-4.90419386e+00,-2.02739601e-03,
  2.64370770e-03,-6.79629508e-03]


--- Step 2561 ---
qpos:
[ 0.01865676, 0.03002038,-0.00947821,-0.0252682 ,-0.0035356 , 1.34080058,
 -0.02999929, 0.94384307, 0.01153488, 0.02727932,-0.00829643, 0.02644003,
  1.39663021, 0.00774026, 1.34211956, 0.04417011,-0.0964336 ,-0.07121232,
  0.09161106, 0.66901435, 0.16886113,-0.68485951,-0.23425023]

qacc:
[ 1.94053165e-01, 2.36339841e+00,-8.23152354e+00, 1.04650882e+01,
 -1.86952830e-02, 3.14120379e+00,-1.29383622e+01, 2.56157587e+01,
 -8.43028456e-01, 5.14909558e-02, 1.64639110e+00,-7.28641673e+00,
 -9.94897314e-01, 4.06229660e-01, 5.33271961e+00,-1.77634878e+01,
 -6.40502895e+00, 1.02301883e+00, 1.50417962e+00, 1.19806983e+02,
 -1.80827723e+02, 3.52300563e+01]

qfrc_actuator:
[ 7.03816652e-05, 9.35748984e-04, 7.26858093e-05,-3.59384556e-05,
 -6.06556859e-06, 3.48266323e-02, 1.09549323e-02, 1.79485960e-03,
 -3.21483471e-05, 8.33485177e-04, 2.55278499e-04, 7.63928196e-05,
  0.00000000e+00,-1.68635923e-03, 0.00000000e+00,-8.13409214e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006323184752298275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.38949306e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.38949306e-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([-0.00735551, -0.08576421,  0.06168298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32026509e-06, 1.63301229e-05,-3.33301373e-05, 3.65257907e-06,
 -5.38273950e-06,-1.76534936e-05,-2.59278916e-05, 6.19226051e-05,
 -5.02551990e-06, 2.19967871e-05,-4.26869114e-06,-1.60365021e-05,
  3.59609553e-03,-9.31300256e-05, 7.56528205e-06,-8.30677756e-05,
  3.07893073e-04,-8.16360461e-04,-4.90388335e+00,-2.41300088e-03,
  2.40336352e-03,-6.82116397e-03]


--- Step 2562 ---
qpos:
[ 0.01865714, 0.03002078,-0.00947959,-0.02526759,-0.00353556, 1.34079991,
 -0.03000009, 0.94384344, 0.01153595, 0.02727915,-0.00829528, 0.02643981,
  1.39662341, 0.00773973, 1.34221839, 0.04417205,-0.0964558 ,-0.07126281,
  0.09162322, 0.66865338, 0.16949561,-0.68490967,-0.23467563]

qacc:
[ 3.08523174e+00, 1.35130122e+00,-6.91360949e+00, 1.47710081e+01,
  3.80525518e-02, 3.70672006e+00,-1.07562782e+01, 5.40742899e+00,
  2.31206319e+00,-9.49657321e-01, 5.94897212e+00,-1.52396450e+01,
 -8.97391047e-01, 4.18450652e-01, 3.36008207e+00,-1.14857847e+01,
 -5.52022199e+00, 8.76699358e-01,-6.90503716e-02, 1.03516129e+02,
 -1.55241223e+02, 2.97921365e+01]

qfrc_actuator:
[ 8.88752984e-05, 9.08798287e-04, 5.42641962e-05,-1.56442854e-05,
  8.17543573e-06, 3.48547371e-02, 1.08854501e-02, 1.77685159e-03,
 -1.80373957e-05, 8.43740355e-04, 2.57845232e-04, 5.02103590e-05,
  0.00000000e+00,-1.69345090e-03, 0.00000000e+00,-8.66826660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.80195202,   3.70355526,   7.80195202,
        19.41661563, -22.7098026 ,   3.70355526, -22.7098026 ,
        56.47709449,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006341809022357578
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75320449e-15,  1.31298067e-14,  1.00000000e+00,  1.14927883e-28,
        1.00000000e+00, -1.31298067e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75320449e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00739173, -0.0857518 ,  0.06168228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85383619e-05,-2.45532182e-05,-1.90212078e-05, 1.99121258e-05,
  1.10592637e-05, 1.51356885e-05,-7.40685767e-05,-1.78630477e-05,
  1.39723763e-05, 2.09866376e-05, 6.02124178e-06,-2.57016197e-05,
  3.66589768e-03,-7.66345264e-05,-1.09768103e-05,-5.81825514e-05,
 -3.89566885e-05,-5.39746425e-04,-4.90428458e+00,-1.91049554e-03,
  2.73562546e-03,-6.82848185e-03]


--- Step 2563 ---
qpos:
[ 0.0186574 , 0.03002093,-0.00948115,-0.02526638,-0.00353555, 1.34079957,
 -0.03000117, 0.94384285, 0.01153753, 0.0272789 ,-0.00829427, 0.02643932,
  1.39661538, 0.00773921, 1.34231683, 0.044176  ,-0.09649708,-0.07131029,
  0.09162971, 0.66809023, 0.1701525 ,-0.68518868,-0.23498947]

qacc:
[-1.08088337e+00, 1.40639234e+00,-7.96961045e+00, 1.86557600e+01,
 -9.53609535e-03,-4.65305056e-01, 3.99505554e+00,-1.47573825e+01,
  4.31481899e+00,-2.89572593e-01, 1.96177520e+00,-6.23925322e+00,
 -8.03690753e-01, 5.37256265e-01,-6.59288965e+00, 2.23857571e+01,
 -4.77054662e+00, 7.52965607e-01,-1.41851349e+00, 8.96816379e+01,
 -1.33665930e+02, 2.52922538e+01]

qfrc_actuator:
[ 8.18505642e-05, 8.92562537e-04, 4.39099560e-05, 1.37834979e-05,
 -1.09998329e-06, 3.48893560e-02, 1.08804046e-02, 1.73058338e-03,
  7.59138675e-06, 8.14345442e-04, 2.41150650e-04, 3.49068021e-05,
  0.00000000e+00,-1.67953798e-03, 0.00000000e+00,-7.56991992e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.62763042,   4.05043591,   7.62763042,
        22.87733161, -26.81806175,   4.05043591, -26.81806175,
        59.13914107,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006279985747246079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76787507e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.76787507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00724928, -0.08576724,  0.06168497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49314400e-06,-3.30359527e-05,-1.70700797e-05, 2.81061844e-05,
 -2.73917403e-06, 2.79722452e-05,-1.10354061e-05,-4.84011452e-05,
  2.60467315e-05,-1.75153533e-05,-1.25176153e-05,-1.46981157e-05,
  3.72854968e-03,-4.56230213e-05,-1.53882026e-05, 1.04376397e-04,
 -2.06459503e-04,-3.34369493e-04,-4.90432543e+00,-1.53272498e-03,
  2.97842860e-03,-6.83722347e-03]


--- Step 2564 ---
qpos:
[ 0.01865722, 0.03002102,-0.00948289,-0.0252652 ,-0.00353575, 1.34079961,
 -0.03000267, 0.94384171, 0.01153837, 0.02727845,-0.0082934 , 0.02643866,
  1.39660627, 0.00773874, 1.34241506, 0.0441822 ,-0.09651262,-0.07136067,
  0.09164235, 0.66780015, 0.17077438,-0.68515983,-0.23544657]

qacc:
[-3.70156323e+00, 3.87029759e-01,-1.35838028e+00, 1.21113385e+00,
 -8.63538405e-02, 6.87888352e-01,-5.22012630e-01,-6.13827765e+00,
 -6.30694493e+00,-1.69396793e-01, 9.50156262e-01,-3.44659034e+00,
 -7.07817427e-01, 4.93097146e-01,-7.10660005e+00, 2.45164947e+01,
  6.43611192e+00,-7.24611611e-01, 1.53941704e+00,-1.20177531e+02,
  1.80088506e+02,-2.99685124e+01]

qfrc_actuator:
[ 5.98567300e-05, 9.00660103e-04, 3.84309391e-05, 1.28497269e-05,
 -2.44085482e-05, 3.49100702e-02, 1.08602229e-02, 1.70363146e-03,
 -3.12227773e-05, 7.96865263e-04, 2.30810886e-04, 2.60794303e-05,
  0.00000000e+00,-1.67098595e-03, 0.00000000e+00,-6.40619816e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006330166863396984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75386060e-14, -5.48081437e-15,  1.00000000e+00,  9.61258438e-29,
        1.00000000e+00,  5.48081437e-15, -1.00000000e+00,  0.00000000e+00,
        1.75386060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1871961 , -0.06046662,  0.06168289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21941523e-05,-1.26909428e-05,-1.34182139e-05,-2.39078479e-06,
 -2.49261454e-05, 3.25772623e-05,-1.73843306e-05,-2.75597968e-05,
 -3.80562101e-05,-3.04778479e-05,-1.60153680e-05,-1.02985169e-05,
  3.78940263e-03,-3.73486235e-05, 1.80805484e-06, 1.19655953e-04,
 -2.54669043e-04,-1.80990471e-04,-4.90413567e+00,-1.24629852e-03,
  3.15437866e-03,-6.84682914e-03]


--- Step 2565 ---
qpos:
[ 0.01865644, 0.03002105,-0.00948441,-0.02526441,-0.00353603, 1.34080001,
 -0.03000414, 0.94383989, 0.01153873, 0.027278  ,-0.00829253, 0.02643856,
  1.39659639, 0.00773799, 1.34251364, 0.04418674,-0.096506  ,-0.07141364,
  0.09165483, 0.66774514, 0.17136582,-0.68486631,-0.23602611]

qacc:
[-5.20122991e+00,-1.52692093e+00, 6.97161603e+00,-1.40717844e+01,
 -3.72710051e-02,-7.53507049e-01, 4.45226318e+00,-1.20195689e+01,
 -4.02762010e+00, 1.12985156e+00,-6.34274530e+00, 1.58889481e+01,
 -6.16757493e-01, 2.92812050e-01, 5.64031038e+00,-1.88433201e+01,
  5.54073507e+00,-6.49544190e-01,-4.22092266e-02,-1.03335848e+02,
  1.54868330e+02,-2.53811288e+01]

qfrc_actuator:
[ 2.92368057e-05, 9.05512429e-04, 5.37015334e-05,-5.91946239e-06,
 -2.04412531e-05, 3.49400117e-02, 1.08667182e-02, 1.67049094e-03,
 -5.44027041e-05, 8.22178452e-04, 2.42102314e-04, 5.66490945e-05,
  0.00000000e+00,-1.68344239e-03, 0.00000000e+00,-7.34408895e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.49780097,  -5.68905611,  -6.49780097,
        43.41263892, -39.72000116,  -5.68905611, -39.72000116,
        54.00288088,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0063503055509826906
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.74149295e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.74149295e-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([-0.18715663, -0.06048599,  0.06168213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12691676e-05,-5.11093306e-06, 1.09318449e-05,-1.98213508e-05,
 -1.07617000e-05, 4.37329150e-05, 1.00814861e-05,-3.33137175e-05,
 -2.43046658e-05, 4.51724071e-06, 2.66582418e-06, 2.85112743e-05,
  3.84346755e-03,-5.19223686e-05, 1.08188187e-05,-8.75995833e-05,
 -1.68867349e-04,-3.85793657e-04,-4.90435763e+00,-1.65224842e-03,
  2.88227012e-03,-6.86905103e-03]


--- Step 2566 ---
qpos:
[ 0.0186546 , 0.03002098,-0.00948544,-0.02526387,-0.00353649, 1.3408002 ,
 -0.03000504, 0.94383841, 0.01153916, 0.02727768,-0.0082916 , 0.02643881,
  1.39658599, 0.00773695, 1.34261256, 0.04418779,-0.09648025,-0.07146895,
  0.09166171, 0.66789278, 0.1719306 ,-0.68434437,-0.23671056]

qacc:
[-8.99890708e+00,-1.93605367e+00, 7.80277967e+00,-1.27943353e+01,
 -7.45373915e-02,-1.29146294e+00, 3.17354797e+00, 1.23841219e+00,
  5.40907024e-01, 7.13815608e-01,-3.78210197e+00, 9.61911153e+00,
 -5.41721772e-01, 2.58087731e-01, 1.10818422e+01,-3.79198811e+01,
  4.78247105e+00,-5.83632280e-01,-1.39881486e+00,-8.91484595e+01,
  1.33520152e+02,-2.15507728e+01]

qfrc_actuator:
[-2.39627955e-05, 9.08458079e-04, 8.10866309e-05,-1.72614003e-05,
 -3.56479990e-05, 3.49043332e-02, 1.08889410e-02, 1.68724949e-03,
 -5.04207792e-05, 8.37541795e-04, 2.48522778e-04, 7.46994523e-05,
  0.00000000e+00,-1.69045753e-03, 0.00000000e+00,-9.15761095e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.39845071,  -5.8005694 ,  -6.39845071,
        46.05556888, -41.27610994,  -5.8005694 , -41.27610994,
        54.16692049,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006289326678625043
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53049883e-14,  3.30984265e-15,  1.00000000e+00, -1.16853956e-28,
        1.00000000e+00, -3.30984265e-15, -1.00000000e+00,  0.00000000e+00,
        3.53049883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18730186, -0.06047739,  0.06168478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.41108105e-05, 1.50349206e-06, 2.70078567e-05,-1.15655106e-05,
 -2.15648193e-05,-1.05191441e-05, 3.09465695e-05, 1.75922581e-05,
  3.26987701e-06, 1.96607211e-05, 8.66500352e-06, 1.88914114e-05,
  3.88172469e-03,-4.54992119e-05,-9.11531370e-06,-1.85803289e-04,
  3.22898233e-05,-5.89308989e-04,-4.90425169e+00,-2.04573394e-03,
  2.62647203e-03,-6.89236669e-03]


--- Step 2567 ---
qpos:
[ 0.01865283, 0.03002115,-0.009486  ,-0.02526351,-0.00353727, 1.34079984,
 -0.0300058 , 0.94383857, 0.01153929, 0.02727752,-0.0082906 , 0.02643892,
  1.39657509, 0.00773614, 1.34271111, 0.04418934,-0.09648001,-0.07152048,
  0.09167425, 0.66776931, 0.17252517,-0.68412906,-0.23724809]

qacc:
[ 5.70622136e-01,-1.42487381e+00, 6.29014551e+00,-1.03858355e+01,
 -1.36073380e-01, 1.75882424e+00,-9.98219646e+00, 2.80949982e+01,
 -2.56616037e+00,-2.55577564e-01, 1.82664297e+00,-4.46553547e+00,
 -4.78949774e-01, 5.22963536e-01,-2.00247655e+00, 6.31267369e+00,
 -6.37877077e+00, 9.45515043e-01, 1.41530944e+00, 1.19816301e+02,
 -1.79010532e+02, 3.31405504e+01]

qfrc_actuator:
[-1.90132748e-05, 9.45809197e-04, 1.15400957e-04,-2.41353136e-05,
 -6.22356031e-05, 3.48474837e-02, 1.08845319e-02, 1.76871108e-03,
 -6.59934928e-05, 8.46816642e-04, 2.51968008e-04, 6.74699986e-05,
  0.00000000e+00,-1.65856267e-03, 0.00000000e+00,-8.80885236e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006273662360922645
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84828479e-15,  1.32724272e-14,  1.00000000e+00,  1.17438216e-28,
        1.00000000e+00, -1.32724272e-14, -1.00000000e+00,  0.00000000e+00,
       -8.84828479e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00721889, -0.08574043,  0.06168547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37390408e-06, 4.32749187e-05, 3.75667723e-05,-6.09648828e-06,
 -3.93319310e-05,-5.60892629e-05,-2.43049844e-06, 8.24578723e-05,
 -1.54712578e-05, 2.28715028e-05, 9.22002583e-06,-5.72139271e-06,
  3.90778701e-03, 1.48290750e-06,-2.82561277e-05, 2.26055132e-05,
  3.00428445e-04,-7.85872512e-04,-4.90394103e+00,-2.41718052e-03,
  2.39215213e-03,-6.91631966e-03]


--- Step 2568 ---
qpos:
[ 0.01865148, 0.03002172,-0.00948596,-0.02526292,-0.00353836, 1.3407991 ,
 -0.03000607, 0.94384001, 0.01153819, 0.02727766,-0.00828963, 0.02643927,
  1.39656377, 0.00773562, 1.34280942, 0.04419192,-0.09650177,-0.07156876,
  0.09168622, 0.66741254, 0.17314681,-0.68417737,-0.23765945]

qacc:
[ 3.59029159e+00,-6.72478114e-01, 2.19451131e+00, 5.27366138e-01,
 -1.33826587e-01, 3.61879479e-01,-4.42388186e+00, 1.89957688e+01,
 -1.04353677e+01, 1.02550485e+00,-4.11878058e+00, 8.25000510e+00,
 -4.14343138e-01, 5.06568700e-01,-3.43607363e+00, 1.15788729e+01,
 -5.49969010e+00, 8.12563700e-01,-1.41495486e-01, 1.03593790e+02,
 -1.53727289e+02, 2.79325479e+01]

qfrc_actuator:
[ 2.37744370e-06, 9.85766608e-04, 1.53673782e-04,-1.05412732e-05,
 -7.76832105e-05, 3.48493480e-02, 1.09176211e-02, 1.83428965e-03,
 -1.28465712e-04, 8.70095258e-04, 2.53591547e-04, 8.09246969e-05,
  0.00000000e+00,-1.63924542e-03, 0.00000000e+00,-8.25371680e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.97405961,   3.31679818,   7.97405961,
        16.51365167, -18.93813282,   3.31679818, -18.93813282,
        54.16635734,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006291281497643991
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82350460e-15,  4.41175230e-15,  1.00000000e+00,  3.89271167e-29,
        1.00000000e+00, -4.41175230e-15, -1.00000000e+00,  0.00000000e+00,
       -8.82350460e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00725271, -0.08572678,  0.0616848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15028320e-05, 7.16604323e-05, 5.16317785e-05, 1.66281112e-05,
 -3.86932689e-05,-2.71587055e-05, 2.42603526e-05, 6.57321033e-05,
 -6.29169208e-05, 3.77165425e-05, 7.27625953e-06, 1.46410463e-05,
  3.93249863e-03, 8.94889612e-06,-1.17310597e-05, 5.28833871e-05,
 -3.79322548e-05,-5.19540242e-04,-4.90432704e+00,-1.93457178e-03,
  2.71441106e-03,-6.92347113e-03]


--- Step 2569 ---
qpos:
[ 0.0186504 , 0.03002276,-0.00948546,-0.02526217,-0.00353943, 1.34079878,
 -0.03000595, 0.94384182, 0.01153636, 0.02727785,-0.00828881, 0.02643948,
  1.39655219, 0.00773529, 1.34290777, 0.04419411,-0.09654255,-0.07161423,
  0.09169229, 0.66685419, 0.17379291,-0.68445277,-0.23796202]

qacc:
[ 2.29664224e+00,-3.41720479e-01, 1.43301329e+00, 2.55340929e-01,
  1.38350790e-02, 1.23930908e-01,-4.87561838e-01, 4.37003278e+00,
 -6.32673659e+00, 1.65923196e-01, 1.59646157e-01,-2.57804058e+00,
 -3.52983994e-01, 4.20583392e-01, 1.25407900e+00,-4.21723940e+00,
 -4.75493117e+00, 6.99835945e-01,-1.47662752e+00, 8.98150582e+01,
 -1.32412209e+02, 2.36390527e+01]

qfrc_actuator:
[ 1.55023090e-05, 1.00926997e-03, 1.76261672e-04,-2.75766912e-06,
 -5.08180705e-05, 3.49219982e-02, 1.09550359e-02, 1.85453452e-03,
 -1.64778321e-04, 8.48329040e-04, 2.36450528e-04, 7.09519963e-05,
  0.00000000e+00,-1.62762298e-03, 0.00000000e+00,-8.46968905e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.84247357,   3.616958  ,   7.84247357,
        18.96679584, -22.39897211,   3.616958  , -22.39897211,
        57.202962  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006229341214446023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.45561973e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.45561973e-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([-0.00710962, -0.08574033,  0.0616875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37716745e-05, 7.49399460e-05, 4.43144937e-05, 1.29585464e-05,
  3.99790746e-06, 6.43535415e-05, 3.67936859e-05, 2.16648141e-05,
 -3.81414818e-05, 1.41322921e-06,-7.95953644e-06,-7.82053372e-06,
  3.95332545e-03, 6.06116663e-06,-1.33905735e-06,-2.05586946e-05,
 -2.01778926e-04,-3.22573335e-04,-4.90436064e+00,-1.56964780e-03,
  2.95124520e-03,-6.93198990e-03]


--- Step 2570 ---
qpos:
[ 0.01865017, 0.03002398,-0.00948479,-0.02526128,-0.00354019, 1.34079911,
 -0.03000599, 0.94384214, 0.01153513, 0.02727774,-0.00828773, 0.02643924,
  1.39654037, 0.00773511, 1.34300609, 0.04419603,-0.09655747,-0.071662  ,
  0.09170434, 0.66657446, 0.17438112,-0.68442527,-0.23839414]

qacc:
[ 7.34337761e+00, 6.58104070e-02,-5.19804577e-01, 2.65499651e+00,
  1.26747151e-01,-1.28172878e+00, 8.27258750e+00,-2.48728230e+01,
  5.24046618e+00,-2.04118471e+00, 8.60362758e+00,-1.65626840e+01,
 -2.98355540e-01, 3.46048708e-01, 8.41069269e-01,-2.91627539e+00,
  6.46569364e+00,-5.72554038e-01, 1.49349225e+00,-1.23885116e+02,
  1.78199419e+02,-1.65515380e+01]

qfrc_actuator:
[ 5.91562430e-05, 9.87171672e-04, 1.71586121e-04, 1.51778061e-06,
 -1.65404912e-05, 3.49477125e-02, 1.09416990e-02, 1.77697742e-03,
 -1.32129794e-04, 8.17410441e-04, 2.43673036e-04, 4.72217829e-05,
  0.00000000e+00,-1.62062877e-03, 0.00000000e+00,-8.60575215e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006298558166521286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52532435e-14,  8.81331088e-15,  1.00000000e+00, -3.10697795e-28,
        1.00000000e+00, -8.81331088e-15, -1.00000000e+00,  0.00000000e+00,
        3.52532435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18776144, -0.06215641,  0.06168461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40750824e-05, 2.94776274e-05, 1.66890844e-05, 9.26403232e-06,
  3.66422668e-05, 6.91671855e-05, 4.07684193e-06,-7.40394107e-05,
  3.15341157e-05,-3.21435867e-05, 6.25083249e-06,-2.40987497e-05,
  3.96611852e-03, 3.79459983e-06,-5.38662603e-06,-1.54852016e-05,
 -2.49505743e-04,-1.75991252e-04,-4.90416869e+00,-1.29099339e-03,
  3.12412694e-03,-6.94134539e-03]


--- Step 2571 ---
qpos:
[ 0.01865081, 0.03002468,-0.00948408,-0.02526024,-0.00354061, 1.34079957,
 -0.03000655, 0.94384159, 0.01153397, 0.02727774,-0.00828699, 0.02643871,
  1.39652809, 0.00773472, 1.34310434, 0.0441981 ,-0.09655011,-0.07171184,
  0.09171606, 0.66653463, 0.17491924,-0.68413738,-0.23893699]

qacc:
[ 7.47963322e+00,-5.31002710e-01, 2.57043527e-01, 2.58861318e+00,
  1.46494020e-01, 1.22635979e-01, 1.59670973e+00,-1.15083664e+01,
  4.63274869e-01, 5.07340250e-01,-4.08751510e-01,-4.10521622e+00,
 -2.38797048e-01, 8.31003637e-03,-5.47495126e-01, 1.78693046e+00,
  5.56749927e+00,-5.17149187e-01,-7.95966090e-02,-1.06549297e+02,
  1.53257887e+02,-1.38710477e+01]

qfrc_actuator:
[ 1.02679514e-04, 9.02304268e-04, 1.50663145e-04, 3.63899890e-06,
  4.15180496e-06, 3.49093641e-02, 1.08982986e-02, 1.73121050e-03,
 -1.30171841e-04, 8.34578458e-04, 2.29665260e-04, 3.33495774e-05,
  0.00000000e+00,-1.65195367e-03, 0.00000000e+00,-8.51586103e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.10681923,  -6.10684335,  -6.10681923,
        50.65786393, -42.02133434,  -6.10684335, -42.02133434,
        50.65753202,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006320976780056872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51282108e-14,  3.29326976e-15,  1.00000000e+00, -1.15686675e-28,
        1.00000000e+00, -3.29326976e-15, -1.00000000e+00,  0.00000000e+00,
        3.51282108e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18771596, -0.06217479,  0.06168375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48120462e-05,-6.45782366e-05,-1.24844954e-05, 4.13310659e-06,
  4.23489091e-05,-1.51405552e-06,-3.15774131e-05,-4.52844197e-05,
  2.87175095e-06,-5.49751320e-07,-2.07248855e-05,-1.55056101e-05,
  3.97767977e-03,-3.49194683e-05,-6.40156332e-06, 6.93677447e-06,
 -1.52993037e-04,-3.50752438e-04,-4.90442609e+00,-1.68804033e-03,
  2.84509748e-03,-6.96237685e-03]


--- Step 2572 ---
qpos:
[ 0.01865162, 0.03002463,-0.00948317,-0.02525917,-0.00354086, 1.34080019,
 -0.03000768, 0.94384119, 0.01153318, 0.02727812,-0.00828719, 0.02643837,
  1.39651551, 0.00773375, 1.34320295, 0.04419689,-0.09652353,-0.07176355,
  0.09172207, 0.66670169, 0.17541376,-0.68362476,-0.23957475]

qacc:
[ 1.50038199e+00,-1.46515224e+00, 3.63177370e+00,-2.74963483e+00,
  6.79072119e-02, 1.97018869e+00,-6.49361051e+00, 7.25299838e+00,
  3.18663943e+00, 3.48078165e+00,-1.24596980e+01, 1.68734884e+01,
 -1.69244614e-01,-2.50464031e-01, 1.04341077e+01,-3.57049001e+01,
  4.80681379e+00,-4.67799241e-01,-1.42894256e+00,-9.19333664e+01,
  1.32154184e+02,-1.16538901e+01]

qfrc_actuator:
[ 1.10261932e-04, 8.51417171e-04, 1.55550710e-04, 4.40960405e-06,
 -1.22632101e-06, 3.49215921e-02, 1.08727997e-02, 1.73999397e-03,
 -1.10811244e-04, 8.62578513e-04, 1.85672589e-04, 4.31644630e-05,
  0.00000000e+00,-1.68822570e-03, 0.00000000e+00,-1.02463420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006262203150375456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77289525e-14,  8.86447627e-15,  1.00000000e+00, -1.57157879e-28,
        1.00000000e+00, -8.86447627e-15, -1.00000000e+00,  0.00000000e+00,
        1.77289525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18785633, -0.06216819,  0.0616863 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.86284301e-06,-8.94223568e-05,-9.86585626e-06,-2.35318072e-06,
  1.96483507e-05, 3.85056971e-06,-3.07172974e-05, 6.76095722e-06,
  1.94466072e-05, 2.27373226e-05,-4.72040261e-05, 8.77168018e-06,
  4.00082861e-03,-6.10244520e-05,-4.59174043e-06,-1.74015521e-04,
  4.61988658e-05,-5.15632802e-04,-4.90435674e+00,-2.05022620e-03,
  2.59867735e-03,-6.98368652e-03]


--- Step 2573 ---
qpos:
[ 0.01865218, 0.03002441,-0.00948244,-0.02525814,-0.0035412 , 1.34080122,
 -0.03000925, 0.94384052, 0.01153263, 0.02727831,-0.00828771, 0.02643818,
  1.39650267, 0.00773228, 1.34330158, 0.04419329,-0.09652244,-0.07181149,
  0.0917336 , 0.66659688, 0.17594642,-0.68341625,-0.24007016]

qacc:
[-2.23439622e+00, 1.78955520e-01,-7.82458118e-01, 4.04054611e-01,
 -3.25008445e-02, 1.29949853e+00,-3.02007169e+00,-7.55549824e-01,
  2.03110728e+00, 9.86796485e-01,-4.53856994e+00, 7.87299579e+00,
 -1.08912573e-01,-2.56255979e-01, 7.27968909e+00,-2.54146972e+01,
 -6.37079822e+00, 9.42078978e-01, 1.38100871e+00, 1.21643713e+02,
 -1.77246895e+02, 2.85196824e+01]

qfrc_actuator:
[ 9.66294762e-05, 8.74608846e-04, 1.58000967e-04, 4.41959852e-06,
 -2.21995688e-05, 3.49640978e-02, 1.08582888e-02, 1.72758282e-03,
 -9.91056077e-05, 8.25735880e-04, 1.59911769e-04, 4.90802008e-05,
  0.00000000e+00,-1.70924923e-03, 0.00000000e+00,-1.14377202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00622565861655474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91651063e-15,  4.45825531e-15,  1.00000000e+00,  3.97520809e-29,
        1.00000000e+00, -4.45825531e-15, -1.00000000e+00,  0.00000000e+00,
       -8.91651063e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0070869 , -0.08571743,  0.06168787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34058798e-05,-2.89614940e-05,-1.73286082e-05,-4.21059136e-06,
 -9.36178657e-06, 3.88273758e-05,-1.70550454e-05,-1.30408008e-05,
  1.22855537e-05,-3.35089804e-05,-2.65776943e-05, 5.42692926e-06,
  4.01526350e-03,-5.27104179e-05,-2.46285340e-05,-1.30124673e-04,
  3.04310731e-04,-6.69325387e-04,-4.90408185e+00,-2.37720245e-03,
  2.38385221e-03,-7.00504055e-03]


--- Step 2574 ---
qpos:
[ 0.01865188, 0.03002439,-0.0094822 ,-0.02525715,-0.00354153, 1.34080232,
 -0.03001091, 0.94384041, 0.01153222, 0.02727853,-0.00828808, 0.02643765,
  1.39648975, 0.00773122, 1.34339958, 0.04419228,-0.09654332,-0.07185619,
  0.09174447, 0.66625809, 0.17651304,-0.68346935,-0.24044323]

qacc:
[-7.37458325e+00, 1.55779909e+00,-4.96555311e+00, 4.89009071e+00,
 -6.60510640e-04, 1.27392375e+00,-5.22139700e+00, 1.10003560e+01,
  1.23838184e+00,-1.11067489e+00, 5.44188693e+00,-1.15474659e+01,
 -5.59480991e-02, 2.83073441e-01,-8.75440884e+00, 2.92752767e+01,
 -5.49481562e+00, 8.08160453e-01,-1.67654014e-01, 1.05111777e+02,
 -1.52309841e+02, 2.41021993e+01]

qfrc_actuator:
[ 5.28792068e-05, 9.06475176e-04, 1.41536359e-04, 4.04137467e-06,
 -1.68515674e-05, 3.49534282e-02, 1.08504791e-02, 1.75606958e-03,
 -9.20052688e-05, 8.56926457e-04, 1.80370042e-04, 3.48613978e-05,
  0.00000000e+00,-1.64996540e-03, 0.00000000e+00,-9.99345953e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.53252392,   4.22467279,   7.53252392,
        24.00973914, -27.41048232,   4.22467279, -27.41048232,
        57.50881462,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006244506237257766
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88959817e-15,  1.33343973e-14,  1.00000000e+00,  1.18537433e-28,
        1.00000000e+00, -1.33343973e-14, -1.00000000e+00,  0.00000000e+00,
       -8.88959817e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00712431, -0.08570614,  0.06168714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41503507e-05, 1.19031568e-05,-2.47341851e-05,-2.30268679e-06,
 -1.82978441e-07, 7.07468242e-06,-2.53800746e-06, 2.88495865e-05,
  7.44932493e-06, 7.19693279e-06, 1.04540110e-05,-1.64682329e-05,
  4.02847510e-03, 3.15917205e-05,-2.76292360e-05, 1.33622564e-04,
 -1.77087384e-05,-4.39371737e-04,-4.90444374e+00,-1.94611726e-03,
  2.68033270e-03,-7.01160686e-03]


--- Step 2575 ---
qpos:
[ 0.0186507 , 0.03002446,-0.00948213,-0.02525652,-0.00354184, 1.34080314,
 -0.03001223, 0.943841  , 0.01153259, 0.02727914,-0.00828813, 0.02643724,
  1.396477  , 0.00773084, 1.34349722, 0.04419428,-0.09658321,-0.07189812,
  0.09174935, 0.66571707, 0.17710983,-0.68374794,-0.24071071]

qacc:
[-7.44585323e+00,-1.20877095e-01, 2.14289655e+00,-8.21447701e+00,
  1.12603955e-02,-7.17960366e-02,-1.61208004e+00, 9.61270960e+00,
  6.63962120e+00,-1.29428993e-01, 6.56706206e-01, 7.04441654e-01,
 -1.17495614e-02, 4.71629249e-01,-9.64909336e+00, 3.30172730e+01,
 -4.75266139e+00, 6.94862278e-01,-1.49571988e+00, 9.10882812e+01,
 -1.31280154e+02, 2.04530795e+01]

qfrc_actuator:
[ 9.51219136e-06, 9.07723614e-04, 1.31848019e-04,-1.43116166e-05,
 -1.35079180e-05, 3.49288033e-02, 1.08642645e-02, 1.79062074e-03,
 -5.21641732e-05, 9.11035800e-04, 2.10443308e-04, 4.44956143e-05,
  0.00000000e+00,-1.59645900e-03, 0.00000000e+00,-8.42825007e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.34200874,   4.54771201,   7.34200874,
        28.13480378, -31.4790641 ,   4.54771201, -31.4790641 ,
        59.45742773,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061841766807307075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.97632039e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.97632039e-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([-0.0069853 , -0.0857207 ,  0.06168977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46486443e-05, 2.67863197e-06,-1.03586957e-05,-1.87447795e-05,
  3.23566707e-06,-2.03463223e-05, 1.57269941e-05, 3.53573095e-05,
  4.00622687e-05, 5.95862159e-05, 3.22797727e-05, 9.98494681e-06,
  4.03216452e-03, 6.49282254e-05, 2.18791499e-06, 1.60429511e-04,
 -1.71368855e-04,-2.68918715e-04,-4.90446243e+00,-1.61690891e-03,
  2.89971717e-03,-7.01940023e-03]


--- Step 2576 ---
qpos:
[ 0.0186504 , 0.03002452,-0.00948238,-0.02525713,-0.00354226, 1.34080346,
 -0.03001263, 0.94384129, 0.0115331 , 0.02727998,-0.00828805, 0.02643733,
  1.39646447, 0.00773068, 1.34359508, 0.04419613,-0.09659733,-0.07194254,
  0.09176003, 0.6654527 , 0.17765124,-0.6837243 ,-0.24110958]

qacc:
[ 7.43375207e+00,-1.69737485e+00, 1.12382746e+01,-3.21361708e+01,
 -4.73262613e-02,-3.66822490e+00, 1.17473416e+01,-1.32253174e+01,
  1.11384583e+00, 9.84264512e-01,-5.16065029e+00, 1.33788913e+01,
  2.40647830e-02, 1.65073103e-01, 8.13612038e-01,-2.36796748e+00,
  6.44529162e+00,-6.23570346e-01, 1.45025015e+00,-1.24225269e+02,
  1.76875743e+02,-1.82695436e+01]

qfrc_actuator:
[ 5.54908535e-05, 8.90644184e-04, 1.08363774e-04,-7.86149365e-05,
 -2.91468992e-05, 3.48961033e-02, 1.09083682e-02, 1.77519539e-03,
 -4.66271771e-05, 9.07523358e-04, 2.10566271e-04, 6.81173943e-05,
  0.00000000e+00,-1.60012106e-03, 0.00000000e+00,-8.58042165e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006272130608183123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.63783426e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.63783426e-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([-0.1878502 , -0.06221563,  0.06168608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46793968e-05,-1.85399385e-05,-2.48552798e-05,-6.49116579e-05,
 -1.37276991e-05,-3.98194497e-05, 4.29515666e-05,-1.47557736e-05,
  6.73112580e-06, 3.68989582e-05, 1.67458943e-05, 2.74845854e-05,
  4.02362407e-03, 2.69654975e-05, 1.78646111e-05,-6.24607569e-06,
 -2.12976149e-04,-1.41880200e-04,-4.90426152e+00,-1.36299507e-03,
  3.06089755e-03,-7.02795410e-03]


--- Step 2577 ---
qpos:
[ 0.01865065, 0.03002435,-0.0094826 ,-0.02525781,-0.00354282, 1.34080364,
 -0.03001286, 0.94384072, 0.01153332, 0.02728144,-0.00828811, 0.02643733,
  1.39645207, 0.00773041, 1.34369314, 0.04419679,-0.09658923,-0.0719892 ,
  0.09177025, 0.66542655, 0.17814474,-0.68344078,-0.24162088]

qacc:
[ 4.75220698e+00,-5.37514677e-01, 1.76233345e+00,-2.83947616e+00,
 -5.96878606e-02,-2.14192575e+00, 8.57119562e+00,-1.74702056e+01,
 -2.42169910e+00, 9.89582208e-01,-1.91168723e+00,-2.29886947e-02,
  5.70939498e-02,-8.81777709e-02, 3.84636934e+00,-1.30402499e+01,
  5.55124585e+00,-5.58925451e-01,-1.14908576e-01,-1.06870915e+02,
  1.52149703e+02,-1.53957999e+01]

qfrc_actuator:
[ 8.26785924e-05, 8.80375837e-04, 1.12313726e-04,-8.07031086e-05,
 -3.82946576e-05, 3.48944197e-02, 1.09166818e-02, 1.73048993e-03,
 -6.13366604e-05, 9.58198358e-04, 2.10537293e-04, 6.42041258e-05,
  0.00000000e+00,-1.62013631e-03, 0.00000000e+00,-9.21071562e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006293986923107495
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52788475e-14,  6.61478391e-15,  1.00000000e+00, -2.33361953e-28,
        1.00000000e+00, -6.61478391e-15, -1.00000000e+00,  0.00000000e+00,
        3.52788475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1878053 , -0.06223272,  0.06168523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84870534e-05,-2.85296459e-05,-5.18408699e-06,-5.00594818e-06,
 -1.72616219e-05,-1.57545061e-05, 4.97995034e-06,-4.49844414e-05,
 -1.44985552e-05, 7.59185553e-05, 1.05959839e-05,-1.22010175e-06,
  4.01224749e-03,-3.85458704e-06, 4.93129068e-06,-6.17012837e-05,
 -1.31189836e-04,-3.02052883e-04,-4.90451156e+00,-1.72335700e-03,
  2.80492889e-03,-7.04713306e-03]


--- Step 2578 ---
qpos:
[ 0.01865157, 0.03002422,-0.00948264,-0.02525821,-0.00354337, 1.34080421,
 -0.03001376, 0.94383927, 0.01153267, 0.02728342,-0.00828839, 0.02643695,
  1.39643968, 0.00772981, 1.34379129, 0.04419604,-0.09656197,-0.07203787,
  0.09177464, 0.66560588, 0.17859655,-0.68293291,-0.24222865]

qacc:
[ 5.74438986e+00, 1.29547412e-01,-1.58712395e+00, 6.14855270e+00,
  8.09169991e-03, 8.48699431e-01,-3.47107712e-01,-1.01287141e+01,
 -7.41823592e+00, 5.84368306e-01, 4.88792423e-01,-6.92769183e+00,
  9.49641501e-02,-3.01790312e-01, 4.42941245e+00,-1.53208696e+01,
  4.79398815e+00,-5.02055356e-01,-1.45736202e+00,-9.22370270e+01,
  1.31229710e+02,-1.30075335e+01]

qfrc_actuator:
[ 1.16311642e-04, 9.09922119e-04, 1.32505166e-04,-6.38885995e-05,
 -2.57212092e-05, 3.49289228e-02, 1.08861479e-02, 1.68666760e-03,
 -1.05586387e-04, 9.69888145e-04, 1.92864836e-04, 4.41636396e-05,
  0.00000000e+00,-1.64973179e-03, 0.00000000e+00,-9.93956089e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006235095053118554
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56120641e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.56120641e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18794522, -0.06222476,  0.06168777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44544747e-05, 1.23270290e-05, 1.34920521e-05, 1.53173301e-05,
  2.37219532e-06, 2.54076443e-05,-3.43689411e-05,-4.51935759e-05,
 -4.46436604e-05, 5.62236187e-05,-7.43179866e-07,-1.64466774e-05,
  4.00569964e-03,-2.83326494e-05,-6.95908894e-06,-7.62446891e-05,
  5.59487510e-05,-4.56836109e-04,-4.90443859e+00,-2.05682810e-03,
  2.57617215e-03,-7.06678551e-03]


--- Step 2579 ---
qpos:
[ 0.01865323, 0.03002428,-0.0094825 ,-0.02525877,-0.00354369, 1.34080483,
 -0.03001526, 0.94383801, 0.0115315 , 0.02728495,-0.00828845, 0.02643643,
  1.39642757, 0.00772876, 1.34388979, 0.04419106,-0.09656021,-0.07208288,
  0.09178451, 0.66551242, 0.17909176,-0.68272789,-0.24269731]

qacc:
[ 6.36003660e+00,-6.10419671e-01, 3.18367953e+00,-6.36423425e+00,
  9.30268993e-02, 2.02996871e+00,-6.96014507e+00, 8.35852574e+00,
 -4.46565707e+00,-1.54081560e+00, 5.24163406e+00,-7.78061881e+00,
  1.32445101e-01,-3.43947967e-01, 1.33004136e+01,-4.57933721e+01,
 -6.37944792e+00, 9.13907586e-01, 1.37066843e+00, 1.22984276e+02,
 -1.76261336e+02, 2.54799705e+01]

qfrc_actuator:
[ 1.53474928e-04, 9.27676710e-04, 1.44532002e-04,-7.15603408e-05,
 -2.19145974e-07, 3.49136588e-02, 1.08508460e-02, 1.69698769e-03,
 -1.31357067e-04, 8.87039133e-04, 1.82516693e-04, 3.25118935e-05,
  0.00000000e+00,-1.66704516e-03, 0.00000000e+00,-1.21405841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061872990207354345
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97179061e-15,  1.79435812e-14,  1.00000000e+00,  1.60986053e-28,
        1.00000000e+00, -1.79435812e-14, -1.00000000e+00,  0.00000000e+00,
       -8.97179061e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00698069, -0.08570023,  0.06168981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81708808e-05, 2.81051605e-05, 1.67649640e-05,-6.37923004e-06,
  2.69050227e-05,-9.29495494e-06,-3.55699439e-05, 9.02552948e-06,
 -2.70519207e-05,-5.23517803e-05, 5.87247629e-07,-9.58933631e-06,
  4.00478153e-03,-2.86724272e-05,-1.36829839e-05,-2.25704174e-04,
  3.04242314e-04,-6.03606927e-04,-4.90416240e+00,-2.36127205e-03,
  2.37489516e-03,-7.08664129e-03]


--- Step 2580 ---
qpos:
[ 0.01865464, 0.03002444,-0.00948247,-0.02525905,-0.0035439 , 1.34080524,
 -0.03001687, 0.94383827, 0.01153106, 0.02728592,-0.00828825, 0.02643613,
  1.39641558, 0.00772746, 1.34398807, 0.04418481,-0.09658048,-0.07212475,
  0.09179369, 0.66518412, 0.17962537,-0.68278348,-0.24304637]

qacc:
[-2.20383651e+00, 1.04900814e+00,-4.75167762e+00, 9.83860715e+00,
  4.65146928e-02, 2.59817142e+00,-1.19096972e+01, 2.79925014e+01,
  6.28117528e+00,-1.00276539e+00, 1.55083297e+00, 2.32116929e+00,
  1.57916222e-01,-2.78384137e-01, 3.47443815e+00,-1.26946502e+01,
 -5.50322364e+00, 7.84021027e-01,-1.74145324e-01, 1.06255721e+02,
 -1.51512627e+02, 2.15295349e+01]

qfrc_actuator:
[ 1.39158845e-04, 9.20443682e-04, 1.33830159e-04,-5.80895227e-05,
 -2.67365930e-06, 3.49042223e-02, 1.08483786e-02, 1.77456891e-03,
 -9.27778645e-05, 8.54746062e-04, 1.93942198e-04, 4.35674909e-05,
  0.00000000e+00,-1.67673657e-03, 0.00000000e+00,-1.27058075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.33883342,   4.55283438,   7.33883342,
        27.62789971, -30.61295628,   4.55283438, -30.61295628,
        57.98219267,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006207851706417272
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78841744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.78841744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00702273, -0.08568913,  0.061689  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31946669e-05, 1.16780578e-05,-3.05739216e-06, 1.51288366e-05,
  1.34448700e-05,-2.12684378e-05,-8.06958733e-06, 7.64649520e-05,
  3.77737345e-05,-6.19247024e-05, 3.35875434e-07, 8.64458343e-06,
  3.99106678e-03,-1.55152922e-05,-3.33881900e-05,-7.13151051e-05,
 -7.45956700e-06,-3.94337011e-04,-4.90451067e+00,-1.96141537e-03,
  2.65517278e-03,-7.09281507e-03]


--- Step 2581 ---
qpos:
[ 0.01865586, 0.03002503,-0.00948297,-0.02525952,-0.00354435, 1.34080552,
 -0.03001794, 0.94383908, 0.0115304 , 0.02728642,-0.00828794, 0.02643632,
  1.39640381, 0.00772638, 1.3440859 , 0.04417989,-0.09661978,-0.07216393,
  0.09179687, 0.66465281, 0.18019291,-0.68306375,-0.24329217]

qacc:
[-1.58844009e+00, 1.64117867e+00,-4.20439495e+00, 1.35937790e+00,
 -1.00338597e-01,-7.18591454e-01, 1.02112264e+00, 5.47344901e+00,
 -1.89715845e+00, 8.21848806e-02,-3.20708340e+00, 1.16746974e+01,
  1.85699398e-01,-9.35716887e-03,-4.68858564e+00, 1.54112015e+01,
 -4.76086252e+00, 6.74142935e-01,-1.49893727e+00, 9.20727892e+01,
 -1.30639324e+02, 1.82679807e+01]

qfrc_actuator:
[ 1.30161270e-04, 9.51483491e-04, 1.09712856e-04,-6.78236630e-05,
 -3.96326933e-05, 3.49162698e-02, 1.08831096e-02, 1.80235396e-03,
 -1.05400582e-04, 8.35315575e-04, 2.00563410e-04, 6.79389260e-05,
  0.00000000e+00,-1.64638594e-03, 0.00000000e+00,-1.19471791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.1378642 ,   4.86185885,   7.1378642 ,
        32.24182856, -34.65600468,   4.86185885, -34.65600468,
        59.51605038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006149345734887152
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02716380e-15,  9.02716380e-15,  1.00000000e+00,  8.14896863e-29,
        1.00000000e+00, -9.02716380e-15, -1.00000000e+00,  0.00000000e+00,
       -9.02716380e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00688833, -0.08570311,  0.06169154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37896868e-06, 3.75717763e-05,-2.15610103e-05,-9.04485433e-06,
 -2.90146958e-05, 1.00151004e-06, 3.18962839e-05, 2.86806788e-05,
 -1.15351935e-05,-5.36443659e-05,-5.84475721e-06, 2.18939644e-05,
  3.98464848e-03, 2.67490809e-05,-2.36711623e-05, 6.75232017e-05,
 -1.54802776e-04,-2.39433515e-04,-4.90452058e+00,-1.65355023e-03,
  2.86387545e-03,-7.10013863e-03]


--- Step 2582 ---
qpos:
[ 0.01865662, 0.03002606,-0.00948352,-0.02526048,-0.00354483, 1.34080568,
 -0.03001854, 0.94383986, 0.01152959, 0.0272866 ,-0.00828704, 0.02643639,
  1.39639242, 0.00772575, 1.34418344, 0.04417687,-0.09663334,-0.0722058 ,
  0.09180578, 0.66439687, 0.18070725,-0.68304177,-0.24367117]

qacc:
[-3.97586876e+00,-2.88131783e-01, 3.96909487e+00,-1.27655668e+01,
 -1.20181614e-02,-1.44638603e+00, 4.55055976e+00,-4.04417970e+00,
 -1.22273467e+00,-2.32237798e+00, 8.11843592e+00,-1.07105279e+01,
  2.06802123e-01, 1.48787102e-01,-6.19765034e+00, 2.10355633e+01,
  6.43663144e+00,-6.74009421e-01, 1.43089150e+00,-1.24746013e+02,
  1.76024504e+02,-1.98325156e+01]

qfrc_actuator:
[ 1.06630803e-04, 9.87367892e-04, 1.13511197e-04,-9.11128694e-05,
 -2.59805426e-05, 3.49057129e-02, 1.09040470e-02, 1.80062711e-03,
 -1.12575356e-04, 8.41489742e-04, 2.39856805e-04, 6.44486702e-05,
  0.00000000e+00,-1.61012037e-03, 0.00000000e+00,-1.09477008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006246185223428978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77744173e-14,  8.88720863e-15,  1.00000000e+00, -1.57964955e-28,
        1.00000000e+00, -8.88720863e-15, -1.00000000e+00,  0.00000000e+00,
        1.77744173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18793302, -0.06226774,  0.06168745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37906779e-05, 5.20322518e-05, 8.58889242e-06,-2.26016877e-05,
 -3.49437482e-06,-2.90208193e-06, 2.56061827e-05,-9.62716578e-08,
 -7.53004461e-06,-2.41214576e-05, 2.82399622e-05,-5.56713012e-06,
  3.97339792e-03, 5.23004653e-05,-3.37601137e-06, 1.00667813e-04,
 -1.92777449e-04,-1.24196303e-04,-4.90431406e+00,-1.41403962e-03,
  3.01822631e-03,-7.10818340e-03]


--- Step 2583 ---
qpos:
[ 0.01865709, 0.030027  ,-0.00948329,-0.02526101,-0.00354496, 1.34080585,
 -0.0300186 , 0.94384026, 0.01152904, 0.02728704,-0.0082862 , 0.02643639,
  1.39638149, 0.0077253 , 1.34428112, 0.04417338,-0.09662472,-0.07225008,
  0.09181416, 0.66437807, 0.1811756 ,-0.68275983,-0.24416428]

qacc:
[-2.44396170e+00,-1.41003011e+00, 3.05375197e+00, 3.18389744e+00,
  1.44876767e-01,-2.07490828e+00, 7.59360282e+00,-1.11002111e+01,
  2.25049381e+00, 3.87594915e-01,-5.73931689e-01,-7.65016658e-01,
  2.21068916e-01, 4.37961554e-03, 1.62890035e+00,-5.41520264e+00,
  5.54476457e+00,-6.00474535e-01,-1.29965230e-01,-1.07350735e+02,
  1.51431014e+02,-1.67946321e+01]

qfrc_actuator:
[ 9.24861157e-05, 9.72715250e-04, 1.51544007e-04,-6.89002525e-05,
  1.79244850e-05, 3.49171448e-02, 1.09343224e-02, 1.78153289e-03,
 -9.87168630e-05, 8.80823353e-04, 2.44959262e-04, 6.23897043e-05,
  0.00000000e+00,-1.60612858e-03, 0.00000000e+00,-1.12350020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062686127179376605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54216499e-14,  6.64155935e-15,  1.00000000e+00, -2.35254990e-28,
        1.00000000e+00, -6.64155935e-15, -1.00000000e+00,  0.00000000e+00,
        3.54216499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18788588, -0.06228387,  0.06168656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48216979e-05, 1.52099544e-05, 4.90517337e-05, 2.42992887e-05,
  4.18398627e-05, 1.48331364e-05, 3.26204018e-05,-1.84322744e-05,
  1.36301450e-05, 3.14171961e-05, 3.39217475e-06,-2.22630910e-06,
  3.95445915e-03, 3.40017900e-05, 9.00936830e-06,-2.37195552e-05,
 -1.19779793e-04,-2.76371314e-04,-4.90455901e+00,-1.75240371e-03,
  2.77566293e-03,-7.12624391e-03]


--- Step 2584 ---
qpos:
[ 0.01865773, 0.03002773,-0.00948247,-0.02526124,-0.00354483, 1.34080635,
 -0.03001817, 0.94384109, 0.01152798, 0.02728715,-0.00828564, 0.0264368 ,
  1.39637103, 0.00772456, 1.34437924, 0.04416624,-0.09659694,-0.0722965 ,
  0.09181667, 0.66456381, 0.18160394,-0.68225343,-0.2447554 ]

qacc:
[ 1.49133924e+00,-1.29850254e+00, 2.95693332e+00, 1.45170971e+00,
  1.14804586e-01,-1.94181207e-01, 2.60785419e-01, 4.58014927e+00,
 -4.42796883e+00, 1.18329205e+00,-6.56384755e+00, 1.43350049e+01,
  2.31183004e-01,-3.06516939e-01, 1.16806434e+01,-3.99735018e+01,
  4.78925423e+00,-5.36344873e-01,-1.46875072e+00,-9.26793723e+01,
  1.30624787e+02,-1.42588863e+01]

qfrc_actuator:
[ 1.01735977e-04, 9.45847902e-04, 1.73802468e-04,-5.56175983e-05,
  2.63639163e-05, 3.49594309e-02, 1.09699488e-02, 1.80565518e-03,
 -1.25848309e-04, 8.15324742e-04, 2.12222518e-04, 7.89502365e-05,
  0.00000000e+00,-1.63917517e-03, 0.00000000e+00,-1.31658633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006210468986523027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57532749e-14,  8.93831872e-15,  1.00000000e+00, -3.19574166e-28,
        1.00000000e+00, -8.93831872e-15, -1.00000000e+00,  0.00000000e+00,
        3.57532749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18802321, -0.06227483,  0.06168907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.81717985e-06,-7.23321270e-06, 3.22693588e-05, 1.61032222e-05,
  3.31654705e-05, 5.63197035e-05, 4.16999686e-05, 2.50979264e-05,
 -2.67190992e-05,-4.73473446e-05,-2.59223264e-05, 1.79774047e-05,
  3.93068143e-03,-8.47671568e-06,-2.69949814e-07,-1.93680757e-04,
  6.08132021e-05,-4.26653674e-04,-4.90448302e+00,-2.06952221e-03,
  2.55641182e-03,-7.14492713e-03]


--- Step 2585 ---
qpos:
[ 0.01865848, 0.03002852,-0.0094817 ,-0.02526165,-0.00354464, 1.34080735,
 -0.03001764, 0.94384186, 0.0115266 , 0.02728631,-0.00828513, 0.02643748,
  1.39636057, 0.00772346, 1.34447707, 0.04415919,-0.09659475,-0.07233942,
  0.09182469, 0.66447563, 0.18207945,-0.68204934,-0.24520995]

qacc:
[ 9.03225707e-01,-1.45887745e-01, 1.36190667e+00,-4.33444634e+00,
  2.31290494e-02, 3.10164164e-01,-9.25914507e-02,-9.08879544e-01,
 -2.68651508e+00,-5.63163664e-01,-9.43636121e-01, 6.30661937e+00,
  2.45491977e-01,-4.77461555e-01,-7.45058808e-01, 1.91835818e+00,
 -6.39630029e+00, 8.74438330e-01, 1.37668691e+00, 1.24130366e+02,
 -1.75717771e+02, 2.32151070e+01]

qfrc_actuator:
[ 1.06925936e-04, 9.47314373e-04, 1.68727379e-04,-6.54874922e-05,
  1.34580688e-05, 3.49844090e-02, 1.09730950e-02, 1.80178459e-03,
 -1.41391407e-04, 7.22916460e-04, 1.92517709e-04, 8.84750346e-05,
  0.00000000e+00,-1.67627661e-03, 0.00000000e+00,-1.30311873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00615979338437183
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80237056e-14,  4.50592640e-15,  1.00000000e+00,  8.12134908e-29,
        1.00000000e+00, -4.50592640e-15, -1.00000000e+00,  0.00000000e+00,
       -1.80237056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.006903  , -0.08568008,  0.06169121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43928424e-06, 4.74144173e-06,-2.05611739e-06,-8.75297548e-06,
  6.69527644e-06, 6.50435210e-05, 1.96447820e-05,-3.70758538e-07,
 -1.63408071e-05,-1.23493874e-04,-3.20648010e-05, 6.94717587e-06,
  3.90762324e-03,-3.04358408e-05,-2.38633544e-05, 2.12959194e-06,
  3.04335070e-04,-5.71297851e-04,-4.90420511e+00,-2.36189983e-03,
  2.36173916e-03,-7.16393456e-03]


--- Step 2586 ---
qpos:
[ 0.01865894, 0.03002959,-0.00948137,-0.02526252,-0.00354448, 1.3408088 ,
 -0.03001753, 0.94384089, 0.01152574, 0.02728503,-0.00828534, 0.02643824,
  1.39635028, 0.0077225 , 1.34457446, 0.04415466,-0.09661463,-0.07237934,
  0.09183204, 0.6641516 , 0.18259661,-0.68210539,-0.24554707]

qacc:
[-2.49264389e+00, 6.25141440e-01, 2.71475743e-01,-7.80308492e+00,
 -1.35519856e-02,-1.24380575e+00, 8.36655587e+00,-2.77991264e+01,
  4.36438465e+00, 1.60390926e+00,-6.92917838e+00, 9.91801502e+00,
  2.72209644e-01,-1.54958971e-01,-8.30041454e+00, 2.80122855e+01,
 -5.51803450e+00, 7.50740274e-01,-1.67462696e-01, 1.07251452e+02,
 -1.51063010e+02, 1.95718474e+01]

qfrc_actuator:
[ 9.19245231e-05, 9.65596835e-04, 1.47652526e-04,-8.88948326e-05,
  5.60572902e-06, 3.49809399e-02, 1.09392090e-02, 1.71042482e-03,
 -1.14470872e-04, 7.21644919e-04, 1.62773502e-04, 9.37607612e-05,
  0.00000000e+00,-1.64462239e-03, 0.00000000e+00,-1.16800786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.36690739,   4.50726662,   7.36690739,
        27.16885746, -30.29045695,   4.50726662, -30.29045695,
        58.14463764,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061820856445901
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97935655e-15,  1.34690348e-14,  1.00000000e+00,  1.20943266e-28,
        1.00000000e+00, -1.34690348e-14, -1.00000000e+00,  0.00000000e+00,
       -8.97935655e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0069497 , -0.08566822,  0.06169031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48440227e-05, 2.00973306e-05,-2.06699226e-05,-2.34488610e-05,
 -3.89351079e-06, 3.63380388e-05,-1.89383576e-05,-8.88341901e-05,
  2.63978773e-05,-7.66427760e-05,-5.89610179e-05,-9.81094225e-07,
  3.90716347e-03, 1.92309487e-05,-1.14260432e-05, 1.32028348e-04,
 -2.41511723e-06,-3.73386809e-04,-4.90454479e+00,-1.97918290e-03,
  2.63372790e-03,-7.16989445e-03]


--- Step 2587 ---
qpos:
[ 0.01865922, 0.0300311 ,-0.00948168,-0.02526366,-0.00354453, 1.3408101 ,
 -0.03001764, 0.94383991, 0.0115252 , 0.02728383,-0.00828594, 0.02643898,
  1.39634081, 0.00772218, 1.34467192, 0.04415007,-0.09665361,-0.07241668,
  0.09183342, 0.66362365, 0.18315055,-0.68238577,-0.24578282]

qacc:
[-1.60218927e+00, 1.81604435e+00,-4.46551206e+00, 3.68316681e-01,
 -8.58670960e-02, 3.77122043e-01,-1.45504340e+00, 1.27809367e+00,
  2.79337421e+00, 1.12103382e+00,-3.71577116e+00, 3.72778914e+00,
  2.79608557e-01, 2.97016352e-01, 2.84041741e-01,-8.36585008e-01,
 -4.77394110e+00, 6.46000759e-01,-1.49177151e+00, 9.29431401e+01,
 -1.30268510e+02, 1.65711840e+01]

qfrc_actuator:
[ 8.29126704e-05, 9.93720796e-04, 1.17377353e-04,-1.02313816e-04,
 -1.69024164e-05, 3.49425005e-02, 1.09190911e-02, 1.71030410e-03,
 -9.82802461e-05, 7.74909609e-04, 1.63193397e-04, 9.65743276e-05,
  0.00000000e+00,-1.57208231e-03, 0.00000000e+00,-1.17540103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.1855604 ,   4.79108533,   7.1855604 ,
        31.42518212, -34.17814972,   4.79108533, -34.17814972,
        59.89597234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006125269912902666
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06264573e-15,  9.06264573e-15,  1.00000000e+00,  8.21315477e-29,
        1.00000000e+00, -9.06264573e-15, -1.00000000e+00,  0.00000000e+00,
       -9.06264573e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00681965, -0.08568094,  0.06169276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.43914610e-06, 3.40417601e-05,-2.94958241e-05,-1.37309640e-05,
 -2.48074515e-05,-2.47235504e-05,-1.77730012e-05,-1.64276150e-06,
  1.69353267e-05,-1.76233542e-06,-2.26942385e-05,-2.52973738e-06,
  3.89871042e-03, 8.42203341e-05, 9.03714854e-06,-1.59380392e-06,
 -1.47329291e-04,-2.27212688e-04,-4.90454870e+00,-1.68204713e-03,
  2.83780493e-03,-7.17696672e-03]


--- Step 2588 ---
qpos:
[ 0.01865869, 0.03003275,-0.0094823 ,-0.0252646 ,-0.0035448 , 1.34081096,
 -0.03001786, 0.94383896, 0.01152521, 0.02728296,-0.00828645, 0.02643967,
  1.39633202, 0.00772247, 1.34476928, 0.04414644,-0.09666684,-0.07245691,
  0.09184052, 0.66337024, 0.18365332,-0.68236336,-0.24615367]

qacc:
[-6.87265021e+00, 1.49674962e+00,-5.90562036e+00, 9.84399606e+00,
 -9.69591876e-02,-2.61640580e-01, 8.70336505e-02, 5.20858529e-01,
  4.63106686e+00, 1.11135472e-01, 3.80147119e-01,-1.40729514e+00,
  2.61954549e-01, 2.75820040e-01,-3.07434056e+00, 1.04976201e+01,
  6.43621825e+00,-7.23529405e-01, 1.42950593e+00,-1.25423910e+02,
  1.75476960e+02,-2.13607749e+01]

qfrc_actuator:
[ 4.19998007e-05, 9.91980261e-04, 9.97254302e-05,-9.19867914e-05,
 -3.02676136e-05, 3.49012533e-02, 1.09071958e-02, 1.71062799e-03,
 -7.07959228e-05, 8.25051644e-04, 1.81670704e-04, 9.79893424e-05,
  0.00000000e+00,-1.54655440e-03, 0.00000000e+00,-1.12470981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00622551555833227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78334311e-14,  3.34376832e-15,  1.00000000e+00, -5.96308618e-29,
        1.00000000e+00, -3.34376832e-15, -1.00000000e+00,  0.00000000e+00,
        1.78334311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18799815, -0.06231436,  0.06168852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11785149e-05, 1.05630201e-05,-1.47402729e-05, 1.04968611e-05,
 -2.80261255e-05,-5.84609364e-05,-1.88049358e-05,-9.78108129e-07,
  2.79764523e-05, 4.44131884e-05, 1.52486187e-05, 5.06582524e-07,
  3.85758050e-03, 7.85711680e-05, 2.90864160e-06, 5.14736189e-05,
 -1.84565179e-04,-1.18711631e-04,-4.90433794e+00,-1.44879192e-03,
  2.99005833e-03,-7.18474678e-03]


--- Step 2589 ---
qpos:
[ 0.01865734, 0.0300339 ,-0.00948256,-0.02526538,-0.00354498, 1.34081192,
 -0.03001871, 0.9438373 , 0.01152589, 0.0272822 ,-0.00828667, 0.02644039,
  1.39632348, 0.00772296, 1.34486646, 0.04414478,-0.09665789,-0.0724997 ,
  0.09184709, 0.66335323, 0.18411187,-0.68208051,-0.24664039]

qacc:
[-7.10973030e+00,-1.28917016e+00, 2.96065647e+00,-2.85040299e-01,
  3.85721994e-02, 6.31974089e-01,-4.54643483e-01,-7.80493105e+00,
  5.76455728e+00,-6.46178385e-01, 2.38344765e+00,-2.48639276e+00,
  2.58345828e-01,-8.57466816e-02,-6.24781002e+00, 2.14202650e+01,
  5.54497478e+00,-6.41511066e-01,-1.30072407e-01,-1.07964750e+02,
  1.50957948e+02,-1.81666031e+01]

qfrc_actuator:
[ 3.88469081e-07, 9.36930720e-04, 1.07320486e-04,-8.55385754e-05,
 -2.53429789e-06, 3.49296898e-02, 1.08824551e-02, 1.67568223e-03,
 -3.68809594e-05, 8.19782438e-04, 1.92912868e-04, 9.85844581e-05,
  0.00000000e+00,-1.56723213e-03, 0.00000000e+00,-1.02240893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062490327835457715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77663178e-14, -8.88315891e-15,  1.00000000e+00,  1.57821024e-28,
        1.00000000e+00,  8.88315891e-15, -1.00000000e+00,  0.00000000e+00,
        1.77663178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18794755, -0.06232972,  0.06168757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28117985e-05,-5.18008521e-05, 8.31665315e-06, 6.59650752e-06,
  1.11691180e-05,-7.61911831e-06,-3.83472071e-05,-3.72773177e-05,
  3.47460117e-05, 2.27841913e-05, 2.23255736e-05, 3.03625361e-06,
  3.82347153e-03, 2.69062187e-05, 6.35259665e-06, 1.05341421e-04,
 -1.15324441e-04,-2.68189047e-04,-4.90457893e+00,-1.77669922e-03,
  2.75299190e-03,-7.20227417e-03]


--- Step 2590 ---
qpos:
[ 0.0186555 , 0.03003433,-0.00948227,-0.0252664 ,-0.00354497, 1.34081301,
 -0.03001938, 0.94383554, 0.01152663, 0.0272816 ,-0.008287  , 0.02644078,
  1.39631529, 0.00772314, 1.34496404, 0.04414101,-0.09662978,-0.07254478,
  0.0918478 , 0.66354011, 0.18453196,-0.68157275,-0.24722675]

qacc:
[-4.16377547e+00,-3.01309345e+00, 1.03967956e+01,-1.50085536e+01,
  8.05042116e-02,-4.69559497e-01, 1.97064703e+00,-3.03139871e+00,
  4.80262545e-01,-1.45055516e-01, 2.17479250e+00,-7.67847711e+00,
  2.70655659e-01,-3.84566320e-01, 6.96572169e+00,-2.35595040e+01,
  4.78989970e+00,-5.70434747e-01,-1.46784743e+00,-9.32361628e+01,
  1.30216409e+02,-1.54893594e+01]

qfrc_actuator:
[-2.35381848e-05, 8.85984618e-04, 1.29522853e-04,-9.92140219e-05,
  1.41239442e-05, 3.49640581e-02, 1.09038307e-02, 1.67355000e-03,
 -3.49615982e-05, 8.16862717e-04, 1.81816159e-04, 8.08872117e-05,
  0.00000000e+00,-1.59770863e-03, 0.00000000e+00,-1.13907368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006191968172066929
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79300506e-14,  1.12062816e-15,  1.00000000e+00, -2.00929196e-29,
        1.00000000e+00, -1.12062816e-15, -1.00000000e+00,  0.00000000e+00,
        1.79300506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18808152, -0.06231976,  0.06169001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51960492e-05,-7.79600475e-05, 1.27507109e-05,-1.54752976e-05,
  2.32586295e-05, 2.15243754e-05, 1.44256629e-05,-4.35223179e-06,
  2.94137868e-06, 1.46060073e-05,-3.52621366e-06,-1.58899978e-05,
  3.81029856e-03,-1.35587896e-05, 1.33201333e-05,-1.10297300e-04,
  6.34002354e-05,-4.18524275e-04,-4.90449999e+00,-2.08733083e-03,
  2.53644603e-03,-7.22054281e-03]


--- Step 2591 ---
qpos:
[ 0.01865373, 0.03003438,-0.00948155,-0.02526761,-0.00354492, 1.34081386,
 -0.03001965, 0.94383414, 0.01152738, 0.02728114,-0.00828719, 0.02644094,
  1.3963073 , 0.00772284, 1.34506177, 0.04413522,-0.09662734,-0.07258654,
  0.09185408, 0.6634518 , 0.18500231,-0.68136708,-0.24767873]

qacc:
[ 6.32078744e-01,-2.09877939e+00, 7.56816610e+00,-1.12987008e+01,
  2.03911775e-02,-7.81452672e-01, 1.42114539e+00, 3.05329373e+00,
  1.51554343e-01,-6.81942566e-01, 3.71216331e+00,-8.08578084e+00,
  2.78732707e-01,-5.36661041e-01, 6.26932619e+00,-2.17007509e+01,
 -6.41627560e+00, 8.29323868e-01, 1.39207672e+00, 1.25195339e+02,
 -1.75395434e+02, 2.13081194e+01]

qfrc_actuator:
[-1.91112515e-05, 8.91187195e-04, 1.60146417e-04,-1.06864711e-04,
  6.24907395e-06, 3.49308991e-02, 1.09168199e-02, 1.69079161e-03,
 -3.41392954e-05, 8.33011857e-04, 1.93109759e-04, 7.03036276e-05,
  0.00000000e+00,-1.63363230e-03, 0.00000000e+00,-1.24180086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006142307500920478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03750768e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.03750768e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00685175, -0.08565338,  0.0616921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66423940e-06,-3.64404740e-05, 1.55539613e-05,-1.08466458e-05,
  5.87069758e-06,-1.85691894e-05, 1.87107920e-05, 1.82087441e-05,
  9.12161754e-07, 2.29358714e-05, 1.33372626e-05,-1.03876846e-05,
  3.79281396e-03,-3.38528910e-05,-8.81009483e-06,-1.07786089e-04,
  3.06434521e-04,-5.64982168e-04,-4.90421983e+00,-2.37610297e-03,
  2.34250436e-03,-7.23923046e-03]


--- Step 2592 ---
qpos:
[ 0.01865271, 0.03003407,-0.00948051,-0.0252682 ,-0.00354516, 1.34081477,
 -0.03002038, 0.94383193, 0.01152745, 0.02728068,-0.0082872 , 0.02644169,
  1.39629909, 0.00772227, 1.34515886, 0.04413293,-0.09664704,-0.07262545,
  0.09185974, 0.66312653, 0.18551704,-0.68142137,-0.24801522]

qacc:
[ 6.50224649e+00,-1.14124118e-01,-2.88374148e+00, 1.32598270e+01,
 -1.27456635e-01,-6.59446506e-02, 1.96340912e+00,-1.10410253e+01,
 -5.84310957e+00, 7.05354468e-01,-4.98453495e+00, 1.47797452e+01,
  2.97441912e-01,-5.35263582e-01,-1.15363267e+01, 3.89108878e+01,
 -5.53510924e+00, 7.12742860e-01,-1.53466879e-01, 1.08186105e+02,
 -1.50781333e+02, 1.78947445e+01]

qfrc_actuator:
[ 1.97158412e-05, 8.76761405e-04, 1.77973063e-04,-7.53503583e-05,
 -3.40321810e-05, 3.49285673e-02, 1.08889829e-02, 1.64822722e-03,
 -6.94638504e-05, 8.25035213e-04, 1.99871880e-04, 9.95330871e-05,
  0.00000000e+00,-1.65477486e-03, 0.00000000e+00,-1.05137779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.50837909,   4.2674372 ,   7.50837909,
        24.59357309, -28.07604941,   4.2674372 , -28.07604941,
        58.03501023,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006166111525478801
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.00261875e-15,  9.00261875e-15,  1.00000000e+00,  8.10471444e-29,
        1.00000000e+00, -9.00261875e-15, -1.00000000e+00,  0.00000000e+00,
       -9.00261875e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00690249, -0.08564041,  0.06169112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89203236e-05,-3.20555856e-05, 1.18361647e-05, 3.02822521e-05,
 -3.68126639e-05,-8.40376803e-06,-2.88087837e-05,-4.21528016e-05,
 -3.52915317e-05, 7.17990638e-06, 1.27909819e-05, 3.04728349e-05,
  3.78276536e-03,-3.07574633e-05,-1.77794619e-05, 1.82891726e-04,
 -3.98951993e-07,-3.72124746e-04,-4.90455345e+00,-1.99936821e-03,
  2.61326293e-03,-7.24514709e-03]


--- Step 2593 ---
qpos:
[ 0.01865217, 0.03003359,-0.00948014,-0.02526837,-0.00354578, 1.34081574,
 -0.03002176, 0.94382924, 0.0115271 , 0.02728013,-0.00828732, 0.02644246,
  1.39629091, 0.00772155, 1.34525577, 0.04413323,-0.09668589,-0.0726619 ,
  0.09185948, 0.66259636, 0.18607095,-0.6816998 ,-0.24825198]

qacc:
[   4.04452711,   2.53154981, -11.17720856,  19.79727045,  -0.1580518 ,
    0.97901801,  -2.12026942,  -3.77767533,  -3.6216674 ,   0.25986761,
   -1.20128692,   1.92116124,   0.3302812 ,  -0.4382944 ,  -8.13989185,
   27.98939756,  -4.78855588,   0.61388454,  -1.47907997,  93.76671584,
 -130.02177649,  15.0942705 ]

qfrc_actuator:
[ 4.29646276e-05, 8.50690545e-04, 1.34803084e-04,-5.65707442e-05,
 -5.79220203e-05, 3.49267662e-02, 1.08550919e-02, 1.62405223e-03,
 -9.02755521e-05, 8.02692114e-04, 1.86076744e-04, 9.86703582e-05,
  0.00000000e+00,-1.64932334e-03, 0.00000000e+00,-9.20549499e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.35679252,   4.52375737,   7.35679252,
        28.14393461, -31.7243257 ,   4.52375737, -31.7243257 ,
        60.22827337,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006110668748019563
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81686010e-14,  4.54215026e-15,  1.00000000e+00,  8.25245158e-29,
        1.00000000e+00, -4.54215026e-15, -1.00000000e+00,  0.00000000e+00,
       -1.81686010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00677603, -0.08565165,  0.06169351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43700071e-05,-4.02378672e-05,-4.72928622e-05, 1.84046440e-05,
 -4.56446204e-05,-1.33619592e-05,-4.00526428e-05,-2.62524068e-05,
 -2.18458936e-05,-1.43767573e-05,-9.67676755e-06, 4.81473245e-07,
  3.79358262e-03,-1.21057282e-05, 1.17159438e-05, 1.38651425e-04,
 -1.46888358e-04,-2.29837137e-04,-4.90455275e+00,-1.70407197e-03,
  2.81845224e-03,-7.25216814e-03]


--- Step 2594 ---
qpos:
[ 0.01865191, 0.03003308,-0.00948066,-0.02526832,-0.00354645, 1.34081663,
 -0.03002357, 0.94382732, 0.01152719, 0.02727907,-0.00828708, 0.02644255,
  1.39628335, 0.00772076, 1.34535314, 0.0441314 ,-0.09669898,-0.07270145,
  0.09186498, 0.66234009, 0.18657568,-0.68167462,-0.24862589]

qacc:
[ 2.40387140e+00, 2.88583423e+00,-1.12868302e+01, 1.65718228e+01,
 -1.85132644e-02, 2.39977322e+00,-9.52334795e+00, 1.72109620e+01,
  3.79578360e+00,-3.10484525e+00, 1.29751819e+01,-2.50202155e+01,
  3.41597978e-01,-2.43783781e-01, 7.05685158e+00,-2.37578519e+01,
  6.43990156e+00,-7.72605478e-01, 1.43916075e+00,-1.26208818e+02,
  1.75086205e+02,-2.29165909e+01]

qfrc_actuator:
[ 5.68465642e-05, 8.53098609e-04, 9.14077000e-05,-4.54922133e-05,
 -3.62790349e-05, 3.49252683e-02, 1.08356916e-02, 1.66416920e-03,
 -6.68613531e-05, 7.54054286e-04, 1.95667290e-04, 6.23207784e-05,
  0.00000000e+00,-1.62791933e-03, 0.00000000e+00,-1.03900192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006211762692805628
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.11705715e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.11705715e-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([-0.18804195, -0.06235628,  0.06168921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45803545e-05,-2.90483026e-05,-5.68924094e-05, 8.07766759e-06,
 -5.33130797e-06,-1.75238757e-05,-2.73451252e-05, 3.79279908e-05,
  2.27680398e-05,-5.86446862e-05, 5.45226325e-06,-3.72905188e-05,
  3.79203925e-03, 1.70422559e-05, 1.89894591e-05,-1.09645805e-04,
 -1.86651711e-04,-1.24294806e-04,-4.90433844e+00,-1.46987488e-03,
  2.97334737e-03,-7.25990465e-03]


--- Step 2595 ---
qpos:
[ 0.01865079, 0.03003197,-0.00948119,-0.02526846,-0.00354688, 1.3408176 ,
 -0.03002514, 0.94382619, 0.01152756, 0.02727796,-0.00828747, 0.02644256,
  1.39627654, 0.00771982, 1.34545095, 0.04412519,-0.09668988,-0.07274372,
  0.09187   , 0.66231965, 0.18703793,-0.68138825,-0.24911755]

qacc:
[-7.41230908e+00,-1.13991901e+00, 3.77256936e+00,-6.76553665e+00,
  9.64923289e-02, 8.10682612e-01,-4.14228032e+00, 1.27131080e+01,
  2.36774926e+00, 1.54903170e+00,-5.28595176e+00, 4.96492717e+00,
  3.24491211e-01,-2.31437541e-01, 1.39154918e+01,-4.77676194e+01,
  5.54836726e+00,-6.82422405e-01,-1.21219372e-01,-1.08669766e+02,
  1.50605888e+02,-1.95646388e+01]

qfrc_actuator:
[ 1.18512954e-05, 8.01506418e-04, 8.38601115e-05,-5.67527492e-05,
 -5.24942931e-06, 3.49595617e-02, 1.08605440e-02, 1.70629973e-03,
 -5.31137019e-05, 7.61105659e-04, 1.65601242e-04, 5.86388356e-05,
  0.00000000e+00,-1.63246893e-03, 0.00000000e+00,-1.26784867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00623644952442947
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.22527061e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.22527061e-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([-0.1879878 , -0.06237095,  0.0616882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45764484e-05,-7.92097120e-05,-2.02629112e-05,-1.43136587e-05,
  2.78783377e-05, 2.03833795e-05, 1.94232034e-05, 4.16773587e-05,
  1.43922459e-05,-2.61713652e-05,-4.27901511e-05,-6.73149274e-06,
  3.76108445e-03, 1.61711108e-05,-5.97768574e-06,-2.33132362e-04,
 -1.16340464e-04,-2.75887156e-04,-4.90457555e+00,-1.79740809e-03,
  2.73459804e-03,-7.27741570e-03]


--- Step 2596 ---
qpos:
[ 0.01864948, 0.03003042,-0.00948188,-0.02526876,-0.00354688, 1.34081851,
 -0.03002575, 0.9438252 , 0.01152774, 0.0272771 ,-0.00828844, 0.02644283,
  1.39627019, 0.00771893, 1.34554848, 0.0441183 ,-0.0966616 ,-0.07278842,
  0.09186918, 0.66250255, 0.18746324,-0.68087631,-0.24971054]

qacc:
[ -1.59290192, -0.44387189,  1.36818127, -3.3281799 ,  0.18315004,
  -2.41864664,  7.49146009, -4.7975121 , -1.58198164,  2.47320585,
  -9.41782519, 14.60422373,  0.30279772, -0.17237952,  1.62865779,
  -6.35674665,  4.79296283, -0.60464482, -1.45979603,-93.8701245 ,
 129.89886543,-16.74389196]

qfrc_actuator:
[ 3.57522107e-06, 7.89109798e-04, 7.95568784e-05,-6.33316094e-05,
  3.11579297e-05, 3.49619476e-02, 1.09114449e-02, 1.71380307e-03,
 -6.29327244e-05, 8.01314191e-04, 1.48102333e-04, 7.42265584e-05,
  0.00000000e+00,-1.63473480e-03, 0.00000000e+00,-1.29352412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006180435296593845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59270172e-14,  6.73631572e-15,  1.00000000e+00, -2.42015730e-28,
        1.00000000e+00, -6.73631572e-15, -1.00000000e+00,  0.00000000e+00,
        3.59270172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18811855, -0.06236008,  0.06169059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.59710578e-06,-6.14527264e-05,-2.36309581e-05,-1.09438970e-05,
  5.28827837e-05, 1.87084592e-05, 5.83198471e-05, 9.64939095e-06,
 -9.40855513e-06, 1.64968469e-05,-2.83910046e-05, 1.28573993e-05,
  3.72288181e-03, 2.13017649e-05,-3.02804033e-05,-3.98331544e-05,
  6.49262789e-05,-4.30471943e-04,-4.90449325e+00,-2.11026465e-03,
  2.51450034e-03,-7.29576288e-03]


--- Step 2597 ---
qpos:
[ 0.01864946, 0.03002901,-0.00948238,-0.02526888,-0.0035466 , 1.34081922,
 -0.03002537, 0.94382467, 0.01152781, 0.02727639,-0.00828906, 0.02644288,
  1.3962643 , 0.00771846, 1.34564558, 0.04411311,-0.09665907,-0.07282999,
  0.091874  , 0.66240894, 0.1879416 ,-0.68066635,-0.25017128]

qacc:
[ 1.10621683e+01,-3.32087738e-02,-3.70615670e-01, 2.93573921e+00,
  1.21569630e-01,-2.18667673e+00, 5.89462010e+00, 2.52439524e-01,
 -1.00929744e+00,-1.20944085e+00, 5.49851054e+00,-9.84550649e+00,
  2.90883130e-01, 6.69233150e-02,-5.81731945e+00, 1.93664398e+01,
 -6.43614668e+00, 7.80542314e-01, 1.41106234e+00, 1.26218853e+02,
 -1.75146753e+02, 1.95317540e+01]

qfrc_actuator:
[ 7.02554918e-05, 8.53561908e-04, 1.12847554e-04,-4.93225143e-05,
  3.49908960e-05, 3.49453044e-02, 1.09594116e-02, 1.73636665e-03,
 -6.87885974e-05, 8.25631018e-04, 1.73841349e-04, 6.55652000e-05,
  0.00000000e+00,-1.60026206e-03, 0.00000000e+00,-1.19924605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00613290404718813
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81027294e-14, -4.52568235e-15,  1.00000000e+00, -8.19272030e-29,
        1.00000000e+00,  4.52568235e-15, -1.00000000e+00,  0.00000000e+00,
       -1.81027294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00682201, -0.08561895,  0.06169257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.63862591e-05, 2.48048036e-05, 1.73381135e-05, 1.03536271e-05,
  3.50849332e-05, 5.39950590e-06, 5.85442736e-05, 2.50587316e-05,
 -6.12871140e-06, 2.82674719e-05, 2.61159755e-05,-8.68261917e-06,
  3.70000676e-03, 5.33869348e-05,-1.81772412e-05, 8.81995062e-05,
  3.11461650e-04,-5.82420867e-04,-4.90421019e+00,-2.40297152e-03,
  2.31582243e-03,-7.31460345e-03]


--- Step 2598 ---
qpos:
[ 0.01865024, 0.03002822,-0.00948246,-0.02526891,-0.00354613, 1.34081992,
 -0.03002502, 0.94382548, 0.01152815, 0.02727589,-0.00828996, 0.02644287,
  1.3962592 , 0.00771826, 1.34574294, 0.0441057 ,-0.09667875,-0.07286887,
  0.09187827, 0.6620772 , 0.18846685,-0.68071622,-0.25051837]

qacc:
[ 6.85915861e+00,-1.47783050e-01, 1.31391171e+00,-8.44108816e-01,
  7.86966588e-02, 2.42110982e+00,-1.06730910e+01, 2.48998738e+01,
  2.32578654e+00, 8.78319931e-01,-2.45090464e+00, 1.54007553e+00,
  2.74421651e-01, 8.27110992e-02, 7.10259037e+00,-2.43003859e+01,
 -5.55184395e+00, 6.71540276e-01,-1.36938279e-01, 1.09090494e+02,
 -1.50547230e+02, 1.63140157e+01]

qfrc_actuator:
[ 1.09498587e-04, 9.28219417e-04, 1.50655657e-04,-4.09705264e-05,
  3.70044034e-05, 3.49351521e-02, 1.09519308e-02, 1.80310549e-03,
 -5.45044536e-05, 8.22662461e-04, 1.53820422e-04, 6.04741892e-05,
  0.00000000e+00,-1.57964162e-03, 0.00000000e+00,-1.31915116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.68619712,   3.9381659 ,   7.68619712,
        21.40994499, -24.9304541 ,   3.9381659 , -24.9304541 ,
        57.29362932,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006157860548436811
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.01468145e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.01468145e-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([-0.00687586, -0.08560478,  0.06169154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11900420e-05, 9.26325202e-05, 4.54445877e-05, 1.02172348e-05,
  2.27472014e-05, 5.03539374e-06, 9.70636818e-07, 6.91996350e-05,
  1.41109499e-05, 1.78922301e-05,-1.12498275e-05,-3.14186181e-06,
  3.67654489e-03, 5.30768359e-05, 1.68653484e-06,-1.17289743e-04,
 -4.60183220e-07,-3.89802686e-04,-4.90453895e+00,-2.02235794e-03,
  2.59212810e-03,-7.32064533e-03]


--- Step 2599 ---
qpos:
[ 0.01865114, 0.03002817,-0.0094827 ,-0.02526916,-0.00354568, 1.3408207 ,
 -0.03002501, 0.94382606, 0.01152866, 0.02727571,-0.00829142, 0.0264428 ,
  1.39625448, 0.00771808, 1.34584022, 0.04409759,-0.09671764,-0.07290544,
  0.09187669, 0.66153955, 0.18903354,-0.68099007,-0.25076734]

qacc:
[ 1.01642270e+00, 9.33622508e-01,-9.80742447e-01,-3.16336438e+00,
 -1.18213669e-02, 5.79584783e-01,-1.29868431e+00,-1.62483172e+00,
  1.41544496e+00, 1.90385616e+00,-5.94589274e+00, 5.68497738e+00,
  2.50908958e-01,-1.53672951e-01, 1.98170127e+00,-7.15830783e+00,
 -4.80263448e+00, 5.78939576e-01,-1.46476534e+00, 9.45680192e+01,
 -1.29801308e+02, 1.36876828e+01]

qfrc_actuator:
[ 1.14500881e-04, 9.55204995e-04, 1.37625729e-04,-5.37531535e-05,
  2.01597257e-05, 3.49287773e-02, 1.09295785e-02, 1.78875659e-03,
 -4.62342496e-05, 8.38710405e-04, 1.24573501e-04, 5.74669925e-05,
  0.00000000e+00,-1.60286196e-03, 0.00000000e+00,-1.35129167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.56419716,   4.16769699,   7.56419716,
        24.20445966, -28.25544851,   4.16769699, -28.25544851,
        59.91883063,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006103401706162109
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09511677e-15,  9.09511677e-15,  1.00000000e+00,  8.27211491e-29,
        1.00000000e+00, -9.09511677e-15, -1.00000000e+00,  0.00000000e+00,
       -9.09511677e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00675202, -0.08561449,  0.06169387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23516294e-06, 8.86494473e-05, 1.20601263e-05,-7.04520543e-06,
 -3.40211393e-06,-1.32270256e-06,-1.92276364e-05,-1.25621937e-05,
  8.68778029e-06, 2.36295539e-05,-2.70292659e-05,-2.68822087e-06,
  3.63723861e-03, 1.61062604e-05,-1.36160475e-05,-3.87984563e-05,
 -1.52777808e-04,-2.47548517e-04,-4.90453435e+00,-1.72070189e-03,
  2.80417521e-03,-7.32780837e-03]


--- Step 2600 ---
qpos:
[ 0.0186514 , 0.03002829,-0.00948308,-0.02526984,-0.00354548, 1.34082137,
 -0.03002496, 0.9438275 , 0.01152926, 0.02727561,-0.00829313, 0.02644236,
  1.39624975, 0.00771793, 1.345937  , 0.04409247,-0.09673075,-0.0729453 ,
  0.09188092, 0.6612752 , 0.18955307,-0.68095932,-0.25115562]

qacc:
[-5.46013735e+00,-2.26784126e-01, 2.92802711e+00,-1.01355829e+01,
 -1.03927519e-01, 1.20813379e+00,-5.88583738e+00, 1.51243531e+01,
  8.06063108e-01, 2.82238105e-02, 1.60191724e+00,-7.67038648e+00,
  2.48681244e-01,-2.55845031e-01,-9.85613459e+00, 3.33346251e+01,
  6.44421279e+00,-8.22074493e-01, 1.45357525e+00,-1.27052888e+02,
  1.74732992e+02,-2.45409503e+01]

qfrc_actuator:
[ 8.15651245e-05, 9.17716375e-04, 1.12239790e-04,-7.89403596e-05,
 -7.86037469e-06, 3.49245978e-02, 1.09341108e-02, 1.83331315e-03,
 -4.15765973e-05, 8.30464847e-04, 1.07951961e-04, 3.79702195e-05,
  0.00000000e+00,-1.61673418e-03, 0.00000000e+00,-1.18938253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006204484828593947
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57877585e-14,  3.35510236e-15,  1.00000000e+00, -1.20071593e-28,
        1.00000000e+00, -3.35510236e-15, -1.00000000e+00,  0.00000000e+00,
        3.57877585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18806604, -0.06239354,  0.06168956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27229051e-05, 1.42768488e-05,-5.83252326e-06,-2.11108891e-05,
 -3.00305764e-05,-9.05458804e-06, 1.71701792e-06, 4.36636043e-05,
  4.91944751e-06,-7.01870084e-07,-1.51432092e-05,-1.94681513e-05,
  3.61777887e-03, 1.36386486e-06,-1.13725951e-05, 1.57815233e-04,
 -1.98738522e-04,-1.41844170e-04,-4.90431695e+00,-1.47867170e-03,
  2.96663101e-03,-7.33571386e-03]


--- Step 2601 ---
qpos:
[ 0.01865161, 0.03002861,-0.0094838 ,-0.02527011,-0.00354542, 1.34082143,
 -0.03002523, 0.94383056, 0.01152888, 0.02727543,-0.00829504, 0.02644274,
  1.39624501, 0.00771768, 1.34603359, 0.04408998,-0.09672166,-0.07298805,
  0.09188471, 0.66124608, 0.1900319 ,-0.68066652,-0.25166363]

qacc:
[-4.60837648e-01, 2.01809822e+00,-8.50328056e+00, 1.58498789e+01,
 -5.79324672e-02, 2.87400578e+00,-1.36774815e+01, 3.10718216e+01,
 -8.39294043e+00, 2.16709026e+00,-1.12937129e+01, 2.58318083e+01,
  2.63810218e-01,-3.37670269e-01,-8.21892825e+00, 2.82791121e+01,
  5.55205691e+00,-7.23903349e-01,-1.08729273e-01,-1.09426303e+02,
  1.50274253e+02,-2.10249624e+01]

qfrc_actuator:
[ 7.98322164e-05, 9.30580765e-04, 9.72496660e-05,-5.80236512e-05,
 -6.85149826e-06, 3.48508814e-02, 1.09012788e-02, 1.91221553e-03,
 -9.23387685e-05, 8.25516129e-04, 9.88129807e-05, 7.99283733e-05,
  0.00000000e+00,-1.62500798e-03, 0.00000000e+00,-1.05648940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006230153482582233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56403106e-14,  8.91007764e-15,  1.00000000e+00, -3.17557934e-28,
        1.00000000e+00, -8.91007764e-15, -1.00000000e+00,  0.00000000e+00,
        3.56403106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1880089 , -0.06240748,  0.0616885 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68017149e-06, 1.87288990e-05,-1.34845343e-05, 2.09184853e-05,
 -1.67383754e-05,-7.70806662e-05,-3.31260821e-05, 7.96960240e-05,
 -5.06190943e-05,-9.27509149e-06,-1.18001172e-05, 4.10301728e-05,
  3.61821824e-03,-7.94208787e-06, 1.17684509e-05, 1.40113818e-04,
 -1.22383572e-04,-3.00380506e-04,-4.90454934e+00,-1.81536700e-03,
  2.71915262e-03,-7.35369928e-03]


--- Step 2602 ---
qpos:
[ 0.01865214, 0.03002908,-0.00948468,-0.02527013,-0.00354544, 1.34082052,
 -0.0300251 , 0.94383384, 0.0115279 , 0.02727544,-0.00829686, 0.02644322,
  1.39624033, 0.00771732, 1.34613016, 0.04408943,-0.09669338,-0.07303336,
  0.09188271, 0.66141974, 0.19047535,-0.68014741,-0.25227479]

qacc:
[ 2.75478363e+00, 1.19245331e+00,-5.01223981e+00, 9.47601503e+00,
 -3.17907630e-02,-2.00197838e+00, 4.52675871e+00,-6.97774411e-01,
 -5.17382924e+00, 2.36075012e-01,-9.02248159e-01, 2.38511694e+00,
  2.77039747e-01,-3.54077278e-01,-5.96497146e+00, 2.07479340e+01,
  4.79605294e+00,-6.39556510e-01,-1.44907369e+00,-9.45488172e+01,
  1.29587478e+02,-1.80544387e+01]

qfrc_actuator:
[ 9.64918768e-05, 9.38049732e-04, 8.87373421e-05,-4.56066989e-05,
 -6.18839089e-06, 3.47892395e-02, 1.09173952e-02, 1.92185398e-03,
 -1.22055004e-04, 8.58162425e-04, 1.11963708e-04, 8.67058292e-05,
  0.00000000e+00,-1.62982121e-03, 0.00000000e+00,-9.59572005e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006174959153022942
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79794392e-14,  3.37114484e-15,  1.00000000e+00, -6.06112937e-29,
        1.00000000e+00, -3.37114484e-15, -1.00000000e+00,  0.00000000e+00,
        1.79794392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18813707, -0.06239564,  0.06169084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65875344e-05, 1.60483180e-05,-5.57613326e-06, 1.31611919e-05,
 -9.23143988e-06,-1.08363208e-04,-3.89870168e-07, 8.20202407e-06,
 -3.12055680e-05, 2.67893369e-05, 1.12262267e-05, 6.77603118e-06,
  3.61853716e-03,-8.28242000e-06, 1.91321563e-05, 1.05815018e-04,
  6.58799384e-05,-4.63488466e-04,-4.90446279e+00,-2.13874776e-03,
  2.48929958e-03,-7.37259533e-03]


--- Step 2603 ---
qpos:
[ 0.01865253, 0.03002938,-0.00948548,-0.02527068,-0.00354564, 1.34081956,
 -0.03002425, 0.94383643, 0.01152794, 0.02727549,-0.00829818, 0.02644343,
  1.39623611, 0.00771711, 1.34622691, 0.04408907,-0.09669091,-0.07307576,
  0.09188642, 0.66131555, 0.19097458,-0.67993009,-0.25275586]

qacc:
[-1.27226934e+00,-1.53214973e+00, 7.31618952e+00,-1.62760497e+01,
 -7.86677761e-02,-3.18925778e+00, 1.17715826e+01,-1.83018811e+01,
  8.80301601e+00,-1.98119643e+00, 8.29822112e+00,-1.39724315e+01,
  2.77154845e-01,-7.79918183e-02,-2.97043414e-01, 1.36469527e+00,
 -6.45398756e+00, 7.28356783e-01, 1.42930627e+00, 1.27215245e+02,
 -1.74872906e+02, 1.77509289e+01]

qfrc_actuator:
[ 8.83285370e-05, 9.06744804e-04, 8.40878802e-05,-7.38009839e-05,
 -2.34920572e-05, 3.48597182e-02, 1.09800217e-02, 1.89068212e-03,
 -6.81167316e-05, 8.59882933e-04, 1.38288549e-04, 7.27651624e-05,
  0.00000000e+00,-1.59698256e-03, 0.00000000e+00,-9.55632226e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006129202640502235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81136616e-14,  4.52841540e-15,  1.00000000e+00,  8.20261841e-29,
        1.00000000e+00, -4.52841540e-15, -1.00000000e+00,  0.00000000e+00,
       -1.81136616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00680769, -0.08557665,  0.06169274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67531527e-06,-2.29216786e-05,-1.56270308e-06,-2.74436333e-05,
 -2.27628310e-05, 1.07137725e-05, 4.16304514e-05,-3.42465921e-05,
  5.30312450e-05, 1.93165227e-05, 3.34961726e-05,-1.22682439e-05,
  3.61536956e-03, 3.07714449e-05, 1.82462465e-05, 1.17556320e-05,
  3.19890398e-04,-6.24720123e-04,-4.90417599e+00,-2.44261901e-03,
  2.28041459e-03,-7.39204138e-03]


--- Step 2604 ---
qpos:
[ 0.01865316, 0.0300293 ,-0.00948565,-0.02527156,-0.00354618, 1.34081965,
 -0.03002398, 0.9438379 , 0.01152829, 0.02727547,-0.00829852, 0.02644345,
  1.39623239, 0.00771738, 1.3463235 , 0.04409044,-0.09671072,-0.07311565,
  0.09188965, 0.66097208, 0.19152317,-0.67997238,-0.25312518]

qacc:
[ 2.11996880e+00,-2.96979750e+00, 1.12771828e+01,-1.78993302e+01,
 -1.43433244e-01, 1.04104475e+00, 5.60133354e-01,-1.40876905e+01,
  2.60432905e+00,-3.19391889e+00, 1.20077715e+01,-1.66816499e+01,
  2.58162733e-01, 1.51048743e-01,-5.51017678e+00, 1.89294707e+01,
 -5.56670828e+00, 6.27280554e-01,-1.21427269e-01, 1.09976771e+02,
 -1.50279865e+02, 1.47182728e+01]

qfrc_actuator:
[ 1.01118745e-04, 8.87944756e-04, 1.17071236e-04,-9.01903289e-05,
 -5.14348272e-05, 3.49556749e-02, 1.09635698e-02, 1.83585934e-03,
 -5.41419624e-05, 8.60869066e-04, 1.89803238e-04, 6.44878117e-05,
  0.00000000e+00,-1.55953789e-03, 0.00000000e+00,-8.64463780e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.86251578,   3.573181  ,   7.86251578,
        18.37607655, -21.43150498,   3.573181  , -21.43150498,
        55.79477682,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006154911429622947
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01900082e-15, -4.50950041e-15,  1.00000000e+00, -4.06711879e-29,
        1.00000000e+00,  4.50950041e-15, -1.00000000e+00,  0.00000000e+00,
       -9.01900082e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00686363, -0.0855613 ,  0.06169166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25597405e-05,-3.31195592e-05, 2.71142609e-05,-1.79566461e-05,
 -4.13942193e-05, 1.09006009e-04,-1.06192222e-05,-5.40704324e-05,
  1.55326027e-05, 1.82130470e-05, 5.92182028e-05,-6.52916777e-06,
  3.59232788e-03, 6.03376029e-05, 7.59280126e-06, 9.36506870e-05,
 -2.33088147e-06,-4.28303266e-04,-4.90450024e+00,-2.04868571e-03,
  2.56916026e-03,-7.39837967e-03]


--- Step 2605 ---
qpos:
[ 0.01865462, 0.03002902,-0.00948521,-0.02527266,-0.00354691, 1.34082043,
 -0.03002383, 0.94383836, 0.0115288 , 0.02727572,-0.0082986 , 0.02644302,
  1.3962291 , 0.00771794, 1.34642014, 0.04409257,-0.09674978,-0.07315337,
  0.09188708, 0.66042166, 0.19211544,-0.68023842,-0.25339805]

qacc:
[ 7.20894381e+00,-2.43090549e+00, 9.18346937e+00,-1.37167754e+01,
 -7.98556515e-02,-4.92704568e-01, 4.77441491e+00,-1.62528477e+01,
  1.41339333e+00,-1.26981506e+00, 6.91866363e+00,-1.51735852e+01,
  2.40998544e-01, 2.77997694e-02,-2.20969226e+00, 7.78230284e+00,
 -4.81498407e+00, 5.41228382e-01,-1.45168898e+00, 9.53579070e+01,
 -1.29541302e+02, 1.22593594e+01]

qfrc_actuator:
[ 1.43900263e-04, 8.94685725e-04, 1.54308669e-04,-9.94646681e-05,
 -5.00288127e-05, 3.49770791e-02, 1.09539412e-02, 1.78529432e-03,
 -4.60764656e-05, 8.79271036e-04, 2.02515852e-04, 4.18722693e-05,
  0.00000000e+00,-1.55522758e-03, 0.00000000e+00,-8.29113727e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.76631899,   3.77770647,   7.76631899,
        20.48822025, -24.36539207,   3.77770647, -24.36539207,
        58.72744641,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006101048580058485
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3647937e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3647937e-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([-0.00674141, -0.08556951,  0.06169396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31362297e-05,-6.93834163e-06, 3.31191889e-05,-1.01020059e-05,
 -2.30522181e-05, 7.80024691e-05, 8.90242826e-06,-4.88511251e-05,
  8.52418986e-06, 4.05508412e-05, 2.35467837e-05,-1.99129037e-05,
  3.56736728e-03, 4.02912372e-05, 1.28481466e-05, 4.12567247e-05,
 -1.65100467e-04,-2.82762668e-04,-4.90449203e+00,-1.73258905e-03,
  2.79407221e-03,-7.40587878e-03]


--- Step 2606 ---
qpos:
[ 0.01865659, 0.03002869,-0.00948438,-0.02527352,-0.00354745, 1.34082134,
 -0.03002323, 0.94383686, 0.01153009, 0.02727637,-0.00829915, 0.02644271,
  1.39622639, 0.00771858, 1.34651714, 0.04409243,-0.09676305,-0.07319458,
  0.09189037, 0.66014381, 0.19266271,-0.68019883,-0.25381251]

qacc:
[ 4.31655744e+00,-6.56790502e-01, 1.21561570e+00, 2.38069978e+00,
  8.01387468e-02,-4.42267449e+00, 1.86953972e+01,-3.91639298e+01,
  6.65695709e+00, 2.04217544e+00,-7.02136094e+00, 9.45218587e+00,
  2.22213597e-01,-3.50256864e-02, 7.36209227e+00,-2.50063243e+01,
  6.44670882e+00,-8.72977993e-01, 1.46786276e+00,-1.27922979e+02,
  1.74327462e+02,-2.62699386e+01]

qfrc_actuator:
[ 1.68480117e-04, 8.98955076e-04, 1.76104270e-04,-8.67078448e-05,
 -1.32754837e-05, 3.49536891e-02, 1.09659284e-02, 1.68436317e-03,
 -6.03559753e-06, 8.90045498e-04, 1.74516063e-04, 4.64898544e-05,
  0.00000000e+00,-1.55303238e-03, 0.00000000e+00,-9.51221280e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00620209985492174
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79007602e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79007602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1880748 , -0.06242566,  0.06168965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58340988e-05, 6.81493584e-06, 2.40893784e-05, 1.34088985e-05,
  2.31333229e-05, 2.00278173e-05, 2.68258124e-05,-9.94562714e-05,
  4.03051504e-05, 3.74587790e-05,-1.74129985e-05, 6.78286892e-06,
  3.54544282e-03, 2.85224144e-05, 8.78027436e-06,-1.18593678e-04,
 -2.21384814e-04,-1.74145683e-04,-4.90427182e+00,-1.47576867e-03,
  2.96934985e-03,-7.41416627e-03]


--- Step 2607 ---
qpos:
[ 0.01865815, 0.03002828,-0.00948302,-0.02527354,-0.00354769, 1.34082247,
 -0.03002278, 0.94383418, 0.0115322 , 0.02727714,-0.00829988, 0.02644178,
  1.39622384, 0.00771923, 1.3466139 , 0.04409319,-0.09675411,-0.07323887,
  0.09189328, 0.66010047, 0.19317115,-0.67989629,-0.2543488 ]

qacc:
[-3.49578627e+00, 1.47604542e-01,-4.21179584e+00, 1.79709503e+01,
  1.23963481e-01,-1.30942291e+00, 7.01829609e+00,-1.98169197e+01,
  6.94975545e+00,-6.01708668e-01, 4.95766069e+00,-1.53918722e+01,
  2.02892775e-01,-1.59859040e-01,-3.10862549e+00, 1.02998823e+01,
  5.55403537e+00,-7.66829068e-01,-9.66861669e-02,-1.10208137e+02,
  1.49887483e+02,-2.25802644e+01]

qfrc_actuator:
[ 1.46634692e-04, 9.01678767e-04, 2.06372255e-04,-4.33491925e-05,
  8.87855335e-06, 3.49569617e-02, 1.09548529e-02, 1.62558976e-03,
  3.47547619e-05, 8.78261080e-04, 1.58214389e-04, 1.38114945e-05,
  0.00000000e+00,-1.56976754e-03, 0.00000000e+00,-8.98805617e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00622843435006145
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56501478e-14,  3.34220135e-15,  1.00000000e+00, -1.19149972e-28,
        1.00000000e+00, -3.34220135e-15, -1.00000000e+00,  0.00000000e+00,
        3.56501478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18801553, -0.06243875,  0.06168854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10914442e-05, 1.20907927e-05, 3.50993179e-05, 4.47443312e-05,
  3.58258332e-05, 1.66020026e-05,-7.02535256e-06,-5.96907507e-05,
  4.19856396e-05, 5.85838032e-06,-1.04748448e-05,-3.15445505e-05,
  3.51611239e-03, 7.98562735e-06,-1.12439208e-05, 4.64133339e-05,
 -1.33673956e-04,-3.44834842e-04,-4.90449782e+00,-1.83115420e-03,
  2.70583789e-03,-7.43311537e-03]


--- Step 2608 ---
qpos:
[ 0.01865943, 0.03002799,-0.0094816 ,-0.02527337,-0.0035478 , 1.34082383,
 -0.03002254, 0.94383185, 0.01153444, 0.02727759,-0.00830006, 0.02644048,
  1.39622113, 0.00771951, 1.34671049, 0.04409522,-0.09672598,-0.07328585,
  0.09189043, 0.66025923, 0.19364588,-0.67936664,-0.25499016]

qacc:
[-2.34976249e+00, 3.70787108e-01,-1.86240935e+00, 4.83270588e+00,
  5.75093449e-02, 1.49901852e+00,-5.24150684e+00, 8.49592778e+00,
  1.12129822e+00,-2.74943514e+00, 1.08065841e+01,-1.80334404e+01,
  2.09520857e-01,-4.98721086e-01,-4.10245701e+00, 1.39352806e+01,
  4.79752834e+00,-6.75910252e-01,-1.43906173e+00,-9.52517935e+01,
  1.29218903e+02,-1.94505190e+01]

qfrc_actuator:
[ 1.33149885e-04, 9.03520966e-04, 2.05914824e-04,-3.55858567e-05,
  4.34085168e-06, 3.49761004e-02, 1.09481203e-02, 1.64535841e-03,
  4.01438426e-05, 8.53057315e-04, 1.84344012e-04,-5.05502099e-06,
  0.00000000e+00,-1.61559075e-03, 0.00000000e+00,-8.32696408e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006173749083502461
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79829632e-14,  1.12393520e-15,  1.00000000e+00, -2.02116853e-29,
        1.00000000e+00, -1.12393520e-15, -1.00000000e+00,  0.00000000e+00,
        1.79829632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18814194, -0.0624258 ,  0.06169086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40985543e-05, 1.77545993e-05, 7.89874127e-06, 1.03651501e-05,
  1.66346159e-05, 2.51439108e-05,-6.04045412e-06, 1.86760253e-05,
  6.62395400e-06,-2.54391177e-05, 2.49602354e-05,-1.95911537e-05,
  3.50796885e-03,-3.89725709e-05,-8.96924422e-07, 6.70298139e-05,
  6.62837237e-05,-5.21137434e-04,-4.90440567e+00,-2.17339487e-03,
  2.45974462e-03,-7.45303067e-03]


--- Step 2609 ---
qpos:
[ 0.01866055, 0.03002783,-0.00948068,-0.02527411,-0.00354771, 1.34082535,
 -0.03002299, 0.94383085, 0.01153672, 0.02727777,-0.00829992, 0.02643931,
  1.39621838, 0.00771925, 1.34680721, 0.04409668,-0.09672373,-0.07333015,
  0.09189335, 0.66013881, 0.19417917,-0.67913844,-0.25550377]

qacc:
[-1.49201745e+00,-2.99503054e-01, 5.14123060e+00,-2.01190098e+01,
  8.57819700e-02, 4.29423406e+00,-1.64897483e+01, 2.95508910e+01,
  4.21665618e-01,-9.68527373e-01, 2.31977547e+00,-1.69750590e-01,
  2.25871311e-01,-5.73016380e-01, 1.89742428e+00,-6.42353608e+00,
 -6.46882817e+00, 6.72213160e-01, 1.44385045e+00, 1.28194673e+02,
 -1.74508343e+02, 1.58745566e+01]

qfrc_actuator:
[ 1.24709579e-04, 8.86920580e-04, 1.69532280e-04,-8.43618789e-05,
  1.93331435e-05, 3.49691434e-02, 1.09086118e-02, 1.71119582e-03,
  4.24050348e-05, 8.37938213e-04, 1.99759154e-04, 2.12805333e-06,
  0.00000000e+00,-1.64296240e-03, 0.00000000e+00,-8.65613884e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006128813146959539
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35861096e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35861096e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0068027 , -0.08552667,  0.06169272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.84624965e-06,-4.61254649e-06,-3.13985329e-05,-4.75433028e-05,
  2.48234512e-05, 6.32004512e-06,-3.47346469e-05, 6.68479232e-05,
  2.44714357e-06,-2.50306803e-05, 1.25584663e-05, 6.57772442e-06,
  3.51585873e-03,-4.70542551e-05, 5.17939438e-06,-2.97241999e-05,
  3.31925628e-04,-6.95843117e-04,-4.90411408e+00,-2.49572676e-03,
  2.23488888e-03,-7.47353600e-03]


--- Step 2610 ---
qpos:
[ 0.01866155, 0.03002763,-0.00948015,-0.02527541,-0.00354757, 1.34082697,
 -0.03002415, 0.94382996, 0.01153867, 0.02727781,-0.00829993, 0.0264386 ,
  1.39621569, 0.00771874, 1.34690386, 0.04409841,-0.09674379,-0.07337213,
  0.09189584, 0.65977795, 0.19476439,-0.67916946,-0.25590767]

qacc:
[-9.54067385e-01,-1.26185035e-01, 2.74404550e+00,-1.18288457e+01,
  1.98033128e-02, 2.26263443e+00,-7.44754733e+00, 7.70150207e+00,
 -2.86368250e+00, 1.15718535e+00,-6.32001332e+00, 1.45369962e+01,
  2.32171198e-01,-3.79291657e-01,-9.56196822e-01, 3.12191864e+00,
 -5.57895091e+00, 5.79456030e-01,-1.09330117e-01, 1.10854728e+02,
 -1.49925240e+02, 1.30306630e+01]

qfrc_actuator:
[ 1.19303457e-04, 8.76946546e-04, 1.47633415e-04,-1.12787388e-04,
  1.04167333e-05, 3.49642718e-02, 1.08677401e-02, 1.71480075e-03,
  2.50664306e-05, 8.28961728e-04, 1.91007710e-04, 2.45713257e-05,
  0.00000000e+00,-1.64120994e-03, 0.00000000e+00,-8.50098702e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.02229726,   3.19836264,   8.02229726,
        15.78017197, -17.91846656,   3.19836264, -17.91846656,
        53.58038072,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006154890664397436
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35285469e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35285469e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00685974, -0.08551018,  0.06169161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.66255194e-06,-2.10836321e-05,-2.83715064e-05,-3.06350358e-05,
  5.75323619e-06,-6.17116596e-06,-4.16303446e-05, 4.32615645e-06,
 -1.72759485e-05,-2.00952670e-05,-1.21463903e-05, 2.19353803e-05,
  3.51788205e-03,-1.86773257e-05,-3.41639146e-06, 1.39483825e-05,
 -6.21559430e-06,-4.92041791e-04,-4.90443345e+00,-2.07893253e-03,
  2.54338547e-03,-7.48034848e-03]


--- Step 2611 ---
qpos:
[ 0.01866248, 0.03002748,-0.00947941,-0.0252771 ,-0.00354744, 1.34082847,
 -0.0300251 , 0.94382771, 0.01154006, 0.02727771,-0.00830004, 0.02643817,
  1.39621324, 0.00771828, 1.34700038, 0.04410097,-0.09678315,-0.07341211,
  0.09189257, 0.65920914, 0.19539561,-0.67942384,-0.25621692]

qacc:
[-6.19969175e-01,-1.29297233e+00, 6.33586581e+00,-1.33539130e+01,
 -6.97832991e-03,-3.03641961e+00, 1.25182527e+01,-2.65556763e+01,
 -4.84736065e+00, 7.02765874e-01,-3.87650905e+00, 8.80286276e+00,
  2.30076830e-01,-1.53085523e-01,-2.72487333e+00, 9.20615951e+00,
 -4.82503938e+00, 5.00286411e-01,-1.44175916e+00, 9.61460908e+01,
 -1.29197482e+02, 1.07442956e+01]

qfrc_actuator:
[ 1.15724617e-04, 9.06573882e-04, 1.70020072e-04,-1.28983510e-04,
  4.98250973e-06, 3.49606375e-02, 1.08796170e-02, 1.64624182e-03,
 -3.66818011e-06, 8.23649549e-04, 1.85845581e-04, 3.80473565e-05,
  0.00000000e+00,-1.62205196e-03, 0.00000000e+00,-8.06137993e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.9474673 ,   3.38002077,   7.9474673 ,
        17.32633992, -20.43280413,   3.38002077, -20.43280413,
        56.68016389,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006101278983244973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09828110e-15,  9.09828110e-15,  1.00000000e+00,  8.27787189e-29,
        1.00000000e+00, -9.09828110e-15, -1.00000000e+00,  0.00000000e+00,
       -9.09828110e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00673827, -0.08551689,  0.06169389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74842560e-06, 1.06651954e-05, 1.34762765e-05,-1.86747514e-05,
 -2.03446485e-06,-1.50722866e-05, 6.05732130e-06,-6.98655687e-05,
 -2.92480108e-05,-1.81180429e-05,-1.00462700e-05, 1.26241049e-05,
  3.51416133e-03, 1.30292100e-05,-1.63968318e-06, 4.39133838e-05,
 -1.84557559e-04,-3.40231136e-04,-4.90442147e+00,-1.74007630e-03,
  2.78764866e-03,-7.48838417e-03]


--- Step 2612 ---
qpos:
[ 0.01866301, 0.03002767,-0.00947855,-0.02527935,-0.00354721, 1.34082948,
 -0.03002549, 0.94382501, 0.01154074, 0.02727821,-0.00830083, 0.02643784,
  1.39621108, 0.00771795, 1.34709682, 0.04410436,-0.09679672,-0.07345579,
  0.0918952 , 0.65891191, 0.19598417,-0.67937156,-0.25667019]

qacc:
[-3.39235831e+00,-1.03928780e+00, 6.71806602e+00,-1.68270718e+01,
  4.59926485e-02,-2.93868455e+00, 9.72174345e+00,-1.32749587e+01,
 -6.01200831e+00, 2.92853349e+00,-9.74934454e+00, 1.22964265e+01,
  2.21116553e-01,-7.89058646e-02,-2.65035616e+00, 9.05895331e+00,
  6.44589436e+00,-9.26517860e-01, 1.47865665e+00,-1.28803513e+02,
  1.73805726e+02,-2.81419703e+01]

qfrc_actuator:
[ 9.54964655e-05, 9.42129582e-04, 1.83034026e-04,-1.55547801e-04,
  1.94351094e-05, 3.49224198e-02, 1.09047533e-02, 1.62457472e-03,
 -3.88738453e-05, 8.91587923e-04, 1.65107388e-04, 4.61464878e-05,
  0.00000000e+00,-1.61040426e-03, 0.00000000e+00,-7.63530898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062025950894573426
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78993310e-14,  1.00683737e-14,  1.00000000e+00, -1.80217153e-28,
        1.00000000e+00, -1.00683737e-14, -1.00000000e+00,  0.00000000e+00,
        1.78993310e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18807352, -0.06245179,  0.06168956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03333812e-05, 4.34995655e-05, 1.62263963e-05,-2.60026504e-05,
  1.32500225e-05,-4.74826804e-05, 2.08246529e-05,-2.35646674e-05,
 -3.60691571e-05, 5.62723500e-05,-2.52753238e-05, 7.22370823e-06,
  3.50247355e-03, 2.21753727e-05, 2.84027619e-06, 4.45186548e-05,
 -2.55826138e-04,-2.26207710e-04,-4.90419846e+00,-1.46119617e-03,
  2.98151271e-03,-7.49727373e-03]


--- Step 2613 ---
qpos:
[ 0.0186633 , 0.0300278 ,-0.00947769,-0.02528114,-0.00354699, 1.34083002,
 -0.0300256 , 0.94382348, 0.01154065, 0.02727899,-0.00830181, 0.02643761,
  1.39620949, 0.00771785, 1.34719349, 0.04410622,-0.09678809,-0.07350273,
  0.09189749, 0.65884827, 0.19653597,-0.67905543,-0.25724752]

qacc:
[-2.11242845e+00, 8.35044675e-01,-4.99839143e+00, 1.28250185e+01,
 -4.81169436e-03, 6.13470458e-01,-5.13122349e+00, 1.81624283e+01,
 -6.60232587e+00, 1.11967294e+00,-3.87102684e+00, 5.74835014e+00,
  2.03240822e-01, 6.84383806e-02, 4.95241469e+00,-1.68618175e+01,
  5.55308460e+00,-8.12217606e-01,-8.78703748e-02,-1.11004153e+02,
  1.49391675e+02,-2.42655579e+01]

qfrc_actuator:
[ 8.33827711e-05, 9.09925517e-04, 1.72671991e-04,-1.34747489e-04,
  1.01961285e-05, 3.48993792e-02, 1.09196483e-02, 1.68392900e-03,
 -7.76020999e-05, 8.96288967e-04, 1.53390884e-04, 5.10706010e-05,
  0.00000000e+00,-1.58561366e-03, 0.00000000e+00,-8.46337297e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062292484035084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78227445e-14,  1.11392153e-15,  1.00000000e+00, -1.98531388e-29,
        1.00000000e+00, -1.11392153e-15, -1.00000000e+00,  0.00000000e+00,
        1.78227445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18801299, -0.06246388,  0.06168844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26916376e-05,-5.66233185e-06,-2.86106611e-07, 2.27211711e-05,
 -1.41037404e-06,-4.59518053e-05, 7.28095372e-06, 5.79885860e-05,
 -3.97635357e-05, 3.12390129e-05,-2.94951576e-06, 6.60467242e-06,
  3.48807543e-03, 4.03023666e-05, 4.82459396e-06,-8.03253072e-05,
 -1.50971691e-04,-4.14958675e-04,-4.90441566e+00,-1.84514813e-03,
  2.69410108e-03,-7.51769032e-03]


--- Step 2614 ---
qpos:
[ 0.01866413, 0.03002763,-0.00947713,-0.02528193,-0.00354668, 1.34083035,
 -0.03002564, 0.94382334, 0.01154147, 0.02727918,-0.0083025 , 0.02643719,
  1.39620861, 0.00771794, 1.34729044, 0.04410473,-0.09676027,-0.07355252,
  0.09189405, 0.65898583, 0.19705584,-0.67851144,-0.25793198]

qacc:
[ 4.64586945e+00, 2.53388940e+00,-1.38286626e+01, 3.19026643e+01,
  3.90918978e-02, 1.92016192e+00,-9.48737758e+00, 2.46162233e+01,
  7.83234198e+00,-2.04189425e+00, 6.96342313e+00,-1.04785242e+01,
  1.69523773e-01, 1.32882458e-01, 1.05443054e+01,-3.62649415e+01,
  4.79640312e+00,-7.14573738e-01,-1.43203158e+00,-9.59716117e+01,
  1.28747802e+02,-2.09639348e+01]

qfrc_actuator:
[ 1.11652315e-04, 8.72842293e-04, 1.48355434e-04,-8.63140773e-05,
  2.23240219e-05, 3.49033764e-02, 1.09284649e-02, 1.75496820e-03,
 -2.93289521e-05, 8.09864258e-04, 1.46864330e-04, 3.62988511e-05,
  0.00000000e+00,-1.57082575e-03, 0.00000000e+00,-1.02011570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006174760441064894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79800178e-14,  1.01137600e-14,  1.00000000e+00, -1.81845584e-28,
        1.00000000e+00, -1.01137600e-14, -1.00000000e+00,  0.00000000e+00,
        1.79800178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18813843, -0.06244965,  0.06169074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78958970e-05,-3.93516869e-05,-2.47424507e-05, 4.86258203e-05,
  1.12926275e-05,-1.82613368e-05, 2.35422976e-06, 7.12145210e-05,
  4.71207972e-05,-6.93123727e-05,-2.04121271e-07,-1.34039723e-05,
  3.45893490e-03, 4.43166223e-05,-8.41028490e-06,-1.78073096e-04,
  6.57758708e-05,-6.09817032e-04,-4.90431607e+00,-2.21492501e-03,
  2.42473206e-03,-7.53911024e-03]


--- Step 2615 ---
qpos:
[ 0.01866564, 0.03002719,-0.00947714,-0.02528178,-0.00354625, 1.34083055,
 -0.03002527, 0.94382299, 0.01154321, 0.0272786 ,-0.00830317, 0.02643767,
  1.39620799, 0.00771822, 1.34738707, 0.04410352,-0.09675837,-0.07359987,
  0.09189641, 0.65884289, 0.19763725,-0.67826826,-0.25849127]

qacc:
[ 5.79728811e+00, 3.17269161e+00,-1.58703771e+01, 3.34349907e+01,
  4.77226269e-02,-1.63504980e+00, 5.56874971e+00,-7.18776829e+00,
  7.84104869e+00, 7.82682441e-01,-8.09121541e+00, 2.42874364e+01,
  1.37496908e-01, 3.06996484e-02,-1.31075321e+00, 3.85532657e+00,
 -6.48035154e+00, 6.11126794e-01, 1.45286633e+00, 1.29170961e+02,
 -1.74009427e+02, 1.38311905e+01]

qfrc_actuator:
[ 1.45709387e-04, 8.50829903e-04, 1.15972727e-04,-3.97874895e-05,
  2.94201062e-05, 3.49057745e-02, 1.09514806e-02, 1.74354806e-03,
  1.65085365e-05, 7.58295622e-04, 1.43048431e-04, 8.09862399e-05,
  0.00000000e+00,-1.57986706e-03, 0.00000000e+00,-9.97514791e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006129585627874537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.05626491e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.05626491e-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([-0.00680162, -0.08546915,  0.0616926 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48552828e-05,-4.70373763e-05,-4.18799086e-05, 4.49322047e-05,
  1.37686810e-05,-5.10482438e-06, 2.17993209e-05,-1.02486878e-05,
  4.71936691e-05,-9.09237553e-05,-1.86165080e-05, 4.14494245e-05,
  3.42316175e-03, 2.50748155e-05,-2.49566053e-05, 1.12574146e-05,
  3.47551282e-04,-8.02853419e-04,-4.90401832e+00,-2.56334032e-03,
  2.17760953e-03,-7.56114405e-03]


--- Step 2616 ---
qpos:
[ 0.0186672 , 0.03002638,-0.00947724,-0.02528108,-0.00354602, 1.34083092,
 -0.03002505, 0.94382321, 0.01154342, 0.02727753,-0.00830341, 0.02643861,
  1.39620766, 0.0077187 , 1.34748358, 0.0441022 ,-0.09677882,-0.0736451 ,
  0.09189837, 0.65845835, 0.1982733 ,-0.67828369,-0.25894312]

qacc:
[ 4.51905457e-01, 8.52099252e-01,-5.98669948e+00, 1.56150556e+01,
 -8.08555692e-02, 1.59978324e+00,-6.09045979e+00, 1.16620007e+01,
 -1.30540619e+01,-8.48085113e-01, 1.35761874e-01, 7.62764068e+00,
  1.22660729e-01, 6.76071236e-02, 1.22702819e-01,-6.97156825e-01,
 -5.58834215e+00, 5.27206245e-01,-1.02116199e-01, 1.11737656e+02,
 -1.49446755e+02, 1.11894359e+01]

qfrc_actuator:
[ 1.47381762e-04, 8.37968496e-04, 1.14643812e-04,-1.25054069e-05,
 -2.06536110e-06, 3.49249614e-02, 1.09471410e-02, 1.77246593e-03,
 -6.37515049e-05, 7.63546983e-04, 1.76518922e-04, 1.07065545e-04,
  0.00000000e+00,-1.56776088e-03, 0.00000000e+00,-1.00138243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.16089411,   2.82605454,   8.16089411,
        13.68822134, -14.58842186,   2.82605454, -14.58842186,
        50.76384718,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061556951123456355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01785261e-15,  4.50892630e-15,  1.00000000e+00,  4.06608328e-29,
        1.00000000e+00, -4.50892630e-15, -1.00000000e+00,  0.00000000e+00,
       -9.01785261e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00685893, -0.08545154,  0.06169149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67282418e-06,-4.58667474e-05,-1.46450580e-05, 2.46931540e-05,
 -2.33489299e-05, 2.03175171e-05,-3.15911355e-06, 2.91663721e-05,
 -7.89130062e-05,-4.76134399e-05, 1.38434284e-05, 2.23454723e-05,
  3.41046369e-03, 2.80567980e-05,-1.04183008e-05,-6.50726696e-06,
 -1.27419098e-05,-5.88420174e-04,-4.90433171e+00,-2.11369189e-03,
  2.51385204e-03,-7.56861865e-03]


--- Step 2617 ---
qpos:
[ 0.01866877, 0.03002554,-0.00947724,-0.02528012,-0.00354634, 1.34083144,
 -0.03002548, 0.94382448, 0.01154232, 0.02727634,-0.00830311, 0.02643911,
  1.39620784, 0.00771945, 1.3475802 , 0.04409916,-0.09681861,-0.07368852,
  0.09189459, 0.65786485, 0.19895785,-0.67852187,-0.25930231]

qacc:
[ 7.26473984e-02, 2.12958459e-01,-1.93864251e+00, 6.37913000e+00,
 -2.36055497e-01, 3.75497675e+00,-1.42123445e+01, 2.45866670e+01,
 -1.11529444e+01,-2.58946621e+00, 1.09232621e+01,-1.94514413e+01,
  1.00440966e-01, 1.96350198e-01, 5.42015724e+00,-1.86957442e+01,
 -4.83264402e+00, 4.55358224e-01,-1.43613654e+00, 9.69454714e+01,
 -1.28739212e+02, 9.08903046e+00]

qfrc_actuator:
[ 1.47729997e-04, 8.66299731e-04, 1.31688900e-04, 3.26657342e-06,
 -5.64411478e-05, 3.49184651e-02, 1.09090356e-02, 1.82490121e-03,
 -1.28825097e-04, 7.85176946e-04, 2.14196981e-04, 8.65475851e-05,
  0.00000000e+00,-1.54305391e-03, 0.00000000e+00,-1.09188005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.10345959,   2.98675737,   8.10345959,
        14.78593067, -16.68457184,   2.98675737, -16.68457184,
        53.90376801,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006102050869141763
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09713020e-15, -9.09713020e-15,  1.00000000e+00, -8.27577778e-29,
        1.00000000e+00,  9.09713020e-15, -1.00000000e+00,  0.00000000e+00,
       -9.09713020e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0067375 , -0.08545673,  0.06169377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12216471e-07, 7.40498197e-07, 6.63006882e-06, 1.37824545e-05,
 -6.81734210e-05, 4.99851243e-06,-3.36354624e-05, 5.36307253e-05,
 -6.74061875e-05,-1.16590753e-06, 3.03377526e-05,-2.16403631e-05,
  3.39544923e-03, 4.29117861e-05,-6.48274552e-06,-9.24396178e-05,
 -2.12421686e-04,-4.27642792e-04,-4.90431527e+00,-1.74326266e-03,
  2.78464479e-03,-7.57740241e-03]


--- Step 2618 ---
qpos:
[ 0.01867033, 0.03002497,-0.00947719,-0.02527902,-0.00354726, 1.34083184,
 -0.03002622, 0.94382569, 0.01154114, 0.02727552,-0.00830312, 0.02643936,
  1.39620795, 0.00772033, 1.34767639, 0.04409839,-0.09683263,-0.07373587,
  0.09189674, 0.65754164, 0.19960234,-0.67845238,-0.25980812]

qacc:
[-7.34595444e-02, 5.44093412e-01,-2.02464128e+00, 4.26436619e+00,
 -2.50762422e-01, 5.95183248e-01,-1.99938686e+00, 1.05511880e+00,
 -7.29992622e-01, 8.84581715e-01,-1.37515914e+00,-2.74451216e+00,
  8.12200565e-02,-3.10669303e-02,-7.57625836e+00, 2.55189912e+01,
  6.44096411e+00,-9.84046094e-01, 1.48386734e+00,-1.29694277e+02,
  1.73122960e+02,-3.02009519e+01]

qfrc_actuator:
[ 1.47307070e-04, 9.01407559e-04, 1.41851413e-04, 1.21876269e-05,
 -8.86027617e-05, 3.48965206e-02, 1.08867316e-02, 1.81970761e-03,
 -1.31139302e-04, 8.16453338e-04, 2.00844293e-04, 7.43025900e-05,
  0.00000000e+00,-1.56420402e-03, 0.00000000e+00,-9.66394723e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006203979157276503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.71075166e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.71075166e-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([-0.18806715, -0.06247091,  0.0616894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09027458e-07, 3.75047825e-05, 1.16148797e-05, 9.44993949e-06,
 -7.24492188e-05,-2.41506769e-05,-2.35793716e-05,-4.78419508e-06,
 -4.29234535e-06, 3.59751049e-05,-1.05948150e-05,-1.16629676e-05,
  3.36985959e-03, 7.87346720e-06,-1.45273029e-05, 1.19184735e-04,
 -3.03983446e-04,-3.05968146e-04,-4.90408908e+00,-1.43455129e-03,
  3.00353772e-03,-7.58712621e-03]


--- Step 2619 ---
qpos:
[ 0.01867221, 0.03002474,-0.00947704,-0.02527818,-0.00354853, 1.34083183,
 -0.0300268 , 0.94382614, 0.0115396 , 0.02727528,-0.0083037 , 0.02643911,
  1.39620742, 0.00772073, 1.34777218, 0.04410145,-0.09682445,-0.07378667,
  0.09189856, 0.65745079, 0.20021235,-0.67811818,-0.2604404 ]

qacc:
[ 2.80688918e+00,-3.55122461e-01, 3.00394366e+00,-7.88551552e+00,
 -1.50943340e-01,-2.28763185e+00, 8.39018608e+00,-1.58628081e+01,
 -3.13513454e+00, 1.28160596e+00,-1.31448545e+00,-6.98191365e+00,
  1.00573128e-01,-5.63922952e-01,-1.21545917e+01, 4.16312464e+01,
  5.54854765e+00,-8.61219569e-01,-8.39932817e-02,-1.11816168e+02,
  1.48748400e+02,-2.61207745e+01]

qfrc_actuator:
[ 1.64187072e-04, 9.22534528e-04, 1.47904356e-04,-7.40637750e-07,
 -8.94251906e-05, 3.48655143e-02, 1.08915934e-02, 1.78064048e-03,
 -1.49757345e-04, 8.53076682e-04, 1.75283197e-04, 4.92543058e-05,
  0.00000000e+00,-1.63057720e-03, 0.00000000e+00,-7.67898832e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062306287255095155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78187960e-14, -7.79572327e-15,  1.00000000e+00,  1.38910403e-28,
        1.00000000e+00,  7.79572327e-15, -1.00000000e+00,  0.00000000e+00,
        1.78187960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18800614, -0.06248183,  0.06168827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68818273e-05, 4.49151108e-05, 1.55584100e-05,-1.07382350e-05,
 -4.36376840e-05,-4.91252007e-05,-2.68393506e-06,-4.05939761e-05,
 -1.87328605e-05, 5.40766004e-05,-1.98302333e-05,-2.40989186e-05,
  3.37319212e-03,-6.46395963e-05, 5.86901844e-06, 2.03112644e-04,
 -1.75591969e-04,-5.19734006e-04,-4.90429431e+00,-1.85756027e-03,
  2.68352143e-03,-7.60953997e-03]


--- Step 2620 ---
qpos:
[ 0.01867394, 0.03002482,-0.00947681,-0.02527749,-0.00354987, 1.34083116,
 -0.03002662, 0.94382577, 0.01153853, 0.02727549,-0.00830458, 0.02643855,
  1.39620656, 0.00772055, 1.34786814, 0.04410552,-0.09679711,-0.0738405 ,
  0.09189465, 0.65755997, 0.20079243,-0.67755534,-0.26118202]

qacc:
[-1.34892061e+00,-1.66351174e-01, 1.83433176e+00,-4.90034614e+00,
 -2.68316956e-02,-4.34781405e+00, 1.48322785e+01,-2.20214670e+01,
  4.06413820e+00, 8.25718205e-01,-8.26000463e-01,-4.18572244e+00,
  1.35932622e-01,-5.87296452e-01,-2.84825567e+00, 1.02305812e+01,
  4.79214276e+00,-7.56531652e-01,-1.42937030e+00,-9.67116877e+01,
  1.28141258e+02,-2.26308884e+01]

qfrc_actuator:
[ 1.55611168e-04, 9.35096939e-04, 1.51422137e-04,-8.67896725e-06,
 -7.14427545e-05, 3.48294026e-02, 1.09301464e-02, 1.73972474e-03,
 -1.24585860e-04, 8.74798694e-04, 1.60508376e-04, 3.46305840e-05,
  0.00000000e+00,-1.65252192e-03, 0.00000000e+00,-7.23327517e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006176066581557879
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59524306e-14,  1.01116211e-14,  1.00000000e+00, -3.63537355e-28,
        1.00000000e+00, -1.01116211e-14, -1.00000000e+00,  0.00000000e+00,
        3.59524306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18813127, -0.06246612,  0.06169057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.06810832e-06, 4.04365780e-05, 1.43354061e-05,-5.68889886e-06,
 -7.80718041e-06,-6.50326082e-05, 2.74488201e-05,-4.34121756e-05,
  2.46421356e-05, 4.68375537e-05,-6.87160729e-06,-1.34586104e-05,
  3.40464428e-03,-6.26667746e-05, 2.30014719e-05, 5.61477883e-05,
  6.35873045e-05,-7.39518744e-04,-4.90418486e+00,-2.26412040e-03,
  2.38303758e-03,-7.63297564e-03]


--- Step 2621 ---
qpos:
[ 0.01867487, 0.03002501,-0.00947641,-0.02527758,-0.00355115, 1.34083036,
 -0.03002609, 0.94382316, 0.01153846, 0.02727582,-0.0083052 , 0.02643749,
  1.3962061 , 0.00772006, 1.34796474, 0.04410542,-0.09679572,-0.07389215,
  0.09189657, 0.65738732, 0.20143726,-0.67729238,-0.26180139]

qacc:
[-6.90701767e+00,-1.91061631e+00, 1.03104766e+01,-2.40533039e+01,
  2.34453479e-02,-4.92933172e+00, 2.04793690e+01,-4.36631375e+01,
  8.53750036e+00,-1.61525640e+00, 8.11184628e+00,-1.74164756e+01,
  1.42637380e-01,-2.27441829e-01, 1.35412624e+01,-4.59863850e+01,
 -6.48860938e+00, 5.43829966e-01, 1.45529227e+00, 1.30162963e+02,
 -1.73344981e+02, 1.15561679e+01]

qfrc_actuator:
[ 1.14362517e-04, 9.24670249e-04, 1.53387377e-04,-4.91283621e-05,
 -6.00803819e-05, 3.48439055e-02, 1.09527437e-02, 1.62705726e-03,
 -7.38371811e-05, 8.69722272e-04, 1.69929923e-04, 8.50512589e-06,
  0.00000000e+00,-1.62976180e-03, 0.00000000e+00,-9.47352081e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006129712639041995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05607726e-15,  9.05607726e-15,  1.00000000e+00,  8.20125353e-29,
        1.00000000e+00, -9.05607726e-15, -1.00000000e+00,  0.00000000e+00,
       -9.05607726e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00680006, -0.08540403,  0.06169248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14706022e-05, 1.48868974e-05, 1.18789156e-05,-3.83351514e-05,
  6.74649711e-06,-1.74043222e-05, 1.17263652e-05,-1.14824828e-04,
  5.14871751e-05, 1.91282440e-05, 1.77913862e-05,-2.46164858e-05,
  3.42169373e-03,-1.07768972e-05, 1.33424012e-05,-2.18732135e-04,
  3.66498436e-04,-9.56703837e-04,-4.90387916e+00,-2.64676646e-03,
  2.10658964e-03,-7.65703265e-03]


--- Step 2622 ---
qpos:
[ 0.01867598, 0.03002523,-0.00947593,-0.02527813,-0.00355248, 1.34082929,
 -0.03002557, 0.94381993, 0.01153865, 0.02727589,-0.00830552, 0.02643616,
  1.39620627, 0.00771972, 1.34806153, 0.04410167,-0.09681672,-0.07394192,
  0.09189809, 0.65697188, 0.20213971,-0.67728713,-0.26231588]

qacc:
[ 1.61176475e+00,-1.14248136e+00, 6.07929644e+00,-1.42605278e+01,
 -2.23500285e-02,-1.36132395e+00, 5.25773007e+00,-1.14379599e+01,
  2.27560574e+00,-1.74285484e+00, 6.81017616e+00,-1.16064063e+01,
  1.11171893e-01, 1.39611768e-01, 1.13404649e+01,-3.92709409e+01,
 -5.59493379e+00, 4.69431630e-01,-1.00643749e-01, 1.12643138e+02,
 -1.48817274e+02, 9.13761423e+00]

qfrc_actuator:
[ 1.25231954e-04, 9.18268763e-04, 1.54300755e-04,-7.29000265e-05,
 -7.05361716e-05, 3.48175016e-02, 1.09481314e-02, 1.59735175e-03,
 -6.17126901e-05, 8.30969889e-04, 1.75683803e-04,-6.43691140e-06,
  0.00000000e+00,-1.59797238e-03, 0.00000000e+00,-1.13249131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.27781523,   2.46263108,   8.27781523,
        12.07439977, -11.55651294,   2.46263108, -11.55651294,
        47.48208431,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00615557209056565
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01803284e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.01803284e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.006857  , -0.08538527,  0.06169137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66634140e-06, 2.70635699e-06, 4.11867806e-06,-2.34694124e-05,
 -6.46910227e-06,-3.71876843e-05,-1.00530941e-05,-3.25509717e-05,
  1.36394993e-05,-2.54200653e-05, 1.10484321e-05,-1.39849090e-05,
  3.40089392e-03, 3.64678363e-05,-2.13314844e-05,-1.96362364e-04,
 -2.30125790e-05,-7.28758929e-04,-4.90418461e+00,-2.15354807e-03,
  2.47952353e-03,-7.66537055e-03]


--- Step 2623 ---
qpos:
[ 0.01867756, 0.03002596,-0.00947596,-0.02527864,-0.00355375, 1.34082776,
 -0.03002543, 0.94381883, 0.011539  , 0.02727548,-0.00830566, 0.0264354 ,
  1.3962069 , 0.00771996, 1.34815792, 0.04409805,-0.09685706,-0.07399007,
  0.09189386, 0.65634645, 0.20289338,-0.67750376,-0.26273995]

qacc:
[ 3.97071864e+00, 2.19547093e+00,-7.03445114e+00, 8.22961626e+00,
  2.84150973e-02, 4.04463561e+00,-1.82742112e+01, 4.07417052e+01,
  1.24854915e+00,-1.18350408e-02,-3.27003814e+00, 1.30520177e+01,
  7.25813997e-02, 3.87165842e-01,-9.86721358e-01, 2.59013481e+00,
 -4.83784827e+00, 4.05484631e-01,-1.43550777e+00, 9.77725139e+01,
 -1.28142813e+02, 7.24334012e+00]

qfrc_actuator:
[ 1.48948732e-04, 9.67582595e-04, 1.36857076e-04,-6.89106783e-05,
 -5.84915776e-05, 3.47845002e-02, 1.09274129e-02, 1.70545046e-03,
 -5.46753870e-05, 7.90091936e-04, 1.79078657e-04, 2.07896225e-05,
  0.00000000e+00,-1.56110260e-03, 0.00000000e+00,-1.11561068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.23445948,   2.60393048,   8.23445948,
        12.82954466, -13.2601771 ,   2.60393048, -13.2601771 ,
        50.56927699,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006101672277648927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.09769465e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.09769465e-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([-0.00673508, -0.08538886,  0.06169365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39991189e-05, 5.06605773e-05,-1.71979291e-05, 3.78973918e-06,
  8.22046262e-06,-5.65161587e-05,-3.00954729e-05, 1.05926261e-04,
  7.42766325e-06,-5.34006463e-05,-9.73581627e-07, 2.62502777e-05,
  3.36958281e-03, 6.57661083e-05,-3.24901083e-05, 2.97441927e-06,
 -2.50625585e-04,-5.56666313e-04,-4.90416233e+00,-1.74202983e-03,
  2.78494507e-03,-7.67512865e-03]


--- Step 2624 ---
qpos:
[ 0.01867941, 0.0300274 ,-0.00947663,-0.02527911,-0.00355477, 1.3408265 ,
 -0.03002615, 0.94381969, 0.01153976, 0.02727458,-0.00830575, 0.02643566,
  1.39620806, 0.00772064, 1.3482543 , 0.04409292,-0.09687168,-0.0740424 ,
  0.09189557, 0.65598961, 0.20360993,-0.67741173,-0.26331346]

qacc:
[ 2.30228999e+00, 2.79135771e+00,-8.74714018e+00, 9.85537300e+00,
  1.04693217e-01, 6.01767104e+00,-2.32368255e+01, 4.26745337e+01,
  3.65085458e+00, 1.37729769e+00,-1.01920430e+01, 2.83485721e+01,
  4.16552132e-02, 3.73240440e-01, 4.55913395e+00,-1.59160108e+01,
  6.43148889e+00,-1.04706058e+00, 1.48225301e+00,-1.30605983e+02,
  1.72244910e+02,-3.24976738e+01]

qfrc_actuator:
[ 1.62268245e-04, 1.01432222e-03, 1.08959003e-04,-6.63394576e-05,
 -3.30457886e-05, 3.48365905e-02, 1.08973969e-02, 1.80498290e-03,
 -3.29233756e-05, 7.66025862e-04, 1.81057789e-04, 7.26000013e-05,
  0.00000000e+00,-1.53941331e-03, 0.00000000e+00,-1.19287338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006204502762812876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57876551e-14,  6.71018533e-15,  1.00000000e+00, -2.40141798e-28,
        1.00000000e+00, -6.71018533e-15, -1.00000000e+00,  0.00000000e+00,
        3.57876551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18805977, -0.06248188,  0.06168924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40348222e-05, 7.16571390e-05,-1.94316063e-05, 4.21728321e-06,
  3.03014387e-05, 1.81314226e-05,-4.13899439e-05, 9.94036328e-05,
  2.19482597e-05,-5.29821937e-05,-8.25498115e-06, 5.00018270e-05,
  3.34644515e-03, 5.91129246e-05,-1.40883678e-05,-8.11736813e-05,
 -3.68597580e-04,-4.25424734e-04,-4.90393201e+00,-1.39505182e-03,
  3.03618723e-03,-7.68593526e-03]


--- Step 2625 ---
qpos:
[ 0.01868175, 0.03002906,-0.00947751,-0.02527883,-0.00355566, 1.3408257 ,
 -0.03002706, 0.94382098, 0.01154044, 0.02727381,-0.00830605, 0.02643615,
  1.39620925, 0.00772147, 1.3483504 , 0.04408857,-0.09686413,-0.0740984 ,
  0.09189692, 0.65586354, 0.20429456,-0.6770541 ,-0.26401607]

qacc:
[ 4.19919423e+00, 2.41955275e+00,-1.13975632e+01, 2.46590388e+01,
  5.41865766e-02, 1.86178787e+00,-6.25048671e+00, 1.02520400e+01,
 -7.78575092e-01, 1.18074802e+00,-4.88150396e+00, 8.82126040e+00,
  1.77639422e-02, 7.46657991e-02,-2.75030023e+00, 9.00993996e+00,
  5.54005824e+00,-9.15112680e-01,-8.60790400e-02,-1.12655018e+02,
  1.47927290e+02,-2.81919390e+01]

qfrc_actuator:
[ 1.87109404e-04, 1.00585968e-03, 9.28725143e-05,-2.91229357e-05,
 -3.52720528e-05, 3.48859430e-02, 1.08979460e-02, 1.82768232e-03,
 -3.81875593e-05, 8.05487218e-04, 1.82259180e-04, 8.52078184e-05,
  0.00000000e+00,-1.56245376e-03, 0.00000000e+00,-1.14751682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.21431864, -7.53832178,  4.21431864, 74.30637652,
       36.71299357, -7.53832178, 36.71299357, 29.16085933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006230871134193759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56362056e-14,  1.00226828e-14,  1.00000000e+00, -3.57170386e-28,
        1.00000000e+00, -1.00226828e-14, -1.00000000e+00,  0.00000000e+00,
        3.56362056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18799886, -0.06249144,  0.06168812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52719179e-05, 2.77304155e-05,-3.54459990e-06, 3.96927174e-05,
  1.56809731e-05, 5.42852185e-05, 2.30409527e-06, 2.43335975e-05,
 -4.64450302e-06, 1.03138905e-05,-9.01865739e-06, 1.10256515e-05,
  3.31957529e-03, 1.32621131e-05,-1.62586778e-05, 3.88299437e-05,
 -2.09521863e-04,-6.72624019e-04,-4.90412124e+00,-1.86844137e-03,
  2.67373464e-03,-7.71091022e-03]


--- Step 2626 ---
qpos:
[ 0.01868402, 0.03003045,-0.00947747,-0.02527846,-0.00355648, 1.34082504,
 -0.0300275 , 0.9438215 , 0.0115407 , 0.02727345,-0.00830648, 0.02643604,
  1.39621011, 0.00772235, 1.34844603, 0.04408777,-0.09683745,-0.07415761,
  0.09189256, 0.65593601, 0.20495148,-0.67646706,-0.26483044]

qacc:
[-5.22517641e-01,-2.74860386e+00, 8.90568594e+00,-8.68083518e+00,
  2.84797147e-02,-2.39243425e+00, 9.61577767e+00,-1.74545977e+01,
 -3.53830337e+00,-2.87730073e-01, 4.32929343e+00,-1.46318509e+01,
  2.03123201e-02,-7.92742651e-02,-1.14827638e+01, 3.91271941e+01,
  4.78443041e+00,-8.02879364e-01,-1.43191919e+00,-9.74828187e+01,
  1.27372285e+02,-2.44929638e+01]

qfrc_actuator:
[ 1.83030944e-04, 9.82228491e-04, 1.36951224e-04,-2.51133715e-05,
 -3.63284345e-05, 3.48800921e-02, 1.09165021e-02, 1.78726110e-03,
 -5.93153119e-05, 8.47155409e-04, 1.83226049e-04, 5.69468770e-05,
  0.00000000e+00,-1.57669589e-03, 0.00000000e+00,-9.59249226e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061760147028649195
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79763663e-14,  3.37056868e-15,  1.00000000e+00, -6.05905771e-29,
        1.00000000e+00, -3.37056868e-15, -1.00000000e+00,  0.00000000e+00,
        1.79763663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18812416, -0.06247404,  0.06169042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33834546e-06,-7.20657134e-06, 5.07294115e-05, 5.84324070e-06,
  8.21221866e-06, 2.53698663e-05, 3.01546840e-05,-3.81584807e-05,
 -2.12629387e-05, 4.60763938e-05, 2.38042817e-06,-2.79147676e-05,
  3.31802516e-03,-8.11808229e-06,-4.01487065e-06, 1.88156974e-04,
  5.84338000e-05,-9.25110132e-04,-4.90399884e+00,-2.32179018e-03,
  2.33322702e-03,-7.73690639e-03]


--- Step 2627 ---
qpos:
[ 0.0186852 , 0.03003135,-0.00947615,-0.02527839,-0.00355712, 1.34082422,
 -0.03002729, 0.94382154, 0.01154106, 0.02727341,-0.00830719, 0.02643596,
  1.3962108 , 0.00772308, 1.34854172, 0.04408821,-0.09683675,-0.07421494,
  0.09189399, 0.65572524, 0.20567673,-0.6761786 ,-0.26552589]

qacc:
[-9.39397111e+00,-4.81604782e+00, 1.75204624e+01,-2.43891721e+01,
  7.71564692e-02,-2.78884604e+00, 9.83950163e+00,-1.39372897e+01,
  7.48631536e-01, 1.25137232e+00,-3.99165212e+00, 4.74242403e+00,
  3.63816244e-02,-1.76411568e-01,-3.65571686e+00, 1.28941182e+01,
 -6.49376150e+00, 4.68813029e-01, 1.45041968e+00, 1.31192934e+02,
 -1.72487941e+02, 8.98434155e+00]

qfrc_actuator:
[ 1.26454503e-04, 9.49909157e-04, 1.98338577e-04,-4.06593624e-05,
 -1.89204700e-05, 3.48590169e-02, 1.09452935e-02, 1.76326864e-03,
 -5.40969386e-05, 8.54293255e-04, 1.66303842e-04, 5.81393333e-05,
  0.00000000e+00,-1.58562238e-03, 0.00000000e+00,-9.01364916e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006127716384107189
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05902750e-15,  9.05902750e-15,  1.00000000e+00,  8.20659792e-29,
        1.00000000e+00, -9.05902750e-15, -1.00000000e+00,  0.00000000e+00,
       -9.05902750e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00679471, -0.08533096,  0.06169241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.66830238e-05,-2.56815510e-05, 6.63293000e-05,-1.39899379e-05,
  2.22620089e-05,-2.28300177e-06, 3.60685788e-05,-2.32311799e-05,
  4.61121792e-06, 3.22110787e-05,-8.06657057e-06, 2.70904436e-06,
  3.33421562e-03,-1.94911949e-05, 1.77638018e-05, 6.75726716e-05,
  3.88140653e-04,-1.17359110e-03,-4.90368282e+00,-2.74749827e-03,
  2.01938724e-03,-7.76351417e-03]


--- Step 2628 ---
qpos:
[ 0.01868534, 0.03003182,-0.00947432,-0.02527811,-0.00355757, 1.34082386,
 -0.03002717, 0.9438199 , 0.01154147, 0.02727363,-0.00830838, 0.02643627,
  1.39621116, 0.00772333, 1.34863752, 0.04408903,-0.09685844,-0.07427066,
  0.091895  , 0.65527045, 0.20646289,-0.67614659,-0.26611935]

qacc:
[-8.83339283e+00,-1.54311065e+00, 3.84023949e+00,-8.14164186e-01,
  8.21530157e-02,-2.02448634e+00, 1.07895280e+01,-2.91748442e+01,
  4.90914483e-01, 2.46140328e+00,-9.90497611e+00, 1.71039590e+01,
  5.06796901e-02,-4.28740926e-01,-9.89396434e-01, 3.66621518e+00,
 -5.59883980e+00, 4.04823544e-01,-1.05515116e-01, 1.13591493e+02,
 -1.48012082e+02, 6.81709625e+00]

qfrc_actuator:
[ 7.49461070e-05, 9.12698119e-04, 2.16123513e-04,-3.20837266e-05,
 -8.32835442e-06, 3.49000443e-02, 1.09443334e-02, 1.67812951e-03,
 -5.11607048e-05, 8.58402851e-04, 1.38847008e-04, 7.66195716e-05,
  0.00000000e+00,-1.62668631e-03, 0.00000000e+00,-8.85303375e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.37410951,  2.11212376,  8.37410951, 10.87829933,
       -8.88878545,  2.11212376, -8.88878545, 43.87845694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006153089307420499
  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([-0.00685081, -0.08531098,  0.06169131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.31753321e-05,-3.85432478e-05, 2.01409859e-05, 9.49552781e-06,
  2.37479712e-05, 4.61278706e-05, 2.01728680e-06,-8.46894775e-05,
  3.08185226e-06, 2.05846894e-05,-2.16938984e-05, 1.96359430e-05,
  3.34304038e-03,-5.30921338e-05, 1.28349535e-05, 2.14636356e-05,
 -3.87454072e-05,-9.29786347e-04,-4.90397733e+00,-2.19904567e-03,
  2.43919783e-03,-7.77293250e-03]


--- Step 2629 ---
qpos:
[ 0.01868555, 0.0300323 ,-0.00947272,-0.02527774,-0.003558  , 1.34082416,
 -0.03002749, 0.94381725, 0.01154191, 0.02727376,-0.00830945, 0.02643645,
  1.39621148, 0.00772318, 1.34873356, 0.04408837,-0.09689949,-0.07432498,
  0.09189025, 0.65460454, 0.20730329,-0.67633527,-0.26662492]

qacc:
[ 5.92022075e-01, 8.31095168e-01,-3.32471528e+00, 5.28299198e+00,
  9.23432238e-03, 3.10055198e-01, 2.11107669e+00,-1.39441158e+01,
  2.79868850e-01,-6.73127438e-01, 2.76954210e+00,-5.03298652e+00,
  6.32997909e-02,-3.19074707e-01, 4.80965102e+00,-1.63259188e+01,
 -4.84072500e+00, 3.49524309e-01,-1.44038878e+00, 9.86457967e+01,
 -1.27385615e+02, 5.15544827e+00]

qfrc_actuator:
[ 8.01084142e-05, 9.25947902e-04, 2.08008547e-04,-2.71719642e-05,
 -1.96633471e-05, 3.49422842e-02, 1.09260146e-02, 1.62871214e-03,
 -4.95998651e-05, 8.42877585e-04, 1.40887884e-04, 6.96034302e-05,
  0.00000000e+00,-1.63338266e-03, 0.00000000e+00,-9.64982387e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.34217853,   2.23491259,   8.34217853,
        11.37722539, -10.23071694,   2.23491259, -10.23071694,
        46.82419589,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006098758017363655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82040839e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82040839e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.006728  , -0.08531284,  0.06169361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59478324e-06,-3.79473017e-06,-1.32917567e-05, 4.13974535e-06,
  2.70095111e-06, 6.56073666e-05,-1.15515015e-05,-4.99379911e-05,
  1.65785127e-06,-7.64606584e-06, 4.31131488e-06,-6.50104204e-06,
  3.35876184e-03,-3.56862373e-05, 5.22073415e-06,-7.75206694e-05,
 -3.01949474e-04,-7.44554147e-04,-4.90394694e+00,-1.73604024e-03,
  2.78852813e-03,-7.78390918e-03]


--- Step 2630 ---
qpos:
[ 0.01868583, 0.03003269,-0.00947119,-0.02527731,-0.00355846, 1.34082444,
 -0.03002751, 0.9438144 , 0.01154237, 0.02727387,-0.00831023, 0.02643652,
  1.39621191, 0.00772296, 1.34882961, 0.04408677,-0.09691487,-0.07438376,
  0.09189139, 0.65420508, 0.2081099 ,-0.67621428,-0.26728306]

qacc:
[ 5.11822652e-01, 2.03041048e-01,-1.17419887e+00, 2.42385373e+00,
 -1.74168500e-02,-1.17452845e+00, 4.21096267e+00,-5.99536970e+00,
  1.39422673e-01,-1.09418425e+00, 4.28938364e+00,-6.56615540e+00,
  5.98532463e-02,-7.60979854e-02, 2.85357105e+00,-9.97449150e+00,
  6.41711097e+00,-1.11719759e+00, 1.47292552e+00,-1.31555195e+02,
  1.71139235e+02,-3.50904599e+01]

qfrc_actuator:
[ 8.30787254e-05, 9.15939946e-04, 2.02630035e-04,-2.44290167e-05,
 -2.63074752e-05, 3.49138527e-02, 1.09331609e-02, 1.61847868e-03,
 -4.88606869e-05, 8.51308870e-04, 1.60228253e-04, 6.53954809e-05,
  0.00000000e+00,-1.61935062e-03, 0.00000000e+00,-1.01164237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006202698620749673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47475805e-15,  4.47475805e-15,  1.00000000e+00,  2.00234597e-29,
        1.00000000e+00, -4.47475805e-15, -1.00000000e+00,  0.00000000e+00,
       -4.47475805e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18805435, -0.06248349,  0.06168914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07084675e-06,-1.47344772e-05,-7.68168081e-06, 2.19554662e-06,
 -5.04551240e-06, 4.09597483e-06, 1.71975343e-05,-9.76181612e-06,
  7.84524518e-07, 4.77679517e-06, 1.80780278e-05,-4.51124887e-06,
  3.36098217e-03,-1.78036014e-06,-8.95513385e-06,-5.09315197e-05,
 -4.53470475e-04,-6.02339147e-04,-4.90371078e+00,-1.34155331e-03,
  3.08055247e-03,-7.79606703e-03]


--- Step 2631 ---
qpos:
[ 0.01868613, 0.03003268,-0.00946956,-0.02527751,-0.00355898, 1.34082457,
 -0.03002738, 0.94381216, 0.01154318, 0.02727375,-0.00831043, 0.02643725,
  1.39621203, 0.00772279, 1.34892508, 0.04408897,-0.09690815,-0.07444645,
  0.09189215, 0.65403435, 0.2088875 ,-0.67582678,-0.2680732 ]

qacc:
[ 2.98440138e-01,-2.10861922e+00, 9.44384512e+00,-2.03019859e+01,
 -2.33580833e-02, 4.54309965e-01,-2.97353567e+00, 9.74283711e+00,
  3.01016492e+00,-5.75064585e-01,-1.10695853e+00, 1.15269839e+01,
  5.91029500e-02,-1.15279439e-01,-1.23623541e+01, 4.19493233e+01,
  5.52728089e+00,-9.75293578e-01,-9.48933475e-02,-1.13536184e+02,
  1.46898572e+02,-3.05317425e+01]

qfrc_actuator:
[ 8.47160051e-05, 8.74335517e-04, 1.98836591e-04,-5.84974333e-05,
 -3.00825769e-05, 3.48966979e-02, 1.09372799e-02, 1.64910649e-03,
 -3.08577398e-05, 8.38589740e-04, 1.89714918e-04, 9.84084319e-05,
  0.00000000e+00,-1.62855354e-03, 0.00000000e+00,-8.07650640e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.44333551, -6.70498884,  5.44333551, 52.5554304 ,
       35.65497593, -6.70498884, 35.65497593, 37.58227261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006228548151259311
  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([-0.18799399, -0.06249149,  0.06168803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71897158e-06,-5.13689105e-05,-7.73048091e-06,-3.49276956e-05,
 -6.75663901e-06,-1.18241079e-05, 6.58678907e-06, 3.10253441e-05,
  1.80266065e-05,-6.50018044e-06, 3.25520518e-05, 3.37567537e-05,
  3.35508559e-03,-7.37794889e-06,-1.13582890e-05, 1.99637710e-04,
 -2.55635089e-04,-8.93408132e-04,-4.90387895e+00,-1.87766374e-03,
  2.66438480e-03,-7.82420742e-03]


--- Step 2632 ---
qpos:
[ 0.0186868 , 0.0300329 ,-0.00946879,-0.02527848,-0.00355956, 1.34082466,
 -0.03002729, 0.94381168, 0.01154351, 0.02727328,-0.00830988, 0.02643836,
  1.39621197, 0.00772253, 1.34902048, 0.04409322,-0.09688233,-0.07451255,
  0.09188715, 0.65406026, 0.20963991,-0.67520904,-0.26897776]

qacc:
[ 3.07190254e+00, 1.10548009e+00,-3.17945897e-01,-1.16591741e+01,
 -2.08527951e-02, 3.07096052e+00,-1.37006222e+01, 3.23758602e+01,
 -4.06527363e+00,-1.76594168e+00, 3.94887221e+00, 1.93784425e+00,
  7.62704750e-02,-1.89647696e-01,-6.32572134e+00, 2.19658097e+01,
  4.77294523e+00,-8.54814199e-01,-1.44034462e+00,-9.82993969e+01,
  1.26413383e+02,-2.65976267e+01]

qfrc_actuator:
[ 1.03308233e-04, 9.02867369e-04, 1.60342917e-04,-9.62278285e-05,
 -3.21057662e-05, 3.49041971e-02, 1.09396143e-02, 1.73902500e-03,
 -5.60953752e-05, 8.13383978e-04, 2.24895250e-04, 1.17540560e-04,
  0.00000000e+00,-1.63403816e-03, 0.00000000e+00,-7.06162947e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.37421546, -6.76051662,  5.37421546, 55.55985188,
       37.30142976, -6.76051662, 37.30142976, 38.28881945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006173218756105693
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99225403e-15,  8.99225403e-15,  1.00000000e+00,  8.08606325e-29,
        1.00000000e+00, -8.99225403e-15, -1.00000000e+00,  0.00000000e+00,
       -8.99225403e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18811976, -0.06247215,  0.06169035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86245591e-05,-3.30386173e-06,-5.12825012e-05,-4.08806455e-05,
 -6.01660709e-06, 3.17485219e-06, 1.67752403e-06, 9.04728744e-05,
 -2.47151259e-05,-2.06562543e-05, 3.90172585e-05, 2.06353641e-05,
  3.37045304e-03,-1.53562109e-05, 1.61259795e-05, 1.10966100e-04,
  4.83165506e-05,-1.18829339e-03,-4.90373964e+00,-2.38871742e-03,
  2.27357662e-03,-7.85334756e-03]


--- Step 2633 ---
qpos:
[ 0.01868769, 0.03003333,-0.00946889,-0.0252792 ,-0.00355987, 1.34082462,
 -0.03002713, 0.94381263, 0.01154285, 0.0272728 ,-0.00830979, 0.02643905,
  1.39621189, 0.00772211, 1.34911606, 0.04409767,-0.0968825 ,-0.07457712,
  0.0918879 , 0.65380142, 0.21046465,-0.67488813,-0.2697672 ]

qacc:
[ 1.83746046e+00, 3.25048089e+00,-1.22190348e+01, 1.77421201e+01,
  1.07265159e-01, 2.05733115e+00,-9.87324996e+00, 2.52398799e+01,
 -8.50400021e+00, 4.28893852e-01, 3.16375909e-01,-7.06116050e+00,
  8.47383476e-02,-1.85431236e-01,-3.35782392e-01, 1.52613612e+00,
 -6.49584420e+00, 3.84324663e-01, 1.43746899e+00, 1.32283639e+02,
 -1.71407857e+02, 6.04560633e+00]

qfrc_actuator:
[ 1.13979433e-04, 9.19770885e-04, 1.19699589e-04,-8.25155221e-05,
  2.44351404e-06, 3.48909259e-02, 1.09410007e-02, 1.80986105e-03,
 -1.06587682e-04, 7.98667170e-04, 1.92070604e-04, 9.28306065e-05,
  0.00000000e+00,-1.63716284e-03, 0.00000000e+00,-7.01463195e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006122350638557983
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06696700e-15,  9.06696700e-15,  1.00000000e+00,  8.22098907e-29,
        1.00000000e+00, -9.06696700e-15, -1.00000000e+00,  0.00000000e+00,
       -9.06696700e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00678315, -0.08524928,  0.06169243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12152429e-05, 2.70401911e-06,-4.90668538e-05, 1.09995685e-05,
  3.09935098e-05,-8.46910504e-06, 4.85070586e-06, 7.30778935e-05,
 -5.12264502e-05,-1.73233668e-05,-3.15738187e-05,-2.38451032e-05,
  3.37949173e-03,-1.35122664e-05, 1.72027692e-05, 1.23628425e-05,
  4.11302704e-04,-1.47703034e-03,-4.90341023e+00,-2.86712695e-03,
  1.91299519e-03,-7.88307081e-03]


--- Step 2634 ---
qpos:
[ 0.01868869, 0.03003356,-0.00946939,-0.02527939,-0.00355987, 1.3408245 ,
 -0.03002688, 0.94381304, 0.01154228, 0.02727244,-0.00831046, 0.02643978,
  1.39621157, 0.00772129, 1.34921163, 0.04410283,-0.09690507,-0.07464036,
  0.09188818, 0.65329719, 0.211354  ,-0.67482201,-0.27045799]

qacc:
[ 1.03435858e+00, 1.90962465e+00,-9.44515399e+00, 1.94452282e+01,
  1.35069183e-01,-1.25792643e+00, 5.10907806e+00,-1.07147181e+01,
  7.31823169e-01, 2.39261085e+00,-8.52430648e+00, 1.05368007e+01,
  9.20703950e-02,-4.00909561e-01,-2.19166576e+00, 7.61221705e+00,
 -5.60004069e+00, 3.31862857e-01,-1.17439054e-01, 1.14603242e+02,
 -1.47002523e+02, 4.16498782e+00]

qfrc_actuator:
[ 1.19897248e-04, 8.94105662e-04, 9.58839200e-05,-5.63955967e-05,
  2.31479182e-05, 3.48830641e-02, 1.09417206e-02, 1.78011331e-03,
 -1.00515595e-04, 8.07781367e-04, 1.54867065e-04, 9.57414801e-05,
  0.00000000e+00,-1.67428283e-03, 0.00000000e+00,-6.65032272e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.45142585,  1.77768896,  8.45142585, 10.0280086 ,
       -6.61610919,  1.77768896, -6.61610919, 40.0904355 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006147024136791808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03057317e-15,  1.80611463e-14,  1.00000000e+00,  1.63102503e-28,
        1.00000000e+00, -1.80611463e-14, -1.00000000e+00,  0.00000000e+00,
       -9.03057317e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00683804, -0.08522798,  0.06169136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.24596771e-06,-3.38277505e-05,-2.89232806e-05, 2.47525407e-05,
  3.90197147e-05,-9.39894935e-06, 1.75939188e-06,-2.81643501e-05,
  4.56683655e-06,-8.12230297e-06,-4.54915525e-05, 6.13287459e-07,
  3.37988921e-03,-4.29309583e-05, 6.44313318e-06, 3.86599970e-05,
 -6.25120617e-05,-1.21587773e-03,-4.90368944e+00,-2.25063773e-03,
  2.39143382e-03,-7.89380478e-03]


--- Step 2635 ---
qpos:
[ 0.01868942, 0.0300333 ,-0.00946975,-0.02527926,-0.00355973, 1.34082437,
 -0.03002655, 0.94381101, 0.01154247, 0.0272726 ,-0.00831183, 0.02644049,
  1.39621127, 0.00771994, 1.34930758, 0.04410537,-0.096947  ,-0.07470246,
  0.09188266, 0.65258063, 0.21230098,-0.67497501,-0.27106375]

qacc:
[-2.40122452e+00,-3.37228169e-01,-1.06236763e+00, 6.68985441e+00,
  6.07422784e-02,-4.37929616e+00, 1.92853225e+01,-4.49849549e+01,
  6.50687141e+00, 2.54168380e+00,-7.97775835e+00, 8.24025046e+00,
  1.03790195e-01,-4.26712550e-01, 8.45168639e+00,-2.87905412e+01,
 -4.84120468e+00, 2.86151511e-01,-1.45143276e+00, 9.95837895e+01,
 -1.26440551e+02, 2.76901517e+00]

qfrc_actuator:
[ 1.05219519e-04, 8.60982040e-04, 9.97745426e-05,-4.09697154e-05,
  1.76256847e-05, 3.48784388e-02, 1.09420018e-02, 1.65591359e-03,
 -6.11902240e-05, 8.66582763e-04, 1.33274052e-04, 9.71631652e-05,
  0.00000000e+00,-1.69599227e-03, 0.00000000e+00,-8.05441411e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.42866515,  1.88265256,  8.42866515, 10.34307707,
       -7.64098291,  1.88265256, -7.64098291, 42.84516444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0060921100185910015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.8223949e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.8223949e-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([-0.00671409, -0.08522792,  0.06169367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45075733e-05,-5.69567288e-05,-5.79957260e-06, 1.34594409e-05,
  1.75365525e-05,-1.03246362e-05,-2.18274390e-06,-1.25083001e-04,
  3.94563949e-05, 4.49077897e-05,-2.88430617e-05,-4.88131531e-07,
  3.39199878e-03,-4.48727167e-05, 4.72478921e-06,-1.38013302e-04,
 -3.70316736e-04,-1.01653119e-03,-4.90364749e+00,-1.72471451e-03,
  2.79543342e-03,-7.90626460e-03]


--- Step 2636 ---
qpos:
[ 0.01868962, 0.03003264,-0.00947005,-0.02527964,-0.00355952, 1.34082418,
 -0.03002626, 0.94380821, 0.01154278, 0.02727305,-0.00831312, 0.0264405 ,
  1.39621141, 0.00771825, 1.34940399, 0.04410255,-0.09696334,-0.07476934,
  0.09188295, 0.65212777, 0.21321798,-0.67481725,-0.27182556]

qacc:
[-4.50727997e+00,-1.75711289e+00, 7.69453092e+00,-1.64287958e+01,
  2.39159636e-02,-1.31602556e+00, 5.77514616e+00,-1.39093921e+01,
  1.06824189e+00,-1.26531817e+00, 8.06705067e+00,-2.06213281e+01,
  9.37303073e-02,-1.86830047e-01, 1.69380595e+01,-5.82657746e+01,
  6.39727546e+00,-1.19621565e+00, 1.45485966e+00,-1.32559384e+02,
  1.69767422e+02,-3.80454885e+01]

qfrc_actuator:
[ 7.85386640e-05, 8.41505621e-04, 1.02181302e-04,-6.74616061e-05,
  1.41681692e-05, 3.48757195e-02, 1.09419955e-02, 1.61917254e-03,
 -5.58832498e-05, 8.83740213e-04, 1.39032174e-04, 6.22444270e-05,
  0.00000000e+00,-1.69040372e-03, 0.00000000e+00,-1.08441609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006197294120659398
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47866038e-15,  4.47866038e-15,  1.00000000e+00,  2.00583988e-29,
        1.00000000e+00, -4.47866038e-15, -1.00000000e+00,  0.00000000e+00,
       -4.47866038e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18805299, -0.06247438,  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:
[-2.71226080e-05,-5.19414627e-05,-9.59842961e-06,-2.88674463e-05,
  6.90592167e-06,-1.26189746e-05,-5.94564118e-06,-4.00180245e-05,
  6.47853457e-06, 3.63144986e-05, 1.14761946e-05,-3.40022317e-05,
  3.39065355e-03,-1.24391583e-05,-1.60957867e-05,-2.86739120e-04,
 -5.63822248e-04,-8.62762457e-04,-4.90340279e+00,-1.27255202e-03,
  3.13806117e-03,-7.92006450e-03]


--- Step 2637 ---
qpos:
[ 0.0186895 , 0.03003215,-0.00947057,-0.02528074,-0.00355931, 1.34082372,
 -0.03002596, 0.94380639, 0.01154247, 0.02727333,-0.00831389, 0.0264408 ,
  1.39621177, 0.00771678, 1.34949995, 0.0440994 ,-0.09695764,-0.0748404 ,
  0.0918828 , 0.65190109, 0.21410928,-0.67439199,-0.2727226 ]

qacc:
[-2.77228827e+00,-6.43806399e-01, 5.62134272e+00,-1.77235367e+01,
  6.56092627e-03, 1.30818980e+00,-6.70529735e+00, 1.73344017e+01,
 -5.33694303e+00,-1.05761128e+00, 2.17902528e+00, 2.32790613e+00,
  6.68530284e-02, 1.15721399e-01, 2.96210583e-01,-1.99477144e+00,
  5.50968219e+00,-1.04326177e+00,-1.11365177e-01,-1.14475542e+02,
  1.45626131e+02,-3.31998340e+01]

qfrc_actuator:
[ 6.27661049e-05, 8.83575026e-04, 1.03706107e-04,-1.00646487e-04,
  1.19790600e-05, 3.48564516e-02, 1.09418942e-02, 1.66972099e-03,
 -8.84060408e-05, 8.58165956e-04, 1.60711634e-04, 7.72209912e-05,
  0.00000000e+00,-1.66842094e-03, 0.00000000e+00,-1.08767243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.3536774 , -5.84957779,  6.3536774 , 36.07457614,
       29.80275788, -5.84957779, 29.80275788, 41.00743654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006222403992206457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46058720e-15,  1.33817616e-14,  1.00000000e+00, -5.96905146e-29,
        1.00000000e+00, -1.33817616e-14, -1.00000000e+00,  0.00000000e+00,
        4.46058720e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18799346, -0.06248061,  0.06168804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65769678e-05, 9.82392776e-06,-1.13708310e-05,-3.62988814e-05,
  1.89170914e-06,-2.86171476e-05,-4.42396817e-06, 4.90632244e-05,
 -3.23193299e-05,-4.35164319e-06, 2.94276010e-05, 1.62697846e-05,
  3.36878149e-03, 2.64563235e-05,-4.11971877e-05,-2.17583599e-05,
 -3.18023805e-04,-1.21090159e-03,-4.90354356e+00,-1.88488078e-03,
  2.65508606e-03,-7.95201708e-03]


--- Step 2638 ---
qpos:
[ 0.01868953, 0.030032  ,-0.00947094,-0.02528228,-0.00355924, 1.34082293,
 -0.03002537, 0.94380587, 0.01154212, 0.02727377,-0.00831447, 0.02644092,
  1.39621227, 0.0077158 , 1.34959535, 0.04409886,-0.09693292,-0.07491511,
  0.09187682, 0.65186865, 0.21497826,-0.67373558,-0.27373704]

qacc:
[ 1.33818932e+00,-8.85081556e-01, 5.63632093e+00,-1.36842463e+01,
 -6.23994253e-02, 1.00303462e+00,-6.46420130e+00, 2.08946571e+01,
 -3.64538202e-01,-7.11605608e-01, 3.62823397e+00,-7.29404869e+00,
  5.14427002e-02, 2.80234241e-01,-8.69226507e+00, 2.91906126e+01,
  4.75716729e+00,-9.13619466e-01,-1.45549916e+00,-9.91757546e+01,
  1.25230571e+02,-2.89984860e+01]

qfrc_actuator:
[ 7.12973523e-05, 9.26665860e-04, 1.22708962e-04,-1.19691137e-04,
 -7.18323495e-06, 3.48452357e-02, 1.09594642e-02, 1.73569712e-03,
 -8.96661037e-05, 8.78317957e-04, 1.73713370e-04, 6.81509175e-05,
  0.00000000e+00,-1.63701255e-03, 0.00000000e+00,-9.46158701e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.29552066, -5.91212284,  6.29552066, 38.25199269,
       31.53618584, -5.91212284, 31.53618584, 42.21765328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006166441193748005
  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([-0.18811991, -0.06245905,  0.06169038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.05588505e-06, 4.47024639e-05, 1.83905071e-05,-1.97189071e-05,
 -1.80455204e-05,-2.64370233e-05, 1.29050680e-05, 6.61210342e-05,
 -2.20975813e-06, 2.44803037e-05, 1.62963875e-05,-7.92001057e-06,
  3.35716139e-03, 4.74884351e-05,-2.08983836e-05, 1.35108413e-04,
  3.02048507e-05,-1.56050672e-03,-4.90338232e+00,-2.46557228e-03,
  2.20199193e-03,-7.98492471e-03]


--- Step 2639 ---
qpos:
[ 0.01868967, 0.03003214,-0.00947138,-0.02528366,-0.00355935, 1.34082208,
 -0.03002522, 0.94380615, 0.01154209, 0.02727475,-0.00831503, 0.0264402 ,
  1.39621313, 0.00771514, 1.34969089, 0.04409762,-0.09693417,-0.07498866,
  0.09187651, 0.65154978, 0.21592409,-0.6733737 ,-0.27464073]

qacc:
[ 8.67671515e-01, 9.01413692e-01,-3.29197298e+00, 5.79330879e+00,
 -7.65556616e-02, 2.48945027e+00,-9.88917484e+00, 1.80124430e+01,
  2.82271860e+00,-1.07864856e+00, 8.40587076e+00,-2.33303321e+01,
  3.85225321e-02, 2.52023438e-01, 2.29851838e+00,-7.73469794e+00,
 -6.49456366e+00, 2.88365674e-01, 1.41517438e+00, 1.33455004e+02,
 -1.70064093e+02, 2.66194421e+00]

qfrc_actuator:
[ 7.63089504e-05, 9.34628183e-04, 1.16412943e-04,-1.12488761e-04,
 -1.86199059e-05, 3.48390168e-02, 1.09340887e-02, 1.77471151e-03,
 -7.25018983e-05, 9.25646226e-04, 1.81631997e-04, 2.72692483e-05,
  0.00000000e+00,-1.61807571e-03, 0.00000000e+00,-9.86858184e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006112442831056636
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08166387e-15,  9.08166387e-15,  1.00000000e+00,  8.24766187e-29,
        1.00000000e+00, -9.08166387e-15, -1.00000000e+00,  0.00000000e+00,
       -9.08166387e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00676354, -0.08515805,  0.06169259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26316516e-06, 3.59293792e-05, 4.52841399e-06, 9.37280605e-06,
 -2.21019779e-05,-1.63285042e-05,-2.71399181e-05, 4.01303089e-05,
  1.71085144e-05, 6.40334501e-05, 1.47096992e-05,-3.94227797e-05,
  3.35059832e-03, 4.14999251e-05, 5.47267733e-06,-3.58542099e-05,
  4.33950841e-04,-1.90092621e-03,-4.90303558e+00,-3.00720657e-03,
  1.78372034e-03,-8.01836571e-03]


--- Step 2640 ---
qpos:
[ 0.01868986, 0.03003236,-0.00947211,-0.02528422,-0.00355933, 1.34082139,
 -0.03002575, 0.94380655, 0.01154228, 0.02727568,-0.00831553, 0.02643906,
  1.39621441, 0.00771494, 1.34978647, 0.04409558,-0.09695782,-0.07506122,
  0.09187565, 0.65098398, 0.2169387 ,-0.67326444,-0.27544956]

qacc:
[ 4.99012863e-01, 2.63971300e+00,-1.27308973e+01, 2.74582429e+01,
  5.43449671e-02, 2.23108810e+00,-7.26405408e+00, 7.51681321e+00,
  1.76503021e+00,-1.06048481e+00, 5.43819412e+00,-1.26228540e+01,
  1.15066453e-02, 3.72307282e-01, 2.51873744e+00,-8.68467658e+00,
 -5.59820702e+00, 2.48815068e-01,-1.37586192e-01, 1.15696169e+02,
 -1.45750186e+02, 1.11116859e+00]

qfrc_actuator:
[ 7.92004678e-05, 9.21424390e-04, 9.51039861e-05,-7.21980658e-05,
  1.01762981e-05, 3.48534167e-02, 1.09013151e-02, 1.77976653e-03,
 -6.23932851e-05, 8.82320230e-04, 1.68841489e-04, 3.53149654e-06,
  0.00000000e+00,-1.58889441e-03, 0.00000000e+00,-1.02812074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51171015,  1.46204215,  8.51171015,  9.45081444,
       -4.74156587,  1.46204215, -4.74156587, 36.24078973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006136196716256988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80930155e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80930155e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00681694, -0.08513527,  0.06169154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05712521e-06, 8.22877068e-06,-1.30000530e-05, 4.21717090e-05,
  1.57342008e-05, 1.26942653e-06,-3.78781501e-05, 4.69825981e-06,
  1.06353869e-05,-6.19024391e-06, 8.80294214e-07,-2.12519625e-05,
  3.33217351e-03, 5.44803612e-05,-3.29438941e-06,-4.29991065e-05,
 -9.81066471e-05,-1.62235666e-03,-4.90329337e+00,-2.30860012e-03,
  2.33447425e-03,-8.03066956e-03]


--- Step 2641 ---
qpos:
[ 0.01869009, 0.03003249,-0.00947273,-0.02528394,-0.00355924, 1.34082101,
 -0.03002656, 0.94380836, 0.01154224, 0.0272764 ,-0.00831606, 0.02643768,
  1.39621579, 0.00771506, 1.34988182, 0.04409472,-0.09700082,-0.07513293,
  0.09186891, 0.65020445, 0.21801478,-0.67337225,-0.27617666]

qacc:
[ 2.91447038e-01, 1.26116839e+00,-8.19135647e+00, 2.24358831e+01,
  3.01497574e-02, 3.57551188e+00,-1.40545448e+01, 2.82765475e+01,
 -1.91375466e+00,-7.09087098e-01, 3.15306607e+00,-7.20306999e+00,
 -1.09290104e-02, 2.34447770e-01,-3.94550237e+00, 1.33037423e+01,
 -4.83892423e+00, 2.13852673e-01,-1.46973353e+00, 1.00602282e+02,
 -1.25271171e+02, 2.11302319e-02]

qfrc_actuator:
[ 8.08217828e-05, 9.13357441e-04, 1.00538390e-04,-3.05460253e-05,
  9.61713479e-06, 3.48977454e-02, 1.09000226e-02, 1.85358170e-03,
 -7.42781543e-05, 8.55974718e-04, 1.61334834e-04,-1.00107376e-05,
  0.00000000e+00,-1.58932652e-03, 0.00000000e+00,-9.62814101e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.4962219 ,  1.54951291,  8.4962219 ,  9.63838417,
       -5.49423548,  1.54951291, -5.49423548, 38.76211708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006080544761757754
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12930558e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12930558e-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([-0.00669163, -0.08513304,  0.06169387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71217506e-06,-4.34285805e-06, 6.99868548e-06, 4.23780038e-05,
  8.73918341e-06, 3.77689214e-05,-5.21499674e-06, 7.28502392e-05,
 -1.15724914e-05,-3.05571835e-05,-9.41501657e-06,-1.41894948e-05,
  3.31066748e-03, 3.15979306e-05,-7.59342741e-06, 6.21651440e-05,
 -4.61228401e-04,-1.40931022e-03,-4.90323494e+00,-1.70719286e-03,
  2.80572856e-03,-8.04489855e-03]


--- Step 2642 ---
qpos:
[ 0.01869034, 0.03003302,-0.00947347,-0.02528357,-0.00355955, 1.34082051,
 -0.03002724, 0.9438114 , 0.01154171, 0.02727711,-0.00831685, 0.02643752,
  1.39621697, 0.00771545, 1.34997677, 0.04409732,-0.09701834,-0.07520977,
  0.09186787, 0.64968519, 0.21906524,-0.67316809,-0.2770637 ]

qacc:
[ 1.37856022e-01, 1.09253102e+00,-3.54233910e+00, 5.19837093e+00,
 -1.67862813e-01, 1.59440512e+00,-7.91412060e+00, 2.12215358e+01,
 -4.16333634e+00, 3.22923069e+00,-1.66488102e+01, 3.81270966e+01,
 -1.43128240e-02, 1.18165581e-01,-1.10145008e+01, 3.76859053e+01,
  6.37099877e+00,-1.28596182e+00, 1.42643016e+00,-1.33632297e+02,
  1.68077464e+02,-4.14368583e+01]

qfrc_actuator:
[ 8.16832565e-05, 9.61788058e-04, 1.03980138e-04,-2.39149973e-05,
 -4.40547548e-05, 3.48710483e-02, 1.08997417e-02, 1.91405941e-03,
 -9.90107321e-05, 8.75516967e-04, 1.57060984e-04, 5.35732002e-05,
  0.00000000e+00,-1.58983375e-03, 0.00000000e+00,-7.81981325e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006187041609170267
  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([-0.18805717, -0.06245305,  0.06168926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.07998316e-07, 4.92640518e-05, 4.87784777e-06, 7.51285242e-06,
 -4.85063302e-05,-4.62805597e-06, 8.65403511e-06, 6.31498372e-05,
 -2.50797084e-05,-1.19234772e-07,-1.22351619e-05, 6.16756560e-05,
  3.30592661e-03, 1.46415754e-05, 2.33889612e-06, 1.83066198e-04,
 -7.06794597e-04,-1.24475043e-03,-4.90297778e+00,-1.18619242e-03,
  3.21048832e-03,-8.06065470e-03]


--- Step 2643 ---
qpos:
[ 0.01869093, 0.03003401,-0.00947421,-0.02528348,-0.00356035, 1.34081933,
 -0.03002693, 0.94381238, 0.01154123, 0.02727751,-0.00831728, 0.02643812,
  1.39621815, 0.00771584, 1.35007194, 0.04410004,-0.09701245,-0.07528782,
  0.09186928, 0.64943281, 0.21998727,-0.67271323,-0.27802793]

qacc:
[ 3.02144326e+00,-3.85197058e-03, 2.08819011e+00,-7.35709301e+00,
 -2.09166210e-01,-7.09455107e+00, 2.62778035e+01,-4.61890902e+01,
  4.62768082e-01, 1.49978466e-01,-4.34179292e+00, 1.71476686e+01,
 -7.78362943e-03, 1.60795395e-02,-5.55270552e-02, 6.59327934e-01,
  5.85152238e+00,-2.98706773e-01, 6.10935609e-01,-1.31667043e+02,
  1.45020636e+02, 2.76600029e+01]

qfrc_actuator:
[ 9.98441497e-05, 9.90389488e-04, 1.06416253e-04,-3.79003893e-05,
 -7.58966863e-05, 3.48020372e-02, 1.09352687e-02, 1.80637170e-03,
 -9.55944957e-05, 8.51453587e-04, 1.72718784e-04, 9.10569159e-05,
  0.00000000e+00,-1.59044718e-03, 0.00000000e+00,-7.83104663e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.97709974,   5.0898778 ,   6.97709974,
        29.38884605, -28.44707584,   5.0898778 , -28.44707584,
        47.63102979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006217983899996143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78550322e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78550322e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18572552, -0.07050178,  0.0616879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82030239e-05, 5.74665996e-05, 1.34728244e-05,-1.15615646e-05,
 -6.05075338e-05,-6.79737705e-05, 3.74640324e-05,-1.06106149e-04,
  2.68107129e-06,-2.40410191e-05, 1.62619025e-05, 3.82570383e-05,
  3.31569229e-03, 1.10853744e-06, 1.99721758e-05, 9.04240497e-06,
 -4.02486372e-04,-1.66694621e-03,-4.90308320e+00,-1.88946201e-03,
  2.64538191e-03,-8.09710581e-03]


--- Step 2644 ---
qpos:
[ 0.01869175, 0.03003485,-0.00947436,-0.02528352,-0.00356131, 1.34081805,
 -0.03002611, 0.94381238, 0.01154149, 0.02727734,-0.00831699, 0.0264378 ,
  1.39621952, 0.00771616, 1.35016747, 0.04410041,-0.09698635,-0.07536695,
  0.09186736, 0.6494098 , 0.22079857,-0.67204203,-0.27905987]

qacc:
[ 1.85218716e+00,-2.10750581e+00, 7.76238582e+00,-1.08162585e+01,
 -6.47670269e-02,-3.16691161e+00, 1.21892946e+01,-2.18704496e+01,
  6.29639898e+00,-4.70234649e+00, 1.95515935e+01,-3.63048447e+01,
 -1.42520951e-02, 1.57350850e-02, 7.66348693e+00,-2.60065127e+01,
  5.05336808e+00,-2.71497350e-01,-8.30823938e-01,-1.14029718e+02,
  1.24558242e+02, 2.33535877e+01]

qfrc_actuator:
[ 1.10289389e-04, 9.53619389e-04, 1.25920822e-04,-4.61566943e-05,
 -5.88785066e-05, 3.48325284e-02, 1.09736164e-02, 1.76035132e-03,
 -5.78807203e-05, 8.01536848e-04, 1.99823487e-04, 4.18412006e-05,
  0.00000000e+00,-1.59097996e-03, 0.00000000e+00,-9.09209060e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.04329626, -4.99787501,  7.04329626, 26.74087519,
       25.51393108, -4.99787501, 25.51393108, 44.59207982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006182461516925822
  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([-0.18580291, -0.07049214,  0.06168938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09932291e-05,-2.37087956e-06, 3.26281209e-05,-5.55656007e-06,
 -1.87412869e-05,-2.96490246e-06, 2.62049858e-05,-4.94244863e-05,
  3.77826109e-05,-5.83734470e-05, 2.54637940e-05,-4.89402240e-05,
  3.31529442e-03, 5.28897280e-08, 7.22589833e-06,-1.23727137e-04,
  7.11318913e-05,-1.77650396e-03,-4.90320783e+00,-2.51870620e-03,
  2.07892201e-03,-8.13112299e-03]


--- Step 2645 ---
qpos:
[ 0.01869233, 0.03003532,-0.00947356,-0.0252833 ,-0.00356198, 1.34081739,
 -0.03002549, 0.94381284, 0.0115422 , 0.0272768 ,-0.00831642, 0.02643688,
  1.39622092, 0.0077165 , 1.35026292, 0.04410028,-0.09698615,-0.07544459,
  0.0918711 , 0.64909601, 0.22170878,-0.67165836,-0.27999042]

qacc:
[-1.89948564e+00,-2.60381998e+00, 7.52153195e+00,-4.42374180e+00,
  1.21424890e-01, 2.15597494e+00,-6.97978703e+00, 1.09453355e+01,
  3.85682292e+00,-2.47018685e+00, 1.05749598e+01,-2.08587295e+01,
 -2.71275391e-02, 5.50487027e-02, 1.35888495e+00,-4.94182938e+00,
 -6.47475183e+00, 3.71619206e-01, 1.41501713e+00, 1.38406798e+02,
 -1.66075433e+02,-9.14779398e+00]

qfrc_actuator:
[ 9.83509391e-05, 9.31311723e-04, 1.72837400e-04,-3.32645566e-05,
 -1.26879171e-05, 3.49046536e-02, 1.09782415e-02, 1.78658332e-03,
 -3.57962360e-05, 7.89756958e-04, 2.15536910e-04, 1.29994305e-05,
  0.00000000e+00,-1.59137715e-03, 0.00000000e+00,-9.30349673e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006100835690058863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09894219e-15,  1.81978844e-14,  1.00000000e+00,  1.65581498e-28,
        1.00000000e+00, -1.81978844e-14, -1.00000000e+00,  0.00000000e+00,
       -9.09894219e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00674258, -0.08507983,  0.06169279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16225255e-05,-1.71598646e-05, 5.02439206e-05, 1.38092162e-05,
  3.51153057e-05, 7.41327208e-05, 5.57830859e-06, 2.57648958e-05,
  2.31713037e-05,-4.12423754e-05, 5.09667695e-06,-3.14157447e-05,
  3.30589628e-03, 3.71591310e-06,-1.31260560e-05,-2.77384836e-05,
  5.34856859e-04,-1.86712620e-03,-4.90309773e+00,-3.01567700e-03,
  1.63633812e-03,-8.16250100e-03]


--- Step 2646 ---
qpos:
[ 0.01869208, 0.03003585,-0.00947235,-0.02528261,-0.00356239, 1.34081728,
 -0.03002535, 0.94381225, 0.01154386, 0.02727655,-0.00831625, 0.02643594,
  1.39622217, 0.00771652, 1.3503584 , 0.04409888,-0.09700828,-0.07552099,
  0.0918743 , 0.64853161, 0.22270575,-0.67152158,-0.28083388]

qacc:
[-7.17198742e+00,-8.72002237e-02,-1.56922897e+00, 9.11316505e+00,
  1.06527496e-01, 1.85648299e-01, 2.42693814e+00,-1.46404168e+01,
  8.08044414e+00, 1.42953979e+00,-4.47094403e+00, 4.45827448e+00,
 -2.68958472e-02,-2.09008473e-01, 3.92824250e+00,-1.36576690e+01,
 -5.58411522e+00, 3.10024623e-01,-1.36097299e-01, 1.19749248e+02,
 -1.42486532e+02,-8.58569667e+00]

qfrc_actuator:
[ 5.55832474e-05, 9.53466750e-04, 2.00104990e-04,-8.01178002e-06,
 -2.63099289e-06, 3.49123113e-02, 1.09453896e-02, 1.73085533e-03,
  1.24061627e-05, 8.36375442e-04, 2.06814375e-04, 1.41625173e-05,
  0.00000000e+00,-1.62727723e-03, 0.00000000e+00,-9.95946022e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.12607126,   2.92467823,   8.12607126,
        13.91438361, -14.66471282,   2.92467823, -14.66471282,
        49.38153006,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00612586566620138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.06176437e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.06176437e-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([-0.00679861, -0.08506754,  0.06169172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31172835e-05, 2.34950440e-05, 3.03740006e-05, 2.65224046e-05,
  3.08110623e-05, 5.05383825e-05,-1.69592208e-05,-5.27384187e-05,
  4.88664247e-05, 2.32869815e-05,-1.76996207e-05,-1.03824584e-06,
  3.30426460e-03,-3.36884697e-05,-1.04966469e-05,-6.91474456e-05,
 -1.77599416e-05,-1.66244816e-03,-4.90330862e+00,-2.35142972e-03,
  2.19152716e-03,-8.17517485e-03]


--- Step 2647 ---
qpos:
[ 0.01869098, 0.03003659,-0.00947083,-0.02528233,-0.0035629 , 1.3408178 ,
 -0.03002567, 0.94381133, 0.01154574, 0.02727687,-0.00831666, 0.02643465,
  1.39622345, 0.00771607, 1.35045419, 0.04409367,-0.09700686,-0.07559889,
  0.09188007, 0.64823473, 0.22357635,-0.67113215,-0.28175695]

qacc:
[-7.33678826e+00,-1.42639681e+00, 7.21806162e+00,-1.49152429e+01,
 -3.90443359e-02, 1.52849499e+00,-3.33522893e+00,-1.25148034e+00,
  1.85455572e+00, 1.63426785e+00,-3.22708325e+00,-2.38827420e+00,
 -2.39291788e-02,-2.45904585e-01, 1.19528071e+01,-4.11661841e+01,
  5.88801729e+00,-3.72749521e-01, 6.42409424e-01,-1.32973858e+02,
  1.45131957e+02, 2.60444294e+01]

qfrc_actuator:
[ 1.27726738e-05, 9.66512527e-04, 2.15731423e-04,-2.89290279e-05,
 -3.20865871e-05, 3.49521245e-02, 1.09259005e-02, 1.71603854e-03,
  2.23429572e-05, 8.82033994e-04, 1.84005017e-04,-2.49926294e-06,
  0.00000000e+00,-1.64862552e-03, 0.00000000e+00,-1.19374841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061199428527067695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26763356e-15,  1.13381678e-15,  1.00000000e+00,  2.57108098e-30,
        1.00000000e+00, -1.13381678e-15, -1.00000000e+00,  0.00000000e+00,
       -2.26763356e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18593731, -0.0704659 ,  0.06169196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40641643e-05, 3.35436427e-05, 2.51175674e-05,-1.83475467e-05,
 -1.12455977e-05, 6.28686660e-05,-1.30804115e-05,-1.50187306e-05,
  1.13759267e-05, 5.50118681e-05,-2.02122162e-05,-1.62958805e-05,
  3.31141058e-03,-3.85082918e-05,-1.45375493e-05,-2.03453085e-04,
 -4.09841737e-04,-1.50166676e-03,-4.90321816e+00,-1.76040396e-03,
  2.68134579e-03,-8.18967456e-03]


--- Step 2648 ---
qpos:
[ 0.01868902, 0.0300373 ,-0.00946873,-0.02528228,-0.00356346, 1.34081873,
 -0.03002592, 0.94381058, 0.01154703, 0.02727745,-0.00831698, 0.02643351,
  1.39622485, 0.00771525, 1.35055014, 0.04408411,-0.09702776,-0.07567538,
  0.09188527, 0.64768592, 0.22454125,-0.67098709,-0.28259599]

qacc:
[-7.27245199e+00,-2.13893123e+00, 8.61548257e+00,-1.37150669e+01,
 -2.18608807e-02, 6.24160258e-01,-1.70710401e+00, 3.11536797e+00,
 -4.98781418e+00, 4.45819849e-01,-1.74709901e+00, 4.08888106e+00,
 -3.17320465e-02,-1.60965283e-01, 1.34162564e+01,-4.65608811e+01,
 -5.57788182e+00, 3.50100672e-01,-1.43527728e-01, 1.21350925e+02,
 -1.41063336e+02,-1.25790939e+01]

qfrc_actuator:
[-2.97101978e-05, 9.56167684e-04, 2.42061545e-04,-4.13497138e-05,
 -3.17485403e-05, 3.49754335e-02, 1.09323703e-02, 1.72546158e-03,
 -8.08356716e-06, 8.91196336e-04, 1.88575763e-04, 5.98520969e-06,
  0.00000000e+00,-1.66097731e-03, 0.00000000e+00,-1.41458006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006098477742355002
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10246025e-15,  9.10246025e-15,  1.00000000e+00,  8.28547826e-29,
        1.00000000e+00, -9.10246025e-15, -1.00000000e+00,  0.00000000e+00,
       -9.10246025e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0067356 , -0.08506503,  0.06169289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37593743e-05, 1.27574549e-05, 3.56925485e-05,-1.04764413e-05,
 -6.30536810e-06, 5.50723644e-05, 1.68374633e-05, 1.05798719e-05,
 -3.00723337e-05, 3.50575654e-05, 1.28861036e-05, 9.82839819e-06,
  3.30980654e-03,-2.76489033e-05,-3.15209127e-05,-2.34525324e-04,
  2.94330192e-05,-1.60211627e-03,-4.90339066e+00,-2.36959377e-03,
  2.13039925e-03,-8.22197655e-03]


--- Step 2649 ---
qpos:
[ 0.01868691, 0.03003811,-0.00946692,-0.02528165,-0.00356405, 1.34081979,
 -0.03002621, 0.94380929, 0.01154829, 0.02727782,-0.00831677, 0.02643251,
  1.39622589, 0.0077144 , 1.35064532, 0.04407697,-0.0970253 ,-0.07575348,
  0.0918927 , 0.64740168, 0.22538229,-0.67059146,-0.28351538]

qacc:
[-1.29718536e+00, 2.18680724e+00,-1.00720433e+01, 2.06185377e+01,
 -1.13153374e-02,-6.34281401e-01, 3.37841011e+00,-9.26443268e+00,
 -2.34134651e-01,-1.51535458e+00, 4.45496260e+00,-2.84986115e+00,
 -3.62882364e-02,-7.14224917e-02,-8.45443759e+00, 2.79113681e+01,
  5.83766747e+00,-4.00618523e-01, 5.58303107e-01,-1.32174800e+02,
  1.43387803e+02, 2.47840474e+01]

qfrc_actuator:
[-3.61549298e-05, 9.49691583e-04, 2.21164285e-04,-1.31696592e-05,
 -3.12905469e-05, 3.49532880e-02, 1.09185519e-02, 1.69581277e-03,
 -8.75386319e-06, 8.60810127e-04, 2.09157988e-04, 1.14394128e-05,
  0.00000000e+00,-1.66783110e-03, 0.00000000e+00,-1.27435536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006146761175115367
  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([-0.18587619, -0.07045601,  0.06169084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72081948e-06, 7.52135955e-06,-1.42582164e-05, 2.97529501e-05,
 -3.26636451e-06, 1.19243805e-05,-8.20728895e-07,-2.72545234e-05,
 -1.53842272e-06,-7.71957397e-06, 2.97533399e-05, 7.59720837e-06,
  3.30344744e-03,-1.55457048e-05,-4.18839696e-05, 1.22834175e-04,
 -3.65593200e-04,-1.46680844e-03,-4.90329327e+00,-1.79762885e-03,
  2.61463936e-03,-8.23626891e-03]


--- Step 2650 ---
qpos:
[ 0.01868578, 0.03003872,-0.00946549,-0.02528099,-0.0035645 , 1.34082088,
 -0.0300269 , 0.94380802, 0.01154988, 0.02727768,-0.00831609, 0.02643162,
  1.39622658, 0.0077137 , 1.35073997, 0.04407382,-0.09700266,-0.075833  ,
  0.09189665, 0.64734494, 0.22611657,-0.66997947,-0.28450543]

qacc:
[ 8.33958690e+00, 8.19831865e-01,-3.47736548e+00, 4.80701301e+00,
  5.65240160e-02, 1.16309659e+00,-3.81957522e+00, 3.63758988e+00,
  2.81280119e+00,-1.72658192e+00, 4.64036303e+00,-2.88164344e+00,
 -1.86356132e-02, 1.65813329e-02,-1.29149484e+01, 4.40005340e+01,
  5.04452986e+00,-3.55818290e-01,-8.68680235e-01,-1.14559047e+02,
  1.23220362e+02, 2.07926983e+01]

qfrc_actuator:
[ 1.41685891e-05, 9.09916270e-04, 1.90333202e-04,-1.46186102e-05,
 -1.30121939e-05, 3.49395008e-02, 1.08926519e-02, 1.69661613e-03,
  8.10892572e-06, 8.07040830e-04, 2.21090656e-04, 1.50326936e-05,
  0.00000000e+00,-1.65383815e-03, 0.00000000e+00,-1.06454516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.36871225, -4.50431533,  7.36871225, 21.71592798,
       21.39715781, -4.50431533, 21.39715781, 43.64046242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006114625122955734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53921133e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.53921133e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18594896, -0.07044357,  0.06169223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00959654e-05,-3.72882693e-05,-3.00338495e-05,-1.04734890e-06,
  1.63485812e-05,-8.17912932e-06,-2.44626570e-05, 5.05082527e-07,
  1.68147550e-05,-5.16250793e-05, 1.42622953e-05, 4.44103334e-06,
  3.32143386e-03,-3.95317270e-07,-5.29897836e-06, 2.11390932e-04,
  6.63846457e-05,-1.56407887e-03,-4.90344759e+00,-2.38753735e-03,
  2.07965897e-03,-8.26774539e-03]


--- Step 2651 ---
qpos:
[ 0.0186856 , 0.03003882,-0.00946396,-0.02528138,-0.00356464, 1.34082173,
 -0.03002763, 0.9438092 , 0.01155166, 0.02727709,-0.00831554, 0.02643151,
  1.39622738, 0.00771317, 1.35083481, 0.04407085,-0.09700532,-0.0759107 ,
  0.09190537, 0.64700015, 0.22696911,-0.66964142,-0.28540533]

qacc:
[ 8.22113122e+00,-3.14205360e+00, 1.46318864e+01,-3.25707382e+01,
  1.33160347e-01, 3.95560842e+00,-1.82879711e+01, 4.43126692e+01,
  1.62492841e+00, 1.36906709e+00,-9.03627308e+00, 2.30126164e+01,
 -8.40931929e-03, 1.39364991e-01,-1.95430446e-01, 1.13660109e+00,
 -6.32403999e+00, 4.54488174e-01, 1.19230497e+00, 1.40013313e+02,
 -1.58149873e+02,-2.04476807e+01]

qfrc_actuator:
[ 6.19848628e-05, 8.68178065e-04, 1.89237974e-04,-6.90303082e-05,
  1.58085856e-05, 3.49307821e-02, 1.08953830e-02, 1.82185395e-03,
  1.73942422e-05, 7.75146425e-04, 2.09949671e-04, 5.29742089e-05,
  0.00000000e+00,-1.62750032e-03, 0.00000000e+00,-1.06407223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006178488594126154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.98458424e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.98458424e-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([-0.00691505, -0.08505403,  0.0616895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92607910e-05,-6.88563514e-05,-1.25578985e-05,-5.70755645e-05,
  3.84818516e-05,-1.80211739e-05,-1.64013118e-06, 1.24285044e-04,
  9.75907111e-06,-5.76170686e-05,-1.98979220e-05, 3.63094687e-05,
  3.33882076e-03, 1.84947864e-05, 1.99364131e-05, 1.13421577e-05,
  4.96527696e-04,-1.64710006e-03,-4.90336662e+00,-2.85537365e-03,
  1.66024403e-03,-8.29685377e-03]


--- Step 2652 ---
qpos:
[ 0.01868669, 0.03003904,-0.00946276,-0.02528212,-0.00356475, 1.34082212,
 -0.03002762, 0.94381185, 0.01155354, 0.0272767 ,-0.00831598, 0.02643184,
  1.39622825, 0.00771291, 1.35092961, 0.04406894,-0.09702981,-0.07598691,
  0.09191277, 0.64640714, 0.22792397,-0.66953888,-0.28622748]

qacc:
[ 1.08328902e+01, 3.36708982e-01, 4.80519403e-01,-6.11455131e+00,
  1.53292887e-02,-6.72762531e-02,-3.53113212e+00, 2.04148417e+01,
  7.96560612e-01, 3.91287586e+00,-1.53590364e+01, 2.41975421e+01,
 -1.75447552e-02, 2.02699323e-01,-3.26875716e+00, 1.13515554e+01,
 -5.45677279e+00, 3.71429915e-01,-3.30947055e-01, 1.20906696e+02,
 -1.35872006e+02,-1.77957867e+01]

qfrc_actuator:
[ 1.25676267e-04, 9.14409455e-04, 1.87904751e-04,-8.31382077e-05,
 -2.53765910e-06, 3.49075945e-02, 1.09328356e-02, 1.89506165e-03,
  2.21392868e-05, 8.09780999e-04, 1.67624087e-04, 7.53170742e-05,
  0.00000000e+00,-1.61158507e-03, 0.00000000e+00,-1.00944108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006186890084968297
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.97238362e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.97238362e-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([-0.00693242, -0.08505595,  0.06168918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51039120e-05, 2.68743121e-06,-1.90957349e-05,-1.86066715e-05,
  4.39385207e-06,-2.97439399e-05, 3.73869757e-05, 7.55011651e-05,
  5.00869799e-06,-1.14905648e-07,-5.54194124e-05, 1.98922026e-05,
  3.33300974e-03, 2.61146763e-05, 7.69477170e-06, 5.71976531e-05,
 -2.08151928e-05,-1.52678606e-03,-4.90346831e+00,-2.26098237e-03,
  2.18244086e-03,-8.30955883e-03]


--- Step 2653 ---
qpos:
[ 0.01868888, 0.03003976,-0.00946243,-0.02528235,-0.00356492, 1.34082214,
 -0.03002701, 0.94381294, 0.01155546, 0.02727676,-0.00831685, 0.02643235,
  1.39622952, 0.00771274, 1.35102491, 0.04406368,-0.09707319,-0.07606192,
  0.09191363, 0.64559938, 0.22896752,-0.66963913,-0.28698213]

qacc:
[ 9.40319510e+00, 4.16367827e+00,-1.60607007e+01, 2.59913644e+01,
 -2.88998906e-02,-4.78729087e+00, 1.82186253e+01,-3.36541994e+01,
  3.38949328e-01, 2.17951859e+00,-7.73944520e+00, 1.14678338e+01,
 -2.94254551e-02, 1.86212341e-01, 1.08694072e+01,-3.69366773e+01,
 -4.72183735e+00, 3.02237531e-01,-1.63664302e+00, 1.04762321e+02,
 -1.17046714e+02,-1.54948298e+01]

qfrc_actuator:
[ 1.80450189e-04, 9.59742666e-04, 1.51318758e-04,-5.55882304e-05,
 -1.35259262e-05, 3.48760454e-02, 1.09548624e-02, 1.81277580e-03,
  2.41768841e-05, 8.66095315e-04, 1.60749179e-04, 8.83373246e-05,
  0.00000000e+00,-1.60209750e-03, 0.00000000e+00,-1.18956487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006118558490941825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.8145173e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.8145173e-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([-0.0067771 , -0.08507135,  0.06169211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66717411e-05, 4.20944036e-05,-3.90452264e-05, 2.66376047e-05,
 -8.39303544e-06,-3.84190864e-05, 2.26803184e-05,-8.03287347e-05,
  2.18403451e-06, 4.56809894e-05,-1.30256755e-05, 1.14861942e-05,
  3.32926970e-03, 2.19306885e-05, 7.97320667e-06,-1.76391084e-04,
 -3.97690931e-04,-1.42820604e-03,-4.90330376e+00,-1.71345305e-03,
  2.65798080e-03,-8.32392874e-03]


--- Step 2654 ---
qpos:
[ 0.01869067, 0.03004038,-0.00946206,-0.02528223,-0.00356504, 1.34082212,
 -0.03002682, 0.94381306, 0.01155739, 0.02727723,-0.00831702, 0.02643294,
  1.39623115, 0.00771268, 1.3511204 , 0.04405498,-0.09709009,-0.07613913,
  0.09192238, 0.64509097, 0.22987471,-0.6694541 ,-0.28783062]

qacc:
[-3.37176156e+00, 4.47953546e-01,-3.25210652e+00, 9.23763819e+00,
  2.17956810e-02,-5.52404225e-01, 3.74894665e+00,-1.44941556e+01,
  9.49946479e-02,-1.26203327e+00, 4.96217210e+00,-5.05717934e+00,
 -5.68168732e-02, 2.26415247e-01, 1.07044795e+01,-3.69869526e+01,
  6.61749187e+00,-5.51328096e-01, 1.97598423e+00,-1.50646967e+02,
  1.62005492e+02, 2.56532186e+01]

qfrc_actuator:
[ 1.58521442e-04, 9.33088080e-04, 1.47516159e-04,-3.92745402e-05,
 -2.25655129e-06, 3.48750940e-02, 1.09319698e-02, 1.76390436e-03,
  2.46062588e-05, 9.17344688e-04, 2.10483941e-04, 9.58260225e-05,
  0.00000000e+00,-1.59638536e-03, 0.00000000e+00,-1.36453621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006195313587313296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48009213e-15,  2.24004606e-15,  1.00000000e+00,  1.00356127e-29,
        1.00000000e+00, -2.24004606e-15, -1.00000000e+00,  0.00000000e+00,
       -4.48009213e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18576551, -0.07042072,  0.06168882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02647962e-05,-1.00563263e-05, 9.87743143e-07, 1.72791682e-05,
  6.30835119e-06,-2.01817469e-05,-3.01819280e-05,-5.12210857e-05,
  5.08711453e-07, 7.46097485e-05, 5.79740596e-05, 9.22008841e-06,
  3.30940275e-03, 2.35148497e-05,-1.85720691e-05,-1.84386010e-04,
 -6.73678684e-04,-1.34762935e-03,-4.90297546e+00,-1.21435588e-03,
  3.08633567e-03,-8.33975935e-03]


--- Step 2655 ---
qpos:
[ 0.01869116, 0.03004099,-0.0094612 ,-0.02528197,-0.00356522, 1.34082216,
 -0.03002704, 0.94381362, 0.01155966, 0.02727807,-0.00831708, 0.02643332,
  1.3962327 , 0.0077129 , 1.35121534, 0.04404791,-0.09708419,-0.07621827,
  0.09193251, 0.64483931, 0.23066491,-0.66902364,-0.28876172]

qacc:
[-1.12291643e+01,-1.04488037e+00, 3.10664130e+00,-1.30436899e+00,
 -2.51467881e-02, 1.92597426e+00,-7.08980112e+00, 1.12123126e+01,
  2.85662605e+00,-2.35634575e-01, 2.43864631e+00,-6.55457978e+00,
 -7.62687781e-02, 2.30399107e-01,-5.74971988e+00, 1.89526273e+01,
  5.70222588e+00,-4.82561334e-01, 3.42843404e-01,-1.30216691e+02,
  1.38768788e+02, 2.12553785e+01]

qfrc_actuator:
[ 9.16245573e-05, 9.52416883e-04, 1.80563144e-04,-2.97413483e-05,
 -1.32306560e-05, 3.48923024e-02, 1.09184163e-02, 1.78837457e-03,
  4.18391704e-05, 9.12154867e-04, 2.04464236e-04, 8.22834792e-05,
  0.00000000e+00,-1.59300257e-03, 0.00000000e+00,-1.26869858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.65434906, -3.99971466,  7.65434906, 17.25211847,
       16.48817488, -3.99971466, 16.48817488, 40.19017593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006228231083331759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45641391e-15,  2.00538626e-14,  1.00000000e+00,  8.93683121e-29,
        1.00000000e+00, -2.00538626e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45641391e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18569271, -0.07041615,  0.06168746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.74940348e-05, 1.46094094e-05, 3.16766110e-05, 9.47130878e-06,
 -7.24660771e-06,-1.39922394e-06,-2.24381119e-05, 2.17913221e-05,
  1.72725346e-05, 4.88928415e-05, 1.68487837e-05,-8.16146980e-06,
  3.29092498e-03, 2.12289211e-05,-3.03555022e-05, 8.28828197e-05,
 -2.63643100e-04,-1.45805241e-03,-4.90341097e+00,-1.91615855e-03,
  2.43821572e-03,-8.37249724e-03]


--- Step 2656 ---
qpos:
[ 0.01869084, 0.03004188,-0.0094606 ,-0.02528192,-0.00356577, 1.34082228,
 -0.03002693, 0.94381511, 0.01156176, 0.02727912,-0.00831765, 0.02643326,
  1.39623391, 0.00771317, 1.35130993, 0.04404334,-0.09705858,-0.07629911,
  0.0919384 , 0.64480828, 0.23135429,-0.66838119,-0.28976553]

qacc:
[-6.92992363e+00, 6.62507768e-01,-8.80369538e-01,-2.71718258e+00,
 -1.60096943e-01, 8.16304369e-01,-4.46469582e+00, 1.47039231e+01,
 -1.34492370e+00, 7.57558608e-01,-3.99842490e-01,-6.70831006e+00,
 -6.88464862e-02, 8.29296647e-03,-8.03914539e+00, 2.73699048e+01,
  4.92720509e+00,-4.24264658e-01,-1.05845276e+00,-1.12877692e+02,
  1.19215553e+02, 1.76912195e+01]

qfrc_actuator:
[ 5.20792579e-05, 9.63775706e-04, 1.64248936e-04,-4.19722813e-05,
 -5.52132285e-05, 3.49203257e-02, 1.09461212e-02, 1.83807493e-03,
  3.33195870e-05, 8.90732061e-04, 1.65313941e-04, 5.63818430e-05,
  0.00000000e+00,-1.60898969e-03, 0.00000000e+00,-1.13834070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.52819745, -4.23237759,  7.52819745, 19.38877101,
       19.12547832, -4.23237759, 19.12547832, 42.65515666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006179133316926426
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4918234e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4918234e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18580421, -0.07039829,  0.06168959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15115169e-05, 2.64181929e-05,-9.08344988e-06,-1.03262308e-05,
 -4.62650981e-05, 2.35153910e-05, 2.55177021e-05, 4.95060620e-05,
 -7.99438127e-06, 9.03178424e-06,-2.72661505e-05,-2.33850795e-05,
  3.29527130e-03,-9.13749915e-06,-4.79205063e-06, 1.31093661e-04,
  1.64364034e-04,-1.55454436e-03,-4.90351128e+00,-2.47073201e-03,
  1.92963874e-03,-8.40261532e-03]


--- Step 2657 ---
qpos:
[ 0.01869039, 0.03004275,-0.00946033,-0.02528231,-0.00356676, 1.34082253,
 -0.03002677, 0.94381686, 0.01156341, 0.02727998,-0.00831852, 0.02643326,
  1.39623507, 0.00771363, 1.3514045 , 0.04404   ,-0.09705836,-0.07637809,
  0.09194912, 0.64448502, 0.23217577,-0.66800853,-0.29068552]

qacc:
[-1.10281513e+00,-3.94479852e-02, 1.97113702e+00,-9.15711091e+00,
 -1.80250137e-01, 4.45165563e-01,-1.76168831e+00, 4.32990685e+00,
 -3.95584002e+00, 7.79780364e-01,-3.43893912e+00, 5.35049455e+00,
 -5.86648969e-02, 1.66109501e-01,-3.79008852e+00, 1.32173921e+01,
 -6.34864419e+00, 4.64870468e-01, 1.20616674e+00, 1.43489057e+02,
 -1.55806338e+02,-2.82548982e+01]

qfrc_actuator:
[ 4.67174110e-05, 9.34561905e-04, 1.36625080e-04,-6.69520638e-05,
 -7.99526874e-05, 3.49192893e-02, 1.09447488e-02, 1.84898124e-03,
  9.70481609e-06, 8.59578080e-04, 1.42349334e-04, 5.88893311e-05,
  0.00000000e+00,-1.58320633e-03, 0.00000000e+00,-1.07753896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006095100004575971
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.10750458e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.10750458e-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([-0.00672297, -0.0851019 ,  0.06169317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.56492910e-06,-1.68119834e-05,-2.36591309e-05,-2.43656989e-05,
 -5.20795832e-05, 1.84513001e-05, 7.58524044e-06, 1.35117829e-05,
 -2.38409283e-05,-3.27650973e-05,-2.52695268e-05, 1.49580428e-06,
  3.31162049e-03, 1.47543610e-05, 1.08328061e-05, 6.71734204e-05,
  5.91128775e-04,-1.63977823e-03,-4.90339638e+00,-2.91425427e-03,
  1.52776824e-03,-8.43064248e-03]


--- Step 2658 ---
qpos:
[ 0.01868987, 0.03004334,-0.00946003,-0.02528266,-0.00356796, 1.34082288,
 -0.03002711, 0.94381772, 0.01156511, 0.0272804 ,-0.00831956, 0.02643367,
  1.39623655, 0.00771461, 1.3514992 , 0.04403642,-0.09708007,-0.07645557,
  0.09195859, 0.6439099 , 0.23311105,-0.66786806,-0.29153307]

qacc:
[-5.18772321e-01,-3.28548647e-01, 4.22515821e-01, 6.85316958e-01,
 -9.42604318e-02,-2.38718028e-02, 2.04738770e+00,-1.21060236e+01,
  4.19844438e-01, 6.97176971e-01,-5.03938786e+00, 1.25658106e+01,
 -6.83212592e-02, 4.64863485e-01, 9.58181092e-01,-3.01513210e+00,
 -5.48137525e+00, 3.75911118e-01,-3.12740554e-01, 1.23854240e+02,
 -1.33994135e+02,-2.43217649e+01]

qfrc_actuator:
[ 4.37566559e-05, 9.16707110e-04, 1.37892522e-04,-6.37601538e-05,
 -7.63946795e-05, 3.49007384e-02, 1.09083219e-02, 1.80142028e-03,
  1.29076559e-05, 8.22898385e-04, 1.29105396e-04, 7.80989236e-05,
  0.00000000e+00,-1.53253366e-03, 0.00000000e+00,-1.09372674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006110818400887855
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08407804e-15,  1.81681561e-14,  1.00000000e+00,  1.65040948e-28,
        1.00000000e+00, -1.81681561e-14, -1.00000000e+00,  0.00000000e+00,
       -9.08407804e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00675665, -0.08510731,  0.06169254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15887778e-06,-3.32197590e-05,-5.97328325e-06, 1.17780269e-06,
 -2.72182518e-05,-6.45518279e-06,-3.15560243e-05,-4.64675025e-05,
  2.49603320e-06,-6.01820611e-05,-2.30700092e-05, 1.69615569e-05,
  3.31410634e-03, 5.56501725e-05, 1.02158227e-05,-1.15530767e-05,
  5.74536451e-05,-1.56413671e-03,-4.90349331e+00,-2.34287577e-03,
  2.04651639e-03,-8.44334297e-03]


--- Step 2659 ---
qpos:
[ 0.01868968, 0.03004397,-0.00946043,-0.0252826 ,-0.00356913, 1.34082314,
 -0.03002785, 0.94381836, 0.01156614, 0.02728047,-0.0083205 , 0.02643392,
  1.39623797, 0.0077161 , 1.35159352, 0.04403604,-0.09707877,-0.0765353 ,
  0.09196967, 0.64359342, 0.23393051,-0.66747895,-0.29246517]

qacc:
[ 2.66242629e+00, 2.84136938e+00,-1.17185820e+01, 1.96698488e+01,
  1.52534586e-02, 5.75560492e-01,-1.55997112e+00,-1.14729987e+00,
 -5.66339949e+00,-1.04046067e+00, 3.70955730e+00,-6.25479818e+00,
 -8.49008398e-02, 3.87001937e-01,-1.02132598e+01, 3.49470098e+01,
  5.75047319e+00,-5.64566424e-01, 4.02433874e-01,-1.31918789e+02,
  1.39680138e+02, 2.01790494e+01]

qfrc_actuator:
[ 5.99738597e-05, 9.23671787e-04, 1.03008032e-04,-4.39891398e-05,
 -5.58911635e-05, 3.48894139e-02, 1.08869069e-02, 1.79082395e-03,
 -2.13832943e-05, 8.18746985e-04, 1.39428868e-04, 7.14692680e-05,
  0.00000000e+00,-1.52057678e-03, 0.00000000e+00,-9.24335029e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00608254140089972
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.84473161e-15,  1.14078860e-15,  1.00000000e+00,  7.80839181e-30,
        1.00000000e+00, -1.14078860e-15, -1.00000000e+00,  0.00000000e+00,
       -6.84473161e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18602352, -0.07034852,  0.06169379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61116488e-05,-1.28183491e-05,-4.24494342e-05, 1.81640001e-05,
  4.41867174e-06,-2.24666629e-05,-2.76302331e-05,-1.27918225e-05,
 -3.42382718e-05,-4.18417152e-05,-4.35461219e-06,-9.67612548e-06,
  3.29777358e-03, 4.21682020e-05, 1.42544411e-06, 1.69592343e-04,
 -3.42010565e-04,-1.50012121e-03,-4.90332669e+00,-1.80359291e-03,
  2.53050955e-03,-8.45768195e-03]


--- Step 2660 ---
qpos:
[ 0.01869002, 0.03004453,-0.00946098,-0.02528199,-0.00357003, 1.34082291,
 -0.0300282 , 0.94382058, 0.01156606, 0.02728011,-0.00832098, 0.02643374,
  1.39623902, 0.0077176 , 1.35168774, 0.04403834,-0.09709944,-0.07661357,
  0.09197949, 0.64302398, 0.23486661,-0.66732113,-0.29332635]

qacc:
[ 4.63563896e+00, 1.44032402e+00,-7.66535248e+00, 1.76450278e+01,
  1.14673404e-01, 1.01862072e+00,-7.37080505e+00, 2.51413589e+01,
 -9.44176196e+00,-2.74871179e+00, 1.08562513e+01,-1.89211957e+01,
 -7.55213898e-02,-1.34869000e-02,-8.29645064e+00, 2.87907259e+01,
 -5.48954841e+00, 3.66208127e-01,-3.13147411e-01, 1.24621069e+02,
 -1.33497200e+02,-2.60444960e+01]

qfrc_actuator:
[ 8.73482603e-05, 9.27567337e-04, 1.00413303e-04,-1.46338275e-05,
 -2.53901056e-05, 3.48648138e-02, 1.09100946e-02, 1.87310587e-03,
 -7.74767627e-05, 7.98679766e-04, 1.63689017e-04, 4.97270793e-05,
  0.00000000e+00,-1.54981959e-03, 0.00000000e+00,-7.88958819e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060685063131035236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14741592e-15,  9.14741592e-15,  1.00000000e+00,  8.36752179e-29,
        1.00000000e+00, -9.14741592e-15, -1.00000000e+00,  0.00000000e+00,
       -9.14741592e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00665739, -0.08513001,  0.06169443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78387621e-05,-1.12741391e-05,-9.84514891e-06, 2.76902794e-05,
  3.31116165e-05,-4.28176834e-05, 1.52748098e-05, 8.05000051e-05,
 -5.71108397e-05,-4.47804725e-05, 1.47579530e-05,-2.38712771e-05,
  3.30096935e-03,-1.32250534e-05, 1.82776943e-05, 1.44726881e-04,
  8.30053392e-05,-1.60162995e-03,-4.90347856e+00,-2.37906631e-03,
  1.99763324e-03,-8.48826788e-03]


--- Step 2661 ---
qpos:
[ 0.01869103, 0.03004482,-0.00946065,-0.02528107,-0.00357047, 1.34082252,
 -0.0300283 , 0.94382238, 0.01156565, 0.02727941,-0.00832121, 0.02643364,
  1.39623981, 0.00771864, 1.35178235, 0.04403959,-0.09709726,-0.07669421,
  0.09199066, 0.64271073, 0.23568905,-0.66691604,-0.29427297]

qacc:
[ 5.78301272e+00,-2.19153540e+00, 6.03138205e+00,-2.05311445e+00,
  1.93227015e-01,-1.59947288e+00, 5.86511418e+00,-1.00394599e+01,
 -2.78503324e+00,-9.54322822e-01, 2.40169879e+00,-1.04828604e+00,
 -5.48525047e-02,-2.89793074e-01, 3.77922974e+00,-1.23862255e+01,
  5.71123041e+00,-5.90949497e-01, 3.36179134e-01,-1.31405685e+02,
  1.38274347e+02, 1.89926706e+01]

qfrc_actuator:
[ 1.21064083e-04, 9.29732044e-04, 1.52420495e-04, 2.39786236e-06,
  1.08602582e-05, 3.48681935e-02, 1.09239110e-02, 1.84961948e-03,
 -9.26840435e-05, 7.87045167e-04, 1.78160159e-04, 5.47721024e-05,
  0.00000000e+00,-1.58572042e-03, 0.00000000e+00,-8.52290183e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006090519412813286
  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([-0.18600809, -0.07032447,  0.06169354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45210466e-05,-4.99392568e-06, 4.94212553e-05, 1.67449822e-05,
  5.58161321e-05,-1.48928908e-05, 9.54320646e-06,-2.24568121e-05,
 -1.68966891e-05,-3.46517040e-05, 6.22530841e-06, 3.17670734e-06,
  3.31893000e-03,-4.93584556e-05, 2.17429137e-05,-5.35377948e-05,
 -3.26497175e-04,-1.54607279e-03,-4.90331499e+00,-1.83875521e-03,
  2.48692991e-03,-8.50267746e-03]


--- Step 2662 ---
qpos:
[ 0.0186921 , 0.03004496,-0.00945997,-0.02527994,-0.00357032, 1.34082259,
 -0.03002898, 0.94382179, 0.01156507, 0.0272787 ,-0.00832169, 0.02643395,
  1.39624047, 0.00771958, 1.35187697, 0.04404077,-0.09707531,-0.0767769 ,
  0.09199762, 0.6426177 , 0.23641355,-0.66629717,-0.29529511]

qacc:
[ 4.58917553e-01,-7.34728262e-01, 1.38706487e+00, 1.97274420e+00,
  2.50443948e-01,-1.90247781e+00, 1.18375665e+01,-3.81647295e+01,
 -1.54419735e+00, 1.52601889e+00,-7.14762450e+00, 1.44822206e+01,
 -4.60392471e-02,-3.95174574e-02, 2.17391735e-01,-7.24664856e-01,
  4.93981938e+00,-5.15268733e-01,-1.05374725e+00,-1.14063253e+02,
  1.18821869e+02, 1.55966712e+01]

qfrc_actuator:
[ 1.22733491e-04, 9.13318783e-04, 1.65215420e-04, 1.20725994e-05,
  5.02661233e-05, 3.49059762e-02, 1.08965934e-02, 1.72855589e-03,
 -1.01449533e-04, 7.98295647e-04, 1.69031318e-04, 7.55377695e-05,
  0.00000000e+00,-1.57189538e-03, 0.00000000e+00,-8.54647288e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.79190129, -3.72465449,  7.79190129, 15.42214836,
       14.19572335, -3.72465449, 14.19572335, 38.33352761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006051392561304554
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58664272e-15,  9.17328543e-15,  1.00000000e+00,  4.20745828e-29,
        1.00000000e+00, -9.17328543e-15, -1.00000000e+00,  0.00000000e+00,
       -4.58664272e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18609782, -0.07030483,  0.06169525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66949318e-06,-8.28938840e-06, 1.84178965e-05, 1.14918145e-05,
  7.23903961e-05, 3.07430312e-05,-2.98005197e-05,-1.21750409e-04,
 -9.27523800e-06,-6.68402894e-06,-1.53986844e-05, 1.95608267e-05,
  3.33213540e-03,-1.25231960e-05, 2.20447661e-07,-3.41080448e-06,
  1.04525232e-04,-1.65192017e-03,-4.90345125e+00,-2.41274984e-03,
  1.95229285e-03,-8.53333512e-03]


--- Step 2663 ---
qpos:
[ 0.01869317, 0.03004471,-0.00945929,-0.0252783 ,-0.00356978, 1.3408232 ,
 -0.03003011, 0.94381974, 0.01156473, 0.02727834,-0.00832247, 0.02643445,
  1.39624113, 0.00772053, 1.35197162, 0.04404158,-0.09707884,-0.07685456,
  0.09201037, 0.64226848, 0.23721407,-0.66597088,-0.29614772]

qacc:
[ 1.12389803e-01, 5.25632598e-01,-4.74016198e+00, 1.37636033e+01,
  1.66916724e-01,-6.07619366e-01, 5.83341387e+00,-2.23296775e+01,
  2.06473877e+00, 1.68958733e+00,-6.22860095e+00, 9.96254223e+00,
 -4.34985459e-02, 4.74146036e-02, 1.17057060e+00,-4.04433894e+00,
 -6.36649141e+00, 1.25798652e+00, 1.44854451e+00, 1.54390211e+02,
 -1.48089656e+02, 2.59040235e+01]

qfrc_actuator:
[ 1.23278000e-04, 8.68007479e-04, 1.54659160e-04, 3.50451715e-05,
  5.57418205e-05, 3.49460894e-02, 1.08808221e-02, 1.65758009e-03,
 -8.86139663e-05, 8.40841530e-04, 1.63901158e-04, 8.76358161e-05,
  0.00000000e+00,-1.56392165e-03, 0.00000000e+00,-8.74248902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006160805153691343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35155592e-14,  9.01037281e-15,  1.00000000e+00,  1.21780227e-28,
        1.00000000e+00, -9.01037281e-15, -1.00000000e+00,  0.00000000e+00,
       -1.35155592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00874713, -0.0914656 ,  0.06169061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16850509e-07,-4.56684440e-05,-9.61554967e-06, 2.34740114e-05,
  4.82568923e-05, 4.76329910e-05,-1.67194491e-05,-7.37503901e-05,
  1.25587330e-05, 3.64910853e-05,-7.71764652e-06, 1.16617416e-05,
  3.33789465e-03, 1.84780711e-07,-2.46142229e-06,-2.02621471e-05,
  5.37084081e-04,-1.74879007e-03,-4.90336719e+00,-2.87625317e-03,
  1.52436403e-03,-8.56199325e-03]


--- Step 2664 ---
qpos:
[ 0.01869391, 0.03004455,-0.00945888,-0.02527713,-0.00356927, 1.34082374,
 -0.03003072, 0.94381859, 0.01156385, 0.02727828,-0.00832359, 0.02643476,
  1.39624162, 0.00772099, 1.35206648, 0.04404013,-0.09710435,-0.07692799,
  0.09202269, 0.6416988 , 0.23808006,-0.66589652,-0.29685409]

qacc:
[-2.98606675e+00,-8.87191008e-02, 2.47197988e+00,-1.02284889e+01,
 -1.43191781e-02, 7.23417953e-02,-2.19671969e+00, 1.23467981e+01,
 -4.56427427e+00, 9.52068042e-01,-1.97197907e+00,-1.12087985e+00,
 -3.80430130e-02,-3.04936029e-01, 7.14884704e+00,-2.45357781e+01,
 -5.49604290e+00, 1.05884347e+00,-1.06534493e-01, 1.33169411e+02,
 -1.27277229e+02, 2.24003878e+01]

qfrc_actuator:
[ 1.05413780e-04, 8.94408105e-04, 1.48050615e-04, 1.23642817e-05,
  2.30673520e-05, 3.49340862e-02, 1.09075770e-02, 1.70545203e-03,
 -1.16427243e-04, 8.48556053e-04, 1.43558150e-04, 7.68178755e-05,
  0.00000000e+00,-1.61278004e-03, 0.00000000e+00,-9.92622461e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006178887680049677
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49200197e-15,  8.98400393e-15,  1.00000000e+00,  4.03561634e-29,
        1.00000000e+00, -8.98400393e-15, -1.00000000e+00,  0.00000000e+00,
       -4.49200197e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00878485, -0.09146859,  0.06168991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78629841e-05,-1.23348221e-07,-1.64225459e-05,-2.45165777e-05,
 -4.15477589e-06, 8.85569428e-06, 3.20049091e-05, 4.70996863e-05,
 -2.74347934e-05, 2.70505977e-05,-1.33409468e-05,-9.29339968e-06,
  3.33825137e-03,-4.89992184e-05,-5.33399252e-06,-1.20269944e-04,
 -2.19533484e-05,-1.41752096e-03,-4.90365967e+00,-2.30242850e-03,
  2.13123547e-03,-8.57415703e-03]


--- Step 2665 ---
qpos:
[ 0.01869373, 0.03004454,-0.00945861,-0.02527661,-0.0035688 , 1.34082409,
 -0.03003071, 0.94381976, 0.01156265, 0.0272784 ,-0.00832491, 0.02643495,
  1.39624205, 0.00772084, 1.35216164, 0.04403459,-0.09714889,-0.07699785,
  0.09202925, 0.6409386 , 0.23900253,-0.66603952,-0.29743379]

qacc:
[-7.80914779e+00,-7.00666140e-01, 5.53832307e+00,-1.65876322e+01,
 -1.54781261e-02, 2.01899046e+00,-1.16333335e+01, 3.70237057e+01,
 -2.79690583e+00, 5.54714786e-01,-1.08613627e+00,-9.13063426e-01,
 -3.04402036e-02,-3.42953175e-01, 1.28034678e+01,-4.41611240e+01,
 -4.75855726e+00, 8.93059388e-01,-1.43966974e+00, 1.15238609e+02,
 -1.09711007e+02, 1.94358021e+01]

qfrc_actuator:
[ 5.91059569e-05, 9.10260323e-04, 1.44083503e-04,-1.91830664e-05,
  2.10315173e-05, 3.49267142e-02, 1.09413264e-02, 1.82286077e-03,
 -1.32445587e-04, 8.53028745e-04, 1.32002870e-04, 7.03208630e-05,
  0.00000000e+00,-1.64197777e-03, 0.00000000e+00,-1.20373528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061188140663636995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53610378e-15,  2.72166227e-14,  1.00000000e+00,  1.23457425e-28,
        1.00000000e+00, -2.72166227e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53610378e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00864971, -0.09149496,  0.06169252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68268594e-05, 1.13316639e-05,-6.86897594e-06,-3.26007981e-05,
 -4.49103465e-06, 5.19853234e-06, 4.05035357e-05, 1.19703802e-04,
 -1.68127121e-05, 1.64478498e-05,-7.91903398e-06,-5.97734634e-06,
  3.34665981e-03,-5.32757576e-05,-1.84166709e-05,-2.19076339e-04,
 -3.77316349e-04,-1.15061971e-03,-4.90367230e+00,-1.83993746e-03,
  2.61428732e-03,-8.58751004e-03]


--- Step 2666 ---
qpos:
[ 0.01869368, 0.03004436,-0.00945828,-0.02527644,-0.00356807, 1.34082471,
 -0.0300304 , 0.94382195, 0.01156161, 0.02727901,-0.00832626, 0.02643535,
  1.39624246, 0.00772023, 1.35225682, 0.04402555,-0.09716726,-0.0770698 ,
  0.09204304, 0.64046151, 0.23980489,-0.66589757,-0.29813268]

qacc:
[ 1.16862577e+00,-1.16120179e+00, 5.29497635e+00,-1.14039417e+01,
  1.08879363e-01, 1.28075042e+00,-5.88412471e+00, 1.68824755e+01,
  1.36831472e+00, 1.16746365e+00,-4.13784720e+00, 7.54310361e+00,
 -2.99096142e-02,-2.52122175e-01, 1.06551921e+01,-3.72115507e+01,
  6.54336906e+00,-5.25927274e-01, 1.80527376e+00,-1.54394984e+02,
  1.53496992e+02, 9.84792144e+00]

qfrc_actuator:
[ 6.74437282e-05, 8.84174434e-04, 1.41683674e-04,-3.79349465e-05,
  5.51478344e-05, 3.49577655e-02, 1.09611954e-02, 1.87370176e-03,
 -1.23627507e-04, 9.08812325e-04, 1.43471979e-04, 8.41771549e-05,
  0.00000000e+00,-1.65907719e-03, 0.00000000e+00,-1.37899256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006111991549600702
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54116721e-15,  2.27058361e-15,  1.00000000e+00,  1.03110998e-29,
        1.00000000e+00, -2.27058361e-15, -1.00000000e+00,  0.00000000e+00,
       -4.54116721e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18596877, -0.07029818,  0.06169284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97844083e-06,-2.25836763e-05,-2.03552575e-06,-1.91389911e-05,
  3.14620203e-05, 4.54471418e-05, 2.90068689e-05, 5.49624942e-05,
  8.33107885e-06, 6.30903862e-05, 1.36975094e-05, 1.41735454e-05,
  3.34907310e-03,-4.03038699e-05,-3.50409619e-05,-1.90312318e-04,
 -5.90941519e-04,-9.34634805e-04,-4.90350620e+00,-1.46450576e-03,
  2.99969157e-03,-8.60165455e-03]


--- Step 2667 ---
qpos:
[ 0.01869443, 0.03004428,-0.00945808,-0.02527651,-0.00356716, 1.34082544,
 -0.03002999, 0.94382372, 0.01156068, 0.02728007,-0.0083272 , 0.02643588,
  1.39624236, 0.00771932, 1.35235134, 0.04401845,-0.09716306,-0.07714364,
  0.09205764, 0.64022787, 0.2405039 ,-0.66551031,-0.29893505]

qacc:
[ 6.76357952e+00, 5.14565277e-03, 1.17530694e+00,-5.23989803e+00,
  7.22138194e-02,-8.00313349e-01, 3.66057199e+00,-8.11110846e+00,
  9.74766323e-01,-2.52439900e-01, 1.19563464e+00, 1.76126961e-01,
 -2.13765160e-02,-2.93165518e-01,-6.88507701e+00, 2.26273786e+01,
  5.64294060e+00,-4.69248444e-01, 2.04101410e-01,-1.33304020e+02,
  1.31795079e+02, 8.15332673e+00]

qfrc_actuator:
[ 1.07887600e-04, 9.04204474e-04, 1.40066528e-04,-4.90415576e-05,
  5.74181471e-05, 3.49404902e-02, 1.09550560e-02, 1.84945440e-03,
 -1.18017449e-04, 9.41746915e-04, 1.68664341e-04, 9.22028784e-05,
  0.00000000e+00,-1.68657101e-03, 0.00000000e+00,-1.26539257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.68984596, -6.49710934,  5.68984596, 50.75024599,
       36.88124842, -6.49710934, 36.88124842, 40.93513091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006142049119054062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03788787e-15,  2.25947197e-15,  1.00000000e+00,  2.04208543e-29,
        1.00000000e+00, -2.25947197e-15, -1.00000000e+00,  0.00000000e+00,
       -9.03788787e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18590541, -0.07030343,  0.06169164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06404199e-05, 6.16641215e-06,-7.19675048e-06,-1.25176588e-05,
  2.08643761e-05, 1.51915233e-05, 7.66553932e-06,-2.07522143e-05,
  5.87550837e-06, 7.16444827e-05, 4.04085351e-05, 1.14794069e-05,
  3.35026570e-03,-4.47697293e-05,-3.84083002e-05, 9.82699647e-05,
 -2.64736753e-04,-1.09090085e-03,-4.90384898e+00,-2.02411466e-03,
  2.43441997e-03,-8.62806655e-03]


--- Step 2668 ---
qpos:
[ 0.018696  , 0.03004425,-0.00945765,-0.02527674,-0.0035663 , 1.34082612,
 -0.03002979, 0.94382384, 0.01156018, 0.02728134,-0.00832798, 0.02643655,
  1.39624169, 0.00771835, 1.35244518, 0.04401638,-0.09713934,-0.07721916,
  0.09206756, 0.64020399, 0.24111354,-0.66491101,-0.29982738]

qacc:
[ 7.07479376e+00,-9.38919619e-01, 4.07996485e+00,-7.15638485e+00,
 -1.56471846e-02,-2.34936417e+00, 1.09910737e+01,-2.86924153e+01,
  3.58312332e+00, 7.95459860e-02,-4.96594992e-01, 2.52170252e+00,
  9.25755013e-03,-2.05154741e-01,-1.62418773e+01, 5.53192645e+01,
  4.88091953e+00,-4.20211622e-01,-1.16893362e+00,-1.15457721e+02,
  1.13503416e+02, 6.79362294e+00]

qfrc_actuator:
[ 1.49134821e-04, 9.16199666e-04, 1.56857112e-04,-5.55280065e-05,
  4.05645962e-05, 3.49120092e-02, 1.09334053e-02, 1.76343812e-03,
 -9.65963892e-05, 9.25304499e-04, 1.66162542e-04, 9.67231495e-05,
  0.00000000e+00,-1.68476654e-03, 0.00000000e+00,-1.00028167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.28784163, -6.82828732,  5.28784163, 59.34140103,
       39.26609928, -6.82828732, 39.26609928, 39.04412254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006092071572252104
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55601601e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.55601601e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1860218 , -0.07029153,  0.06169384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24345433e-05, 1.34338504e-05, 1.67412059e-05,-6.71709968e-06,
 -4.52300742e-06,-1.92036402e-05,-1.84140339e-05,-8.58120734e-05,
  2.16184975e-05, 3.24310876e-05, 1.76679906e-05, 9.21022826e-06,
  3.37494842e-03,-2.76435493e-05,-6.95408406e-06, 2.65659650e-04,
  1.05608779e-04,-1.22861005e-03,-4.90389392e+00,-2.48326498e-03,
  1.97586683e-03,-8.65311926e-03]


--- Step 2669 ---
qpos:
[ 0.01869736, 0.03004416,-0.00945696,-0.02527703,-0.00356554, 1.34082653,
 -0.03002935, 0.94382637, 0.01155993, 0.02728244,-0.00832882, 0.026437  ,
  1.39624074, 0.00771701, 1.35253922, 0.04401513,-0.09714096,-0.07728995,
  0.09208288, 0.63992459, 0.24180428,-0.66460018,-0.30055582]

qacc:
[-1.76350513e+00,-9.06962219e-01, 3.39592501e+00,-4.84818245e+00,
 -4.53460012e-02, 3.11851525e+00,-1.55886671e+01, 4.17612768e+01,
  2.23099397e+00,-5.08862115e-01, 2.48253546e+00,-6.26782462e+00,
  4.29551019e-02,-3.31405017e-01,-2.18700249e+00, 8.04895615e+00,
 -6.33620164e+00, 1.17991994e+00, 1.34817683e+00, 1.54491343e+02,
 -1.45376087e+02, 2.19702667e+01]

qfrc_actuator:
[ 1.37255721e-04, 9.05623296e-04, 1.66611133e-04,-5.92350269e-05,
  3.01287601e-05, 3.49124288e-02, 1.09559598e-02, 1.89030000e-03,
 -8.37926967e-05, 8.79303882e-04, 1.47117573e-04, 8.13283563e-05,
  0.00000000e+00,-1.70100605e-03, 0.00000000e+00,-9.67674610e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061109487616794675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.08388425e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.08388425e-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([-0.00862482, -0.09152974,  0.06169308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06385610e-05, 1.12034087e-07, 1.43504706e-05,-2.68591708e-06,
 -1.31090933e-05,-1.63896805e-05, 1.41851720e-05, 1.23756537e-04,
  1.34503586e-05,-2.38530422e-05,-9.85964666e-06,-1.32180159e-05,
  3.40412647e-03,-4.05553326e-05, 2.51991215e-05, 4.62972678e-05,
  4.92934761e-04,-1.35072242e-03,-4.90374813e+00,-2.86347429e-03,
  1.60204906e-03,-8.67701993e-03]


--- Step 2670 ---
qpos:
[ 0.01869788, 0.03004423,-0.00945652,-0.02527702,-0.0035649 , 1.34082684,
 -0.03002901, 0.94383145, 0.01155984, 0.02728261,-0.0083295 , 0.02643769,
  1.39624   , 0.00771563, 1.3526336 , 0.0440123 ,-0.09716447,-0.07735677,
  0.09209745, 0.63942519, 0.24256485,-0.66453796,-0.30114286]

qacc:
[-7.23521941e+00, 1.58197892e+00,-6.62533296e+00, 1.22747636e+01,
 -4.93571838e-02, 4.52145209e+00,-2.01105939e+01, 4.69297311e+01,
  1.35562515e+00,-1.19697716e+00, 1.41365833e+00, 3.27451204e+00,
  5.08014267e-02,-2.67675345e-02, 5.27375465e+00,-1.77192774e+01,
 -5.47250105e+00, 9.95271893e-01,-1.87531166e-01, 1.33290827e+02,
 -1.25060560e+02, 1.90344462e+01]

qfrc_actuator:
[ 9.42017151e-05, 9.17098011e-04, 1.54283203e-04,-4.35519182e-05,
  2.36285789e-05, 3.49126839e-02, 1.09514161e-02, 2.01720862e-03,
 -7.61689990e-05, 7.80344319e-04, 1.36066233e-04, 8.98060942e-05,
  0.00000000e+00,-1.67449746e-03, 0.00000000e+00,-1.05461505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006127774091379476
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05894219e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.05894219e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00865839, -0.09153268,  0.06169245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33648244e-05, 1.43738880e-05,-1.06376747e-05, 1.61315775e-05,
 -1.42480946e-05,-2.31716497e-06,-2.50369106e-06, 1.29706040e-04,
  8.01296631e-06,-1.14928838e-04,-1.76552146e-05, 6.85494755e-06,
  3.41745317e-03, 3.80873081e-06, 1.32778835e-05,-8.18954256e-05,
 -3.77383544e-06,-1.07281782e-03,-4.90402686e+00,-2.37892969e-03,
  2.12276231e-03,-8.68735012e-03]


--- Step 2671 ---
qpos:
[ 0.01869823, 0.03004412,-0.0094561 ,-0.02527678,-0.00356436, 1.34082771,
 -0.03002938, 0.94383418, 0.0115595 , 0.02728178,-0.00832968, 0.0264388 ,
  1.39623942, 0.00771445, 1.35272787, 0.04400981,-0.09720694,-0.07742022,
  0.092106  , 0.63873554, 0.24338568,-0.66469041,-0.30160735]

qacc:
[-1.50200912e+00, 2.20156556e-01,-2.03326796e+00, 5.87740463e+00,
 -4.33990540e-02,-1.39516949e+00, 1.02373191e+01,-3.64010969e+01,
 -2.12298948e+00,-1.81472322e+00, 2.79229147e+00, 4.48003992e+00,
  3.94353323e-02, 1.18683411e-01,-1.19991462e+00, 3.95464420e+00,
 -4.74099179e+00, 8.41349070e-01,-1.50365013e+00, 1.15381917e+02,
 -1.07914177e+02, 1.65506566e+01]

qfrc_actuator:
[ 8.64188419e-05, 8.88354779e-04, 1.46867685e-04,-3.43363535e-05,
  1.95420078e-05, 3.49482684e-02, 1.09131179e-02, 1.89452316e-03,
 -8.94055229e-05, 7.39223748e-04, 1.65116760e-04, 1.12223030e-04,
  0.00000000e+00,-1.65801068e-03, 0.00000000e+00,-1.03369099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006067526794495466
  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([-0.00852131, -0.09155802,  0.0616951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.04244714e-06,-2.22363362e-05,-5.20358358e-06, 9.77760642e-06,
 -1.25070986e-05, 3.77155763e-05,-3.52262588e-05,-1.19813297e-04,
 -1.30415449e-05,-1.08739699e-04, 3.37699839e-06, 1.70135618e-05,
  3.40673239e-03, 2.27656271e-05,-5.70206831e-06, 1.74413514e-05,
 -3.11648098e-04,-8.49648754e-04,-4.90403503e+00,-1.98670638e-03,
  2.53765395e-03,-8.69870630e-03]


--- Step 2672 ---
qpos:
[ 0.01869882, 0.03004369,-0.00945542,-0.0252761 ,-0.00356376, 1.34082914,
 -0.0300303 , 0.94383541, 0.01155935, 0.02728129,-0.00832978, 0.02643934,
  1.39623912, 0.0077132 , 1.35282244, 0.04400456,-0.09722351,-0.07748562,
  0.09212123, 0.63831928, 0.24409441,-0.66456011,-0.30220237]

qacc:
[ 2.14411993e+00,-2.00544574e-01,-1.81629657e+00, 9.49962366e+00,
  2.67365776e-02,-3.44039334e-01, 5.11188078e+00,-2.21971280e+01,
  1.59782449e+00,-9.86557677e-01, 6.56644458e+00,-1.68651205e+01,
  3.09496489e-02, 5.07749478e-03, 8.80909901e+00,-3.01478000e+01,
  6.47596164e+00,-4.87999672e-01, 1.66742019e+00,-1.55089615e+02,
  1.48376721e+02, 2.38324394e+00]

qfrc_actuator:
[ 9.94687972e-05, 8.71263190e-04, 1.60004149e-04,-1.12762420e-05,
  3.46886581e-05, 3.49866979e-02, 1.08907072e-02, 1.82122504e-03,
 -7.93066835e-05, 8.39741727e-04, 2.00075374e-04, 8.94681843e-05,
  0.00000000e+00,-1.66551823e-03, 0.00000000e+00,-1.18011991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006115445014197675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53860276e-15,  1.13465069e-14,  1.00000000e+00, -5.14972875e-29,
        1.00000000e+00, -1.13465069e-14, -1.00000000e+00,  0.00000000e+00,
        4.53860276e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18598457, -0.07030755,  0.06169311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27783759e-05,-3.01876995e-05, 8.23713378e-06, 2.21175296e-05,
  7.75723537e-06, 4.87992434e-05,-2.25520654e-05,-7.59709495e-05,
  9.67557793e-06, 4.11605483e-05, 1.35109579e-05,-2.69665794e-05,
  3.39897994e-03, 5.32950918e-06,-1.96611739e-06,-1.46488346e-04,
 -4.88579594e-04,-6.69641462e-04,-4.90387004e+00,-1.66698392e-03,
  2.86870258e-03,-8.71074368e-03]


--- Step 2673 ---
qpos:
[ 0.01869922, 0.03004339,-0.00945506,-0.02527481,-0.00356319, 1.34083044,
 -0.030031  , 0.94383681, 0.01155966, 0.02728183,-0.00833014, 0.02643918,
  1.39623927, 0.00771223, 1.35291707, 0.04399693,-0.09721759,-0.0775521 ,
  0.09213581, 0.63814551, 0.24468556,-0.66419354,-0.30289639]

qacc:
[-1.66977918e+00, 2.32751947e+00,-1.05502713e+01, 2.12984115e+01,
 -1.50397990e-02,-4.57505614e-01, 9.18057735e-01, 1.28004572e+00,
  3.95440830e+00, 6.61165526e-01, 2.53672972e+00,-1.48437650e+01,
  8.67402716e-03, 2.73887215e-01, 7.29843585e+00,-2.53866864e+01,
  5.62360611e+00,-2.68050033e-01,-1.59733275e-01,-1.35720812e+02,
  1.26129860e+02, 1.52816384e+01]

qfrc_actuator:
[ 8.91595784e-05, 8.96877332e-04, 1.49708978e-04, 1.97653274e-05,
  2.57451439e-05, 3.49555819e-02, 1.08957066e-02, 1.83091187e-03,
 -5.55456224e-05, 9.35557336e-04, 2.03286022e-04, 5.81910564e-05,
  0.00000000e+00,-1.63398054e-03, 0.00000000e+00,-1.29972716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00613931859136841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52095378e-15,  4.52095378e-15,  1.00000000e+00,  2.04390231e-29,
        1.00000000e+00, -4.52095378e-15, -1.00000000e+00,  0.00000000e+00,
       -4.52095378e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18827139, -0.07173533,  0.06169219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.94809339e-06, 1.13903976e-05,-1.47557975e-05, 3.04620494e-05,
 -4.35734595e-06,-1.08223520e-05, 9.75215340e-06, 8.73318669e-06,
  2.40577812e-05, 1.20488845e-04, 1.24492179e-05,-2.95708696e-05,
  3.38441689e-03, 4.01326738e-05,-1.93012450e-05,-1.28507115e-04,
 -2.18570992e-04,-8.32790417e-04,-4.90414611e+00,-2.13055749e-03,
  2.38028080e-03,-8.73296341e-03]


--- Step 2674 ---
qpos:
[ 0.01869915, 0.03004368,-0.00945533,-0.02527355,-0.00356269, 1.34083122,
 -0.03003088, 0.94383832, 0.01156025, 0.02728313,-0.00833015, 0.026439  ,
  1.39623961, 0.0077115 , 1.35301146, 0.04398891,-0.09719221,-0.07761957,
  0.09214446, 0.63818096, 0.24517492,-0.66362278,-0.30367601]

qacc:
[-4.07514822e+00, 2.46799384e+00,-7.58100630e+00, 7.76416797e+00,
 -2.80304029e-02,-2.72817486e+00, 7.86661628e+00,-5.27000155e+00,
  2.41183554e+00,-5.09324887e-02, 1.77585140e+00,-3.49893389e+00,
 -1.39512588e-02, 2.11715964e-01, 8.55805808e-01,-3.48123926e+00,
  4.86381721e+00,-2.48941136e-01,-1.48320152e+00,-1.17423548e+02,
  1.08744201e+02, 1.31957613e+01]

qfrc_actuator:
[ 6.51770984e-05, 9.47788039e-04, 1.25834045e-04, 1.97650204e-05,
  2.01738540e-05, 3.49187260e-02, 1.09343670e-02, 1.83606020e-03,
 -4.16935427e-05, 9.74455726e-04, 2.23263463e-04, 5.76535211e-05,
  0.00000000e+00,-1.63258487e-03, 0.00000000e+00,-1.31375268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006086981236613977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55982605e-15,  4.55982605e-15,  1.00000000e+00,  2.07920136e-29,
        1.00000000e+00, -4.55982605e-15, -1.00000000e+00,  0.00000000e+00,
       -4.55982605e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18839673, -0.07172865,  0.06169449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42687510e-05, 5.55357000e-05,-2.22894096e-05, 5.67386721e-07,
 -8.14671491e-06,-4.06786380e-05, 3.79106003e-05, 5.31429989e-06,
  1.46006740e-05, 1.07575183e-04, 4.53738981e-05, 4.48014340e-06,
  3.36185381e-03, 2.79431108e-05,-2.39927639e-05,-2.38599559e-05,
  1.13089753e-04,-9.28538905e-04,-4.90418905e+00,-2.50872995e-03,
  1.97977855e-03,-8.75378917e-03]


--- Step 2675 ---
qpos:
[ 0.01869914, 0.03004474,-0.00945575,-0.0252727 ,-0.00356212, 1.34083223,
 -0.03003108, 0.94383918, 0.01156067, 0.02728506,-0.0083304 , 0.02643886,
  1.39624   , 0.00771094, 1.35310567, 0.04398107,-0.0971922 ,-0.07768246,
  0.09215839, 0.63795982, 0.2457523 ,-0.66333763,-0.30429635]

qacc:
[ 4.74328825e-01, 5.79652675e-01, 1.15719425e+00,-8.64036600e+00,
  3.25913052e-02, 9.53638651e-02, 1.38034963e+00,-8.83711698e+00,
 -1.57700741e+00, 1.60800059e+00,-4.73401971e+00, 5.53799955e+00,
 -2.32538274e-02, 1.41696523e-01,-8.45617301e-01, 2.56386910e+00,
 -6.34237089e+00, 1.14330340e+00, 1.31940563e+00, 1.55756002e+02,
 -1.43380737e+02, 1.76699665e+01]

qfrc_actuator:
[ 6.88516232e-05, 1.01337653e-03, 1.29741071e-04, 1.51930782e-06,
  3.44237646e-05, 3.49498677e-02, 1.09215116e-02, 1.80297697e-03,
 -5.15425097e-05, 9.79068385e-04, 1.99539510e-04, 5.74277757e-05,
  0.00000000e+00,-1.63160513e-03, 0.00000000e+00,-1.30096817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006062165197504736
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15698425e-15,  9.15698425e-15,  1.00000000e+00,  8.38503605e-29,
        1.00000000e+00, -9.15698425e-15, -1.00000000e+00,  0.00000000e+00,
       -9.15698425e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00849996, -0.0915919 ,  0.06169558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98667944e-06, 9.20459307e-05, 1.26494555e-05,-1.66299317e-05,
  9.43406335e-06, 1.62107770e-05,-1.63416598e-05,-3.30675305e-05,
 -9.38182728e-06, 7.42945443e-05, 4.22635627e-06, 6.03850624e-06,
  3.35259293e-03, 1.66194605e-05,-1.41571406e-05, 8.27900631e-06,
  4.57046927e-04,-1.00742708e-03,-4.90405176e+00,-2.81115180e-03,
  1.66664864e-03,-8.77336925e-03]


--- Step 2676 ---
qpos:
[ 0.01869882, 0.03004596,-0.00945562,-0.0252717 ,-0.00356143, 1.34083355,
 -0.03003181, 0.94383964, 0.01155992, 0.02728738,-0.00833133, 0.02643844,
  1.39624049, 0.00771086, 1.35319957, 0.0439751 ,-0.0972141 ,-0.0777415 ,
  0.09217149, 0.63751769, 0.24640531,-0.66329878,-0.30477917]

qacc:
[-2.56355506e+00,-9.79954558e-01, 3.18354180e+00,-1.57911215e+00,
  4.78318651e-02, 1.12396913e+00,-2.34427014e+00,-2.81515821e+00,
 -9.88512722e+00, 1.86286260e+00,-4.67930487e+00, 5.68794920e-01,
 -3.11033263e-02, 3.46055116e-01,-6.07965644e+00, 2.06229775e+01,
 -5.47913735e+00, 9.65212001e-01,-2.08514080e-01, 1.34362763e+02,
 -1.23459319e+02, 1.54222507e+01]

qfrc_actuator:
[ 5.32747583e-05, 9.98583887e-04, 1.50091725e-04, 8.23269086e-06,
  4.26966288e-05, 3.49680123e-02, 1.08963298e-02, 1.78316986e-03,
 -1.10765066e-04, 9.62931390e-04, 1.50040638e-04, 3.95632243e-05,
  0.00000000e+00,-1.59538973e-03, 0.00000000e+00,-1.20151305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060804296790142945
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12947837e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12947837e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00853719, -0.09159549,  0.06169489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54606548e-05, 3.85446127e-05, 4.03342186e-05, 1.07646305e-05,
  1.38486932e-05, 2.29166515e-05,-2.48398170e-05,-2.05635116e-05,
 -5.94659922e-05, 2.64721115e-05,-3.34413510e-05,-1.44199574e-05,
  3.34944992e-03, 4.44647312e-05,-6.60865168e-06, 9.78859094e-05,
  1.76511466e-05,-7.83953915e-04,-4.90431160e+00,-2.40896384e-03,
  2.10828585e-03,-8.78202787e-03]


--- Step 2677 ---
qpos:
[ 0.01869798, 0.03004672,-0.00945461,-0.02527056,-0.00356049, 1.34083464,
 -0.03003206, 0.94383951, 0.01155917, 0.02728984,-0.00833252, 0.0264385 ,
  1.39624126, 0.00771115, 1.35329359, 0.04396866,-0.097255  ,-0.07779727,
  0.09217851, 0.6368844 , 0.24712345,-0.66347281,-0.30514275]

qacc:
[-4.49992938e+00,-2.80301620e+00, 8.55599766e+00,-7.36356839e+00,
  1.05851712e-01,-2.60451259e+00, 9.34598224e+00,-1.48065216e+01,
 -1.37060981e-01, 1.90157923e+00,-8.53459717e+00, 1.71753231e+01,
 -4.15051453e-02, 3.41127697e-01, 1.59188665e+00,-5.26339846e+00,
 -4.74812499e+00, 8.16722151e-01,-1.51786476e+00, 1.16300319e+02,
 -1.06638927e+02, 1.35056125e+01]

qfrc_actuator:
[ 2.64818978e-05, 9.35862543e-04, 1.79679777e-04, 1.17705129e-05,
  6.50689199e-05, 3.49426763e-02, 1.09173276e-02, 1.75358904e-03,
 -1.09803494e-04, 9.69845002e-04, 1.38878388e-04, 6.46867538e-05,
  0.00000000e+00,-1.57391328e-03, 0.00000000e+00,-1.22932969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006021989754066842
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.21807467e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.21807467e-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([-0.00840431, -0.0916205 ,  0.06169745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72362207e-05,-3.24287865e-05, 4.28717572e-05, 6.78864801e-06,
  3.05571829e-05,-1.81428403e-05, 2.20509284e-05,-3.00958414e-05,
 -7.62449774e-07, 1.40961707e-05,-1.03255722e-05, 2.48204088e-05,
  3.34425628e-03, 4.21734063e-05, 6.97012531e-06,-2.34014042e-05,
 -2.45872705e-04,-6.04485009e-04,-4.90430839e+00,-2.08097590e-03,
  2.46129126e-03,-8.79156992e-03]


--- Step 2678 ---
qpos:
[ 0.01869717, 0.03004731,-0.00945382,-0.02526971,-0.00355944, 1.34083556,
 -0.03003235, 0.9438394 , 0.01155877, 0.02729205,-0.00833315, 0.02643955,
  1.39624168, 0.0077116 , 1.35338715, 0.04396597,-0.09726986,-0.07785425,
  0.09219099, 0.63652866, 0.24770976,-0.66337214,-0.3056281 ]

qacc:
[ 2.50591765e-01,-1.65721824e-01, 1.43908635e+00,-5.71000293e+00,
  4.57032231e-02,-8.49089308e-02,-2.01240792e-02, 2.85794244e-01,
  3.11042583e+00, 1.38819128e-01,-5.13450305e+00, 2.14790745e+01,
 -4.70445213e-02, 5.38721360e-02,-1.20247102e+01, 4.10601490e+01,
  6.51105290e+00,-3.04052025e-01, 1.36359435e+00,-1.58580885e+02,
  1.44392094e+02, 1.33602004e+01]

qfrc_actuator:
[ 2.88130304e-05, 9.15961577e-04, 1.60995701e-04,-4.39073962e-06,
  6.02135744e-05, 3.49271761e-02, 1.09119852e-02, 1.75399866e-03,
 -9.11620167e-05, 9.55168637e-04, 1.68315702e-04, 1.14951892e-04,
  0.00000000e+00,-1.59687196e-03, 0.00000000e+00,-1.03013864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006113835164524198
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53979783e-15,  4.53979783e-15,  1.00000000e+00,  2.06097643e-29,
        1.00000000e+00, -4.53979783e-15, -1.00000000e+00,  0.00000000e+00,
       -4.53979783e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18835018, -0.07175658,  0.06169358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52050114e-06,-2.89381352e-05,-1.98878784e-05,-1.59393720e-05,
  1.32020996e-05,-2.21338252e-05,-7.26577898e-06,-1.85906677e-07,
  1.86300346e-05,-7.94093970e-06, 3.19203259e-05, 5.09918944e-05,
  3.33028239e-03, 6.36078808e-07,-1.32843092e-06, 1.98341441e-04,
 -3.87937248e-04,-4.59873067e-04,-4.90413673e+00,-1.81185877e-03,
  2.74336444e-03,-8.80169937e-03]


--- Step 2679 ---
qpos:
[ 0.01869742, 0.03004796,-0.00945362,-0.0252694 ,-0.00355821, 1.34083669,
 -0.03003316, 0.94383963, 0.01155722, 0.02729398,-0.00833277, 0.02644082,
  1.3962416 , 0.00771223, 1.35348025, 0.04396902,-0.09726225,-0.07791236,
  0.09220276, 0.6364121 , 0.24818239,-0.66303507,-0.30621828]

qacc:
[ 9.14306271e+00, 5.54571255e-01, 3.84695878e-01,-8.89547081e+00,
  7.65837330e-02, 2.24877366e+00,-7.72410893e+00, 1.05530368e+01,
 -9.79761366e+00,-2.74501569e+00, 8.31721835e+00,-5.90218493e+00,
 -2.41796613e-02,-6.88898422e-04,-1.80425425e+01, 6.21121748e+01,
  5.61511545e+00,-2.81339411e-01,-1.77040022e-01,-1.36699221e+02,
  1.24212097e+02, 1.16131849e+01]

qfrc_actuator:
[ 8.37769752e-05, 9.21631009e-04, 1.31847825e-04,-3.20186737e-05,
  7.45688880e-05, 3.49531137e-02, 1.08911685e-02, 1.77203464e-03,
 -1.51046500e-04, 9.45624026e-04, 2.21401555e-04, 1.26348464e-04,
  0.00000000e+00,-1.59317068e-03, 0.00000000e+00,-7.34270199e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006138860187614316
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52129137e-15,  1.35638741e-14,  1.00000000e+00, -6.13262271e-29,
        1.00000000e+00, -1.35638741e-14, -1.00000000e+00,  0.00000000e+00,
        4.52129137e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18829755, -0.07176784,  0.06169259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49967673e-05,-1.53319874e-05,-3.81427779e-05,-2.98702836e-05,
  2.21564513e-05, 1.22609672e-05,-2.59796791e-05, 1.71540098e-05,
 -5.93384901e-05,-5.27634049e-06, 5.71195139e-05, 1.31464060e-05,
  3.34750721e-03,-3.64874354e-06, 2.00598491e-05, 3.06461400e-04,
 -1.58343160e-04,-5.67782576e-04,-4.90442206e+00,-2.19823053e-03,
  2.31699009e-03,-8.81969453e-03]


--- Step 2680 ---
qpos:
[ 0.01869902, 0.03004844,-0.00945373,-0.02526941,-0.00355666, 1.34083784,
 -0.03003381, 0.94383798, 0.01155566, 0.02729593,-0.00833181, 0.02644186,
  1.39624175, 0.00771284, 1.35357404, 0.04397024,-0.09723522,-0.07797152,
  0.09220854, 0.63650202, 0.24855657,-0.66249369,-0.30689887]

qacc:
[ 1.15453983e+01,-3.65797825e-02, 1.15278056e+00,-6.12168534e+00,
  1.34534342e-01,-3.60936198e+00, 1.56867385e+01,-3.54156205e+01,
 -1.25182472e-01,-2.04266311e+00, 8.32884400e+00,-1.32789300e+01,
 -5.97379689e-03, 5.66383743e-02, 6.57621824e+00,-2.15018072e+01,
  4.85653812e+00,-2.60080381e-01,-1.49811276e+00,-1.18207214e+02,
  1.07174352e+02, 1.01294750e+01]

qfrc_actuator:
[ 1.51517860e-04, 9.06994234e-04, 1.14628233e-04,-4.83922027e-05,
  1.00334159e-04, 3.49503537e-02, 1.08970655e-02, 1.67604336e-03,
 -1.50161762e-04, 9.57057019e-04, 2.52491317e-04, 1.14791973e-04,
  0.00000000e+00,-1.57355472e-03, 0.00000000e+00,-8.45452758e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060847068519710445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56153046e-15, -4.56153046e-15,  1.00000000e+00, -2.08075601e-29,
        1.00000000e+00,  4.56153046e-15, -1.00000000e+00,  0.00000000e+00,
       -4.56153046e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18842606, -0.07176195,  0.06169496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93386528e-05,-3.23748837e-05,-2.61303812e-05,-1.89362112e-05,
  3.88592128e-05,-5.49407622e-07, 5.84206482e-06,-9.59862386e-05,
 -8.51008316e-07, 2.07421909e-05, 3.74611717e-05,-9.55617688e-06,
  3.37240494e-03, 7.11444610e-06, 4.10933727e-05,-9.20180773e-05,
  1.20344458e-04,-6.56027878e-04,-4.90443762e+00,-2.50520780e-03,
  1.98534381e-03,-8.83663041e-03]


--- Step 2681 ---
qpos:
[ 0.01870074, 0.03004871,-0.00945406,-0.02526927,-0.00355495, 1.34083871,
 -0.03003403, 0.94383659, 0.01155515, 0.02729765,-0.00833   , 0.02644208,
  1.39624204, 0.00771341, 1.35366812, 0.04396951,-0.09723367,-0.07802618,
  0.09221969, 0.63633328, 0.24902541,-0.66223643,-0.30742349]

qacc:
[ 9.48079186e-01, 6.67584654e-01,-3.42056729e+00, 6.53626918e+00,
  6.88181235e-02,-1.05280032e+00, 2.46094793e+00, 1.03895143e+00,
  9.04802861e+00,-4.39358099e+00, 1.86340077e+01,-3.39705133e+01,
 -1.82379945e-02, 3.07737659e-02, 6.30818216e+00,-2.14401407e+01,
 -6.37151170e+00, 1.12258770e+00, 1.34312191e+00, 1.57541569e+02,
 -1.42193839e+02, 1.39023088e+01]

qfrc_actuator:
[ 1.55208591e-04, 8.98116671e-04, 1.04526053e-04,-4.02626913e-05,
  9.72309950e-05, 3.49304657e-02, 1.09185179e-02, 1.69124615e-03,
 -9.57373674e-05, 9.27606377e-04, 2.88166796e-04, 7.20757723e-05,
  0.00000000e+00,-1.57977501e-03, 0.00000000e+00,-9.47054258e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006027647634353803
  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([-0.00841107, -0.09165688,  0.0616974 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70044915e-06,-3.31858053e-05,-2.06708380e-05, 5.46659368e-06,
  1.98612781e-05,-2.19420084e-05, 1.91919199e-05, 1.31304309e-05,
  5.44129773e-05,-1.06125435e-05, 4.42055057e-05,-4.07262055e-05,
  3.36118838e-03, 1.60389675e-06, 4.46198089e-06,-1.02434326e-04,
  4.21477610e-04,-7.29289443e-04,-4.90428054e+00,-2.75098365e-03,
  1.72753802e-03,-8.85265139e-03]


--- Step 2682 ---
qpos:
[ 0.01870214, 0.03004895,-0.00945462,-0.02526907,-0.00355317, 1.34083958,
 -0.03003385, 0.9438364 , 0.0115553 , 0.02729898,-0.00832766, 0.02644217,
  1.39624216, 0.00771364, 1.35376217, 0.04396792,-0.09725415,-0.07807704,
  0.09223009, 0.63594176, 0.24957542,-0.66222436,-0.30781338]

qacc:
[-2.69365663e+00, 7.37731119e-01,-2.98132806e+00, 4.59441133e+00,
  3.15050772e-02, 9.30840608e-01,-5.53420879e+00, 1.87804336e+01,
  5.63003993e+00,-2.27726282e+00, 7.88843219e+00,-1.06266491e+01,
 -1.99916164e-02,-2.27664718e-01, 2.58365877e+00,-9.09643334e+00,
 -5.50451685e+00, 9.48243543e-01,-1.86013230e-01, 1.35857604e+02,
 -1.22527451e+02, 1.22714917e+01]

qfrc_actuator:
[ 1.38918885e-04, 9.10562124e-04, 9.87367057e-05,-3.55292081e-05,
  9.45876412e-05, 3.49538559e-02, 1.09489822e-02, 1.75402732e-03,
 -6.35135242e-05, 8.91641620e-04, 3.08340505e-04, 6.46030999e-05,
  0.00000000e+00,-1.61920832e-03, 0.00000000e+00,-9.88805402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00604872473714084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17733136e-15,  9.17733136e-15,  1.00000000e+00,  8.42234109e-29,
        1.00000000e+00, -9.17733136e-15, -1.00000000e+00,  0.00000000e+00,
       -9.17733136e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00845561, -0.09166091,  0.06169657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61350931e-05,-1.01564023e-05,-1.50015340e-05, 2.70321137e-06,
  9.09300692e-06, 1.53941133e-05, 2.87385488e-05, 6.29878241e-05,
  3.38209379e-05,-3.45797833e-05, 2.19727501e-05,-7.20123253e-06,
  3.35322917e-03,-3.53256685e-05,-1.17849787e-05,-4.74557831e-05,
  3.46385331e-05,-5.53344809e-04,-4.90452653e+00,-2.42189083e-03,
  2.09647021e-03,-8.85976556e-03]


--- Step 2683 ---
qpos:
[ 0.01870298, 0.03004922,-0.00945529,-0.02526917,-0.00355121, 1.34084028,
 -0.03003372, 0.94383562, 0.01155549, 0.02730007,-0.0083257 , 0.02644291,
  1.39624183, 0.00771336, 1.35385604, 0.04396682,-0.0972937 ,-0.0781247 ,
  0.09223451, 0.6353575 , 0.25019518,-0.66242432,-0.30808641]

qacc:
[-4.73032054e+00,-2.85407304e-01, 2.38533228e+00,-7.55778930e+00,
  7.19428787e-02,-1.05987500e+00, 4.42666315e+00,-1.05901319e+01,
  3.44842041e-01, 2.09101092e+00,-1.06193961e+01, 2.25508249e+01,
 -2.79285193e-03,-4.19723764e-01,-1.80822882e+00, 5.88372930e+00,
 -4.77034022e+00, 8.02879447e-01,-1.49650879e+00, 1.17558236e+02,
 -1.05914189e+02, 1.08594371e+01]

qfrc_actuator:
[ 1.11020699e-04, 9.17951384e-04, 9.56205482e-05,-5.05680923e-05,
  1.09995921e-04, 3.49142950e-02, 1.09314347e-02, 1.72003773e-03,
 -6.23856270e-05, 8.69765722e-04, 2.83683063e-04, 9.56638643e-05,
  0.00000000e+00,-1.66051427e-03, 0.00000000e+00,-9.59440655e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005992933388298018
  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([-0.00832944, -0.09168558,  0.06169901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83716563e-05,-1.28532421e-06,-6.96538195e-06,-1.59394580e-05,
  2.07821520e-05,-2.35359964e-05,-9.42004264e-06,-3.12226020e-05,
  2.11236807e-06,-3.70463248e-05,-2.93874947e-05, 3.01892396e-05,
  3.36228147e-03,-5.99889649e-05,-1.25693611e-05, 2.47944882e-05,
 -1.87163799e-04,-4.12155691e-04,-4.90451363e+00,-2.15127490e-03,
  2.39226987e-03,-8.86764577e-03]


--- Step 2684 ---
qpos:
[ 0.01870384, 0.03004953,-0.00945546,-0.02526949,-0.00354909, 1.34084078,
 -0.03003405, 0.94383447, 0.011555  , 0.02730109,-0.0083241 , 0.02644365,
  1.39624114, 0.00771276, 1.35394969, 0.04396707,-0.09730722,-0.07817372,
  0.09224436, 0.6350486 , 0.25068623,-0.66234918,-0.30848542]

qacc:
[ 4.30478614e-02,-1.78133236e+00, 7.37418608e+00,-1.20505382e+01,
  7.14077907e-02, 3.04647081e-01,-5.50327287e-01,-3.73625989e+00,
 -5.78841257e+00, 9.13271295e-01,-3.38980055e+00, 4.00522196e+00,
  2.22304188e-02,-3.13410349e-01,-4.38071400e+00, 1.48442199e+01,
  6.50779679e+00,-3.39798912e-01, 1.35716811e+00,-1.59438504e+02,
  1.43001455e+02, 1.06170027e+01]

qfrc_actuator:
[ 1.12025653e-04, 9.40010409e-04, 1.29585597e-04,-5.93678355e-05,
  1.18357150e-04, 3.48903686e-02, 1.09031365e-02, 1.70030916e-03,
 -9.73150822e-05, 8.74093032e-04, 2.68335308e-04, 9.58666143e-05,
  0.00000000e+00,-1.66712924e-03, 0.00000000e+00,-8.88425971e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006106965450816619
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54490464e-15,  4.54490464e-15,  1.00000000e+00,  2.06561582e-29,
        1.00000000e+00, -4.54490464e-15, -1.00000000e+00,  0.00000000e+00,
       -4.54490464e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18838657, -0.07179213,  0.06169418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78514343e-07, 1.92048692e-05, 3.22953548e-05,-9.40404113e-06,
  2.06419245e-05,-3.97326935e-05,-3.48918030e-05,-2.14361049e-05,
 -3.48749593e-05,-2.12288084e-05,-2.56125456e-05,-1.82264150e-06,
  3.38411157e-03,-4.11344763e-05,-4.90147942e-06, 7.03836142e-05,
 -2.95592017e-04,-2.98681708e-04,-4.90433494e+00,-1.92768916e-03,
  2.62877419e-03,-8.87603539e-03]


--- Step 2685 ---
qpos:
[ 0.01870538, 0.03004982,-0.00945467,-0.02526925,-0.00354698, 1.3408414 ,
 -0.03003516, 0.94383308, 0.0115541 , 0.02730251,-0.00832351, 0.02644436,
  1.39624049, 0.00771181, 1.35404365, 0.04396513,-0.09729829,-0.07822397,
  0.09225348, 0.63497703, 0.25106625,-0.66203729,-0.30899278]

qacc:
[ 5.98886678e+00,-1.57594530e+00, 3.18008253e+00, 5.05339075e+00,
 -5.26635898e-03, 1.86728258e+00,-5.41796365e+00, 1.86065430e+00,
 -3.58227633e+00, 3.31219159e+00,-1.09439936e+01, 1.18936857e+01,
  3.86868492e-02,-2.40912760e-01, 7.05336530e+00,-2.40202228e+01,
  5.61263133e+00,-3.10440573e-01,-1.82230895e-01,-1.37406565e+02,
  1.23071118e+02, 9.29061991e+00]

qfrc_actuator:
[ 1.47791228e-04, 9.53093468e-04, 1.85242334e-04,-2.88796310e-05,
  1.04670642e-04, 3.49114409e-02, 1.08688045e-02, 1.68915746e-03,
 -1.17671978e-04, 9.11835786e-04, 2.23198406e-04, 9.56935153e-05,
  0.00000000e+00,-1.67066346e-03, 0.00000000e+00,-1.00649431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00613135204363844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05365584e-15,  9.05365584e-15,  1.00000000e+00, -8.19686841e-29,
        1.00000000e+00, -9.05365584e-15, -1.00000000e+00,  0.00000000e+00,
        9.05365584e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18833455, -0.0718037 ,  0.0616932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57758029e-05, 3.00783296e-05, 6.32735120e-05, 3.22448957e-05,
 -1.48922178e-06,-8.38099343e-06,-4.67055103e-05,-1.38675421e-05,
 -2.13795665e-05, 2.04318831e-05,-5.27710934e-05,-2.01064696e-06,
  3.40185145e-03,-2.84250617e-05, 3.66878658e-06,-1.15191348e-04,
 -1.18374690e-04,-3.93369237e-04,-4.90459877e+00,-2.24684759e-03,
  2.27072363e-03,-8.89077583e-03]


--- Step 2686 ---
qpos:
[ 0.01870666, 0.03005026,-0.0094532 ,-0.02526899,-0.0035448 , 1.34084235,
 -0.03003765, 0.94383054, 0.01155331, 0.02730409,-0.00832345, 0.02644507,
  1.39624012, 0.00771101, 1.35413762, 0.04396181,-0.09726995,-0.07827536,
  0.09225659, 0.63511043, 0.25135011,-0.66152075,-0.30959355]

qacc:
[-2.32157789e+00,-1.64722680e+00, 6.08689863e+00,-6.99054712e+00,
  2.68758673e-02, 2.19979889e+00,-4.28806692e+00,-9.79915058e+00,
  8.98331994e-01, 1.66307552e+00,-5.57992340e+00, 6.12411920e+00,
  3.02651677e-02, 1.30011426e-01, 4.21339924e+00,-1.47247474e+01,
  4.85460052e+00,-2.83700952e-01,-1.50221621e+00,-1.18791392e+02,
  1.06238934e+02, 8.15456440e+00]

qfrc_actuator:
[ 1.32710126e-04, 9.60841370e-04, 2.17741855e-04,-2.87733107e-05,
  1.13374269e-04, 3.49237676e-02, 1.07958635e-02, 1.62990783e-03,
 -1.11523617e-04, 9.15922181e-04, 1.96485607e-04, 9.53154363e-05,
  0.00000000e+00,-1.63669079e-03, 0.00000000e+00,-1.07525256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060767495937626426
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13500719e-15,  9.13500719e-15,  1.00000000e+00, -8.34483564e-29,
        1.00000000e+00, -9.13500719e-15, -1.00000000e+00,  0.00000000e+00,
        9.13500719e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18846308, -0.07179754,  0.06169556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40337478e-05, 3.90032577e-05, 4.76039079e-05, 4.20640594e-06,
  7.82339134e-06,-1.86765422e-06,-8.03035651e-05,-6.11953285e-05,
  5.53677703e-06, 4.45516194e-06,-2.90868005e-05,-1.37290501e-06,
  3.39996696e-03, 2.29784164e-05,-1.37890512e-05,-7.53128934e-05,
  1.17939985e-04,-4.71820825e-04,-4.90459872e+00,-2.50001756e-03,
  1.99412329e-03,-8.90473573e-03]


--- Step 2687 ---
qpos:
[ 0.01870739, 0.03005087,-0.00945187,-0.02526868,-0.00354255, 1.34084328,
 -0.03004039, 0.94382763, 0.01155294, 0.02730519,-0.00832262, 0.02644575,
  1.39623986, 0.00771058, 1.35423121, 0.04396001,-0.0972672 ,-0.0783224 ,
  0.0922652 , 0.63498335, 0.25173277,-0.66128787,-0.31004048]

qacc:
[-4.59691448e+00, 7.06877384e-01,-2.39335139e+00, 3.35404488e+00,
  3.09055412e-02, 2.49917352e-02, 6.45323804e-01,-4.85836376e+00,
  3.65733565e+00,-2.80969018e+00, 9.17725387e+00,-1.03588377e+01,
  1.57128923e-02, 2.39320097e-01,-5.16623776e+00, 1.72735120e+01,
 -6.40068554e+00, 1.08912372e+00, 1.37503688e+00, 1.58904392e+02,
 -1.41607835e+02, 1.14996738e+01]

qfrc_actuator:
[ 1.05563094e-04, 9.47477399e-04, 2.00748846e-04,-2.88219305e-05,
  1.17688043e-04, 3.49305823e-02, 1.07894282e-02, 1.61381416e-03,
 -8.98286940e-05, 8.82141556e-04, 2.34007624e-04, 9.48127134e-05,
  0.00000000e+00,-1.61607363e-03, 0.00000000e+00,-9.90075062e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006008733406815341
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.2384114e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.2384114e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00836229, -0.09171987,  0.06169846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75474055e-05, 1.84157635e-05,-2.95255706e-06, 3.34571636e-06,
  8.93732745e-06,-1.17732468e-05,-1.77354803e-05,-1.99292449e-05,
  2.18650543e-05,-3.74163840e-05, 3.47903932e-05,-1.35056465e-06,
  3.38578830e-03, 3.63542160e-05,-1.58391892e-05, 7.89427763e-05,
  3.84469229e-04,-5.37722582e-04,-4.90443009e+00,-2.70227725e-03,
  1.78114671e-03,-8.91800184e-03]


--- Step 2688 ---
qpos:
[ 0.01870849, 0.03005173,-0.00945107,-0.02526801,-0.00354025, 1.34084411,
 -0.03004277, 0.94382763, 0.01155318, 0.02730615,-0.00832172, 0.02644644,
  1.39623997, 0.00771035, 1.35432505, 0.04395619,-0.09728658,-0.07836575,
  0.09227319, 0.63463193, 0.25220011,-0.66129984,-0.31035454]

qacc:
[ 3.05081334e+00, 2.54979765e+00,-1.01255365e+01, 1.70119817e+01,
  2.39823694e-02, 3.85673870e+00,-1.87319375e+01, 5.00782349e+01,
  5.19185497e+00,-4.30887204e-01, 1.26134434e+00,-1.35598256e+00,
  5.81752116e-03, 2.04755195e-01, 6.47334389e+00,-2.20918532e+01,
 -5.52945040e+00, 9.21178255e-01,-1.57546454e-01, 1.37006284e+02,
 -1.22067155e+02, 1.02268964e+01]

qfrc_actuator:
[ 1.24805787e-04, 9.56865919e-04, 1.72345609e-04,-1.12530607e-05,
  1.19333181e-04, 3.49520670e-02, 1.08223249e-02, 1.76531862e-03,
 -5.91661519e-05, 8.79467543e-04, 2.37977847e-04, 9.42473130e-05,
  0.00000000e+00,-1.60375820e-03, 0.00000000e+00,-1.09893751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00603208922817839
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84052819e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84052819e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00841274, -0.09172321,  0.06169751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84429908e-05, 1.91696847e-05,-2.48706601e-05, 1.83163184e-05,
  6.92641719e-06, 1.08965432e-05, 2.79889085e-05, 1.50161849e-04,
  3.12929962e-05,-1.65136679e-05, 4.54345146e-07,-9.98176382e-07,
  3.38000243e-03, 2.99141993e-05, 1.00955683e-06,-1.06614870e-04,
  4.14110679e-05,-3.95137332e-04,-4.90466866e+00,-2.42981956e-03,
  2.09090862e-03,-8.92385390e-03]


--- Step 2689 ---
qpos:
[ 0.01870946, 0.03005283,-0.00945035,-0.02526717,-0.00353777, 1.34084499,
 -0.03004481, 0.94383012, 0.01155343, 0.02730759,-0.0083213 , 0.02644637,
  1.39624031, 0.00771033, 1.35441885, 0.04395145,-0.09732512,-0.07840598,
  0.09227528, 0.6340864 , 0.25274018,-0.66152359,-0.31055335]

qacc:
[-1.06106143e+00, 9.31857411e-01,-3.60377157e+00, 6.62118360e+00,
  7.57099330e-02, 3.40107324e+00,-1.61243638e+01, 4.28447997e+01,
  1.56074301e-01, 4.59203287e-01, 2.43340044e+00,-1.49089981e+01,
 -1.45058701e-02, 2.11352684e-01, 2.76561659e+00,-9.75520277e+00,
 -4.79166747e+00, 7.81052972e-01,-1.47114037e+00, 1.18529093e+02,
 -1.05556189e+02, 9.11147882e+00]

qfrc_actuator:
[ 1.17945432e-04, 9.79753138e-04, 1.73051382e-04,-1.19521426e-06,
  1.37116975e-04, 3.49646890e-02, 1.08427962e-02, 1.88997977e-03,
 -5.89810782e-05, 9.30826034e-04, 2.22199468e-04, 5.81336677e-05,
  0.00000000e+00,-1.59638833e-03, 0.00000000e+00,-1.14376691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005978309393656296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28542629e-15,  1.85708526e-14,  1.00000000e+00,  1.72438283e-28,
        1.00000000e+00, -1.85708526e-14, -1.00000000e+00,  0.00000000e+00,
       -9.28542629e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00829177, -0.09174681,  0.06169985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.31967153e-06, 2.92151195e-05, 2.21271785e-06, 1.03686065e-05,
  2.18768936e-05, 2.86355392e-05, 3.01932031e-05, 1.29288781e-04,
  1.09991840e-06, 4.21399076e-05,-1.91924049e-05,-3.68319588e-05,
  3.36161880e-03, 2.78193742e-05,-1.33088980e-05,-5.10929357e-05,
 -1.44799481e-04,-2.81656221e-04,-4.90465003e+00,-2.20451223e-03,
  2.33929244e-03,-8.93038540e-03]


--- Step 2690 ---
qpos:
[ 0.01871069, 0.03005354,-0.00944935,-0.02526615,-0.00353524, 1.34084553,
 -0.03004598, 0.94383237, 0.01155369, 0.0273095 ,-0.00832113, 0.02644552,
  1.39624005, 0.00771041, 1.35451179, 0.04395254,-0.09733762,-0.07844773,
  0.09228283, 0.63381508, 0.2531537 ,-0.66147162,-0.31088092]

qacc:
[ 2.20710426e+00,-9.65221999e-01, 1.96535863e+00, 8.12726009e-01,
  1.65788320e-02,-3.18039896e+00, 1.03264749e+01,-1.15481455e+01,
 -1.09399278e-02,-3.18998753e-01, 5.39586410e+00,-1.90858050e+01,
 -1.28035291e-02,-8.93776257e-02,-1.89496594e+01, 6.44365223e+01,
  6.51009393e+00,-3.80735619e-01, 1.36283413e+00,-1.60173524e+02,
  1.42185824e+02, 8.76614308e+00]

qfrc_actuator:
[ 1.31266201e-04, 9.21890380e-04, 1.73242186e-04, 4.39523886e-06,
  1.28933738e-04, 3.49186141e-02, 1.08734369e-02, 1.87352199e-03,
 -5.89862810e-05, 9.60775690e-04, 2.12855876e-04, 1.91854193e-05,
  0.00000000e+00,-1.62760041e-03, 0.00000000e+00,-8.30904304e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00609894415745859
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.55088207e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.55088207e-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([-0.18842017, -0.07182691,  0.06169472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31418835e-05,-4.06804944e-05, 6.83207381e-06, 7.11388251e-06,
  4.74565067e-06,-2.04412539e-05, 4.34743195e-05,-1.17123169e-05,
  4.89839478e-08, 4.79160192e-05,-4.29870517e-06,-3.85272699e-05,
  3.34982697e-03,-1.45292276e-05,-1.28936816e-05, 3.08054616e-04,
 -2.23959835e-04,-1.91329787e-04,-4.90446669e+00,-2.01750430e-03,
  2.53741827e-03,-8.93736588e-03]


--- Step 2691 ---
qpos:
[ 0.01871276, 0.03005376,-0.00944882,-0.02526467,-0.00353289, 1.34084535,
 -0.03004623, 0.9438341 , 0.01155361, 0.02731151,-0.00832125, 0.02644494,
  1.3962397 , 0.00771009, 1.35460522, 0.04395231,-0.09732766,-0.07849085,
  0.09228967, 0.63378012, 0.25345809,-0.66118234,-0.31131924]

qacc:
[ 7.19754374e+00, 1.62084438e+00,-8.71476312e+00, 1.79693204e+01,
 -7.20905689e-02,-4.34680549e+00, 1.41287458e+01,-1.79343606e+01,
 -2.96655223e+00, 1.56032483e+00,-6.55296863e+00, 1.18361140e+01,
  1.80109719e-02,-2.85484878e-01, 4.73826095e+00,-1.55431215e+01,
  5.61487335e+00,-3.43584571e-01,-1.76978707e-01,-1.38023582e+02,
  1.22400790e+02, 7.69933144e+00]

qfrc_actuator:
[ 1.74119060e-04, 8.69372339e-04, 1.37282375e-04, 2.49943315e-05,
  1.05238822e-04, 3.48554554e-02, 1.09095301e-02, 1.84513994e-03,
 -7.68462544e-05, 9.42190989e-04, 1.89576099e-04, 3.21408641e-05,
  0.00000000e+00,-1.64641312e-03, 0.00000000e+00,-9.13420675e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061235887185409135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06513383e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.06513383e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18836672, -0.07183823,  0.06169372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32176088e-05,-7.35893933e-05,-4.32981324e-05, 1.92254208e-05,
 -2.08911624e-05,-6.63133525e-05, 3.67022412e-05,-2.79908565e-05,
 -1.78339903e-05, 5.60272332e-06,-1.52667858e-05, 1.41076034e-05,
  3.37938254e-03,-3.78539891e-05, 2.77058751e-05,-6.71184806e-05,
 -9.02872864e-05,-2.72551092e-04,-4.90471813e+00,-2.28352182e-03,
  2.23541918e-03,-8.94950849e-03]


--- Step 2692 ---
qpos:
[ 0.01871464, 0.03005344,-0.00944869,-0.02526294,-0.00353076, 1.34084493,
 -0.03004645, 0.94383512, 0.01155331, 0.02731339,-0.00832129, 0.02644487,
  1.39623956, 0.00770934, 1.35469923, 0.04394745,-0.09729827,-0.07853522,
  0.09229052, 0.63394932, 0.25366796,-0.66068792,-0.31185301]

qacc:
[-1.64614728e+00, 8.86484007e-01,-5.20624101e+00, 1.03638483e+01,
 -9.47943829e-02,-1.60803416e+00, 6.29108223e+00,-1.33594780e+01,
 -1.81449380e+00, 5.99570567e-01,-4.54582735e+00, 1.32926759e+01,
  1.93469910e-02,-2.22368916e-01, 1.48497127e+01,-5.07017123e+01,
  4.85669600e+00,-3.10453659e-01,-1.49736256e+00,-1.19309713e+02,
  1.05689035e+02, 6.78067535e+00]

qfrc_actuator:
[ 1.62994271e-04, 8.38064622e-04, 1.15775826e-04, 3.64777200e-05,
  9.01836932e-05, 3.48535689e-02, 1.09129777e-02, 1.80998663e-03,
 -8.73198364e-05, 9.30174361e-04, 1.93592519e-04, 5.77272987e-05,
  0.00000000e+00,-1.65733181e-03, 0.00000000e+00,-1.15731749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006069257307734825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.57314202e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.57314202e-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([-0.18849374, -0.07183145,  0.06169606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.89162385e-06,-8.05864810e-05,-4.13886508e-05, 7.20186526e-06,
 -2.74031872e-05,-3.22289984e-05,-6.16570393e-06,-3.67172441e-05,
 -1.09877815e-05,-1.15091684e-05, 3.76133136e-06, 2.55706492e-05,
  3.38409661e-03,-2.87370609e-05, 1.38561545e-06,-2.44962948e-04,
  1.10552216e-04,-3.40920415e-04,-4.90470882e+00,-2.49357975e-03,
  2.00451672e-03,-8.96107046e-03]


--- Step 2693 ---
qpos:
[ 0.01871602, 0.03005274,-0.0094486 ,-0.02526183,-0.00352885, 1.3408447 ,
 -0.03004679, 0.943835  , 0.01155461, 0.02731492,-0.00832086, 0.02644477,
  1.39623934, 0.00770847, 1.35479293, 0.0439424 ,-0.0972946 ,-0.07857537,
  0.092297  , 0.63385649, 0.25397942,-0.66047713,-0.31223446]

qacc:
[-4.21995186e+00,-1.63510789e+00, 7.70195966e+00,-1.79682230e+01,
 -8.98089091e-02,-1.37323533e+00, 7.14451250e+00,-1.96558653e+01,
  1.36782391e+01,-1.84695929e+00, 6.03638734e+00,-7.11327838e+00,
  1.03494811e-02,-1.03898026e-01, 1.04532540e-01,-1.05096705e+00,
 -6.42695289e+00, 1.05329462e+00, 1.40821869e+00, 1.59984519e+02,
 -1.41306567e+02, 9.83920821e+00]

qfrc_actuator:
[ 1.37930853e-04, 8.37489320e-04, 1.20810643e-04, 7.02957222e-06,
  8.04340816e-05, 3.48882559e-02, 1.09151080e-02, 1.75339515e-03,
 -4.59297341e-06, 9.04545086e-04, 2.13710461e-04, 5.50477966e-05,
  0.00000000e+00,-1.66332449e-03, 0.00000000e+00,-1.15691550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006001597825683068
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84987908e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84987908e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00834408, -0.09177704,  0.06169892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53778494e-05,-5.38812169e-05,-1.64604014e-05,-3.41935061e-05,
 -2.59447541e-05, 1.45520247e-05,-5.95047283e-06,-5.85916245e-05,
  8.24057193e-05,-3.02646465e-05, 1.90673444e-05,-2.54848729e-06,
  3.37327562e-03,-1.32023449e-05,-2.95215018e-05,-1.37348101e-05,
  3.47956092e-04,-3.99172964e-04,-4.90453306e+00,-2.66056504e-03,
  1.82912854e-03,-8.97209950e-03]


--- Step 2694 ---
qpos:
[ 0.0187171 , 0.03005202,-0.00944894,-0.0252611 ,-0.00352726, 1.34084416,
 -0.03004665, 0.94383421, 0.01155689, 0.02731631,-0.0083208 , 0.02644467,
  1.39623886, 0.00770758, 1.35488616, 0.04393968,-0.09731312,-0.07861195,
  0.09230297, 0.63353797, 0.25437796,-0.66051118,-0.31248436]

qacc:
[-2.68616051e+00, 3.87837417e-01, 2.16010957e-01,-6.15594775e+00,
 -1.36847570e-01,-2.81698887e+00, 1.00828769e+01,-1.62768737e+01,
  8.37207302e+00, 8.30954814e-01,-3.25660068e+00, 3.98102483e+00,
  1.84670415e-02,-9.29829892e-02,-7.76573108e+00, 2.61568433e+01,
 -5.55156941e+00, 8.92284714e-01,-1.28774559e-01, 1.37916768e+02,
 -1.21828073e+02, 8.79244406e+00]

qfrc_actuator:
[ 1.22634403e-04, 8.55403684e-04, 1.06068709e-04,-1.07158664e-05,
  5.61929155e-05, 3.48557901e-02, 1.09343516e-02, 1.72017936e-03,
  4.35629998e-05, 8.88761521e-04, 1.89827667e-04, 5.35037565e-05,
  0.00000000e+00,-1.66650075e-03, 0.00000000e+00,-1.03027208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006026582444473259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21104984e-15,  1.84220997e-14,  1.00000000e+00,  1.69686878e-28,
        1.00000000e+00, -1.84220997e-14, -1.00000000e+00,  0.00000000e+00,
       -9.21104984e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00839878, -0.09177939,  0.06169789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60507863e-05,-1.70703885e-05,-2.90762201e-05,-2.12880222e-05,
 -3.95727668e-05,-2.73399129e-05, 1.96953323e-05,-3.43122324e-05,
  5.05635190e-05,-2.89056973e-05,-2.78987257e-05,-2.23817129e-06,
  3.37720065e-03,-1.04020147e-05,-1.56735863e-05, 1.21976842e-04,
  4.26343098e-05,-2.82043221e-04,-4.90476688e+00,-2.43445888e-03,
  2.08891716e-03,-8.97689778e-03]


--- Step 2695 ---
qpos:
[ 0.01871832, 0.03005136,-0.00944952,-0.02526096,-0.00352583, 1.34084347,
 -0.03004634, 0.94383373, 0.01155835, 0.02731766,-0.00832165, 0.02644492,
  1.39623831, 0.00770681, 1.35497923, 0.04393881,-0.09735089,-0.07864551,
  0.09230315, 0.63302419, 0.2548513 ,-0.66075701,-0.31262017]

qacc:
[ 1.30136665e+00,-4.69073033e-01, 4.21758434e+00,-1.39618639e+01,
 -7.13315043e-02,-1.50953560e-01,-3.80186067e-01, 3.93239941e+00,
 -7.00920639e+00, 3.23591731e+00,-1.31082536e+01, 2.07239872e+01,
  3.09635901e-02, 1.20854662e-02,-5.79885830e+00, 1.99295172e+01,
 -4.81024825e+00, 7.57815692e-01,-1.44628672e+00, 1.19296893e+02,
 -1.05367767e+02, 7.86674920e+00]

qfrc_actuator:
[ 1.30966887e-04, 8.66444719e-04, 9.76125559e-05,-3.91773928e-05,
  5.89584426e-05, 3.48544571e-02, 1.09455575e-02, 1.73646975e-03,
 -5.58762402e-08, 8.78817003e-04, 1.40189415e-04, 7.03710959e-05,
  0.00000000e+00,-1.65029503e-03, 0.00000000e+00,-9.36852261e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005974147399110154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29189515e-15,  9.29189515e-15,  1.00000000e+00,  8.63393154e-29,
        1.00000000e+00, -9.29189515e-15, -1.00000000e+00,  0.00000000e+00,
       -9.29189515e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00828138, -0.0918018 ,  0.06170016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.86330411e-06,-5.40206808e-06,-1.62891466e-05,-3.06117356e-05,
 -2.06212152e-05,-1.36347509e-05, 7.09231243e-06, 1.52491911e-05,
 -4.21423703e-05,-3.19936289e-05,-5.91393439e-05, 1.46150635e-05,
  3.38969721e-03, 6.38339436e-06, 5.48625322e-06, 9.80272955e-05,
 -1.12437437e-04,-1.90159090e-04,-4.90474419e+00,-2.24671287e-03,
  2.29675723e-03,-8.98230578e-03]


--- Step 2696 ---
qpos:
[ 0.01871929, 0.03005082,-0.00945   ,-0.02526119,-0.00352436, 1.34084308,
 -0.03004584, 0.94383408, 0.01155791, 0.02731861,-0.00832273, 0.02644571,
  1.39623791, 0.00770589, 1.35507267, 0.04393605,-0.0973626 ,-0.07868074,
  0.09230884, 0.63278406, 0.25519967,-0.66072637,-0.31288677]

qacc:
[-2.18318214e+00,-8.77874559e-01, 4.97116338e+00,-1.17473324e+01,
  2.33632973e-02, 1.32389857e+00,-5.57646107e+00, 1.44600767e+01,
 -1.63231593e+01, 1.25752971e+00,-7.47031046e+00, 1.74398317e+01,
  3.45309591e-02,-8.38880814e-02, 6.25246318e+00,-2.10971494e+01,
  6.51561978e+00,-4.20458277e-01, 1.37637516e+00,-1.60844501e+02,
  1.41710244e+02, 7.43209950e+00]

qfrc_actuator:
[ 1.17631838e-04, 8.91061341e-04, 1.10667856e-04,-5.59611789e-05,
  7.79024412e-05, 3.49072874e-02, 1.09698092e-02, 1.78176262e-03,
 -9.73325899e-05, 8.54590442e-04, 1.29049914e-04, 9.79304772e-05,
  0.00000000e+00,-1.65807992e-03, 0.00000000e+00,-1.04132630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006093505861303347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55494361e-15,  1.36648308e-14,  1.00000000e+00, -6.22425340e-29,
        1.00000000e+00, -1.36648308e-14, -1.00000000e+00,  0.00000000e+00,
        4.55494361e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18844298, -0.07185895,  0.06169507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31031851e-05, 1.69504106e-05, 8.88697363e-06,-1.81728627e-05,
  6.75717942e-06, 4.71362610e-05, 2.28384919e-05, 4.54434665e-05,
 -9.85169287e-05,-5.37566436e-05,-2.45298385e-05, 2.44268739e-05,
  3.39335343e-03,-6.76300043e-06, 1.16114297e-05,-9.87176836e-05,
 -1.65685614e-04,-1.18192415e-04,-4.90455725e+00,-2.09037547e-03,
  2.46171383e-03,-8.98811220e-03]


--- Step 2697 ---
qpos:
[ 0.01871941, 0.0300502 ,-0.00945   ,-0.02526094,-0.00352305, 1.34084306,
 -0.03004536, 0.94383464, 0.01155526, 0.02731928,-0.00832372, 0.02644679,
  1.39623716, 0.00770446, 1.355166  , 0.04393341,-0.09735183,-0.07871748,
  0.09231387, 0.63277981, 0.2554403 ,-0.66045776,-0.31326589]

qacc:
[-7.33294947e+00,-3.90904886e-01,-7.99135334e-01, 8.57038398e+00,
 -7.19222244e-02, 8.61827360e-01,-2.64377398e+00, 4.37809961e+00,
 -1.87500473e+01, 7.76741027e-03,-1.70816830e+00, 6.66509661e+00,
  3.87335563e-02,-4.41483655e-01,-5.69558397e-01, 1.73777383e+00,
  5.61976580e+00,-3.75661489e-01,-1.65122476e-01,-1.38589455e+02,
  1.22009124e+02, 6.53857264e+00]

qfrc_actuator:
[ 7.38897987e-05, 8.88217159e-04, 1.36386336e-04,-3.02066482e-05,
  5.31391639e-05, 3.49212053e-02, 1.09662912e-02, 1.79053420e-03,
 -2.07629904e-04, 8.57662761e-04, 1.40685687e-04, 1.13823410e-04,
  0.00000000e+00,-1.71555365e-03, 0.00000000e+00,-1.03076046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006118770737244192
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53613590e-15,  4.53613590e-15,  1.00000000e+00, -2.05765289e-29,
        1.00000000e+00, -4.53613590e-15, -1.00000000e+00,  0.00000000e+00,
        4.53613590e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18838742, -0.07186983,  0.06169404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41153357e-05, 7.70967160e-06, 2.96970509e-05, 2.64369853e-05,
 -2.07686270e-05, 4.58293970e-05, 9.63470949e-06, 1.19123048e-05,
 -1.13199408e-04,-3.10682775e-05,-1.64134778e-06, 1.32184073e-05,
  3.38556897e-03,-5.68902683e-05,-8.42142827e-06, 5.91710961e-06,
 -6.94451544e-05,-1.86540276e-04,-4.90480143e+00,-2.31244169e-03,
  2.20723925e-03,-8.99809973e-03]


--- Step 2698 ---
qpos:
[ 0.01871865, 0.03004989,-0.00944984,-0.0252604 ,-0.00352211, 1.34084307,
 -0.03004505, 0.94383534, 0.01155235, 0.02731976,-0.00832429, 0.02644733,
  1.39623605, 0.00770285, 1.35525894, 0.04393359,-0.09732161,-0.07875556,
  0.09231295, 0.63297931, 0.25558762,-0.65998343,-0.31374197]

qacc:
[-7.46713017e+00, 4.99404459e-01,-2.35098655e+00, 6.63323899e+00,
 -1.56817999e-01, 7.59349814e-01,-2.70783915e+00, 3.94450609e+00,
 -2.28205525e+00,-2.52500313e+00, 1.09380560e+01,-2.08682527e+01,
  6.02436520e-02,-2.70025378e-01,-9.09777605e+00, 3.09399401e+01,
  4.86096720e+00,-3.36271519e-01,-1.48702565e+00,-1.19786643e+02,
  1.05367323e+02, 5.76676946e+00]

qfrc_actuator:
[ 3.03600684e-05, 9.22308448e-04, 1.51538516e-04,-1.51518796e-05,
  2.01072382e-05, 3.48938411e-02, 1.09462433e-02, 1.79545374e-03,
 -2.18173686e-04, 8.59403737e-04, 1.65761253e-04, 8.72495146e-05,
  0.00000000e+00,-1.71365210e-03, 0.00000000e+00,-8.81427553e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006064967641610235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.15275307e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.15275307e-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([-0.18851252, -0.07186235,  0.06169634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48130007e-05, 4.56738407e-05, 2.13250437e-05, 1.69297511e-05,
 -4.53038122e-05, 2.30613377e-07,-9.63685066e-06, 6.85722015e-06,
 -1.38691929e-05,-1.54682145e-05, 1.89163141e-05,-2.77023448e-05,
  3.40278487e-03,-2.92809857e-05,-5.23672399e-06, 1.48149289e-04,
  1.00776900e-04,-2.45157980e-04,-4.90478645e+00,-2.48650281e-03,
  2.01541829e-03,-9.00765975e-03]


--- Step 2699 ---
qpos:
[ 0.01871772, 0.03005009,-0.00944958,-0.02526006,-0.00352156, 1.34084317,
 -0.03004494, 0.94383506, 0.01155105, 0.02731929,-0.00832448, 0.02644765,
  1.39623493, 0.00770144, 1.35535173, 0.0439362 ,-0.09731719,-0.07878956,
  0.09231778, 0.63291549, 0.25583854,-0.65979287,-0.31406687]

qacc:
[-1.48102163e+00, 2.18434935e-02, 1.74233627e+00,-5.62491807e+00,
 -1.61793105e-01,-1.04604335e+00, 5.56256590e+00,-1.62946723e+01,
  1.38476769e+01,-2.83788423e+00, 9.18783017e+00,-1.29142961e+01,
  7.61291139e-02, 4.10194668e-02,-7.60112719e+00, 2.62400184e+01,
 -6.44866896e+00, 1.01947548e+00, 1.43834407e+00, 1.60842424e+02,
 -1.41130184e+02, 8.61876470e+00]

qfrc_actuator:
[ 2.28194547e-05, 9.60461772e-04, 1.60459726e-04,-2.42529446e-05,
  1.35416959e-07, 3.48951488e-02, 1.09341965e-02, 1.74478440e-03,
 -1.34409399e-04, 7.53854200e-04, 1.63034840e-04, 7.14160307e-05,
  0.00000000e+00,-1.67625142e-03, 0.00000000e+00,-7.58079011e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006002332525795136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24826324e-15,  9.24826324e-15,  1.00000000e+00,  8.55303729e-29,
        1.00000000e+00, -9.24826324e-15, -1.00000000e+00,  0.00000000e+00,
       -9.24826324e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00834664, -0.09182781,  0.06169898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.83142488e-06, 6.88178528e-05, 2.15696640e-05,-6.07693291e-06,
 -4.67445079e-05,-2.44822141e-07,-1.28965931e-05,-5.07844520e-05,
  8.33541159e-05,-1.11505175e-04,-4.55273875e-06,-1.63819577e-05,
  3.42095081e-03, 1.72694323e-05, 1.25900230e-05, 1.30613420e-04,
  3.12961486e-04,-2.95924373e-04,-4.90460614e+00,-2.62378889e-03,
  1.87241291e-03,-9.01681129e-03]


--- Step 2700 ---
qpos:
[ 0.01871706, 0.03005056,-0.00944881,-0.02525982,-0.00352132, 1.34084366,
 -0.0300449 , 0.94383517, 0.01155077, 0.02731804,-0.00832498, 0.02644814,
  1.39623399, 0.00770009, 1.35544474, 0.04393861,-0.09733505,-0.07882011,
  0.0923222 , 0.63262486, 0.25617826,-0.65984722,-0.31426124]

qacc:
[ 2.25191709e+00,-1.28055028e+00, 5.49159791e+00,-8.28989318e+00,
 -1.37107929e-01, 1.40067222e+00,-4.74576814e+00, 8.45026213e+00,
  8.66139143e+00, 2.18054337e-01,-3.07500320e+00, 7.34839370e+00,
  7.70825807e-02, 4.50105094e-03, 9.75791316e-01,-2.92407453e+00,
 -5.56962903e+00, 8.65061181e-01,-1.03114780e-01, 1.38637214e+02,
 -1.21684683e+02, 7.72654656e+00]

qfrc_actuator:
[ 3.65220022e-05, 9.65204410e-04, 1.83400924e-04,-2.97349865e-05,
 -1.18403029e-05, 3.49491074e-02, 1.09447954e-02, 1.76834565e-03,
 -8.46039403e-05, 7.09035118e-04, 1.43483887e-04, 7.96760341e-05,
  0.00000000e+00,-1.67112357e-03, 0.00000000e+00,-7.75338518e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006028347928047725
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20835225e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.20835225e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00840407, -0.09182919,  0.06169789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34675786e-05, 4.74079826e-05, 3.95957072e-05,-1.90897981e-06,
 -3.95996188e-05, 4.97712265e-05, 7.59352064e-06, 2.19982956e-05,
  5.22071410e-05,-1.08772657e-04,-4.37093406e-05, 3.00223200e-06,
  3.42117401e-03, 1.21884032e-05, 1.84069216e-05,-8.81473375e-06,
  4.08764572e-05,-1.99348435e-04,-4.90483651e+00,-2.43700069e-03,
  2.08889812e-03,-9.02071310e-03]


--- Step 2701 ---
qpos:
[ 0.01871622, 0.03005154,-0.00944841,-0.02525962,-0.00352134, 1.34084458,
 -0.03004484, 0.94383693, 0.01155109, 0.02731731,-0.00832603, 0.02644824,
  1.39623311, 0.00769887, 1.35553767, 0.04394215,-0.0973722 ,-0.07884771,
  0.09232092, 0.63213803, 0.2565943 ,-0.66011342,-0.31434242]

qacc:
[-1.52504026e+00, 1.61393719e+00,-4.58768366e+00, 4.07452763e+00,
 -1.05570579e-01, 3.33686229e+00,-1.36083527e+01, 3.07229896e+01,
  5.08805241e+00, 1.38540396e+00,-2.27452143e+00,-4.15908219e+00,
  7.06494254e-02, 1.46110276e-02,-3.58349133e+00, 1.23356240e+01,
 -4.82518710e+00, 7.35963493e-01,-1.42456926e+00, 1.19900868e+02,
 -1.05251301e+02, 6.93198533e+00]

qfrc_actuator:
[ 2.71008114e-05, 9.85463686e-04, 1.61055252e-04,-3.30560157e-05,
 -1.89238192e-05, 3.49810440e-02, 1.09511833e-02, 1.85321183e-03,
 -5.52166570e-05, 8.25133571e-04, 1.49897988e-04, 6.65709878e-05,
  0.00000000e+00,-1.66754651e-03, 0.00000000e+00,-7.15518302e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005976688955474034
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.28794382e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.28794382e-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([-0.00828883, -0.09185052,  0.06170012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.01600812e-06, 5.48459628e-05,-7.75847706e-06, 3.77743584e-08,
 -3.04836263e-05, 6.16116579e-05, 1.76329053e-05, 8.70958549e-05,
  3.08756870e-05, 4.64392177e-05,-2.13173025e-05,-1.92197778e-05,
  3.41192534e-03, 1.26787858e-05, 4.85256529e-06, 6.10663702e-05,
 -8.65338134e-05,-1.25131228e-04,-4.90481067e+00,-2.28139874e-03,
  2.26130554e-03,-9.02516528e-03]


--- Step 2702 ---
qpos:
[ 0.01871492, 0.03005273,-0.00944816,-0.02525944,-0.0035214 , 1.3408457 ,
 -0.03004537, 0.94383802, 0.01155244, 0.02731742,-0.00832756, 0.02644778,
  1.39623203, 0.00769784, 1.3556302 , 0.04394973,-0.09738327,-0.07887713,
  0.09232522, 0.63192459, 0.25688656,-0.66010239,-0.31455593]

qacc:
[-3.87585716e+00, 6.63508127e-01,-1.87330843e+00, 1.64537987e+00,
 -1.51534744e-02, 6.85278289e-01,-5.42524643e-01,-7.43399668e+00,
  8.84313592e+00, 1.29236892e+00,-6.76710271e-01,-8.73804699e+00,
  7.40511229e-02,-1.40786549e-02,-1.28315648e+01, 4.39836806e+01,
  6.52205774e+00,-4.56323548e-01, 1.39322525e+00,-1.61444298e+02,
  1.41426168e+02, 6.42750515e+00]

qfrc_actuator:
[ 4.13755295e-06, 9.79165635e-04, 1.47705295e-04,-3.51028260e-05,
 -5.26435832e-06, 3.49463216e-02, 1.09017226e-02, 1.81367037e-03,
 -2.56551361e-06, 8.94778991e-04, 1.36746711e-04, 4.11582873e-05,
  0.00000000e+00,-1.66498506e-03, 0.00000000e+00,-5.04200778e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006091758456804222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.11250038e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.11250038e-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([-0.18845347, -0.07188767,  0.06169521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32101076e-05, 2.27293874e-05,-2.99201504e-06, 3.07270321e-08,
 -4.35329997e-06, 5.42268336e-06,-3.28462810e-05,-3.51493269e-05,
  5.35698968e-05, 9.04380390e-05,-6.82945350e-06,-2.45316806e-05,
  3.40886340e-03, 9.15214566e-06, 7.25639222e-06, 2.14918373e-04,
 -1.16610453e-04,-6.83389573e-05,-4.90462083e+00,-2.15151581e-03,
  2.39705805e-03,-9.02997168e-03]


--- Step 2703 ---
qpos:
[ 0.01871371, 0.03005362,-0.00944754,-0.02525926,-0.0035214 , 1.34084659,
 -0.03004628, 0.94383832, 0.01155408, 0.02731795,-0.00832914, 0.02644739,
  1.39623126, 0.00769669, 1.35572332, 0.04395475,-0.09737184,-0.07890817,
  0.09232891, 0.63194683, 0.25707212,-0.65985274,-0.31488329]

qacc:
[ 6.99252185e-01,-1.40058496e+00, 4.38455968e+00,-4.63394013e+00,
  1.95986065e-02,-6.31641507e-01, 3.32614085e+00,-1.19823064e+01,
  2.35346483e+00, 8.44961484e-01,-2.48739784e+00, 3.44273363e+00,
  8.14169736e-02,-7.60981267e-02, 8.63139486e+00,-2.89068701e+01,
  5.62532671e+00,-4.04556392e-01,-1.50634840e-01,-1.39094038e+02,
  1.21774353e+02, 5.65737898e+00]

qfrc_actuator:
[ 8.89988070e-06, 9.39277041e-04, 1.57434211e-04,-3.63928130e-05,
  2.97422748e-06, 3.49071683e-02, 1.08726056e-02, 1.77215802e-03,
  1.01061306e-05, 9.00509408e-04, 1.29753795e-04, 4.41789214e-05,
  0.00000000e+00,-1.66315286e-03, 0.00000000e+00,-6.49154645e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006117665177382416
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53695565e-15,  4.53695565e-15,  1.00000000e+00,  2.05839666e-29,
        1.00000000e+00, -4.53695565e-15, -1.00000000e+00,  0.00000000e+00,
       -4.53695565e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18839592, -0.07189805,  0.06169413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08993665e-06,-2.78457257e-05, 1.40408055e-05,-4.22167610e-07,
  5.66632691e-06,-4.36408103e-05,-3.28239885e-05,-4.31251805e-05,
  1.42721275e-05, 5.38798947e-05, 1.00152405e-05, 6.18476471e-06,
  3.41857812e-03, 1.35399904e-06, 2.57149756e-05,-1.32414107e-04,
 -5.32209111e-05,-1.24619911e-04,-4.90486066e+00,-2.33605589e-03,
  2.18389701e-03,-9.03812228e-03]


--- Step 2704 ---
qpos:
[ 0.01871222, 0.03005452,-0.00944687,-0.0252598 ,-0.00352149, 1.34084712,
 -0.03004748, 0.94383778, 0.01155482, 0.02731862,-0.00833009, 0.02644703,
  1.39623092, 0.00769567, 1.35581665, 0.04395737,-0.09734095,-0.07894065,
  0.09232671, 0.6321726 , 0.25716532,-0.65939681,-0.31530882]

qacc:
[-2.38997301e+00,-1.62505486e+00, 8.89116298e+00,-2.15604040e+01,
 -3.28193278e-02,-1.09906147e+00, 4.75613498e+00,-1.36389082e+01,
 -7.61410566e+00,-1.52237279e+00, 5.56153143e+00,-6.15312716e+00,
  6.05685363e-02, 1.25602941e-01, 7.57075773e+00,-2.60284533e+01,
  4.86571717e+00,-3.59465514e-01,-1.47464195e+00,-1.20210250e+02,
  1.05173872e+02, 4.99103856e+00]

qfrc_actuator:
[-5.55782496e-06, 9.50675537e-04, 1.62808434e-04,-7.27499082e-05,
 -9.86009745e-06, 3.48834637e-02, 1.08557309e-02, 1.72985775e-03,
 -3.63682909e-05, 9.03475559e-04, 1.61726565e-04, 4.61064387e-05,
  0.00000000e+00,-1.64376763e-03, 0.00000000e+00,-7.72104861e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006064367404226806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15365899e-15,  1.37304885e-14,  1.00000000e+00, -1.25684209e-28,
        1.00000000e+00, -1.37304885e-14, -1.00000000e+00,  0.00000000e+00,
        9.15365899e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18851933, -0.07188986,  0.06169641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43522538e-05,-1.32521508e-06, 1.32089644e-06,-3.70754427e-05,
 -9.48706717e-06,-5.55676718e-05,-3.04111008e-05,-4.55740261e-05,
 -4.60382843e-05, 3.54400276e-05, 4.45641916e-05, 4.70631430e-06,
  3.40270549e-03, 2.68857736e-05,-6.35726695e-06,-1.27858870e-04,
  9.00355885e-05,-1.73982906e-04,-4.90484210e+00,-2.47916269e-03,
  2.02627395e-03,-9.04596795e-03]


--- Step 2705 ---
qpos:
[ 0.01871022, 0.03005572,-0.00944655,-0.02526112,-0.00352154, 1.34084746,
 -0.03004898, 0.94383672, 0.0115543 , 0.02731929,-0.00833051, 0.02644603,
  1.39623033, 0.00769493, 1.35590922, 0.04396452,-0.09733591,-0.07896918,
  0.09233035, 0.63213402, 0.25736358,-0.65922475,-0.31558405]

qacc:
[-4.36290835e+00,-2.42881473e-01, 4.75656196e+00,-1.80074816e+01,
  1.56494426e-02,-3.45330882e-01, 1.88326565e+00,-7.50884558e+00,
 -1.06718651e+01,-2.77946107e+00, 1.26744316e+01,-2.46913106e+01,
  4.76066379e-02, 5.26581303e-02,-1.48517664e+01, 5.02846223e+01,
 -6.46533483e+00, 9.89387670e-01, 1.46316080e+00, 1.61510312e+02,
 -1.41000974e+02, 7.68863122e+00]

qfrc_actuator:
[-3.12210779e-05, 9.74897052e-04, 1.47979856e-04,-1.11664264e-04,
  2.72501328e-07, 3.48869897e-02, 1.08462651e-02, 1.70519826e-03,
 -9.95176827e-05, 8.87162838e-04, 1.80910948e-04, 1.18826940e-05,
  0.00000000e+00,-1.64955839e-03, 0.00000000e+00,-5.25936431e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006007617647031664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.2401272e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.2401272e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00836155, -0.09187284,  0.06169879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60839076e-05, 2.21263041e-05,-1.62374083e-05,-3.96487921e-05,
  4.52441581e-06,-3.45354668e-05,-2.51330295e-05,-2.82797498e-05,
 -6.44863453e-05, 1.28868590e-05, 3.21636220e-05,-3.10679424e-05,
  3.38143285e-03, 1.46764037e-05,-1.87083026e-05, 2.37827749e-04,
  2.79936264e-04,-2.17552697e-04,-4.90465875e+00,-2.59074639e-03,
  1.91176770e-03,-9.05350539e-03]


--- Step 2706 ---
qpos:
[ 0.01870931, 0.03005666,-0.00944678,-0.02526248,-0.00352122, 1.34084757,
 -0.03005037, 0.94383639, 0.01155407, 0.02731974,-0.00833058, 0.02644536,
  1.3962294 , 0.0076941 , 1.35600157, 0.04397519,-0.09735321,-0.07899434,
  0.09233367, 0.63186775, 0.25765194,-0.65929771,-0.31572956]

qacc:
[ 9.31237043e+00, 1.11877208e+00,-4.40723410e+00, 5.06852068e+00,
  1.53185331e-01, 6.43211501e-01,-3.97384156e+00, 1.20691912e+01,
  2.40895919e+00,-5.86041824e-01, 2.61256478e-01, 5.08752237e+00,
  6.86835590e-02,-2.16075751e-01,-1.09717587e+01, 3.78767351e+01,
 -5.58332617e+00, 8.40894822e-01,-8.22623109e-02, 1.39194706e+02,
 -1.21576868e+02, 6.90869913e+00]

qfrc_actuator:
[ 2.54949555e-05, 9.17761769e-04, 1.03658268e-04,-1.16258563e-04,
  4.18543050e-05, 3.48890847e-02, 1.08591140e-02, 1.74439464e-03,
 -8.31932577e-05, 8.59349752e-04, 1.92269128e-04, 2.76399672e-05,
  0.00000000e+00,-1.67065672e-03, 0.00000000e+00,-3.48309577e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006034181743281054
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83988993e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83988993e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00842045, -0.09187339,  0.06169768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59620646e-05,-4.98606001e-05,-4.31350696e-05,-4.97980178e-06,
  4.42544912e-05,-2.27780786e-05, 2.40356049e-06, 3.67625842e-05,
  1.44417314e-05,-1.53354455e-05, 1.69081167e-05, 1.68220353e-05,
  3.39359748e-03,-2.03602028e-05, 1.77204502e-05, 1.88432692e-04,
  3.75415546e-05,-1.38213645e-04,-4.90488649e+00,-2.43813061e-03,
  2.09003477e-03,-9.05663130e-03]


--- Step 2707 ---
qpos:
[ 0.01870908, 0.03005721,-0.00944723,-0.02526318,-0.00352078, 1.34084688,
 -0.03005195, 0.94383729, 0.01155438, 0.02732027,-0.00833116, 0.0264449 ,
  1.39622863, 0.00769328, 1.35609425, 0.04398557,-0.09738986,-0.07901663,
  0.09233136, 0.63140452, 0.25801774,-0.65958257,-0.31576259]

qacc:
[ 5.89291330e+00, 1.40807273e+00,-8.51314169e+00, 2.02952457e+01,
  5.28294952e-02, 1.56408791e+00,-8.89296872e+00, 2.24695826e+01,
  4.60514893e+00, 1.96369403e+00,-7.76525401e+00, 1.22535244e+01,
  8.16669111e-02,-3.44955631e-02, 1.36261623e+00,-4.05409830e+00,
 -4.83635106e+00, 7.16616194e-01,-1.40719950e+00, 1.20364470e+02,
 -1.05161035e+02, 6.21005347e+00]

qfrc_actuator:
[ 5.92370941e-05, 9.01010864e-04, 9.52365313e-05,-8.29542880e-05,
  3.09552687e-05, 3.48016769e-02, 1.08318074e-02, 1.80311124e-03,
 -5.57215418e-05, 8.60365963e-04, 1.63397436e-04, 3.71636660e-05,
  0.00000000e+00,-1.64742568e-03, 0.00000000e+00,-3.72377811e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005982867174704434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.2783526e-15,  9.2783526e-15,  1.0000000e+00,  8.6087827e-29,
        1.0000000e+00, -9.2783526e-15, -1.0000000e+00,  0.0000000e+00,
       -9.2783526e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00830626, -0.09189383,  0.06169988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53550250e-05,-5.37604839e-05,-2.42111391e-05, 2.95794340e-05,
  1.52526400e-05,-9.84313516e-05,-3.04098651e-05, 5.89524189e-05,
  2.78891857e-05,-3.35568045e-06,-2.93786077e-05, 9.77893111e-06,
  3.41053665e-03, 7.32809690e-06, 2.66400163e-05,-1.18763390e-05,
 -6.50417896e-05,-7.89218978e-05,-4.90485822e+00,-2.31065516e-03,
  2.23096645e-03,-9.06025526e-03]


--- Step 2708 ---
qpos:
[ 0.01870892, 0.03005781,-0.00944828,-0.02526352,-0.00352062, 1.34084522,
 -0.0300531 , 0.94383783, 0.01155433, 0.02732084,-0.0083326 , 0.02644391,
  1.3962281 , 0.00769261, 1.35618706, 0.04399562,-0.09740039,-0.07904087,
  0.09233469, 0.63121458, 0.25826068,-0.65958952,-0.31592916]

qacc:
[ 5.10962815e-01, 2.52180403e+00,-1.04428347e+01, 1.77771360e+01,
 -1.15024934e-01,-3.02355456e+00, 9.05978924e+00,-1.13698258e+01,
 -3.11774247e+00, 1.35260305e+00,-2.44897663e+00,-5.59233020e+00,
  7.14131632e-02, 7.26133097e-02, 1.17658187e+00,-3.85680784e+00,
  6.52772702e+00,-4.87376204e-01, 1.40973577e+00,-1.61952383e+02,
  1.41242394e+02, 5.65571706e+00]

qfrc_actuator:
[ 6.14075498e-05, 9.26488229e-04, 7.27441985e-05,-6.30740584e-05,
 -1.13398879e-05, 3.47499858e-02, 1.08516727e-02, 1.78398638e-03,
 -7.51924962e-05, 8.42959536e-04, 1.11104845e-04, 7.42576312e-06,
  0.00000000e+00,-1.63316775e-03, 0.00000000e+00,-3.90798543e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006093275129654616
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55511610e-15,  4.55511610e-15,  1.00000000e+00,  2.07490826e-29,
        1.00000000e+00, -4.55511610e-15, -1.00000000e+00,  0.00000000e+00,
       -4.55511610e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18845369, -0.07191297,  0.06169516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18063566e-06,-8.31864393e-06,-3.55548580e-05, 1.73168032e-05,
 -3.32850112e-05,-1.10311056e-04,-1.11765621e-06,-2.16102590e-05,
 -1.86535122e-05,-2.49333235e-05,-5.62652493e-05,-3.07079060e-05,
  3.40201519e-03, 2.10093509e-05, 7.79493351e-06,-1.64309461e-05,
 -7.42449531e-05,-3.50229439e-05,-4.90466610e+00,-2.20406327e-03,
  2.34062496e-03,-9.06419366e-03]


--- Step 2709 ---
qpos:
[ 0.01870913, 0.03005831,-0.0094498 ,-0.02526464,-0.00352067, 1.34084305,
 -0.0300535 , 0.94383567, 0.01155404, 0.02732079,-0.00833388, 0.02644327,
  1.39622744, 0.00769205, 1.35627954, 0.0440084 ,-0.09738841,-0.07906684,
  0.09233747, 0.63126021, 0.25839774,-0.65935726,-0.31621062]

qacc:
[ 3.18189613e+00,-4.34724126e-01, 4.66230878e+00,-1.73935087e+01,
 -9.39396348e-02,-7.33182437e+00, 2.86724774e+01,-5.59650093e+01,
 -1.96826133e+00,-5.12205698e-01,-8.75505003e-01, 7.27803209e+00,
  6.58301569e-02,-3.51328439e-02,-8.75382162e+00, 2.98789203e+01,
  5.63015515e+00,-4.29501336e-01,-1.36611520e-01,-1.39518834e+02,
  1.21621928e+02, 4.97722724e+00]

qfrc_actuator:
[ 8.04905813e-05, 9.05993634e-04, 4.22768695e-05,-1.04491740e-04,
 -1.88676872e-05, 3.47557205e-02, 1.08993035e-02, 1.64823858e-03,
 -8.66368752e-05, 7.96757734e-04, 1.16327851e-04, 2.58123425e-05,
  0.00000000e+00,-1.64218153e-03, 0.00000000e+00,-2.45899807e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006119669516390203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.07093938e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.07093938e-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([-0.18839467, -0.07192285,  0.06169406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91727666e-05,-3.17552512e-05,-3.59592151e-05,-4.26650900e-05,
 -2.72016198e-05,-5.61443633e-05, 2.52951147e-05,-1.39600197e-04,
 -1.19957064e-05,-7.30914086e-05,-7.90699767e-06, 1.47785554e-05,
  3.39009440e-03, 4.90592655e-06,-3.02036856e-07, 1.44456661e-04,
 -4.00952961e-05,-8.00510149e-05,-4.90490315e+00,-2.35579613e-03,
  2.16408723e-03,-9.07074525e-03]


--- Step 2710 ---
qpos:
[ 0.01870957, 0.03005856,-0.00945133,-0.02526661,-0.0035209 , 1.34084075,
 -0.03005412, 0.9438326 , 0.01155294, 0.02732035,-0.00833516, 0.02644249,
  1.39622674, 0.00769143, 1.35637206, 0.04402213,-0.09735694,-0.07909431,
  0.0923344 , 0.63150927, 0.25844316,-0.65891821,-0.31659116]

qacc:
[ 1.95322735e+00,-2.03248555e+00, 1.02912949e+01,-2.46283666e+01,
 -7.07300184e-02,-1.12756026e+00, 5.33991130e+00,-1.50391986e+01,
 -7.03306130e+00,-8.21481112e-01, 2.78474275e+00,-4.95179219e+00,
  7.49967624e-02,-1.21625127e-01,-2.81840048e+00, 9.94694298e+00,
  4.86978047e+00,-3.79418615e-01,-1.46281745e+00,-1.20564102e+02,
  1.05047830e+02, 4.38953150e+00]

qfrc_actuator:
[ 9.16331703e-05, 8.93551358e-04, 4.26390254e-05,-1.46175518e-04,
 -2.32285368e-05, 3.47603413e-02, 1.08920879e-02, 1.60478592e-03,
 -1.28755425e-04, 7.87184335e-04, 1.19884413e-04, 1.91326411e-05,
  0.00000000e+00,-1.64743471e-03, 0.00000000e+00,-2.01212296e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006066721457489925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15010712e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.15010712e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18851691, -0.071914  ,  0.06169632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16936332e-05,-3.94449481e-05,-1.20878791e-05,-4.51143766e-05,
 -2.04374059e-05,-2.56742905e-05,-1.94137173e-05,-4.76414863e-05,
 -4.24972626e-05,-5.14333545e-05,-1.19868284e-05,-9.79308325e-06,
  3.39646366e-03,-6.03652324e-06, 1.45161708e-05, 5.23330799e-05,
  7.90511235e-05,-1.20669566e-04,-4.90488222e+00,-2.47167911e-03,
  2.03694832e-03,-9.07709271e-03]


--- Step 2711 ---
qpos:
[ 0.01871013, 0.03005855,-0.00945237,-0.0252684 ,-0.00352095, 1.34083817,
 -0.03005432, 0.94383108, 0.01155133, 0.02731976,-0.00833654, 0.02644195,
  1.39622668, 0.00769068, 1.35646541, 0.04402994,-0.09735138,-0.07911794,
  0.09233726, 0.63149318, 0.25859475,-0.65876312,-0.31682213]

qacc:
[ 1.13788789e+00,-1.39215248e+00, 3.75992740e+00,-1.44581362e+00,
  7.27374243e-02, 1.15803948e+00,-7.41484897e+00, 2.46358426e+01,
 -4.24145240e+00, 6.09975014e-01,-3.46309673e+00, 7.95923832e+00,
  6.67801842e-02, 1.20013452e-02, 1.91340444e+01,-6.51497220e+01,
 -6.47720824e+00, 9.63607358e-01, 1.48190612e+00, 1.62012383e+02,
 -1.40885131e+02, 6.97207220e+00]

qfrc_actuator:
[ 9.80076714e-05, 9.03895366e-04, 7.89873857e-05,-1.34389248e-04,
  9.84972714e-06, 3.47641085e-02, 1.09236407e-02, 1.68699978e-03,
 -1.53087926e-04, 7.99608629e-04, 1.22523926e-04, 3.32728980e-05,
  0.00000000e+00,-1.63255533e-03, 0.00000000e+00,-5.17764030e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060149283363460995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.22889653e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.22889653e-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([-0.00838226, -0.09191315,  0.06169848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70505544e-06,-1.61251485e-05, 2.51706109e-05, 8.80740390e-06,
  2.09999021e-05,-1.56539877e-05, 2.29230663e-05, 7.97600670e-05,
 -2.55970852e-05,-1.92188023e-05,-9.77759040e-06, 1.13379209e-05,
  3.39809946e-03, 1.16257031e-05, 9.97860515e-06,-3.12398485e-04,
  2.48940585e-04,-1.57346841e-04,-4.90469678e+00,-2.56053360e-03,
  1.94797317e-03,-9.08321470e-03]


--- Step 2712 ---
qpos:
[ 0.01871077, 0.03005816,-0.00945235,-0.02526972,-0.00352059, 1.34083536,
 -0.03005356, 0.94383053, 0.01154979, 0.02731891,-0.00833702, 0.02644189,
  1.39622708, 0.00769005, 1.35655879, 0.04403427,-0.0973682 ,-0.07913828,
  0.09233985, 0.63124874, 0.25883738,-0.65885309,-0.31692402]

qacc:
[ 6.58501468e-01,-2.47130897e+00, 6.04172848e+00, 8.47841697e-01,
  1.72922433e-01,-1.24760351e+00, 1.71654908e+00, 9.83341673e+00,
  5.85277770e-01,-1.88652560e+00, 4.23649136e+00, 2.61260675e+00,
  2.96756113e-02, 1.66122587e-01, 1.05921680e+01,-3.69701865e+01,
 -5.59295954e+00, 8.20259252e-01,-6.67025846e-02, 1.39610365e+02,
 -1.21479318e+02, 6.27652706e+00]

qfrc_actuator:
[ 1.01527358e-04, 8.92504037e-04, 1.36414845e-04,-1.08948236e-04,
  4.73667052e-05, 3.47675661e-02, 1.09779043e-02, 1.73600122e-03,
 -1.48994180e-04, 8.07380351e-04, 1.77976451e-04, 5.95757429e-05,
  0.00000000e+00,-1.62324166e-03, 0.00000000e+00,-6.89514996e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060416882414807
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18801981e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.18801981e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00844172, -0.09191305,  0.06169736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70951144e-06,-1.48157721e-05, 5.75171773e-05, 2.57989202e-05,
  4.99262045e-05, 1.69548729e-06, 5.61498616e-05, 5.10463923e-05,
  3.33390624e-06,-4.48492332e-06, 5.06941224e-05, 2.53679039e-05,
  3.36638863e-03, 2.80045220e-05,-3.32193605e-05,-1.88651298e-04,
  3.33679318e-05,-9.28680898e-05,-4.90492248e+00,-2.43817684e-03,
  2.09200523e-03,-9.08565743e-03]


--- Step 2713 ---
qpos:
[ 0.0187111 , 0.03005752,-0.00945188,-0.02527139,-0.00351996, 1.34083304,
 -0.03005234, 0.94382915, 0.011549  , 0.02731773,-0.00833618, 0.02644142,
  1.39622738, 0.00768978, 1.35665135, 0.04404182,-0.09740439,-0.07915582,
  0.09233686, 0.63080676, 0.25915829,-0.65915499,-0.31691404]

qacc:
[-2.61923068e+00,-2.33304220e+00, 9.34959030e+00,-1.60266853e+01,
  1.17250545e-01,-1.99963015e+00, 9.01260918e+00,-1.77483228e+01,
  6.44827845e+00,-4.99846178e+00, 1.88673790e+01,-2.76624385e+01,
  9.07991885e-03, 1.85210030e-01,-1.09689110e+01, 3.66106744e+01,
 -4.84407466e+00, 7.00165439e-01,-1.39442592e+00, 1.20706536e+02,
 -1.05078604e+02, 5.65011478e+00]

qfrc_actuator:
[ 8.55875238e-05, 8.68309593e-04, 1.52481010e-04,-1.28949626e-04,
  5.17362941e-05, 3.48241647e-02, 1.10095829e-02, 1.69403389e-03,
 -1.10454960e-04, 7.94795489e-04, 2.46414213e-04, 3.95993331e-05,
  0.00000000e+00,-1.61747348e-03, 0.00000000e+00,-5.08163915e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0059904212008509705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26665244e-15,  1.85333049e-14,  1.00000000e+00,  1.71741695e-28,
        1.00000000e+00, -1.85333049e-14, -1.00000000e+00,  0.00000000e+00,
       -9.26665244e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00832779, -0.09193277,  0.06169955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58387889e-05,-1.94790836e-05, 2.09892556e-05,-1.81398563e-05,
  3.38737144e-05, 7.00735274e-05, 3.98983921e-05,-3.90900145e-05,
  3.86289778e-05,-3.50102517e-06, 7.46472325e-05,-1.79181371e-05,
  3.34274809e-03, 2.77247943e-05,-3.66660640e-05, 1.66428090e-04,
 -4.67215719e-05,-4.64948563e-05,-4.90489236e+00,-2.33575827e-03,
  2.20457691e-03,-9.08855089e-03]


--- Step 2714 ---
qpos:
[ 0.01871159, 0.03005707,-0.00945162,-0.02527364,-0.00351899, 1.34083145,
 -0.03005089, 0.94382796, 0.01154936, 0.0273165 ,-0.00833481, 0.02644039,
  1.39622782, 0.0076896 , 1.35674401, 0.04404873,-0.09741446,-0.07917542,
  0.09233957, 0.63063802, 0.25935707,-0.65917842,-0.31703849]

qacc:
[ 1.28342241e+00,-3.14620506e-01, 3.93003307e+00,-1.37320755e+01,
  1.38294167e-01, 6.40798611e-01,-1.32629826e+00, 2.88431423e+00,
  9.89657149e+00,-2.69372550e+00, 1.18392435e+01,-2.22859721e+01,
  1.15424076e-02, 7.65371646e-02, 2.08042063e+00,-7.05590361e+00,
  6.53173612e+00,-5.13412884e-01, 1.42359652e+00,-1.62355071e+02,
  1.41107390e+02, 5.06474761e+00]

qfrc_actuator:
[ 9.38279679e-05, 8.89699772e-04, 1.43900524e-04,-1.57822944e-04,
  7.16907129e-05, 3.48765078e-02, 1.10278298e-02, 1.70540826e-03,
 -5.19595863e-05, 7.87911033e-04, 2.68583255e-04, 1.02877648e-05,
  0.00000000e+00,-1.61412962e-03, 0.00000000e+00,-5.46330273e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006096952994383294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55236831e-15,  1.13809208e-14,  1.00000000e+00, -5.18101431e-29,
        1.00000000e+00, -1.13809208e-14, -1.00000000e+00,  0.00000000e+00,
        4.55236831e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18844713, -0.07193497,  0.061695  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.77385869e-06, 1.40707582e-05,-1.06401841e-05,-2.93296855e-05,
  3.99748612e-05, 9.77504210e-05, 3.53477319e-05, 1.37407329e-05,
  5.96202961e-05, 5.85414685e-06, 3.00227307e-05,-2.72274409e-05,
  3.34783508e-03, 1.25962202e-05, 2.32114816e-06,-3.34734775e-05,
 -3.69667134e-05,-1.37904172e-05,-4.90469855e+00,-2.25003366e-03,
  2.29059848e-03,-9.09172219e-03]


--- Step 2715 ---
qpos:
[ 0.01871285, 0.03005705,-0.00945135,-0.02527626,-0.00351775, 1.34083015,
 -0.0300493 , 0.94382661, 0.01154974, 0.02731546,-0.0083341 , 0.02643942,
  1.39622853, 0.00768922, 1.35683709, 0.04405179,-0.09740199,-0.07919682,
  0.09234178, 0.63070478, 0.25945061,-0.65896217,-0.31727863]

qacc:
[ 6.72028399e+00,-2.96366991e-01, 3.43270973e+00,-1.02616402e+01,
  1.21181298e-01,-2.33563095e-01, 1.55270812e+00,-3.34173028e+00,
  5.82150157e-02, 2.23062725e+00,-7.81275771e+00, 9.67502463e+00,
  9.62638789e-04,-5.17368155e-02, 1.22784326e+01,-4.20540630e+01,
  5.63353134e+00,-4.50329891e-01,-1.24965554e-01,-1.39852387e+02,
  1.21510151e+02, 4.45542756e+00]

qfrc_actuator:
[ 1.33993951e-04, 9.38101989e-04, 1.56538376e-04,-1.73899090e-04,
  8.30826748e-05, 3.48548563e-02, 1.10203025e-02, 1.69484329e-03,
 -5.32084782e-05, 7.84301823e-04, 2.27766173e-04, 1.12000523e-05,
  0.00000000e+00,-1.62985426e-03, 0.00000000e+00,-7.49139553e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061236244454325045
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06508094e-15,  1.13313512e-14,  1.00000000e+00, -1.02719616e-28,
        1.00000000e+00, -1.13313512e-14, -1.00000000e+00,  0.00000000e+00,
        9.06508094e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18838727, -0.07194436,  0.06169388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04006721e-05, 5.28365515e-05, 1.32252172e-05,-1.64079508e-05,
  3.50186987e-05, 3.97594641e-05, 1.60182941e-05,-6.27373134e-06,
  4.96534947e-07, 4.75201802e-06,-3.68533896e-05, 1.67164984e-06,
  3.34036771e-03,-7.26055236e-06,-4.65108848e-06,-2.04871535e-04,
 -2.91610406e-05,-4.83136050e-05,-4.90493365e+00,-2.37251873e-03,
  2.14707633e-03,-9.09685548e-03]


--- Step 2716 ---
qpos:
[ 0.01871425, 0.03005738,-0.00945069,-0.02527839,-0.00351642, 1.34082912,
 -0.03004829, 0.94382416, 0.0115501 , 0.02731469,-0.00833426, 0.02643882,
  1.39622937, 0.00768871, 1.35693014, 0.0440524 ,-0.09737003,-0.0792198 ,
  0.09233817, 0.6309749 , 0.25945308,-0.65853872,-0.31761853]

qacc:
[ 1.09672597e+00, 4.30528291e-01,-2.97543059e+00, 1.07849384e+01,
  3.14336248e-02,-1.34536288e-02, 2.75269249e+00,-1.54474625e+01,
 -1.78889432e-01, 3.51235502e+00,-1.35559383e+01, 2.10894442e+01,
 -1.51661428e-02,-2.80291845e-02, 7.38842500e+00,-2.58733448e+01,
  4.87258016e+00,-3.95993926e-01,-1.45311801e+00,-1.20838783e+02,
  1.04955627e+02, 3.92707201e+00]

qfrc_actuator:
[ 1.39363756e-04, 9.66897045e-04, 1.81747519e-04,-1.46763450e-04,
  7.14942530e-05, 3.48422057e-02, 1.09795678e-02, 1.63587869e-03,
 -5.41137781e-05, 8.00187983e-04, 1.85642472e-04, 2.98566234e-05,
  0.00000000e+00,-1.63901545e-03, 0.00000000e+00,-8.69735809e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006070839251244214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57195035e-15,  2.05737766e-14,  1.00000000e+00, -9.40622849e-29,
        1.00000000e+00, -2.05737766e-14, -1.00000000e+00,  0.00000000e+00,
        4.57195035e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1885089 , -0.07193489,  0.06169613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.56600400e-06, 6.03830799e-05, 3.71827470e-05, 2.95392192e-05,
  9.10752175e-06, 1.22951552e-05,-3.13205103e-05,-5.74468707e-05,
 -8.90439319e-07, 1.10353992e-05,-4.56170580e-05, 1.76205565e-05,
  3.32683576e-03,-6.28586678e-06,-2.72416429e-05,-1.33171131e-04,
  6.81317018e-05,-8.06539155e-05,-4.90491103e+00,-2.46399266e-03,
  2.04756479e-03,-9.10186883e-03]


--- Step 2717 ---
qpos:
[ 0.01871569, 0.03005799,-0.00944996,-0.02527979,-0.00351541, 1.3408283 ,
 -0.03004778, 0.94382136, 0.01155078, 0.02731428,-0.00833444, 0.02643803,
  1.39623001, 0.00768803, 1.35702286, 0.0440532 ,-0.09736401,-0.07923901,
  0.09234055, 0.6309793 , 0.2595625 ,-0.65839925,-0.31780945]

qacc:
[ 4.61416356e-01, 1.66939173e+00,-8.45736805e+00, 2.05901927e+01,
 -1.30381341e-01, 1.06395840e+00,-2.45580456e+00,-1.92323574e+00,
  2.81670317e+00, 1.57234538e-01, 8.81987446e-01,-4.28836681e+00,
 -1.86164216e-02,-1.40658618e-01,-1.08483387e+00, 3.04822405e+00,
 -6.48496100e+00, 9.42239681e-01, 1.49479993e+00, 1.62371491e+02,
 -1.40772410e+02, 6.42794748e+00]

qfrc_actuator:
[ 1.41951817e-04, 9.66076725e-04, 1.78627002e-04,-1.12180898e-04,
  2.84623486e-05, 3.48526192e-02, 1.09550625e-02, 1.61990263e-03,
 -3.70371576e-05, 8.45368973e-04, 1.96450205e-04, 2.33193672e-05,
  0.00000000e+00,-1.66198360e-03, 0.00000000e+00,-8.52104960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060225206310956375
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.21726211e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.21726211e-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([-0.00840417, -0.09194977,  0.06169814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79641545e-06, 4.18722903e-05, 1.49435062e-05, 3.90314727e-05,
 -3.76490856e-05, 9.36432505e-06,-2.73524212e-05,-1.78603581e-05,
  1.70527905e-05, 4.27160241e-05, 8.09080688e-06,-7.29629611e-06,
  3.32035861e-03,-2.27740653e-05,-2.83218966e-05, 6.47305866e-06,
  2.19777433e-04,-1.10712944e-04,-4.90472408e+00,-2.53235837e-03,
  1.98184148e-03,-9.10672607e-03]


--- Step 2718 ---
qpos:
[ 0.01871716, 0.0300587 ,-0.00944943,-0.02528108,-0.00351494, 1.34082761,
 -0.03004703, 0.94381836, 0.01155202, 0.02731424,-0.00833457, 0.0264375 ,
  1.39623028, 0.00768718, 1.35711516, 0.04405617,-0.09738038,-0.07925501,
  0.0923427 , 0.63075487, 0.25976368,-0.65850485,-0.31787181]

qacc:
[ 1.63930589e-01, 9.12686309e-01,-3.54088387e+00, 5.81271097e+00,
 -2.28537227e-01,-8.45328333e-01, 3.40355777e+00,-5.42097344e+00,
  4.63911546e+00, 8.77807920e-01,-3.52296416e+00, 7.70917928e+00,
 -5.11110863e-03,-1.86233472e-01,-7.16858551e+00, 2.41851215e+01,
 -5.59914373e+00, 8.03250869e-01,-5.61404561e-02, 1.39904162e+02,
 -1.21385280e+02, 5.79617360e+00]

qfrc_actuator:
[ 1.42893056e-04, 9.47425245e-04, 1.58675920e-04,-1.09053588e-04,
 -1.53303076e-05, 3.48768299e-02, 1.09759694e-02, 1.61163879e-03,
 -9.51258636e-06, 8.72434698e-04, 2.03026407e-04, 3.75769571e-05,
  0.00000000e+00,-1.67538207e-03, 0.00000000e+00,-7.35444044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006049242209744829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.1765463e-15,  9.1765463e-15,  1.0000000e+00,  8.4209002e-29,
        1.0000000e+00, -9.1765463e-15, -1.0000000e+00,  0.0000000e+00,
       -9.1765463e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00846357, -0.09194916,  0.06169702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03271827e-06, 9.48963381e-06,-8.12618742e-06, 6.19690968e-06,
 -6.60412562e-05, 2.35033337e-05, 1.90988579e-05,-9.20278499e-06,
  2.80372151e-05, 5.23385510e-05, 1.61527205e-05, 1.62286252e-05,
  3.33022463e-03,-2.72045323e-05,-1.30408383e-05, 1.13223294e-04,
  2.87150664e-05,-5.93507150e-05,-4.90494823e+00,-2.43725213e-03,
  2.09476622e-03,-9.10855602e-03]


--- Step 2719 ---
qpos:
[ 0.01871829, 0.03005963,-0.00944944,-0.0252823 ,-0.00351485, 1.34082729,
 -0.03004613, 0.94381527, 0.01155288, 0.02731462,-0.00833493, 0.02643751,
  1.3962305 , 0.00768604, 1.3572077 , 0.0440578 ,-0.09741615,-0.07926819,
  0.09233929, 0.63033353, 0.26004227,-0.6588229 ,-0.31782079]

qacc:
[-2.97878854e+00, 1.92998000e+00,-6.73560772e+00, 8.50684279e+00,
 -1.64116789e-01,-5.10233120e-02, 9.34026373e-01,-2.09460439e+00,
 -3.16052843e+00, 2.30145692e+00,-9.66936625e+00, 1.90032128e+01,
  1.13440022e-02,-2.01111843e-01, 4.37339976e+00,-1.48184238e+01,
 -4.84794833e+00, 7.06213526e-01,-1.38924940e+00, 1.21090298e+02,
 -1.04805497e+02, 6.56588369e+00]

qfrc_actuator:
[ 1.25106016e-04, 9.53632810e-04, 1.28849748e-04,-1.06734273e-04,
 -2.37186677e-05, 3.49092989e-02, 1.09880599e-02, 1.60800430e-03,
 -2.93226614e-05, 8.88460265e-04, 1.89237514e-04, 6.39380428e-05,
  0.00000000e+00,-1.68298864e-03, 0.00000000e+00,-8.09956608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0059978310067656335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14134898e-07,  4.14134897e-07,  1.00000000e+00,  1.71507713e-13,
        1.00000000e+00, -4.14134897e-07, -1.00000000e+00,  2.52435490e-29,
       -4.14134898e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00835496, -0.09216506,  0.06169922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77561404e-05, 1.00673868e-05,-2.86660102e-05, 2.56487809e-06,
 -4.74151504e-05, 4.89275301e-05, 1.85875340e-05,-2.58517289e-06,
 -1.89723596e-05, 4.93433558e-05,-4.23305322e-07, 2.94793598e-05,
  3.34844241e-03,-2.69056398e-05, 5.33711168e-06,-7.01555303e-05,
 -3.07661256e-05,-2.44039136e-05,-4.90491677e+00,-2.35754080e-03,
  2.18141390e-03,-9.11079301e-03]


--- Step 2720 ---
qpos:
[ 0.01871919, 0.03006105,-0.00945024,-0.02528386,-0.00351489, 1.340827  ,
 -0.030045  , 0.94381321, 0.01155281, 0.02731498,-0.00833526, 0.02643786,
  1.39623094, 0.00768462, 1.35730062, 0.04405552,-0.09742578,-0.07928349,
  0.09234162, 0.63018528, 0.26019933,-0.65886206,-0.31790502]

qacc:
[-1.93963460e+00, 2.20397763e+00,-5.49306969e+00, 6.78543257e-01,
 -5.22498026e-02, 1.17234023e+00,-5.92790072e+00, 1.72107749e+01,
 -7.96253434e+00, 6.39610993e-01,-3.75210063e+00, 9.76589408e+00,
  8.48626134e-03,-1.22003070e-01, 1.23947291e+01,-4.25317025e+01,
  6.53431960e+00,-5.32446905e-01, 1.43398004e+00,-1.62681192e+02,
  1.40960050e+02, 4.54241686e+00]

qfrc_actuator:
[ 1.14191496e-04, 9.92370490e-04, 9.35330100e-05,-1.22642472e-04,
 -1.08006945e-05, 3.48931833e-02, 1.09948721e-02, 1.66037306e-03,
 -7.68384804e-05, 8.62173198e-04, 1.81247385e-04, 7.94298411e-05,
  0.00000000e+00,-1.68692119e-03, 0.00000000e+00,-1.01428955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006101586993563501
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54891091e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.54891091e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18843735, -0.07195405,  0.06169478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14300786e-05, 3.85162767e-05,-3.66876561e-05,-1.64177872e-05,
 -1.51007127e-05, 1.45042469e-05, 1.84178566e-05, 5.43211923e-05,
 -4.80546607e-05, 2.46866959e-06, 3.17178788e-06, 1.81663397e-05,
  3.35071933e-03,-1.61240235e-05,-7.99427392e-06,-2.08167009e-04,
 -2.21737948e-06,-1.01325199e-06,-4.90472293e+00,-2.29244994e-03,
  2.24416933e-03,-9.11325714e-03]


--- Step 2721 ---
qpos:
[ 0.01871995, 0.03006262,-0.00945167,-0.02528521,-0.00351493, 1.34082656,
 -0.03004399, 0.94381253, 0.01155218, 0.02731501,-0.00833521, 0.02643843,
  1.39623137, 0.00768337, 1.35739309, 0.04405417,-0.09741287,-0.07930066,
  0.09234348, 0.63027241, 0.26025168,-0.65866118,-0.31810565]

qacc:
[-1.20375234e+00, 2.35100475e+00,-8.96407813e+00, 1.33555954e+01,
 -3.77404683e-03, 2.49031305e+00,-1.11561354e+01, 2.56329106e+01,
 -4.84119835e+00,-1.07672001e+00, 2.34591152e+00, 7.95421405e-01,
 -4.93395789e-03, 1.05668182e-01,-3.43718004e+00, 1.10635821e+01,
  5.63566321e+00,-4.65431212e-01,-1.16351726e-01,-1.40117113e+02,
  1.21391661e+02, 4.00296737e+00]

qfrc_actuator:
[ 1.07415821e-04, 9.79233516e-04, 5.53854126e-05,-1.13615450e-04,
 -2.96076845e-06, 3.48658645e-02, 1.09806106e-02, 1.72749494e-03,
 -1.04760730e-04, 8.28504728e-04, 1.94317319e-04, 8.83698210e-05,
  0.00000000e+00,-1.67078812e-03, 0.00000000e+00,-9.56106800e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006128341289462429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52905188e-15,  1.81162075e-14,  1.00000000e+00,  8.20492436e-29,
        1.00000000e+00, -1.81162075e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52905188e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18837721, -0.07196312,  0.06169366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.09657970e-06, 7.50566769e-08,-3.52835313e-05, 9.08942609e-06,
 -1.08367224e-06,-1.40623247e-05,-7.73900077e-06, 6.93557465e-05,
 -2.93287763e-05,-3.08815880e-05, 1.45996935e-05, 9.51015838e-06,
  3.33958510e-03, 1.42959875e-05,-2.90397988e-05, 4.50420281e-05,
 -1.95265857e-05,-2.54681982e-05,-4.90495617e+00,-2.38717959e-03,
  2.13221097e-03,-9.11705405e-03]


--- Step 2722 ---
qpos:
[ 0.01872028, 0.03006374,-0.00945305,-0.02528572,-0.00351509, 1.34082614,
 -0.03004351, 0.9438137 , 0.01155121, 0.02731488,-0.00833504, 0.02643909,
  1.39623167, 0.00768236, 1.35748513, 0.04405547,-0.09738046,-0.07931946,
  0.09233956, 0.6305628 , 0.26021345,-0.65825279,-0.31840664]

qacc:
[-3.69386571e+00, 1.03363029e+00,-8.07199380e+00, 2.28407734e+01,
 -4.73968858e-02, 4.61712023e+00,-1.88737356e+01, 3.78913681e+01,
 -2.81437021e+00,-3.46139970e-01, 5.26255981e-01, 1.07240619e+00,
 -3.94805837e-03, 1.15498504e-01,-8.68696282e+00, 2.94779782e+01,
  4.87430319e+00,-4.07882792e-01,-1.44604700e+00,-1.21051811e+02,
  1.04860877e+02, 3.53293257e+00]

qfrc_actuator:
[ 8.53752871e-05, 9.35136228e-04, 5.11952499e-05,-7.22749965e-05,
 -1.59855767e-05, 3.48674809e-02, 1.09539705e-02, 1.82047839e-03,
 -1.20917443e-04, 8.26249245e-04, 2.01913340e-04, 9.33870112e-05,
  0.00000000e+00,-1.66071033e-03, 0.00000000e+00,-8.14687921e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006075558968266087
  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([-0.18849872, -0.07195322,  0.06169591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22495113e-05,-5.09952862e-05,-8.20485834e-06, 4.03027862e-05,
 -1.36659230e-05,-5.59115096e-06,-2.82393563e-05, 9.39417016e-05,
 -1.70271849e-05,-1.61164493e-05, 3.34265060e-06, 4.38370205e-06,
  3.33990066e-03, 1.58640252e-05,-8.50498276e-06, 1.40164018e-04,
  5.68507602e-05,-4.97294958e-05,-4.90493203e+00,-2.45543637e-03,
  2.05916721e-03,-9.12080780e-03]


--- Step 2723 ---
qpos:
[ 0.01871966, 0.03006428,-0.00945379,-0.02528645,-0.00351523, 1.34082569,
 -0.03004337, 0.94381632, 0.01155074, 0.02731436,-0.00833464, 0.02643948,
  1.39623216, 0.00768138, 1.35757747, 0.04405542,-0.0973739 ,-0.07933284,
  0.09234124, 0.63061073, 0.2602502 ,-0.65813954,-0.31851575]

qacc:
[-8.17514964e+00,-2.99515562e+00, 1.05256980e+01,-1.49271935e+01,
  6.82698732e-03, 3.34141237e+00,-1.38956019e+01, 2.87928149e+01,
  4.30672148e+00,-1.70263307e+00, 6.44052625e+00,-1.11314667e+01,
 -1.77478534e-03, 7.35682558e-02, 4.53099089e+00,-1.52266308e+01,
 -6.46114125e+00, 1.35409113e+00, 1.40090125e+00, 1.65324911e+02,
 -1.35947730e+02, 3.56170750e+01]

qfrc_actuator:
[ 3.67721555e-05, 9.08501269e-04, 8.47181088e-05,-8.32751403e-05,
 -5.91748324e-06, 3.48686196e-02, 1.09381158e-02, 1.89243910e-03,
 -9.45206170e-05, 7.89538882e-04, 2.06329065e-04, 7.83221472e-05,
  0.00000000e+00,-1.65440386e-03, 0.00000000e+00,-8.91730822e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006034816703566315
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19848174e-15,  9.19848174e-15,  1.00000000e+00, -8.46120663e-29,
        1.00000000e+00, -9.19848174e-15, -1.00000000e+00,  0.00000000e+00,
        9.19848174e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00852916, -0.09522492,  0.0616976 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.92726608e-05,-5.51518353e-05, 2.33793677e-05,-1.26799155e-05,
  1.99163819e-06,-4.65127810e-06,-1.74055347e-05, 7.31442896e-05,
  2.58920908e-05,-4.48521886e-05, 1.64778326e-06,-1.55555894e-05,
  3.34607914e-03, 1.01736943e-05, 1.07409124e-05,-7.05397575e-05,
  1.90959077e-04,-7.32124852e-05,-4.90474378e+00,-2.50425546e-03,
  2.01577932e-03,-9.12446831e-03]


--- Step 2724 ---
qpos:
[ 0.0187188 , 0.03006441,-0.00945416,-0.02528731,-0.00351517, 1.34082523,
 -0.03004304, 0.94381768, 0.0115506 , 0.02731348,-0.00833362, 0.02643966,
  1.39623262, 0.00768036, 1.35766977, 0.04405513,-0.09738964,-0.07934158,
  0.09234237, 0.63044995, 0.26035108,-0.65828095,-0.31845935]

qacc:
[-1.98499758e+00,-1.85342941e+00, 6.36001692e+00,-8.86823112e+00,
  8.66269697e-02,-2.66937226e+00, 1.12673774e+01,-2.43450551e+01,
  2.75544422e+00,-2.67288234e+00, 9.72567486e+00,-1.41517467e+01,
 -9.62023442e-03,-2.72483105e-02, 6.55931779e-01,-2.36530066e+00,
 -5.57718848e+00, 1.16006322e+00,-1.38843737e-01, 1.42402210e+02,
 -1.17223828e+02, 3.09803218e+01]

qfrc_actuator:
[ 2.61867195e-05, 8.92645280e-04, 1.04740281e-04,-8.94529155e-05,
  1.79229768e-05, 3.48694915e-02, 1.09464979e-02, 1.82718889e-03,
 -7.87981776e-05, 7.85706835e-04, 2.44190187e-04, 6.92868886e-05,
  0.00000000e+00,-1.66800703e-03, 0.00000000e+00,-9.01616564e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006062524505447836
  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([-0.00859079, -0.09522137,  0.06169643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20417937e-05,-4.24351704e-05, 1.10787506e-05,-7.97288581e-06,
  2.50170523e-05,-2.90092934e-06, 7.64052180e-06,-6.42014035e-05,
  1.64645368e-05,-2.92190679e-05, 2.82600226e-05,-1.12048482e-05,
  3.33675185e-03,-5.31608262e-06,-5.43528240e-06,-1.30307353e-05,
  1.70189166e-05,-1.68882264e-05,-4.90497817e+00,-2.42927580e-03,
  2.10974171e-03,-9.12478844e-03]


--- Step 2725 ---
qpos:
[ 0.01871851, 0.03006424,-0.00945433,-0.02528789,-0.00351487, 1.34082471,
 -0.0300423 , 0.94381789, 0.0115503 , 0.02731272,-0.00833236, 0.02643969,
  1.39623277, 0.00767935, 1.35776165, 0.04405774,-0.0974247 ,-0.07934633,
  0.09233766, 0.63010867, 0.26050691,-0.65864255,-0.31825965]

qacc:
[ 4.88926109e+00,-3.84206547e-01,-3.91636187e-01, 5.09789934e+00,
  1.00237970e-01,-3.14365276e+00, 1.25193468e+01,-2.41106347e+01,
 -1.31910570e+00,-8.10816597e-01, 3.76363049e+00,-6.80456354e+00,
 -4.13801497e-03,-6.97401034e-02,-9.35023758e+00, 3.18099295e+01,
 -4.82834018e+00, 9.97295169e-01,-1.45925643e+00, 1.23043059e+02,
 -1.01415817e+02, 2.70072594e+01]

qfrc_actuator:
[ 5.58242464e-05, 8.83326680e-04, 1.16674892e-04,-7.49875375e-05,
  3.20793470e-05, 3.48702102e-02, 1.09690379e-02, 1.77049745e-03,
 -8.72510801e-05, 8.19485823e-04, 2.66124208e-04, 6.39229880e-05,
  0.00000000e+00,-1.67573023e-03, 0.00000000e+00,-7.47520644e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060116722324896205
  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([-0.0084782, -0.0952441,  0.0616986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92718232e-05,-3.11011555e-05, 4.26497009e-06, 1.28796807e-05,
  2.89405046e-05,-1.31574259e-06, 2.09611759e-05,-5.80414592e-05,
 -7.98327695e-06, 2.28218235e-05, 1.89886962e-05,-5.85771369e-06,
  3.33799307e-03,-1.04945800e-05,-5.68255412e-06, 1.52274991e-04,
  8.53683431e-06, 3.24953122e-06,-4.90495794e+00,-2.40478670e-03,
  2.13371313e-03,-9.12518977e-03]


--- Step 2726 ---
qpos:
[ 0.01871892, 0.0300638 ,-0.00945462,-0.02528862,-0.00351436, 1.3408239 ,
 -0.03004151, 0.94381815, 0.0115499 , 0.02731204,-0.00833138, 0.0264397 ,
  1.39623296, 0.00767815, 1.35785388, 0.04405879,-0.09743351,-0.07935279,
  0.09233874, 0.63003547, 0.26054423,-0.65872432,-0.31820479]

qacc:
[ 6.02531543e+00,-3.58883178e-01, 1.37604790e+00,-3.57279851e+00,
  8.77163903e-02,-4.26106193e-01, 8.45945911e-01, 3.77469542e-03,
 -8.53225608e-01, 8.68443302e-01,-2.84633202e+00, 2.86555263e+00,
  9.07162104e-03,-1.17653700e-01, 5.18030915e+00,-1.73952718e+01,
  6.56302857e+00,-4.27300854e-01, 1.44700666e+00,-1.64486241e+02,
  1.38719451e+02,-3.92783888e-01]

qfrc_actuator:
[ 9.11342009e-05, 8.60233146e-04, 1.06035007e-04,-8.39944285e-05,
  4.03113029e-05, 3.48353801e-02, 1.09642671e-02, 1.77259041e-03,
 -9.21094996e-05, 8.04474171e-04, 2.43128382e-04, 6.07809428e-05,
  0.00000000e+00,-1.67996950e-03, 0.00000000e+00,-8.35362868e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00610527636549512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54616203e-15,  1.81846481e-14,  1.00000000e+00,  8.26703569e-29,
        1.00000000e+00, -1.81846481e-14, -1.00000000e+00,  0.00000000e+00,
       -4.54616203e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18843161, -0.07199135,  0.06169459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61522685e-05,-3.90320358e-05,-1.60880037e-05,-9.93920272e-06,
  2.53346918e-05,-3.31981201e-05,-4.34483608e-06, 1.32291270e-06,
 -5.08589691e-06, 1.43067078e-06,-1.61514590e-05,-1.62193708e-06,
  3.35347248e-03,-1.53914925e-05, 1.29862586e-05,-8.03847370e-05,
  1.06842704e-04,-1.02172300e-06,-4.90477422e+00,-2.41406600e-03,
  2.10930253e-03,-9.12543375e-03]


--- Step 2727 ---
qpos:
[ 0.01871975, 0.03006338,-0.0094552 ,-0.02528878,-0.00351384, 1.34082312,
 -0.03004087, 0.94381807, 0.0115491 , 0.02731139,-0.00833096, 0.02644004,
  1.3962333 , 0.00767699, 1.35794616, 0.04405881,-0.09741968,-0.07936077,
  0.09233939, 0.63019372, 0.26047923,-0.65856529,-0.31827381]

qacc:
[ 3.59652406e+00, 1.99975159e+00,-9.49544425e+00, 1.97333338e+01,
  6.31728923e-03,-1.44606112e-01, 1.18883403e+00,-4.95931519e+00,
 -3.43004232e+00, 2.26867102e+00,-9.43891273e+00, 1.60678096e+01,
  1.92680552e-03, 7.18187572e-02, 3.22364961e+00,-1.11510886e+01,
  5.65822016e+00,-3.79906879e-01,-1.06455651e-01,-1.41494446e+02,
  1.19670587e+02, 1.30265877e-01]

qfrc_actuator:
[ 1.11733919e-04, 8.82220122e-04, 9.98336771e-05,-5.35106879e-05,
  2.71707496e-05, 3.48504765e-02, 1.09610570e-02, 1.75596049e-03,
 -1.12558181e-04, 7.95689326e-04, 2.11360971e-04, 7.66579544e-05,
  0.00000000e+00,-1.66415715e-03, 0.00000000e+00,-8.87562504e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.25754602,  -4.68132489,  -7.25754602,
        29.18733676, -31.86056016,  -4.68132489, -31.86056016,
        58.03038929,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006131617974902408
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52663159e-15,  1.81065264e-14,  1.00000000e+00,  8.19615742e-29,
        1.00000000e+00, -1.81065264e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52663159e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18837321, -0.0720077 ,  0.06169349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16425407e-05,-3.55533363e-06,-1.65797880e-05, 2.80641132e-05,
  1.83003974e-06,-4.07288775e-06,-1.01595749e-05,-1.77242235e-05,
 -2.05975624e-05,-1.13805993e-05,-3.35210999e-05, 1.53473492e-05,
  3.35099363e-03, 1.04856185e-05,-5.89989176e-06,-5.56910346e-05,
  6.44034981e-06, 2.47246163e-07,-4.90498919e+00,-2.41711131e-03,
  2.10256344e-03,-9.12499391e-03]


--- Step 2728 ---
qpos:
[ 0.01872048, 0.0300631 ,-0.00945569,-0.02528828,-0.00351352, 1.34082287,
 -0.03004053, 0.94381775, 0.01154875, 0.02731121,-0.00833145, 0.02644088,
  1.39623377, 0.00767641, 1.35803803, 0.04406121,-0.09738628,-0.0793701 ,
  0.09233429, 0.63055215, 0.26032556,-0.65819816,-0.31844901]

qacc:
[-8.91574435e-01, 1.33843196e+00,-7.27813253e+00, 1.85387066e+01,
 -8.58317708e-02, 1.11427712e+00,-2.28627276e+00,-1.12676139e+00,
  3.80521413e+00, 4.19061014e+00,-1.61720646e+01, 2.59669011e+01,
 -1.14499781e-02, 3.85377975e-01,-7.80791430e+00, 2.64294445e+01,
  4.89193843e+00,-3.38140965e-01,-1.43864288e+00,-1.22093269e+02,
  1.03547340e+02, 4.93423619e-01]

qfrc_actuator:
[ 1.05755926e-04, 9.13328172e-04, 1.14275186e-04,-1.77402842e-05,
  1.31608755e-06, 3.49130991e-02, 1.09589682e-02, 1.74621636e-03,
 -8.87625602e-05, 8.43921775e-04, 1.74709254e-04, 1.03599376e-04,
  0.00000000e+00,-1.61873820e-03, 0.00000000e+00,-7.58493313e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.22694544,  -4.72842854,  -7.22694544,
        30.57752368, -33.53493984,  -4.72842854, -33.53493984,
        59.89127395,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006078449945391681
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56622591e-15,  1.82649036e-14,  1.00000000e+00,  8.34016761e-29,
        1.00000000e+00, -1.82649036e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56622591e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18849617, -0.0720035 ,  0.06169574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34705066e-06, 2.69247699e-05, 1.26466292e-05, 3.55926216e-05,
 -2.47732506e-05, 5.78539476e-05,-4.56140880e-06,-1.05757435e-05,
  2.31875467e-05, 3.56099161e-05,-4.25984028e-05, 2.55929881e-05,
  3.34332225e-03, 5.31140199e-05,-1.05419249e-05, 1.24820718e-04,
  1.74202624e-05,-2.05292611e-06,-4.90495314e+00,-2.41287226e-03,
  2.11285315e-03,-9.12488194e-03]


--- Step 2729 ---
qpos:
[ 0.01872079, 0.03006301,-0.00945574,-0.02528774,-0.00351345, 1.3408231 ,
 -0.03004055, 0.94381768, 0.01154903, 0.0273115 ,-0.00833222, 0.02644269,
  1.39623435, 0.00767617, 1.35812984, 0.04406477,-0.09737872,-0.07937407,
  0.09233479, 0.63066835, 0.26024633,-0.65812631,-0.31843217]

qacc:
[-3.60857241e+00,-9.10706581e-01, 3.40637310e+00,-3.42632149e+00,
 -1.04470845e-01, 1.99112696e+00,-6.23447081e+00, 7.88276434e+00,
  5.38196230e+00, 3.39926946e+00,-1.52870321e+01, 3.20575117e+01,
 -1.90106262e-02, 2.61093245e-01,-3.58474329e+00, 1.24514304e+01,
 -6.45786449e+00, 1.34308716e+00, 1.39920254e+00, 1.65220610e+02,
 -1.35961771e+02, 3.59140769e+01]

qfrc_actuator:
[ 8.41874435e-05, 9.32009314e-04, 1.40839185e-04,-1.46303936e-05,
 -1.42027174e-05, 3.49326941e-02, 1.09400083e-02, 1.75839233e-03,
 -5.68627907e-05, 8.90406603e-04, 1.71213175e-04, 1.54631545e-04,
  0.00000000e+00,-1.60934415e-03, 0.00000000e+00,-7.01189814e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006045032604814364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75488098e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.75488098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00855819, -0.09525406,  0.06169712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17156359e-05, 3.78833753e-05, 3.49211877e-05, 5.39399108e-06,
 -3.01567099e-05, 5.03890381e-05,-8.47240861e-06, 1.35356711e-05,
  3.25910238e-05, 5.87130217e-05,-4.96962397e-07, 5.15809226e-05,
  3.33677991e-03, 3.42958362e-05, 8.54964163e-06, 6.27714900e-05,
  9.90287155e-05,-6.58018025e-06,-4.90475687e+00,-2.40321331e-03,
  2.13679379e-03,-9.12495417e-03]


--- Step 2730 ---
qpos:
[ 0.01872049, 0.03006294,-0.00945506,-0.0252875 ,-0.0035136 , 1.34082344,
 -0.03004037, 0.94381775, 0.01154935, 0.02731166,-0.00833221, 0.02644475,
  1.39623497, 0.00767577, 1.35822196, 0.04406665,-0.09739345,-0.07937341,
  0.09233472, 0.63057601, 0.26023069,-0.65830923,-0.31824967]

qacc:
[-5.17410314e+00,-2.61948046e+00, 1.06899201e+01,-1.72163335e+01,
 -9.34726785e-02,-1.26555988e-01, 2.84799207e-01, 1.42021487e+00,
  3.35853351e-01,-1.85231094e+00, 5.28051321e+00,-2.03879573e+00,
 -2.25386108e-02,-6.90860176e-02, 5.54017709e+00,-1.87073925e+01,
 -5.57361088e+00, 1.15327895e+00,-1.41281903e-01, 1.42258925e+02,
 -1.17279883e+02, 3.12614009e+01]

qfrc_actuator:
[ 5.36241704e-05, 9.25389223e-04, 1.74276063e-04,-3.07662610e-05,
 -2.33948907e-05, 3.49263219e-02, 1.09466056e-02, 1.76558539e-03,
 -5.59682145e-05, 8.64637800e-04, 2.05102953e-04, 1.66199201e-04,
  0.00000000e+00,-1.63932989e-03, 0.00000000e+00,-7.93198019e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060718581662127305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82847325e-14,  9.14236626e-15,  1.00000000e+00,  1.67165722e-28,
        1.00000000e+00, -9.14236626e-15, -1.00000000e+00,  0.00000000e+00,
       -1.82847325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.008618  , -0.09525035,  0.06169598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11843119e-05, 2.20010943e-05, 4.57494616e-05,-1.32007677e-05,
 -2.70118013e-05, 2.02493680e-05, 1.58868181e-05, 8.77323129e-06,
  1.86791102e-06, 9.17844695e-06, 4.77419429e-05, 1.50661539e-05,
  3.33094133e-03,-1.32180354e-05, 9.07438312e-06,-8.78578317e-05,
 -3.60784544e-06,-3.85944697e-06,-4.90497859e+00,-2.40273091e-03,
  2.13747861e-03,-9.12335554e-03]


--- Step 2731 ---
qpos:
[ 0.01872017, 0.03006277,-0.00945385,-0.02528777,-0.00351392, 1.34082374,
 -0.03003977, 0.9438186 , 0.01154968, 0.02731198,-0.00833206, 0.0264459 ,
  1.39623551, 0.00767514, 1.35831413, 0.04406743,-0.09742748,-0.07936879,
  0.0923288 , 0.6303033 , 0.26026943,-0.65871242,-0.31792377]

qacc:
[-1.49689741e-01,-2.66979112e+00, 1.14738592e+01,-2.10816311e+01,
 -7.36185248e-02, 1.39425096e-01,-2.11565972e+00, 1.08856105e+01,
  7.33282441e-02,-2.04795109e+00, 1.14145441e+01,-2.74002414e+01,
 -2.38850704e-02,-1.31842554e-01, 3.38593824e+00,-1.17563557e+01,
 -4.82446296e+00, 9.93805547e-01,-1.46232324e+00, 1.22867109e+02,
 -1.01505725e+02, 2.72692872e+01]

qfrc_actuator:
[ 5.35217927e-05, 9.03683045e-04, 1.93634813e-04,-5.81106925e-05,
 -2.87181376e-05, 3.49222937e-02, 1.09681270e-02, 1.80528752e-03,
 -5.55809553e-05, 8.66941726e-04, 2.07205295e-04, 1.18905284e-04,
  0.00000000e+00,-1.65705608e-03, 0.00000000e+00,-8.48148280e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006020154218031232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22088525e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.22088525e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00850372, -0.09527298,  0.06169819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00527566e-06,-5.35626062e-07, 2.90744690e-05,-2.50772341e-05,
 -2.12854316e-05, 1.05416699e-05, 2.75472523e-05, 4.09809747e-05,
  4.43546480e-07, 1.79350401e-05, 1.03935607e-05,-4.49604615e-05,
  3.32884559e-03,-2.23346530e-05,-8.37970361e-06,-5.93285632e-05,
  4.95687154e-05,-3.05097775e-05,-4.90494719e+00,-2.44278081e-03,
  2.08080156e-03,-9.12170925e-03]


--- Step 2732 ---
qpos:
[ 0.0187202 , 0.03006284,-0.00945285,-0.02528767,-0.00351437, 1.34082388,
 -0.03003883, 0.94382028, 0.01154932, 0.02731258,-0.00833227, 0.02644754,
  1.39623592, 0.00767473, 1.35840587, 0.04407055,-0.09743521,-0.07936563,
  0.09232867, 0.63029644, 0.26019058,-0.65883556,-0.3177467 ]

qacc:
[ 2.95356859e+00, 1.64523364e+00,-6.98047908e+00, 1.35674828e+01,
 -5.37283359e-02, 2.83798324e-01,-2.90267724e+00, 1.22606154e+01,
 -5.88200397e+00, 2.41341470e+00,-1.00491344e+01, 1.86867754e+01,
 -2.26171647e-02, 1.23631813e-01,-7.70072396e+00, 2.60236350e+01,
  6.57430969e+00,-3.67881110e-01, 1.44871339e+00,-1.65191044e+02,
  1.37755723e+02,-2.35551454e+00]

qfrc_actuator:
[ 7.13520826e-05, 9.26296356e-04, 1.86696934e-04,-3.85965663e-05,
 -3.16784877e-05, 3.49020256e-02, 1.09805455e-02, 1.84605430e-03,
 -9.09900564e-05, 8.85858036e-04, 1.90569222e-04, 1.43867222e-04,
  0.00000000e+00,-1.63179884e-03, 0.00000000e+00,-7.20998200e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006106595421721893
  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([-0.18843427, -0.07205962,  0.06169448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78000516e-05, 2.72384333e-05,-4.34638455e-06, 2.00071732e-05,
 -1.55389600e-05,-7.81833849e-06, 1.88175034e-05, 4.28441082e-05,
 -3.53870221e-05, 2.91512882e-05,-1.32145725e-05, 2.52115665e-05,
  3.33277508e-03, 1.42305009e-05,-1.23676001e-05, 1.22329927e-04,
  2.01326043e-04,-7.55855920e-05,-4.90475340e+00,-2.50815680e-03,
  1.98649105e-03,-9.11979492e-03]


--- Step 2733 ---
qpos:
[ 0.01872078, 0.03006318,-0.00945228,-0.02528663,-0.00351477, 1.340824  ,
 -0.03003834, 0.94382246, 0.01154888, 0.02731339,-0.00833271, 0.02645015,
  1.39623645, 0.00767428, 1.35849788, 0.04407212,-0.09742028,-0.0793638 ,
  0.09232812, 0.63051933, 0.2600101 ,-0.65871774,-0.31769649]

qacc:
[ 4.77155108e+00, 3.51354011e+00,-1.59470129e+01, 3.26231895e+01,
  2.43312857e-02, 2.04139838e+00,-7.71565331e+00, 1.25392065e+01,
 -6.67094221e-01, 2.88826155e+00,-1.40409344e+01, 3.11625611e+01,
 -1.88237429e-02, 2.35931987e-02, 5.08219036e+00,-1.71905516e+01,
  5.66684341e+00,-3.30123209e-01,-1.05877669e-01,-1.41988585e+02,
  1.18971072e+02,-1.35003374e+00]

qfrc_actuator:
[ 9.95848152e-05, 9.39693256e-04, 1.64501304e-04, 8.35378201e-06,
 -1.54458368e-05, 3.48899125e-02, 1.09519118e-02, 1.86934341e-03,
 -9.39267987e-05, 8.96791143e-04, 1.80895949e-04, 1.93408928e-04,
  0.00000000e+00,-1.63436820e-03, 0.00000000e+00,-8.07131676e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.0126973 ,  -3.22233748,  -8.0126973 ,
        15.8020376 , -17.81823807,  -3.22233748, -17.81823807,
        52.94337643,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00613254839967161
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.05188962e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.05188962e-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([-0.188377  , -0.07207952,  0.06169339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87590379e-05, 2.85789912e-05,-1.64265791e-05, 4.83524206e-05,
  7.04933203e-06,-1.14694809e-05,-2.67640500e-05, 2.46031721e-05,
 -3.96147941e-06, 2.55489201e-05,-4.41409461e-06, 5.08212682e-05,
  3.33916239e-03, 5.18847680e-07, 7.08012259e-06,-8.11037314e-05,
  2.67790310e-05,-4.32881275e-05,-4.90496109e+00,-2.43173541e-03,
  2.07518765e-03,-9.11555965e-03]


--- Step 2734 ---
qpos:
[ 0.0187217 , 0.0300636 ,-0.00945187,-0.02528573,-0.00351519, 1.34082446,
 -0.03003858, 0.94382386, 0.01154876, 0.02731447,-0.00833297, 0.02645261,
  1.39623734, 0.00767368, 1.35859036, 0.04406898,-0.09738575,-0.07936314,
  0.09232182, 0.63094111, 0.25974148,-0.65839171,-0.31775468]

qacc:
[ 2.86136806e+00, 2.49368544e-01,-1.99125425e-01,-1.86189527e+00,
 -1.30143962e-02, 1.09356437e+00,-1.41656416e+00,-8.12925333e+00,
  2.66725339e+00,-4.34254732e-01, 2.71716613e+00,-5.85123049e+00,
 -3.15886186e-02, 4.42479618e-02, 1.49753760e+01,-5.13428237e+01,
  4.89842332e+00,-2.96158397e-01,-1.43891680e+00,-1.22423097e+02,
  1.03053618e+02,-6.16762877e-01]

qfrc_actuator:
[ 1.15955405e-04, 9.29673973e-04, 1.51221671e-04, 4.34307614e-08,
 -2.33365950e-05, 3.49181087e-02, 1.09170468e-02, 1.82888320e-03,
 -7.77154004e-05, 9.20661153e-04, 1.93149332e-04, 1.85997298e-04,
  0.00000000e+00,-1.63570116e-03, 0.00000000e+00,-1.05379137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.98160901,  -3.29858978,  -7.98160901,
        16.5941126 , -19.25539248,  -3.29858978, -19.25539248,
        55.22870293,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00607902935116076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56579069e-15,  1.82631628e-14,  1.00000000e+00,  8.33857785e-29,
        1.00000000e+00, -1.82631628e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56579069e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18850096, -0.07207822,  0.06169566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72154182e-05, 4.62609402e-06,-7.74205013e-06,-6.71914562e-06,
 -3.72533918e-06, 1.73572951e-05,-3.94305549e-05,-4.10155333e-05,
  1.61049631e-05, 3.93905434e-05, 1.87351992e-05,-5.48699434e-06,
  3.33308997e-03, 1.50591066e-06,-8.26814864e-06,-2.50858913e-04,
 -2.35252732e-05,-1.91268769e-05,-4.90491995e+00,-2.36128196e-03,
  2.16465462e-03,-9.11185933e-03]


--- Step 2735 ---
qpos:
[ 0.01872281, 0.03006396,-0.00945125,-0.02528528,-0.00351581, 1.34082498,
 -0.03003832, 0.94382403, 0.01154814, 0.02731553,-0.00833293, 0.02645464,
  1.39623839, 0.00767332, 1.35868256, 0.04406491,-0.09737723,-0.07935882,
  0.0923217 , 0.63109634, 0.25957899,-0.6583514 ,-0.31766269]

qacc:
[ 1.63256784e+00,-1.60836329e+00, 7.52363250e+00,-1.56983106e+01,
 -8.47123665e-02,-3.38623225e+00, 1.36881703e+01,-2.61734534e+01,
 -4.20478771e+00,-1.75190780e+00, 8.01421486e+00,-1.58558838e+01,
 -5.50394523e-02, 2.39681810e-01, 2.37764730e+00,-8.89988566e+00,
 -6.50365123e+00, 9.19083862e-01, 1.54639615e+00, 1.62931453e+02,
 -1.41515795e+02, 7.19561316e+00]

qfrc_actuator:
[ 1.25209426e-04, 9.23446137e-04, 1.60930751e-04,-2.29792714e-05,
 -4.56362991e-05, 3.49346436e-02, 1.09499298e-02, 1.76901657e-03,
 -1.03631644e-04, 8.98880923e-04, 2.00505569e-04, 1.62907295e-04,
  0.00000000e+00,-1.61842658e-03, 0.00000000e+00,-1.09118561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006051420395906289
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17324324e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17324324e-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([-0.00848843, -0.09204104,  0.06169678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.75596911e-06,-5.54673600e-06, 9.46508843e-06,-2.32281243e-05,
 -2.45004120e-05, 1.71897476e-05, 3.05901295e-05,-6.14499668e-05,
 -2.54277310e-05, 3.84582835e-06, 1.75948926e-05,-2.08684882e-05,
  3.31484744e-03, 2.58468425e-05,-3.38726847e-05,-5.29460975e-05,
  6.74006850e-06,-8.79586569e-07,-4.90471977e+00,-2.29569166e-03,
  2.25517834e-03,-9.10850259e-03]


--- Step 2736 ---
qpos:
[ 0.01872402, 0.03006391,-0.00945039,-0.02528438,-0.00351651, 1.34082553,
 -0.03003796, 0.94382419, 0.01154722, 0.02731652,-0.00833272, 0.02645605,
  1.39623932, 0.00767289, 1.35877453, 0.04406072,-0.09739117,-0.07935133,
  0.09232153, 0.63102208, 0.25950734,-0.65855765,-0.31744119]

qacc:
[ 8.95899441e-01,-2.69204655e-01,-1.72263335e+00, 9.46222170e+00,
 -3.36834262e-02,-2.29816411e-01, 7.92367393e-01,-7.30266212e-01,
 -2.60304904e+00,-1.84924580e+00, 9.07860811e+00,-2.00483755e+01,
 -6.04774627e-02,-1.19728583e-02, 7.22973682e-02,-7.35156243e-01,
 -5.61319720e+00, 7.89824340e-01,-1.42058886e-02, 1.40245586e+02,
 -1.22107810e+02, 6.51586019e+00]

qfrc_actuator:
[ 1.30204584e-04, 8.84103123e-04, 1.66385318e-04,-1.19239454e-06,
 -4.08939534e-05, 3.49265587e-02, 1.09514945e-02, 1.76927224e-03,
 -1.18638078e-04, 8.85401205e-04, 2.04718209e-04, 1.30742418e-04,
  0.00000000e+00,-1.64355959e-03, 0.00000000e+00,-1.09369172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006078503553277985
  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([-0.00854892, -0.09203917,  0.06169563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27626793e-06,-4.15055327e-05, 4.65714765e-06, 2.14207416e-05,
 -9.73559899e-06, 5.55679590e-06, 6.60580023e-06, 2.46097538e-07,
 -1.57458575e-05,-8.64314462e-06, 6.43511883e-06,-3.18034620e-05,
  3.30643196e-03,-1.07460315e-05,-2.15763158e-05,-9.83210532e-06,
 -2.07783748e-05,-2.88917845e-05,-4.90495127e+00,-2.38010773e-03,
  2.16073639e-03,-9.10618983e-03]


--- Step 2737 ---
qpos:
[ 0.01872494, 0.03006355,-0.00944974,-0.0252832 ,-0.00351709, 1.34082611,
 -0.03003789, 0.94382507, 0.01154681, 0.02731764,-0.00833227, 0.02645704,
  1.39624007, 0.00767248, 1.35886624, 0.04405749,-0.09742454,-0.07934112,
  0.09231594, 0.63074933, 0.2595136 ,-0.65897708,-0.31710753]

qacc:
[-2.52468665e+00, 7.53350670e-01,-4.42844145e+00, 9.72396747e+00,
  5.24611467e-02, 2.03292684e+00,-8.04744157e+00, 1.52196586e+01,
  4.41071441e+00,-1.37356671e+00, 6.95796253e+00,-1.48446291e+01,
 -5.50793236e-02, 2.68864203e-02,-3.31229317e+00, 1.10489102e+01,
 -4.85894086e+00, 6.80908790e-01,-1.35239080e+00, 1.21103580e+02,
 -1.05701149e+02, 5.88879851e+00]

qfrc_actuator:
[ 1.14902708e-04, 8.60758897e-04, 1.51419235e-04, 1.12481867e-05,
 -1.99669984e-05, 3.49214733e-02, 1.09344797e-02, 1.80486643e-03,
 -9.15839211e-05, 9.12470040e-04, 2.24811022e-04, 1.11251153e-04,
  0.00000000e+00,-1.64067282e-03, 0.00000000e+00,-1.04017780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060269748660565295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.2104501e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.2104501e-15, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00843487, -0.09205743,  0.06169783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51645655e-05,-4.46869527e-05,-2.22365948e-05, 1.12375317e-05,
  1.51738102e-05,-7.15975096e-07,-1.51696527e-05, 3.59621513e-05,
  2.65946555e-05, 2.21521954e-05, 1.79821717e-05,-2.02632940e-05,
  3.31280835e-03,-4.39714765e-06,-1.20357400e-05, 4.99829102e-05,
  6.23563771e-05,-6.36712015e-05,-4.90492357e+00,-2.45602810e-03,
  2.06785630e-03,-9.10395590e-03]


--- Step 2738 ---
qpos:
[ 0.01872601, 0.03006331,-0.00944972,-0.02528261,-0.00351735, 1.34082669,
 -0.03003799, 0.94382602, 0.01154535, 0.02731922,-0.008332  , 0.02645742,
  1.39624071, 0.00767249, 1.35895754, 0.04405759,-0.09743171,-0.0793327 ,
  0.09231614, 0.63074696, 0.25939917,-0.65911722,-0.31691455]

qacc:
[ 1.29848334e+00, 7.07693213e-01, 1.39948043e-01,-9.22045955e+00,
  1.36447600e-01, 5.77231498e-01,-2.04666330e+00, 2.61863720e+00,
 -8.98774474e+00,-1.11615150e-01, 3.82700524e+00,-1.42718417e+01,
 -5.08098739e-02, 2.77449606e-01,-1.06588558e+01, 3.63972547e+01,
  6.55128004e+00,-4.46497506e-01, 1.44465719e+00,-1.63781135e+02,
  1.39780828e+02, 2.02896261e+00]

qfrc_actuator:
[ 1.23283681e-04, 8.82588719e-04, 1.24556900e-04,-1.74268492e-05,
  1.04987958e-05, 3.49181706e-02, 1.09244140e-02, 1.80769249e-03,
 -1.46508752e-04, 9.45931943e-04, 2.18791133e-04, 8.16677605e-05,
  0.00000000e+00,-1.60328497e-03, 0.00000000e+00,-8.65341188e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006107812972661816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.08854798e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.08854798e-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([-0.18843587, -0.07212326,  0.06169437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.92414877e-06,-7.27539517e-06,-3.84478417e-05,-3.11415941e-05,
  3.94327476e-05,-5.58757270e-06,-1.08769558e-05, 3.19553638e-06,
 -5.41338815e-05, 4.86555459e-05, 4.76293461e-08,-2.84131307e-05,
  3.32108510e-03, 3.19115146e-05,-1.24440181e-06, 1.75805782e-04,
  2.14109379e-04,-1.01991691e-04,-4.90472946e+00,-2.52462442e-03,
  1.97629087e-03,-9.10168296e-03]


--- Step 2739 ---
qpos:
[ 0.01872683, 0.03006312,-0.00944977,-0.02528273,-0.00351741, 1.34082727,
 -0.03003762, 0.94382627, 0.01154325, 0.02732095,-0.00833142, 0.02645745,
  1.39624146, 0.00767263, 1.35904911, 0.04405708,-0.09741629,-0.07932584,
  0.0923159 , 0.63097798, 0.25918061,-0.659017  ,-0.3168419 ]

qacc:
[-2.17130364e+00,-1.23167179e+00, 7.54607514e+00,-1.99942132e+01,
  8.22275421e-02,-2.43988095e+00, 9.40955015e+00,-1.62772172e+01,
 -5.51412223e+00,-1.35873966e+00, 6.66112373e+00,-1.34042363e+01,
 -4.80307100e-02, 1.57175672e-01, 2.24536136e+00,-7.23840244e+00,
  5.64889913e+00,-3.91238528e-01,-1.08658691e-01,-1.40853361e+02,
  1.20608417e+02, 2.17731507e+00]

qfrc_actuator:
[ 1.10038752e-04, 8.95709442e-04, 1.26556826e-04,-5.22763532e-05,
  1.09345152e-05, 3.49337182e-02, 1.09540235e-02, 1.77346001e-03,
 -1.78249424e-04, 9.47353859e-04, 2.32932167e-04, 6.41234346e-05,
  0.00000000e+00,-1.59886482e-03, 0.00000000e+00,-9.04489576e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.09763219,  -4.92040589,  -7.09763219,
        31.88910453, -33.54182687,  -4.92040589, -33.54182687,
        57.02008558,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006134233023988439
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52470187e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.52470187e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18837689, -0.07213737,  0.06169326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30130839e-05,-2.15236424e-07,-5.31559589e-06,-3.70990217e-05,
  2.37386180e-05, 1.04238954e-05, 2.73731940e-05,-3.46434688e-05,
 -3.33026592e-05, 2.73380830e-05, 2.31925379e-05,-1.60135660e-05,
  3.32674730e-03, 1.51673521e-05, 1.78884953e-05,-2.97587333e-05,
  2.83900865e-05,-6.17856135e-05,-4.90494636e+00,-2.43526810e-03,
  2.07795651e-03,-9.09665241e-03]


--- Step 2740 ---
qpos:
[ 0.01872714, 0.03006291,-0.00944953,-0.02528295,-0.00351736, 1.34082782,
 -0.0300363 , 0.94382574, 0.01154215, 0.02732233,-0.00833042, 0.02645733,
  1.39624232, 0.00767265, 1.35914101, 0.04405412,-0.09738132,-0.07932035,
  0.09230989, 0.63141082, 0.25887187,-0.65870905,-0.3168724 ]

qacc:
[-4.36438803e+00,-9.81524411e-01, 3.83567757e+00,-5.77670333e+00,
  4.92812228e-02,-3.95448574e+00, 1.44622261e+01,-2.15836407e+01,
  8.67760918e+00,-1.99479130e+00, 7.03865920e+00,-1.00552119e+01,
 -5.53542220e-02, 1.35516403e-02, 7.88935950e+00,-2.68859398e+01,
  4.88448619e+00,-3.43255749e-01,-1.44078373e+00,-1.21502995e+02,
  1.04384179e+02, 2.22534555e+00]

qfrc_actuator:
[ 8.41633072e-05, 9.03625558e-04, 1.45567192e-04,-5.49483120e-05,
  1.11041863e-05, 3.49428109e-02, 1.10068698e-02, 1.73548747e-03,
 -1.25053139e-04, 8.94159453e-04, 2.41003958e-04, 5.37967055e-05,
  0.00000000e+00,-1.61409784e-03, 0.00000000e+00,-1.03392823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.04865286,  -4.9903176 ,  -7.04865286,
        33.77779952, -35.51141798,  -4.9903176 , -35.51141798,
        58.79502651,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006081075982601193
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56425404e-15,  2.28212702e-15,  1.00000000e+00, -1.04162075e-29,
        1.00000000e+00, -2.28212702e-15, -1.00000000e+00,  0.00000000e+00,
        4.56425404e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18849958, -0.07213168,  0.06169551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62523282e-05, 5.10997921e-06, 1.70303726e-05,-3.58634174e-06,
  1.41986239e-05, 1.91693769e-05, 5.69837937e-05,-3.76581408e-05,
  5.22362634e-05,-3.38901428e-05, 1.59935214e-05,-8.66859819e-06,
  3.32081338e-03,-6.37975534e-06, 2.13012346e-06,-1.29445831e-04,
 -3.69306327e-05,-3.00409222e-05,-4.90490968e+00,-2.34787991e-03,
  2.18538684e-03,-9.09200230e-03]


--- Step 2741 ---
qpos:
[ 0.01872713, 0.03006297,-0.00944948,-0.0252832 ,-0.00351709, 1.34082805,
 -0.03003447, 0.9438248 , 0.01154137, 0.02732331,-0.00832922, 0.02645676,
  1.39624291, 0.00767268, 1.3592325 , 0.04405299,-0.09737233,-0.07931114,
  0.09230999, 0.63157804, 0.25866807,-0.6586866 ,-0.31675223]

qacc:
[-2.69483271e+00, 7.93215866e-01,-2.14827993e+00, 1.59908698e+00,
  9.06253845e-02,-2.47685155e+00, 8.40198347e+00,-1.17440259e+01,
  2.58639554e+00,-1.99980974e+00, 8.23680310e+00,-1.59611852e+01,
 -5.79796192e-02,-4.57368813e-03,-6.13049991e+00, 2.05865322e+01,
 -6.49346596e+00, 9.31944112e-01, 1.52553165e+00, 1.62369618e+02,
 -1.41482910e+02, 7.87447565e+00]

qfrc_actuator:
[ 6.88203292e-05, 9.26224734e-04, 1.38958545e-04,-5.64140716e-05,
  2.88672335e-05, 3.48948059e-02, 1.10197221e-02, 1.71338469e-03,
 -1.11060247e-04, 8.61906419e-04, 2.45190579e-04, 2.99877502e-05,
  0.00000000e+00,-1.62317139e-03, 0.00000000e+00,-9.31413933e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006056436997606912
  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([-0.00850612, -0.09207031,  0.06169651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61063117e-05, 2.88155708e-05,-3.57896154e-06,-7.26154926e-07,
  2.61545291e-05,-2.73909608e-05, 2.19796407e-05,-2.07268337e-05,
  1.55160596e-05,-4.83189858e-05,-1.17466911e-06,-2.48840257e-05,
  3.31515075e-03,-9.29144251e-06,-1.59062076e-05, 9.50066150e-05,
 -2.32354006e-05,-4.67302367e-06,-4.90471093e+00,-2.26373508e-03,
  2.29598527e-03,-9.08759116e-03]


--- Step 2742 ---
qpos:
[ 0.01872729, 0.0300632 ,-0.00944975,-0.02528344,-0.00351675, 1.34082806,
 -0.0300325 , 0.94382397, 0.01154041, 0.02732423,-0.00832812, 0.02645589,
  1.39624326, 0.00767284, 1.35932372, 0.04405441,-0.09738576,-0.07929872,
  0.09230996, 0.63151657, 0.25855403,-0.65891052,-0.31650209]

qacc:
[ 1.36517670e+00, 1.14865707e+00,-3.82246113e+00, 4.37719251e+00,
  2.81595566e-02,-4.97714070e-01, 1.07931961e+00, 3.41941608e-01,
 -1.45652533e+00,-4.28645879e-01, 2.70912921e+00,-7.78796009e+00,
 -4.44767856e-02, 6.34821644e-02,-8.10034148e+00, 2.77366825e+01,
 -5.60399395e+00, 8.01412144e-01,-3.25474420e-02, 1.39744220e+02,
 -1.22102036e+02, 7.12658361e+00]

qfrc_actuator:
[ 7.75565439e-05, 9.21845695e-04, 1.17327798e-04,-5.71715672e-05,
  2.15367440e-05, 3.48838538e-02, 1.10263959e-02, 1.71848936e-03,
 -1.20282317e-04, 8.77908705e-04, 2.47105759e-04, 1.61966613e-05,
  0.00000000e+00,-1.61088238e-03, 0.00000000e+00,-7.99542757e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.92669895,  7.09326542, -4.92669895, 66.00768562,
       39.84782961,  7.09326542, 39.84782961, 36.31307509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006082202365321747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12681754e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12681754e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00856345, -0.092069  ,  0.06169543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27686980e-06, 1.09561703e-05,-1.61454134e-05, 3.39237129e-07,
  8.12481839e-06,-2.24319038e-05, 3.20551010e-06, 4.44689091e-06,
 -8.77918394e-06,-1.23722720e-05,-9.09710820e-06,-1.63910712e-05,
  3.32881363e-03, 2.41704869e-06, 2.23601964e-06, 1.34909393e-04,
 -3.05260474e-05,-4.73858309e-05,-4.90493459e+00,-2.36985037e-03,
  2.17690389e-03,-9.08475593e-03]


--- Step 2743 ---
qpos:
[ 0.0187279 , 0.03006313,-0.00945012,-0.02528296,-0.00351642, 1.340828  ,
 -0.03003077, 0.94382287, 0.01154003, 0.02732547,-0.00832777, 0.02645486,
  1.39624384, 0.00767315, 1.35941527, 0.04405437,-0.09741858,-0.07928353,
  0.09230445, 0.63125729, 0.2585169 ,-0.65934749,-0.31613941]

qacc:
[ 3.84941311e+00, 1.36792926e+00,-8.50979607e+00, 2.14471661e+01,
  7.71602577e-04, 1.05062377e-01, 8.32809709e-02,-3.14397174e+00,
  4.97524583e+00, 2.17786101e+00,-6.47639358e+00, 4.63964416e+00,
 -4.02544834e-02, 1.89446866e-01, 4.91312866e+00,-1.64370440e+01,
 -4.85062598e+00, 6.91463897e-01,-1.36844813e+00, 1.20655209e+02,
 -1.05716159e+02, 6.43451542e+00]

qfrc_actuator:
[ 1.00391884e-04, 8.83525898e-04, 1.04656266e-04,-2.20291614e-05,
  1.69646712e-05, 3.48774053e-02, 1.10117733e-02, 1.70407395e-03,
 -8.98241648e-05, 9.04928990e-04, 2.12367645e-04, 8.45338830e-06,
  0.00000000e+00,-1.58589876e-03, 0.00000000e+00,-8.82284086e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006029573288459086
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20648089e-15,  9.20648089e-15,  1.00000000e+00,  8.47592903e-29,
        1.00000000e+00, -9.20648089e-15, -1.00000000e+00,  0.00000000e+00,
       -9.20648089e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0084468 , -0.09208787,  0.06169767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30806187e-05,-3.55152208e-05,-1.23848225e-05, 3.50597786e-05,
  2.28557532e-07,-1.80999560e-05,-1.85187500e-05,-1.48909532e-05,
  3.02016268e-05, 1.74697207e-05,-3.90037377e-05,-8.90962678e-06,
  3.34032753e-03, 2.09142958e-05, 1.43427232e-05,-7.53163319e-05,
  7.04437488e-05,-9.50738002e-05,-4.90490048e+00,-2.46543846e-03,
  2.06179762e-03,-9.08195168e-03]


--- Step 2744 ---
qpos:
[ 0.01872843, 0.03006279,-0.0094509 ,-0.02528203,-0.0035161 , 1.34082736,
 -0.03002959, 0.94382132, 0.01154003, 0.0273265 ,-0.0083271 , 0.02645373,
  1.39624446, 0.00767335, 1.35950698, 0.04405269,-0.09742524,-0.07927025,
  0.09230471, 0.63127078, 0.25835709,-0.65950581,-0.31591281]

qacc:
[-6.55431539e-01, 1.68877546e+00,-8.36608909e+00, 1.67518765e+01,
 -9.49775168e-03,-7.44708556e-02, 2.47522674e-01,-5.05474374e+00,
  3.15795105e+00,-1.36106238e+00, 4.80572177e+00,-6.69116768e+00,
 -5.04278901e-02, 3.58085065e-03, 5.17451117e+00,-1.77666487e+01,
  6.54138894e+00,-4.75217023e-01, 1.43941991e+00,-1.62893715e+02,
  1.40891706e+02, 4.59591383e+00]

qfrc_actuator:
[ 9.58293834e-05, 8.60736805e-04, 7.95051867e-05,-1.57354980e-06,
  1.40856580e-05, 3.48025995e-02, 1.09669542e-02, 1.67827475e-03,
 -7.17515487e-05, 8.84945180e-04, 2.27339809e-04, 4.31875634e-06,
  0.00000000e+00,-1.60662340e-03, 0.00000000e+00,-9.66544538e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006110323855746808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.54240663e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.54240663e-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([-0.18843217, -0.07216273,  0.06169422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90273064e-06,-4.36937581e-05,-3.27960014e-05, 1.91881064e-05,
 -2.74448958e-06,-8.88916015e-05,-5.09072227e-05,-2.72307679e-05,
  1.89693016e-05,-1.86906725e-05, 1.34504889e-05,-4.91152034e-06,
  3.32881194e-03,-7.04830547e-06,-4.43478724e-06,-8.72405389e-05,
  2.37932998e-04,-1.44742246e-04,-4.90470098e+00,-2.55180105e-03,
  1.95025090e-03,-9.07906472e-03]


--- Step 2745 ---
qpos:
[ 0.0187289 , 0.03006221,-0.00945195,-0.02528158,-0.00351596, 1.3408262 ,
 -0.03002929, 0.94382017, 0.01153955, 0.02732731,-0.00832626, 0.02645292,
  1.3962449 , 0.00767347, 1.35959849, 0.04405135,-0.09740934,-0.07925861,
  0.09230451, 0.63151959, 0.25809147,-0.6594243 ,-0.31580277]

qacc:
[-5.07051475e-01,-5.23165675e-01, 3.33668979e+00,-1.07289941e+01,
 -7.34959594e-02, 2.42343420e+00,-9.55905191e+00, 1.33400632e+01,
 -4.02097533e+00,-1.35905400e-01,-1.24211204e+00, 6.53137910e+00,
 -5.04105688e-02,-4.91191566e-02,-1.31285691e+00, 4.17623886e+00,
  5.64104328e+00,-4.12416083e-01,-1.13077839e-01,-1.40111783e+02,
  1.21529112e+02, 4.28636905e+00]

qfrc_actuator:
[ 9.29253519e-05, 8.47357002e-04, 6.49701051e-05,-2.54357473e-05,
 -5.50662864e-06, 3.47760731e-02, 1.09221591e-02, 1.69919036e-03,
 -9.66322209e-05, 8.72673984e-04, 2.35866382e-04, 2.00939236e-05,
  0.00000000e+00,-1.61908131e-03, 0.00000000e+00,-9.44438509e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.37962753,  -5.82126527,  -6.37962753,
        45.89453779, -40.83189177,  -5.82126527, -40.83189177,
        53.38475573,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061366931402285566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52288798e-15,  4.52288798e-15,  1.00000000e+00, -2.04565156e-29,
        1.00000000e+00, -4.52288798e-15, -1.00000000e+00,  0.00000000e+00,
        4.52288798e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18837307, -0.07217411,  0.06169311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03080082e-06,-4.37486791e-05,-2.69240563e-05,-2.64934514e-05,
 -2.12170574e-05,-8.64763108e-05,-6.87782784e-05, 1.61182383e-05,
 -2.43282255e-05,-2.01910950e-05, 6.13443103e-06, 1.53419463e-05,
  3.32671426e-03,-1.45158627e-05,-1.37874148e-05, 1.62083620e-05,
  3.12324186e-05,-9.49522479e-05,-4.90492080e+00,-2.43875133e-03,
  2.07811578e-03,-9.07277591e-03]


--- Step 2746 ---
qpos:
[ 0.01872967, 0.03006103,-0.00945272,-0.02528209,-0.00351602, 1.34082495,
 -0.03002952, 0.94381992, 0.01153981, 0.02732827,-0.008326  , 0.02645197,
  1.39624495, 0.00767355, 1.35968958, 0.04405294,-0.09737393,-0.07924841,
  0.09229853, 0.63197181, 0.2577343 ,-0.65913549,-0.31579277]

qacc:
[ 2.64709801e+00,-3.57979956e+00, 1.57163193e+01,-3.25522855e+01,
 -8.39937242e-02, 2.80236248e+00,-1.11390567e+01, 2.00857672e+01,
  6.29064880e+00, 1.53973856e+00,-4.60858355e+00, 2.96517449e+00,
 -3.70779559e-02,-8.34457795e-02,-9.48330137e+00, 3.22682784e+01,
  4.87823555e+00,-3.58438184e-01,-1.44455873e+00,-1.20877194e+02,
  1.05153012e+02, 3.96251520e+00]

qfrc_actuator:
[ 1.08782331e-04, 8.04209597e-04, 7.45856150e-05,-7.51633327e-05,
 -1.72141693e-05, 3.48141857e-02, 1.09134507e-02, 1.74745844e-03,
 -5.78285051e-05, 8.82869555e-04, 2.05029887e-04, 1.19420444e-05,
  0.00000000e+00,-1.62654710e-03, 0.00000000e+00,-7.88822271e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.32488337,  -5.88069955,  -6.32488337,
        48.45562178, -42.82690548,  -5.88069955, -42.82690548,
        54.69809151,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006083465513872156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12492248e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12492248e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18849578, -0.07216644,  0.06169537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57584296e-05,-7.42762427e-05,-3.63489645e-06,-5.30454263e-05,
 -2.42488601e-05,-2.26898745e-05,-3.29794482e-05, 4.40229314e-05,
  3.80865226e-05, 7.81763923e-07,-3.37379232e-05,-8.50728448e-06,
  3.33548537e-03,-1.73729976e-05,-5.91276485e-06, 1.54448189e-04,
 -5.53093094e-05,-5.43162353e-05,-4.90488464e+00,-2.32741497e-03,
  2.21203515e-03,-9.06679916e-03]


--- Step 2747 ---
qpos:
[ 0.01873064, 0.03005968,-0.00945385,-0.02528287,-0.00351625, 1.34082387,
 -0.03002974, 0.94381985, 0.01154054, 0.02732934,-0.00832611, 0.02645057,
  1.39624438, 0.00767325, 1.35978045, 0.04405771,-0.09736444,-0.07923441,
  0.09229857, 0.63215929, 0.25748085,-0.65913208,-0.31563136]

qacc:
[ 1.56893985e+00, 2.69054305e-01,-1.98715632e-01,-3.53339903e+00,
 -7.34378536e-02, 5.21228339e-01,-1.78561055e+00, 3.52879339e+00,
  3.93945393e+00, 2.58740587e-01, 1.13290078e+00,-8.27492893e+00,
 -6.49787264e-03,-3.85282848e-01,-9.93372652e+00, 3.42419331e+01,
 -6.48129860e+00, 9.51384393e-01, 1.50624015e+00, 1.61855892e+02,
 -1.41539689e+02, 8.63923460e+00]

qfrc_actuator:
[ 1.17801676e-04, 8.14655602e-04, 6.27425603e-05,-8.64562134e-05,
 -2.40966129e-05, 3.48553685e-02, 1.09263818e-02, 1.75823139e-03,
 -3.50947255e-05, 8.88509459e-04, 1.86777987e-04,-1.02335926e-05,
  0.00000000e+00,-1.66654591e-03, 0.00000000e+00,-6.26836450e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00605530281906462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.16736171e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.16736171e-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([-0.00850931, -0.09210315,  0.06169652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45965800e-06,-3.40543207e-05,-2.94439599e-05,-1.56270121e-05,
 -2.12133853e-05, 2.35103146e-05, 6.03186227e-06, 1.01421817e-05,
  2.38544050e-05,-1.27823203e-06,-2.25537053e-05,-2.34771944e-05,
  3.35491368e-03,-5.57473543e-05, 1.30337827e-05, 1.69524011e-04,
 -6.21092686e-05,-2.07573816e-05,-4.90468490e+00,-2.22009315e-03,
  2.34823599e-03,-9.06101748e-03]


--- Step 2748 ---
qpos:
[ 0.01873204, 0.03005841,-0.00945474,-0.02528384,-0.00351662, 1.34082324,
 -0.03002995, 0.94382023, 0.01154118, 0.02733043,-0.00832647, 0.02644926,
  1.3962436 , 0.00767276, 1.35987143, 0.04406371,-0.09737732,-0.07921713,
  0.09229842, 0.63211882, 0.25731601,-0.65937499,-0.31533933]

qacc:
[ 3.82679361e+00,-1.02527173e+00, 4.65949283e+00,-8.64585670e+00,
 -5.70507965e-02, 1.35705476e+00,-4.65079900e+00, 8.98693088e+00,
 -6.66752788e-01, 9.03022646e-01,-3.55277102e+00, 5.49723404e+00,
  2.39464061e-02,-1.98969635e-01,-3.59698814e+00, 1.27990228e+01,
 -5.59343395e+00, 8.18657373e-01,-4.91799393e-02, 1.39277588e+02,
 -1.22183857e+02, 7.82567980e+00]

qfrc_actuator:
[ 1.40471065e-04, 8.57066239e-04, 9.18149969e-05,-9.27684624e-05,
 -2.80294544e-05, 3.48981529e-02, 1.09342220e-02, 1.78236789e-03,
 -3.97749970e-05, 8.91406081e-04, 1.76097438e-04,-4.96101325e-06,
  0.00000000e+00,-1.65469035e-03, 0.00000000e+00,-5.68958051e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.34151955,  6.78637943, -5.34151955, 58.15746729,
       38.97777098,  6.78637943, 38.97777098, 39.31553915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006080317409963072
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12964694e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12964694e-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([-0.00856493, -0.09210242,  0.06169547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29405961e-05, 1.66816187e-05, 1.79014611e-05,-9.08659038e-06,
 -1.64682950e-05, 5.72815019e-05, 1.34244522e-05, 2.52533479e-05,
 -3.97717694e-06,-3.50655519e-06,-1.45430689e-05, 3.98066625e-06,
  3.38551964e-03,-2.47174795e-05, 2.21249582e-05, 6.83973846e-05,
 -4.35532555e-05,-8.03386675e-05,-4.90490372e+00,-2.35487166e-03,
  2.19676678e-03,-9.05748839e-03]


--- Step 2749 ---
qpos:
[ 0.01873371, 0.03005696,-0.00945513,-0.02528556,-0.00351708, 1.34082315,
 -0.03002986, 0.94382122, 0.01154108, 0.02733116,-0.00832686, 0.0264491 ,
  1.39624302, 0.0076725 , 1.35996258, 0.04406972,-0.09740957,-0.07919702,
  0.09229274, 0.63188119, 0.25722703,-0.65983095,-0.31493416]

qacc:
[ 2.25930921e+00,-3.15471480e+00, 1.39914300e+01,-2.74307444e+01,
 -4.10834433e-02, 9.05466506e-01,-3.34430999e+00, 9.58990815e+00,
 -6.39491754e+00, 1.96992869e+00,-1.25159588e+01, 3.25922971e+01,
  2.84442942e-02, 1.65886751e-01, 2.35712913e-01,-4.68953619e-01,
 -4.84143546e+00, 7.06887863e-01,-1.38271974e+00, 1.20230892e+02,
 -1.05816736e+02, 7.06916833e+00]

qfrc_actuator:
[ 1.53242845e-04, 8.29712576e-04, 1.09461212e-04,-1.31546898e-04,
 -3.01619080e-05, 3.49415624e-02, 1.09567668e-02, 1.81417974e-03,
 -7.83012818e-05, 8.57186802e-04, 1.69978624e-04, 5.19284199e-05,
  0.00000000e+00,-1.61175986e-03, 0.00000000e+00,-5.72881444e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.24035942,  6.86479497, -5.24035942, 61.99502696,
       40.73225424,  6.86479497, 40.73225424, 39.73003113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006027107441626198
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.2102475e-15,  9.2102475e-15,  1.0000000e+00,  8.4828659e-29,
        1.0000000e+00, -9.2102475e-15, -1.0000000e+00,  0.0000000e+00,
       -9.2102475e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00844695, -0.09212196,  0.06169774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34508791e-05,-1.46553996e-05, 2.30068669e-05,-3.76160651e-05,
 -1.18626491e-05, 7.84865345e-05, 3.60196999e-05, 3.45121134e-05,
 -3.86407386e-05,-3.90453936e-05,-8.50150718e-06, 5.63150039e-05,
  3.39644765e-03, 2.78527456e-05, 1.47051557e-05, 2.01590984e-06,
  8.02668348e-05,-1.42805238e-04,-4.90486546e+00,-2.47626509e-03,
  2.05265902e-03,-9.05392882e-03]


--- Step 2750 ---
qpos:
[ 0.01873483, 0.03005534,-0.0094556 ,-0.02528701,-0.00351761, 1.34082345,
 -0.03002941, 0.94382224, 0.01154018, 0.02733136,-0.00832723, 0.02645033,
  1.39624296, 0.00767251, 1.3600541 , 0.04407297,-0.09741568,-0.07917881,
  0.09229279, 0.63191771, 0.25701373,-0.66000889,-0.31466206]

qacc:
[-4.70815870e+00, 5.84001715e-01,-3.52569926e+00, 8.50119988e+00,
 -2.78349012e-02,-3.92831543e-01, 1.83291133e+00,-1.39865953e+00,
 -6.86691627e+00, 2.13907955e+00,-1.45271998e+01, 3.90206797e+01,
  1.08785908e-02, 2.84421202e-01, 8.90567548e+00,-3.03165078e+01,
  6.53554052e+00,-4.76225995e-01, 1.43141033e+00,-1.62213811e+02,
  1.41592667e+02, 6.38301926e+00]

qfrc_actuator:
[ 1.24576728e-04, 8.13998798e-04, 1.02159821e-04,-1.18176395e-04,
 -3.11978888e-05, 3.49495685e-02, 1.09700699e-02, 1.81475623e-03,
 -1.18678994e-04, 8.18823180e-04, 1.66477649e-04, 1.20946315e-04,
  0.00000000e+00,-1.58603595e-03, 0.00000000e+00,-7.19660151e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006111896278599829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.54123800e-15,  4.54123800e-15,  1.00000000e+00, -2.06228425e-29,
        1.00000000e+00, -4.54123800e-15, -1.00000000e+00,  0.00000000e+00,
        4.54123800e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18842979, -0.07219129,  0.06169411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82732583e-05,-2.07071182e-05,-8.77286276e-06, 1.28135982e-05,
 -8.04376504e-06, 5.95088478e-05, 3.37688702e-05, 4.79339560e-06,
 -4.15231753e-05,-5.95763556e-05,-1.06672146e-05, 6.81476420e-05,
  3.38546791e-03, 4.20599383e-05, 4.68302479e-06,-1.45345135e-04,
  2.67983889e-04,-2.05451785e-04,-4.90466226e+00,-2.58583066e-03,
  1.91517815e-03,-9.05023065e-03]


--- Step 2751 ---
qpos:
[ 0.01873525, 0.03005364,-0.00945592,-0.02528796,-0.00351818, 1.34082349,
 -0.03002875, 0.94382333, 0.01153879, 0.0273312 ,-0.00832737, 0.02645165,
  1.39624329, 0.00767265, 1.3601458 , 0.04407311,-0.09739924,-0.07916226,
  0.09229235, 0.6321907 , 0.25669327,-0.65994753,-0.31450396]

qacc:
[-5.97281884e+00, 4.85292415e-01,-3.95712617e+00, 1.22723247e+01,
 -1.76722693e-02,-7.70076455e-01, 1.95543244e+00,-7.44096465e-01,
 -4.06444643e+00,-9.29326473e-01, 2.28081977e+00,-8.93046108e-01,
 -1.70649235e-02, 2.02161006e-01, 9.69383627e+00,-3.34868300e+01,
  5.63621729e+00,-4.11243132e-01,-1.20112230e-01,-1.39519129e+02,
  1.22134400e+02, 5.80006681e+00]

qfrc_actuator:
[ 8.95061033e-05, 8.23063405e-04, 1.15766357e-04,-9.19888392e-05,
 -3.15683997e-05, 3.48830016e-02, 1.09598991e-02, 1.81466964e-03,
 -1.42059174e-04, 8.13803225e-04, 1.82272073e-04, 1.25522141e-04,
  0.00000000e+00,-1.58851863e-03, 0.00000000e+00,-8.78384499e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.18119962,  -6.03154608,  -6.18119962,
        49.70107157, -42.08359745,  -6.03154608, -42.08359745,
        51.76413109,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061379889954520095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.0438662e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.0438662e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18837122, -0.0722015 ,  0.06169302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58960702e-05,-3.72407352e-06, 8.72028120e-06, 2.52558274e-05,
 -5.12204495e-06,-2.68987412e-05, 5.45422832e-06, 2.80595893e-06,
 -2.46190591e-05,-3.76413056e-05, 4.53223131e-06, 2.97911386e-06,
  3.35977394e-03, 2.61779960e-05,-1.60647863e-05,-1.66741516e-04,
  3.39025190e-05,-1.45237344e-04,-4.90488115e+00,-2.44158170e-03,
  2.07776702e-03,-9.04233840e-03]


--- Step 2752 ---
qpos:
[ 0.01873559, 0.03005234,-0.00945656,-0.02528897,-0.00351863, 1.340823  ,
 -0.03002834, 0.94382481, 0.01153644, 0.02733132,-0.00832704, 0.02645257,
  1.39624374, 0.00767316, 1.3602371 , 0.044074  ,-0.09736331,-0.07914712,
  0.09228611, 0.63266805, 0.25628009,-0.65967931,-0.31444372]

qacc:
[-6.99583884e-01, 1.32555547e+00,-3.69827738e+00, 2.93076346e+00,
  5.10887945e-02, 6.07355886e-01,-3.62077566e+00, 7.94235694e+00,
 -8.18416927e+00,-1.76027837e+00, 8.54113789e+00,-1.64739662e+01,
 -3.84732561e-02, 2.91051024e-01,-2.89657842e+00, 9.26936880e+00,
  4.87421811e+00,-3.55596712e-01,-1.45076284e+00,-1.20355718e+02,
  1.05680195e+02, 5.24764538e+00]

qfrc_actuator:
[ 8.64656812e-05, 8.64743646e-04, 1.06215261e-04,-9.39436840e-05,
 -1.37846199e-05, 3.48254504e-02, 1.09356616e-02, 1.83189289e-03,
 -1.90751815e-04, 8.82076753e-04, 2.27170583e-04, 1.09934733e-04,
  0.00000000e+00,-1.57239184e-03, 0.00000000e+00,-8.29787896e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006084515216943191
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12334825e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12334825e-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([-0.18849445, -0.07219314,  0.06169529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08326701e-06, 4.25338661e-05,-8.34562924e-06,-1.31271882e-06,
  1.47559154e-05,-7.12797361e-05,-2.87956729e-05, 1.66422676e-05,
 -4.94275308e-05, 4.82795761e-05, 3.77845909e-05,-1.69872159e-05,
  3.33980402e-03, 3.56834923e-05,-2.71936720e-05, 3.69231408e-05,
 -7.84166129e-05,-9.48942715e-05,-4.90484292e+00,-2.30080348e-03,
  2.24429421e-03,-9.03473157e-03]


--- Step 2753 ---
qpos:
[ 0.01873659, 0.03005153,-0.00945767,-0.02528999,-0.00351892, 1.3408225 ,
 -0.03002866, 0.94382542, 0.01153422, 0.02733186,-0.00832654, 0.0264533 ,
  1.39624437, 0.0076739 , 1.36032839, 0.04407409,-0.09735325,-0.07912807,
  0.09228583, 0.63288157, 0.25596918,-0.65969657,-0.31423101]

qacc:
[ 5.55418291e+00, 1.89075791e+00,-5.77758454e+00, 5.93130647e+00,
  6.73879449e-02, 5.22962355e-01, 5.47913355e-02,-1.00357598e+01,
  1.05095980e+00,-3.19122862e-01, 2.73408330e+00,-6.60759455e+00,
 -4.71728006e-02, 2.35874386e-01, 2.46734147e+00,-8.61423101e+00,
 -6.46978654e+00, 9.76966151e-01, 1.48925269e+00, 1.61332449e+02,
 -1.41714822e+02, 9.59901992e+00]

qfrc_actuator:
[ 1.20057434e-04, 8.90023254e-04, 8.31812117e-05,-9.46795014e-05,
 -3.00679313e-06, 3.48446953e-02, 1.09033453e-02, 1.78814731e-03,
 -1.82948101e-04, 9.05067012e-04, 2.35938520e-04, 1.00455232e-04,
  0.00000000e+00,-1.56314103e-03, 0.00000000e+00,-8.72455449e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006050856598140704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17409797e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17409797e-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([-0.00850516, -0.09213967,  0.06169668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34929326e-05, 4.73383105e-05,-1.52979623e-05, 7.77617839e-07,
  1.94954675e-05,-2.53135852e-05,-4.90465095e-05,-4.63446964e-05,
  6.37295817e-06, 5.70303297e-05, 2.27991079e-05,-6.43522305e-06,
  3.33412778e-03, 2.65117389e-05,-8.48394310e-06,-4.41371757e-05,
 -1.09049083e-04,-5.23602717e-05,-4.90464037e+00,-2.16614599e-03,
  2.41061994e-03,-9.02730488e-03]


--- Step 2754 ---
qpos:
[ 0.0187366 , 0.03005076,-0.00945888,-0.02529098,-0.00351935, 1.34082204,
 -0.03002945, 0.9438248 , 0.01153211, 0.0273323 ,-0.00832622, 0.02645365,
  1.39624489, 0.0076743 , 1.36041979, 0.04407231,-0.09736553,-0.07910567,
  0.09228529, 0.6328679 , 0.25574551,-0.65996028,-0.31388674]

qacc:
[-8.44098263e+00, 4.33255715e-01,-1.55162289e+00, 2.17349699e+00,
 -6.06005805e-02,-8.39426673e-01, 5.35181099e+00,-1.90423571e+01,
  9.42423007e-01,-3.99574356e-01, 2.79577861e+00,-8.87699894e+00,
 -5.07120120e-02,-1.78697256e-01, 5.80751748e+00,-2.00632303e+01,
 -5.58346270e+00, 8.41209451e-01,-6.37384320e-02, 1.38796157e+02,
 -1.22373948e+02, 8.70269699e+00]

qfrc_actuator:
[ 6.84149513e-05, 8.69723948e-04, 7.00816626e-05,-9.47030658e-05,
 -3.20248447e-05, 3.48564460e-02, 1.08845328e-02, 1.72666540e-03,
 -1.77451130e-04, 8.47386020e-04, 2.05391737e-04, 7.68382751e-05,
  0.00000000e+00,-1.61128076e-03, 0.00000000e+00,-9.68612132e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.77182472,  6.42439228, -5.77182472, 49.80858413,
       36.99008866,  6.42439228, 36.99008866, 41.86912696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006075476446150946
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13692148e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.13692148e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00855998, -0.09213951,  0.06169564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06454690e-05, 3.09874164e-06,-5.15744132e-06, 1.49405135e-06,
 -1.74976883e-05,-1.32346164e-05,-3.07030668e-05,-6.47559238e-05,
  5.70522544e-06,-2.13874165e-05,-1.61971849e-05,-2.05139980e-05,
  3.32463273e-03,-3.30293509e-05,-1.01686391e-05,-1.00032891e-04,
 -6.01583442e-05,-1.31443732e-04,-4.90485543e+00,-2.33530575e-03,
  2.22063380e-03,-9.02293440e-03]


--- Step 2755 ---
qpos:
[ 0.01873564, 0.03004991,-0.00946018,-0.02529161,-0.00351987, 1.34082113,
 -0.03002976, 0.94382413, 0.01153008, 0.0273321 ,-0.00832542, 0.02645375,
  1.39624529, 0.00767422, 1.36051135, 0.04406771,-0.09739714,-0.07908035,
  0.09227918, 0.63265774, 0.25559643,-0.66043714,-0.31342852]

qacc:
[-8.26692085e+00, 9.28060701e-01,-4.99764152e+00, 1.15665339e+01,
 -3.35938830e-02,-1.94282177e+00, 5.71494458e+00,-5.20660010e+00,
  7.31260517e-01,-2.69138260e+00, 9.48213700e+00,-1.42857531e+01,
 -4.42372809e-02,-2.69765735e-01, 8.75931514e+00,-3.03289270e+01,
 -4.83276312e+00, 7.26911257e-01,-1.39513889e+00, 1.19787807e+02,
 -1.06016802e+02, 7.86595069e+00]

qfrc_actuator:
[ 2.02632367e-05, 8.57822644e-04, 6.27685369e-05,-7.65856223e-05,
 -3.14236843e-05, 3.48281501e-02, 1.09093364e-02, 1.72627451e-03,
 -1.73375081e-04, 7.94912695e-04, 2.22549335e-04, 6.27497166e-05,
  0.00000000e+00,-1.64012360e-03, 0.00000000e+00,-1.11324088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.66851396,  6.51572915, -5.66851396, 53.42512489,
       38.96505094,  6.51572915, 38.96505094, 42.53493891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00602199979315713
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21805931e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.21805931e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00844146, -0.09215977,  0.06169793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.96224841e-05,-1.11432905e-05,-7.22927386e-06, 1.81095032e-05,
 -9.73941626e-06,-4.35670180e-05, 1.68222168e-05,-3.19295984e-06,
  4.23897322e-06,-6.86832289e-05, 1.00228640e-05,-1.59679017e-05,
  3.33016243e-03,-4.50362417e-05,-1.78637596e-05,-1.51968186e-04,
  9.06543469e-05,-2.11050483e-04,-4.90481359e+00,-2.48772713e-03,
  2.04198086e-03,-9.01845950e-03]


--- Step 2756 ---
qpos:
[ 0.01873515, 0.0300488 ,-0.00946147,-0.02529199,-0.00352042, 1.3408201 ,
 -0.03002961, 0.94382343, 0.01152915, 0.02733163,-0.00832457, 0.026454  ,
  1.39624587, 0.00767425, 1.36060279, 0.04406139,-0.09740262,-0.07905687,
  0.09227874, 0.63272265, 0.25532144,-0.66063667,-0.31310094]

qacc:
[ 3.98488428e+00, 1.07266370e-01,-1.89600612e+00, 6.19476193e+00,
 -1.77257734e-02,-1.45592430e+00, 4.62905079e+00,-4.29464835e+00,
  9.38243640e+00,-2.35005130e-01,-3.93369115e-01, 3.26960205e+00,
 -4.80935600e-02, 1.57036524e-01, 5.05352449e+00,-1.78829392e+01,
  6.53120121e+00,-4.60166424e-01, 1.42084713e+00,-1.61588280e+02,
  1.42139908e+02, 7.91078380e+00]

qfrc_actuator:
[ 4.55899024e-05, 8.33319668e-04, 5.89579936e-05,-6.56877425e-05,
 -3.08098677e-05, 3.48473145e-02, 1.09418139e-02, 1.72633554e-03,
 -1.16909931e-04, 7.99392666e-04, 2.32244836e-04, 7.21683865e-05,
  0.00000000e+00,-1.60385454e-03, 0.00000000e+00,-1.19648306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061116722182863945
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54140448e-15, -4.54140448e-15,  1.00000000e+00, -2.06243547e-29,
        1.00000000e+00,  4.54140448e-15, -1.00000000e+00,  0.00000000e+00,
       -4.54140448e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18843108, -0.07221595,  0.06169409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38804280e-05,-3.14187639e-05,-6.34626772e-06, 1.05317675e-05,
 -5.14329408e-06,-1.73649498e-06, 2.57761921e-05,-8.31726495e-07,
  5.65658201e-05,-3.25493649e-05,-3.81941847e-06, 6.50924338e-06,
  3.33556927e-03, 1.51474582e-05,-2.70337647e-05,-9.44201522e-05,
  3.02394802e-04,-2.88792055e-04,-4.90460687e+00,-2.62525331e-03,
  1.87356649e-03,-9.01377834e-03]


--- Step 2757 ---
qpos:
[ 0.01873462, 0.03004759,-0.00946286,-0.02529226,-0.00352114, 1.34081944,
 -0.03002928, 0.94382305, 0.01152856, 0.0273315 ,-0.00832444, 0.02645399,
  1.39624623, 0.00767474, 1.36069343, 0.04405944,-0.09738558,-0.07903498,
  0.09227779, 0.63302485, 0.25493792,-0.66059748,-0.31288524]

qacc:
[-3.25037890e-01, 3.83182174e-01,-2.06088586e+00, 4.36502285e+00,
 -6.98507119e-02, 5.66089072e-01,-1.93315968e+00, 5.19379727e+00,
  2.86797675e+00, 1.92653170e+00,-5.12902144e+00, 1.54204868e+00,
 -5.53737593e-02, 2.81120421e-01,-1.44114523e+01, 4.86951833e+01,
  5.63248286e+00,-3.96124608e-01,-1.29440374e-01,-1.38955602e+02,
  1.22629118e+02, 7.13294699e+00]

qfrc_actuator:
[ 4.29510903e-05, 8.36970794e-04, 5.71817888e-05,-5.91376652e-05,
 -4.79468023e-05, 3.48947990e-02, 1.09609613e-02, 1.74442305e-03,
 -1.01070597e-04, 8.37941806e-04, 2.02177126e-04, 5.98711660e-05,
  0.00000000e+00,-1.58216412e-03, 0.00000000e+00,-9.58826601e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.38180005,  -5.81888348,  -6.38180005,
        45.60792422, -40.54817525,  -5.81888348, -40.54817525,
        53.1071539 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006137422313211134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52235062e-15,  4.52235062e-15,  1.00000000e+00, -2.04516551e-29,
        1.00000000e+00, -4.52235062e-15, -1.00000000e+00,  0.00000000e+00,
        4.52235062e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1883732 , -0.07222585,  0.06169301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94914005e-06,-1.47116411e-05,-8.65396504e-06, 5.19574539e-06,
 -2.01765040e-05, 5.15467306e-05, 2.17165534e-05, 1.87697700e-05,
  1.74840613e-05, 1.98606755e-05,-3.70447161e-05,-1.37015151e-05,
  3.32673266e-03, 3.18036951e-05,-2.35791316e-05, 2.28783593e-04,
  3.55789404e-05,-2.17486642e-04,-4.90482229e+00,-2.44336395e-03,
  2.07777968e-03,-9.00396253e-03]


--- Step 2758 ---
qpos:
[ 0.01873476, 0.03004646,-0.00946439,-0.02529177,-0.00352175, 1.34081899,
 -0.03002894, 0.94382257, 0.01152817, 0.02733153,-0.00832464, 0.02645349,
  1.39624593, 0.00767514, 1.36078363, 0.04406264,-0.09734905,-0.07901445,
  0.092271  , 0.63353212, 0.2544605 ,-0.66035191,-0.31276552]

qacc:
[ 5.67468368e+00, 2.05455152e+00,-1.03575084e+01, 2.35474823e+01,
  4.73545696e-02, 5.60675103e-02, 3.68061671e-01,-1.66146623e+00,
  1.65224042e+00, 1.52862771e-01, 1.87623943e+00,-1.00592254e+01,
 -3.06656385e-02,-1.95931634e-01,-1.62556785e+01, 5.58866733e+01,
  4.87096040e+00,-3.41340418e-01,-1.45901696e+00,-1.19844680e+02,
  1.06129970e+02, 6.41116413e+00]

qfrc_actuator:
[ 7.71069820e-05, 8.57456791e-04, 5.67275091e-05,-1.96687721e-05,
 -2.23364424e-05, 3.48878311e-02, 1.09544641e-02, 1.73748001e-03,
 -9.15343326e-05, 8.43168513e-04, 1.84516764e-04, 3.48994239e-05,
  0.00000000e+00,-1.62288794e-03, 0.00000000e+00,-6.93807659e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.31931056,  -5.8866876 ,  -6.31931056,
        48.33292738, -42.61393367,  -5.8866876 , -42.61393367,
        54.38206984,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006083662348055172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56231362e-15,  4.56231362e-15,  1.00000000e+00, -2.08147056e-29,
        1.00000000e+00, -4.56231362e-15, -1.00000000e+00,  0.00000000e+00,
        4.56231362e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18849702, -0.07221751,  0.06169529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40993952e-05, 1.07561024e-05,-4.34722967e-06, 3.86473597e-05,
  1.36885904e-05, 2.63623988e-05, 6.60790419e-06,-4.32262275e-06,
  1.00570524e-05, 8.10119075e-06,-1.85960070e-05,-2.56698870e-05,
  3.33784231e-03,-3.23988881e-05, 1.47973763e-05, 2.74801183e-04,
 -1.06787746e-04,-1.56715407e-04,-4.90478001e+00,-2.26787743e-03,
  2.28242900e-03,-8.99442412e-03]


--- Step 2759 ---
qpos:
[ 0.01873564, 0.03004515,-0.00946582,-0.0252908 ,-0.00352217, 1.34081866,
 -0.03002897, 0.94382342, 0.01152824, 0.02733134,-0.00832491, 0.02645272,
  1.39624513, 0.00767516, 1.36087395, 0.04406833,-0.09733836,-0.07898989,
  0.09227011, 0.63377651, 0.25408355,-0.66039207,-0.31249192]

qacc:
[ 6.47077098e+00, 4.43157429e-01,-3.97774187e+00, 1.23195070e+01,
  8.17048557e-02, 3.43590653e+00,-1.37478616e+01, 2.72823071e+01,
  3.94998515e+00,-6.81809568e-01, 3.09132007e+00,-7.36745081e+00,
  9.25061376e-03,-3.76413547e-01,-7.35749126e+00, 2.59524727e+01,
 -6.45874894e+00, 1.00906577e+00, 1.47388768e+00, 1.60759751e+02,
 -1.42012919e+02, 1.08084176e+01]

qfrc_actuator:
[ 1.14902348e-04, 8.34647327e-04, 5.71570111e-05, 3.36671052e-06,
 -6.79399208e-06, 3.48837034e-02, 1.09326671e-02, 1.80457977e-03,
 -6.80188803e-05, 8.10682804e-04, 1.74209303e-04, 2.04170314e-05,
  0.00000000e+00,-1.64742541e-03, 0.00000000e+00,-5.74674792e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060447774375218324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18332425e-15,  1.83666485e-14,  1.00000000e+00,  1.68666889e-28,
        1.00000000e+00, -1.83666485e-14, -1.00000000e+00,  0.00000000e+00,
       -9.18332425e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00849806, -0.09218003,  0.0616969 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87964109e-05,-1.59687454e-05, 3.48125030e-06, 2.41016022e-05,
  2.36327442e-05, 1.16208617e-05,-1.60154291e-05, 6.79848023e-05,
  2.38144573e-05,-3.28922764e-05,-1.18103701e-05,-1.52772226e-05,
  3.37018253e-03,-5.21670006e-05, 3.50673698e-05, 1.35848542e-04,
 -1.64742419e-04,-1.04468513e-04,-4.90457306e+00,-2.10146089e-03,
  2.48340096e-03,-8.98506367e-03]


--- Step 2760 ---
qpos:
[ 0.01873663, 0.03004367,-0.00946664,-0.02528959,-0.00352239, 1.34081847,
 -0.03002897, 0.94382505, 0.01152789, 0.02733067,-0.00832522, 0.0264525 ,
  1.39624443, 0.00767478, 1.36096494, 0.04407109,-0.09734996,-0.07896185,
  0.09226891, 0.63379455, 0.25379217,-0.66067891,-0.31208553]

qacc:
[ 8.96052844e-01,-1.43089806e+00, 3.77704979e+00,-5.54756960e-01,
  8.07580573e-02, 1.43041484e+00,-6.05435404e+00, 1.41711329e+01,
 -3.47165865e+00, 6.17340319e-01,-5.44088828e+00, 1.54220867e+01,
  3.08961786e-02,-2.38699899e-01, 9.85503946e+00,-3.30341444e+01,
 -5.57380931e+00, 8.69393629e-01,-7.69616855e-02, 1.38264573e+02,
 -1.22674951e+02, 9.80434853e+00]

qfrc_actuator:
[ 1.19019924e-04, 8.39342228e-04, 9.34232518e-05, 1.65092373e-05,
  2.58155995e-06, 3.48990342e-02, 1.09375746e-02, 1.84370158e-03,
 -8.97192625e-05, 7.73652636e-04, 1.68169133e-04, 4.76982429e-05,
  0.00000000e+00,-1.64416598e-03, 0.00000000e+00,-7.37744637e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.18799798,  6.02457118, -6.18799798, 41.77231471,
       34.03482046,  6.02457118, 34.03482046, 43.59443684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0060691949961902344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.14637794e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.14637794e-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([-0.00855262, -0.09218048,  0.06169587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24681137e-06,-2.41128391e-06, 3.42580603e-05, 1.30507536e-05,
  2.33416908e-05, 2.06740322e-05, 7.35338317e-06, 4.05782640e-05,
 -2.10142639e-05,-5.84976993e-05,-1.48116102e-05, 2.51674424e-05,
  3.39524576e-03,-2.94062314e-05, 2.73749130e-05,-1.51868251e-04,
 -8.10526886e-05,-2.06470630e-04,-4.90478408e+00,-2.31079774e-03,
  2.24891546e-03,-8.97969867e-03]


--- Step 2761 ---
qpos:
[ 0.01873663, 0.03004227,-0.0094668 ,-0.02528862,-0.00352246, 1.34081831,
 -0.03002882, 0.94382609, 0.01152764, 0.02732972,-0.00832566, 0.0264526 ,
  1.39624399, 0.00767399, 1.36105643, 0.04406891,-0.09738085,-0.0789308 ,
  0.09226208, 0.63361679, 0.25357382,-0.66117918,-0.31156408]

qacc:
[-8.49337564e+00,-2.20981593e+00, 9.02536344e+00,-1.41907885e+01,
  6.71495289e-02,-1.36378028e+00, 5.68788442e+00,-1.16537162e+01,
  7.44398730e-01, 6.53892894e-01,-4.19158114e+00, 1.00106056e+01,
  2.39494449e-02,-2.02935978e-01, 1.56931123e+01,-5.38097807e+01,
 -4.82426818e+00, 7.51821384e-01,-1.40648452e+00, 1.19294125e+02,
 -1.06317235e+02, 8.86468109e+00]

qfrc_actuator:
[ 6.77756997e-05, 8.60608082e-04, 1.32903413e-04, 6.01942785e-06,
  8.18202859e-06, 3.48904787e-02, 1.09405049e-02, 1.81280107e-03,
 -8.46061636e-05, 7.69740046e-04, 1.64688465e-04, 6.38205023e-05,
  0.00000000e+00,-1.65957931e-03, 0.00000000e+00,-9.94706388e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.09059292,  6.1230266 , -6.09059292, 44.97841686,
       36.14954938,  6.1230266 , 36.14954938, 44.59442886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006015612867466984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22784635e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.22784635e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00843403, -0.09220155,  0.06169815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10888030e-05, 2.76108660e-05, 4.36759346e-05,-9.15161794e-06,
  1.93949780e-05, 5.54354385e-06, 9.00374576e-06,-2.91207719e-05,
  4.47429208e-06,-3.85860885e-05,-1.65053918e-05, 1.35961620e-05,
  3.38998505e-03,-2.53784501e-05,-8.25048279e-06,-2.62830323e-04,
  1.00901152e-04,-3.06293062e-04,-4.90473806e+00,-2.49962517e-03,
  2.03022932e-03,-8.97414186e-03]


--- Step 2762 ---
qpos:
[ 0.01873532, 0.03004135,-0.00946722,-0.02528777,-0.00352255, 1.34081782,
 -0.03002847, 0.94382679, 0.01152745, 0.02732875,-0.00832627, 0.02645251,
  1.39624335, 0.00767334, 1.3611472 , 0.04406936,-0.09738564,-0.07890148,
  0.09226089, 0.6337149 , 0.2532278 ,-0.66140285,-0.31117098]

qacc:
[-1.12027666e+01, 1.11467465e+00,-2.45821351e+00, 2.84956240e-01,
 -1.03116767e-02,-1.57797534e+00, 5.34528681e+00,-8.46814020e+00,
  5.31197424e-01, 3.03051195e-02, 6.40851274e-01,-3.59664088e+00,
  1.44442244e-02, 1.43712111e-02,-9.04926025e+00, 3.00807135e+01,
  6.52756192e+00,-4.31832060e-01, 1.40806009e+00,-1.60936820e+02,
  1.42666501e+02, 9.45173858e+00]

qfrc_actuator:
[ 2.12035380e-06, 8.91640915e-04, 1.20756882e-04,-5.23198387e-07,
 -6.27928042e-06, 3.48498858e-02, 1.09421094e-02, 1.79418819e-03,
 -8.14892749e-05, 7.85696103e-04, 1.62861635e-04, 5.55159837e-05,
  0.00000000e+00,-1.65051381e-03, 0.00000000e+00,-8.43252348e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006109487831116214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54302822e-15, -4.54302822e-15,  1.00000000e+00, -2.06391054e-29,
        1.00000000e+00,  4.54302822e-15, -1.00000000e+00,  0.00000000e+00,
       -4.54302822e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1884363 , -0.07224069,  0.06169413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.71313976e-05, 5.51341571e-05,-1.36315075e-06,-4.02414057e-06,
 -2.99942755e-06,-3.66371796e-05, 2.86094099e-06,-1.88560108e-05,
  3.23113341e-06,-8.40811863e-06,-1.13442026e-05,-1.02619198e-05,
  3.37680311e-03, 4.23885430e-06,-3.54126177e-05, 1.35191651e-04,
  3.40476804e-04,-4.01891806e-04,-4.90452698e+00,-2.67007111e-03,
  1.82588143e-03,-8.96829816e-03]


--- Step 2763 ---
qpos:
[ 0.01873358, 0.0300407 ,-0.00946769,-0.025287  ,-0.00352272, 1.34081716,
 -0.03002809, 0.94382622, 0.01152661, 0.0273279 ,-0.00832726, 0.02645232,
  1.39624239, 0.00767287, 1.36123742, 0.04407424,-0.09736791,-0.07887365,
  0.09225913, 0.634051  , 0.2527717 ,-0.66138844,-0.31088765]

qacc:
[-3.71780373e+00, 3.68073858e-01,-5.13160100e-01,-7.77667891e-01,
 -3.59491073e-02,-2.45700075e+00, 1.03546365e+01,-2.35907955e+01,
 -5.56715278e+00, 1.05618666e+00,-3.09609158e+00, 1.87703701e+00,
  3.04573334e-02,-1.12495210e-02,-1.41929922e+01, 4.84558122e+01,
  5.62921152e+00,-3.70808703e-01,-1.40757522e-01,-1.38356818e+02,
  1.23120335e+02, 8.50408956e+00]

qfrc_actuator:
[-1.82151769e-05, 8.92575776e-04, 1.13783419e-04,-4.71230095e-06,
 -1.49053133e-05, 3.48436748e-02, 1.09428062e-02, 1.72969152e-03,
 -1.15085868e-04, 7.95669003e-04, 1.44347910e-04, 5.06808918e-05,
  0.00000000e+00,-1.64489754e-03, 0.00000000e+00,-6.12120137e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.77239181,  -5.35924304,  -6.77239181,
        37.78617514, -36.83616196,  -5.35924304, -36.83616196,
        55.18564674,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061348980760385224
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52421137e-15,  4.52421137e-15,  1.00000000e+00,  2.04684885e-29,
        1.00000000e+00, -4.52421137e-15, -1.00000000e+00,  0.00000000e+00,
       -4.52421137e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18837904, -0.07225077,  0.06169306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22691507e-05, 3.13281459e-05, 4.12411262e-06,-1.94997292e-06,
 -1.03997746e-05,-2.64816756e-05,-6.69627624e-06,-6.59503299e-05,
 -3.35077098e-05, 2.53084042e-06,-2.19846219e-05,-5.78411094e-06,
  3.38677223e-03, 3.00328331e-06,-8.99770941e-07, 2.34205007e-04,
  3.55183788e-05,-3.18913148e-04,-4.90473679e+00,-2.44392684e-03,
  2.07845989e-03,-8.95621060e-03]


--- Step 2764 ---
qpos:
[ 0.0187323 , 0.03004001,-0.00946777,-0.02528695,-0.00352299, 1.34081677,
 -0.03002817, 0.94382418, 0.01152537, 0.0273268 ,-0.00832835, 0.02645244,
  1.39624192, 0.00767216, 1.36132857, 0.04407378,-0.09733071,-0.07884709,
  0.0922515 , 0.63459281, 0.25222037,-0.66116818,-0.31069838]

qacc:
[ 3.94739385e+00,-2.65765304e+00, 1.24854922e+01,-2.58034995e+01,
 -3.88313325e-02,-9.18933618e-01, 6.45913321e+00,-2.28646680e+01,
 -3.37983443e+00, 6.11610768e-01,-3.97532812e+00, 9.77099995e+00,
  3.99788634e-02,-5.66486972e-02, 1.74923710e+01,-5.91943405e+01,
  4.86797242e+00,-3.18580274e-01,-1.46905164e+00,-1.19292061e+02,
  1.06588741e+02, 7.62947643e+00]

qfrc_actuator:
[ 6.04409909e-06, 8.75488239e-04, 1.27572832e-04,-4.30017581e-05,
 -1.99598232e-05, 3.48758199e-02, 1.09253053e-02, 1.65647696e-03,
 -1.34517057e-04, 7.66417326e-04, 1.33872436e-04, 6.56687911e-05,
  0.00000000e+00,-1.64144144e-03, 0.00000000e+00,-9.04106615e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.70971156,  -5.43751301,  -6.70971156,
        40.25010884, -39.010318  ,  -5.43751301, -39.010318  ,
        56.77380829,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006080866382522594
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12882273e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12882273e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18850341, -0.07224294,  0.06169536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36235867e-05, 1.22417124e-06, 2.07142214e-05,-3.68414183e-05,
 -1.12010119e-05, 1.42065148e-05,-2.53777016e-05,-7.57370738e-05,
 -2.04143459e-05,-3.25969795e-05,-1.28381761e-05, 1.42288738e-05,
  3.40246446e-03,-2.17034166e-06, 2.44945229e-05,-2.79313057e-04,
 -1.41517735e-04,-2.47047140e-04,-4.90468858e+00,-2.22793346e-03,
  2.32700691e-03,-8.94439944e-03]


--- Step 2765 ---
qpos:
[ 0.01873201, 0.03003962,-0.0094681 ,-0.02528737,-0.00352333, 1.34081653,
 -0.03002878, 0.94382164, 0.0115246 , 0.02732533,-0.00832924, 0.02645309,
  1.39624207, 0.00767173, 1.36141993, 0.04406922,-0.0973193 ,-0.07881633,
  0.0922497 , 0.63487281, 0.25176733,-0.66123403,-0.31035347]

qacc:
[ 8.47949459e+00, 1.32159549e-01, 2.02968621e+00,-9.78762848e+00,
 -3.29200986e-02, 7.70960286e-01,-1.23904829e+00,-4.84798078e+00,
  3.98670790e+00,-1.10192334e-02,-2.86544789e+00, 1.17843748e+01,
  5.52603219e-03, 3.29139654e-01, 1.27660399e+01,-4.41650362e+01,
 -6.44722828e+00, 1.04844339e+00, 1.45877873e+00, 1.60101014e+02,
 -1.42429603e+02, 1.23069511e+01]

qfrc_actuator:
[ 5.63420049e-05, 9.01045140e-04, 1.17897539e-04,-6.55490856e-05,
 -2.28308089e-05, 3.48773467e-02, 1.08973609e-02, 1.63200170e-03,
 -1.09937981e-04, 7.49453548e-04, 1.45837668e-04, 9.21743921e-05,
  0.00000000e+00,-1.60343717e-03, 0.00000000e+00,-1.11142505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00603786698506939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19383474e-15,  1.83876695e-14,  1.00000000e+00,  1.69053194e-28,
        1.00000000e+00, -1.83876695e-14, -1.00000000e+00,  0.00000000e+00,
       -9.19383474e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00849044, -0.09222467,  0.06169714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09897042e-05, 2.89806314e-05,-8.13651907e-06,-2.24947578e-05,
 -9.48950896e-06, 2.14445084e-06,-3.02767102e-05,-2.65519016e-05,
  2.39651445e-05,-3.71931277e-05, 4.16781944e-06, 2.49466143e-05,
  3.37825902e-03, 4.76315470e-05,-2.36191202e-05,-2.20642665e-04,
 -2.30786387e-04,-1.84383087e-04,-4.90447550e+00,-2.02461290e-03,
  2.56763442e-03,-8.93276860e-03]


--- Step 2766 ---
qpos:
[ 0.01873198, 0.03003934,-0.00946849,-0.02528805,-0.00352374, 1.34081632,
 -0.03002973, 0.94381951, 0.01152413, 0.02732387,-0.00832981, 0.0264533 ,
  1.39624219, 0.00767156, 1.36151068, 0.0440662 ,-0.09733014,-0.07878196,
  0.09224754, 0.63492739, 0.25139779,-0.66154694,-0.30987418]

qacc:
[ 2.23554730e+00,-2.09758875e-01, 2.03365064e+00,-6.42078683e+00,
 -2.47864317e-02, 1.68919964e+00,-6.33389447e+00, 1.03377881e+01,
  2.57069675e+00,-1.77336357e+00, 8.15452943e+00,-1.61593277e+01,
 -2.06126278e-02, 1.68390529e-01,-5.56715918e+00, 1.81784541e+01,
 -5.56359832e+00, 9.03858245e-01,-9.01180952e-02, 1.37649426e+02,
 -1.23083114e+02, 1.11659819e+01]

qfrc_actuator:
[ 6.82905518e-05, 8.98596759e-04, 1.12373076e-04,-7.86335627e-05,
 -2.43690334e-05, 3.48782644e-02, 1.08811558e-02, 1.65414093e-03,
 -9.51612164e-05, 7.75586599e-04, 1.70997623e-04, 7.20039898e-05,
  0.00000000e+00,-1.61613659e-03, 0.00000000e+00,-1.01849220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.57567672,  5.59886172, -6.57567672, 34.46731926,
       30.3375975 ,  5.59886172, 30.3375975 , 44.26686201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006062151098881502
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15700555e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.15700555e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00854501, -0.09222581,  0.06169611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34473967e-05, 1.11512231e-05,-1.31178133e-06,-1.25627628e-05,
 -7.14590026e-06,-4.61821179e-06,-2.00122731e-05, 2.06955293e-05,
  1.54590838e-05, 7.33224771e-06, 1.88779833e-05,-2.11319070e-05,
  3.34650736e-03, 2.09214160e-05,-3.61243821e-05, 7.74096607e-05,
 -1.07341035e-04,-3.13736801e-04,-4.90468108e+00,-2.28070431e-03,
  2.28208700e-03,-8.92623286e-03]


--- Step 2767 ---
qpos:
[ 0.01873244, 0.03003912,-0.00946892,-0.02528887,-0.00352418, 1.34081614,
 -0.03003069, 0.94381938, 0.01152349, 0.02732294,-0.0083306 , 0.02645324,
  1.39624233, 0.00767097, 1.36160175, 0.04405989,-0.09736025,-0.07874446,
  0.09223971, 0.63478695, 0.25109936,-0.66207361,-0.30927847]

qacc:
[ 4.19162217e+00,-1.41903083e-01, 1.19057314e+00,-3.64801601e+00,
 -1.71666674e-02, 3.44169216e+00,-1.52783352e+01, 3.63140318e+01,
 -1.41608904e+00, 7.69157028e-01,-5.70807259e-01,-4.19864938e+00,
 -1.51507965e-02,-2.32019719e-01, 1.03987296e+01,-3.56979647e+01,
 -4.81514474e+00, 7.82176198e-01,-1.41793430e+00, 1.18719366e+02,
 -1.06714675e+02, 1.00967891e+01]

qfrc_actuator:
[ 9.30676355e-05, 8.97168256e-04, 1.09251399e-04,-8.60615039e-05,
 -2.50957274e-05, 3.48966370e-02, 1.08897781e-02, 1.75678658e-03,
 -1.04039215e-04, 8.27353100e-04, 1.68379449e-04, 6.00779387e-05,
  0.00000000e+00,-1.65935116e-03, 0.00000000e+00,-1.19323525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.48895436,  5.69914451, -6.48895436, 37.16696254,
       32.48448142,  5.69914451, 32.48448142, 45.62267216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00600851411881418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23874857e-15,  9.23874857e-15,  1.00000000e+00,  8.53544752e-29,
        1.00000000e+00, -9.23874857e-15, -1.00000000e+00,  0.00000000e+00,
       -9.23874857e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00842655, -0.09224783,  0.06169839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51747985e-05, 4.01908856e-06,-1.40601417e-06,-7.23809579e-06,
 -4.94981270e-06, 1.25244004e-05, 6.04676869e-06, 1.02395250e-04,
 -8.42771329e-06, 5.89236343e-05, 5.12590286e-07,-1.13665786e-05,
  3.34831451e-03,-3.53392510e-05,-7.62964429e-06,-1.74974260e-04,
  1.10322976e-04,-4.37753623e-04,-4.90462926e+00,-2.51206250e-03,
  2.01734180e-03,-8.91940211e-03]


--- Step 2768 ---
qpos:
[ 0.01873285, 0.03003889,-0.00946939,-0.02528942,-0.00352479, 1.34081588,
 -0.030031  , 0.94382217, 0.0115231 , 0.02732259,-0.0083318 , 0.02645338,
  1.39624254, 0.00767029, 1.36169273, 0.04405188,-0.09736425,-0.07870853,
  0.09223745, 0.63492316, 0.2506712 ,-0.66232453,-0.30880859]

qacc:
[-4.38488677e-01, 6.54623641e-01,-3.46159621e+00, 8.15930158e+00,
 -7.23265322e-02, 3.12951034e+00,-1.63611047e+01, 4.82433067e+01,
  2.05426506e+00, 2.29339286e+00,-7.94853693e+00, 1.17501646e+01,
 -2.03667502e-02,-7.05343159e-03, 5.05795166e+00,-1.78651505e+01,
  6.52411704e+00,-3.93027011e-01, 1.39287804e+00,-1.60207122e+02,
  1.43241857e+02, 1.11613416e+01]

qfrc_actuator:
[ 8.97044017e-05, 8.96373052e-04, 1.07571405e-04,-7.23514965e-05,
 -4.30827131e-05, 3.49077179e-02, 1.09308421e-02, 1.90599802e-03,
 -9.12607267e-05, 8.58470053e-04, 1.49510219e-04, 7.08646527e-05,
  0.00000000e+00,-1.64928405e-03, 0.00000000e+00,-1.27583760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061054124990206765
  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([-0.18844497, -0.07226804,  0.06169424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62657480e-06, 8.74267024e-07,-1.26551637e-06, 1.36946377e-05,
 -2.09120443e-05, 2.22716199e-05, 4.72059367e-05, 1.52137486e-04,
  1.25488614e-05, 6.37245151e-05,-7.00779997e-06, 1.31125803e-05,
  3.34695720e-03,-4.06450487e-06,-2.52974532e-05,-9.38449623e-05,
  3.81899770e-04,-5.54772331e-04,-4.90441212e+00,-2.72109190e-03,
  1.77156956e-03,-8.91218854e-03]


--- Step 2769 ---
qpos:
[ 0.01873287, 0.03003827,-0.00946942,-0.02528943,-0.00352574, 1.34081562,
 -0.03003065, 0.94382431, 0.01152287, 0.02732193,-0.00833225, 0.02645334,
  1.39624292, 0.00767004, 1.36178336, 0.04404457,-0.09734576,-0.07867395,
  0.09223458, 0.63529807, 0.25013116,-0.66233807,-0.30844618]

qacc:
[-3.30553116e+00,-6.37339644e-01,-7.38973930e-01, 9.55878212e+00,
 -1.40257531e-01,-2.85282866e+00, 1.06671198e+01,-1.68845030e+01,
  1.36540796e+00,-2.84806095e+00, 1.03329531e+01,-1.44315937e+01,
 -3.09577791e-02, 3.26588093e-01,-2.66342987e+00, 8.57015233e+00,
  5.62597128e+00,-3.36658218e-01,-1.54240969e-01,-1.37678815e+02,
  1.23664377e+02, 1.00406978e+01]

qfrc_actuator:
[ 6.98012471e-05, 8.60479697e-04, 1.24522598e-04,-4.63140382e-05,
 -7.12790890e-05, 3.48967643e-02, 1.09552043e-02, 1.86837984e-03,
 -8.35825879e-05, 8.05923626e-04, 1.74407524e-04, 5.94021085e-05,
  0.00000000e+00,-1.60742086e-03, 0.00000000e+00,-1.23240299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.20364247,  -4.76385475,  -7.20364247,
        29.39840434, -31.39523054,  -4.76385475, -31.39523054,
        56.11052644,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006130492684467748
  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([-0.18838824, -0.07227865,  0.06169318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99786148e-05,-3.50669553e-05, 1.74586589e-05, 2.63005778e-05,
 -4.05543382e-05, 1.51790174e-05, 3.85570326e-05,-3.20339475e-05,
  8.06531555e-06,-1.77673306e-05, 3.76679261e-05,-8.71644575e-06,
  3.34294755e-03, 4.18951679e-05,-2.29492407e-05, 3.47767298e-05,
  3.27952290e-05,-4.59682566e-04,-4.90461396e+00,-2.44317695e-03,
  2.07983728e-03,-8.89741914e-03]


--- Step 2770 ---
qpos:
[ 0.018733  , 0.03003739,-0.0094695 ,-0.02528981,-0.00352673, 1.34081576,
 -0.03003058, 0.94382323, 0.01152272, 0.02732099,-0.0083326 , 0.02645321,
  1.39624315, 0.00766997, 1.36187364, 0.04403948,-0.0973078 ,-0.07864052,
  0.09222578, 0.63587932, 0.24949431,-0.66214636,-0.30817572]

qacc:
[ 9.10856375e-01,-9.48312974e-01, 4.43513240e+00,-1.04725473e+01,
 -1.66390091e-02,-4.24847246e+00, 2.10953101e+01,-5.58411426e+01,
  8.10640114e-01,-8.49987582e-01, 2.88926957e+00,-4.47929113e+00,
 -3.45592629e-02, 1.09726355e-01,-7.19826758e+00, 2.44393621e+01,
  4.86487802e+00,-2.88328355e-01,-1.48105500e+00,-1.18660464e+02,
  1.07102348e+02, 9.00693976e+00]

qfrc_actuator:
[ 7.58364543e-05, 8.39437105e-04, 1.16693265e-04,-6.65104932e-05,
 -5.21140721e-05, 3.49080449e-02, 1.09337937e-02, 1.70332749e-03,
 -7.89754754e-05, 7.74842182e-04, 1.71329714e-04, 5.26488440e-05,
  0.00000000e+00,-1.61795710e-03, 0.00000000e+00,-1.11508157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.14673158,  -4.84881476,  -7.14673158,
        31.38132548, -33.52409716,  -4.84881476, -33.52409716,
        58.04796951,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006076205451722695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56791263e-15,  4.56791263e-15,  1.00000000e+00,  2.08658258e-29,
        1.00000000e+00, -4.56791263e-15, -1.00000000e+00,  0.00000000e+00,
       -4.56791263e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18851307, -0.07227167,  0.06169547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44103680e-06,-3.59036949e-05,-1.20031368e-05,-2.05793048e-05,
 -4.80028814e-06, 2.62599440e-05,-1.49900850e-05,-1.64204895e-04,
  4.83342947e-06,-3.35784577e-05,-2.39744846e-06,-6.37878160e-06,
  3.33458281e-03, 1.04984518e-05,-6.86174489e-06, 1.16282898e-04,
 -1.84207412e-04,-3.76169545e-04,-4.90455754e+00,-2.17986606e-03,
  2.37876744e-03,-8.88292605e-03]


--- Step 2771 ---
qpos:
[ 0.01873319, 0.0300368 ,-0.00947021,-0.02529012,-0.00352749, 1.34081608,
 -0.0300308 , 0.94382158, 0.01152229, 0.02732033,-0.00833383, 0.02645403,
  1.3962425 , 0.00767002, 1.36196296, 0.04404317,-0.09729558,-0.07860271,
  0.09222275, 0.63620001, 0.24895307,-0.66224123,-0.30774741]

qacc:
[ 5.83757740e-01, 2.31749831e+00,-8.04750478e+00, 1.02132496e+01,
  9.28202598e-02, 4.38993821e-02, 1.32726650e+00,-7.86585858e+00,
 -2.49477078e+00, 4.80252392e+00,-2.05956329e+01, 3.82710002e+01,
 -1.14453591e-02,-1.50944902e-01,-2.80369743e+01, 9.59840951e+01,
 -6.43403664e+00, 1.09606878e+00, 1.44217098e+00, 1.59317165e+02,
 -1.42958478e+02, 1.41347604e+01]

qfrc_actuator:
[ 7.93435844e-05, 8.80570043e-04, 9.43032466e-05,-6.05046644e-05,
 -2.24446193e-05, 3.49145238e-02, 1.09210824e-02, 1.67766665e-03,
 -9.39636372e-05, 8.09995406e-04, 1.34057109e-04, 1.01964632e-04,
  0.00000000e+00,-1.64211867e-03, 0.00000000e+00,-6.53418520e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006030277084627271
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20540639e-15,  9.20540639e-15,  1.00000000e+00,  8.47395069e-29,
        1.00000000e+00, -9.20540639e-15, -1.00000000e+00,  0.00000000e+00,
       -9.20540639e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00848332, -0.09227429,  0.06169738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65743417e-06, 1.77308891e-05,-3.19839608e-05, 3.65533365e-06,
  2.68342120e-05, 1.31352796e-05,-1.40974253e-05,-2.91194583e-05,
 -1.48613012e-05, 1.56469743e-05,-4.47096948e-05, 4.76726633e-05,
  3.34204402e-03,-2.30861209e-05, 8.65166360e-06, 4.67029015e-04,
 -3.09469496e-04,-3.02473488e-04,-4.90433616e+00,-1.93345396e-03,
  2.66480944e-03,-8.86861593e-03]


--- Step 2772 ---
qpos:
[ 0.01873378, 0.03003666,-0.00947134,-0.02529038,-0.00352813, 1.34081642,
 -0.03003086, 0.94382033, 0.011521  , 0.0273201 ,-0.00833617, 0.02645508,
  1.39624151, 0.00767013, 1.36205237, 0.04405135,-0.09730557,-0.07856111,
  0.0922193 , 0.63629634, 0.24849282,-0.6625836 ,-0.30718279]

qacc:
[ 3.28393911e+00, 1.84075258e+00,-5.85230873e+00, 6.82381124e+00,
  5.56695411e-02, 2.86685016e-01,-1.71533777e+00, 5.98453180e+00,
 -7.43143749e+00, 4.16713239e+00,-1.50054184e+01, 2.05147686e+01,
  3.41501682e-02,-9.07114404e-02,-1.34145737e+01, 4.70942622e+01,
 -5.55177457e+00, 9.45430554e-01,-1.04780056e-01, 1.36915119e+02,
 -1.23593566e+02, 1.28241399e+01]

qfrc_actuator:
[ 9.90791531e-05, 9.23068136e-04, 8.15373423e-05,-5.68274422e-05,
 -2.22208643e-05, 3.49181669e-02, 1.09314642e-02, 1.69877497e-03,
 -1.38116531e-04, 8.31181231e-04, 7.72099876e-05, 1.12902120e-04,
  0.00000000e+00,-1.62119663e-03, 0.00000000e+00,-4.36434477e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.92590719,  5.15932034, -6.92590719, 28.15324601,
       26.19959743,  5.15932034, 26.19959743, 43.80688383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006054403718591034
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83374462e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83374462e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00853797, -0.09227625,  0.06169634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98521272e-05, 4.59948773e-05,-1.29009805e-05, 3.40437054e-06,
  1.60822015e-05, 7.27317819e-06, 1.04906334e-05, 2.04123554e-05,
 -4.45860688e-05, 2.27730822e-05,-5.74519728e-05, 1.09917419e-05,
  3.38574438e-03,-7.76745604e-06, 5.45852053e-05, 2.43854911e-04,
 -1.40568420e-04,-4.64869532e-04,-4.90453371e+00,-2.24410409e-03,
  2.32067067e-03,-8.86069728e-03]


--- Step 2773 ---
qpos:
[ 0.01873459, 0.03003712,-0.00947272,-0.02529098,-0.00352854, 1.34081714,
 -0.03003092, 0.94381827, 0.01151918, 0.02731962,-0.00833862, 0.02645559,
  1.39624097, 0.00767026, 1.36214271, 0.04405643,-0.09733477,-0.07851624,
  0.09221012, 0.63619855, 0.24810135,-0.66314015,-0.30650003]

qacc:
[ 1.97311431e+00, 7.83946710e-01,-2.79674518e-01,-5.45234296e+00,
  9.53742716e-02,-9.10674456e-01, 5.22353368e+00,-1.40564667e+01,
 -4.43102277e+00,-1.14784481e+00, 5.94248172e+00,-1.50982860e+01,
  4.30283001e-02, 9.20742508e-02, 1.07290817e+01,-3.55363679e+01,
 -4.80444872e+00, 8.18685629e-01,-1.43089880e+00, 1.18030988e+02,
 -1.07205404e+02, 1.15953326e+01]

qfrc_actuator:
[ 1.10456531e-04, 9.66100750e-04, 7.45824802e-05,-7.22891549e-05,
 -4.15911803e-06, 3.49557161e-02, 1.09376333e-02, 1.65845228e-03,
 -1.63570375e-04, 7.90468851e-04, 6.24562674e-05, 8.33956855e-05,
  0.00000000e+00,-1.59096950e-03, 0.00000000e+00,-6.13992633e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.85241739,  5.25653429, -6.85241739, 30.3173151 ,
       28.2632854 ,  5.25653429, 28.2632854 , 45.48037867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006000683491217122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25080473e-15,  9.25080473e-15,  1.00000000e+00,  8.55773882e-29,
        1.00000000e+00, -9.25080473e-15, -1.00000000e+00,  0.00000000e+00,
       -9.25080473e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00841971, -0.09229941,  0.06169863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19739169e-05, 6.62575700e-05, 1.08754951e-06,-1.38700274e-05,
  2.75657983e-05, 4.42349365e-05, 9.38217512e-06,-3.93246049e-05,
 -2.67528137e-05,-3.93603711e-05,-1.67174883e-05,-3.02995045e-05,
  3.40287579e-03, 1.94869080e-05, 4.81811242e-05,-1.57894213e-04,
  1.17997752e-04,-6.18172772e-04,-4.90447346e+00,-2.52525543e-03,
  2.00298062e-03,-8.85236129e-03]


--- Step 2774 ---
qpos:
[ 0.01873588, 0.03003801,-0.00947387,-0.02529177,-0.00352872, 1.34081809,
 -0.03003085, 0.94381575, 0.01151777, 0.0273185 ,-0.00834047, 0.0264554 ,
  1.39624093, 0.0076706 , 1.36223341, 0.04405842,-0.09733789,-0.07847275,
  0.09220645, 0.63637822, 0.2475777 ,-0.66342189,-0.30594025]

qacc:
[ 4.07549441e+00,-4.81306972e-01, 3.35904225e+00,-7.39688778e+00,
  9.39846908e-02,-7.97007776e-01, 3.90485589e+00,-8.85030346e+00,
  3.42499717e+00,-3.97056547e+00, 1.58792460e+01,-2.84904381e+01,
  1.47232770e-02, 2.38617159e-01, 9.90075011e+00,-3.38236136e+01,
  6.52024507e+00,-3.43982957e-01, 1.37445098e+00,-1.59353706e+02,
  1.43901431e+02, 1.31419657e+01]

qfrc_actuator:
[ 1.34570686e-04, 9.91383446e-04, 8.88607414e-05,-8.11303278e-05,
  6.70625011e-06, 3.49599758e-02, 1.09413457e-02, 1.63556217e-03,
 -1.42299857e-04, 7.48631991e-04, 9.01552903e-05, 4.80659000e-05,
  0.00000000e+00,-1.57290485e-03, 0.00000000e+00,-7.73961287e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006099448222100512
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10101196e-15,  9.10101196e-15,  1.00000000e+00, -8.28284187e-29,
        1.00000000e+00, -9.10101196e-15, -1.00000000e+00,  0.00000000e+00,
        9.10101196e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18845662, -0.07229987,  0.06169439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44867855e-05, 6.19665308e-05, 2.76275418e-05,-6.23412517e-06,
  2.71572244e-05, 2.93767820e-05, 1.22763302e-05,-2.21991871e-05,
  2.04712542e-05,-6.85693015e-05, 1.64934445e-05,-3.81784883e-05,
  3.37989922e-03, 3.61380610e-05, 1.23742168e-07,-1.63653984e-04,
  4.26260124e-04,-7.61157277e-04,-4.90424761e+00,-2.77958224e-03,
  1.70953309e-03,-8.84352806e-03]


--- Step 2775 ---
qpos:
[ 0.0187371 , 0.03003883,-0.00947457,-0.02529295,-0.00352887, 1.34081906,
 -0.03003099, 0.9438144 , 0.01151661, 0.02731716,-0.00834214, 0.02645475,
  1.39624125, 0.00767121, 1.36232411, 0.04405848,-0.09731853,-0.07843043,
  0.09220209, 0.63679735, 0.24694   ,-0.66346706,-0.30548526]

qacc:
[-5.43819388e-01,-2.14850298e+00, 9.17653025e+00,-1.66349109e+01,
  1.64177613e-02, 2.56815297e+00,-1.07372870e+01, 2.27836424e+01,
  2.27436080e+00,-1.72652493e+00, 7.62152344e+00,-1.54936720e+01,
 -1.36696565e-02, 2.71011849e-01, 5.83093986e+00,-2.03848249e+01,
  5.62220156e+00,-2.93777516e-01,-1.70675955e-01,-1.36881600e+02,
  1.24290394e+02, 1.18287731e+01]

qfrc_actuator:
[ 1.30485810e-04, 9.52675802e-04, 9.77463709e-05,-1.03755082e-04,
 -4.58570102e-06, 3.49442635e-02, 1.09257256e-02, 1.69412049e-03,
 -1.29209367e-04, 7.59867330e-04, 1.07155973e-04, 2.73667232e-05,
  0.00000000e+00,-1.56232455e-03, 0.00000000e+00,-8.68884073e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.59511251,  -4.11108779,  -7.59511251,
        22.2181595 , -25.09196421,  -4.11108779, -25.09196421,
        54.99302178,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00612417604324586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.53213223e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.53213223e-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([-0.18840038, -0.07231127,  0.06169333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35209528e-06, 1.36974855e-06, 2.48731514e-05,-1.91361790e-05,
  4.75787357e-06, 2.26382490e-06,-9.13213376e-06, 5.92844190e-05,
  1.36615889e-05,-2.52729285e-05, 3.58009699e-06,-2.38040440e-05,
  3.35471908e-03, 3.65347997e-05,-2.00501150e-05,-1.04506467e-04,
  2.61173749e-05,-6.53787367e-04,-4.90443833e+00,-2.44098780e-03,
  2.08179776e-03,-8.82557803e-03]


--- Step 2776 ---
qpos:
[ 0.01873655, 0.0300394 ,-0.00947563,-0.02529328,-0.0035292 , 1.34081955,
 -0.03003121, 0.94381655, 0.01151528, 0.02731566,-0.00834284, 0.0264545 ,
  1.39624154, 0.00767197, 1.36241446, 0.04405939,-0.09727972,-0.07838912,
  0.09219175, 0.6374235 , 0.24620361,-0.66330763,-0.30511973]

qacc:
[-1.52914993e+01, 2.47763582e+00,-1.28331105e+01, 2.82687319e+01,
 -7.50485342e-02, 5.59029562e+00,-2.62077174e+01, 6.37724253e+01,
 -1.49407232e+00,-2.11834418e+00, 5.61338364e+00,-3.65875035e-01,
 -2.84414960e-02, 1.09470579e-01,-3.07319224e+00, 1.00008186e+01,
  4.86116445e+00,-2.50591555e-01,-1.49575795e+00,-1.17914339e+02,
  1.07694819e+02, 1.06160077e+01]

qfrc_actuator:
[ 3.88211112e-05, 9.11415890e-04, 6.75871032e-05,-6.33624485e-05,
 -2.90776806e-05, 3.48989316e-02, 1.09165335e-02, 1.87112106e-03,
 -1.38806180e-04, 7.85026610e-04, 1.71171243e-04, 5.09779940e-05,
  0.00000000e+00,-1.57413265e-03, 0.00000000e+00,-8.18190920e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.54809308,  -4.19679256,  -7.54809308,
        23.67353503, -27.04493198,  -4.19679256, -27.04493198,
        57.27771557,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0060696196216471765
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14573807e-15,  4.57286903e-15,  1.00000000e+00,  4.18222624e-29,
        1.00000000e+00, -4.57286903e-15, -1.00000000e+00,  0.00000000e+00,
       -9.14573807e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18852563, -0.07230544,  0.06169564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.17637489e-05,-3.61999442e-05,-2.74748692e-05, 4.09414714e-05,
 -2.16803901e-05,-4.40921618e-05,-8.05271505e-06, 1.78174565e-04,
 -9.21072727e-06, 1.08163845e-05, 5.84469489e-05, 2.21961759e-05,
  3.33629404e-03, 1.13623552e-05,-2.16005826e-05, 4.20928885e-05,
 -2.37009452e-04,-5.58298826e-04,-4.90437065e+00,-2.12217587e-03,
  2.43855524e-03,-8.80790167e-03]


--- Step 2777 ---
qpos:
[ 0.01873489, 0.03003978,-0.00947707,-0.02529278,-0.00352974, 1.34081948,
 -0.03003082, 0.9438201 , 0.01151454, 0.02731427,-0.00834284, 0.02645416,
  1.39624162, 0.00767257, 1.36250467, 0.04406085,-0.09726658,-0.07834319,
  0.09218709, 0.63779053, 0.24555956,-0.66343531,-0.3045937 ]

qacc:
[-9.40057861e+00, 2.49568618e+00,-1.27334525e+01, 2.77464274e+01,
 -9.42683187e-02,-2.81345819e-03,-3.74664760e+00, 1.96974705e+01,
  5.00820751e+00,-1.99609257e+00, 7.64143494e+00,-1.01927938e+01,
 -2.15458338e-02,-1.27417447e-01,-1.89367384e+00, 6.33847766e+00,
 -6.41786894e+00, 1.15305990e+00, 1.42199686e+00, 1.58364270e+02,
 -1.43593343e+02, 1.63387215e+01]

qfrc_actuator:
[-1.48858464e-05, 9.04325403e-04, 5.01331206e-05,-2.17536566e-05,
 -4.35363684e-05, 3.48718150e-02, 1.09466549e-02, 1.93884588e-03,
 -1.08419416e-04, 8.00822314e-04, 2.09282669e-04, 4.72635060e-05,
  0.00000000e+00,-1.59936317e-03, 0.00000000e+00,-7.88644559e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006021672322724873
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.2185606e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.2185606e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00847675, -0.09232991,  0.06169762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63948076e-05,-3.12926596e-05,-2.68871537e-05, 3.99113516e-05,
 -2.72730015e-05,-4.77287008e-05, 2.58076877e-05, 7.02978415e-05,
  3.01119633e-05, 3.49243372e-05, 4.83380075e-05,-7.91054417e-07,
  3.33811373e-03,-2.13534204e-05,-5.83554163e-06, 2.89798025e-05,
 -4.03746070e-04,-4.73140150e-04,-4.90413802e+00,-1.82516821e-03,
  2.77666983e-03,-8.79040869e-03]


--- Step 2778 ---
qpos:
[ 0.0187333 , 0.03003978,-0.00947833,-0.02529215,-0.0035302 , 1.34081948,
 -0.03003047, 0.94382199, 0.0115145 , 0.02731314,-0.00834269, 0.0264538 ,
  1.39624197, 0.00767292, 1.3625954 , 0.04405796,-0.09727559,-0.07829328,
  0.09218195, 0.63793443, 0.24499348,-0.66381098,-0.30392901]

qacc:
[ 5.04873085e-01,-7.07047012e-01, 1.20677707e+00, 1.15717405e+00,
  3.83064156e-02,-2.65207230e+00, 1.21745216e+01,-2.98248901e+01,
  6.09983945e+00,-1.17348531e-01, 1.02517966e+00,-1.86506825e+00,
 -1.77135462e-02,-5.77112333e-02, 1.39614943e+01,-4.77181657e+01,
 -5.53718189e+00, 9.95063003e-01,-1.22779667e-01, 1.36021573e+02,
 -1.24201832e+02, 1.48215169e+01]

qfrc_actuator:
[-1.02870145e-05, 8.82285864e-04, 5.82084413e-05,-1.52367798e-05,
 -1.63531329e-05, 3.48914208e-02, 1.09464587e-02, 1.85296244e-03,
 -7.24868317e-05, 8.10792178e-04, 2.13974128e-04, 4.52164020e-05,
  0.00000000e+00,-1.59689294e-03, 0.00000000e+00,-1.02037792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.23322165,  4.71882204, -7.23322165, 22.95521316,
       21.94857348,  4.71882204, 21.94857348, 42.28011949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006045544036428999
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83643195e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83643195e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00853143, -0.09233284,  0.06169659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94419220e-06,-4.33948627e-05,-3.03090048e-07, 5.02797814e-06,
  1.10641046e-05, 3.68183730e-07,-4.52961428e-06,-8.49258696e-05,
  3.68202757e-05, 3.95101464e-05, 1.78470780e-05, 1.10914480e-06,
  3.34833977e-03,-1.09189821e-05,-1.22089717e-06,-2.31264774e-04,
 -1.82815375e-04,-6.75813924e-04,-4.90432353e+00,-2.19976067e-03,
  2.36521745e-03,-8.78084723e-03]


--- Step 2779 ---
qpos:
[ 0.01873177, 0.03003953,-0.00947928,-0.02529113,-0.00353047, 1.34081968,
 -0.03003048, 0.94382249, 0.01151456, 0.02731163,-0.00834215, 0.02645349,
  1.39624241, 0.00767327, 1.36268597, 0.04405367,-0.09730377,-0.07823992,
  0.09217101, 0.63788527, 0.24449335,-0.66440125,-0.30314413]

qacc:
[ 5.87533880e-01,-4.02886459e-01,-6.81215778e-01, 7.10801959e+00,
  7.94746771e-02,-1.12327018e+00, 6.82598694e+00,-2.20846749e+01,
  7.63198604e-01,-1.51331854e+00, 4.42325044e+00,-3.89999822e+00,
 -3.33392385e-02, 5.53508304e-02, 4.00773980e+00,-1.43566415e+01,
 -4.79114812e+00, 8.62164624e-01,-1.44700400e+00, 1.17192297e+02,
 -1.07786264e+02, 1.33989921e+01]

qfrc_actuator:
[-6.92432728e-06, 8.87048650e-04, 8.12089361e-05, 6.09106136e-06,
  8.56389008e-08, 3.49031409e-02, 1.09284657e-02, 1.78391868e-03,
 -6.90959587e-05, 7.46047826e-04, 2.16639611e-04, 4.41468374e-05,
  0.00000000e+00,-1.59540421e-03, 0.00000000e+00,-1.08463392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.17400029,  4.80837776, -7.17400029, 24.59571024,
       23.81101547,  4.80837776, 23.81101547, 44.16190687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0059916530236170384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.85294946e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.85294946e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00841331, -0.09235739,  0.06169887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43434252e-06,-1.93308081e-05, 1.41895732e-05, 1.95589448e-05,
  2.29775044e-05, 8.48773661e-06,-2.09247742e-05,-7.11314623e-05,
  4.47879255e-06,-3.88635495e-05, 1.30741217e-05, 1.26414601e-06,
  3.33457358e-03, 2.89638984e-06,-2.88344316e-05,-7.78928322e-05,
  1.22568775e-04,-8.64861941e-04,-4.90425090e+00,-2.53942668e-03,
  1.98664853e-03,-8.77072264e-03]


--- Step 2780 ---
qpos:
[ 0.0187303 , 0.03003942,-0.00947983,-0.02528991,-0.00353055, 1.34081979,
 -0.03002978, 0.94382248, 0.011515  , 0.02730947,-0.0083414 , 0.02645321,
  1.39624235, 0.00767367, 1.36277576, 0.04405362,-0.09730588,-0.0781877 ,
  0.09216549, 0.63811442, 0.24385811,-0.66471781,-0.30247882]

qacc:
[ 4.54930432e-01,-5.08734673e-01, 1.28082735e+00, 1.29935128e+00,
  8.12255102e-02,-2.89545433e+00, 1.03600397e+01,-1.49144640e+01,
  3.30726268e+00,-1.38738008e+00, 3.57477358e+00,-2.86122968e+00,
 -2.90915599e-02,-6.82253808e-02,-1.39859344e+01, 4.72586585e+01,
  6.51508352e+00,-2.84062414e-01, 1.35121909e+00,-1.58328076e+02,
  1.44661863e+02, 1.54744649e+01]

qfrc_actuator:
[-4.33568985e-06, 9.25659879e-04, 1.12951652e-04, 1.82441341e-05,
  9.94407275e-06, 3.49099724e-02, 1.09711483e-02, 1.76087245e-03,
 -4.93833371e-05, 6.90294610e-04, 2.17789954e-04, 4.36000809e-05,
  0.00000000e+00,-1.61240302e-03, 0.00000000e+00,-8.54338561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006091346626972111
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55655823e-15,  9.11311646e-15,  1.00000000e+00, -4.15244458e-29,
        1.00000000e+00, -9.11311646e-15, -1.00000000e+00,  0.00000000e+00,
        4.55655823e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18847124, -0.07233775,  0.06169458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68215902e-06, 3.15936349e-05, 3.01877218e-05, 1.21977875e-05,
  2.34377360e-05, 5.29576551e-06, 3.98761943e-05,-2.50530496e-05,
  1.98253493e-05,-7.46800510e-05,-5.21138293e-06,-1.73253516e-06,
  3.33034317e-03,-1.39984957e-05,-2.25347454e-05, 2.22119010e-04,
  4.72795792e-04,-1.03956186e-03,-4.90401250e+00,-2.84710789e-03,
  1.63835889e-03,-8.75996380e-03]


--- Step 2781 ---
qpos:
[ 0.01872921, 0.03003946,-0.00947999,-0.02528891,-0.00353061, 1.34082002,
 -0.03002835, 0.94382148, 0.01151602, 0.02730673,-0.0083406 , 0.02645294,
  1.39624208, 0.00767385, 1.36286565, 0.04405426,-0.09728553,-0.07813645,
  0.09215919, 0.63858383, 0.24310623,-0.6647987 ,-0.30191513]

qacc:
[ 3.33224614e+00,-1.37566079e+00, 6.06480192e+00,-1.04566919e+01,
  6.77826390e-03,-3.53654975e+00, 1.37777554e+01,-2.35174874e+01,
  4.94092339e+00,-8.82370378e-01, 1.97608212e+00,-1.51142696e+00,
 -2.68574560e-03,-1.84874525e-01,-1.98865383e+00, 7.12243292e+00,
  5.61711575e+00,-2.41573323e-01,-1.91472372e-01,-1.35921437e+02,
  1.25012358e+02, 1.39381539e+01]

qfrc_actuator:
[ 1.55293640e-05, 9.31031415e-04, 1.31985710e-04, 7.18262763e-06,
 -1.97728608e-06, 3.49318372e-02, 1.10138129e-02, 1.71185337e-03,
 -2.02107348e-05, 6.58085555e-04, 2.18046240e-04, 4.33627897e-05,
  0.00000000e+00,-1.62278991e-03, 0.00000000e+00,-8.25204258e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.91421487,  -3.45716356,  -7.91421487,
        16.89236329, -18.89981598,  -3.45716356, -18.89981598,
        51.90223804,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061156439721422665
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53845511e-15,  1.36153653e-14,  1.00000000e+00,  6.17927243e-29,
        1.00000000e+00, -1.36153653e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53845511e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18841552, -0.07235016,  0.06169353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99531852e-05, 2.98086882e-05, 2.97056295e-05,-8.42793189e-06,
  1.92954635e-06, 3.18411725e-05, 4.75027481e-05,-4.82703518e-05,
  2.97213858e-05,-7.50433295e-05,-1.58551966e-05,-3.64867474e-06,
  3.35438139e-03,-2.67275559e-05, 1.40202135e-05, 3.85728344e-05,
  1.36563124e-05,-9.20187677e-04,-4.90418763e+00,-2.43712910e-03,
  2.08413557e-03,-8.73821949e-03]


--- Step 2782 ---
qpos:
[ 0.01872871, 0.03003941,-0.00947949,-0.02528803,-0.00353072, 1.34082061,
 -0.03002706, 0.94382027, 0.01151738, 0.02730357,-0.00834017, 0.02645267,
  1.39624171, 0.00767382, 1.36295566, 0.0440546 ,-0.09724553,-0.07808663,
  0.09214832, 0.63925875, 0.24226991,-0.66466572,-0.30145154]

qacc:
[ 5.09635549e+00,-2.19248929e+00, 8.16758230e+00,-1.13095311e+01,
 -2.08068467e-02, 5.32214648e-01,-7.53210868e-01,-1.96867487e+00,
  2.91395197e+00, 4.65128829e-01,-2.46085688e+00, 3.39419563e+00,
  9.36228760e-03,-1.64720046e-01, 1.12462110e+00,-3.65777960e+00,
  4.91009164e+00,-3.59476824e-01,-1.14442781e+00,-1.17503371e+02,
  1.11681747e+02, 1.13599295e+00]

qfrc_actuator:
[ 4.54041600e-05, 9.16397989e-04, 1.60977817e-04, 2.71104139e-07,
 -9.11460832e-06, 3.49447856e-02, 1.10028835e-02, 1.70118890e-03,
 -3.46105634e-06, 6.40214850e-04, 2.00109941e-04, 4.33276080e-05,
  0.00000000e+00,-1.62896523e-03, 0.00000000e+00,-8.43905290e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.27180243,  -2.48275278,  -8.27180243,
        14.51887334, -19.59879316,  -2.48275278, -19.59879316,
        73.93378132,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006063994853347333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57711068e-15,  1.60198874e-14,  1.00000000e+00,  7.33247977e-29,
        1.00000000e+00, -1.60198874e-14, -1.00000000e+00,  0.00000000e+00,
       -4.57711068e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18619277, -0.07092741,  0.0616957 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04656123e-05, 7.81817425e-06, 3.85149891e-05,-4.77425258e-06,
 -5.99585539e-06, 3.83995770e-05,-7.13748082e-07,-9.43262380e-06,
  1.75868308e-05,-6.31625354e-05,-3.54934051e-05,-3.86677077e-06,
  3.36525846e-03,-2.20742020e-05, 7.97683559e-06,-1.53724367e-05,
 -3.02730687e-04,-8.12770974e-04,-4.90410438e+00,-2.05293134e-03,
  2.50726137e-03,-8.71674118e-03]


--- Step 2783 ---
qpos:
[ 0.01872823, 0.03003907,-0.00947876,-0.02528754,-0.00353075, 1.34082119,
 -0.03002607, 0.94381933, 0.01151893, 0.02730071,-0.00834031, 0.02645232,
  1.39624105, 0.00767353, 1.36304554, 0.04405607,-0.09723111,-0.07803201,
  0.092143  , 0.63967661, 0.24152041,-0.66482081,-0.30082391]

qacc:
[ 1.64471974e-01,-1.83009302e+00, 7.57500297e+00,-1.43153614e+01,
  3.45744545e-02, 1.23198969e+00,-4.57511990e+00, 7.06127892e+00,
  1.59811920e+00, 1.82328910e+00,-5.64238074e+00, 5.07392927e+00,
  2.05209280e-02,-2.50934291e-01,-3.61159546e+00, 1.23186921e+01,
 -6.39312975e+00, 1.20161649e+00, 1.38855401e+00, 1.56822139e+02,
 -1.44546467e+02, 1.97298805e+01]

qfrc_actuator:
[ 4.54203545e-05, 8.72183548e-04, 1.60035224e-04,-2.19029195e-05,
  4.42965859e-06, 3.49166038e-02, 1.09781551e-02, 1.71315011e-03,
  5.83953964e-06, 7.02008800e-04, 1.89390241e-04, 4.34130672e-05,
  0.00000000e+00,-1.65028217e-03, 0.00000000e+00,-7.84066071e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006011286090240396
  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([-0.00846933, -0.09239135,  0.06169789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.04798924e-07,-3.20861904e-05, 5.24259944e-06,-2.06038504e-05,
  1.00023348e-05,-7.36991003e-06,-1.75783294e-05, 1.28766676e-05,
  9.78564487e-06, 1.90958114e-05,-2.82392553e-05,-3.91845924e-06,
  3.37016255e-03,-3.26745961e-05,-5.69138741e-07, 5.94320297e-05,
 -5.01249906e-04,-6.79739777e-04,-4.90388630e+00,-1.69857629e-03,
  2.89370838e-03,-8.69576494e-03]


--- Step 2784 ---
qpos:
[ 0.01872775, 0.03003884,-0.00947875,-0.02528695,-0.00353081, 1.34082167,
 -0.03002511, 0.94381992, 0.01152023, 0.02729855,-0.00834033, 0.02645222,
  1.39624034, 0.00767309, 1.36313547, 0.04405755,-0.09723875,-0.07797323,
  0.09213708, 0.63987308, 0.24084395,-0.6652247 ,-0.30005455]

qacc:
[ 1.07771635e-02, 2.35288456e+00,-8.58723891e+00, 1.12860413e+01,
 -1.30046516e-02, 2.54784916e+00,-1.16185347e+01, 2.78616331e+01,
 -2.10524108e+00, 1.12724928e+00,-3.68833711e+00, 7.22093065e+00,
  3.46387133e-02,-1.37947156e-01,-1.42456483e-02, 1.40887713e-01,
 -5.51558495e+00, 1.03849551e+00,-1.51803052e-01, 1.34638444e+02,
 -1.25068187e+02, 1.77980461e+01]

qfrc_actuator:
[ 4.56111583e-05, 8.81466149e-04, 1.23528323e-04,-1.74251425e-05,
 -5.23366468e-06, 3.49172175e-02, 1.09808485e-02, 1.79155416e-03,
 -7.06666135e-06, 7.93316406e-04, 2.18861875e-04, 6.13989323e-05,
  0.00000000e+00,-1.64504869e-03, 0.00000000e+00,-7.84927321e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.35801442,  4.52176964, -7.35801442, 20.80051603,
       19.79402219,  4.52176964, 19.79402219, 40.846032  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006034766041558198
  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([-0.00852328, -0.09239436,  0.06169687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06842570e-07,-8.45472418e-06,-4.32062315e-05, 2.88224132e-06,
 -3.75263980e-06,-6.52069921e-06,-3.74132502e-07, 7.79664304e-05,
 -1.26209325e-05, 9.60994168e-05, 2.98394263e-05, 1.77582018e-05,
  3.38416339e-03,-1.44896598e-05, 4.35264334e-06, 1.93197492e-06,
 -2.31962974e-04,-9.27473205e-04,-4.90405835e+00,-2.13890714e-03,
  2.41704330e-03,-8.68446015e-03]


--- Step 2785 ---
qpos:
[ 0.01872832, 0.03003879,-0.0094793 ,-0.02528599,-0.00353094, 1.34082197,
 -0.03002442, 0.94382284, 0.01152068, 0.0272968 ,-0.00834023, 0.02645307,
  1.39623988, 0.00767292, 1.36322544, 0.04405869,-0.09726548,-0.07791085,
  0.09212526, 0.63987795, 0.24022907,-0.66584391,-0.29916231]

qacc:
[ 8.90306631e+00, 2.53860780e+00,-1.02819782e+01, 1.74690885e+01,
 -2.76499322e-02, 4.49013811e+00,-1.97375094e+01, 4.43287873e+01,
 -7.29252877e+00, 2.14331553e+00,-1.08149618e+01, 2.66100563e+01,
  3.13469956e-02, 1.89218634e-01, 1.12928307e+00,-3.86566019e+00,
 -4.77217274e+00, 9.01213681e-01,-1.47219801e+00, 1.15945175e+02,
 -1.08578354e+02, 1.60130825e+01]

qfrc_actuator:
[ 9.91712478e-05, 9.04820742e-04, 1.02056109e-04, 2.72193319e-06,
 -1.09891205e-05, 3.48997042e-02, 1.09643423e-02, 1.90845639e-03,
 -5.06900219e-05, 7.95280603e-04, 2.18733611e-04, 1.07588249e-04,
  0.00000000e+00,-1.60614390e-03, 0.00000000e+00,-8.03808440e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.30455961,  4.60762257, -7.30455961, 22.21512746,
       21.52669589,  4.60762257, 21.52669589, 42.76308104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005980642190205034
  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([-0.00840472, -0.09241967,  0.06169917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35654042e-05, 9.83530190e-06,-2.84381950e-05, 1.83456502e-05,
 -7.97359709e-06,-1.88538914e-05,-1.55386299e-05, 1.18505742e-04,
 -4.39683046e-05, 6.27067461e-05, 2.40398155e-05, 5.16915092e-05,
  3.38696531e-03, 3.16255159e-05, 3.68193284e-08,-1.87173574e-05,
  1.18114706e-04,-1.15737216e-03,-4.90397141e+00,-2.54033380e-03,
  1.97778844e-03,-8.67242827e-03]


--- Step 2786 ---
qpos:
[ 0.01872952, 0.03003841,-0.00947959,-0.02528547,-0.00353113, 1.34082218,
 -0.03002419, 0.94382645, 0.01152061, 0.02729522,-0.00834046, 0.02645349,
  1.39623973, 0.00767289, 1.36331554, 0.04405825,-0.09726616,-0.07785012,
  0.09212022, 0.64015606, 0.23949906,-0.6661805 ,-0.29840235]

qacc:
[ 5.48839392e+00,-2.09965776e+00, 8.68666227e+00,-1.65188634e+01,
 -2.80166780e-02, 2.32647051e+00,-9.14699679e+00, 1.59937385e+01,
 -4.50807328e+00, 2.91906142e-01, 1.08862335e+00,-8.04281878e+00,
  1.65532159e-02, 1.53986199e-01, 4.99061259e+00,-1.71372368e+01,
  6.51180040e+00,-4.12826147e-01, 1.69179215e+00,-1.55967379e+02,
  1.48277880e+02, 2.92944983e+00]

qfrc_actuator:
[ 1.30457425e-04, 8.65480785e-04, 1.07474470e-04,-2.13021805e-05,
 -1.43530596e-05, 3.48891839e-02, 1.09365714e-02, 1.94052250e-03,
 -7.65318214e-05, 7.61407160e-04, 1.83034447e-04, 8.11403221e-05,
  0.00000000e+00,-1.60063593e-03, 0.00000000e+00,-8.86388606e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006090149008050411
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55745427e-15,  2.05085442e-14,  1.00000000e+00, -9.34667525e-29,
        1.00000000e+00, -2.05085442e-14, -1.00000000e+00,  0.00000000e+00,
        4.55745427e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18613019, -0.07096687,  0.06169445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28513690e-05,-3.89053980e-05, 4.58394028e-06,-2.42328329e-05,
 -8.07702896e-06,-2.04267677e-05,-2.97489989e-05, 3.37967652e-05,
 -2.71160065e-05, 8.41983980e-06,-1.79770298e-05,-2.19191813e-05,
  3.37373846e-03, 2.43857174e-05,-3.58728835e-06,-8.39924001e-05,
  5.09169310e-04,-1.36883974e-03,-4.90371829e+00,-2.90538316e-03,
  1.57373446e-03,-8.65960361e-03]


--- Step 2787 ---
qpos:
[ 0.01873075, 0.03003753,-0.00947967,-0.02528591,-0.00353138, 1.34082313,
 -0.03002458, 0.94382828, 0.01152022, 0.02729392,-0.00834112, 0.02645289,
  1.39623974, 0.00767282, 1.36340574, 0.04405581,-0.09724438,-0.0777908 ,
  0.09211559, 0.64067019, 0.23866958,-0.66627372,-0.29775473]

qacc:
[ 2.00762129e-01,-3.19806147e+00, 1.45046333e+01,-3.10535522e+01,
 -2.32371070e-02,-4.29151730e-01, 6.23122876e+00,-2.65341804e+01,
 -2.66357809e+00,-5.46839294e-01, 6.78411816e+00,-2.39309347e+01,
  2.52947924e-03, 1.26716515e-02, 6.17562757e+00,-2.13924461e+01,
  5.61517558e+00,-3.52034084e-01, 1.03313335e-01,-1.33829957e+02,
  1.28218438e+02, 3.25125498e+00]

qfrc_actuator:
[ 1.30612494e-04, 8.24483631e-04, 1.10685462e-04,-7.11613177e-05,
 -1.62551533e-05, 3.49716018e-02, 1.09200989e-02, 1.85138780e-03,
 -9.16905479e-05, 7.77119889e-04, 1.61908927e-04, 2.98533062e-05,
  0.00000000e+00,-1.61516725e-03, 0.00000000e+00,-9.88070666e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.14011892,  -2.88534934,  -8.14011892,
        13.80705661, -14.58750772,  -2.88534934, -14.58750772,
        49.79049569,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006113363329672397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54014822e-15,  6.81022232e-15,  1.00000000e+00,  3.09194187e-29,
        1.00000000e+00, -6.81022232e-15, -1.00000000e+00,  0.00000000e+00,
       -4.54014822e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18607888, -0.07098112,  0.06169345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10101598e-06,-6.28195507e-05,-5.09393620e-06,-5.18394011e-05,
 -6.67605018e-06, 6.63174214e-05,-2.28581139e-05,-8.98318466e-05,
 -1.59534466e-05, 1.58177084e-05,-2.23376609e-05,-5.19705750e-05,
  3.35861558e-03, 2.15687724e-06,-1.25988006e-05,-1.07212811e-04,
 -3.40453012e-06,-1.17729567e-03,-4.90392470e+00,-2.40566881e-03,
  2.09706530e-03,-8.63392657e-03]


--- Step 2788 ---
qpos:
[ 0.01873231, 0.03003657,-0.00947962,-0.02528665,-0.00353166, 1.34082486,
 -0.03002576, 0.94382696, 0.01151966, 0.02729277,-0.00834206, 0.02645238,
  1.3962396 , 0.00767257, 1.36349572, 0.0440535 ,-0.09720318,-0.07773267,
  0.09210592, 0.64138854, 0.2377539 ,-0.66615643,-0.29720269]

qacc:
[ 2.89723142e+00,-1.06483475e+00, 4.86642882e+00,-1.00837229e+01,
 -1.72795846e-02,-2.19918019e+00, 1.48895263e+01,-4.99313965e+01,
 -1.53989927e+00, 1.19146244e+00,-4.31123752e+00, 6.15611466e+00,
 -6.13185023e-04,-1.52066152e-01,-7.27510599e-01, 2.03643873e+00,
  4.85579970e+00,-2.99927678e-01,-1.25825518e+00,-1.15170377e+02,
  1.11228162e+02, 3.38246095e+00]

qfrc_actuator:
[ 1.47955275e-04, 8.53786247e-04, 1.30273370e-04,-8.25713220e-05,
 -1.72651082e-05, 3.50024787e-02, 1.08752317e-02, 1.69172804e-03,
 -1.00445452e-04, 7.86903157e-04, 1.49747779e-04, 3.54358692e-05,
  0.00000000e+00,-1.64158004e-03, 0.00000000e+00,-9.75898151e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.09053052,  -3.02160434,  -8.09053052,
        14.75924302, -16.39438422,  -3.02160434, -16.39438422,
        52.53333062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006057908879463406
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58170900e-15,  1.14542725e-14,  1.00000000e+00, -5.24801433e-29,
        1.00000000e+00, -1.14542725e-14, -1.00000000e+00,  0.00000000e+00,
        4.58170900e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1862038 , -0.07097631,  0.0616958 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73582611e-05,-9.06679697e-06, 4.20354642e-06,-1.52824792e-05,
 -4.95257407e-06, 6.03879893e-05,-3.71281540e-05,-1.60416272e-04,
 -9.21846015e-06, 1.18367079e-05,-1.34188588e-05, 4.48236733e-06,
  3.34989004e-03,-2.17559129e-05,-1.91833844e-05, 4.23953881e-06,
 -3.49413574e-04,-1.01578481e-03,-4.90386160e+00,-1.96076993e-03,
  2.56746973e-03,-8.60925510e-03]


--- Step 2789 ---
qpos:
[ 0.01873372, 0.03003567,-0.00947949,-0.02528685,-0.00353198, 1.34082672,
 -0.03002735, 0.94382516, 0.01152003, 0.02729164,-0.00834285, 0.02645227,
  1.39623915, 0.00767211, 1.3635854 , 0.04405266,-0.09718737,-0.07766967,
  0.09210151, 0.64185332, 0.23691557,-0.66632845,-0.29648226]

qacc:
[-1.27548100e+00, 9.16284503e-01,-5.44944725e+00, 1.46312627e+01,
 -1.17958582e-02, 4.45400580e-01,-2.45872445e-01,-5.48382245e+00,
  7.97072896e+00, 4.16485342e-01,-3.16707453e+00, 9.89965361e+00,
  1.25379816e-02,-2.11404307e-01,-4.87327908e+00, 1.64232321e+01,
 -6.34838696e+00, 1.22037338e+00, 1.31489468e+00, 1.54035259e+02,
 -1.45724709e+02, 2.49446481e+01]

qfrc_actuator:
[ 1.39781378e-04, 8.71802118e-04, 1.41936655e-04,-5.34399553e-05,
 -1.77320107e-05, 3.49843389e-02, 1.08492660e-02, 1.66935917e-03,
 -5.21070448e-05, 7.93138568e-04, 1.60752544e-04, 5.66901346e-05,
  0.00000000e+00,-1.65721622e-03, 0.00000000e+00,-8.96734939e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005995817061080447
  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([-0.00844862, -0.0924484 ,  0.0616984 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.66764469e-06, 1.31966806e-05, 9.78975106e-06, 2.85936784e-05,
 -3.39095613e-06, 3.16946367e-06,-2.30846965e-05,-2.53629881e-05,
  4.80682151e-05, 1.03234931e-05, 1.19774578e-05, 2.13905197e-05,
  3.35796124e-03,-2.82350516e-05,-9.44639313e-06, 7.67017611e-05,
 -5.77479723e-04,-8.78190552e-04,-4.90362566e+00,-1.56373207e-03,
  2.99187721e-03,-8.58533659e-03]


--- Step 2790 ---
qpos:
[ 0.01873468, 0.03003457,-0.0094791 ,-0.02528667,-0.00353231, 1.34082866,
 -0.03002874, 0.94382446, 0.01152063, 0.02729064,-0.00834383, 0.02645277,
  1.39623911, 0.00767157, 1.36367562, 0.04404772,-0.09719347,-0.07760243,
  0.09209625, 0.6420996 , 0.23614224,-0.66675027,-0.29561633]

qacc:
[-3.87799127e+00,-1.76286835e-01,-1.27351632e+00, 7.39394440e+00,
 -7.41015934e-03, 1.42059001e+00,-6.77518189e+00, 1.85802264e+01,
  1.97226586e+00, 1.95040290e+00,-9.32002403e+00, 2.01464835e+01,
  1.75188757e-02, 3.99182451e-02, 1.31665763e+01,-4.49197809e+01,
 -5.47773908e+00, 1.05833602e+00,-2.14221022e-01, 1.32244285e+02,
 -1.26095556e+02, 2.22410141e+01]

qfrc_actuator:
[ 1.16648681e-04, 8.47438603e-04, 1.48820842e-04,-3.62085831e-05,
 -1.78696783e-05, 3.50081343e-02, 1.08700730e-02, 1.72795961e-03,
 -4.15637796e-05, 7.97316012e-04, 1.49826565e-04, 8.69972553e-05,
  0.00000000e+00,-1.63079032e-03, 0.00000000e+00,-1.11607250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.22007276,  4.73891613, -7.22007276, 22.57426552,
       21.23537596,  4.73891613, 21.23537596, 40.98995574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006017888230675145
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.2243573e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.2243573e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00849877, -0.09244974,  0.06169746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33503420e-05,-1.37134188e-05, 1.18130286e-05, 1.86940950e-05,
 -2.14134216e-06, 2.02573601e-05, 1.80534572e-05, 5.74285761e-05,
  1.19488322e-05, 1.34093023e-05,-6.55706297e-06, 3.15828321e-05,
  3.37267517e-03, 8.24445007e-06, 2.73681480e-06,-2.16588104e-04,
 -2.74395792e-04,-1.17130046e-03,-4.90377958e+00,-2.05992013e-03,
  2.46707885e-03,-8.57244018e-03]


--- Step 2791 ---
qpos:
[ 0.01873536, 0.03003324,-0.00947826,-0.02528664,-0.00353265, 1.34083044,
 -0.03002923, 0.94382548, 0.01152066, 0.02728968,-0.00834512, 0.02645262,
  1.39623931, 0.00767148, 1.36376548, 0.04404323,-0.09721854,-0.07753151,
  0.09208489, 0.64215669, 0.23542359,-0.66738822,-0.29462431]

qacc:
[-2.42584158e+00,-1.86669797e+00, 6.81289157e+00,-9.88042551e+00,
 -4.06027437e-03, 3.26042945e-01,-4.87960430e+00, 2.43820057e+01,
 -4.85162178e+00,-4.17517033e-01, 4.38641417e+00,-1.53603514e+01,
 -7.65386112e-03, 3.32486450e-01,-1.84835775e+00, 5.72513740e+00,
 -4.74012582e+00, 9.21665312e-01,-1.52488085e+00, 1.13876903e+02,
 -1.09485651e+02, 1.98098401e+01]

qfrc_actuator:
[ 1.02657246e-04, 8.33369146e-04, 1.70397775e-04,-4.39143957e-05,
 -1.78089248e-05, 3.50038375e-02, 1.09184926e-02, 1.81599952e-03,
 -7.11222378e-05, 7.82401608e-04, 1.26025948e-04, 5.13545763e-05,
  0.00000000e+00,-1.59691827e-03, 0.00000000e+00,-1.08347084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.16119877,  4.82742261, -7.16119877, 24.15370041,
       23.01906047,  4.82742261, 23.01906047, 42.78379194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005962845276958284
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65475362e-15,  9.30950723e-15,  1.00000000e+00,  4.33334625e-29,
        1.00000000e+00, -9.30950723e-15, -1.00000000e+00,  0.00000000e+00,
       -4.65475362e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00837752, -0.09247451,  0.0616998 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46748537e-05,-1.84742300e-05, 2.08541342e-05,-7.51824013e-06,
 -1.20421528e-06, 1.21544828e-05, 5.61193301e-05, 9.05094820e-05,
 -2.92089922e-05,-7.36398519e-06,-2.07233245e-05,-3.46773314e-05,
  3.35205658e-03, 4.62462618e-05,-2.52613739e-05, 2.03162149e-05,
  1.09136742e-04,-1.44394334e-03,-4.90367435e+00,-2.51711352e-03,
  1.97930346e-03,-8.55864733e-03]


--- Step 2792 ---
qpos:
[ 0.01873586, 0.03003167,-0.0094774 ,-0.02528702,-0.003533  , 1.34083172,
 -0.03002873, 0.94382999, 0.01152068, 0.0272883 ,-0.00834616, 0.02645137,
  1.3962393 , 0.00767178, 1.36385469, 0.04404313,-0.09721779,-0.07746187,
  0.09207976, 0.64248571, 0.23458695,-0.66774744,-0.29375914]

qacc:
[-1.48070556e+00,-1.22055955e+00, 5.63501222e+00,-1.25882270e+01,
 -1.71503111e-03, 2.63598411e+00,-1.65651525e+01, 5.51549459e+01,
 -6.88384042e-02,-3.48988887e+00, 1.62507094e+01,-3.52489210e+01,
 -1.38728143e-02, 2.01483681e-01,-1.42626069e+01, 4.85077390e+01,
  6.45355929e+00,-3.21886668e-01, 1.55828506e+00,-1.53289194e+02,
  1.47917166e+02, 5.89002004e+00]

qfrc_actuator:
[ 9.41634084e-05, 8.07854641e-04, 1.64988388e-04,-6.62143694e-05,
 -1.76297833e-05, 3.49651437e-02, 1.09649574e-02, 1.99164514e-03,
 -7.07776251e-05, 7.38299735e-04, 1.30199495e-04,-5.07847887e-06,
  0.00000000e+00,-1.59457126e-03, 0.00000000e+00,-8.49344829e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006063887552603162
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57719167e-15,  9.15438335e-15,  1.00000000e+00, -4.19013672e-29,
        1.00000000e+00, -9.15438335e-15, -1.00000000e+00,  0.00000000e+00,
        4.57719167e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1861894 , -0.07101733,  0.06169544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.92505300e-06,-3.18286458e-05,-6.91095368e-06,-2.25143084e-05,
 -5.32484171e-07,-1.82818498e-05, 5.78829898e-05, 1.79758346e-04,
 -5.15464622e-07,-5.39466736e-05,-1.07213572e-06,-5.81339775e-05,
  3.34021258e-03, 2.67040000e-05,-9.36898088e-06, 2.32007224e-04,
  5.32173344e-04,-1.69482107e-03,-4.90340319e+00,-2.93605775e-03,
  1.52829966e-03,-8.54388999e-03]


--- Step 2793 ---
qpos:
[ 0.01873556, 0.03003024,-0.00947705,-0.02528768,-0.0035332 , 1.34083282,
 -0.03002819, 0.94383522, 0.01152002, 0.02728671,-0.00834697, 0.02644978,
  1.39623941, 0.00767191, 1.36394442, 0.04404078,-0.09719477,-0.07739333,
  0.09207458, 0.64304975, 0.23364824,-0.66786654,-0.29300138]

qacc:
[-6.84303850e+00, 1.06455241e+00,-2.34084064e+00,-1.72446704e+00,
  6.12183089e-02, 8.74090109e-01,-4.58307514e+00, 1.23156599e+01,
 -5.84515550e+00,-1.64567309e+00, 6.93602312e+00,-1.31737541e+01,
 -3.59437244e-03,-6.75442089e-02, 7.58115565e+00,-2.54056812e+01,
  5.56585048e+00,-2.73980173e-01,-1.05517459e-02,-1.31476208e+02,
  1.28013336e+02, 5.92660368e+00]

qfrc_actuator:
[ 5.34650832e-05, 8.28818240e-04, 1.43629691e-04,-7.91963552e-05,
  3.71441134e-07, 3.49417155e-02, 1.09565357e-02, 2.02212318e-03,
 -1.06079625e-04, 7.48147608e-04, 1.50727830e-04,-2.00304431e-05,
  0.00000000e+00,-1.61128038e-03, 0.00000000e+00,-9.77760130e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.30088914,  -2.38369804,  -8.30088914,
        11.64180208, -10.4660116 ,  -2.38369804, -10.4660116 ,
        45.08275932,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006083011396138462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56280184e-15,  1.14070046e-14,  1.00000000e+00, -5.20479017e-29,
        1.00000000e+00, -1.14070046e-14, -1.00000000e+00,  0.00000000e+00,
        4.56280184e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18614755, -0.07103226,  0.06169463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09641189e-05, 8.16945531e-07,-2.95535230e-05,-1.50195465e-05,
  1.76851968e-05,-1.68185239e-05,-1.34947780e-07, 3.58024469e-05,
 -3.53391131e-05,-2.29674482e-05, 7.27248282e-06,-1.84240642e-05,
  3.35066205e-03,-1.01918636e-05, 2.10056052e-05,-1.16792579e-04,
 -2.61259183e-05,-1.49623008e-03,-4.90358313e+00,-2.36918214e-03,
  2.11297298e-03,-8.51431687e-03]


--- Step 2794 ---
qpos:
[ 0.01873478, 0.03002886,-0.00947671,-0.02528816,-0.00353337, 1.34083359,
 -0.03002778, 0.94383768, 0.01151894, 0.02728548,-0.00834786, 0.02644865,
  1.39623973, 0.00767182, 1.3640345 , 0.04403494,-0.0971525 ,-0.07732572,
  0.09206399, 0.64381724, 0.23262103,-0.66777783,-0.29233473]

qacc:
[-4.16830040e+00, 4.66813828e-01,-2.28370388e+00, 5.23211236e+00,
  1.21512726e-02,-4.78467622e+00, 2.07508043e+01,-4.97723251e+01,
 -3.58289763e+00, 1.66611023e+00,-7.20685191e+00, 1.51631305e+01,
 -1.29392274e-02,-6.53838367e-02, 1.10801045e+01,-3.80035603e+01,
  4.81406043e+00,-2.32542994e-01,-1.35486271e+00,-1.13097512e+02,
  1.11148451e+02, 5.79315018e+00]

qfrc_actuator:
[ 2.96409195e-05, 8.41881380e-04, 1.48733467e-04,-6.88057844e-05,
 -6.58663976e-06, 3.48918140e-02, 1.09334877e-02, 1.87812120e-03,
 -1.26584203e-04, 8.08081648e-04, 1.63227843e-04, 7.34972194e-06,
  0.00000000e+00,-1.62125116e-03, 0.00000000e+00,-1.15903433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.26585466,  -2.50248348,  -8.26585466,
        12.22633127, -11.85788079,  -2.50248348, -11.85788079,
        47.80366289,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006024612171079427
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60703110e-15, -2.30351555e-15,  1.00000000e+00, -1.06123678e-29,
        1.00000000e+00,  2.30351555e-15, -1.00000000e+00,  0.00000000e+00,
       -4.60703110e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18627958, -0.07102892,  0.06169711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50114405e-05, 6.80875491e-06, 1.12900235e-06, 9.11620304e-06,
  3.49242640e-06,-5.81557485e-05,-2.52980654e-05,-1.43671899e-04,
 -2.15532303e-05, 4.78594956e-05, 8.04643249e-06, 2.62992512e-05,
  3.34385213e-03,-1.12909684e-05,-6.66072889e-06,-1.85848823e-04,
 -4.16214140e-04,-1.32612168e-03,-4.90349872e+00,-1.86146782e-03,
  2.63992037e-03,-8.48569451e-03]


--- Step 2795 ---
qpos:
[ 0.01873407, 0.03002734,-0.00947596,-0.02528852,-0.00353385, 1.34083394,
 -0.03002796, 0.94383947, 0.01151831, 0.02728448,-0.00834886, 0.02644823,
  1.39623987, 0.00767194, 1.36412397, 0.04403167,-0.09713652,-0.07725631,
  0.09205963, 0.64428304, 0.23173273,-0.66796691,-0.29158107]

qacc:
[ 5.71789410e-01,-1.08635846e+00, 3.08062627e+00,-1.50855841e+00,
 -1.30028265e-01,-1.24758378e-01, 1.13086343e+00,-8.55458828e+00,
  3.84754155e+00, 2.06433360e+00,-9.90242398e+00, 2.20879729e+01,
 -2.17467748e-02, 1.03836460e-01,-8.64803012e+00, 2.89437633e+01,
 -6.57282160e+00, 4.50358467e-01, 1.55634736e+00, 1.49462072e+02,
 -1.59730867e+02,-3.01619553e+01]

qfrc_actuator:
[ 3.37023053e-05, 8.32489336e-04, 1.69422610e-04,-6.24813478e-05,
 -4.62147200e-05, 3.48617654e-02, 1.09018258e-02, 1.84564558e-03,
 -1.02697878e-04, 8.08808049e-04, 1.53374147e-04, 4.16993777e-05,
  0.00000000e+00,-1.60931412e-03, 0.00000000e+00,-1.01483168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006018899248957994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22280785e-15,  9.22280785e-15,  1.00000000e+00,  8.50601846e-29,
        1.00000000e+00, -9.22280785e-15, -1.00000000e+00,  0.00000000e+00,
       -9.22280785e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00661169, -0.08614077,  0.0616973 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33864164e-06,-4.92039529e-06, 2.25648927e-05, 6.83712951e-06,
 -3.75656806e-05,-7.14888773e-05,-5.01281984e-05,-3.82914383e-05,
  2.32653774e-05, 3.03252557e-05, 1.96041431e-06, 3.71987824e-05,
  3.33375399e-03, 1.15946039e-05,-2.58580522e-05, 1.32511059e-04,
 -6.85800039e-04,-1.17911957e-03,-4.90324494e+00,-1.40605456e-03,
  3.11607948e-03,-8.45778412e-03]


--- Step 2796 ---
qpos:
[ 0.01873306, 0.03002597,-0.00947535,-0.0252888 ,-0.00353442, 1.34083449,
 -0.03002884, 0.94384081, 0.01151728, 0.02728331,-0.00834977, 0.02644825,
  1.39623975, 0.00767248, 1.36421285, 0.04403344,-0.09714321,-0.07718531,
  0.09205523, 0.64448922, 0.23096241,-0.66839591,-0.29075231]

qacc:
[-2.50139251e+00, 7.32874489e-01,-2.66066155e+00, 4.12996058e+00,
 -3.50494904e-02, 1.34865580e+00,-3.16425860e+00,-2.63263639e+00,
 -3.39173973e+00, 4.60122839e-01,-3.86092197e+00, 1.16528683e+01,
 -1.12854782e-02, 1.91936326e-01,-1.61353107e+01, 5.51884937e+01,
 -5.66785928e+00, 3.96227455e-01,-8.24018320e-03, 1.28149398e+02,
 -1.38094451e+02,-2.52618679e+01]

qfrc_actuator:
[ 1.86334570e-05, 8.45300549e-04, 1.63537604e-04,-5.86159890e-05,
 -3.41098387e-05, 3.49148581e-02, 1.08832526e-02, 1.82584937e-03,
 -1.23890289e-04, 7.74002439e-04, 1.47932586e-04, 6.20574136e-05,
  0.00000000e+00,-1.58457573e-03, 0.00000000e+00,-7.51008868e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.49338662,  4.29370863, -7.49338662, 19.37104629,
       18.73418397,  4.29370863, 18.73418397, 41.33128908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006056544304998301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.16548256e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.16548256e-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([-0.00669785, -0.08614275,  0.06169569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49703484e-05, 1.50634534e-05,-3.87512607e-06, 4.57106236e-06,
 -1.00971272e-05, 2.58802229e-06,-3.93826720e-05,-2.42998494e-05,
 -2.05064078e-05,-1.57934634e-05, 2.37391007e-06, 2.24537006e-05,
  3.34244245e-03, 2.57407987e-05, 2.76682544e-06, 2.67887320e-04,
 -2.98687820e-04,-1.27410050e-03,-4.90364933e+00,-2.04621422e-03,
  2.52122694e-03,-8.44636208e-03]


--- Step 2797 ---
qpos:
[ 0.01873154, 0.03002473,-0.00947482,-0.02528904,-0.00353482, 1.34083544,
 -0.03002979, 0.94384081, 0.01151566, 0.02728207,-0.00835074, 0.02644853,
  1.39623979, 0.00767338, 1.36430194, 0.04403632,-0.09716951,-0.07711292,
  0.09204543, 0.64447104, 0.23029257,-0.6690325 ,-0.28985846]

qacc:
[-4.44478626e+00, 5.25125291e-01,-1.77541298e+00, 2.57398849e+00,
  6.68423544e-02,-1.53901638e+00, 8.41666500e+00,-2.30634998e+01,
 -5.04314068e+00, 5.69438174e-01,-3.18507412e+00, 7.51975723e+00,
 -2.98411070e-03, 2.63985869e-01,-3.07847568e+00, 1.12206381e+01,
 -4.90121071e+00, 3.49737594e-01,-1.35068502e+00, 1.10219096e+02,
 -1.19751668e+02,-2.12487177e+01]

qfrc_actuator:
[-7.58381376e-06, 8.53450606e-04, 1.59840882e-04,-5.62318788e-05,
 -8.81956862e-06, 3.49641340e-02, 1.08906273e-02, 1.76045068e-03,
 -1.53708422e-04, 7.71439982e-04, 1.44977006e-04, 7.39895677e-05,
  0.00000000e+00,-1.55244301e-03, 0.00000000e+00,-7.02967642e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.38812374,  4.47240477, -7.38812374, 21.53887379,
       21.31411319,  4.47240477, 21.31411319, 43.84590161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006013356928792575
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.23130822e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.23130822e-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([-0.00660075, -0.08615737,  0.06169753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66444870e-05, 1.60099455e-05,-8.93570355e-07, 2.98713275e-06,
  1.93235304e-05, 4.22721968e-05, 2.68895317e-06,-6.70377915e-05,
 -3.04298330e-05,-9.89919065e-06,-5.12461672e-06, 1.17796943e-05,
  3.35531091e-03, 3.71943513e-05, 3.00465112e-05, 6.30969822e-05,
  9.72302459e-05,-1.35861094e-03,-4.90372859e+00,-2.54578507e-03,
  2.05296319e-03,-8.43403490e-03]


--- Step 2798 ---
qpos:
[ 0.01873006, 0.03002385,-0.00947472,-0.02528925,-0.0035353 , 1.34083634,
 -0.03003051, 0.94384005, 0.01151439, 0.0272808 ,-0.00835172, 0.02644824,
  1.39624   , 0.00767444, 1.36439129, 0.0440388 ,-0.09717007,-0.07704243,
  0.09204181, 0.6447366 , 0.22949439,-0.66939285,-0.28906791]

qacc:
[ 3.41245955e-01, 1.71638356e+00,-5.56614336e+00, 6.47149039e+00,
 -3.05555464e-02,-1.99139021e+00, 7.99219798e+00,-1.57243699e+01,
  2.93613918e+00,-1.14860313e+00, 6.40471577e+00,-1.60390467e+01,
 -1.18088801e-02, 1.52926118e-01, 1.62687783e+00,-5.13263011e+00,
  6.43369229e+00,-4.77124514e-01, 1.54521426e+00,-1.48619906e+02,
  1.53433554e+02, 1.89574652e+01]

qfrc_actuator:
[-4.64187456e-06, 8.76501134e-04, 1.39708377e-04,-5.47343374e-05,
 -2.90835744e-05, 3.49398170e-02, 1.08954803e-02, 1.72201314e-03,
 -1.35092185e-04, 7.70445880e-04, 1.43624958e-04, 4.53892414e-05,
  0.00000000e+00,-1.55149310e-03, 0.00000000e+00,-7.29227760e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006034964831696563
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.19825596e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.19825596e-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([-0.18625242, -0.07103689,  0.06169657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17445655e-06, 3.19809525e-05,-1.68212477e-05, 2.21375255e-06,
 -8.84291405e-06,-2.42603451e-06, 1.14621578e-05,-3.86425092e-05,
  1.77164773e-05,-7.04352272e-06,-3.59565151e-06,-2.89673298e-05,
  3.34688523e-03, 2.00322901e-05, 1.80177632e-05,-1.95553622e-05,
  4.86556187e-04,-1.43376790e-03,-4.90359466e+00,-2.94012401e-03,
  1.67791637e-03,-8.42104250e-03]


--- Step 2799 ---
qpos:
[ 0.01872931, 0.03002365,-0.00947531,-0.02528981,-0.00353577, 1.34083698,
 -0.03003048, 0.94383883, 0.01151369, 0.02727968,-0.00835225, 0.02644755,
  1.39624019, 0.00767544, 1.36448071, 0.04404097,-0.09714842,-0.07697352,
  0.09203812, 0.64524676, 0.22858558,-0.66951506,-0.28836578]

qacc:
[ 6.27970281e+00, 2.09952624e+00,-4.72393196e+00,-7.07868627e-01,
  2.22241959e-03,-3.17131487e+00, 1.08653684e+01,-1.46069484e+01,
  4.93852540e+00,-1.90580303e+00, 8.71784291e+00,-1.63614709e+01,
 -1.72634147e-02,-2.25027239e-02, 1.04947638e+00,-3.49878823e+00,
  5.55259949e+00,-3.94329224e-01,-1.73210195e-02,-1.27739764e+02,
  1.32502834e+02, 1.65518977e+01]

qfrc_actuator:
[ 3.31957521e-05, 9.25980533e-04, 1.10092690e-04,-7.15217586e-05,
 -2.32550778e-05, 3.49248899e-02, 1.09340432e-02, 1.69971050e-03,
 -1.05866352e-04, 8.05875004e-04, 1.78719899e-04, 2.86800305e-05,
  0.00000000e+00,-1.56919774e-03, 0.00000000e+00,-7.45727484e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006057677220788225
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58188421e-15,  2.06184790e-14,  1.00000000e+00,  9.44714832e-29,
        1.00000000e+00, -2.06184790e-14, -1.00000000e+00,  0.00000000e+00,
       -4.58188421e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18620144, -0.07103877,  0.06169561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79154617e-05, 6.40201321e-05,-2.49946500e-05,-1.59546337e-05,
  6.02736188e-07,-1.51950889e-05, 3.82581720e-05,-2.29361184e-05,
  2.97384792e-05, 2.95663600e-05, 3.22197440e-05,-1.76945475e-05,
  3.33849542e-03,-5.78240065e-06, 3.48488539e-06,-1.58994737e-05,
 -2.55774509e-05,-1.29084977e-03,-4.90376488e+00,-2.41337757e-03,
  2.18694931e-03,-8.39291575e-03]


--- Step 2800 ---
qpos:
[ 0.01872903, 0.03002379,-0.00947587,-0.02529091,-0.00353606, 1.34083739,
 -0.03003002, 0.94383875, 0.01151335, 0.0272786 ,-0.00835257, 0.02644636,
  1.39624015, 0.00767638, 1.36456993, 0.0440446 ,-0.09710755,-0.07690591,
  0.092029  , 0.64596821, 0.22758115,-0.66943104,-0.28773942]

qacc:
[ 3.93870909e+00,-7.52653350e-01, 5.64669157e+00,-1.54185829e+01,
  7.54773654e-02, 5.13422546e-01,-4.36358759e+00, 1.71039552e+01,
  3.04507105e+00,-1.57168541e+00, 7.83649278e+00,-1.70278347e+01,
 -1.23430464e-02,-8.50093363e-02,-4.72788285e+00, 1.61000216e+01,
  4.80603046e+00,-3.25100058e-01,-1.35680090e+00,-1.10101292e+02,
  1.14821292e+02, 1.44579722e+01]

qfrc_actuator:
[ 5.57549865e-05, 9.37588016e-04, 1.10726886e-04,-9.89131839e-05,
 -1.81942674e-06, 3.49158424e-02, 1.09567168e-02, 1.75810459e-03,
 -8.83981660e-05, 7.91991510e-04, 1.81961655e-04, 1.41175449e-06,
  0.00000000e+00,-1.58018851e-03, 0.00000000e+00,-6.67547069e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006002567233563759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.62395081e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.62395081e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18632569, -0.07102601,  0.06169796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36893871e-05, 4.15925564e-05, 1.02358734e-05,-2.58243017e-05,
  2.17913317e-05,-1.06646626e-05, 2.33799452e-05, 5.85267903e-05,
  1.83445872e-05, 8.60393122e-06, 1.27242951e-05,-2.52269403e-05,
  3.33959510e-03,-1.39361671e-05,-2.33078968e-06, 7.72377507e-05,
 -3.91060508e-04,-1.16426204e-03,-4.90366348e+00,-1.92193715e-03,
  2.66765420e-03,-8.36509514e-03]


--- Step 2801 ---
qpos:
[ 0.01872902, 0.03002386,-0.0094757 ,-0.02529199,-0.00353629, 1.34083754,
 -0.03003013, 0.94384046, 0.01151322, 0.02727713,-0.00835232, 0.02644454,
  1.39623998, 0.00767697, 1.36465936, 0.04404712,-0.09709274,-0.07683615,
  0.09202581, 0.64639247, 0.22671002,-0.66962465,-0.28702295]

qacc:
[ 2.36896112e+00,-2.08681447e+00, 7.16238031e+00,-7.73980832e+00,
  2.76003737e-02, 4.23370937e+00,-1.79252627e+01, 3.65123040e+01,
  1.83880414e+00,-3.39679113e+00, 1.40212487e+01,-2.55491793e+01,
  1.63661752e-03,-2.49449699e-01, 3.67066846e+00,-1.24039942e+01,
 -6.51633740e+00, 5.38737208e-01, 1.48247284e+00, 1.46977944e+02,
 -1.59719786e+02,-2.66816709e+01]

qfrc_actuator:
[ 6.91289466e-05, 9.26534627e-04, 1.46823035e-04,-9.68228644e-05,
 -6.70006530e-06, 3.48748764e-02, 1.09166279e-02, 1.84575116e-03,
 -7.79943502e-05, 7.48561171e-04, 2.01664783e-04,-3.19178464e-05,
  0.00000000e+00,-1.60487190e-03, 0.00000000e+00,-7.29485901e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00606831454329515
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14770499e-15,  1.82954100e-14,  1.00000000e+00,  1.67361013e-28,
        1.00000000e+00, -1.82954100e-14, -1.00000000e+00,  0.00000000e+00,
       -9.14770499e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00673258, -0.08618398,  0.06169512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40797385e-05, 1.32261253e-05, 4.50603212e-05, 3.72481720e-06,
  7.99651727e-06,-4.05356459e-05,-3.77992710e-05, 8.93696312e-05,
  1.09405885e-05,-3.70208309e-05, 2.21927304e-05,-3.30066166e-05,
  3.35060489e-03,-3.53299919e-05, 5.81106705e-06,-5.83261281e-05,
 -6.49707173e-04,-1.05130540e-03,-4.90338938e+00,-1.46810786e-03,
  3.11685733e-03,-8.33753041e-03]


--- Step 2802 ---
qpos:
[ 0.01872951, 0.03002382,-0.00947475,-0.02529303,-0.00353636, 1.34083754,
 -0.03003121, 0.9438408 , 0.01151287, 0.02727547,-0.00835167, 0.02644335,
  1.39623973, 0.00767721, 1.3647489 , 0.04404822,-0.09710041,-0.0767645 ,
  0.09202232, 0.64656099, 0.2259519 ,-0.67005805,-0.28622865]

qacc:
[ 4.36234340e+00,-2.27473566e+00, 7.74112080e+00,-8.30226384e+00,
  6.77442458e-02, 9.36944030e-02, 2.27356420e+00,-1.77511165e+01,
 -1.85320582e+00,-8.67727612e-02,-2.72706524e+00, 1.32009035e+01,
  9.12178983e-03,-2.35997928e-01, 4.44433511e+00,-1.53371701e+01,
 -5.61807848e+00, 4.70026450e-01,-7.50369905e-02, 1.25980406e+02,
 -1.38079467e+02,-2.21973295e+01]

qfrc_actuator:
[ 9.47468447e-05, 9.19917973e-04, 1.85726061e-04,-9.51561462e-05,
  8.17630500e-06, 3.48503994e-02, 1.08574509e-02, 1.77231207e-03,
 -8.95807950e-05, 7.58829960e-04, 2.30802796e-04, 2.45065850e-06,
  0.00000000e+00,-1.61970081e-03, 0.00000000e+00,-8.02494687e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.61635578,  4.07159692, -7.61635578, 17.76375768,
       17.07376289,  4.07159692, 17.07376289, 40.57465598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006098516576368118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10240229e-15,  9.10240229e-15,  1.00000000e+00,  8.28537274e-29,
        1.00000000e+00, -9.10240229e-15, -1.00000000e+00,  0.00000000e+00,
       -9.10240229e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00680134, -0.08618863,  0.06169384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60306189e-05, 1.02479928e-05, 4.73122531e-05, 3.86579526e-06,
  1.96003309e-05,-5.16071197e-05,-6.87848001e-05,-7.36914685e-05,
 -1.12832395e-05,-7.20591842e-06, 2.31000775e-05, 3.29138598e-05,
  3.35685871e-03,-3.23025844e-05,-6.49902802e-06,-7.61290840e-05,
 -2.85470658e-04,-1.16803788e-03,-4.90374673e+00,-2.07869276e-03,
  2.55502865e-03,-8.32620787e-03]


--- Step 2803 ---
qpos:
[ 0.01872996, 0.03002382,-0.00947363,-0.02529368,-0.00353626, 1.34083744,
 -0.03003304, 0.9438392 , 0.01151239, 0.02727401,-0.00835112, 0.02644291,
  1.39623942, 0.0076774 , 1.36483827, 0.04404944,-0.0971275 ,-0.07669121,
  0.09201319, 0.64650852, 0.22528982,-0.67069888,-0.28536686]

qacc:
[-3.49546675e-01, 4.14936758e-01,-3.09509777e+00, 9.70502122e+00,
  7.06777928e-02,-1.41404758e+00, 8.44529941e+00,-2.97063239e+01,
 -1.17117632e+00, 2.11270185e+00,-1.03298860e+01, 2.33762165e+01,
  1.23990445e-02,-5.72841227e-02,-5.94541111e-01, 1.71130494e+00,
 -4.85713791e+00, 4.11644118e-01,-1.41091749e+00, 1.08319681e+02,
 -1.19729681e+02,-1.85516295e+01]

qfrc_actuator:
[ 9.18644317e-05, 9.16028247e-04, 1.90463040e-04,-7.60069442e-05,
  1.70331440e-05, 3.48535555e-02, 1.08229621e-02, 1.67567590e-03,
 -9.62622127e-05, 7.83518779e-04, 2.30023383e-04, 4.09185739e-05,
  0.00000000e+00,-1.61073852e-03, 0.00000000e+00,-7.92629756e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.51930381,  4.24815808, -7.51930381, 19.69013027,
       19.56533352,  4.24815808, 19.56533352, 43.26729882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006048831609203428
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17716922e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17716922e-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([-0.00668952, -0.08620638,  0.06169596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12306249e-06, 1.17779619e-05, 1.28043691e-05, 2.12992483e-05,
  2.04384015e-05,-4.10604204e-05,-5.45710591e-05,-1.01914069e-04,
 -7.02146388e-06, 2.68912945e-05, 1.73064133e-06, 3.96042418e-05,
  3.36098220e-03,-6.31830576e-06,-1.35125875e-05, 4.31730717e-06,
  9.40698692e-05,-1.27059853e-03,-4.90378817e+00,-2.55823331e-03,
  2.10941157e-03,-8.31401610e-03]


--- Step 2804 ---
qpos:
[ 0.01872969, 0.03002421,-0.00947291,-0.02529375,-0.00353617, 1.34083703,
 -0.03003477, 0.94383816, 0.01151217, 0.02727288,-0.00835091, 0.02644259,
  1.39623938, 0.00767749, 1.36492791, 0.04404772,-0.09712887,-0.07661996,
  0.09201022, 0.64674606, 0.22449249,-0.67106505,-0.28459509]

qacc:
[-6.25999865e+00, 2.80120624e+00,-1.16026028e+01, 2.17701991e+01,
 -1.69589913e-03, 2.70476549e-01,-2.53345676e+00, 8.85228023e+00,
  2.27256278e+00, 1.60745832e+00,-5.61209667e+00, 7.95889955e+00,
  1.05335009e-02, 1.05576160e-03, 9.27589523e+00,-3.18530822e+01,
  6.43201587e+00,-5.10573882e-01, 1.54002320e+00,-1.45773982e+02,
  1.56606683e+02, 2.66987218e+01]

qfrc_actuator:
[ 5.44737256e-05, 9.49182073e-04, 1.75010066e-04,-4.67464032e-05,
  4.45463486e-06, 3.48555422e-02, 1.08389538e-02, 1.70825589e-03,
 -8.22428884e-05, 7.98798706e-04, 2.11648922e-04, 4.59698422e-05,
  0.00000000e+00,-1.60540530e-03, 0.00000000e+00,-9.47037536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060230549396902006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30411111e-14,  9.21644444e-15,  1.00000000e+00, -2.12357120e-28,
        1.00000000e+00, -9.21644444e-15, -1.00000000e+00,  0.00000000e+00,
        2.30411111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18627401, -0.07100508,  0.06169702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74508627e-05, 4.32827900e-05,-1.07184423e-05, 3.06215399e-05,
 -5.01246602e-07,-3.44644013e-05,-1.23927421e-06, 2.73777157e-05,
  1.38172088e-05, 3.24158783e-05,-1.12247322e-05, 7.03752518e-06,
  3.36323400e-03, 1.68063016e-06,-6.93521716e-06,-1.56181785e-04,
  4.71675007e-04,-1.36095557e-03,-4.90362362e+00,-2.93945116e-03,
  1.74953618e-03,-8.30117105e-03]


--- Step 2805 ---
qpos:
[ 0.01872931, 0.03002485,-0.00947228,-0.02529416,-0.00353614, 1.34083659,
 -0.03003645, 0.9438375 , 0.01151213, 0.02727159,-0.00835099, 0.0264424 ,
  1.39623947, 0.00767764, 1.36501742, 0.04404483,-0.09710802,-0.07655038,
  0.09200717, 0.64723338, 0.2235787 ,-0.67119435,-0.2839008 ]

qacc:
[-8.77605621e-01,-9.20355532e-02, 2.21080362e+00,-8.07104988e+00,
 -2.72680862e-02, 4.49685302e-01,-2.26450086e+00, 6.29171873e+00,
  1.44541309e+00, 8.68767893e-01,-3.91215031e+00, 6.62049922e+00,
 -3.80134659e-03, 7.09993815e-02, 3.36510928e+00,-1.20195470e+01,
  5.55254486e+00,-4.17545767e-01,-2.01358141e-02,-1.25398461e+02,
  1.35133205e+02, 2.29725586e+01]

qfrc_actuator:
[ 5.03386492e-05, 9.50923864e-04, 1.65680417e-04,-6.50085365e-05,
 -3.12804272e-06, 3.48748442e-02, 1.08491837e-02, 1.72788551e-03,
 -7.39056552e-05, 7.54966997e-04, 1.82988158e-04, 4.90571973e-05,
  0.00000000e+00,-1.60218888e-03, 0.00000000e+00,-1.00173075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006047635638331515
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17898408e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17898408e-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([-0.18621847, -0.07100158,  0.06169598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21407147e-06, 2.50075557e-05,-6.62130378e-07,-1.61842621e-05,
 -7.88017527e-06, 8.20327109e-07, 4.15085221e-06, 1.91877651e-05,
  8.74988237e-06,-2.76781376e-05,-2.30931190e-05, 4.22723540e-06,
  3.35019392e-03, 9.54239869e-06,-2.24258436e-05,-6.47273187e-05,
 -2.65957007e-05,-1.24373280e-03,-4.90378839e+00,-2.42359946e-03,
  2.23077875e-03,-8.27308198e-03]


--- Step 2806 ---
qpos:
[ 0.01872957, 0.03002546,-0.00947166,-0.02529476,-0.00353633, 1.34083625,
 -0.03003803, 0.94383671, 0.01151218, 0.02727009,-0.00835109, 0.02644223,
  1.39623938, 0.00767777, 1.36510657, 0.04404328,-0.09706795,-0.07648217,
  0.09199869, 0.64793626, 0.22256436,-0.67111845,-0.28327326]

qacc:
[ 5.51330095e+00,-4.31301223e-01, 2.27375645e+00,-5.50629339e+00,
 -9.32059759e-02,-3.23219979e-01, 1.44441891e+00,-2.67235420e+00,
  8.60206325e-01,-1.75942089e-01, 9.23193420e-02, 5.90115183e-01,
 -5.78325841e-03,-5.67385317e-02,-4.61556378e+00, 1.53411585e+01,
  4.80719919e+00,-3.40337144e-01,-1.35784716e+00,-1.08164527e+02,
  1.17013975e+02, 1.98029449e+01]

qfrc_actuator:
[ 8.35745275e-05, 9.33821275e-04, 1.59895696e-04,-7.55981723e-05,
 -2.54038326e-05, 3.48866115e-02, 1.08559555e-02, 1.72195413e-03,
 -6.89869139e-05, 7.47026733e-04, 1.83753050e-04, 5.09143992e-05,
  0.00000000e+00,-1.61810232e-03, 0.00000000e+00,-9.26173988e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005994182084312974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31520958e-15, -3.47281438e-15,  1.00000000e+00, -8.04029312e-30,
        1.00000000e+00,  3.47281438e-15, -1.00000000e+00,  0.00000000e+00,
       -2.31520958e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18633894, -0.07098533,  0.06169827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30908089e-05,-3.97818420e-06,-1.27447589e-06,-9.85861161e-06,
 -2.69326898e-05, 1.36132885e-05, 7.96870871e-06,-5.34394011e-06,
  5.16188398e-06,-2.79562500e-05,-7.63450841e-06,-4.25744688e-08,
  3.34316916e-03,-8.93166927e-06,-1.82812698e-05, 6.88918521e-05,
 -3.88522827e-04,-1.13701035e-03,-4.90367564e+00,-1.92969521e-03,
  2.69790194e-03,-8.24489012e-03]


--- Step 2807 ---
qpos:
[ 0.01873024, 0.03002594,-0.00947109,-0.02529478,-0.00353675, 1.34083574,
 -0.03003882, 0.9438355 , 0.01151195, 0.02726866,-0.00835159, 0.02644208,
  1.39623933, 0.00767788, 1.36519576, 0.04404128,-0.09705373,-0.07641142,
  0.09199585, 0.64834571, 0.22167862,-0.67131997,-0.28255252]

qacc:
[ 3.40205800e+00, 1.18695544e+00,-6.94428985e+00, 1.72531995e+01,
 -1.00486632e-01,-3.08374172e+00, 1.06576576e+01,-1.40472305e+01,
 -2.45766714e+00, 1.25737673e+00,-4.40046882e+00, 5.22578327e+00,
  1.39236712e-03, 1.45354152e-03, 1.44610202e+00,-4.97733044e+00,
 -6.46348235e+00, 6.32981923e-01, 1.41137627e+00, 1.44885644e+02,
 -1.59753351e+02,-2.36469202e+01]

qfrc_actuator:
[ 1.03024306e-04, 9.23328549e-04, 1.56174771e-04,-4.60930342e-05,
 -3.85611961e-05, 3.48759993e-02, 1.08961021e-02, 1.70102658e-03,
 -8.38702724e-05, 7.60744881e-04, 1.66510298e-04, 5.20786618e-05,
  0.00000000e+00,-1.60993441e-03, 0.00000000e+00,-9.52038439e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006081596572280447
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12772667e-15,  9.12772667e-15,  1.00000000e+00,  8.33153942e-29,
        1.00000000e+00, -9.12772667e-15, -1.00000000e+00,  0.00000000e+00,
       -9.12772667e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00677063, -0.08624445,  0.0616945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04106205e-05,-1.34199461e-05,-5.05529746e-06, 2.90958990e-05,
 -2.90729871e-05,-1.68125958e-06, 4.35607043e-05,-2.04122671e-05,
 -1.47465236e-05,-3.43613858e-06,-2.39403889e-05,-2.95022645e-07,
  3.35237145e-03, 4.08562802e-07,-1.57420056e-06,-2.45482040e-05,
 -6.49958138e-04,-1.03930382e-03,-4.90338714e+00,-1.46537130e-03,
  3.14267679e-03,-8.21666180e-03]


--- Step 2808 ---
qpos:
[ 0.01873009, 0.0300264 ,-0.00947086,-0.02529478,-0.00353738, 1.34083518,
 -0.03003945, 0.94383477, 0.01151154, 0.02726747,-0.00835241, 0.02644156,
  1.39623955, 0.00767815, 1.36528508, 0.04403764,-0.0970618 ,-0.07633847,
  0.09199246, 0.64850266, 0.22090162,-0.67176114,-0.2817512 ]

qacc:
[-6.92369320e+00, 9.57933450e-01,-3.51037020e+00, 4.32078066e+00,
 -8.56772141e-02, 3.04606365e-01,-2.03566618e+00, 7.25692119e+00,
 -1.52378351e+00, 4.42049557e-01, 4.19110089e-01,-6.34687147e+00,
 -6.70826521e-03, 1.73349408e-01, 5.16049678e+00,-1.77503516e+01,
 -5.57256938e+00, 5.49052507e-01,-1.37283124e-01, 1.24137938e+02,
 -1.38144832e+02,-1.94826695e+01]

qfrc_actuator:
[ 6.09336280e-05, 9.16911269e-04, 1.35993388e-04,-4.64879298e-05,
 -4.61418684e-05, 3.48699415e-02, 1.09022796e-02, 1.72471217e-03,
 -9.25357277e-05, 7.87260158e-04, 1.56610024e-04, 3.50778625e-05,
  0.00000000e+00,-1.58731855e-03, 0.00000000e+00,-1.03749010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.76334731,  3.78380964, -7.76334731, 15.72598585,
       14.54597479,  3.78380964, 14.54597479, 38.48074408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006107261383039783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08936883e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.08936883e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00682913, -0.08625179,  0.06169342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15037501e-05,-1.37391981e-05,-2.25828503e-05,-5.81076637e-07,
 -2.47616577e-05, 9.21417801e-07, 1.02070221e-05, 2.44358610e-05,
 -9.10260124e-06, 1.96881339e-05,-1.35456445e-05,-1.79769160e-05,
  3.35017725e-03, 2.36972646e-05,-5.26422416e-06,-8.74341515e-05,
 -2.88654117e-04,-1.17515938e-03,-4.90371686e+00,-2.07584054e-03,
  2.58745508e-03,-8.20495534e-03]


--- Step 2809 ---
qpos:
[ 0.0187291 , 0.03002705,-0.00947069,-0.02529517,-0.00353802, 1.34083451,
 -0.03003967, 0.94383431, 0.01151068, 0.02726658,-0.00835315, 0.02644116,
  1.39623974, 0.00767857, 1.36537411, 0.044035  ,-0.09708914,-0.07626361,
  0.09198321, 0.64844141, 0.2202168 ,-0.67240967,-0.28087994]

qacc:
[-7.28364480e+00,-3.80984805e-01, 3.40698365e+00,-1.03213823e+01,
 -3.59153038e-03,-7.63125900e-01, 1.74784095e+00, 1.81366491e+00,
 -3.80822462e+00, 4.36948286e-01,-1.43992862e+00, 3.02379956e+00,
 -1.82455917e-02, 9.96951067e-02,-3.46586486e+00, 1.15245467e+01,
 -4.81782871e+00, 4.78194323e-01,-1.46521659e+00, 1.06694102e+02,
 -1.19817708e+02,-1.61274402e+01]

qfrc_actuator:
[ 1.84676089e-05, 9.48398087e-04, 1.41747901e-04,-6.44874515e-05,
 -3.25640286e-05, 3.48665588e-02, 1.09238924e-02, 1.73893555e-03,
 -1.15217962e-04, 8.21250092e-04, 1.68931051e-04, 4.30515676e-05,
  0.00000000e+00,-1.59170338e-03, 0.00000000e+00,-9.79804900e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.68542504,  3.93967243, -7.68542504, 17.19476118,
       16.69553088,  3.93967243, 16.69553088, 41.2056326 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006053814258203741
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16961586e-15,  1.83392317e-14,  1.00000000e+00,  1.68163710e-28,
        1.00000000e+00, -1.83392317e-14, -1.00000000e+00,  0.00000000e+00,
       -9.16961586e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.006709  , -0.08627265,  0.0616957 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36809405e-05, 1.90816221e-05, 1.09201459e-07,-1.93801836e-05,
 -1.05533884e-06,-1.39368841e-07, 2.36715148e-05, 1.51143687e-05,
 -2.29453322e-05, 4.14804111e-05, 1.41219379e-05, 8.00477571e-06,
  3.33618286e-03, 1.15140258e-05,-1.36906122e-05, 5.17749160e-05,
  9.10072700e-05,-1.29360870e-03,-4.90373626e+00,-2.56021443e-03,
  2.14278980e-03,-8.19235526e-03]


--- Step 2810 ---
qpos:
[ 0.01872795, 0.03002801,-0.00947028,-0.02529582,-0.00353845, 1.34083401,
 -0.03003965, 0.94383264, 0.01150956, 0.02726587,-0.00835369, 0.02644086,
  1.39623981, 0.00767947, 1.36546264, 0.0440364 ,-0.09709076,-0.07619069,
  0.09198009, 0.64867366, 0.2193914 ,-0.67278479,-0.2800902 ]

qacc:
[-1.34805434e+00,-7.86539446e-01, 4.47040762e+00,-9.44748488e+00,
  8.84100973e-02,-2.51159931e+00, 1.09662207e+01,-2.37912934e+01,
 -2.26298430e+00,-8.67903371e-02, 2.10542866e-01, 1.16728612e+00,
 -1.73787321e-02, 2.74597872e-01,-1.29488120e+01, 4.42062420e+01,
  6.43218532e+00,-4.83124566e-01, 1.53031641e+00,-1.43701345e+02,
  1.58600427e+02, 3.19500802e+01]

qfrc_actuator:
[ 1.16464743e-05, 9.84673821e-04, 1.62924136e-04,-7.48910332e-05,
 -6.40399169e-06, 3.48826088e-02, 1.09367003e-02, 1.67647211e-03,
 -1.28218024e-04, 8.24065915e-04, 1.76577632e-04, 4.79296780e-05,
  0.00000000e+00,-1.55908742e-03, 0.00000000e+00,-7.67218925e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006019031822934076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30565118e-15,  1.15282559e-15,  1.00000000e+00,  2.65801368e-30,
        1.00000000e+00, -1.15282559e-15, -1.00000000e+00,  0.00000000e+00,
       -2.30565118e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18627678, -0.07095423,  0.06169715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.08862748e-06, 4.61022284e-05, 2.44543058e-05,-9.95915407e-06,
  2.55362782e-05, 2.10617748e-05, 1.59179823e-05,-6.14248686e-05,
 -1.36620804e-05, 2.93030547e-05, 1.82513228e-05, 7.30545015e-06,
  3.33788013e-03, 3.66221836e-05,-1.43763786e-06, 2.13515350e-04,
  4.70733165e-04,-1.39739817e-03,-4.90355385e+00,-2.94949604e-03,
  1.78008653e-03,-8.17906378e-03]


--- Step 2811 ---
qpos:
[ 0.01872673, 0.03002901,-0.0094695 ,-0.02529656,-0.00353878, 1.34083367,
 -0.03003951, 0.94383092, 0.01150933, 0.02726551,-0.0083545 , 0.02644098,
  1.39624007, 0.00768066, 1.3655514 , 0.04403797,-0.09707016,-0.07611933,
  0.09197685, 0.6491586 , 0.21844499,-0.67292413,-0.27937075]

qacc:
[-6.17046148e-01,-1.16027525e+00, 4.61458059e+00,-6.85117340e+00,
  4.52728731e-02,-1.78383696e-01, 9.09673440e-01,-1.32872683e+00,
  7.55413693e+00, 2.03330232e+00,-8.35286121e+00, 1.57238080e+01,
 -1.51889308e-02, 2.37781081e-01,-1.66979453e-01, 1.09548998e+00,
  5.55302686e+00,-3.91935583e-01,-2.82968127e-02,-1.23630085e+02,
  1.36826116e+02, 2.74381002e+01]

qfrc_actuator:
[ 8.10802028e-06, 9.70361794e-04, 1.75317352e-04,-8.07232459e-05,
 -8.41396903e-06, 3.48923413e-02, 1.09442363e-02, 1.67590326e-03,
 -8.21529067e-05, 8.43686156e-04, 1.63515408e-04, 6.86645363e-05,
  0.00000000e+00,-1.54016404e-03, 0.00000000e+00,-7.66913362e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006044250580711404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18412473e-15,  1.60722183e-14,  1.00000000e+00,  1.47609257e-28,
        1.00000000e+00, -1.60722183e-14, -1.00000000e+00,  0.00000000e+00,
       -9.18412473e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18621957, -0.07094902,  0.06169608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76197455e-06, 1.60547472e-05, 2.45690039e-05,-3.20730213e-06,
  1.30818152e-05, 2.26531705e-05, 1.16642444e-05,-8.96226197e-07,
  4.56713464e-05, 4.01143216e-05,-4.49368779e-06, 2.27681185e-05,
  3.34354006e-03, 3.16479595e-05, 2.22514755e-05, 1.18256603e-05,
 -3.28790155e-05,-1.29480690e-03,-4.90370690e+00,-2.42099985e-03,
  2.26155176e-03,-8.14986705e-03]


--- Step 2812 ---
qpos:
[ 0.01872582, 0.03002976,-0.00946867,-0.02529731,-0.00353904, 1.34083347,
 -0.03003928, 0.94382922, 0.01151034, 0.02726533,-0.00835515, 0.02644203,
  1.39624024, 0.00768179, 1.36564021, 0.04403989,-0.09703033,-0.07604924,
  0.09196815, 0.64986156, 0.21739413,-0.67285914,-0.27871188]

qacc:
[ 2.68189014e+00,-4.72067294e-01, 1.20933736e+00,-1.14811653e+00,
  2.28056057e-02,-6.01702797e-02, 4.08008129e-01,-3.48131762e-01,
  1.06177609e+01, 1.69881649e+00,-9.67965710e+00, 2.54563036e+01,
 -1.98505178e-02,-3.17571384e-02,-9.94335319e-01, 3.61122365e+00,
  4.80785474e+00,-3.16456989e-01,-1.36480840e+00,-1.06644701e+02,
  1.18459026e+02, 2.36131530e+01]

qfrc_actuator:
[ 2.42705271e-05, 9.25842695e-04, 1.64468545e-04,-8.38700145e-05,
 -9.55499400e-06, 3.48982236e-02, 1.09486318e-02, 1.67627067e-03,
 -1.94469817e-05, 8.55390100e-04, 1.73909776e-04, 1.16314114e-04,
  0.00000000e+00,-1.56496128e-03, 0.00000000e+00,-7.49706208e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005991336348905585
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63261850e-15,  2.31630925e-15,  1.00000000e+00,  1.07305771e-29,
        1.00000000e+00, -2.31630925e-15, -1.00000000e+00,  0.00000000e+00,
       -4.63261850e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18633875, -0.07093216,  0.06169835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60538055e-05,-3.06456599e-05,-4.63577763e-06,-1.67374634e-06,
  6.59054944e-06, 2.06688315e-05, 1.01258080e-05, 1.36684881e-06,
  6.40546319e-05, 3.42209303e-05, 1.89261565e-05, 4.96566484e-05,
  3.33384655e-03,-7.47786324e-06, 8.92492448e-06, 2.01016989e-05,
 -4.04821626e-04,-1.19870347e-03,-4.90357903e+00,-1.90768402e-03,
  2.73541171e-03,-8.12030090e-03]


--- Step 2813 ---
qpos:
[ 0.01872511, 0.03003047,-0.00946861,-0.02529771,-0.00353943, 1.34083322,
 -0.03003946, 0.94382757, 0.01151141, 0.02726508,-0.00835492, 0.02644259,
  1.39623968, 0.00768259, 1.36572854, 0.04404638,-0.09701618,-0.07597622,
  0.09196485, 0.65027431, 0.21646734,-0.67307163,-0.27795644]

qacc:
[ 1.69973197e+00, 2.77397939e+00,-1.14419613e+01, 1.86619818e+01,
 -5.01164005e-02, 1.16834496e+00,-4.03463027e+00, 4.27318803e+00,
  5.00053288e-01,-3.58485775e+00, 1.47164911e+01,-2.45837468e+01,
 -4.50230526e-04,-3.91645942e-01,-1.45315574e+01, 4.97352921e+01,
 -6.41970697e+00, 7.30497622e-01, 1.35023092e+00, 1.43022414e+02,
 -1.60003780e+02,-2.06454796e+01]

qfrc_actuator:
[ 3.41451646e-05, 9.16732653e-04, 1.22095488e-04,-6.77057134e-05,
 -2.79169788e-05, 3.48662407e-02, 1.09156113e-02, 1.67716870e-03,
 -1.84786466e-05, 8.44622567e-04, 2.15818371e-04, 9.06670923e-05,
  0.00000000e+00,-1.61577042e-03, 0.00000000e+00,-5.09583426e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006073947256952497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.13922181e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.13922181e-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([-0.00676249, -0.08632146,  0.06169478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03289183e-05,-2.73026163e-05,-4.93477790e-05, 1.46568896e-05,
 -1.44665514e-05,-1.85283142e-05,-2.77874142e-05, 1.84556227e-06,
  2.85216664e-06, 1.44437333e-05, 5.30325270e-05,-2.25622139e-05,
  3.33816069e-03,-5.58593878e-05, 3.98418217e-06, 2.41846469e-04,
 -6.78791394e-04,-1.10853418e-03,-4.90327377e+00,-1.42031330e-03,
  3.19075921e-03,-8.09050482e-03]


--- Step 2814 ---
qpos:
[ 0.01872418, 0.03003122,-0.00946912,-0.02529828,-0.00353998, 1.34083254,
 -0.03003996, 0.94382771, 0.0115111 , 0.02726443,-0.00835422, 0.02644256,
  1.39623878, 0.00768273, 1.36581725, 0.04405232,-0.09702417,-0.07590068,
  0.09196079, 0.65043732, 0.21564514,-0.67352387,-0.27711742]

qacc:
[-1.91286731e+00, 1.31274875e+00,-3.85343517e+00, 1.72625115e+00,
 -6.69600124e-02, 3.32935007e+00,-1.51837110e+01, 3.40566091e+01,
 -1.17124260e+01,-3.01123870e+00, 1.24704715e+01,-2.30705946e+01,
  4.07957925e-02,-5.31426444e-01, 2.17710875e+00,-6.82360395e+00,
 -5.53508353e+00, 6.31260048e-01,-1.89967743e-01, 1.22480682e+02,
 -1.38417326e+02,-1.67789992e+01]

qfrc_actuator:
[ 2.24808843e-05, 9.28767710e-04, 9.71037786e-05,-7.58070138e-05,
 -3.87082298e-05, 3.48294358e-02, 1.08961261e-02, 1.76708979e-03,
 -8.93673879e-05, 7.85047621e-04, 2.22585379e-04, 5.75977729e-05,
  0.00000000e+00,-1.64637593e-03, 0.00000000e+00,-5.48363392e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.8988566 ,  3.49211129, -7.8988566 , 13.96784883,
       12.05936279,  3.49211129, 12.05936279, 35.9136092 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006097095993230557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.10452309e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.10452309e-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([-0.00681567, -0.08633125,  0.06169381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13736612e-05,-1.28161435e-05,-3.62089973e-05,-1.06932626e-05,
 -1.93409800e-05,-5.24356046e-05,-2.62194340e-05, 8.85892609e-05,
 -7.08018223e-05,-4.15007287e-05, 1.55018287e-05,-3.10555977e-05,
  3.37456477e-03,-6.97272061e-05, 2.67071930e-05,-2.52317205e-05,
 -3.06412569e-04,-1.26532676e-03,-4.90358635e+00,-2.05312354e-03,
  2.62312353e-03,-8.07801173e-03]


--- Step 2815 ---
qpos:
[ 0.01872311, 0.03003192,-0.00946966,-0.02529897,-0.00354052, 1.34083148,
 -0.03004009, 0.94382819, 0.01151028, 0.02726299,-0.00835321, 0.02644255,
  1.39623782, 0.00768246, 1.36590621, 0.0440568 ,-0.0970513 ,-0.07582295,
  0.09195069, 0.65038446, 0.21491133,-0.6741836 ,-0.27620581]

qacc:
[-1.13763724e+00,-2.10294631e-01, 1.15638955e+00,-3.11258447e+00,
  6.35536612e-04,-8.98819149e-01, 1.62064141e+00, 2.84669543e+00,
 -4.26831793e+00,-1.87576031e+00, 5.13545720e+00,-4.85754724e+00,
  5.72318043e-02,-3.17009501e-01, 4.81417020e+00,-1.63329492e+01,
 -4.78564941e+00, 5.47807162e-01,-1.51039422e+00, 1.05217847e+02,
 -1.20104466e+02,-1.36975809e+01]

qfrc_actuator:
[ 1.59871117e-05, 9.35661688e-04, 1.00410515e-04,-8.03343844e-05,
 -2.71172267e-05, 3.48256275e-02, 1.09203263e-02, 1.78441678e-03,
 -1.13199744e-04, 7.14300190e-04, 2.26086905e-04, 5.58696560e-05,
  0.00000000e+00,-1.64664233e-03, 0.00000000e+00,-6.26946442e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.83986297,  3.62261307, -7.83986297, 15.02252152,
       13.82057695,  3.62261307, 13.82057695, 38.54610759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006041723655689939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18796595e-15,  1.83759319e-14,  1.00000000e+00,  1.68837437e-28,
        1.00000000e+00, -1.83759319e-14, -1.00000000e+00,  0.00000000e+00,
       -9.18796595e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00669155, -0.08635503,  0.06169617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82949367e-06,-8.22972751e-06,-4.16981584e-06,-6.53566905e-06,
  1.59207452e-07,-3.52768959e-05, 1.35585994e-05, 1.70346323e-05,
 -2.59208438e-05,-9.20938016e-05,-4.23419693e-06,-3.57177052e-06,
  3.39156301e-03,-3.67168747e-05, 5.50831407e-06,-7.74662041e-05,
  8.53424211e-05,-1.40142865e-03,-4.90359162e+00,-2.56168400e-03,
  2.16341416e-03,-8.06455070e-03]


--- Step 2816 ---
qpos:
[ 0.01872232, 0.03003248,-0.00946993,-0.02529869,-0.00354086, 1.34083044,
 -0.03004   , 0.94382712, 0.01151023, 0.02726088,-0.00835189, 0.0264425 ,
  1.39623664, 0.0076821 , 1.36599483, 0.04406332,-0.09705242,-0.07575091,
  0.09194719, 0.65060193, 0.2141467 ,-0.67452605,-0.27545041]

qacc:
[ 2.37063952e+00, 1.04582390e+00,-8.09772192e+00, 2.46128475e+01,
  8.66324523e-02,-3.21982492e+00, 1.37054245e+01,-2.98691035e+01,
  6.45454270e+00,-1.83682805e+00, 5.40498147e+00,-6.01850709e+00,
  6.44324403e-02,-1.81348377e-01,-6.72439517e+00, 2.27492848e+01,
  6.50211920e+00,-1.42274294e+00, 1.64916400e+00,-1.35544229e+02,
  1.73262175e+02,-3.71705129e+01]

qfrc_actuator:
[ 3.03483605e-05, 9.39548193e-04, 1.20386137e-04,-2.94454689e-05,
 -2.19310991e-06, 3.48417441e-02, 1.09346772e-02, 1.70564992e-03,
 -7.36149826e-05, 6.90656638e-04, 2.45351950e-04, 5.48312889e-05,
  0.00000000e+00,-1.64645215e-03, 0.00000000e+00,-5.15227713e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006076660288277608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56757072e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.56757072e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18836941, -0.06282577,  0.06169464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41582941e-05,-1.87289580e-06, 1.75373383e-05, 5.02667172e-05,
  2.50168956e-05,-2.26095998e-07, 9.49460279e-06,-7.90355629e-05,
  3.87903743e-05,-7.61418189e-05,-3.98042619e-07,-5.19905620e-06,
  3.39415256e-03,-1.62531984e-05,-8.72732848e-06, 1.07489901e-04,
  4.77490891e-04,-1.52032653e-03,-4.90339725e+00,-2.97581085e-03,
  1.78434425e-03,-8.05031713e-03]


--- Step 2817 ---
qpos:
[ 0.01872102, 0.03003298,-0.00946964,-0.02529851,-0.00354096, 1.3408298 ,
 -0.03004031, 0.94382718, 0.01151064, 0.02725829,-0.00835044, 0.02644277,
  1.39623548, 0.0076816 , 1.36608353, 0.04406976,-0.09703112,-0.07568368,
  0.09194395, 0.65105208, 0.21335588,-0.67459555,-0.2748296 ]

qacc:
[-4.36851088e+00,-1.87009845e+00, 7.00794724e+00,-9.76852339e+00,
  1.02849637e-01, 3.54599725e+00,-1.32530286e+01, 2.43808909e+01,
  4.06427556e+00,-3.49866024e-01,-1.05030674e+00, 6.78077709e+00,
  7.69953031e-02,-1.58637323e-01, 3.51742437e-01,-1.06544010e+00,
  5.60722339e+00,-1.20065108e+00, 6.65930434e-02,-1.16416835e+02,
  1.49249860e+02,-3.21277603e+01]

qfrc_actuator:
[ 3.61020650e-06, 9.41732497e-04, 1.50061808e-04,-3.51161231e-05,
  1.27743861e-05, 3.48873328e-02, 1.09253713e-02, 1.76626283e-03,
 -5.02930206e-05, 6.77713516e-04, 2.56196461e-04, 7.20028707e-05,
  0.00000000e+00,-1.64613634e-03, 0.00000000e+00,-5.23045459e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006121873804799241
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53383662e-15,  4.53383662e-15,  1.00000000e+00, -2.05556745e-29,
        1.00000000e+00, -4.53383662e-15, -1.00000000e+00,  0.00000000e+00,
        4.53383662e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18826389, -0.06283291,  0.06169272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63306194e-05, 6.90055449e-06, 3.31839554e-05,-4.16697011e-06,
  2.97516884e-05, 4.49517145e-05,-1.05878285e-05, 5.90492140e-05,
  2.44262305e-05,-5.57527799e-05,-5.10488213e-06, 1.37938896e-05,
  3.40495648e-03,-1.11754383e-05, 6.73455653e-06,-3.23762692e-06,
 -1.15071689e-05,-1.12208682e-03,-4.90383918e+00,-2.33196802e-03,
  2.28651322e-03,-8.01958158e-03]


--- Step 2818 ---
qpos:
[ 0.01871907, 0.0300332 ,-0.00946882,-0.02529907,-0.00354113, 1.34082965,
 -0.0300411 , 0.94382831, 0.01151099, 0.02725531,-0.00834916, 0.02644291,
  1.39623456, 0.00768116, 1.36617237, 0.04407507,-0.09699042,-0.0756205 ,
  0.09193555, 0.65170285, 0.21254268,-0.67442927,-0.27432494]

qacc:
[-5.59883053e+00,-3.31680663e+00, 1.44039851e+01,-2.77041691e+01,
 -3.14508981e-02, 3.74956736e+00,-1.36614738e+01, 2.39281071e+01,
 -5.79723905e-01,-2.90420801e-01, 8.59676290e-01,-2.59817614e+00,
  7.36299217e-02, 2.06246223e-02, 3.65320792e+00,-1.24880804e+01,
  4.84826792e+00,-1.01559207e+00,-1.29231785e+00,-1.00270283e+02,
  1.28950675e+02,-2.78481748e+01]

qfrc_actuator:
[-2.93586751e-05, 9.07383443e-04, 1.67416886e-04,-7.40267676e-05,
 -1.38579279e-05, 3.49146969e-02, 1.09023989e-02, 1.81967796e-03,
 -5.45038162e-05, 6.53521177e-04, 2.44291464e-04, 6.42514777e-05,
  0.00000000e+00,-1.62791344e-03, 0.00000000e+00,-5.83526137e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006083626888551269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56234022e-15,  1.36870206e-14,  1.00000000e+00,  6.24448448e-29,
        1.00000000e+00, -1.36870206e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56234022e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18835094, -0.0628114 ,  0.06169434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37367862e-05,-2.38419212e-05, 2.27158834e-05,-3.75490477e-05,
 -9.04893916e-06, 5.19402978e-05,-1.36512660e-05, 5.58234459e-05,
 -3.52198392e-06,-5.57469417e-05,-2.35608544e-05,-1.00478019e-05,
  3.40417975e-03, 1.38774224e-05, 5.27105782e-07,-6.03290991e-05,
 -2.92581829e-04,-8.30086952e-04,-4.90392785e+00,-1.83065172e-03,
  2.68429687e-03,-7.99267703e-03]


--- Step 2819 ---
qpos:
[ 0.0187188 , 0.03003305,-0.009468  ,-0.0252997 ,-0.00354147, 1.34083001,
 -0.03004239, 0.943828  , 0.01151163, 0.02725207,-0.00834838, 0.02644296,
  1.39623404, 0.00768101, 1.36626123, 0.04407927,-0.09697562,-0.07555522,
  0.09193278, 0.65206673, 0.21182363,-0.67455283,-0.27371192]

qacc:
[ 1.44890704e+01,-6.74924168e-01, 1.91389777e+00,-2.73400607e+00,
 -7.35125112e-02,-4.49988552e-01, 5.25547794e+00,-2.16178779e+01,
  2.47791396e+00, 8.42756077e-01,-3.15107212e+00, 2.63167883e+00,
  5.62709112e-02, 2.22792959e-01, 3.37278032e+00,-1.17305836e+01,
 -6.47608764e+00, 5.27865980e-01, 1.41015035e+00, 1.37470701e+02,
 -1.66756238e+02,-4.98626697e+00]

qfrc_actuator:
[ 5.85505753e-05, 8.69095155e-04, 1.59437955e-04,-7.89581886e-05,
 -2.97247838e-05, 3.49308868e-02, 1.08714656e-02, 1.74411830e-03,
 -3.93762181e-05, 6.40427976e-04, 2.18991452e-04, 5.96250035e-05,
  0.00000000e+00,-1.59908012e-03, 0.00000000e+00,-6.39004687e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006069978746584777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14519697e-15,  9.14519697e-15,  1.00000000e+00,  8.36346276e-29,
        1.00000000e+00, -9.14519697e-15, -1.00000000e+00,  0.00000000e+00,
       -9.14519697e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00675999, -0.08635695,  0.06169488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.69170935e-05,-4.85583923e-05,-1.14120082e-05,-5.89677156e-06,
 -2.12127704e-05, 4.39333232e-05,-2.06867866e-05,-7.31042978e-05,
  1.49983003e-05,-4.94722507e-05,-4.00449137e-05,-8.02252639e-06,
  3.39138827e-03, 4.01327989e-05,-8.24543688e-06,-5.92192144e-05,
 -4.30667135e-04,-6.15035671e-04,-4.90378661e+00,-1.43730454e-03,
  3.00405408e-03,-7.96873889e-03]


--- Step 2820 ---
qpos:
[ 0.01871994, 0.03003258,-0.00946757,-0.02530035,-0.00354199, 1.3408304 ,
 -0.0300433 , 0.94382679, 0.01151245, 0.02724873,-0.00834804, 0.02644328,
  1.39623363, 0.0076811 , 1.36634984, 0.04408444,-0.09698316,-0.07548804,
  0.09192948, 0.65218352, 0.2111853 ,-0.67492618,-0.27300564]

qacc:
[ 1.20091040e+01, 5.65174156e-01,-2.51505333e+00, 2.81041686e+00,
 -7.54280403e-02,-2.52573131e+00, 1.01435544e+01,-1.93047565e+01,
  1.49146214e+00, 1.64292840e+00,-7.17786771e+00, 1.25519411e+01,
  3.94403077e-02, 1.32125743e-01,-3.29870078e+00, 1.09898911e+01,
 -5.58297266e+00, 4.71886527e-01,-1.35890597e-01, 1.18124013e+02,
 -1.43856837e+02,-4.17855619e+00]

qfrc_actuator:
[ 1.28142581e-04, 8.46409495e-04, 1.36567701e-04,-8.16276299e-05,
 -3.90032269e-05, 3.49223924e-02, 1.08892225e-02, 1.69977244e-03,
 -3.07305129e-05, 6.51779532e-04, 2.03793814e-04, 7.46335358e-05,
  0.00000000e+00,-1.59965181e-03, 0.00000000e+00,-5.84550362e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006097427679961236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10402782e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.10402782e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00682118, -0.08634763,  0.06169371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21082535e-05,-5.24198706e-05,-3.45183188e-05,-5.26175555e-06,
 -2.18124905e-05, 9.56300902e-06, 2.18536539e-05,-4.53285987e-05,
  9.06015298e-06,-2.48139903e-05,-3.05980883e-05, 1.13515968e-05,
  3.37151826e-03, 2.47246321e-05,-1.14487942e-05, 4.98044497e-05,
 -1.90049864e-04,-7.66934236e-04,-4.90407681e+00,-1.95060913e-03,
  2.58373020e-03,-7.95908011e-03]


--- Step 2821 ---
qpos:
[ 0.01872086, 0.03003212,-0.00946757,-0.02530142,-0.00354281, 1.34083078,
 -0.03004396, 0.94382506, 0.01151336, 0.02724597,-0.00834826, 0.02644369,
  1.39623301, 0.00768122, 1.36643813, 0.04409221,-0.09701   ,-0.07541918,
  0.09192032, 0.65208655, 0.2106163 ,-0.67551522,-0.27221882]

qacc:
[-1.79757333e+00, 3.81161025e-01, 4.03141808e-01,-6.83644127e+00,
 -1.24179163e-01,-1.56217103e+00, 6.13043572e+00,-1.12500455e+01,
  7.98770832e-01, 2.53333578e+00,-8.30037858e+00, 1.03983748e+01,
  4.16442673e-02,-8.32083959e-02,-8.34363310e+00, 2.84788490e+01,
 -4.82645304e+00, 4.22990444e-01,-1.46199483e+00, 1.01800100e+02,
 -1.24496879e+02,-3.53538863e+00]

qfrc_actuator:
[ 1.15346045e-04, 8.68680322e-04, 1.22903155e-04,-1.00697815e-04,
 -6.20069452e-05, 3.49171234e-02, 1.09000144e-02, 1.67419351e-03,
 -2.59751055e-05, 7.30999618e-04, 1.94804140e-04, 8.33530561e-05,
  0.00000000e+00,-1.61793039e-03, 0.00000000e+00,-4.48009223e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060455980219623826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18207777e-15,  9.18207777e-15,  1.00000000e+00,  8.43105523e-29,
        1.00000000e+00, -9.18207777e-15, -1.00000000e+00,  0.00000000e+00,
       -9.18207777e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00670369, -0.08635715,  0.06169592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07108489e-05,-1.43612984e-05,-2.89265217e-05,-2.26129041e-05,
 -3.58935283e-05, 2.92965375e-06, 1.38191369e-05,-2.57039068e-05,
  5.00265094e-06, 5.96320058e-05,-1.74564847e-05, 6.82411680e-06,
  3.36602428e-03,-5.64336319e-06,-5.39499269e-07, 1.37629545e-04,
  1.08418853e-04,-9.08263047e-04,-4.90405538e+00,-2.37753218e-03,
  2.22751997e-03,-7.94853963e-03]


--- Step 2822 ---
qpos:
[ 0.01872163, 0.03003173,-0.00946782,-0.02530273,-0.00354376, 1.34083159,
 -0.03004524, 0.94382304, 0.01151467, 0.02724398,-0.00834846, 0.02644379,
  1.39623237, 0.00768114, 1.36652664, 0.04409953,-0.09701087,-0.07535568,
  0.09191771, 0.65226115, 0.21001364,-0.67578957,-0.27158448]

qacc:
[-1.38125243e+00, 2.96236473e-01, 7.60838705e-02,-3.86599418e+00,
 -5.81230947e-02, 1.75051639e+00,-4.42861895e+00, 2.29628711e-01,
  3.35376831e+00, 3.18095412e-01, 1.61141215e+00,-7.50665515e+00,
  5.41960027e-02,-1.82349051e-01, 1.65858488e+00,-5.36292495e+00,
  6.49447643e+00,-1.34209662e+00, 1.63778820e+00,-1.33906450e+02,
  1.73685069e+02,-3.45258148e+01]

qfrc_actuator:
[ 1.07422481e-04, 8.82218132e-04, 1.14963286e-04,-1.11465280e-04,
 -5.75539945e-05, 3.49493237e-02, 1.08710994e-02, 1.65984428e-03,
 -5.79231108e-06, 7.97029700e-04, 2.07583926e-04, 7.06107742e-05,
  0.00000000e+00,-1.62896130e-03, 0.00000000e+00,-4.77266858e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00616704945806721
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50062478e-15, -4.50062478e-15,  1.00000000e+00, -2.02556234e-29,
        1.00000000e+00,  4.50062478e-15, -1.00000000e+00,  0.00000000e+00,
       -4.50062478e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18814969, -0.06280981,  0.06169072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23692166e-06,-1.42307579e-06,-1.52437324e-05,-1.28198105e-05,
 -1.67584426e-05, 3.57461498e-05,-2.75251263e-05,-1.44545245e-05,
  2.03416388e-05, 9.61691099e-05, 2.32181678e-05,-1.06523348e-05,
  3.37647507e-03,-1.79606299e-05, 1.35930255e-05,-2.20109511e-05,
  4.33899806e-04,-1.03751516e-03,-4.90383339e+00,-2.73528800e-03,
  1.92201359e-03,-7.93722214e-03]


--- Step 2823 ---
qpos:
[ 0.01872195, 0.03003114,-0.00946838,-0.02530378,-0.00354477, 1.34083242,
 -0.03004675, 0.94382124, 0.01151552, 0.02724204,-0.00834793, 0.02644379,
  1.39623189, 0.00768103, 1.36661528, 0.0441058 ,-0.09698934,-0.07529672,
  0.09191531, 0.65266941, 0.20938229,-0.67579328,-0.27108144]

qacc:
[-3.82868866e+00, 1.17609170e+00,-5.64282774e+00, 1.08022777e+01,
 -2.34545346e-02, 9.86693054e-01,-3.61115123e+00, 5.50634807e+00,
 -3.88053409e+00,-2.20075331e+00, 8.41290152e+00,-1.15449038e+01,
  5.24746133e-02,-3.02030558e-02, 3.39864054e+00,-1.15994806e+01,
  5.59737284e+00,-1.13501133e+00, 5.10475774e-02,-1.15009592e+02,
  1.49536041e+02,-2.98182643e+01]

qfrc_actuator:
[ 8.47052697e-05, 8.54956799e-04, 9.26987827e-05,-9.95055265e-05,
 -5.44187351e-05, 3.49325517e-02, 1.08546338e-02, 1.66996603e-03,
 -2.99472196e-05, 7.65976905e-04, 2.33073813e-04, 6.31082989e-05,
  0.00000000e+00,-1.61767283e-03, 0.00000000e+00,-5.32987396e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006204577215610685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47340321e-15,  4.47340321e-15,  1.00000000e+00,  2.00113363e-29,
        1.00000000e+00, -4.47340321e-15, -1.00000000e+00,  0.00000000e+00,
       -4.47340321e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18806269, -0.0628154 ,  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:
[-2.29548167e-05,-3.17394417e-05,-2.48693545e-05, 1.11263397e-05,
 -6.76693333e-06,-2.82385538e-06,-1.30314642e-05, 1.00504527e-05,
 -2.35327079e-05, 2.71505699e-05, 4.78721146e-05,-2.78111990e-06,
  3.37714954e-03, 3.47928063e-06, 1.08552527e-06,-5.58511718e-05,
  2.08398496e-05,-7.32593816e-04,-4.90421852e+00,-2.20966438e-03,
  2.32882192e-03,-7.91195713e-03]


--- Step 2824 ---
qpos:
[ 0.018722  , 0.03003004,-0.00946846,-0.02530538,-0.00354579, 1.34083295,
 -0.030048  , 0.94381922, 0.01151642, 0.02724011,-0.00834729, 0.02644408,
  1.3962316 , 0.00768097, 1.36670396, 0.04411101,-0.09694847,-0.07524162,
  0.09190767, 0.65327906, 0.20872636,-0.67556331,-0.27069169]

qacc:
[-2.33365534e+00,-3.18357525e+00, 1.26715852e+01,-2.25893681e+01,
 -5.74837600e-03,-1.43727968e+00, 4.62792573e+00,-6.21048675e+00,
  4.18439987e-01, 3.49542205e-01,-2.50178250e+00, 7.58016874e+00,
  4.27636079e-02, 3.81188131e-02, 3.22508867e+00,-1.12084474e+01,
  4.83666969e+00,-9.62077686e-01,-1.31110319e+00,-9.90570261e+01,
  1.29115990e+02,-2.58288208e+01]

qfrc_actuator:
[ 7.12140391e-05, 8.21191947e-04, 1.15258586e-04,-1.27573684e-04,
 -5.21010083e-05, 3.49043907e-02, 1.08632449e-02, 1.65888678e-03,
 -2.67532736e-05, 7.48097311e-04, 2.29965597e-04, 7.64288722e-05,
  0.00000000e+00,-1.61083809e-03, 0.00000000e+00,-5.86044097e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061591096204444695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35192799e-14,  9.01285326e-15,  1.00000000e+00, -1.21847286e-28,
        1.00000000e+00, -9.01285326e-15, -1.00000000e+00,  0.00000000e+00,
        1.35192799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1881664 , -0.06279307,  0.06169106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41680221e-05,-5.61521968e-05, 1.33428956e-05,-3.00650366e-05,
 -1.68135811e-06,-3.19768606e-05, 6.86866759e-06,-1.13166844e-05,
  2.50688151e-06, 7.13145789e-06, 8.31870999e-06, 1.60906977e-05,
  3.36899921e-03, 1.17823377e-05,-7.65382571e-06,-5.65103880e-05,
 -1.98897389e-04,-5.16763645e-04,-4.90425873e+00,-1.80626818e-03,
  2.64853271e-03,-7.89013935e-03]


--- Step 2825 ---
qpos:
[ 0.01872222, 0.03002853,-0.00946772,-0.02530768,-0.00354666, 1.34083331,
 -0.03004922, 0.94381812, 0.011517  , 0.02723869,-0.00834715, 0.02644417,
  1.39623151, 0.00768057, 1.36679295, 0.04411253,-0.09693365,-0.07518466,
  0.09190586, 0.65360353, 0.20814912,-0.67562974,-0.27018664]

qacc:
[ 1.59552605e+00,-4.28404848e+00, 1.74731744e+01,-3.07095435e+01,
  6.42600006e-02, 1.26915703e+00,-6.29721063e+00, 1.62229454e+01,
 -2.70487421e+00, 1.63779519e+00,-3.95168397e+00, 7.09890434e-01,
  3.44052408e-02,-1.91209865e-01, 1.16702965e+01,-4.01398327e+01,
 -6.51203286e+00, 4.61298377e-01, 1.45985346e+00, 1.34525608e+02,
 -1.70465369e+02, 3.41508046e+00]

qfrc_actuator:
[ 8.10184502e-05, 8.19442693e-04, 1.64038599e-04,-1.61197666e-04,
 -3.25406501e-05, 3.49052193e-02, 1.08687603e-02, 1.70642675e-03,
 -4.29781336e-05, 7.91391315e-04, 2.10030783e-04, 6.63677521e-05,
  0.00000000e+00,-1.64225034e-03, 0.00000000e+00,-7.79108452e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006084850587984483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12284541e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12284541e-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([-0.00679207, -0.0863144 ,  0.06169417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37659462e-06,-3.16409695e-05, 3.78037825e-05,-3.61451551e-05,
  1.85656622e-05,-1.58622174e-05,-2.92022678e-07, 4.65141150e-05,
 -1.61553795e-05, 4.97554284e-05,-1.68650218e-05,-9.15221943e-06,
  3.35901184e-03,-2.22117607e-05,-1.12261594e-05,-1.97557142e-04,
 -2.87124782e-04,-3.64498288e-04,-4.90407645e+00,-1.49460424e-03,
  2.90392393e-03,-7.87097629e-03]


--- Step 2826 ---
qpos:
[ 0.01872257, 0.03002724,-0.00946728,-0.02530934,-0.00354735, 1.34083348,
 -0.03005011, 0.94381863, 0.01151635, 0.02723775,-0.00834727, 0.02644378,
  1.39623157, 0.00768004, 1.3668819 , 0.04411171,-0.09694128,-0.07512603,
  0.09190368, 0.65368232, 0.20764016,-0.67595133,-0.26958261]

qacc:
[ 9.77153538e-01, 2.46569508e+00,-1.10898071e+01, 2.25919679e+01,
  7.95122875e-02, 1.59852782e+00,-8.80550268e+00, 2.63142999e+01,
 -1.05445488e+01, 3.92127220e-01, 1.57366844e+00,-9.82712958e+00,
  2.23874478e-02,-6.41731910e-02, 6.97336201e+00,-2.45097078e+01,
 -5.61304874e+00, 4.20197312e-01,-9.30047294e-02, 1.15792651e+02,
 -1.46858056e+02, 2.65031467e+00]

qfrc_actuator:
[ 8.67004903e-05, 8.54745059e-04, 1.57013574e-04,-1.26767185e-04,
 -2.05474815e-05, 3.49056741e-02, 1.08902934e-02, 1.78809630e-03,
 -1.06016342e-04, 8.17624131e-04, 1.98310803e-04, 4.26702954e-05,
  0.00000000e+00,-1.64298059e-03, 0.00000000e+00,-8.93331984e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061142737161766075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.07894442e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.07894442e-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([-0.00685661, -0.08629658,  0.06169292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94869004e-06, 2.39229913e-05,-1.01410041e-05, 3.36862750e-05,
  2.29639818e-05,-6.98108150e-06, 1.97604274e-05, 8.22598712e-05,
 -6.34971898e-05, 5.02260919e-05,-3.82024532e-06,-2.23234574e-05,
  3.34944147e-03,-5.85637474e-06,-2.91128469e-05,-1.27146440e-04,
 -1.27879109e-04,-4.92651589e-04,-4.90436573e+00,-1.91325950e-03,
  2.57661495e-03,-7.86306385e-03]


--- Step 2827 ---
qpos:
[ 0.01872298, 0.03002591,-0.00946685,-0.02531022,-0.003548  , 1.34083331,
 -0.03005003, 0.94381905, 0.0115153 , 0.02723671,-0.00834676, 0.02644346,
  1.3962321 , 0.00767993, 1.36697071, 0.04410915,-0.09692604,-0.07507187,
  0.09190242, 0.65400065, 0.2071002 ,-0.67599685,-0.26911133]

qacc:
[ 5.65533273e-01, 1.58587137e+00,-9.05439777e+00, 2.26838939e+01,
  1.11508230e-02,-3.22424585e+00, 1.01595025e+01,-9.56316569e+00,
 -3.44587648e+00,-1.73494993e+00, 5.67542016e+00,-5.28428386e+00,
  2.58468489e-03, 3.76452051e-01, 5.08641846e+00,-1.80377890e+01,
  5.71673186e+00,-1.11938517e+00, 2.29687997e-01,-1.17076633e+02,
  1.53233981e+02,-2.92907828e+01]

qfrc_actuator:
[ 8.99031208e-05, 8.40801423e-04, 1.52801959e-04,-8.80811622e-05,
 -3.09439962e-05, 3.48882399e-02, 1.09388783e-02, 1.78267920e-03,
 -1.25087313e-04, 7.97946588e-04, 2.26987090e-04, 4.66482560e-05,
  0.00000000e+00,-1.58986547e-03, 0.00000000e+00,-9.77893077e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0060831619392878455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73761336e-14,  4.56268893e-15,  1.00000000e+00, -1.24908781e-28,
        1.00000000e+00, -4.56268893e-15, -1.00000000e+00,  0.00000000e+00,
        2.73761336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18833728, -0.06274884,  0.06169425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38726294e-06,-1.17227533e-06, 6.58761489e-07, 4.00206730e-05,
  3.17367568e-06,-1.49567575e-05, 5.18817282e-05,-3.14063336e-06,
 -2.09148720e-05, 6.67545706e-06, 3.78233857e-05, 5.56946352e-06,
  3.34154751e-03, 5.40734782e-05,-2.82455746e-05,-9.55591297e-05,
  1.10762812e-04,-6.19898269e-04,-4.90433743e+00,-2.27134748e-03,
  2.28886091e-03,-7.85443036e-03]


--- Step 2828 ---
qpos:
[ 0.01872411, 0.03002418,-0.00946575,-0.02531028,-0.00354869, 1.34083276,
 -0.03004947, 0.9438177 , 0.01151471, 0.02723521,-0.00834538, 0.02644288,
  1.39623294, 0.00768023, 1.36705933, 0.0441059 ,-0.09693328,-0.07501606,
  0.09190081, 0.65407359, 0.20662573,-0.67629876,-0.26853962]

qacc:
[ 6.24760922e+00,-7.23272576e-01,-1.61737930e+00, 1.49150905e+01,
 -1.41110820e-02,-4.78699229e+00, 1.86223439e+01,-3.63481222e+01,
  4.03335213e+00,-3.58819708e+00, 1.30043747e+01,-1.86069368e+01,
 -2.48003445e-02, 3.52900623e-01, 1.83584865e+00,-6.81866816e+00,
 -5.61919137e+00, 4.14522717e-01,-8.79493949e-02, 1.15264267e+02,
 -1.47568455e+02, 4.23967688e+00]

qfrc_actuator:
[ 1.27126772e-04, 8.15244515e-04, 1.85614969e-04,-4.72389063e-05,
 -3.69349388e-05, 3.48425410e-02, 1.09496540e-02, 1.69054743e-03,
 -1.00359125e-04, 7.51111752e-04, 2.61361204e-04, 3.13619530e-05,
  0.00000000e+00,-1.57596198e-03, 0.00000000e+00,-1.00881069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006095345086046616
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82142768e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82142768e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00681045, -0.08628018,  0.06169374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73242067e-05,-2.43178289e-05, 3.40486145e-05, 4.15979378e-05,
 -4.11602759e-06,-4.39165454e-05, 1.36625321e-05,-9.11322052e-05,
  2.41135013e-05,-3.50285290e-05, 4.06110672e-05,-1.35805782e-05,
  3.31785936e-03, 4.66579876e-05,-2.36716778e-05,-3.99091818e-05,
 -1.17340548e-04,-4.24569428e-04,-4.90443523e+00,-1.89941213e-03,
  2.58088158e-03,-7.83467095e-03]


--- Step 2829 ---
qpos:
[ 0.01872603, 0.0300222 ,-0.00946423,-0.02531019,-0.00354943, 1.3408321 ,
 -0.03004944, 0.94381495, 0.01151477, 0.02723337,-0.00834385, 0.02644216,
  1.39623368, 0.00768076, 1.36714752, 0.0441046 ,-0.09691771,-0.07496463,
  0.09190003, 0.65438575, 0.20611974,-0.67632572,-0.26809972]

qacc:
[ 6.72874441e+00,-1.21354379e+00, 3.20310882e+00,-1.14885337e+00,
 -1.98714384e-02,-1.14267057e+00, 6.47026432e+00,-2.19247802e+01,
  5.52089948e+00,-1.17203890e+00, 4.13659618e+00,-6.62738603e+00,
 -3.73707686e-02, 1.54409393e-01,-6.55431832e+00, 2.20362491e+01,
  5.70270892e+00,-1.09703550e+00, 2.07309060e-01,-1.16509971e+02,
  1.52957087e+02,-2.87336225e+01]

qfrc_actuator:
[ 1.66324928e-04, 8.00834781e-04, 2.04461915e-04,-4.09499994e-05,
 -4.02333051e-05, 3.48333315e-02, 1.09201120e-02, 1.61910972e-03,
 -6.78161254e-05, 7.23891694e-04, 2.63161546e-04, 2.25804953e-05,
  0.00000000e+00,-1.58573730e-03, 0.00000000e+00,-9.01370575e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006111500922561047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.08306354e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.08306354e-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([-0.18827119, -0.06274729,  0.06169306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02785123e-05,-1.91356864e-05, 1.94619502e-05, 7.23556695e-06,
 -5.73199522e-06,-3.35691235e-05,-3.92523305e-05,-7.44717851e-05,
  3.32323380e-05,-3.89552482e-05,-9.01955755e-07,-9.14124207e-06,
  3.30195933e-03, 1.65040569e-05,-1.55814394e-05, 1.02103832e-04,
  1.03101898e-04,-5.45492423e-04,-4.90441228e+00,-2.23688254e-03,
  2.31197133e-03,-7.82655468e-03]


--- Step 2830 ---
qpos:
[ 0.01872737, 0.03002035,-0.00946284,-0.02531142,-0.00355021, 1.34083147,
 -0.03005022, 0.94381275, 0.01151522, 0.02723154,-0.00834246, 0.02644166,
  1.39623436, 0.00768131, 1.36723573, 0.04410357,-0.09689818,-0.07491794,
  0.09195701, 0.65473553, 0.20562947,-0.67629292,-0.26770468]

qacc:
[-4.97260788e+00,-2.20446117e+00, 1.36711109e+01,-3.63776632e+01,
 -1.75768443e-02, 3.16841621e+00,-1.14194805e+01, 1.62661508e+01,
  3.32279994e+00, 8.50945537e-01,-3.97760158e+00, 8.06821907e+00,
 -3.24942589e-02, 2.27091852e-02,-7.61452635e-01, 2.69340022e+00,
  9.89268455e-01,-1.18401289e+00, 1.44399304e+01,-2.19130342e+01,
  2.97592285e+01,-2.11104832e+01]

qfrc_actuator:
[ 1.35349985e-04, 8.10887005e-04, 1.97162502e-04,-1.08308012e-04,
 -4.18894387e-05, 3.48458825e-02, 1.08849333e-02, 1.64920610e-03,
 -4.87012692e-05, 7.43998794e-04, 2.63538572e-04, 3.54411716e-05,
  0.00000000e+00,-1.59196009e-03, 0.00000000e+00,-8.90824695e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006080892897268818
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15199036e-06, -9.12878292e-15,  1.00000000e+00, -1.96450528e-20,
        1.00000000e+00,  9.12878292e-15, -1.00000000e+00,  3.00926554e-36,
       -2.15199036e-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([-0.10344677, -0.07373301,  0.06169438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98043272e-05, 3.74285618e-06,-8.60260282e-06,-6.73642536e-05,
 -5.04434210e-06,-1.59354836e-05,-4.83993311e-05, 2.62050149e-05,
  2.00704038e-05,-2.19301483e-06,-8.09322259e-06, 1.09831004e-05,
  3.30699272e-03,-1.58539269e-06, 3.55062062e-06, 1.40957805e-05,
 -1.07798053e-04,-3.66861144e-04,-4.90449530e+00,-1.88938411e-03,
  2.58488812e-03,-7.80803619e-03]


--- Step 2831 ---
qpos:
[ 0.01872798, 0.03001875,-0.00946164,-0.02531347,-0.00355072, 1.34083078,
 -0.03005116, 0.94381124, 0.01151589, 0.0272301 ,-0.00834183, 0.02644131,
  1.39623483, 0.00768167, 1.3673239 , 0.04410301,-0.09689924,-0.07486972,
  0.09201031, 0.65486153, 0.20519647,-0.67649554,-0.26721634]

qacc:
[-6.24061037e+00,-7.71533027e-01, 6.67748312e+00,-2.05708476e+01,
  1.10256984e-01, 1.55411187e+00,-6.61107625e+00, 1.38632854e+01,
  1.89732371e+00, 2.97201666e+00,-1.04846172e+01, 1.40381605e+01,
 -2.64736675e-02,-1.38136450e-01,-1.48761988e+00, 5.11669364e+00,
 -5.14676804e+00, 3.82110227e-01,-9.18423374e-01, 1.04815248e+02,
 -1.35477795e+02, 5.42692749e+00]

qfrc_actuator:
[ 9.88246052e-05, 8.35336639e-04, 1.92296860e-04,-1.47438416e-04,
 -7.04183880e-06, 3.48536451e-02, 1.08823762e-02, 1.68556811e-03,
 -3.76457026e-05, 7.74545751e-04, 2.27787679e-04, 4.32244763e-05,
  0.00000000e+00,-1.61366866e-03, 0.00000000e+00,-8.66485121e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006071634897035522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14270245e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.14270245e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00672762, -0.08625312,  0.06169522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73847083e-05, 2.19206273e-05,-7.47482274e-06,-4.05748392e-05,
  3.18660391e-05,-9.73107198e-06,-1.04151826e-05, 3.50662701e-05,
  1.16378904e-05, 2.81791083e-05,-3.68147754e-05, 7.62439929e-06,
  3.30980419e-03,-2.36391126e-05, 1.17017550e-06, 2.51215679e-05,
 -1.24366676e-04,-3.05957575e-04,-4.90451764e+00,-1.83324149e-03,
  2.63483081e-03,-7.79515501e-03]


--- Step 2832 ---
qpos:
[ 0.01872849, 0.03001768,-0.00946071,-0.0253153 ,-0.00355092, 1.34083019,
 -0.03005228, 0.94381155, 0.01151601, 0.02722905,-0.00834145, 0.02644136,
  1.39623522, 0.00768195, 1.3674121 , 0.0441024 ,-0.09691819,-0.07482009,
  0.09205517, 0.65479326, 0.20481383,-0.67690194,-0.26664741]

qacc:
[-8.61322945e-01, 1.88548545e+00,-6.60381075e+00, 1.02689226e+01,
  1.37643062e-01, 3.70387748e+00,-1.56517331e+01, 3.45473018e+01,
 -4.81125228e+00, 2.00960341e+00,-8.12106378e+00, 1.52073219e+01,
 -1.80689607e-02,-4.96626637e-02, 1.60817139e-01,-5.15718187e-01,
 -4.47371251e+00, 3.52374776e-01,-2.11025897e+00, 9.09101953e+01,
 -1.17439348e+02, 4.31123660e+00]

qfrc_actuator:
[ 9.48530423e-05, 8.85994066e-04, 1.89013226e-04,-1.34108662e-04,
  1.39172847e-05, 3.48763732e-02, 1.08813200e-02, 1.77858031e-03,
 -6.69228927e-05, 8.10965453e-04, 2.24300949e-04, 6.56968656e-05,
  0.00000000e+00,-1.60897598e-03, 0.00000000e+00,-8.69692264e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.47124161,   5.71924898,   6.47124161,
        38.09871775, -33.33619723,   5.71924898, -33.33619723,
        46.35575433,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005993358422895216
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26211104e-15,  1.85242221e-14,  1.00000000e+00,  1.71573402e-28,
        1.00000000e+00, -1.85242221e-14, -1.00000000e+00,  0.00000000e+00,
       -9.26211104e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00652754, -0.08626503,  0.06169898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04705523e-06, 5.96674682e-05,-1.07066169e-06, 1.32264040e-05,
  3.97901830e-05, 1.63662662e-05,-3.11699790e-06, 9.32228226e-05,
 -2.89294093e-05, 4.49515107e-05,-1.92606011e-06, 2.25567875e-05,
  3.32035096e-03,-9.77223646e-06, 1.22286776e-06,-2.12536325e-06,
  3.05031222e-05,-4.00671532e-04,-4.90455890e+00,-2.10708428e-03,
  2.42017864e-03,-7.78745094e-03]


--- Step 2833 ---
qpos:
[ 0.01872895, 0.03001721,-0.00946017,-0.02531731,-0.00355081, 1.34082973,
 -0.030054  , 0.94381333, 0.01151611, 0.0272288 ,-0.00834102, 0.02644092,
  1.39623534, 0.00768232, 1.36749991, 0.04410478,-0.09691507,-0.07477449,
  0.09209931, 0.65495523, 0.20439997,-0.6770441 ,-0.26620589]

qacc:
[-4.68050858e-01, 1.52247260e+00,-3.53523354e+00, 6.87914760e-01,
  1.24372446e-01, 4.33566880e+00,-1.69650375e+01, 3.17602069e+01,
 -7.74696468e-02,-8.17789891e-02, 3.92565966e+00,-1.31729829e+01,
 -1.18510935e-02,-8.39023106e-03,-9.57934906e+00, 3.26881065e+01,
  5.51827129e+00,-1.00797583e+00,-1.82264870e-01,-1.12154534e+02,
  1.47222399e+02,-2.75191089e+01]

qfrc_actuator:
[ 9.23238837e-05, 9.16507214e-04, 1.69084411e-04,-1.43255325e-04,
  2.63742302e-05, 3.48724326e-02, 1.08457328e-02, 1.85092972e-03,
 -6.64444653e-05, 8.86265292e-04, 2.39947459e-04, 4.34101854e-05,
  0.00000000e+00,-1.60622349e-03, 0.00000000e+00,-7.11575180e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005998087301897541
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.62740441e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.62740441e-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([-0.18859891, -0.06268464,  0.06169914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65311267e-06, 6.42524749e-05,-7.27424745e-06,-6.36697929e-06,
  3.59715396e-05, 7.31230591e-06,-3.00043496e-05, 7.49092092e-05,
 -3.56788329e-07, 1.01029556e-04, 2.54840867e-05,-1.99853873e-05,
  3.32394203e-03,-2.91963693e-06,-1.69522861e-06, 1.57697996e-04,
  2.30752867e-04,-4.93979439e-04,-4.90441905e+00,-2.34612623e-03,
  2.22565708e-03,-7.77921745e-03]


--- Step 2834 ---
qpos:
[ 0.01872903, 0.0300169 ,-0.00945969,-0.02531972,-0.00355048, 1.34082923,
 -0.03005596, 0.94381355, 0.01151656, 0.02722966,-0.00834114, 0.02644021,
  1.39623505, 0.00768258, 1.36758752, 0.04411035,-0.0968928 ,-0.07473235,
  0.09213751, 0.65531644, 0.20395923,-0.67695769,-0.26587457]

qacc:
[-3.25047045e+00,-4.67707056e-01, 3.70296945e+00,-1.07676887e+01,
  9.86843338e-02,-2.11582312e+00, 1.00494173e+01,-2.68578838e+01,
  2.94503481e+00, 2.47560463e+00,-5.60611604e+00, 1.15563801e+00,
  8.37347617e-03,-1.73789918e-01,-9.99151801e+00, 3.44902293e+01,
  4.78887523e+00,-8.62638906e-01,-1.48187535e+00,-9.68925781e+01,
  1.27464069e+02,-2.38207706e+01]

qfrc_actuator:
[ 7.29004676e-05, 8.99138053e-04, 1.57145050e-04,-1.65587578e-04,
  3.36308997e-05, 3.48524146e-02, 1.08254323e-02, 1.76847168e-03,
 -4.84422057e-05, 9.48816504e-04, 2.13631597e-04, 3.05125646e-05,
  0.00000000e+00,-1.62252301e-03, 0.00000000e+00,-5.48432346e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005964724199405871
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86131494e-14,  1.86131494e-14,  1.00000000e+00, -3.46449329e-28,
        1.00000000e+00, -1.86131494e-14, -1.00000000e+00,  0.00000000e+00,
        1.86131494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18869459, -0.06266789,  0.06170091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94764256e-05, 1.67980650e-05, 2.18087882e-07,-1.99526191e-05,
  2.85144023e-05,-1.95821150e-05,-2.00830797e-05,-8.13820526e-05,
  1.80263979e-05, 1.23460498e-04,-3.00037599e-06,-8.07465517e-06,
  3.33767005e-03,-2.35167827e-05, 1.53830191e-05, 1.71404139e-04,
 -5.21848109e-06,-3.31451287e-04,-4.90462027e+00,-2.03852504e-03,
  2.46379584e-03,-7.76252867e-03]


--- Step 2835 ---
qpos:
[ 0.01872854, 0.0300165 ,-0.00945898,-0.02532168,-0.00354997, 1.34082877,
 -0.03005816, 0.94381173, 0.01151758, 0.02723067,-0.00834095, 0.02644011,
  1.39623519, 0.00768254, 1.36767607, 0.04411047,-0.09685384,-0.07469316,
  0.09216536, 0.65585056, 0.20349518,-0.67667258,-0.26563881]

qacc:
[-4.95114224e+00, 2.06096221e-01,-2.81422620e+00, 1.03947120e+01,
  7.24331249e-02,-2.76155681e+00, 1.32527115e+01,-3.50928265e+01,
  4.76927955e+00, 5.58204659e-01,-4.26047867e+00, 1.41170166e+01,
  1.90889075e-02,-9.23722721e-02, 1.78710509e+01,-6.05000709e+01,
  4.17124610e+00,-7.40940661e-01,-2.59130882e+00,-8.40312012e+01,
  1.10780498e+02,-2.07053584e+01]

qfrc_actuator:
[ 4.36876237e-05, 8.88741544e-04, 1.67570624e-04,-1.42272365e-04,
  3.77106904e-05, 3.48583855e-02, 1.08141727e-02, 1.66659205e-03,
 -2.02793244e-05, 9.14329288e-04, 2.15979283e-04, 5.87180247e-05,
  0.00000000e+00,-1.61459370e-03, 0.00000000e+00,-8.45254029e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005867088862965747
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78457886e-14,  7.09608537e-15,  1.00000000e+00, -2.68556947e-28,
        1.00000000e+00, -7.09608537e-15, -1.00000000e+00,  0.00000000e+00,
        3.78457886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18893688, -0.06262995,  0.06170537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97727266e-05,-1.80860325e-06, 1.32354915e-05, 2.36591994e-05,
  2.09302454e-05,-1.12296359e-05,-1.97592592e-05,-1.04947197e-04,
  2.87366619e-05, 3.35666614e-05, 2.71940610e-05, 3.32345582e-05,
  3.35729124e-03,-1.04183013e-05, 2.37300387e-05,-2.85842326e-04,
 -1.13354947e-04,-2.20641078e-04,-4.90458420e+00,-1.80532304e-03,
  2.65151128e-03,-7.74818707e-03]


--- Step 2836 ---
qpos:
[ 0.0187277 , 0.03001634,-0.00945827,-0.02532337,-0.00354949, 1.3408287 ,
 -0.03006043, 0.94380936, 0.01151892, 0.02723118,-0.00833982, 0.02644074,
  1.3962358 , 0.00768283, 1.36776462, 0.0441081 ,-0.09683913,-0.07465218,
  0.09219551, 0.6561239 , 0.20309332,-0.67666468,-0.26529123]

qacc:
[-2.97982428e+00, 8.86333865e-01,-3.82106164e+00, 8.27224017e+00,
 -1.12615259e-02,-2.36756622e-01, 2.53652259e+00,-8.90848151e+00,
  2.86012201e+00,-1.81624420e+00, 2.43475568e+00, 9.00543615e+00,
 -1.21818492e-02, 3.30061360e-01, 7.58480975e+00,-2.64866133e+01,
 -6.06172007e+00, 4.50842696e-01, 5.78267441e-01, 1.21582571e+02,
 -1.59490137e+02, 9.20117303e+00]

qfrc_actuator:
[ 2.67048289e-05, 9.18223207e-04, 1.73408279e-04,-1.27773771e-04,
  2.21004624e-05, 3.49153865e-02, 1.08261961e-02, 1.64291475e-03,
 -4.12096089e-06, 8.57633952e-04, 2.52628249e-04, 9.30712659e-05,
  0.00000000e+00,-1.57413245e-03, 0.00000000e+00,-9.66869457e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005919510377730003
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.68882962e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.68882962e-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([-0.0062902 , -0.08624158,  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:
[-1.78515474e-05, 3.22185706e-05, 7.91522219e-06, 1.53448147e-05,
 -3.24133361e-06, 4.37729522e-05, 4.50083828e-06,-2.70337492e-05,
  1.70124156e-05,-3.09084734e-05, 4.80681403e-05, 3.73759911e-05,
  3.33611868e-03, 4.52650871e-05,-2.47448491e-05,-1.35410318e-04,
 -1.34584418e-04,-1.46538352e-04,-4.90439442e+00,-1.62751143e-03,
  2.80262564e-03,-7.73566323e-03]


--- Step 2837 ---
qpos:
[ 0.01872666, 0.03001667,-0.00945793,-0.02532454,-0.00354925, 1.34082907,
 -0.03006212, 0.94380806, 0.01151907, 0.02723153,-0.00833885, 0.02644181,
  1.39623645, 0.0076835 , 1.36785267, 0.04410727,-0.0968454 ,-0.07460954,
  0.09222236, 0.65617185, 0.2027462 ,-0.6768961 ,-0.2648474 ]

qacc:
[-1.71398159e+00, 2.74447555e+00,-1.10408347e+01, 2.03043486e+01,
 -1.01076046e-01, 8.27523398e-01,-4.21068828e+00, 1.58397597e+01,
 -1.02057178e+01, 1.18161985e+00,-6.33143880e+00, 1.42825874e+01,
 -3.49039607e-02, 2.82714051e-01,-5.39853641e+00, 1.78225516e+01,
 -5.24712407e+00, 4.12085068e-01,-8.26959488e-01, 1.05150497e+02,
 -1.37736969e+02, 7.45736146e+00]

qfrc_actuator:
[ 1.70600601e-05, 9.53586404e-04, 1.58879372e-04,-1.00806555e-04,
 -5.19449180e-06, 3.49671344e-02, 1.08698707e-02, 1.70100204e-03,
 -6.61717742e-05, 8.41467793e-04, 2.38091808e-04, 1.12996845e-04,
  0.00000000e+00,-1.56791856e-03, 0.00000000e+00,-8.77615623e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.01019583,   5.04419779,   7.01019583,
        31.47848546, -31.74493821,   5.04419779, -31.74493821,
        52.75402964,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0059227289540299405
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37256317e-15,  4.68628158e-15,  1.00000000e+00,  4.39224701e-29,
        1.00000000e+00, -4.68628158e-15, -1.00000000e+00,  0.00000000e+00,
       -9.37256317e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00628337, -0.08622936,  0.06170344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01545344e-05, 5.56690127e-05,-6.36995875e-06, 2.89227663e-05,
 -2.92088547e-05, 7.60301745e-05, 5.19560391e-05, 5.89016713e-05,
 -6.15640341e-05,-2.19423966e-05,-1.37271581e-05, 2.09861159e-05,
  3.31266764e-03, 3.51862053e-05,-2.68901571e-05, 7.84007735e-05,
 -7.32399471e-05,-2.23659834e-04,-4.90466507e+00,-1.89207338e-03,
  2.60389387e-03,-7.72957102e-03]


--- Step 2838 ---
qpos:
[ 0.01872585, 0.03001725,-0.0094577 ,-0.02532501,-0.00354914, 1.34082972,
 -0.03006347, 0.94380784, 0.01151916, 0.02723198,-0.00833895, 0.02644245,
  1.39623693, 0.00768406, 1.36794064, 0.04410679,-0.09686991,-0.0745654 ,
  0.09224109, 0.65602404, 0.20244729,-0.67733469,-0.2643204 ]

qacc:
[ 2.02698186e+00, 2.07137521e+00,-9.80925437e+00, 2.17443397e+01,
 -5.48126415e-02, 1.32781688e+00,-6.10301107e+00, 1.76262719e+01,
 -5.10364719e-01, 2.23575958e+00,-5.99113218e+00, 2.33375347e-01,
 -3.19525128e-02,-8.35143955e-02,-1.19578588e+00, 4.01035492e+00,
 -4.55805161e+00, 3.77006149e-01,-2.02925222e+00, 9.12495207e+01,
 -1.19407188e+02, 6.04898057e+00]

qfrc_actuator:
[ 2.95601810e-05, 9.56623854e-04, 1.50241893e-04,-6.67213837e-05,
 -3.77194758e-06, 3.49622658e-02, 1.08786439e-02, 1.75348139e-03,
 -6.72388927e-05, 8.31718864e-04, 1.75823015e-04, 8.87564835e-05,
  0.00000000e+00,-1.60020147e-03, 0.00000000e+00,-8.60159928e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.95753835,   5.1165845 ,   6.95753835,
        32.70855529, -32.73339796,   5.1165845 , -32.73339796,
        53.14728134,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005854956585083018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89621052e-14,  4.74052629e-15,  1.00000000e+00,  8.98903580e-29,
        1.00000000e+00, -4.74052629e-15, -1.00000000e+00,  0.00000000e+00,
       -1.89621052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00611768, -0.08623746,  0.06170655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22215299e-05, 3.40759970e-05, 3.07235109e-06, 3.68131705e-05,
 -1.58363204e-05, 4.91209314e-05, 3.12855436e-05, 5.76503636e-05,
 -2.87545158e-06,-2.40030190e-05,-6.77811847e-05,-2.52499712e-05,
  3.31030810e-03,-1.66609066e-05,-3.56878296e-06, 1.83843301e-05,
  7.30337920e-05,-3.08451400e-04,-4.90465806e+00,-2.12768309e-03,
  2.41921449e-03,-7.72305662e-03]


--- Step 2839 ---
qpos:
[ 0.0187259 , 0.0300178 ,-0.00945766,-0.02532572,-0.00354924, 1.34083079,
 -0.03006499, 0.94380792, 0.01152061, 0.02723197,-0.00833932, 0.02644246,
  1.39623715, 0.00768458, 1.36802837, 0.04410819,-0.09687103,-0.07452536,
  0.09226092, 0.65611953, 0.20211375,-0.67749574,-0.26392559]

qacc:
[ 7.25052689e+00,-2.67157581e-02, 9.73715936e-01,-4.65969812e+00,
 -9.08259787e-02, 1.48213702e+00,-4.78312864e+00, 7.35208746e+00,
  1.16522515e+01,-1.16434872e+00, 5.89142137e+00,-1.59285957e+01,
 -2.19341597e-02,-6.38155365e-02,-6.04320436e+00, 2.06175298e+01,
  5.84637485e+00,-1.02574307e+00, 2.76942990e-01,-1.17439993e+02,
  1.55475317e+02,-2.75702138e+01]

qfrc_actuator:
[ 7.27442385e-05, 9.22552543e-04, 1.27281971e-04,-8.19996128e-05,
 -2.06379844e-05, 3.49766677e-02, 1.08665010e-02, 1.76665705e-03,
  3.12816214e-06, 7.90132358e-04, 1.56898567e-04, 5.64607692e-05,
  0.00000000e+00,-1.60196824e-03, 0.00000000e+00,-7.60946144e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005760821139861615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.85439158e-14,  1.20449737e-15,  1.00000000e+00, -4.64260452e-29,
        1.00000000e+00, -1.20449737e-15, -1.00000000e+00,  0.00000000e+00,
        3.85439158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18922727, -0.06257906,  0.06171074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35483999e-05,-1.28218070e-05,-1.42782190e-05,-1.29972261e-05,
 -2.62231861e-05, 4.94241349e-05, 2.71743415e-06, 1.69049535e-05,
  7.02796989e-05,-7.01094458e-05,-3.31101250e-05,-3.61630864e-05,
  3.31857931e-03,-1.23419495e-05,-1.41281685e-06, 9.93749713e-05,
  2.69136118e-04,-3.94299580e-04,-4.90447107e+00,-2.33627541e-03,
  2.24826202e-03,-7.71607956e-03]


--- Step 2840 ---
qpos:
[ 0.01872646, 0.03001784,-0.00945766,-0.02532656,-0.00354941, 1.34083219,
 -0.03006602, 0.94380813, 0.01152221, 0.02723137,-0.00833963, 0.02644277,
  1.39623775, 0.00768501, 1.3681167 , 0.0441054 ,-0.09685188,-0.07448884,
  0.09227644, 0.65642561, 0.20175035,-0.6774168 ,-0.26364504]

qacc:
[ 4.45069145e+00,-8.18216803e-01, 2.46997859e+00,-4.20808280e+00,
 -2.65963062e-02,-6.45308889e-01, 2.34523763e+00,-6.96487120e-01,
  1.23443369e+00,-3.39022112e-01,-1.19585507e+00, 6.72015588e+00,
 -1.86395649e-02, 6.06232676e-02, 1.35984944e+01,-4.62445335e+01,
  5.06855944e+00,-8.79531867e-01,-1.07993736e+00,-1.01448865e+02,
  1.34579494e+02,-2.38297698e+01]

qfrc_actuator:
[ 9.81300001e-05, 8.66412887e-04, 1.13602215e-04,-9.07422526e-05,
 -1.28350958e-05, 3.50023801e-02, 1.08954187e-02, 1.77435120e-03,
  8.44162216e-06, 7.65453399e-04, 1.63603429e-04, 7.29592467e-05,
  0.00000000e+00,-1.58546508e-03, 0.00000000e+00,-9.87148377e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005763697929577136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92623388e-14,  1.20389618e-15,  1.00000000e+00, -2.31898561e-29,
        1.00000000e+00, -1.20389618e-15, -1.00000000e+00,  0.00000000e+00,
        1.92623388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18922884, -0.06257698,  0.06171078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66497091e-05,-6.68184116e-05,-1.85431434e-05,-1.00402347e-05,
 -7.69226553e-06, 5.40867302e-05, 3.93914843e-05, 9.65092671e-06,
  7.34937567e-06,-7.22401298e-05,-1.31037045e-05, 1.16427370e-05,
  3.33122552e-03, 5.83059407e-06, 8.74776291e-06,-2.21215642e-04,
  2.79273115e-05,-2.48349566e-04,-4.90472094e+00,-2.05589013e-03,
  2.46246946e-03,-7.70145595e-03]


--- Step 2841 ---
qpos:
[ 0.01872732, 0.03001755,-0.00945762,-0.02532718,-0.00354928, 1.3408333 ,
 -0.03006677, 0.94381023, 0.01152421, 0.0272304 ,-0.00833968, 0.02644324,
  1.39623831, 0.00768528, 1.36820493, 0.04410128,-0.09685458,-0.07445058,
  0.09228988, 0.65649794, 0.2014412 ,-0.67758727,-0.26326298]

qacc:
[ 2.58318632e+00,-8.85278729e-02,-1.24597894e+00, 5.23063391e+00,
  1.23751891e-01, 2.08565164e+00,-1.11221886e+01, 3.16579006e+01,
  3.39857283e+00,-9.06013543e-01, 1.85894860e+00, 6.56578903e-01,
 -3.47523095e-02,-7.00364615e-02, 3.84201814e+00,-1.36625581e+01,
 -5.46327723e+00, 4.35047355e-01,-5.19315365e-01, 1.08640181e+02,
 -1.43640894e+02, 9.28425124e+00]

qfrc_actuator:
[ 1.12826272e-04, 8.68520888e-04, 1.23172362e-04,-7.78244740e-05,
  2.74560083e-05, 3.49460448e-02, 1.08951407e-02, 1.86756605e-03,
  2.86565552e-05, 7.68993885e-04, 1.85465729e-04, 8.25539879e-05,
  0.00000000e+00,-1.61118385e-03, 0.00000000e+00,-1.04822479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005724618331201477
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69691742e-15,  4.84845871e-15,  1.00000000e+00,  4.70151037e-29,
        1.00000000e+00, -4.84845871e-15, -1.00000000e+00,  0.00000000e+00,
       -9.69691742e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00579479, -0.08623949,  0.06171258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54507068e-05,-3.95077949e-05,-6.86147960e-06, 9.22047874e-06,
  3.57470718e-05,-1.84275015e-05, 1.50680103e-05, 9.62203168e-05,
  2.04028522e-05,-3.90322916e-05, 5.74016045e-06, 6.27348013e-06,
  3.31238829e-03,-1.51735723e-05,-2.33843172e-05,-7.29380445e-05,
 -7.56361338e-05,-1.53384356e-04,-4.90470383e+00,-1.84798919e-03,
  2.62862618e-03,-7.68919416e-03]


--- Step 2842 ---
qpos:
[ 0.01872835, 0.0300173 ,-0.0094574 ,-0.02532735,-0.00354893, 1.34083423,
 -0.03006796, 0.94381173, 0.01152712, 0.02722966,-0.00833999, 0.02644308,
  1.39623863, 0.0076856 , 1.3682927 , 0.04409911,-0.09683666,-0.07441585,
  0.09229952, 0.65678446, 0.20110124,-0.67751404,-0.26299654]

qacc:
[ 1.45912693e+00, 4.54284059e-01,-3.42294950e+00, 1.08105241e+01,
  9.45219755e-02,-6.75208962e-02, 1.14505492e+00,-7.77688406e+00,
  7.80668935e+00,-2.58582630e-01, 3.97174428e+00,-1.44705892e+01,
 -3.17172379e-02,-8.28373610e-04,-6.56547286e+00, 2.19718795e+01,
  5.15439350e+00,-8.84032380e-01,-9.50722561e-01,-1.02930417e+02,
  1.36862342e+02,-2.38626611e+01]

qfrc_actuator:
[ 1.21119306e-04, 9.05603006e-04, 1.46630624e-04,-5.22059489e-05,
  3.36519068e-05, 3.49119669e-02, 1.08595987e-02, 1.83276474e-03,
  7.52545252e-05, 8.07236354e-04, 1.80695997e-04, 5.25282850e-05,
  0.00000000e+00,-1.60887342e-03, 0.00000000e+00,-9.40411277e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005711031208283125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94399747e-14,  3.64499526e-15,  1.00000000e+00, -7.08586159e-29,
        1.00000000e+00, -3.64499526e-15, -1.00000000e+00,  0.00000000e+00,
        1.94399747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18936387, -0.06255422,  0.06171327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.73035703e-06, 1.39814976e-05, 1.47753503e-05, 2.38703119e-05,
  2.73199314e-05,-3.84345499e-05,-3.46079328e-05,-3.26791803e-05,
  4.71782676e-05, 1.79180908e-05,-1.18961957e-05,-3.13769021e-05,
  3.31411495e-03,-4.80200185e-06,-1.98919830e-05, 1.00526407e-04,
  3.82008271e-05,-2.27138496e-04,-4.90474535e+00,-2.06192764e-03,
  2.46326918e-03,-7.68352183e-03]


--- Step 2843 ---
qpos:
[ 0.01872878, 0.03001728,-0.00945698,-0.02532758,-0.00354886, 1.34083532,
 -0.03006936, 0.94381068, 0.01152954, 0.02722967,-0.00834065, 0.0264425 ,
  1.39623954, 0.00768601, 1.36838109, 0.04409184,-0.09684073,-0.07437934,
  0.09230728, 0.65683628, 0.20081525,-0.67769171,-0.26262766]

qacc:
[-5.12834307e+00,-3.82613569e-01, 2.07097788e+00,-3.65139002e+00,
 -1.16532912e-01,-3.56720649e+00, 1.71403032e+01,-4.44866693e+01,
 -4.27649133e+00, 1.12474070e+00,-7.86438476e-01,-6.47715557e+00,
 -3.43488395e-02, 2.43803422e-01, 1.63702274e+01,-5.58807627e+01,
 -5.49517572e+00, 4.46565217e-01,-4.69599882e-01, 1.09015312e+02,
 -1.44505085e+02, 9.71869693e+00]

qfrc_actuator:
[ 9.00758524e-05, 9.27925817e-04, 1.60506174e-04,-5.47865146e-05,
 -1.61626285e-05, 3.49445210e-02, 1.08567695e-02, 1.70512533e-03,
  4.82412169e-05, 8.83594969e-04, 1.78115124e-04, 3.49495058e-05,
  0.00000000e+00,-1.57213568e-03, 0.00000000e+00,-1.21332142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005722224645428077
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70097378e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.70097378e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00577622, -0.08621604,  0.06171287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07851917e-05, 3.42211972e-05, 1.94080694e-05,-1.00605253e-06,
 -3.36707563e-05, 3.53838411e-06,-1.52420237e-05,-1.30565591e-04,
 -2.56265034e-05, 8.26329779e-05,-1.41684545e-06,-1.78318827e-05,
  3.32577760e-03, 2.96373106e-05, 1.40057971e-06,-2.69987312e-04,
 -6.52472145e-05,-1.36529654e-04,-4.90473782e+00,-1.86181878e-03,
  2.62276216e-03,-7.67187929e-03]


--- Step 2844 ---
qpos:
[ 0.01872815, 0.0300172 ,-0.00945625,-0.02532816,-0.00354919, 1.34083616,
 -0.03007048, 0.9438102 , 0.01153092, 0.02722982,-0.00834057, 0.02644137,
  1.39624039, 0.00768657, 1.36846906, 0.04408507,-0.09686387,-0.0743412 ,
  0.09230817, 0.65668429, 0.20057694,-0.67808657,-0.26217027]

qacc:
[-9.12470357e+00,-1.64195128e+00, 7.25151294e+00,-1.37510697e+01,
 -1.71777437e-01,-1.21730648e-01,-1.16542679e+00, 7.70114042e+00,
 -8.78388748e+00,-3.03481706e+00, 1.34453142e+01,-2.43164869e+01,
 -6.07105940e-02, 1.41903291e-01,-2.10721688e+00, 6.47371810e+00,
 -4.77045957e+00, 4.06272836e-01,-1.71538820e+00, 9.46352122e+01,
 -1.25239635e+02, 7.96369214e+00]

qfrc_actuator:
[ 3.61301657e-05, 9.05690210e-04, 1.68543335e-04,-7.39564948e-05,
 -4.59159479e-05, 3.49280082e-02, 1.08735091e-02, 1.73700159e-03,
 -4.13864673e-06, 8.75697888e-04, 2.12550203e-04, 7.13236337e-06,
  0.00000000e+00,-1.58581876e-03, 0.00000000e+00,-1.17582111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.36566818,   4.50929143,   7.36566818,
        26.96703517, -29.94209758,   4.50929143, -29.94209758,
        57.54505777,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005683965805146143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76627114e-15,  4.88313557e-15,  1.00000000e+00,  4.76900260e-29,
        1.00000000e+00, -4.88313557e-15, -1.00000000e+00,  0.00000000e+00,
       -9.76627114e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00568415, -0.08621519,  0.06171458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48318376e-05, 8.50192140e-07, 1.74571579e-05,-1.70521043e-05,
 -4.96507419e-05,-2.14698717e-05, 1.18673217e-05, 2.85067368e-05,
 -5.31013986e-05, 3.72623665e-05, 5.07250458e-05,-2.46677627e-05,
  3.29661361e-03, 1.12514710e-05,-3.16916298e-05, 2.20928483e-05,
  4.60841910e-05,-2.06864134e-04,-4.90476738e+00,-2.06477212e-03,
  2.46560457e-03,-7.66653365e-03]


--- Step 2845 ---
qpos:
[ 0.01872688, 0.03001678,-0.00945498,-0.0253286 ,-0.00354961, 1.34083659,
 -0.03007191, 0.94381084, 0.01153166, 0.02722976,-0.00833984, 0.02643997,
  1.39624079, 0.00768727, 1.36855635, 0.04408275,-0.09686306,-0.07430712,
  0.09231107, 0.65678168, 0.20030189,-0.67819871,-0.26184631]

qacc:
[-5.48607439e+00,-1.62619207e+00, 4.53863614e+00,-2.64460515e+00,
 -3.91644390e-02, 2.18826787e+00,-1.00968469e+01, 2.20123875e+01,
 -5.43079864e+00,-2.60289956e+00, 1.00252950e+01,-1.55713702e+01,
 -5.22968498e-02, 1.96486629e-02,-1.45154932e+01, 4.93158226e+01,
  5.98827168e+00,-1.01422012e+00, 5.00825657e-01,-1.19372611e+02,
  1.59183177e+02,-2.70210577e+01]

qfrc_actuator:
[ 4.65429911e-06, 8.74655379e-04, 1.90635512e-04,-6.72650987e-05,
 -2.78863872e-05, 3.48824126e-02, 1.08483301e-02, 1.79148750e-03,
 -3.55008788e-05, 8.35309447e-04, 2.32724615e-04,-8.77606424e-06,
  0.00000000e+00,-1.59434521e-03, 0.00000000e+00,-9.37872345e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005776328815823538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92202186e-14,  1.08113730e-14,  1.00000000e+00, -2.07796951e-28,
        1.00000000e+00, -1.08113730e-14, -1.00000000e+00,  0.00000000e+00,
        1.92202186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18922013, -0.06257072,  0.06171063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30736815e-05,-2.77057635e-05, 2.38242544e-05, 7.00193536e-06,
 -1.13128147e-05,-5.43010690e-05,-2.71927091e-05, 5.48486272e-05,
 -3.29047948e-05,-1.01483272e-05, 3.32690495e-05,-1.30320677e-05,
  3.29894540e-03,-4.90127475e-06,-1.22119254e-05, 2.35112687e-04,
  2.19819133e-04,-2.82507849e-04,-4.90459453e+00,-2.24824469e-03,
  2.31590959e-03,-7.66080551e-03]


--- Step 2846 ---
qpos:
[ 0.01872593, 0.03001603,-0.00945346,-0.02532825,-0.00354985, 1.34083695,
 -0.03007402, 0.94381177, 0.01153202, 0.02722925,-0.00833874, 0.02643913,
  1.3962411 , 0.00768822, 1.36864361, 0.0440826 ,-0.09684152,-0.07427652,
  0.0923104 , 0.65709473, 0.19999517,-0.67806656,-0.26163753]

qacc:
[ 2.77158991e+00, 4.53348818e-01,-5.57818139e+00, 1.90608282e+01,
  7.64232782e-02, 2.28302003e+00,-8.14958042e+00, 1.05007278e+01,
 -3.24337163e+00,-4.84629663e-01,-1.46390623e+00, 1.08397028e+01,
 -3.34296165e-02, 1.60928286e-01,-6.58111569e+00, 2.29557740e+01,
  5.18418324e+00,-8.70382584e-01,-8.93764876e-01,-1.03042189e+02,
  1.37664864e+02,-2.33153607e+01]

qfrc_actuator:
[ 2.21687562e-05, 8.56412304e-04, 2.03069325e-04,-2.76571203e-05,
  9.09077496e-07, 3.48906363e-02, 1.08162208e-02, 1.80549888e-03,
 -5.42324947e-05, 7.93478604e-04, 2.44159860e-04, 1.79054193e-05,
  0.00000000e+00,-1.56432258e-03, 0.00000000e+00,-8.32362803e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005786121538989837
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91876893e-14,  3.59769175e-15,  1.00000000e+00, -6.90313915e-29,
        1.00000000e+00, -3.59769175e-15, -1.00000000e+00,  0.00000000e+00,
        1.91876893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18919892, -0.06257257,  0.06171025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65399646e-05,-2.85215527e-05, 9.88189644e-06, 3.93831099e-05,
  2.21080346e-05,-2.54866453e-05,-4.42155972e-05, 1.28529884e-05,
 -1.96991859e-05,-4.12042542e-05, 1.29833018e-05, 2.71472638e-05,
  3.32176771e-03, 1.80386275e-05, 1.98401361e-05, 1.16919572e-04,
  1.24954623e-05,-1.63523604e-04,-4.90481087e+00,-2.01007579e-03,
  2.49768511e-03,-7.64857153e-03]


--- Step 2847 ---
qpos:
[ 0.01872622, 0.03001495,-0.00945204,-0.02532705,-0.00354985, 1.34083738,
 -0.0300763 , 0.94381213, 0.01153181, 0.02722842,-0.00833778, 0.02643864,
  1.39624153, 0.00768919, 1.36873122, 0.04408139,-0.09680197,-0.07424892,
  0.09230137, 0.65759469, 0.19966096,-0.67772235,-0.26152847]

qacc:
[ 1.07383719e+01, 1.59681962e+00,-9.92248838e+00, 2.49822865e+01,
  1.04949302e-01,-4.67674548e-01, 2.78843578e+00,-9.05540531e+00,
 -4.88596619e+00, 6.77447936e-01,-4.49576943e+00, 1.09637868e+01,
 -3.14491616e-02, 7.14221150e-02, 3.73590667e+00,-1.22910363e+01,
  4.50247575e+00,-7.49381760e-01,-2.08785212e+00,-8.92707384e+01,
  1.19476526e+02,-2.01964850e+01]

qfrc_actuator:
[ 8.61234507e-05, 8.28208698e-04, 1.92008039e-04, 1.32449671e-05,
  1.81750688e-05, 3.49132145e-02, 1.08159690e-02, 1.77785263e-03,
 -8.31394892e-05, 7.68845664e-04, 2.32600473e-04, 3.39149403e-05,
  0.00000000e+00,-1.56458860e-03, 0.00000000e+00,-8.94559974e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005724198285118075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93952580e-14,  7.27322174e-15,  1.00000000e+00, -1.41066012e-28,
        1.00000000e+00, -7.27322174e-15, -1.00000000e+00,  0.00000000e+00,
        1.93952580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18934319, -0.06255091,  0.0617129 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44254043e-05,-4.04082087e-05,-1.43818883e-05, 4.07867384e-05,
  3.03300692e-05, 2.18115394e-07,-9.88898379e-06,-2.94121714e-05,
 -2.95004637e-05,-4.38278600e-05,-1.75361997e-05, 1.52227480e-05,
  3.32563181e-03, 5.51375844e-06, 1.97641701e-05,-5.36721297e-05,
 -5.85362989e-05,-9.16644750e-05,-4.90475438e+00,-1.83875617e-03,
  2.63629035e-03,-7.63860667e-03]


--- Step 2848 ---
qpos:
[ 0.01872798, 0.03001367,-0.00945051,-0.02532575,-0.0035499 , 1.34083763,
 -0.03007791, 0.9438118 , 0.01153126, 0.02722778,-0.00833717, 0.02643795,
  1.39624205, 0.00769016, 1.368819  , 0.0440788 ,-0.09678823,-0.0742192 ,
  0.09229708, 0.65781948, 0.19938736,-0.67767391,-0.2612973 ]

qacc:
[ 1.24822703e+01,-4.30052596e-01, 6.54908085e-01, 1.13632507e+00,
 -2.53976305e-02,-3.20837978e+00, 1.16310327e+01,-1.81202103e+01,
 -2.96501458e+00, 8.29227609e-01,-1.74615766e+00,-1.30196174e+00,
 -3.90189053e-02, 6.93370505e-02, 4.41494209e+00,-1.50670153e+01,
 -6.45577701e+00, 5.30746394e-01, 1.18274309e+00, 1.27456726e+02,
 -1.70376227e+02, 1.31546087e+01]

qfrc_actuator:
[ 1.59131229e-04, 8.29670588e-04, 2.02626752e-04, 1.90477537e-05,
 -7.12148266e-06, 3.49088043e-02, 1.08523284e-02, 1.74370879e-03,
 -1.00055926e-04, 8.07852126e-04, 2.25361420e-04, 2.57556631e-05,
  0.00000000e+00,-1.56514550e-03, 0.00000000e+00,-9.66263190e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005767107635270573
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62547515e-15,  9.62547515e-15,  1.00000000e+00,  9.26497719e-29,
        1.00000000e+00, -9.62547515e-15, -1.00000000e+00,  0.00000000e+00,
       -9.62547515e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00586672, -0.08614095,  0.061711  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.48715699e-05,-2.23165780e-05, 1.90345352e-06, 4.36325375e-06,
 -7.37261408e-06,-7.10689147e-06, 3.44166559e-05,-3.51113673e-05,
 -1.77972005e-05, 1.15365675e-05,-1.79250426e-05,-1.03460006e-05,
  3.32006926e-03, 4.09008514e-06, 1.79387581e-07,-7.28335654e-05,
 -3.85396353e-05,-5.23793185e-05,-4.90452241e+00,-1.71595023e-03,
  2.74469656e-03,-7.63037217e-03]


--- Step 2849 ---
qpos:
[ 0.0187299 , 0.03001267,-0.00944881,-0.02532446,-0.00355026, 1.34083742,
 -0.03007846, 0.94381312, 0.0115305 , 0.02722728,-0.00833646, 0.02643783,
  1.39624232, 0.00769149, 1.36890616, 0.0440804 ,-0.09679681,-0.07418756,
  0.09229155, 0.65780669, 0.19916721,-0.67788057,-0.26096112]

qacc:
[ 1.48048444e+00,-7.03704366e-02, 8.53770688e-01,-1.47576917e+00,
 -1.28681720e-01,-6.22880882e-01,-2.11078220e+00, 2.14603888e+01,
 -1.69715110e+00, 1.08341377e+00,-5.98306448e+00, 1.55749562e+01,
 -4.23355774e-02, 1.90575482e-01,-1.35872473e+01, 4.61929035e+01,
 -5.57759555e+00, 4.78082391e-01,-3.08117357e-01, 1.10170174e+02,
 -1.46953500e+02, 1.08189505e+01]

qfrc_actuator:
[ 1.65857130e-04, 8.84446578e-04, 2.26062777e-04, 2.19468449e-05,
 -3.99937440e-05, 3.48884130e-02, 1.09099008e-02, 1.83029531e-03,
 -1.09775861e-04, 8.31403517e-04, 2.38739849e-04, 5.67623163e-05,
  0.00000000e+00,-1.54811672e-03, 0.00000000e+00,-7.41135898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.46759191,   4.33841537,   7.46759191,
        25.76247235, -29.47868752,   4.33841537, -29.47868752,
        59.37719638,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005805861273347826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56122591e-15,  1.91224518e-14,  1.00000000e+00,  1.82834082e-28,
        1.00000000e+00, -1.91224518e-14, -1.00000000e+00,  0.00000000e+00,
       -9.56122591e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00595396, -0.08611729,  0.06170932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.90175754e-06, 4.29231111e-05, 1.92017093e-05, 2.08753384e-06,
 -3.72293536e-05,-1.86461961e-05, 5.90700869e-05, 8.65658001e-05,
 -1.02374476e-05, 2.58665089e-05, 1.31977852e-05, 3.06817267e-05,
  3.31474286e-03, 2.09804107e-05,-1.00382037e-05, 2.20629636e-04,
 -3.86178559e-05,-9.72374312e-05,-4.90482491e+00,-1.90011414e-03,
  2.60941283e-03,-7.62614322e-03]


--- Step 2850 ---
qpos:
[ 0.01873086, 0.03001265,-0.00944802,-0.02532315,-0.00355096, 1.34083687,
 -0.03007855, 0.9438155 , 0.01152929, 0.02722689,-0.00833587, 0.02643845,
  1.39624216, 0.00769273, 1.36899314, 0.04408532,-0.09682473,-0.0741542 ,
  0.09227968, 0.65758783, 0.19899419,-0.67830778,-0.26053428]

qacc:
[-8.35018202e+00, 3.84700630e+00,-1.18762357e+01, 1.27639406e+01,
 -1.43192513e-01, 9.86595219e-02,-3.03383468e+00, 1.50287867e+01,
 -3.89397991e+00, 2.01754554e+00,-1.00898858e+01, 2.29701716e+01,
 -2.10340697e-02,-1.39047900e-01,-1.03082265e+01, 3.56733969e+01,
 -4.83391182e+00, 4.31363787e-01,-1.58684663e+00, 9.55310899e+01,
 -1.27207068e+02, 8.92069100e+00]

qfrc_actuator:
[ 1.15761085e-04, 9.53035820e-04, 1.86094227e-04, 2.31748672e-05,
 -5.93904394e-05, 3.48587766e-02, 1.09262689e-02, 1.88071541e-03,
 -1.32939004e-04, 8.27892798e-04, 2.28667245e-04, 9.28252805e-05,
  0.00000000e+00,-1.57415025e-03, 0.00000000e+00,-5.73705888e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.45527045,   4.35955495,   7.45527045,
        26.83456878, -31.12073196,   4.35955495, -31.12073196,
        61.85589546,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005767068799615589
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62553997e-15, -4.81276998e-15,  1.00000000e+00, -4.63255098e-29,
        1.00000000e+00,  4.81276998e-15, -1.00000000e+00,  0.00000000e+00,
       -9.62553997e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00586619, -0.08611645,  0.06171095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98214075e-05, 9.66567491e-05,-2.86797944e-05, 3.76554319e-06,
 -4.13987416e-05,-2.57916609e-05, 2.19840259e-05, 5.35998383e-05,
 -2.34565765e-05, 1.49990694e-05,-2.04490291e-06, 3.82252945e-05,
  3.32760679e-03,-2.29340137e-05, 1.93586087e-05, 1.78313415e-04,
  6.95856559e-05,-1.58158408e-04,-4.90481260e+00,-2.07276151e-03,
  2.47427505e-03,-7.62170369e-03]


--- Step 2851 ---
qpos:
[ 0.01873121, 0.03001302,-0.00944784,-0.02532145,-0.00355195, 1.34083608,
 -0.03007836, 0.94381708, 0.01152747, 0.02722687,-0.00833605, 0.02643915,
  1.39624182, 0.00769364, 1.36908048, 0.04408988,-0.09682767,-0.07412494,
  0.09227154, 0.65762972, 0.19878157,-0.67844039,-0.26024541]

qacc:
[-5.23787644e+00, 3.04091216e+00,-1.17516287e+01, 1.93438904e+01,
 -1.23204104e-01,-2.42062441e+00, 9.15462353e+00,-1.70132808e+01,
 -5.26551570e+00, 2.83801670e+00,-9.77369061e+00, 1.23068369e+01,
  2.42375924e-03,-2.46617618e-01, 1.60527061e+00,-4.87320944e+00,
  6.24389270e+00,-1.02495202e+00, 9.34579856e-01,-1.24132593e+02,
  1.66409490e+02,-2.72785468e+01]

qfrc_actuator:
[ 8.59013931e-05, 9.40360470e-04, 1.44587848e-04, 4.11365405e-05,
 -7.05458691e-05, 3.48414247e-02, 1.09358495e-02, 1.83837602e-03,
 -1.63831941e-04, 8.43630370e-04, 1.86957694e-04, 9.60208286e-05,
  0.00000000e+00,-1.59021852e-03, 0.00000000e+00,-6.01476933e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005751531873213041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93030839e-14,  1.08579847e-14,  1.00000000e+00, -2.09592590e-28,
        1.00000000e+00, -1.08579847e-14, -1.00000000e+00,  0.00000000e+00,
        1.93030839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18926875, -0.0625585 ,  0.06171154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12776983e-05, 3.55802290e-05,-2.49563214e-05, 2.11783201e-05,
 -3.56214919e-05,-2.57024400e-05, 8.61297913e-06,-4.12246838e-05,
 -3.15765752e-05, 2.53347314e-05,-3.75444993e-05, 4.51041578e-06,
  3.34878578e-03,-3.48602112e-05, 2.61178929e-05,-1.59392003e-05,
  2.43531555e-04,-2.26196041e-04,-4.90459723e+00,-2.23139833e-03,
  2.34234077e-03,-7.61694110e-03]


--- Step 2852 ---
qpos:
[ 0.0187312 , 0.03001329,-0.00944766,-0.02531917,-0.00355316, 1.3408354 ,
 -0.03007821, 0.94381848, 0.01152529, 0.02722704,-0.00833638, 0.02643954,
  1.39624166, 0.00769457, 1.36916806, 0.0440931 ,-0.09680902,-0.0740992 ,
  0.09226131, 0.6578969 , 0.19853483,-0.67831875,-0.26007549]

qacc:
[-3.09482552e+00, 1.07506557e+00,-6.43587480e+00, 1.64111317e+01,
 -9.40587041e-02,-8.03998398e-02, 8.24529085e-01,-2.97190053e+00,
 -3.05131078e+00, 8.02637222e-03, 1.71297501e+00,-7.29719016e+00,
  5.03049784e-03, 4.73722020e-02, 4.39059876e+00,-1.48441344e+01,
  5.39815369e+00,-8.80234021e-01,-5.23734916e-01,-1.07050916e+02,
  1.43760619e+02,-2.34936813e+01]

qfrc_actuator:
[ 6.82102381e-05, 9.14613418e-04, 1.37720426e-04, 6.87428396e-05,
 -7.66683335e-05, 3.48669780e-02, 1.09413557e-02, 1.83056892e-03,
 -1.81270162e-04, 8.52854322e-04, 1.80215504e-04, 7.98461337e-05,
  0.00000000e+00,-1.56451914e-03, 0.00000000e+00,-6.73005145e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005783285014963384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91971003e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.91971003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.189192  , -0.06256885,  0.06171013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85917208e-05,-1.01301644e-05,-1.86934440e-06, 2.86747956e-05,
 -2.71740527e-05, 1.17867708e-05, 2.52458226e-07,-9.28137672e-06,
 -1.83527675e-05, 1.58135191e-05,-5.97713813e-06,-1.63004829e-05,
  3.35715827e-03, 7.49348312e-06, 6.67359077e-06,-6.98843349e-05,
  3.02717136e-05,-1.19988502e-04,-4.90486263e+00,-2.01851397e-03,
  2.50300679e-03,-7.60639249e-03]


--- Step 2853 ---
qpos:
[ 0.01873132, 0.03001348,-0.00944726,-0.0253166 ,-0.00355439, 1.34083481,
 -0.03007829, 0.94381978, 0.01152291, 0.02722688,-0.00833601, 0.02643938,
  1.39624172, 0.00769565, 1.36925569, 0.04409512,-0.09677164,-0.07407649,
  0.09224398, 0.65835916, 0.19825849,-0.6779767 ,-0.26000843]

qacc:
[ 1.14326818e+00,-1.08225225e-01,-1.02692655e+00, 5.85286372e+00,
 -4.74863170e-03, 5.86666886e-01,-1.58431181e+00, 2.46172312e-01,
 -1.61433665e+00,-3.49877997e+00, 1.41368227e+01,-2.43432122e+01,
 -6.90341678e-03, 1.60022083e-01, 3.74593028e+00,-1.29576687e+01,
  4.68104343e+00,-7.58308215e-01,-1.77416208e+00,-9.26431388e+01,
  1.24610515e+02,-2.03092496e+01]

qfrc_actuator:
[ 7.55691977e-05, 9.16873933e-04, 1.51287591e-04, 8.40522583e-05,
 -6.19709106e-05, 3.48647635e-02, 1.09268672e-02, 1.82544014e-03,
 -1.90647063e-04, 8.22711522e-04, 2.11905519e-04, 5.24340066e-05,
  0.00000000e+00,-1.54947885e-03, 0.00000000e+00,-7.34163899e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00573867593441834
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93463272e-14,  3.62743635e-15,  1.00000000e+00, -7.01775707e-29,
        1.00000000e+00, -3.62743635e-15, -1.00000000e+00,  0.00000000e+00,
        1.93463272e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18929226, -0.06255423,  0.06171198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81110036e-06,-2.58589119e-06, 1.22272471e-05, 1.53641152e-05,
 -1.36087007e-06, 4.08163299e-06,-1.24236880e-05,-4.98099197e-06,
 -9.90762345e-06,-2.32490711e-05, 3.36560120e-05,-2.72586239e-05,
  3.34859421e-03, 2.18112406e-05,-6.96169111e-06,-6.47383564e-05,
 -3.70952534e-05,-6.06051593e-05,-4.90482688e+00,-1.87095441e-03,
  2.62228971e-03,-7.59813281e-03]


--- Step 2854 ---
qpos:
[ 0.01873153, 0.03001333,-0.00944658,-0.02531384,-0.00355525, 1.34083401,
 -0.03007814, 0.94382101, 0.01152045, 0.0272263 ,-0.00833515, 0.02643857,
  1.39624188, 0.00769675, 1.36934332, 0.04409605,-0.0967604 ,-0.07405154,
  0.09223209, 0.65854289, 0.19804225,-0.67793506,-0.25981646]

qacc:
[ 7.63476834e-01,-8.65767423e-01, 1.64822667e+00, 1.41156303e+00,
  1.52384636e-01,-9.98882060e-01, 3.08098921e+00,-3.35228406e+00,
 -7.81541192e-01,-3.26451644e+00, 1.35655164e+01,-2.52193853e+01,
 -1.75386294e-02, 5.16393427e-02, 3.30406318e+00,-1.15588213e+01,
 -6.53351856e+00, 5.60413778e-01, 1.35796123e+00, 1.28787965e+02,
 -1.73115176e+02, 1.43186928e+01]

qfrc_actuator:
[ 7.98567566e-05, 8.82703992e-04, 1.59141917e-04, 9.20318593e-05,
 -1.71511760e-05, 3.48458662e-02, 1.09360987e-02, 1.82189769e-03,
 -1.95208849e-04, 7.87128796e-04, 2.30349146e-04, 1.86198968e-05,
  0.00000000e+00,-1.55873393e-03, 0.00000000e+00,-7.88695535e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005853019201474401
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48419086e-15,  9.48419086e-15,  1.00000000e+00,  8.99498763e-29,
        1.00000000e+00, -9.48419086e-15, -1.00000000e+00,  0.00000000e+00,
       -9.48419086e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00607085, -0.08604081,  0.06170695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48250979e-06,-3.24477457e-05, 9.34486892e-06, 8.58378223e-06,
  4.40156982e-05,-1.92135658e-05, 8.47261411e-06,-3.89870108e-06,
 -4.86038212e-06,-4.28089643e-05, 1.68393025e-05,-3.41765668e-05,
  3.33707018e-03, 4.75850514e-06,-1.18149925e-05,-5.93824993e-05,
 -7.68651008e-06,-3.31790226e-05,-4.90459731e+00,-1.77010402e-03,
  2.71323201e-03,-7.59160437e-03]


--- Step 2855 ---
qpos:
[ 0.0187311 , 0.03001295,-0.00944606,-0.02531132,-0.00355568, 1.34083323,
 -0.03007736, 0.94382146, 0.01151863, 0.02722527,-0.00833429, 0.02643741,
  1.39624217, 0.00769756, 1.3694312 , 0.04409362,-0.09677171,-0.07402459,
  0.09221953, 0.65848634, 0.19787894,-0.67815228,-0.25951715]

qacc:
[-5.48915337e+00,-3.35936543e-01, 1.84175084e+00,-5.78126915e+00,
  1.83629582e-01,-3.03343743e+00, 1.15306557e+01,-1.91028709e+01,
  5.58907036e+00,-1.33964776e+00, 5.40616178e+00,-1.12622248e+01,
 -2.23205136e-02,-1.14435841e-01, 1.05381581e+01,-3.63069991e+01,
 -5.63873008e+00, 5.01781358e-01,-1.65745270e-01, 1.11236142e+02,
 -1.49177057e+02, 1.18164400e+01]

qfrc_actuator:
[ 4.67883088e-05, 8.62461186e-04, 1.45652624e-04, 7.78483177e-05,
  9.86990139e-06, 3.48704725e-02, 1.09769473e-02, 1.78381588e-03,
 -1.61397535e-04, 7.48507412e-04, 2.23019571e-04,-9.60336739e-07,
  0.00000000e+00,-1.58248674e-03, 0.00000000e+00,-9.63149961e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.5263696 ,   4.23562717,   7.5263696 ,
        25.31005997, -29.6278204 ,   4.23562717, -29.6278204 ,
        61.28262301,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00589284786154734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42008899e-15,  4.71004449e-15,  1.00000000e+00,  4.43690382e-29,
        1.00000000e+00, -4.71004449e-15, -1.00000000e+00,  0.00000000e+00,
       -9.42008899e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0061633 , -0.08601675,  0.06170517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29506459e-05,-3.60975299e-05,-1.87557474e-05,-1.50898932e-05,
  5.30318489e-05, 1.55261313e-05, 3.79422347e-05,-3.85005910e-05,
  3.36537109e-05,-6.05436240e-05,-1.52847376e-05,-2.14963823e-05,
  3.33213468e-03,-1.96959467e-05,-1.33855575e-05,-1.79601838e-04,
 -2.29022172e-05,-6.46657174e-05,-4.90488339e+00,-1.91798532e-03,
  2.60483882e-03,-7.58810610e-03]


--- Step 2856 ---
qpos:
[ 0.01873027, 0.03001276,-0.0094456 ,-0.02530976,-0.00355601, 1.34083283,
 -0.03007654, 0.94382179, 0.01151758, 0.02722415,-0.00833401, 0.02643706,
  1.39624233, 0.00769819, 1.36951886, 0.04409044,-0.09680254,-0.07399583,
  0.09220107, 0.65822158, 0.19776227,-0.67859306,-0.25912524]

qacc:
[-3.38117918e+00,-1.54565471e+00, 9.85777568e+00,-2.62236693e+01,
  4.13527248e-02, 2.09740276e-01, 1.58421998e-01,-1.72664359e+00,
  6.50613448e+00, 3.14808811e+00,-1.48334227e+01, 2.97993978e+01,
 -2.67367253e-02,-1.11990182e-01, 1.90678022e+00,-7.16113494e+00,
 -4.88066535e+00, 4.50093863e-01,-1.47327542e+00, 9.63667091e+01,
 -1.28989562e+02, 9.77837851e+00]

qfrc_actuator:
[ 2.75034740e-05, 9.03860947e-04, 1.55207001e-04, 3.29801118e-05,
 -9.51125310e-06, 3.49032934e-02, 1.09830104e-02, 1.77901033e-03,
 -1.23025198e-04, 7.61522552e-04, 2.00526576e-04, 4.12295983e-05,
  0.00000000e+00,-1.59689459e-03, 0.00000000e+00,-9.93825173e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.52242196,   4.24263416,   7.52242196,
        26.35975917, -31.42454775,   4.24263416, -31.42454775,
        64.35380216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0058535165793179855
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48338498e-15,  9.48338498e-15,  1.00000000e+00,  8.99345908e-29,
        1.00000000e+00, -9.48338498e-15, -1.00000000e+00,  0.00000000e+00,
       -9.48338498e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00607745, -0.08601602,  0.06170677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02559914e-05, 1.66865886e-05,-7.38466200e-07,-4.73609157e-05,
  1.19590593e-05, 4.76815547e-05, 1.22895837e-05,-4.11839636e-06,
  3.93355586e-05,-2.48840270e-05,-3.76242456e-05, 3.86493841e-05,
  3.32589663e-03,-1.99680293e-05,-2.79730596e-05,-4.28247525e-05,
  7.62466188e-05,-1.14882310e-04,-4.90484845e+00,-2.06127717e-03,
  2.49131688e-03,-7.58448520e-03]


--- Step 2857 ---
qpos:
[ 0.01872991, 0.03001286,-0.0094451 ,-0.0253091 ,-0.00355638, 1.34083307,
 -0.0300764 , 0.94382311, 0.011517  , 0.0272235 ,-0.00833464, 0.02643785,
  1.39624262, 0.00769854, 1.36960672, 0.04408387,-0.09680769,-0.07397118,
  0.09218771, 0.65822599, 0.19760379,-0.67873063,-0.25887452]

qacc:
[ 3.97797303e+00,-1.58361512e+00, 1.00388644e+01,-2.60832378e+01,
 -1.57003374e-02, 4.34800110e+00,-1.52002841e+01, 2.42542249e+01,
  3.96170586e+00, 5.51179659e+00,-2.35858435e+01, 4.45263096e+01,
 -2.42402990e-02,-1.11151370e-01, 1.05971158e+01,-3.66245841e+01,
  6.42154821e+00,-1.02573053e+00, 1.27233581e+00,-1.27572164e+02,
  1.71737161e+02,-2.73902481e+01]

qfrc_actuator:
[ 5.20037906e-05, 9.28660921e-04, 1.60782434e-04,-1.17549298e-05,
 -2.10659856e-05, 3.49406706e-02, 1.09507966e-02, 1.82932189e-03,
 -1.00040474e-04, 8.23098132e-04, 1.69517430e-04, 1.01708223e-04,
  0.00000000e+00,-1.60568041e-03, 0.00000000e+00,-1.17028949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005822958917840605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90663036e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90663036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18907337, -0.06258453,  0.06170795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39177133e-05, 3.19440246e-05, 7.28712398e-06,-4.49715589e-05,
 -4.48578401e-06, 6.60371170e-05,-2.16087498e-05, 5.20106406e-05,
  2.41244000e-05, 4.15933926e-05,-3.94381305e-05, 5.88634400e-05,
  3.33133897e-03,-1.95125779e-05,-1.83720584e-05,-1.82596977e-04,
  2.45000519e-04,-1.74246298e-04,-4.90460778e+00,-2.19588195e-03,
  2.37690676e-03,-7.58060231e-03]


--- Step 2858 ---
qpos:
[ 0.01873019, 0.03001308,-0.00944449,-0.02530898,-0.00355668, 1.34083361,
 -0.03007676, 0.94382401, 0.0115167 , 0.02722331,-0.00833539, 0.02643861,
  1.39624316, 0.00769845, 1.36969494, 0.04407153,-0.09679066,-0.07395005,
  0.09217339, 0.65846271, 0.19740929,-0.67860684,-0.2587454 ]

qacc:
[ 5.50278736e+00,-1.27356887e+00, 6.94460579e+00,-1.62631916e+01,
  2.87731093e-02, 1.02705135e+00,-2.02466615e+00,-3.30291433e+00,
  2.38224546e+00, 9.00607784e-01,-2.24094903e+00, 1.69248239e+00,
 -3.36936815e-02,-1.63941929e-01, 1.79728607e+01,-6.20985884e+01,
  5.54432777e+00,-8.81299862e-01,-2.40642880e-01,-1.09900784e+02,
  1.48183787e+02,-2.35489566e+01]

qfrc_actuator:
[ 8.43223217e-05, 9.25573039e-04, 1.63914047e-04,-3.83086893e-05,
 -1.00768112e-05, 3.49271086e-02, 1.09140613e-02, 1.80512905e-03,
 -8.62980952e-05, 8.60014683e-04, 1.69457792e-04, 1.01486719e-04,
  0.00000000e+00,-1.62867630e-03, 0.00000000e+00,-1.46677562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005865571783305892
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78555771e-14,  7.09792071e-15,  1.00000000e+00, -2.68695885e-28,
        1.00000000e+00, -7.09792071e-15, -1.00000000e+00,  0.00000000e+00,
        3.78555771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18896942, -0.06259919,  0.06170604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30272121e-05, 1.43529660e-05, 9.06166009e-06,-2.58134353e-05,
  8.34040977e-06, 2.03052404e-05,-2.47497176e-05,-2.16333851e-05,
  1.44598745e-05, 5.45874159e-05, 5.72277029e-06, 1.34189222e-06,
  3.32513281e-03,-2.84842036e-05,-3.03348947e-05,-3.09367271e-04,
  3.55541891e-05,-8.29344522e-05,-4.90490170e+00,-2.01196279e-03,
  2.51462955e-03,-7.57174950e-03]


--- Step 2859 ---
qpos:
[ 0.01873017, 0.03001357,-0.00944366,-0.02530885,-0.00355674, 1.34083445,
 -0.03007785, 0.94382428, 0.01151657, 0.02722348,-0.00833583, 0.026439  ,
  1.39624325, 0.00769832, 1.36978223, 0.04406207,-0.09675443,-0.07393196,
  0.0921529 , 0.65890035, 0.1971836 ,-0.67825679,-0.25872126]

qacc:
[-2.60664458e+00,-2.42505929e-01, 1.41685949e+00,-2.02371498e+00,
  1.01473649e-01, 1.28437890e+00,-2.40906298e+00,-5.41945678e+00,
  1.43224554e+00,-1.17817834e+00, 6.46650973e+00,-1.36921020e+01,
 -3.96282728e-02,-9.98501618e-02,-1.00714625e+01, 3.32521641e+01,
  4.80050287e+00,-7.59468149e-01,-1.53907933e+00,-9.49929937e+01,
  1.28263796e+02,-2.03176542e+01]

qfrc_actuator:
[ 6.77112003e-05, 9.59073279e-04, 1.83230674e-04,-3.62248745e-05,
  1.43484478e-05, 3.49363358e-02, 1.08747154e-02, 1.77275261e-03,
 -7.81006258e-05, 8.81966872e-04, 1.87551437e-04, 8.33097994e-05,
  0.00000000e+00,-1.64217658e-03, 0.00000000e+00,-1.29897104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005828415976273295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90484521e-14,  3.57158477e-15,  1.00000000e+00, -6.80331613e-29,
        1.00000000e+00, -3.57158477e-15, -1.00000000e+00,  0.00000000e+00,
        1.90484521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18905039, -0.06258794,  0.06170753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56443750e-05, 4.22880380e-05, 2.24923939e-05, 2.50561211e-06,
  2.93549092e-05, 1.49664288e-05,-3.88236904e-05,-3.29920264e-05,
  8.63839115e-06, 5.37355381e-05, 3.01292059e-05,-1.56137624e-05,
  3.31288066e-03,-2.00998356e-05,-4.97513225e-05, 1.46378809e-04,
 -2.20097136e-05,-3.72482057e-05,-4.90487413e+00,-1.89073267e-03,
  2.61342721e-03,-7.56517300e-03]


--- Step 2860 ---
qpos:
[ 0.01872995, 0.03001429,-0.00944289,-0.02530833,-0.00355639, 1.34083559,
 -0.03007893, 0.94382516, 0.01151585, 0.02722413,-0.0083361 , 0.02643952,
  1.39624324, 0.00769835, 1.36986926, 0.04405426,-0.09674453,-0.07391153,
  0.0921384 , 0.6590568 , 0.19701751,-0.67821074,-0.25856997]

qacc:
[-1.70943038e+00, 1.26675666e+00,-5.73114309e+00, 1.24511591e+01,
  1.71739675e-01, 1.41482403e+00,-5.39112526e+00, 1.15366342e+01,
 -5.03960115e+00, 4.36075164e-01,-1.14391844e+00, 2.61752432e+00,
 -2.10019214e-02, 8.87724043e-02,-5.40161958e+00, 1.83245190e+01,
 -6.58345414e+00, 5.82682124e-01, 1.49489382e+00, 1.29806851e+02,
 -1.75265269e+02, 1.52695795e+01]

qfrc_actuator:
[ 5.79363057e-05, 9.61057208e-04, 1.76605535e-04,-1.72707131e-05,
  4.66361526e-05, 3.49768583e-02, 1.08874851e-02, 1.80685510e-03,
 -1.08734499e-04, 9.12604306e-04, 1.98391596e-04, 9.02233399e-05,
  0.00000000e+00,-1.61469297e-03, 0.00000000e+00,-1.21398394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005939475328315985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86922744e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86922744e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00628974, -0.08594037,  0.06170263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02194450e-05, 3.03504534e-05, 4.95054176e-06, 2.15891061e-05,
  4.96359129e-05, 4.02125642e-05, 1.03124147e-05, 3.26488368e-05,
 -3.03625857e-05, 6.62417918e-05, 2.51125054e-05, 9.95427972e-06,
  3.33480274e-03, 9.58562613e-06,-5.72798964e-06, 8.70144964e-05,
  2.03900892e-05,-2.22720588e-05,-4.90464016e+00,-1.81358872e-03,
  2.68621597e-03,-7.56030391e-03]


--- Step 2861 ---
qpos:
[ 0.01872995, 0.03001439,-0.00944176,-0.02530785,-0.00355594, 1.34083679,
 -0.03007973, 0.94382541, 0.01151442, 0.02722466,-0.00833569, 0.02644015,
  1.39624319, 0.0076986 , 1.36995615, 0.04404818,-0.09675734,-0.07388904,
  0.09212368, 0.65897086, 0.19690394,-0.67842646,-0.25830948]

qacc:
[ 1.99169970e+00,-1.87644872e+00, 5.66404637e+00,-6.44616321e+00,
  4.44061329e-02,-1.75910056e+00, 7.14094989e+00,-1.35345206e+01,
 -6.00337812e+00,-1.82699184e+00, 5.81966547e+00,-4.82666676e+00,
 -1.66188877e-02, 1.44798438e-01,-5.44936927e+00, 1.87578746e+01,
 -5.67740425e+00, 5.19367908e-01,-5.50128889e-02, 1.12048465e+02,
 -1.50908939e+02, 1.26265373e+01]

qfrc_actuator:
[ 7.00319749e-05, 8.73058838e-04, 1.72352277e-04,-2.40951491e-05,
  3.01214717e-05, 3.49650316e-02, 1.08955762e-02, 1.77334309e-03,
 -1.44224233e-04, 8.77187993e-04, 2.22662792e-04, 9.40936338e-05,
  0.00000000e+00,-1.59830558e-03, 0.00000000e+00,-1.12535686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.5604564 ,   4.17447912,   7.5604564 ,
        24.90931647, -29.47216808,   4.17447912, -29.47216808,
        62.0138115 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005979351871869008
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.64190371e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.64190371e-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([-0.00638327, -0.08591637,  0.06170083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18041977e-05,-6.91191468e-05, 3.35374771e-06,-4.93733844e-06,
  1.28193101e-05, 1.34135133e-05, 1.80894291e-05,-3.12428399e-05,
 -3.63552612e-05, 7.20636227e-06, 4.13869708e-05, 7.77082079e-06,
  3.33966089e-03, 1.82390272e-05, 5.86970762e-06, 9.25035539e-05,
 -1.35473503e-05,-3.97051874e-05,-4.90492320e+00,-1.92644416e-03,
  2.60385427e-03,-7.55745633e-03]


--- Step 2862 ---
qpos:
[ 0.01872976, 0.03001393,-0.00944064,-0.02530744,-0.00355566, 1.34083781,
 -0.03008087, 0.94382566, 0.01151326, 0.0272243 ,-0.00833483, 0.02644128,
  1.39624265, 0.00769884, 1.37004263, 0.04404657,-0.0967898 ,-0.07386468,
  0.09210342, 0.65867507, 0.19683659,-0.67886803,-0.25795486]

qacc:
[-1.70519591e+00,-8.91202100e-01, 2.38166681e+00,-3.13535310e+00,
 -7.03778175e-02, 6.74789403e-01,-2.50154256e+00, 2.27977330e+00,
  2.37922208e+00,-1.37070984e+00, 1.03923959e+00, 7.67155286e+00,
 -3.87777899e-03,-1.30264264e-01,-1.40964746e+01, 4.84219808e+01,
 -4.90964544e+00, 4.63802022e-01,-1.38543435e+00, 9.69999178e+01,
 -1.30364747e+02, 1.04710229e+01]

qfrc_actuator:
[ 5.93958597e-05, 8.38343184e-04, 1.69142301e-04,-2.83577924e-05,
  2.21675211e-06, 3.49219069e-02, 1.08650722e-02, 1.77126651e-03,
 -1.29017707e-04, 7.67031172e-04, 2.18892624e-04, 1.13845687e-04,
  0.00000000e+00,-1.62421756e-03, 0.00000000e+00,-8.93262973e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.5527131 ,   4.18847247,   7.5527131 ,
        26.05421714, -31.40812101,   4.18847247, -31.40812101,
        65.27193387,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00593880861060022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34718643e-15,  1.40207796e-14,  1.00000000e+00, -1.31054841e-28,
        1.00000000e+00, -1.40207796e-14, -1.00000000e+00,  0.00000000e+00,
        9.34718643e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00629594, -0.08591609,  0.06170245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03177503e-05,-7.28988259e-05,-1.72590306e-05,-7.20635523e-06,
 -2.03285112e-05,-3.31113272e-05,-2.67378494e-05,-1.86642431e-06,
  1.41447498e-05,-9.72875376e-05, 3.07247120e-06, 2.16418518e-05,
  3.34143610e-03,-1.91256636e-05, 1.13336983e-05, 2.37645321e-04,
  7.26030575e-05,-7.84959318e-05,-4.90487891e+00,-2.04120942e-03,
  2.51148404e-03,-7.55457248e-03]


--- Step 2863 ---
qpos:
[ 0.01872841, 0.03001367,-0.0094402 ,-0.02530678,-0.00355546, 1.34083823,
 -0.0300814 , 0.94382759, 0.01151265, 0.02722347,-0.00833408, 0.02644229,
  1.39624186, 0.00769901, 1.37012917, 0.04404741,-0.09679614,-0.0738444 ,
  0.09208916, 0.65865389, 0.19672585,-0.67900098,-0.2577434 ]

qacc:
[-9.98215316e+00, 2.71229953e+00,-1.02657830e+01, 1.53428340e+01,
 -3.80158458e-02, 4.63879365e-01,-5.93147644e+00, 2.50904264e+01,
  4.57527541e+00,-6.05463152e-01, 1.78830719e+00,-3.52237741e+00,
  2.36114139e-02,-1.39268821e-01,-7.36498589e+00, 2.58484008e+01,
  6.52591747e+00,-1.01796232e+00, 1.50269710e+00,-1.29720464e+02,
  1.75174323e+02,-2.73793316e+01]

qfrc_actuator:
[-4.69249759e-08, 8.89048767e-04, 1.49010881e-04,-1.32877334e-05,
  3.21247256e-06, 3.48957397e-02, 1.09006895e-02, 1.85868517e-03,
 -1.01844862e-04, 7.54871802e-04, 2.16023797e-04, 1.07186376e-04,
  0.00000000e+00,-1.62210103e-03, 0.00000000e+00,-7.73788189e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005933805461818771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.74202704e-14, -2.33876690e-15,  1.00000000e+00,  8.75172898e-29,
        1.00000000e+00,  2.33876690e-15, -1.00000000e+00,  0.00000000e+00,
        3.74202704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18877876, -0.06262758,  0.06170253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.97676180e-05, 6.06797327e-06,-3.75704831e-05, 1.12095426e-05,
 -1.10186654e-05,-4.97765045e-05, 2.60431729e-05, 8.55963051e-05,
  2.75520373e-05,-6.49993995e-05,-2.18478197e-05,-1.03054366e-05,
  3.36562280e-03,-1.63624583e-05, 2.96981607e-05, 1.33763410e-04,
  2.32194608e-04,-1.28479249e-04,-4.90462567e+00,-2.15232446e-03,
  2.41441175e-03,-7.55148892e-03]


--- Step 2864 ---
qpos:
[ 0.01872601, 0.03001355,-0.00944005,-0.02530632,-0.00355546, 1.34083849,
 -0.03008134, 0.94383017, 0.01151236, 0.02722262,-0.00833305, 0.02644312,
  1.39624125, 0.00769937, 1.37021597, 0.04404836,-0.09677998,-0.07382762,
  0.09207471, 0.65886952, 0.19657778,-0.67886817,-0.25765509]

qacc:
[-8.99493509e+00, 6.25017829e-01,-1.10572557e+00,-1.89582068e+00,
 -8.19114179e-02,-7.01534321e-01, 7.12167304e-01, 6.98590170e+00,
  2.82878626e+00,-1.17834640e+00, 4.89598873e+00,-8.34528183e+00,
  3.14055214e-02, 1.37254468e-01, 5.01181777e-02, 4.15639053e-01,
  5.62834820e+00,-8.75083102e-01,-5.10484206e-02,-1.11648459e+02,
  1.50986072e+02,-2.35059902e+01]

qfrc_actuator:
[-5.22277753e-05, 9.01705332e-04, 1.37173019e-04,-2.24040716e-05,
 -1.39664753e-05, 3.49157362e-02, 1.09396622e-02, 1.89159778e-03,
 -8.56150025e-05, 8.01451618e-04, 2.49572991e-04, 1.02867534e-04,
  0.00000000e+00,-1.58534532e-03, 0.00000000e+00,-7.74922816e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0059795743328175666
  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([-0.18866741, -0.0626437 ,  0.06170048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.39189746e-05, 8.75653677e-06,-1.48236832e-05,-9.93719910e-06,
 -2.36925668e-05, 1.28033347e-07, 3.47121579e-05, 3.41672897e-05,
  1.70135880e-05, 5.30389541e-06, 1.70720499e-05,-8.06416553e-06,
  3.37863825e-03, 2.42635251e-05, 2.54464560e-05, 9.43880471e-06,
  3.37041210e-05,-5.31015093e-05,-4.90493209e+00,-1.99940068e-03,
  2.52832617e-03,-7.54431205e-03]


--- Step 2865 ---
qpos:
[ 0.01872335, 0.03001346,-0.00944031,-0.02530595,-0.00355566, 1.34083913,
 -0.03008155, 0.94383244, 0.01151227, 0.02722188,-0.00833202, 0.02644424,
  1.39624068, 0.00769993, 1.37030273, 0.04405067,-0.09674434,-0.07381385,
  0.09205471, 0.65928968, 0.19639738,-0.67850557,-0.25767299]

qacc:
[-2.26738425e+00, 9.77158180e-01,-3.03569848e+00, 2.08219406e+00,
 -8.37993579e-02, 6.80465884e-01,-9.70915517e-01,-3.08627406e+00,
  1.68052618e+00, 7.33642829e-01,-3.61881661e+00, 8.52406019e+00,
  2.43677905e-02, 1.03052737e-01,-4.17452994e+00, 1.44879969e+01,
  4.86728185e+00,-7.54433837e-01,-1.38507995e+00,-9.64003839e+01,
  1.30525152e+02,-2.02479131e+01]

qfrc_actuator:
[-6.41955140e-05, 8.91504874e-04, 1.12432917e-04,-2.79431110e-05,
 -2.41578310e-05, 3.49454747e-02, 1.09271591e-02, 1.87441918e-03,
 -7.59600141e-05, 8.11996922e-04, 2.51367565e-04, 1.17801348e-04,
  0.00000000e+00,-1.58130955e-03, 0.00000000e+00,-7.05046289e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0059433971482235615
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86799401e-14,  9.33997003e-15,  1.00000000e+00, -1.74470080e-28,
        1.00000000e+00, -9.33997003e-15, -1.00000000e+00,  0.00000000e+00,
        1.86799401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18874563, -0.06263342,  0.06170191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35346702e-05,-8.80065079e-06,-2.50978332e-05,-5.86889370e-06,
 -2.41928405e-05, 3.76274942e-05,-7.52255692e-06,-1.53605318e-05,
  1.01531894e-05, 1.67140432e-05, 4.70895417e-06, 1.55918504e-05,
  3.36880725e-03, 1.83510824e-05, 9.99658383e-06, 7.30203870e-05,
 -1.03029417e-05,-2.14385241e-05,-4.90490455e+00,-1.90563205e-03,
  2.60628595e-03,-7.53937034e-03]


--- Step 2866 ---
qpos:
[ 0.01872091, 0.03001353,-0.0094407 ,-0.02530499,-0.00355602, 1.34083995,
 -0.03008184, 0.94383414, 0.01151229, 0.0272212 ,-0.0083312 , 0.0264452 ,
  1.39623992, 0.00770028, 1.37038951, 0.04405381,-0.09673513,-0.07379769,
  0.09204105, 0.65942696, 0.19627619,-0.6784493 ,-0.25756219]

qacc:
[ 1.89185342e+00, 1.77443997e+00,-8.52104496e+00, 1.87853617e+01,
 -6.99745029e-02,-5.07118532e-01, 3.10616946e+00,-9.32758404e+00,
  9.88953515e-01, 3.54926654e-01,-5.15015949e-01,-1.82438853e+00,
  3.10070986e-02,-2.07304455e-01,-2.46568782e+00, 8.66807561e+00,
 -6.60668910e+00, 5.98527891e-01, 1.58617451e+00, 1.30417929e+02,
 -1.76680473e+02, 1.59681038e+01]

qfrc_actuator:
[-5.24008391e-05, 9.20905284e-04, 1.15682889e-04, 4.14439777e-06,
 -3.00749795e-05, 3.49450850e-02, 1.09199043e-02, 1.84564504e-03,
 -7.02487993e-05, 8.00796872e-04, 2.34276460e-04, 1.08388605e-04,
  0.00000000e+00,-1.61473769e-03, 0.00000000e+00,-6.64856856e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00602027316390296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.22070307e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.22070307e-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([-0.00649945, -0.08584239,  0.06169848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13989397e-05, 1.90533196e-05,-1.85536976e-06, 3.07291096e-05,
 -2.02127367e-05, 1.84904797e-05,-1.19804018e-06,-2.82160977e-05,
  6.01244769e-06,-1.97286831e-07,-1.25255730e-05,-8.23370343e-06,
  3.36689757e-03,-2.50076000e-05, 1.08339275e-05, 4.50966413e-05,
  4.65727682e-05,-1.87742019e-05,-4.90466334e+00,-1.85270790e-03,
  2.66089904e-03,-7.53609191e-03]


--- Step 2867 ---
qpos:
[ 0.01871931, 0.0300139 ,-0.00944084,-0.02530405,-0.00355651, 1.34084074,
 -0.03008207, 0.94383446, 0.01151342, 0.02722057,-0.00833086, 0.02644607,
  1.39623914, 0.00770024, 1.37047661, 0.04405507,-0.0967487 ,-0.07377941,
  0.09202747, 0.65932054, 0.19620715,-0.67865663,-0.25734094]

qacc:
[ 7.29042038e+00,-3.04222738e-01, 1.71858343e+00,-2.57146957e+00,
 -5.27450825e-02,-2.54215111e+00, 1.10793057e+01,-2.56038328e+01,
  9.39675840e+00, 1.18895696e+00,-3.76389994e+00, 2.81730320e+00,
  4.29094172e-02,-2.86513042e-01, 6.14206180e+00,-2.08177127e+01,
 -5.69450430e+00, 5.31621029e-01, 1.78269200e-02, 1.12526700e+02,
 -1.52030047e+02, 1.32193658e+01]

qfrc_actuator:
[-8.97497291e-06, 9.56183056e-04, 1.35619559e-04, 4.90822708e-06,
 -3.33809988e-05, 3.49266564e-02, 1.09157125e-02, 1.77477897e-03,
 -1.36444546e-05, 7.94313894e-04, 2.06068735e-04, 1.02446103e-04,
  0.00000000e+00,-1.63481021e-03, 0.00000000e+00,-7.66762391e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.57314365,   4.15141809,   7.57314365,
        24.6477396 , -29.20844097,   4.15141809, -29.20844097,
        61.91929361,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00605894089649156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16185719e-15,  9.16185719e-15,  1.00000000e+00,  8.39396272e-29,
        1.00000000e+00, -9.16185719e-15, -1.00000000e+00,  0.00000000e+00,
       -9.16185719e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00658994, -0.08581896,  0.06169674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37634689e-05, 4.68763961e-05, 2.47101332e-05, 2.11237731e-06,
 -1.52501583e-05,-9.28578366e-06,-1.53671125e-06,-7.09964509e-05,
  5.67800550e-05,-9.51851409e-06,-3.00801866e-05,-6.54731330e-06,
  3.37627043e-03,-3.45942486e-05, 7.53875189e-06,-9.85648142e-05,
 -7.35988816e-06,-2.21513970e-05,-4.90495001e+00,-1.93194675e-03,
  2.60351511e-03,-7.53383340e-03]


--- Step 2868 ---
qpos:
[ 0.0187186 , 0.03001458,-0.00944099,-0.02530378,-0.00355709, 1.34084159,
 -0.03008238, 0.94383358, 0.01151487, 0.02722015,-0.00833123, 0.02644651,
  1.39623822, 0.00769995, 1.37056358, 0.04405646,-0.09678196,-0.07375923,
  0.09200858, 0.65900327, 0.19618399,-0.67909126,-0.25702449]

qacc:
[ 7.52666021e+00,-1.00231247e+00, 6.95900101e+00,-1.87704512e+01,
 -3.71170611e-02,-1.77739757e+00, 8.34505278e+00,-2.11661205e+01,
  2.75188027e+00, 1.34878791e+00,-2.61115794e+00,-3.82828886e+00,
  4.77441846e-02,-2.35601129e-01,-5.79966011e-01, 1.72813899e+00,
 -4.92150651e+00, 4.73102690e-01,-1.32860795e+00, 9.73628945e+01,
 -1.31235714e+02, 1.09761838e+01]

qfrc_actuator:
[ 3.49602525e-05, 9.59262441e-04, 1.29745209e-04,-3.05064508e-05,
 -3.50948061e-05, 3.49330563e-02, 1.09132616e-02, 1.71520655e-03,
  1.45288205e-06, 8.08402433e-04, 1.71546757e-04, 8.08409125e-05,
  0.00000000e+00,-1.64659945e-03, 0.00000000e+00,-7.56273474e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.55392816,   4.18628072,   7.55392816,
        25.97143799, -31.28024972,   4.18628072, -31.28024972,
        65.07996477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006016375341314731
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22667687e-15,  9.22667687e-15,  1.00000000e+00,  8.51315662e-29,
        1.00000000e+00, -9.22667687e-15, -1.00000000e+00,  0.00000000e+00,
       -9.22667687e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00649798, -0.08581948,  0.06169846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52244889e-05, 3.44924589e-05, 6.91872378e-06,-3.25157540e-05,
 -1.07260830e-05,-1.17662225e-06,-6.52436649e-06,-6.15413764e-05,
  1.67566020e-05, 2.31203486e-06,-4.04192991e-05,-2.31847363e-05,
  3.37704888e-03,-2.65793248e-05,-1.02445134e-05, 5.33089843e-06,
  6.36495050e-05,-4.92903990e-05,-4.90490436e+00,-2.01902459e-03,
  2.53173104e-03,-7.53162141e-03]


--- Step 2869 ---
qpos:
[ 0.01871842, 0.03001542,-0.00944116,-0.02530357,-0.00355772, 1.34084219,
 -0.0300824 , 0.94383339, 0.01151546, 0.02721962,-0.0083311 , 0.02644664,
  1.39623729, 0.00769963, 1.37065044, 0.04405827,-0.09678892,-0.07374307,
  0.09199622, 0.65896356, 0.19611646,-0.67921449,-0.25685216]

qacc:
[ 4.56803180e+00, 1.58648503e-01, 5.20969914e-03,-1.13996464e+00,
 -2.44634635e-02, 6.43557399e-02,-1.98321050e+00, 9.76170784e+00,
 -7.35709637e+00,-2.13241128e+00, 8.73491032e+00,-1.47888903e+01,
  5.50143373e-02,-7.93651178e-02,-1.47875106e+00, 4.90528539e+00,
  6.57236861e+00,-1.00478383e+00, 1.63576325e+00,-1.30800208e+02,
  1.77015096e+02,-2.72917969e+01]

qfrc_actuator:
[ 6.10802654e-05, 9.60657837e-04, 1.26278455e-04,-3.37078671e-05,
 -3.58403888e-05, 3.49187754e-02, 1.09297132e-02, 1.75154291e-03,
 -4.35230692e-05, 8.16901474e-04, 2.04658905e-04, 6.79597833e-05,
  0.00000000e+00,-1.63565492e-03, 0.00000000e+00,-7.32857016e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006047206299213487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.14745447e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.14745447e-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([-0.18847961, -0.06267404,  0.06169701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74488529e-05, 2.07146550e-05, 3.37634814e-06,-2.12198405e-06,
 -7.08406193e-06,-1.80647629e-05, 1.36725060e-05, 3.46823946e-05,
 -4.44835312e-05, 4.78330933e-07, 2.78181506e-05,-1.46314330e-05,
  3.38401635e-03,-3.17805694e-06,-5.59677696e-06, 2.20615538e-05,
  2.11524691e-04,-8.95515778e-05,-4.90464708e+00,-2.10711723e-03,
  2.45176364e-03,-7.52927200e-03]


--- Step 2870 ---
qpos:
[ 0.01871821, 0.03001606,-0.00944119,-0.02530336,-0.00355824, 1.34084239,
 -0.03008184, 0.94383363, 0.01151551, 0.02721918,-0.00833038, 0.02644693,
  1.39623648, 0.00769952, 1.37073716, 0.04406101,-0.09677323,-0.07373037,
  0.09198409, 0.659163  , 0.19601076,-0.6790698 ,-0.25680369]

qacc:
[-2.44522272e-01,-6.78894412e-01, 2.02244968e+00,-2.12605513e+00,
  4.65112251e-02,-1.36758285e+00, 2.91531429e+00, 2.79282632e+00,
 -4.62739541e+00,-1.18507930e+00, 3.70831471e+00,-1.93094524e+00,
  5.39281196e-02, 1.04950706e-01,-2.99311945e+00, 1.01741368e+01,
  5.66408306e+00,-8.64371444e-01, 5.56715670e-02,-1.12500865e+02,
  1.52442867e+02,-2.34065058e+01]

qfrc_actuator:
[ 5.87524053e-05, 9.25549098e-04, 1.24281959e-04,-3.56754557e-05,
 -1.82471179e-05, 3.48923529e-02, 1.09571687e-02, 1.77301496e-03,
 -7.02263339e-05, 8.40021576e-04, 2.41928929e-04, 7.81151532e-05,
  0.00000000e+00,-1.61118571e-03, 0.00000000e+00,-6.84285425e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006091464095414778
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82258815e-14,  6.83470554e-15,  1.00000000e+00,  1.24568533e-28,
        1.00000000e+00, -6.83470554e-15, -1.00000000e+00,  0.00000000e+00,
       -1.82258815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1883728 , -0.06268991,  0.06169504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52340614e-06,-2.29378157e-05, 2.61491152e-06,-1.00828770e-06,
  1.34061163e-05,-3.27032475e-05, 2.64938108e-05, 2.21347043e-05,
 -2.80076328e-05, 2.85102966e-05, 4.02956243e-05, 1.08561963e-05,
  3.38427384e-03, 2.30002032e-05,-1.52795974e-06, 4.87507827e-05,
  2.84021036e-05,-3.02828675e-05,-4.90495523e+00,-1.98583855e-03,
  2.54180155e-03,-7.52373252e-03]


--- Step 2871 ---
qpos:
[ 0.01871832, 0.03001649,-0.00944096,-0.02530284,-0.00355861, 1.34084215,
 -0.03008084, 0.9438331 , 0.01151489, 0.02721908,-0.00832933, 0.02644732,
  1.39623598, 0.00769938, 1.37082421, 0.04406128,-0.09673797,-0.07372066,
  0.09196676, 0.65956881, 0.19587203,-0.67869366,-0.25686192]

qacc:
[ 2.74558710e+00,-3.74385498e-01,-3.71433613e-01, 5.47763358e+00,
  6.45612144e-02,-3.06350479e+00, 1.08884608e+01,-1.81033024e+01,
 -5.68086165e+00,-2.61366586e-01, 1.21090988e+00,-3.11215432e-01,
  4.69050727e-02, 1.48436169e-02, 7.94703023e+00,-2.70805087e+01,
  4.89396473e+00,-7.45695304e-01,-1.30118880e+00,-9.70591671e+01,
  1.31654472e+02,-2.01381245e+01]

qfrc_actuator:
[ 7.52102063e-05, 9.22110108e-04, 1.40764027e-04,-1.91851723e-05,
 -7.54762774e-06, 3.48589133e-02, 1.09730650e-02, 1.73228222e-03,
 -1.03692878e-04, 8.71779840e-04, 2.63657287e-04, 8.39952579e-05,
  0.00000000e+00,-1.61434367e-03, 0.00000000e+00,-8.16564515e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006052631890953529
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83428142e-14,  1.14642589e-15,  1.00000000e+00, -2.10286771e-29,
        1.00000000e+00, -1.14642589e-15, -1.00000000e+00,  0.00000000e+00,
        1.83428142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18845769, -0.06267922,  0.0616966 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64033331e-05,-1.57915887e-05, 1.20245688e-05, 1.55773419e-05,
  1.86206874e-05,-4.56839317e-05, 1.31624964e-05,-4.04242305e-05,
 -3.42794058e-05, 5.64879014e-05, 3.29538549e-05, 8.70736259e-06,
  3.37813793e-03, 9.04159584e-06, 3.45202474e-06,-1.30070733e-04,
 -3.05692191e-07,-1.23767715e-05,-4.90492344e+00,-1.91960460e-03,
  2.59915031e-03,-7.52036667e-03]


--- Step 2872 ---
qpos:
[ 0.01871793, 0.03001682,-0.00944   ,-0.02530218,-0.00355884, 1.34084146,
 -0.03007988, 0.94383177, 0.01151456, 0.0272192 ,-0.00832797, 0.02644815,
  1.39623565, 0.00769906, 1.3709114 , 0.04405898,-0.09672913,-0.0737085 ,
  0.09195595, 0.659691  , 0.19579217,-0.67862492,-0.25679062]

qacc:
[-4.20705046e+00,-1.83891720e+00, 5.75010554e+00,-4.27951291e+00,
  6.05502920e-02,-1.84589307e+00, 6.95127353e+00,-1.50421409e+01,
  2.50544521e+00, 2.81181148e-01,-2.42881156e+00, 9.25857809e+00,
  3.30817767e-02,-9.78029043e-02, 8.00952189e+00,-2.77225698e+01,
 -6.60777143e+00, 6.08598419e-01, 1.63290630e+00, 1.30630224e+02,
 -1.77377182e+02, 1.64159761e+01]

qfrc_actuator:
[ 4.93452171e-05, 9.37748020e-04, 1.85905312e-04,-9.68465815e-06,
 -1.07094922e-06, 3.48214533e-02, 1.09641881e-02, 1.69076380e-03,
 -8.76199664e-05, 8.72906571e-04, 2.76070965e-04, 1.05059658e-04,
  0.00000000e+00,-1.63391998e-03, 0.00000000e+00,-9.47821484e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006089239247199778
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11627035e-15, -4.55813518e-15,  1.00000000e+00, -4.15531926e-29,
        1.00000000e+00,  4.55813518e-15, -1.00000000e+00,  0.00000000e+00,
       -9.11627035e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00667932, -0.08574936,  0.06169491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53953617e-05, 9.94368538e-06, 4.38899682e-05, 9.54042398e-06,
  1.74792616e-05,-6.13717046e-05,-1.75026371e-05,-4.34425293e-05,
  1.50880337e-05, 3.98716863e-05, 2.84309647e-05, 2.47931227e-05,
  3.36254617e-03,-9.10340026e-06,-1.50230834e-05,-1.38576613e-04,
  7.10843973e-05,-2.14962689e-05,-4.90467492e+00,-1.89060993e-03,
  2.63597679e-03,-7.51860648e-03]


--- Step 2873 ---
qpos:
[ 0.01871655, 0.03001725,-0.00943853,-0.02530211,-0.00355895, 1.34084079,
 -0.0300798 , 0.9438296 , 0.01151546, 0.02721964,-0.00832702, 0.02644925,
  1.39623542, 0.00769899, 1.37099822, 0.04405744,-0.09674307,-0.07369419,
  0.09194537, 0.65956895, 0.19576417,-0.67882062,-0.25660817]

qacc:
[-8.53645941e+00,-2.51989048e+00, 1.17023468e+01,-2.28971775e+01,
  4.91052573e-02, 9.73001527e-01,-1.42777644e+00,-8.41885685e+00,
  1.04752721e+01, 2.14907484e+00,-8.29309558e+00, 1.36859851e+01,
  2.18761604e-02, 1.45482581e-01,-2.88469730e+00, 9.29239978e+00,
 -5.69378323e+00, 5.39072915e-01, 5.37937425e-02, 1.12679815e+02,
 -1.52557439e+02, 1.35974709e+01]

qfrc_actuator:
[-1.22912879e-06, 9.47059657e-04, 2.12174071e-04,-3.98450392e-05,
  2.82042572e-06, 3.48350315e-02, 1.09230007e-02, 1.64911351e-03,
 -2.47629633e-05, 8.73407096e-04, 2.47276943e-04, 1.17109332e-04,
  0.00000000e+00,-1.60992394e-03, 0.00000000e+00,-8.99836960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.57566062,   4.14682324,   7.57566062,
        24.42544882, -28.84442955,   4.14682324, -28.84442955,
        61.33106423,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0061256831560309866
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06203436e-15,  4.53101718e-15,  1.00000000e+00,  4.10602334e-29,
        1.00000000e+00, -4.53101718e-15, -1.00000000e+00,  0.00000000e+00,
       -9.06203436e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00676371, -0.0857269 ,  0.06169328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13151867e-05, 2.43129757e-05, 3.40429425e-05,-2.80335978e-05,
  1.42189422e-05,-2.50991587e-05,-5.64606162e-05,-4.50169542e-05,
  6.33124566e-05, 2.97144184e-05,-1.62184056e-05, 1.52187421e-05,
  3.35359327e-03, 2.40408583e-05,-2.37568380e-05, 3.79989482e-05,
 -2.59736596e-06,-1.12151805e-05,-4.90496727e+00,-1.93768398e-03,
  2.60245257e-03,-7.51689685e-03]


--- Step 2874 ---
qpos:
[ 0.01871457, 0.03001794,-0.00943737,-0.02530201,-0.00355912, 1.34084044,
 -0.03008042, 0.94382692, 0.01151677, 0.02722033,-0.00832665, 0.02645017,
  1.39623535, 0.00769915, 1.37108493, 0.04405612,-0.09677669,-0.07367797,
  0.09192957, 0.65923569, 0.19578181,-0.67924423,-0.25632997]

qacc:
[-5.12770790e+00, 1.30287921e+00,-4.19662009e+00, 4.83522199e+00,
 -2.44864794e-02, 1.43792105e+00,-3.12173150e+00,-3.50215008e+00,
  3.41295078e+00, 1.57823773e+00,-4.34617675e+00, 1.82459833e+00,
  1.54656899e-02, 1.68109248e-01,-7.88502766e-01, 2.52811197e+00,
 -4.91928303e+00, 4.78427241e-01,-1.30187949e+00, 9.74642542e+01,
 -1.31619615e+02, 1.12970610e+01]

qfrc_actuator:
[-3.04231413e-05, 9.52416464e-04, 1.91531316e-04,-3.98609780e-05,
 -1.26225282e-05, 3.48789368e-02, 1.08987816e-02, 1.62548707e-03,
 -5.89938314e-06, 8.73344037e-04, 2.12118617e-04, 1.05972706e-04,
  0.00000000e+00,-1.59563985e-03, 0.00000000e+00,-8.88648027e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.54162733,   4.20840043,   7.54162733,
        25.95416905, -31.03422234,   4.20840043, -31.03422234,
        64.25097145,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006080517616589391
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12934634e-15,  1.36940195e-14,  1.00000000e+00,  1.25017447e-28,
        1.00000000e+00, -1.36940195e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12934634e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00666503, -0.08572844,  0.06169512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06838805e-05, 2.47367035e-05,-1.24173700e-05, 1.65490959e-06,
 -7.04077277e-06, 1.76248291e-05,-3.68765153e-05,-2.70841370e-05,
  2.07303811e-05, 1.38510752e-05,-3.05117147e-05,-1.01362521e-05,
  3.34884673e-03, 2.63165238e-05,-6.88807237e-06, 1.02073524e-05,
  5.24536532e-05,-2.68104021e-05,-4.90492431e+00,-1.99791112e-03,
  2.55063974e-03,-7.51531186e-03]


